#+TITLE: Simscape Model of the Nano-Active-Stabilization-System
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#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

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Here are links to the documents related to the Simscape model of the Nano-Active-Stabilization-System.

* Simulink Project ([[./simulink_project.org][link]])
The project is managed with a Simulink Project.
Such project is briefly presented [[./simulink_project.org][here]].

* Simscape Model ([[./simscape.org][link]])
The model of the NASS is based on Simulink and Simscape Multi-Body.
Such toolbox is presented [[./simscape.org][here]].

* Simscape Subsystems ([[./simscape_subsystems.org][link]])
The model is decomposed of multiple subsystems.
Subsystems can represent physical elements such as complete stages or basic simulink blocs.
These subsystems are shared among multiple files.

All these subsystems are described [[./simscape_subsystems.org][here]].

* Kinematics of the Station ([[./kinematics.org][link]])
First, we consider perfectly rigid elements and joints and we just study the kinematic of the station.
This permits to test if each stage is moving correctly.
This is detailed [[./kinematics.org][here]].

* Computation of the positioning error of the Sample ([[./positioning_error.org][link]])
From the measurement of the position of the sample with respect to the granite and from the wanted position of each stage, we can compute the positioning error of the sample with respect to the nano-hexapod.
This is done [[./positioning_error.org][here]].

* Tuning of the Dynamics of the Simscape model ([[./identification.org][link]])
From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.

This is explained [[./identification.org][here]].

* Disturbances ([[./disturbances.org][link]])
The effect of disturbances on the position of the micro-station have been measured.
These are now converted to force disturbances using the Simscape model.

This is discussed [[./disturbances.org][here]].

We also discuss how the disturbances are implemented in the model.

* Tomography Experiment ([[./experiments.org][link]])
Now that the dynamics of the Model have been tuned and the Disturbances have included, we can simulate experiments.

Tomography experiments are simulated and the results are presented [[./experiments.org][here]].

* Active Damping Techniques on the Uni-axial Model ([[./active_damping_uniaxial.org][link]])
Active damping techniques are applied to the Uniaxial Simscape model.

* Active Damping Techniques on the full Simscape Model ([[file:control_active_damping.org][link]])
Active damping techniques are applied to the full Simscape model.

* Useful Matlab Functions ([[./functions.org][link]])
Many matlab functions are shared among all the files of the projects.

These functions are all defined [[./functions.org][here]].