#+TITLE: Simscape Model of the Nano-Active-Stabilization-System
#+SETUPFILE: ./setup/org-setup-file.org

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]].

* Compensating Gravity forces to start simulation at steady state ([[file:compensation_gravity_forces.org][link]])
When gravity is included in the model, the simulation does not start at steady state.

This can be problematic, especially when using a soft nano-hexapod as the deflection due to gravity will be quite large.

A technique is described in this document in order to compensate the gravity forces and start the simulation at steady state without deflection.

* 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.

Centrifugal forces can be viewed as a constant force disturbance in the frame of the nano-hexapod.
Some numerical analysis of such forces are done [[file:centrifugal_forces.org][here]].

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

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

* Effect of support's compliance on the plant dynamics ([[file:uncertainty_support.org][link]])
In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.

* Effect of the payload's "impedance" on the plant dynamics ([[file:uncertainty_payload.org][link]])
The payload mass, stiffness and damping properties will influence the dynamics of the isolation platform.
This effect is studied, and conclusions on what characteristics of the isolation platform will lower this effect.

* Effect of Experimental conditions on the plant dynamics ([[file:uncertainty_experiment.org][link]])
In this document, the effect of all the experimental conditions (rotation speed, sample mass, ...) on the plant dynamics are studied.
Conclusion are drawn about what experimental conditions are critical on the variability of the plant dynamics.

* Optimal Stiffness of the nano-hexapod to reduce plant uncertainty ([[file:uncertainty_optimal_stiffness.org][link]])

* Effect of flexible joints on the plant dynamics ([[file:flexible_joints_study.org][link]])
In this document is studied how the flexible joint stiffnesses (in flexion, torsion and compression) is affecting the plant dynamics.
Conclusion are drawn on the required stiffness properties of the flexible joints.

* Dynamic Noise Budgeting ([[file:noise_budgeting.org][link]])
The maximum allowed noise of the sensors in the system are estimated using a Dynamic Noise Budgeting.

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

* Control of the Nano-Active-Stabilization-System ([[file:control.org][link]])
In this file are gathered all studies about the control the Nano-Active-Stabilization-System.

* 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]].