Simscape Model of the Nano-Active-Stabilization-System

The project is managed with a Simulink Project. Such project is briefly presented here.

The model of the NASS is based on Simulink and Simscape Multi-Body. Such toolbox is presented here.

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 here.

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 here.

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 here.

From dynamical measurements perform on the real positioning station, we tune the parameters of the simscape model to have similar dynamics.

This is explained here.

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.

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 here.

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

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 here.

In this document, is studied how uncertainty on the micro-station compliance will affect the uncertainty of the isolation platform to be designed.

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.

Active damping techniques are applied to the full Simscape model.

In this file are gathered all studies about the control the Nano-Active-Stabilization-System.

Many matlab functions are shared among all the files of the projects.

These functions are all defined here.