#+TITLE: Control of the NASS with optimal stiffness :DRAWER: #+STARTUP: overview #+PROPERTY: header-args:matlab :session *MATLAB* #+PROPERTY: header-args:matlab+ :comments org #+PROPERTY: header-args:matlab+ :results none #+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :eval no-export #+PROPERTY: header-args:matlab+ :output-dir figs #+PROPERTY: header-args:matlab+ :tangle no #+PROPERTY: header-args:matlab+ :mkdirp yes #+PROPERTY: header-args:shell :eval no-export #+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/org/}{config.tex}") #+PROPERTY: header-args:latex+ :imagemagick t :fit yes #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100 #+PROPERTY: header-args:latex+ :results file raw replace #+PROPERTY: header-args:latex+ :buffer no #+PROPERTY: header-args:latex+ :eval no-export #+PROPERTY: header-args:latex+ :exports results #+PROPERTY: header-args:latex+ :mkdirp yes #+PROPERTY: header-args:latex+ :output-dir figs #+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png") :END: * Introduction :ignore: * Low Authority Control - Decentralized Direct Velocity Feedback <> ** Introduction :ignore: #+name: fig:control_architecture_dvf #+caption: Low Authority Control: Decentralized Direct Velocity Feedback #+RESULTS: [[file:figs/control_architecture_dvf.png]] ** Matlab Init :noexport:ignore: #+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) <> #+end_src #+begin_src matlab :exports none :results silent :noweb yes <> #+end_src #+begin_src matlab :tangle no simulinkproject('../'); #+end_src #+begin_src matlab load('mat/conf_simulink.mat'); open('nass_model.slx') #+end_src ** Initialization #+begin_src matlab initializeGround(); initializeGranite(); initializeTy(); initializeRy(); initializeRz(); initializeMicroHexapod(); initializeAxisc(); initializeMirror(); initializeSimscapeConfiguration(); initializeDisturbances('enable', false); initializeLoggingConfiguration('log', 'none'); initializeController('type', 'hac-dvf'); #+end_src We set the stiffness of the payload fixation: #+begin_src matlab Kp = 1e8; % [N/m] #+end_src ** Identification #+begin_src matlab K = tf(zeros(6)); Kdvf = tf(zeros(6)); #+end_src We identify the system for the following payload masses: #+begin_src matlab Ms = [1, 10, 50]; #+end_src #+begin_src matlab :exports none Gm_dvf = {zeros(length(Ms), 1)}; #+end_src The nano-hexapod has the following leg's stiffness and damping. #+begin_src matlab initializeNanoHexapod('k', 1e5, 'c', 2e2); #+end_src #+begin_src matlab :exports none %% Name of the Simulink File mdl = 'nass_model'; %% Input/Output definition clear io; io_i = 1; io(io_i) = linio([mdl, '/Controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Inputs io(io_i) = linio([mdl, '/Micro-Station'], 3, 'openoutput', [], 'Dnlm'); io_i = io_i + 1; % Force Sensors #+end_src #+begin_src matlab :exports none for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization G_dvf = linearize(mdl, io); G_dvf.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; G_dvf.OutputName = {'Dnlm1', 'Dnlm2', 'Dnlm3', 'Dnlm4', 'Dnlm5', 'Dnlm6'}; Gm_dvf(i) = {G_dvf}; end #+end_src ** Controller Design The obtain dynamics from actuators forces $\tau_i$ to the relative motion of the legs $d\mathcal{L}_i$ is shown in Figure [[fig:opt_stiff_dvf_plant]] for the three considered payload masses. The Root Locus is shown in Figure [[fig:opt_stiff_dvf_root_locus]] and wee see that we have unconditional stability. In order to choose the gain such that we obtain good damping for all the three payload masses, we plot the damping ration of the modes as a function of the gain for all three payload masses in Figure [[fig:opt_stiff_dvf_damping_gain]]. #+begin_src matlab :exports none freqs = logspace(-1, 3, 1000); figure; ax1 = subplot(2, 1, 1); hold on; for i = 1:length(Ms) plot(freqs, abs(squeeze(freqresp(Gm_dvf{i}(1, 1), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); ax2 = subplot(2, 1, 2); hold on; for i = 1:length(Ms) plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_dvf{i}(1, 1), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f$ [kg]', Ms(i))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'northeast'); linkaxes([ax1,ax2],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_dvf_plant.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_dvf_plant #+caption: Dynamics for the Direct Velocity Feedback active damping for three payload masses #+RESULTS: [[file:figs/opt_stiff_dvf_plant.png]] #+begin_src matlab :exports none :post figure; gains = logspace(2, 5, 300); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(real(pole(Gm_dvf{i})), imag(pole(Gm_dvf{i})), 'x', ... 'DisplayName', sprintf('$m_p = %.0f$ [kg]', Ms(i))); set(gca,'ColorOrderIndex',i); plot(real(tzero(Gm_dvf{i})), imag(tzero(Gm_dvf{i})), 'o', ... 'HandleVisibility', 'off'); for k = 1:length(gains) set(gca,'ColorOrderIndex',i); cl_poles = pole(feedback(Gm_dvf{i}, (gains(k)*s)*eye(6))); plot(real(cl_poles), imag(cl_poles), '.', ... 'HandleVisibility', 'off'); end end hold off; axis square; xlim([-140, 10]); ylim([0, 150]); xlabel('Real Part'); ylabel('Imaginary Part'); legend('location', 'northwest'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_dvf_root_locus.pdf', 'width', 'wide', 'height', 'tall'); #+end_src #+name: fig:opt_stiff_dvf_root_locus #+caption: Root Locus for the DVF controll for three payload masses #+RESULTS: [[file:figs/opt_stiff_dvf_root_locus.png]] Damping as function of the gain #+begin_src matlab :exports none c1 = [ 0 0.4470 0.7410]; % Blue c2 = [0.8500 0.3250 0.0980]; % Orange c3 = [0.9290 0.6940 0.1250]; % Yellow c4 = [0.4940 0.1840 0.5560]; % Purple c5 = [0.4660 0.6740 0.1880]; % Green c6 = [0.3010 0.7450 0.9330]; % Light Blue c7 = [0.6350 0.0780 0.1840]; % Red colors = [c1; c2; c3; c4; c5; c6; c7]; figure; gains = logspace(1, 4, 100); hold on; for i = 1:length(Ms) for k = 1:length(gains) cl_poles = pole(feedback(Gm_dvf{i}, (gains(k)*s)*eye(6))); set(gca,'ColorOrderIndex',i); plot(gains(k), sin(-pi/2 + angle(cl_poles)), '.', 'color', colors(i, :)); end end hold off; xlabel('DVF Gain'); ylabel('Modal Damping'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylim([0, 1]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_dvf_damping_gain.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_dvf_damping_gain #+caption: Damping ratio of the poles as a function of the DVF gain #+RESULTS: [[file:figs/opt_stiff_dvf_damping_gain.png]] Finally, we use the following controller for the Decentralized Direct Velocity Feedback: #+begin_src matlab Kdvf = 5e3*s/(1+s/2/pi/1e3)*eye(6); #+end_src ** Effect of the Low Authority Control on the Primary Plant *** Introduction :ignore: Let's identify the dynamics from actuator forces $\bm{\tau}$ to displacement as measured by the metrology $\bm{\mathcal{X}}$: \[ \bm{G}(s) = \frac{\bm{\mathcal{X}}}{\bm{\tau}} \] We do so both when the DVF is applied and when it is not applied. Then, we compute the transfer function from forces applied by the actuators $\bm{\mathcal{F}}$ to the measured position error in the frame of the nano-hexapod $\bm{\epsilon}_{\mathcal{X}_n}$: \[ \bm{G}_\mathcal{X}(s) = \frac{\bm{\epsilon}_{\mathcal{X}_n}}{\bm{\mathcal{F}}} = \bm{G}(s) \bm{J}^{-T} \] The obtained dynamics is shown in Figure [[fig:opt_stiff_primary_plant_damped_X]]. And we compute the transfer function from actuator forces $\bm{\tau}$ to position error of each leg $\bm{\epsilon}_\mathcal{L}$: \[ \bm{G}_\mathcal{L} = \frac{\bm{\epsilon}_\mathcal{L}}{\bm{\tau}} = \bm{J} \bm{G}(s) \] The obtained dynamics is shown in Figure [[fig:opt_stiff_primary_plant_damped_L]]. #+begin_src matlab :exports none %% Name of the Simulink File mdl = 'nass_model'; %% Input/Output definition clear io; io_i = 1; io(io_i) = linio([mdl, '/Controller'], 1, 'input'); io_i = io_i + 1; % Actuator Inputs io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror #+end_src #+begin_src matlab :exports none load('mat/stages.mat', 'nano_hexapod'); #+end_src *** Identification of the undamped plant :ignore: #+begin_src matlab :exports none Kdvf_backup = Kdvf; Kdvf = tf(zeros(6)); #+end_src #+begin_src matlab :exports none G_x = {zeros(length(Ms), 1)}; G_l = {zeros(length(Ms), 1)}; #+end_src #+begin_src matlab :exports none for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization G = linearize(mdl, io); G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}; Gx = -G*inv(nano_hexapod.J'); Gx.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'}; G_x(i) = {Gx}; Gl = -nano_hexapod.J*G; Gl.OutputName = {'E1', 'E2', 'E3', 'E4', 'E5', 'E6'}; G_l(i) = {Gl}; end #+end_src #+begin_src matlab :exports none Kdvf = Kdvf_backup; #+end_src *** Identification of the damped plant :ignore: #+begin_src matlab :exports none Gm_x = {zeros(length(Ms), 1)}; Gm_l = {zeros(length(Ms), 1)}; #+end_src #+begin_src matlab :exports none for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization G = linearize(mdl, io); G.InputName = {'Fnl1', 'Fnl2', 'Fnl3', 'Fnl4', 'Fnl5', 'Fnl6'}; G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}; Gx = -G*inv(nano_hexapod.J'); Gx.InputName = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'}; Gm_x(i) = {Gx}; Gl = -nano_hexapod.J*G; Gl.OutputName = {'E1', 'E2', 'E3', 'E4', 'E5', 'E6'}; Gm_l(i) = {Gl}; end #+end_src *** Effect of the Damping on the plant diagonal dynamics :ignore: #+begin_src matlab :exports none freqs = logspace(0, 3, 5000); figure; ax1 = subplot(2, 2, 1); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(G_x{i}(1, 1), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(G_x{i}(2, 2), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(1, 1), freqs, 'Hz'))), '--'); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(2, 2), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_x/\mathcal{F}_x$, $\mathcal{X}_y/\mathcal{F}_y$') ax2 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(G_x{i}(3, 3), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(3, 3), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_z/\mathcal{F}_z$') ax3 = subplot(2, 2, 3); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_x{i}(1, 1), freqs, 'Hz'))))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_x{i}(2, 2), freqs, 'Hz'))))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(1, 1), freqs, 'Hz')))), '--'); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(2, 2), freqs, 'Hz')))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_x{i}(3, 3), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(3, 3), freqs, 'Hz')))), '--', ... 'HandleVisibility', 'off'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'southwest'); linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_plant_damped_X.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_primary_plant_damped_X #+caption: Primary plant in the task space with (dashed) and without (solid) Direct Velocity Feedback #+RESULTS: [[file:figs/opt_stiff_primary_plant_damped_X.png]] #+begin_src matlab :exports none freqs = logspace(0, 3, 5000); figure; ax1 = subplot(2, 1, 1); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(G_l{i}(1, 1), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_l{i}(1, 1), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); ax2 = subplot(2, 1, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(G_l{i}(1, 1), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_l{i}(1, 1), freqs, 'Hz')))), '--', ... 'HandleVisibility', 'off'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'southwest'); linkaxes([ax1,ax2],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_plant_damped_L.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_primary_plant_damped_L #+caption: Primary plant in the space of the legs with (dashed) and without (solid) Direct Velocity Feedback #+RESULTS: [[file:figs/opt_stiff_primary_plant_damped_L.png]] *** Effect of the Damping on the coupling dynamics :ignore: The coupling (off diagonal elements) of $\bm{G}_\mathcal{X}$ are shown in Figure [[fig:opt_stiff_primary_plant_damped_coupling_X]] both when DVF is applied and when it is not. The coupling does not change a lot with DVF. The coupling in the space of the legs $\bm{G}_\mathcal{L}$ are shown in Figure [[fig:opt_stiff_primary_plant_damped_coupling_L]]. The magnitude of the coupling around the resonance of the nano-hexapod (where the coupling is the highest) is considerably reduced when DVF is applied. #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; hold on; for i = 1:5 for j = i+1:6 plot(freqs, abs(squeeze(freqresp(G_x{1}(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]); plot(freqs, abs(squeeze(freqresp(Gm_x{1}(i, j), freqs, 'Hz'))), '--', 'color', [0, 0, 0, 0.2]); end end set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(G_x{1}(1, 1), freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Gm_x{1}(1, 1), freqs, 'Hz'))), '--'); hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); ylim([1e-12, inf]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_plant_damped_coupling_X.pdf', 'width', 'full', 'height', 'tall') #+end_src #+name: fig:opt_stiff_primary_plant_damped_coupling_X #+caption: Coupling in the primary plant in the task with (dashed) and without (solid) Direct Velocity Feedback #+RESULTS: [[file:figs/opt_stiff_primary_plant_damped_coupling_X.png]] #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; hold on; for i = 1:5 for j = i+1:6 plot(freqs, abs(squeeze(freqresp(G_l{1}(i, j), freqs, 'Hz'))), 'color', [0, 0, 0, 0.2]); plot(freqs, abs(squeeze(freqresp(Gm_l{1}(i, j), freqs, 'Hz'))), '--', 'color', [0, 0, 0, 0.2]); end end set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(G_l{1}(1, 1), freqs, 'Hz')))); set(gca,'ColorOrderIndex',1); plot(freqs, abs(squeeze(freqresp(Gm_l{1}(1, 1), freqs, 'Hz'))), '--'); hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); ylim([1e-9, inf]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_plant_damped_coupling_L.pdf', 'width', 'full', 'height', 'tall') #+end_src #+name: fig:opt_stiff_primary_plant_damped_coupling_L #+caption: Coupling in the primary plant in the space of the legs with (dashed) and without (solid) Direct Velocity Feedback #+RESULTS: [[file:figs/opt_stiff_primary_plant_damped_coupling_L.png]] ** Effect of the Low Authority Control on the Sensibility to Disturbances *** Introduction :ignore: We may now see how Decentralized Direct Velocity Feedback changes the sensibility to disturbances, namely: - Ground motion - Spindle and Translation stage vibrations - Direct forces applied to the sample To simplify the analysis, we here only consider the vertical direction, thus, we will look at the transfer functions: - from vertical ground motion $D_{w,z}$ to the vertical position error of the sample $E_z$ - from vertical vibration forces of the spindle $F_{R_z,z}$ to $E_z$ - from vertical vibration forces of the translation stage $F_{T_y,z}$ to $E_z$ - from vertical direct forces (such as cable forces) $F_{d,z}$ to $E_z$ The norm of these transfer functions are shown in Figure [[fig:opt_stiff_sensibility_dist_dvf]]. *** Identification :ignore: #+begin_src matlab :exports none %% Name of the Simulink File mdl = 'nass_model'; %% Micro-Hexapod clear io; io_i = 1; io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); io_i = io_i + 1; % Z Ground motion io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fty_z'); io_i = io_i + 1; % Parasitic force Ty - Z io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Frz_z'); io_i = io_i + 1; % Parasitic force Rz - Z io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fd'); io_i = io_i + 1; % Direct forces io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror #+end_src #+begin_src matlab :exports none Kdvf_backup = Kdvf; Kdvf = tf(zeros(6)); #+end_src #+begin_src matlab :exports none Gd = {zeros(length(Ms), 1)}; for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization G = linearize(mdl, io); G.InputName = {'Dwz', 'Fty_z', 'Frz_z', 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'}; G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}; Gd(i) = {G}; end #+end_src #+begin_src matlab :exports none Kdvf = Kdvf_backup; #+end_src #+begin_src matlab :exports none Gd_dvf = {zeros(length(Ms), 1)}; for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization G = linearize(mdl, io); G.InputName = {'Dwz', 'Fty_z', 'Frz_z', 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'}; G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}; Gd_dvf(i) = {G}; end #+end_src *** Results :ignore: #+begin_src matlab :exports none freqs = logspace(0, 3, 5000); figure; subplot(2, 2, 1); title('$D_{w,z}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Dwz'), freqs, 'Hz'))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_dvf{i}('Ez', 'Dwz'), freqs, 'Hz'))), '--', ... 'HandleVisibility', 'off'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/m]'); set(gca, 'XTickLabel',[]); legend('location', 'southeast'); subplot(2, 2, 2); title('$F_{dz}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Fdz'), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_dvf{i}('Ez', 'Fdz'), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/N]'); subplot(2, 2, 3); title('$F_{T_y,z}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Fty_z'), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_dvf{i}('Ez', 'Fty_z'), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); subplot(2, 2, 4); title('$F_{R_z,z}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Frz_z'), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_dvf{i}('Ez', 'Frz_z'), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_sensibility_dist_dvf.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_sensibility_dist_dvf #+caption: Norm of the transfer function from vertical disturbances to vertical position error with (dashed) and without (solid) Direct Velocity Feedback applied #+RESULTS: [[file:figs/opt_stiff_sensibility_dist_dvf.png]] ** Conclusion #+begin_important #+end_important * Primary Control in the leg space <> ** Introduction :ignore: In this section we implement the control architecture shown in Figure [[fig:control_architecture_hac_dvf_pos_L]] consisting of: - an inner loop with a decentralized direct velocity feedback control - an outer loop where the controller $\bm{K}_\mathcal{L}$ is designed in the frame of the legs #+name: fig:control_architecture_hac_dvf_pos_L #+caption: Cascade Control Architecture. The inner loop consist of a decentralized Direct Velocity Feedback. The outer loop consist of position control in the leg's space [[file:figs/control_architecture_hac_dvf_pos_L.png]] The controller for decentralized direct velocity feedback is the one designed in Section [[sec:lac_dvf]]. ** Plant in the leg space We now loop at the transfer function matrix from $\bm{\tau}^\prime$ to $\bm{\epsilon}_{\mathcal{X}_n}$ for the design of $\bm{K}_\mathcal{L}$. The diagonal elements of the transfer function matrix from $\bm{\tau}^\prime$ to $\bm{\epsilon}_{\mathcal{X}_n}$ for the three considered masses are shown in Figure [[fig:opt_stiff_primary_plant_L]]. The plant dynamics below $100\ [Hz]$ is only slightly dependent on the payload mass. #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; ax1 = subplot(2, 1, 1); hold on; for i = 1:length(Ms) for j = 1:6 set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_l{i}(j, j), freqs, 'Hz')))); end end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); title('Diagonal elements of the Plant'); ax2 = subplot(2, 1, 2); hold on; for i = 1:length(Ms) for j = 1:6 set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_l{i}(j, j), freqs, 'Hz'))))); end end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); linkaxes([ax1,ax2],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_plant_L.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_primary_plant_L #+caption: Diagonal elements of the transfer function matrix from $\bm{\tau}^\prime$ to $\bm{\epsilon}_{\mathcal{X}_n}$ for the three considered masses #+RESULTS: [[file:figs/opt_stiff_primary_plant_L.png]] #+begin_src matlab :exports none c1 = [ 0 0.4470 0.7410 0.2]; % Blue c2 = [0.8500 0.3250 0.0980 0.2]; % Orange c3 = [0.9290 0.6940 0.1250 0.2]; % Yellow c4 = [0.4940 0.1840 0.5560 0.2]; % Purple c5 = [0.4660 0.6740 0.1880 0.2]; % Green c6 = [0.3010 0.7450 0.9330 0.2]; % Light Blue c7 = [0.6350 0.0780 0.1840 0.2]; % Red colors = [c1; c2; c3; c4; c5; c6; c7]; freqs = logspace(0, 3, 1000); figure; hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_l{i}(1, 1), freqs, 'Hz'))), '-'); for j = 1:5 for k = j+1:6 plot(freqs, abs(squeeze(freqresp(Gm_l{i}(j, k), freqs, 'Hz'))), '--', 'color', colors(i, :)); end end end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); xlabel('Frequency [Hz]'); ylim([1e-9, inf]); #+end_src ** Control in the leg space We design a diagonal controller with all the same diagonal elements. The requirements for the controller are: - Crossover frequency of around 100Hz - Stable for all the considered payload masses - Sufficient phase and gain margin - Integral action at low frequency The design controller is as follows: - Lead centered around the crossover - An integrator below 10Hz - A low pass filter at 250Hz The loop gain is shown in Figure [[fig:opt_stiff_primary_loop_gain_L]]. #+begin_src matlab h = 2.0; Kl = 2e7 * eye(6) * ... 1/h*(s/(2*pi*100/h) + 1)/(s/(2*pi*100*h) + 1) * ... 1/h*(s/(2*pi*200/h) + 1)/(s/(2*pi*200*h) + 1) * ... (s/2/pi/10 + 1)/(s/2/pi/10) * ... 1/(1 + s/2/pi/300); #+end_src #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; ax1 = subplot(2, 1, 1); hold on; for i = 1:length(Ms) for j = 1:6 set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_l{i}(j, j)*Kl(j,j), freqs, 'Hz')))); end end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); ax2 = subplot(2, 1, 2); hold on; for i = 1:length(Ms) for j = 1:6 set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*angle(squeeze(freqresp(Gm_l{i}(j, j)*Kl(j,j), freqs, 'Hz')))); end end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-180, 180]); yticks([-180, -90, 0, 90, 180]); linkaxes([ax1,ax2],'x'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_loop_gain_L.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_primary_loop_gain_L #+caption: Loop gain for the primary plant #+RESULTS: [[file:figs/opt_stiff_primary_loop_gain_L.png]] #+begin_src matlab load('mat/stages.mat', 'nano_hexapod'); K = Kl*nano_hexapod.J*diag([1, 1, 1, 1, 1, 0]); #+end_src Check the MIMO stability #+begin_src matlab :exports none for i = 1:length(Ms) isstable(feedback(nano_hexapod.J\Gm_l{i}*K, eye(6), -1)) end #+end_src ** Sensibility to Disturbances and Noise Budget *** Identification :ignore: We identify the transfer function from disturbances to the position error of the sample when the HAC-LAC control is applied. #+begin_src matlab :exports none %% Name of the Simulink File mdl = 'nass_model'; %% Micro-Hexapod clear io; io_i = 1; io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Dwz'); io_i = io_i + 1; % Z Ground motion io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fty_z'); io_i = io_i + 1; % Parasitic force Ty - Z io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Frz_z'); io_i = io_i + 1; % Parasitic force Rz - Z io(io_i) = linio([mdl, '/Disturbances'], 1, 'openinput', [], 'Fd'); io_i = io_i + 1; % Direct forces io(io_i) = linio([mdl, '/Tracking Error'], 1, 'output', [], 'En'); io_i = io_i + 1; % Position Errror #+end_src #+begin_src matlab :exports none Gd_L = {zeros(length(Ms), 1)}; for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', Ms(i)); %% Run the linearization G = linearize(mdl, io); G.InputName = {'Dwz', 'Fty_z', 'Frz_z', 'Fdx', 'Fdy', 'Fdz', 'Mdx', 'Mdy', 'Mdz'}; G.OutputName = {'Ex', 'Ey', 'Ez', 'Erx', 'Ery', 'Erz'}; Gd_L(i) = {G}; end #+end_src *** Obtained Sensibility to Disturbances :ignore: We compare the norm of these transfer function for the vertical direction when no control is applied and when HAC-LAC control is applied: Figure [[fig:opt_stiff_primary_control_L_senbility_dist]]. #+begin_src matlab :exports none freqs = logspace(0, 3, 5000); figure; subplot(2, 2, 1); title('$D_{w,z}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Dwz'), freqs, 'Hz'))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_L{i}('Ez', 'Dwz'), freqs, 'Hz'))), '--', ... 'HandleVisibility', 'off'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/m]'); set(gca, 'XTickLabel',[]); legend('location', 'southeast'); subplot(2, 2, 2); title('$F_{dz}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Fdz'), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_L{i}('Ez', 'Fdz'), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); set(gca, 'XTickLabel',[]); ylabel('Amplitude [m/N]'); subplot(2, 2, 3); title('$F_{T_y,z}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Fty_z'), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_L{i}('Ez', 'Fty_z'), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); subplot(2, 2, 4); title('$F_{R_z,z}$ to $E_z$'); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd{i}('Ez', 'Frz_z'), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gd_L{i}('Ez', 'Frz_z'), freqs, 'Hz'))), '--'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_control_L_senbility_dist.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_primary_control_L_senbility_dist #+caption: Sensibility to disturbances when the HAC-LAC control is applied #+RESULTS: [[file:figs/opt_stiff_primary_control_L_senbility_dist.png]] *** Noise Budgeting :ignore: Then, we load the Power Spectral Density of the perturbations and we look at the obtained PSD of the displacement error in the vertical direction due to the disturbances: - Figure [[fig:opt_stiff_primary_control_L_psd_dist]]: Amplitude Spectral Density of the vertical position error due to both the vertical ground motion and the vertical vibrations of the spindle - Figure [[fig:opt_stiff_primary_control_L_psd_tot]]: Comparison of the Amplitude Spectral Density of the vertical position error in Open Loop and with the HAC-DVF Control - Figure [[fig:opt_stiff_primary_control_L_cas_tot]]: Comparison of the Cumulative Amplitude Spectrum of the vertical position error in Open Loop and with the HAC-DVF Control #+begin_src matlab :exports none load('./mat/dist_psd.mat', 'dist_f'); #+end_src #+begin_src matlab :exports none figure; hold on; plot(dist_f.f, sqrt(dist_f.psd_gm).*abs(squeeze(freqresp(Gd_L{1}('Ez', 'Dwz' ), dist_f.f, 'Hz'))), 'DisplayName', '$D_w$') plot(dist_f.f, sqrt(dist_f.psd_rz).*abs(squeeze(freqresp(Gd_L{1}('Ez', 'Frz_z'), dist_f.f, 'Hz'))), 'DisplayName', '$F_{R_z}$') hold off; xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density [$m/\sqrt{Hz}$]'); set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); legend('location', 'southwest'); xlim([1, 500]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_control_L_psd_dist.pdf', 'width', 'full', 'height', 'tall') #+end_src #+name: fig:opt_stiff_primary_control_L_psd_dist #+caption: Amplitude Spectral Density of the vertical position error of the sample when the HAC-DVF control is applied due to both the ground motion and spindle vibrations #+RESULTS: [[file:figs/opt_stiff_primary_control_L_psd_dist.png]] #+begin_src matlab :exports none figure; hold on; plot(dist_f.f, sqrt(dist_f.psd_gm.*abs(squeeze(freqresp(Gd{1}('Ez', 'Dwz' ), dist_f.f, 'Hz'))).^2 + ... dist_f.psd_rz.*abs(squeeze(freqresp(Gd{1}('Ez', 'Frz_z'), dist_f.f, 'Hz'))).^2), 'DisplayName', 'Open-Loop') plot(dist_f.f, sqrt(dist_f.psd_gm.*abs(squeeze(freqresp(Gd_L{1}('Ez', 'Dwz' ), dist_f.f, 'Hz'))).^2 + ... dist_f.psd_rz.*abs(squeeze(freqresp(Gd_L{1}('Ez', 'Frz_z'), dist_f.f, 'Hz'))).^2), 'DisplayName', 'HAC-DVF') hold off; xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density [$m/\sqrt{Hz}$]'); set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); legend('location', 'northeast'); xlim([1, 500]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_control_L_psd_tot.pdf', 'width', 'full', 'height', 'tall') #+end_src #+name: fig:opt_stiff_primary_control_L_psd_tot #+caption: Amplitude Spectral Density of the vertical position error of the sample in Open-Loop and when the HAC-DVF control is applied #+RESULTS: [[file:figs/opt_stiff_primary_control_L_psd_tot.png]] #+begin_src matlab :exports none figure; hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(dist_f.f, sqrt(flip(-cumtrapz(flip(dist_f.f), flip(dist_f.psd_gm.*abs(squeeze(freqresp(Gd{i}('Ez', 'Dwz' ), dist_f.f, 'Hz'))).^2 + ... dist_f.psd_rz.*abs(squeeze(freqresp(Gd{i}('Ez', 'Frz_z'), dist_f.f, 'Hz'))).^2)))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); set(gca,'ColorOrderIndex',i); plot(dist_f.f, sqrt(flip(-cumtrapz(flip(dist_f.f), flip(dist_f.psd_gm.*abs(squeeze(freqresp(Gd_L{i}('Ez', 'Dwz' ), dist_f.f, 'Hz'))).^2 + ... dist_f.psd_rz.*abs(squeeze(freqresp(Gd_L{i}('Ez', 'Frz_z'), dist_f.f, 'Hz'))).^2)))), '--', ... 'HandleVisibility', 'off') end hold off; xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density [$m/\sqrt{Hz}$]'); set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); legend('location', 'southwest'); xlim([0.1, 500]); ylim([1e-12, 1e-6]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_primary_control_L_cas_tot.pdf', 'width', 'full', 'height', 'tall') #+end_src #+name: fig:opt_stiff_primary_control_L_cas_tot #+caption: Cumulative Amplitude Spectrum of the vertical position error of the sample in Open-Loop and when the HAC-DVF control is applied #+RESULTS: [[file:figs/opt_stiff_primary_control_L_cas_tot.png]] ** Simulations Let's now simulate a tomography experiment. To do so, we include all disturbances except vibrations of the translation stage. #+begin_src matlab initializeDisturbances('Fty_x', false, 'Fty_z', false); initializeSimscapeConfiguration('gravity', false); initializeLoggingConfiguration('log', 'all'); #+end_src #+begin_src matlab :exports none load('mat/conf_simulink.mat'); set_param(conf_simulink, 'StopTime', '2'); #+end_src And we run the simulation for all three payload Masses. #+begin_src matlab :exports none hac_dvf_L = {zeros(length(Ms)), 1}; for i = 1:length(Ms) initializeSample('mass', Ms(i), 'freq', sqrt(Kp/Ms(i))/2/pi*ones(6,1)); initializeReferences('Rz_type', 'rotating', 'Rz_period', Ms(i)); sim('nass_model'); hac_dvf_L(i) = {simout}; end #+end_src #+begin_src matlab :exports none save('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L'); #+end_src ** Results #+begin_src matlab :exports none load('./mat/experiment_tomography.mat', 'tomo_align_dist'); load('./mat/tomo_exp_hac_dvf.mat', 'hac_dvf_L'); #+end_src Let's now see how this controller performs. First, we compute the Power Spectral Density of the sample's position error and we compare it with the open loop case in Figure [[fig:opt_stiff_hac_dvf_L_psd_disp_error]]. Similarly, the Cumulative Amplitude Spectrum is shown in Figure [[fig:opt_stiff_hac_dvf_L_cas_disp_error]]. Finally, the time domain position error signals are shown in Figure [[fig:opt_stiff_hac_dvf_L_pos_error]]. #+begin_src matlab :exports none n_av = 4; han_win = hanning(ceil(length(simout.Em.En.Data(:,1))/n_av)); t = simout.Em.En.Time; Ts = t(2)-t(1); [pxx_ol, f] = pwelch(tomo_align_dist.Em.En.Data, han_win, [], [], 1/Ts); pxx_dvf_L = zeros(length(f), 6, length(Ms)); for i = 1:length(Ms) [pxx, ~] = pwelch(hac_dvf_L{i}.Em.En.Data(ceil(0.2/Ts):end,:), han_win, [], [], 1/Ts); pxx_dvf_L(:, :, i) = pxx; end #+end_src #+begin_src matlab :exports none figure; ax1 = subplot(2, 3, 1); hold on; plot(f, sqrt(pxx_ol(:, 1)), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(pxx_dvf_L(:, 1, i))) end hold off; xlabel('Frequency [Hz]'); ylabel('$\Gamma_{D_x}$ [$m/\sqrt{Hz}$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ax2 = subplot(2, 3, 2); hold on; plot(f, sqrt(pxx_ol(:, 2)), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(pxx_dvf_L(:, 2, i))) end hold off; xlabel('Frequency [Hz]'); ylabel('$\Gamma_{D_y}$ [$m/\sqrt{Hz}$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ax3 = subplot(2, 3, 3); hold on; plot(f, sqrt(pxx_ol(:, 3)), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(pxx_dvf_L(:, 3, i))) end hold off; xlabel('Frequency [Hz]'); ylabel('$\Gamma_{D_z}$ [$m/\sqrt{Hz}$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ax4 = subplot(2, 3, 4); hold on; plot(f, sqrt(pxx_ol(:, 4)), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(pxx_dvf_L(:, 4, i))) end hold off; xlabel('Frequency [Hz]'); ylabel('$\Gamma_{R_x}$ [$rad/\sqrt{Hz}$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ax5 = subplot(2, 3, 5); hold on; plot(f, sqrt(pxx_ol(:, 5)), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(pxx_dvf_L(:, 5, i))) end hold off; xlabel('Frequency [Hz]'); ylabel('$\Gamma_{R_y}$ [$rad/\sqrt{Hz}$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ax6 = subplot(2, 3, 6); hold on; plot(f, sqrt(pxx_ol(:, 6)), 'k-', 'DisplayName', '$\mu$-Station') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(pxx_dvf_L(:, 6, i)), ... 'DisplayName', sprintf('HAC-DVF $m = %.0f kg$', Ms(i))) end hold off; xlabel('Frequency [Hz]'); ylabel('$\Gamma_{R_z}$ [$rad/\sqrt{Hz}$]'); legend('location', 'southwest'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x'); xlim([f(2), f(end)]) #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_hac_dvf_L_psd_disp_error.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_hac_dvf_L_psd_disp_error #+caption: Amplitude Spectral Density of the position error in Open Loop and with the HAC-LAC controller #+RESULTS: [[file:figs/opt_stiff_hac_dvf_L_psd_disp_error.png]] #+begin_src matlab :exports none figure; ax1 = subplot(2, 3, 1); hold on; plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 1))))), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 1, i)))))); end hold off; xlabel('Frequency [Hz]'); ylabel('CAS $D_x$ [$m$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylim([1e-11, 1e-5]); ax2 = subplot(2, 3, 2); hold on; plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 2))))), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 2, i)))))); end hold off; xlabel('Frequency [Hz]'); ylabel('CAS $D_y$ [$m$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylim([1e-11, 1e-5]); ax3 = subplot(2, 3, 3); hold on; plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 3))))), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 3, i)))))); end hold off; xlabel('Frequency [Hz]'); ylabel('CAS $D_z$ [$m$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylim([1e-11, 1e-5]); ax4 = subplot(2, 3, 4); hold on; plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 4))))), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 4, i)))))); end hold off; xlabel('Frequency [Hz]'); ylabel('CAS $R_x$ [$rad$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylim([1e-11, 1e-5]); ax5 = subplot(2, 3, 5); hold on; plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 5))))), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 5, i)))))); end hold off; xlabel('Frequency [Hz]'); ylabel('CAS $R_y$ [$rad$]'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylim([1e-11, 1e-5]); ax6 = subplot(2, 3, 6); hold on; plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_ol(:, 6))))), 'k-', 'DisplayName', '$\mu$-Station') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(f, sqrt(flip(-cumtrapz(flip(f), flip(pxx_dvf_L(:, 6, i))))), ... 'DisplayName', sprintf('HAC-DVF $m = %.0f kg$', Ms(i))); end hold off; xlabel('Frequency [Hz]'); ylabel('CAS $R_z$ [$rad$]'); legend('location', 'southwest'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylim([1e-11, 1e-5]); linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x'); xlim([f(2), f(end)]) #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_hac_dvf_L_cas_disp_error.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_hac_dvf_L_cas_disp_error #+caption: Cumulative Amplitude Spectrum of the position error in Open Loop and with the HAC-LAC controller #+RESULTS: [[file:figs/opt_stiff_hac_dvf_L_cas_disp_error.png]] #+begin_src matlab :exports none figure; ax1 = subplot(2, 3, 1); hold on; plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 1), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 1)); end hold off; xlabel('Time [s]'); ylabel('Dx [m]'); ax2 = subplot(2, 3, 2); hold on; plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 2), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 2)); end hold off; xlabel('Time [s]'); ylabel('Dy [m]'); ax3 = subplot(2, 3, 3); hold on; plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 3), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 3)); end hold off; xlabel('Time [s]'); ylabel('Dz [m]'); ax4 = subplot(2, 3, 4); hold on; plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 4), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 4)); end hold off; xlabel('Time [s]'); ylabel('Rx [rad]'); ax5 = subplot(2, 3, 5); hold on; plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 5), 'k-') for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 5)); end hold off; xlabel('Time [s]'); ylabel('Ry [rad]'); ax6 = subplot(2, 3, 6); hold on; plot(tomo_align_dist.Em.En.Time, tomo_align_dist.Em.En.Data(:, 6), 'k-', ... 'DisplayName', '$\mu$-Station'); for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(hac_dvf_L{i}.Em.En.Time, hac_dvf_L{i}.Em.En.Data(:, 6), ... 'DisplayName', sprintf('HAC-DVF $m = %.0f kg$', Ms(i))); end hold off; xlabel('Time [s]'); ylabel('Rz [rad]'); legend(); linkaxes([ax1,ax2,ax3,ax4],'x'); xlim([0.5, inf]); #+end_src #+begin_src matlab :tangle no :exports results :results file replace exportFig('figs/opt_stiff_hac_dvf_L_pos_error.pdf', 'width', 'full', 'height', 'full') #+end_src #+name: fig:opt_stiff_hac_dvf_L_pos_error #+caption: Position Error of the sample during a tomography experiment when no control is applied and with the HAC-DVF control architecture #+RESULTS: [[file:figs/opt_stiff_hac_dvf_L_pos_error.png]] ** Conclusion #+begin_important #+end_important * Primary Control in the task space <> ** Introduction :ignore: In this section, the control architecture shown in Figure [[fig:control_architecture_hac_dvf_pos_X]] is applied and consists of: - an inner Low Authority Control loop consisting of a decentralized direct velocity control controller - an outer loop with the primary controller $\bm{K}_\mathcal{X}$ designed in the task space #+name: fig:control_architecture_hac_dvf_pos_X #+caption: HAC-LAC architecture [[file:figs/control_architecture_hac_dvf_pos_X.png]] ** Plant in the task space Let's look $\bm{G}_\mathcal{X}(s)$. #+begin_src matlab :exports none freqs = logspace(0, 3, 5000); figure; ax1 = subplot(2, 2, 1); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(1, 1), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(2, 2), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_x/\mathcal{F}_x$, $\mathcal{X}_y/\mathcal{F}_y$') ax2 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(3, 3), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [m/N]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_z/\mathcal{F}_z$') ax3 = subplot(2, 2, 3); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(1, 1), freqs, 'Hz'))))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(2, 2), freqs, 'Hz'))))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(3, 3), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'southwest'); linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; ax1 = subplot(2, 2, 1); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(4, 4), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(5, 5), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [rad/(N m)]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_{R_x}/\mathcal{M}_x$, $\mathcal{X}_{R_y}/\mathcal{M}_y$') ax2 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(6, 6), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [rad/(N m)]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_{R_z}/\mathcal{M}_z$') ax3 = subplot(2, 2, 3); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(4, 4), freqs, 'Hz'))))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(5, 5), freqs, 'Hz'))))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(6, 6), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'southwest'); linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src ** Control in the task space #+begin_src matlab Kx = tf(zeros(6)); h = 2.5; Kx(1,1) = 3e7 * ... 1/h*(s/(2*pi*100/h) + 1)/(s/(2*pi*100*h) + 1) * ... (s/2/pi/1 + 1)/(s/2/pi/1); Kx(2,2) = Kx(1,1); h = 2.5; Kx(3,3) = 3e7 * ... 1/h*(s/(2*pi*100/h) + 1)/(s/(2*pi*100*h) + 1) * ... (s/2/pi/1 + 1)/(s/2/pi/1); #+end_src #+begin_src matlab h = 1.5; Kx(4,4) = 5e5 * ... 1/h*(s/(2*pi*100/h) + 1)/(s/(2*pi*100*h) + 1) * ... (s/2/pi/1 + 1)/(s/2/pi/1); Kx(5,5) = Kx(4,4); h = 1.5; Kx(6,6) = 5e4 * ... 1/h*(s/(2*pi*30/h) + 1)/(s/(2*pi*30*h) + 1) * ... (s/2/pi/1 + 1)/(s/2/pi/1); #+end_src #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; ax1 = subplot(2, 2, 1); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(1, 1)*Kx(1,1), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(2, 2)*Kx(2,2), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Loop Gain'); set(gca, 'XTickLabel',[]); title('Loop Gain $x$ and $y$') ax2 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(3, 3)*Kx(3,3), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Loop Gain'); set(gca, 'XTickLabel',[]); title('Loop Gain $z$') ax3 = subplot(2, 2, 3); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(1, 1)*Kx(1,1), freqs, 'Hz'))))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(2, 2)*Kx(2,2), freqs, 'Hz'))))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(3, 3)*Kx(3,3), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'southwest'); linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src #+begin_src matlab :exports none freqs = logspace(0, 3, 1000); figure; ax1 = subplot(2, 2, 1); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(4, 4)*Kx(4,4), freqs, 'Hz')))); set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(5, 5)*Kx(5,5), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [rad/(N m)]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_{R_x}/\mathcal{M}_x$, $\mathcal{X}_{R_y}/\mathcal{M}_y$') ax2 = subplot(2, 2, 2); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, abs(squeeze(freqresp(Gm_x{i}(6, 6)*Kx(6,6), freqs, 'Hz')))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); ylabel('Amplitude [rad/(N m)]'); set(gca, 'XTickLabel',[]); title('$\mathcal{X}_{R_z}/\mathcal{M}_z$') ax3 = subplot(2, 2, 3); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(4, 4)*Kx(4,4), freqs, 'Hz'))))); set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(5, 5)*Kx(5,5), freqs, 'Hz'))))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); ax4 = subplot(2, 2, 4); hold on; for i = 1:length(Ms) set(gca,'ColorOrderIndex',i); plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gm_x{i}(6, 6)*Kx(6,6), freqs, 'Hz')))), ... 'DisplayName', sprintf('$m_p = %.0f [kg]$', Ms(i))); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); ylabel('Phase [deg]'); xlabel('Frequency [Hz]'); ylim([-270, 90]); yticks([-360:90:360]); legend('location', 'southwest'); linkaxes([ax1,ax2,ax3,ax4],'x'); #+end_src *** Stability #+begin_src matlab for i = 1:length(Ms) isstable(feedback(Gm_x{i}*Kx, eye(6), -1)) end #+end_src ** Simulation ** Conclusion #+begin_important #+end_important