Control of the NASS with optimal stiffness

Table of Contents

1. Low Authority Control - Decentralized Integral Force Feedback
2. Primary Control
- 2.1. Identification
- 2.2. Controller Design
3. Simulations

1 Low Authority Control - Decentralized Integral Force Feedback

1.1 Initialization

We initialize all the stages with the default parameters.

initializeGround();
initializeGranite();
initializeTy();
initializeRy();
initializeRz();
initializeMicroHexapod();
initializeAxisc();
initializeMirror();

We set the references that corresponds to a tomography experiment.

initializeReferences('Rz_type', 'rotating-not-filtered', 'Rz_period', 1);
initializeSimscapeConfiguration();
initializeDisturbances('enable', false);
initializeLoggingConfiguration('log', 'none');

initializeController('type', 'hac-iff');

1.2 Identification

Kx = tf(zeros(6));
Kiff = tf(zeros(6));

Ms = [1, 10, 50];

Gm_iff = {zeros(length(Ms), 1)};

initializeNanoHexapod('k', 1e5, 'c', 2e2);

1.3 Controller Design

Root Locus

Figure 1: Root Locus for the

Damping as function of the gain

2 Primary Control

2.1 Identification

2.2 Controller Design

3 Simulations

Author: Dehaeze Thomas

Created: 2020-04-08 mer. 17:22