nass-simscape/nass_simscape.org

Simscape model - Report

• Simscape files for identification
• Inputs
  • Perturbations
  • Measurement Noise
  • Control Inputs
• Outputs

Simscape files for identification

Simscape Name	Ty	Ry	Rz	Hexa	NASS
id micro station	F	F	F	F
id nano station stages	F	F	F	F	F
id nano station config	D	D	D	D	F
control nano station	D	D	D	D	F

Inputs

Perturbations

Variable	Meaning	Size	Unit
Dw	Ground motion	3	[m]
Fg	External force applied on granite	3	[N]
Fs	External force applied on the Sample	3	[N]

Measurement Noise

Variable

Meaning

Size

Unit

Control Inputs

Variable	Meaning	Size	Unit
Fy	Actuation force for Ty	1	[N]
Dy	Imposed displacement for Ty	1	[m]
My	Actuation torque for Ry	1	[N.m]
Ry	Imposed rotation for Ry	1	[rad]
Mz	Actuation torque for Rz	1	[N.m]
Rz	Imposed rotation for Rz	1	[rad]
Fh	Actuation force/torque for hexapod (cart)	6	[N, N.m]
Fhl	Actuation force/torque for hexapod (legs)	6	[N]
Dh	Imposed position for hexapod (cart)	6	[m, rad]
Rm	Position of the two masses	2	[rad]
Fn	Actuation force for the NASS (cart)	6	[N, N.m]
Fnl	Actuation force for the NASS's legs	6	[N]
Dn	Imposed position for the NASS (cart)	6	[m, rad]

Outputs

Variable	Meaning	Size	Unit
Dgm	Absolute displacement of the granite	3	[m]
Vgm	Absolute Velocity of the granite	3	[m/s]
Dym	Measured displacement of Ty	1	[m]
Rym	Measured rotation of Ry	1	[rad]
Rzm	Measured rotation of Rz	1	[rad]
Dhm	Measured position of hexapod (cart)	6	[m, rad]
Fnlm	Measured force of NASS's legs	6	[N]
Dnlm	Measured elongation of NASS's legs	6	[m]
Dnm	Measured position of NASS w.r.t NASS's base	6	[m, rad]
Vnm	Measured absolute velocity of NASS platform	6	[m/s, rad/s]
Vnlm	Measured absolute velocity of NASS's legs	6	[m/s]
Dsm	Position of Sample w.r.t. granite frame	6	[m, rad]