55 lines
1.8 KiB
Org Mode
55 lines
1.8 KiB
Org Mode
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#+TITLE: Control in a rotating frame
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#+AUTHOR: Dehaeze Thomas
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#+EMAIL: dehaeze.thomas@gmail.com
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#+DATE: {{{time(%Y-%m-%d)}}}
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#+DESCRIPTION: Course about Optimal and Robust Control
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#+KEYWORDS: control optimal robust lqr lqg hinfinity
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#+LANGUAGE: en
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#+STARTUP: beamer
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#+LaTeX_CLASS: clean-beamer
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#+LaTeX_CLASS_OPTIONS: [t]
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#+OPTIONS: H:2
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#+OPTIONS: num:t toc:t ::t |:t ^:{} -:t f:t *:t <:t
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#+SELECT_TAGS: export
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#+EXCLUDE_TAGS: noexport
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#+COLUMNS: %20ITEM %13BEAMER_env(Env) %6BEAMER_envargs(Args) %4BEAMER_col(Col) %7BEAMER_extra(Extra)
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#+latex_header: \AtBeginSection[]{\begin{frame}<beamer>\frametitle{Topic}\tableofcontents[currentsection]\end{frame}}
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* Simscape Model
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#+name: fig:simscape
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#+caption: Screen of simscape multibody model
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#+attr_latex: :float t :width 0.7\linewidth
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[[./Figures/simscape.png]]
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* Simscape Model
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#+name: fig:simulink_ctrl
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#+caption: Simulink Blocks
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#+attr_latex: :float t :width 0.9\linewidth
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[[./Figures/simulink_ctrl.png]]
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* Identification in the rotating frame
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The rotation speed increase the coupling between the rotating actuators and sensors (figure ref:fig:G_u_v).
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#+name: fig:G_u_v
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#+caption: Transfer function from forces to displacement in the rotating frame
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#+attr_latex: :float t
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[[./Figures/G_u_v.pdf]]
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* Identification in the cartesian frame
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#+name: fig:G_x_y
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#+caption: Plant from force to displacement in the cartesian frame
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#+attr_latex: :float t :width 0.8\linewidth
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[[./Figures/G_x_y.pdf]]
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* Identification in the cartesian frame
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#+name: fig:G_x_y_e
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#+caption: Plant from force to displacement in the cartesian frame with small angle estimation error
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#+attr_latex: :float t :width 0.8\linewidth
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[[./Figures/G_x_y_e.pdf]]
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* Control result
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#+name: fig:D_x_y
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#+caption: Control result with a simple PID
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#+attr_latex: :float t :width 0.8\linewidth
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[[./Figures/D_x_y.pdf]]
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