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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:shell :eval no-export -:END: - -* Introduction :ignore: -The objective of this note it to highlight some control problems that arises when controlling the position of an object using actuators that are rotating with respect to a fixed reference frame. - -In section [[sec:system]], a simple system composed of a spindle and a translation stage is defined and the equations of motion are written. -The rotation induces some coupling between the actuators and their displacement, and modifies the dynamics of the system. -This is studied using the equations, and some numerical computations are used to compare the use of voice coil and piezoelectric actuators. - -In sections [[sec:iff]] and [[sec:dvf]], the use of Integral Force Feedback and Direct Velocity Feedback is studied for the case of rotating positioning platforms. - -Then, in section [[sec:control_strategies]], two different control approach are compared where: -- the measurement is made in the fixed frame -- the measurement is made in the rotating frame - -In section [[sec:simscape]], the analytical study will be validated using a multi body model of the studied system. - -* System Description and Analysis -:PROPERTIES: -:HEADER-ARGS:matlab+: :tangle matlab/system_numerical_analysis.m -:END: -<> -** Matlab Init :noexport:ignore: -#+begin_src matlab :tangle no :exports none :noweb yes :var current_dir=(file-name-directory buffer-file-name) - <> -#+end_src - -#+begin_src matlab :exports none :noweb yes - <> -#+end_src - -** System description -The system consists of one 2 degree of freedom translation stage on top of a spindle (figure [[fig:rotating_frame_2dof]]). - -The control inputs are the forces applied by the actuators of the translation stage ($F_u$ and $F_v$). -As the translation stage is rotating around the Z axis due to the spindle, the forces are applied along $u$ and $v$. - -The measurement is either the $x-y$ displacement of the object located on top of the translation stage or the $u-v$ displacement of the sample with respect to a fixed reference frame. - -#+name: fig:rotating_frame_2dof -#+caption: Schematic of the mechanical system -[[./figs/rotating_frame_2dof.png]] - -In the following block diagram: -- $G$ is the transfer function from the forces applied in the actuators to the measurement -- $K$ is the controller to design -- $J$ is a Jacobian matrix usually used to change the reference frame - -Indices $x$ and $y$ corresponds to signals in the fixed reference frame (along $\vec{i}_x$ and $\vec{i}_y$): -- $D_x$ is the measured position of the sample -- $r_x$ is the reference signal which corresponds to the wanted $D_x$ -- $\epsilon_x$ is the position error - -Indices $u$ and $v$ corresponds to signals in the rotating reference frame ($\vec{i}_u$ and $\vec{i}_v$): -- $F_u$ and $F_v$ are forces applied by the actuators -- $\epsilon_u$ and $\epsilon_v$ are position error of the sample along $\vec{i}_u$ and $\vec{i}_v$ - -** Equations -<> -Based on the figure [[fig:rotating_frame_2dof]], we can write the equations of motion of the system. - -Let's express the kinetic energy $T$ and the potential energy $V$ of the mass $m$: -#+name: eq:energy_inertial_frame -\begin{align} -T & = \frac{1}{2} m \left( \dot{x}^2 + \dot{y}^2 \right) \\ -V & = \frac{1}{2} k \left( x^2 + y^2 \right) -\end{align} - -The Lagrangian is the kinetic energy minus the potential energy. -#+name: eq:lagrangian_inertial_frame -\begin{equation} -L = T-V = \frac{1}{2} m \left( \dot{x}^2 + \dot{y}^2 \right) - \frac{1}{2} k \left( x^2 + y^2 \right) -\end{equation} - - -The partial derivatives of the Lagrangian with respect to the variables $(x, y)$ are: -#+name: eq:inertial_frame_deriv -\begin{align*} -\frac{\partial L}{\partial x} & = -kx \\ -\frac{\partial L}{\partial y} & = -ky \\ -\frac{d}{dt}\frac{\partial L}{\partial \dot{x}} & = m\ddot{x} \\ -\frac{d}{dt}\frac{\partial L}{\partial \dot{y}} & = m\ddot{y} -\end{align*} - -The external forces applied to the mass are: -\begin{align*} -F_{\text{ext}, x} &= F_u \cos{\theta} - F_v \sin{\theta}\\ -F_{\text{ext}, y} &= F_u \sin{\theta} + F_v \cos{\theta} -\end{align*} - -By applying the Lagrangian equations, we obtain: -\begin{align} -m\ddot{x} + kx = F_u \cos{\theta} - F_v \sin{\theta}\\ -m\ddot{y} + ky = F_u \sin{\theta} + F_v \cos{\theta} -\end{align} - -We then change coordinates from $(x, y)$ to $(d_x, d_y, \theta)$. -\begin{align*} -x & = d_u \cos{\theta} - d_v \sin{\theta}\\ -y & = d_u \sin{\theta} + d_v \cos{\theta} -\end{align*} - -We obtain: -\begin{align*} -\dot{x} & = \dot{d_u} \cos{\theta} - d_u\dot{\theta}\sin{\theta} - \dot{d_v}\sin{\theta} - d_v\dot{\theta} \cos{\theta} \\ -\dot{y} & = \dot{d_u} \sin{\theta} + d_u\dot{\theta}\cos{\theta} + \dot{d_v}\cos{\theta} - d_v\dot{\theta} \sin{\theta} -\end{align*} -and: -\begin{align*} -\ddot{x} & = \ddot{d_u} \cos{\theta} - 2\dot{d_u}\dot{\theta}\sin{\theta} - d_u\ddot{\theta}\sin{\theta} - d_u\dot{\theta}^2 \cos{\theta} - - \ddot{d_v} \sin{\theta} - 2\dot{d_v}\dot{\theta}\cos{\theta} - d_v\ddot{\theta}\cos{\theta} + d_v\dot{\theta}^2 \sin{\theta} \\ -\ddot{y} & = \ddot{d_u} \sin{\theta} + 2\dot{d_u}\dot{\theta}\cos{\theta} + d_u\ddot{\theta}\cos{\theta} - d_u\dot{\theta}^2 \sin{\theta} - + \ddot{d_v} \cos{\theta} - 2\dot{d_v}\dot{\theta}\sin{\theta} - d_v\ddot{\theta}\sin{\theta} - d_v\dot{\theta}^2 \cos{\theta} \\ -\end{align*} - -By injecting the previous result into the Lagrangian equation, we obtain: -\begin{align*} - m \ddot{d_u} \cos{\theta} - 2m\dot{d_u}\dot{\theta}\sin{\theta} - m d_u\ddot{\theta}\sin{\theta} - m d_u\dot{\theta}^2 \cos{\theta} -- m \ddot{d_v} \sin{\theta} - 2m\dot{d_v}\dot{\theta}\cos{\theta} - m d_v\ddot{\theta}\cos{\theta} + m d_v\dot{\theta}^2 \sin{\theta} -+ c \dot{d_u} \cos{\theta} - c d_u\dot{\theta}\sin{\theta} - c \dot{d_v}\sin{\theta} - c d_v\dot{\theta} \cos{\theta} -+ k d_u \cos{\theta} - k d_v \sin{\theta} = F_u \cos{\theta} - F_v \sin{\theta} \\ - m \ddot{d_u} \sin{\theta} + 2m\dot{d_u}\dot{\theta}\cos{\theta} + m d_u\ddot{\theta}\cos{\theta} - m d_u\dot{\theta}^2 \sin{\theta} -+ m \ddot{d_v} \cos{\theta} - 2m\dot{d_v}\dot{\theta}\sin{\theta} - m d_v\ddot{\theta}\sin{\theta} - m d_v\dot{\theta}^2 \cos{\theta} -+ c \dot{d_u} \sin{\theta} + c d_u\dot{\theta}\cos{\theta} + c \dot{d_v}\cos{\theta} - c d_v\dot{\theta} \sin{\theta} -+ k d_u \sin{\theta} + k d_v \cos{\theta} = F_u \sin{\theta} + F_v \cos{\theta} -\end{align*} - - -Which is equivalent to: -\begin{align*} - m \ddot{d_u} - 2m\dot{d_u}\dot{\theta}\frac{\sin{\theta}}{\cos{\theta}} - m d_u\ddot{\theta}\frac{\sin{\theta}}{\cos{\theta}} - m d_u\dot{\theta}^2 -- m \ddot{d_v} \frac{\sin{\theta}}{\cos{\theta}} - 2m\dot{d_v}\dot{\theta} - m d_v\ddot{\theta} + m d_v\dot{\theta}^2 \frac{\sin{\theta}}{\cos{\theta}} -+ c \dot{d_u} - c d_u\dot{\theta}\frac{\sin{\theta}}{\cos{\theta}} - c \dot{d_v}\frac{\sin{\theta}}{\cos{\theta}} - c d_v\dot{\theta} -+ k d_u - k d_v \frac{\sin{\theta}}{\cos{\theta}} = F_u - F_v \frac{\sin{\theta}}{\cos{\theta}} \\ - m \ddot{d_u} + 2m\dot{d_u}\dot{\theta}\frac{\cos{\theta}}{\sin{\theta}} + m d_u\ddot{\theta}\frac{\cos{\theta}}{\sin{\theta}} - m d_u\dot{\theta}^2 -+ m \ddot{d_v} \frac{\cos{\theta}}{\sin{\theta}} - 2m\dot{d_v}\dot{\theta} - m d_v\ddot{\theta} - m d_v\dot{\theta}^2 \frac{\cos{\theta}}{\sin{\theta}} -+ c \dot{d_u} + c d_u\dot{\theta}\frac{\cos{\theta}}{\sin{\theta}} + c \dot{d_v}\frac{\cos{\theta}}{\sin{\theta}} - c d_v\dot{\theta} -+ k d_u + k d_v \frac{\cos{\theta}}{\sin{\theta}} = F_u + F_v \frac{\cos{\theta}}{\sin{\theta}} -\end{align*} - -We can then subtract and add the previous equations to obtain the following equations: -#+begin_important -#+NAME: eq:du_coupled -\begin{equation} - m \ddot{d}_{u} + c \dot{d}_{u} + (k - m\dot{\theta}^2) d_u = F_u + 2 m\dot{d}_v\dot{\theta} + m d_v\ddot{\theta} + c d_{v} \dot{\theta} -\end{equation} -#+NAME: eq:dv_coupled -\begin{equation} - m \ddot{d}_{v} + c \dot{d}_{v} + (k - m\dot{\theta}^2) d_v = F_v - 2 m\dot{d}_u\dot{\theta} - m d_u\ddot{\theta} - c d_{u} \dot{\theta} -\end{equation} -#+end_important - -We obtain two differential equations that are coupled through: -- *Euler forces*: $m d_v \ddot{\theta}$ -- *Coriolis forces*: $2 m \dot{d_v} \dot{\theta}$ - -Without the coupling terms, each equation is the equation of a one degree of freedom mass-spring system with mass $m$ and stiffness $k- m\dot{\theta}^2$. -Thus, the term $- m\dot{\theta}^2$ acts like a negative stiffness (due to *centrifugal forces*). - -The forces induced by the rotating reference frame are independent of the stiffness of the actuator. -The resulting effect of those forces should then be higher when using softer actuators. - -** Numerical Values for the NASS -Let's define the parameters for the NASS. -#+begin_src matlab :exports none - mlight = 35; % Mass for light sample [kg] - mheavy = 85; % Mass for heavy sample [kg] - - wlight = 2*pi; % Max rot. speed for light sample [rad/s] - wheavy = 2*pi/60; % Max rot. speed for heavy sample [rad/s] - - kvc = 1e3; % Voice Coil Stiffness [N/m] - kpz = 1e8; % Piezo Stiffness [N/m] - - wdot = 1; % Maximum rotation acceleration [rad/s2] - - d = 0.01; % Maximum excentricity from rotational axis [m] - ddot = 0.2; % Maximum Horizontal speed [m/s] - - save('./mat/parameters.mat'); -#+end_src - -#+begin_src matlab :results table :exports results - labels = {'Light sample mass [kg]', ... - 'Heavy sample mass [kg]', ... - 'Max rot. speed - light [rpm]', ... - 'Max rot. speed - heavy [rpm]', ... - 'Voice Coil Stiffness [N/m]', ... - 'Piezo Stiffness [N/m]', ... - 'Max rot. acceleration [rad/s2]', ... - 'Max mass excentricity [m]', ... - 'Max Horizontal speed [m/s]'}; - data = [mlight, mheavy, 60*wlight/2/pi, 60*wheavy/2/pi, kvc, kpz, wdot, d, ddot]; - data2orgtable(data', labels, {}, ' %.1e ') -#+end_src - -#+RESULTS: -| Light sample mass [kg] | 3.5e+01 | -| Heavy sample mass [kg] | 8.5e+01 | -| Max rot. speed - light [rpm] | 6.0e+01 | -| Max rot. speed - heavy [rpm] | 1.0e+00 | -| Voice Coil Stiffness [N/m] | 1.0e+03 | -| Piezo Stiffness [N/m] | 1.0e+08 | -| Max rot. acceleration [rad/s2] | 1.0e+00 | -| Max mass excentricity [m] | 1.0e-02 | -| Max Horizontal speed [m/s] | 2.0e-01 | - -** Euler and Coriolis forces - Numerical Result -First we will determine the value for Euler and Coriolis forces during regular experiment. -- *Euler forces*: $m d_v \ddot{\theta}$ -- *Coriolis forces*: $2 m \dot{d_v} \dot{\theta}$ - -#+begin_src matlab :exports none - Felight = mlight*d*wdot; - Feheavy = mheavy*d*wdot; - - Fclight = 2*mlight*ddot*wlight; - Fcheavy = 2*mheavy*ddot*wheavy; -#+end_src - -The obtained values are displayed in table [[tab:euler_coriolis]]. - -#+begin_src matlab :results value table :exports results :post addhdr(*this*) - data = [Fclight, Fcheavy ; - Felight, Feheavy]; - data2orgtable(data, {'Coriolis', 'Euler'}, {'Light', 'Heavy'}, ' %.1fN ') -#+end_src - -#+NAME: tab:euler_coriolis -#+CAPTION: Euler and Coriolis forces for the NASS -#+RESULTS: -| | Light | Heavy | -|----------+-------+-------| -| Coriolis | 88.0N | 3.6N | -| Euler | 0.4N | 0.8N | - -** Negative Spring Effect - Numerical Result -The negative stiffness due to the rotation is equal to $-m{\omega_0}^2$. - -#+begin_src matlab :exports none - Klight = mlight*wlight^2; - Kheavy = mheavy*wheavy^2; -#+end_src - -The values for the negative spring effect are displayed in table [[tab:negative_spring]]. - -This is definitely negligible when using piezoelectric actuators. It may not be the case when using voice coil actuators. - -#+begin_src matlab :results value table :exports results :post addhdr(*this*) - data = [Klight, Kheavy]; - data2orgtable(data, {'Neg. Spring'}, {'Light', 'Heavy'}, ' %.1f[N/m] ') -#+end_src - -#+NAME: tab:negative_spring -#+CAPTION: Negative Spring effect -#+RESULTS: -| | Light | Heavy | -|-------------+-------------+----------| -| Neg. Spring | 1381.7[N/m] | 0.9[N/m] | - -** Limitations due to coupling -*** Equations -To simplify, we consider a constant rotating speed $\dot{\theta} = \omega_0$ and thus $\ddot{\theta} = 0$. - -From equations [[eq:du_coupled]] and [[eq:dv_coupled]], we obtain: -\begin{align*} - (m s^2 + c s + (k - m{\omega_0}^2)) d_u &= F_u + 2 m \omega_0 s d_v + c \omega_0 d_v \\ - (m s^2 + c s + (k - m{\omega_0}^2)) d_v &= F_v - 2 m \omega_0 s d_u - c \omega_0 d_v -\end{align*} - -From second equation: -\[ d_v = \frac{1}{m s^2 + (k - m{\omega_0}^2)} F_v - \frac{2 m {\omega_0} s}{m s^2 + (k - m{\omega_0}^2)} d_u \] - -And we re-inject $d_v$ into the first equation: -\begin{equation*} -(m s^2 + (k - m{\omega_0}^2)) d_u = F_u + \frac{2 m {\omega_0} s}{m s^2 + (k - m{\omega_0}^2)} F_v - \frac{(2 m {\omega_0} s)^2}{m s^2 + (k - m{\omega_0}^2)} d_u -\end{equation*} - -\begin{equation*} -\frac{(m s^2 + (k - m{\omega_0}^2))^2 + (2 m {\omega_0} s)^2}{m s^2 + (k - m{\omega_0}^2)} d_u = F_u + \frac{2 m {\omega_0} s}{m s^2 + (k - m{\omega_0}^2)} F_v -\end{equation*} - -Finally we obtain $d_u$ function of $F_u$ and $F_v$. -\[ d_u = \frac{m s^2 + (k - m{\omega_0}^2)}{(m s^2 + (k - m{\omega_0}^2))^2 + (2 m {\omega_0} s)^2} F_u + \frac{2 m {\omega_0} s}{(m s^2 + (k - m{\omega_0}^2))^2 + (2 m {\omega_0} s)^2} F_v \] - -Similarly we can obtain $d_v$ function of $F_u$ and $F_v$: -\[ d_v = \frac{m s^2 + (k - m{\omega_0}^2)}{(m s^2 + (k - m{\omega_0}^2))^2 + (2 m {\omega_0} s)^2} F_v - \frac{2 m {\omega_0} s}{(m s^2 + (k - m{\omega_0}^2))^2 + (2 m {\omega_0} s)^2} F_u \] - -The two previous equations can be written in a matrix form: -#+begin_important -#+NAME: eq:coupledplant -\begin{equation} -\begin{bmatrix} d_u \\ d_v \end{bmatrix} = -\frac{1}{(m s^2 + cs + (k - m{\omega_r}^2))^2 + (2 m {\omega_r} s + c \omega_r)^2} -\begin{bmatrix} - ms^2 + cs + (k-m{\omega_r}^2) & 2 m \omega_r s + c \omega_r \\ - -2 m \omega_r s + c \omega_r & ms^2 + cs + (k-m{\omega_r}^2) -\end{bmatrix} -\begin{bmatrix} F_u \\ F_v \end{bmatrix} -\end{equation} -#+end_important - -Then, coupling is negligible if $|-m \omega^2 + (k - m{\omega_0}^2)| \gg |2 m {\omega_0} \omega|$. - -*** Numerical Analysis -We plot on the same graph $\frac{|-m \omega^2 + (k - m {\omega_0}^2)|}{|2 m \omega_0 \omega|}$ for the voice coil and the piezo: -- with the light sample (figure [[fig:coupling_light]]). -- with the heavy sample (figure [[fig:coupling_heavy]]). - -#+begin_src matlab :exports none - f = logspace(-1, 3, 1000); - - figure; - hold on; - plot(f, abs(-mlight*(2*pi*f).^2 + kvc - mlight * wlight^2)./abs(2*mlight*wlight*2*pi*f), 'DisplayName', 'Voice Coil') - plot(f, abs(-mlight*(2*pi*f).^2 + kpz - mlight * wlight^2)./abs(2*mlight*wlight*2*pi*f), 'DisplayName', 'Piezo') - plot(f, ones(1, length(f)), 'k--', 'HandleVisibility', 'off') - hold off; - xlim([f(1), f(end)]); - set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); - xlabel('Frequency [Hz]'); - legend('Location', 'northeast'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/coupling_light.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:coupling_light -#+CAPTION: Relative Coupling for light mass and high rotation speed -[[file:./figs/coupling_light.png]] - -#+begin_src matlab :exports none - figure; - hold on; - plot(f, abs(-mheavy*(2*pi*f).^2 + kvc - mheavy * wheavy^2)./abs(2*mheavy*wheavy*2*pi*f), 'DisplayName', 'Voice Coil') - plot(f, abs(-mheavy*(2*pi*f).^2 + kpz - mheavy * wheavy^2)./abs(2*mheavy*wheavy*2*pi*f), 'DisplayName', 'Piezo') - plot(f, ones(1, length(f)), 'k--', 'HandleVisibility', 'off') - hold off; - xlim([f(1), f(end)]); - set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); - xlabel('Frequency [Hz]'); - legend('Location', 'northeast'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/coupling_heavy.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:coupling_heavy -#+CAPTION: Relative Coupling for heavy mass and low rotation speed -[[file:figs/coupling_heavy.png]] - -#+begin_important -Coupling is higher for actuators with small stiffness. -#+end_important - -** Limitations due to negative stiffness effect -If $\max{\dot{\theta}} \ll \sqrt{\frac{k}{m}}$, then the negative spring effect is negligible and $k - m\dot{\theta}^2 \approx k$. - -Let's estimate what is the maximum rotation speed for which the negative stiffness effect is still negligible ($\omega_\text{max} = 0.1 \sqrt{\frac{k}{m}}$). Results are shown table [[tab:negative_stiffness]]. -#+begin_src matlab :results table :exports results :post addhdr(*this*) - data = 0.1*60*(1/2/pi)*[sqrt(kvc/mlight), sqrt(kpz/mlight); - sqrt(kvc/mheavy), sqrt(kpz/mheavy)]; - data2orgtable(data, {'Light', 'Heavy'}, {'Voice Coil', 'Piezo'}, ' %.0f[rpm] ') -#+end_src - -#+NAME: tab:negative_stiffness -#+CAPTION: Maximum rotation speed at which negative stiffness is negligible ($0.1\sqrt{\frac{k}{m}}$) -#+RESULTS: -| | Voice Coil | Piezo | -|-------+------------+-----------| -| Light | 5[rpm] | 1614[rpm] | -| Heavy | 3[rpm] | 1036[rpm] | - -The negative spring effect is proportional to the rotational speed $\omega$. -The system dynamics will be much more affected when using soft actuator. - -#+begin_important - Negative stiffness effect has very important effect when using soft actuators. -#+end_important - -The system can even goes unstable when $m \omega^2 > k$, that is when the centrifugal forces are higher than the forces due to stiffness. - -From this analysis, we can determine the lowest practical stiffness that is possible to use: $k_\text{min} = 10 m \omega^2$ (table sec:tab:min_k) - -#+begin_src matlab :results table :exports results :post addhdr(*this*) - data = 10*[mlight*2*pi, mheavy*2*pi/60] - data2orgtable(data, {'k min [N/m]'}, {'Light', 'Heavy'}, ' %.0f ') -#+end_src - -#+NAME: tab:min_k -#+CAPTION: Minimum possible stiffness -#+RESULTS: -| | Light | Heavy | -|-------------+-------+-------| -| k min [N/m] | 2199 | 89 | - -** Effect of rotation speed on the plant -*** Introduction :ignore: -As shown in equation [[eq:coupledplant]], the plant changes with the rotation speed $\omega_0$. - -Then, we compute the bode plot of the direct term and coupling term for multiple rotating speed. - -Then we compare the result between voice coil and piezoelectric actuators. - -*** Voice coil actuator -#+begin_src matlab :exports none - m = mlight; - k = kvc; - - ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] - - Gs = {zeros(1, length(ws))}; - Gcs = {zeros(1, length(ws))}; - - for i = 1:length(ws) - w = ws(i); - Gs(i) = {(m*s^2 + (k-m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; - Gcs(i) = {(2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; - end -#+end_src - -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - figure; - ax1 = subplot(2,1,1); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs{i}, freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,1,2); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - legend('Location', 'southwest'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/G_ws_vc.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> - #+end_src - -#+LABEL: fig:G_ws_vc -#+CAPTION: Bode plot of the direct transfer function term (from $F_u$ to $D_u$) for multiple rotation speed - Voice coil -[[file:figs/G_ws_vc.png]] - - -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - figure; - ax1 = subplot(2,1,1); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gcs{i}, freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,1,2); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gcs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - legend('Location', 'southwest'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/Gc_ws_vc.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:Gc_ws_vc -#+CAPTION: caption -[[file:figs/Gc_ws_vc.png]] - -*** Piezoelectric actuator -#+begin_src matlab :exports none - m = mlight; - k = kpz; - - ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] - - Gs = {zeros(1, length(ws))}; - Gcs = {zeros(1, length(ws))}; - - for i = 1:length(ws) - w = ws(i); - Gs(i) = {(m*s^2 + (k-m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; - Gcs(i) = {(2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; - end -#+end_src - -#+begin_src matlab :exports none - freqs = logspace(2, 3, 1000); - - figure; - ax1 = subplot(2,1,1); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs{i}, freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,1,2); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - legend('Location', 'southwest'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/G_ws_pz.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:G_ws_pz -#+CAPTION: Bode plot of the direct transfer function term (from $F_u$ to $D_u$) for multiple rotation speed - Piezoelectric actuator -[[file:figs/G_ws_pz.png]] - -#+begin_src matlab :exports none - figure; - ax1 = subplot(2,1,1); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gcs{i}, freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,1,2); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gcs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - legend('Location', 'southwest'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/Gc_ws_pz.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:Gc_ws_pz -#+CAPTION: Bode plot of the coupling transfer function term (from $F_u$ to $D_v$) for multiple rotation speed - Piezoelectric actuator -[[file:figs/Gc_ws_pz.png]] - -*** Analysis -When the rotation speed is null, the coupling terms are equal to zero and the diagonal terms corresponds to one degree of freedom mass spring system. - -When the rotation speed in not null, the resonance frequency is duplicated into two pairs of complex conjugate poles. - -As the rotation speed increases, one of the two resonant frequency goes to lower frequencies as the other one goes to higher frequencies. - -The poles of the coupling terms are the same as the poles of the diagonal terms. The magnitude of the coupling terms are increasing with the rotation speed. - -#+begin_important -As shown in the previous figures, the system with voice coil is much more sensitive to rotation speed. -#+end_important - -*** Campbell diagram -The poles of the system are computed for multiple values of the rotation frequency. To simplify the computation of the poles, we add some damping to the system. - -#+begin_src matlab :exports code - m = mlight; - k = kvc; - c = 0.1*sqrt(k*m); - - wsvc = linspace(0, 10, 100); % [rad/s] - - polesvc = zeros(2, length(wsvc)); - - for i = 1:length(wsvc) - polei = pole(1/((m*s^2 + c*s + (k - m*wsvc(i)^2))^2 + (2*m*wsvc(i)*s)^2)); - polesvc(:, i) = sort(polei(imag(polei) > 0)); - end -#+end_src - -#+begin_src matlab :exports code - m = mlight; - k = kpz; - c = 0.1*sqrt(k*m); - - wspz = linspace(0, 1000, 100); % [rad/s] - - polespz = zeros(2, length(wspz)); - - for i = 1:length(wspz) - polei = pole(1/((m*s^2 + c*s + (k - m*wspz(i)^2))^2 + (2*m*wspz(i)*s)^2)); - polespz(:, i) = sort(polei(imag(polei) > 0)); - end -#+end_src - -We then plot the real and imaginary part of the poles as a function of the rotation frequency (figures [[fig:poles_w_vc]] and [[fig:poles_w_pz]]). - -When the real part of one pole becomes positive, the system goes unstable. - -For the voice coil (figure [[fig:poles_w_vc]]), the system is unstable when the rotation speed is above 5 rad/s. The real and imaginary part of the poles of the system with piezoelectric actuators are changing much less (figure [[fig:poles_w_pz]]). - -#+begin_src matlab :exports none - figure; - % Amplitude - ax1 = subplot(1,2,1); - hold on; - plot(wsvc, real(polesvc(1, :))) - set(gca,'ColorOrderIndex',1) - plot(wsvc, real(polesvc(2, :))) - plot(wsvc, zeros(size(wsvc)), 'k--') - hold off; - xlabel('Rotation Frequency [rad/s]'); - ylabel('Pole Real Part'); - ax2 = subplot(1,2,2); - hold on; - plot(wsvc, imag(polesvc(1, :))) - set(gca,'ColorOrderIndex',1) - plot(wsvc, -imag(polesvc(1, :))) - set(gca,'ColorOrderIndex',1) - plot(wsvc, imag(polesvc(2, :))) - set(gca,'ColorOrderIndex',1) - plot(wsvc, -imag(polesvc(2, :))) - hold off; - xlabel('Rotation Frequency [rad/s]'); - ylabel('Pole Imaginary Part'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes :mkdirp yes -#+begin_src matlab :var filepath="figs/poles_w_vc.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:poles_w_vc -#+CAPTION: Real and Imaginary part of the poles of the system as a function of the rotation speed - Voice Coil and light sample -[[file:figs/poles_w_vc.png]] - - -#+begin_src matlab :exports none - figure; - % Amplitude - ax1 = subplot(1,2,1); - hold on; - plot(wspz, real(polespz(1, :))) - set(gca,'ColorOrderIndex',1) - plot(wspz, real(polespz(2, :))) - plot(wspz, zeros(size(wspz)), 'k--') - hold off; - xlabel('Rotation Frequency [rad/s]'); - ylabel('Pole Real Part'); - ax2 = subplot(1,2,2); - hold on; - plot(wspz, imag(polespz(1, :))) - set(gca,'ColorOrderIndex',1) - plot(wspz, -imag(polespz(1, :))) - set(gca,'ColorOrderIndex',1) - plot(wspz, imag(polespz(2, :))) - set(gca,'ColorOrderIndex',1) - plot(wspz, -imag(polespz(2, :))) - hold off; - xlabel('Rotation Frequency [rad/s]'); - ylabel('Pole Imaginary Part'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/poles_w_pz.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:poles_w_pz -#+CAPTION: Real and Imaginary part of the poles of the system as a function of the rotation speed - Piezoelectric actuator and light sample -[[file:figs/poles_w_pz.png]] - -* Integral Force Feedback -<> -** Introduction :ignore: -In this section, we study the use of Decentralized Integral Force Feedback (IFF) to damp the resonance of the positioning system. - -We thus suppose there is a force sensor in series with the actuator in the $u$ and $v$ directions. - -** Analytical Derivation of the transfer function for IFF control -The sensed forces are equal to: -\begin{align} - F_{um} &= F_u - k d_u \\ - F_{vm} &= F_v - k d_v -\end{align} - -If we consider a constant rotating speed $\dot{\theta} = \omega$, we have: -\begin{equation} -\begin{bmatrix} d_u \\ d_v \end{bmatrix} = -\frac{1}{(m s^2 + (k - m{\omega}^2))^2 + (2 m {\omega} s)^2} -\begin{bmatrix} - ms^2 + (k-m{\omega}^2) & 2 m \omega s \\ - -2 m \omega s & ms^2 + (k-m{\omega}^2) \\ -\end{bmatrix} -\begin{bmatrix} F_u \\ F_v \end{bmatrix} -\end{equation} - -Which then give: -\begin{align} - F_{um} &= \frac{(m s^2 + (k - m\omega^2))^2 + (2 m \omega s)^2 - k(m s^2 + (k - m\omega^2))}{(m s^2 + (k - m\omega^2))^2 + (2 m \omega s)^2} F_u - \frac{2 m \omega s}{(m s^2 + (k - m\omega^2))^2 + (2 m \omega s)^2} F_v\\ - F_{vm} &= \frac{2 m \omega s}{(m s^2 + (k - m\omega^2))^2 + (2 m \omega s)^2} F_u + \frac{(m s^2 + (k - m\omega^2))^2 + (2 m \omega s)^2 - k(m s^2 + (k - m\omega^2))}{(m s^2 + (k - m\omega^2))^2 + (2 m \omega s)^2} F_v -\end{align} - -If we note $\omega_0 = \sqrt{\frac{k}{m}}$, which corresponds to the resonance of the positioning system when not rotating, we obtain: -#+begin_important -\begin{align} - F_{um} &= \frac{s^4 + (\omega_0^2 + 2\omega^2) s^2 + \omega^2(\omega^2 - \omega_0^2)}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_u - \frac{2 \omega_0^2 \omega s}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_v\\ - F_{vm} &= \frac{2 \omega_0^2 \omega s}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_u + \frac{s^4 + (\omega_0^2 + 2\omega^2) s^2 + \omega^2(\omega^2 - \omega_0^2)}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_v -\end{align} -#+end_important - -** Low and High frequency Behavior -At high frequency, the force sensors give: -\begin{align} - F_{um} &= F_u \\ - F_{vm} &= F_v -\end{align} -which is usual for IFF control. - - -At low frequency: -\begin{align} - F_{um} &= \frac{\omega^2}{\omega_0^2 - \omega^2} F_u \\ - F_{vm} &= \frac{\omega^2}{\omega_0^2 - \omega^2} F_v -\end{align} - -The gain at low frequency is no more zero as it is usually the case. -Thus, a constant force will be sensed by the force sensor. - - -This could be explained by the fact that a constant force will induce some displacement of the mass. -The mass being more off-center with the rotation axis, it is experiencing a larger centrifugal force and this (constant) centrifugal force is sensed by the force sensor. -It is like a *negative stiffness is in parallel with both the stiffness and the force sensor*. - -** Poles and Zeros -Let's use Matlab Symbolic toolbox to find the analytical formula for the poles and zeros of the transfer function from the force actuators to the force sensors. - -Let's define the parameters and suppose that we have $\omega > \omega_0$ (stable poles). -#+begin_src matlab - syms w w0 positive - assume(w > w0) - syms x -#+end_src - -The characteristic equations to find the poles and zeros are: -#+begin_src matlab - z = x^4 + (w0^2 + 2*w^2)*x^2 + w^2*(w^2 - w0^2) == 0 - p = x^4 + 2*(w0^2 + w^2)*x^2 +(w^2 - w0^2)^2 == 0 -#+end_src - -#+begin_src matlab - solve(p, x) -#+end_src - -The obtained poles are: -\begin{align} - p_1 &= \pm j (\omega_0 - \omega) \\ - p_2 &= \pm j (\omega_0 + \omega) -\end{align} - -We obtain two pairs of complex conjugate poles: -- $p_1$ is going to lower frequencies as the rotating speed $\omega$ is increased -- $p_2$ is going to higher frequencies as the rotating speed $\omega$ is increased - -#+begin_src matlab - solve(z, x) -#+end_src - -The obtained zeros are: -\begin{align} - z_1 &= \pm j \sqrt{ \frac{1}{2} \omega_0 \sqrt{(8 \omega^2 + \omega_0^2)} + \omega^2 + \frac{1}{2} \omega_0^2 } \\ - z_2 &= \pm \sqrt{ \frac{1}{2} \omega_0 \sqrt{(8 \omega^2 + \omega_0^2)} - \omega^2 - \frac{1}{2} \omega_0^2 } -\end{align} - -Thus, there are *two complex conjugate zeros* and *two real zeros*. - -We can easily show that the frequency of the two complex conjugate zeros is between the frequency of $p_1$ and $p_2$. - -The effect of the two real zeros is an increase of +2 of the slope without change of phase (non-minimum phase behavior). - -#+begin_important -Also, as one zero has a positive real part, the *IFF control is no more unconditionally stable*. - -This is due to the fact that the zeros of the plant are the poles of the closed loop system with an infinite gain. - -Thus, for some finite IFF gain, one pole will have a positive real part and the system will be unstable. -#+end_important - -** IFF Plant and Root Locus -#+begin_src matlab :exports none - w0 = 2*pi; % [rad/s] - m = 1; % [kg] - k = m*w0^2; % [N/m] - - ws = linspace(0, 0.9*w0, 4); - - G_iff = {zeros(2, 2, length(ws))}; - - for i = 1:length(ws) - w = ws(i); - G_iff(:, :, i) = {[((m*s^2 + k-m*w^2)^2 + (2*m*w*s)^2 - k*(m*s^2 + k - m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2), -(2*k*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2); - (2*k*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2), ((m*s^2 + k-m*w^2)^2 + (2*m*w*s)^2 - k*(m*s^2 + k - m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)]}; - end -#+end_src - -The bode plot for the diagonal and off-diagonal elements are shown in Figure [[fig:iff_plant_and_coupling]]. - -The change of dynamics from $F_u$ to $F_{u,m}$ due to the change in rotation speed is shown in Figure [[fig:iff_variability_plant_ws]]. -It is shown that the rotation speed does change the low frequency gain (explained in previous section). - -The root locus for Decentralized Direct Velocity Feedback is shown in Figure [[fig:iff_root_locus_ws]]. - -It is shown that: -- the high frequency pair of complex conjugate poles cannot be critically damped. - There is an optimal gain that gives maximum damping of this resonance. -- the low frequency resonance can be critically damped with sufficient gain -- a closed loop unstable pole is present whatever the gain of the IFF (if the rotation speed in not null) - -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - i = 2; - - figure; - ax1 = subplot(2, 2, 1); - hold on; - plot(freqs, abs(squeeze(freqresp(G_iff{i}(1,1), freqs, 'Hz')))) - plot(freqs, ones(size(freqs))*(ws(i)^2/(k/m - ws(i)^2)), 'k--') - plot(sqrt(0.5*sqrt(k/m)*sqrt(8*ws(i)^2 + k/m) + ws(i) + 0.5*k/m)/2/pi, 1, 'ko') - plot(sqrt(0.5*sqrt(k/m)*sqrt(8*ws(i)^2 + k/m) - ws(i) - 0.5*k/m)/2/pi, 1, 'ko') - plot((sqrt(k/m) + ws(i))/2/pi, 1, 'kx') - plot((sqrt(k/m) - ws(i))/2/pi, 1, 'kx') - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - ylabel('Amplitude [N/N]'); - title(['$\frac{F_{u,m}}{F_u}$' sprintf(', $\\omega = %.2f \\omega_0 $', ws(i)/w0)]); - - ax3 = subplot(2, 2, 3); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff{i}(1, 1), freqs, 'Hz')))); - hold off; - yticks(-180:90:180); - ylim([-180 180]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - - ax2 = subplot(2, 2, 2); - hold on; - plot(freqs, abs(squeeze(freqresp(G_iff{i}(1,2), freqs, 'Hz')))) - plot((sqrt(k/m) + ws(i))/2/pi, 1, 'kx') - plot((sqrt(k/m) - ws(i))/2/pi, 1, 'kx') - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - title(['$\frac{F_{v,m}}{F_u}$' sprintf(', $\\omega = %.2f \\omega_0 $', ws(i)/w0)]); - - ax4 = subplot(2, 2, 4); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff{i}(1, 2), freqs, 'Hz')))); - hold off; - yticks(-180:90:180); - ylim([-180 180]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); - - linkaxes([ax1,ax2,ax3,ax4],'x'); - linkaxes([ax1,ax2],'y'); -#+end_src - -#+begin_src matlab :tangle no :exports results :results file replace -exportFig('figs/iff_plant_and_coupling.pdf', 'width', 'full', 'height', 'full') -#+end_src - -#+name: fig:iff_plant_and_coupling -#+caption: Transfer Function from $F_u$ to $F_{u,m}$ and from $F_u$ to $F_{v,m}$ for $\omega = 0.3 \omega_0$ -#+RESULTS: -[[file:figs/iff_plant_and_coupling.png]] - -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - figure; - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(G_iff{i}(1,1), freqs, 'Hz'))), ... - 'DisplayName', sprintf('$\\omega = %.2f \\omega_0 $', ws(i)/w0)) - end - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - xlabel('Frequency [Hz]'); ylabel('Amplitude [N/N]'); - legend('location', 'northwest'); - ylim([0, 1e3]); - title('$\frac{F_{u,m}}{F_u}$'); -#+end_src - -#+begin_src matlab :tangle no :exports results :results file replace -exportFig('figs/iff_variability_plant_ws.pdf', 'width', 'full', 'height', 'tall') -#+end_src - -#+name: fig:iff_variability_plant_ws -#+caption: Transfer Function from $F_u$ to $F_{u,m}$ for multiple rotation speed -#+RESULTS: -[[file:figs/iff_variability_plant_ws.png]] - -Let's see how the root locus is changing with the rotation speed. -#+begin_src matlab :exports none - figure; - - gains = logspace(0, 3, 100); - - hold on; - for i = 1:length(ws) - set(gca,'ColorOrderIndex',i); - plot(real(pole(G_iff{i})), imag(pole(G_iff{i})), 'x', ... - 'DisplayName', sprintf('$\\omega = %.2f \\omega_0 $', ws(i)/w0)); - set(gca,'ColorOrderIndex',i); - plot(real(tzero(G_iff{i})), imag(tzero(G_iff{i})), 'o', ... - 'HandleVisibility', 'off'); - for k = 1:length(gains) - set(gca,'ColorOrderIndex',i); - cl_poles = pole(feedback(G_iff{i}, gains(k)/s*eye(2))); - plot(real(cl_poles), imag(cl_poles), '.', ... - 'HandleVisibility', 'off'); - end - end - hold off; - axis square; - xlim([-13, 2]); ylim([0, 15]); - - xlabel('Real Part'); ylabel('Imaginary Part'); - legend('location', 'northwest'); -#+end_src - -#+begin_src matlab :tangle no :exports results :results file replace -exportFig('figs/iff_root_locus_ws.pdf', 'width', 'wide', 'height', 'tall') -#+end_src - -#+name: fig:iff_root_locus_ws -#+caption: Change of the Root Locus plot for different rotating speed -#+RESULTS: -[[file:figs/iff_root_locus_ws.png]] - -** Conclusion -#+begin_important -The centrifugal forces can be modeled as a negative stiffness in parallel with the actuators and force sensors. -This changes the low frequency gain of the IFF plant. -It also add zeros with positive real part which removes the typical unconditional stability property of the IFF control. - -From the Root Locus plot in Figure [[fig:iff_root_locus_ws]], it is shown that when rotating, unstable poles will be introduced due to IFF control. -Moreover, only one of the two pairs of complex conjugate poles can be critically damped. - - -Stiffness can be added in parallel to the force sensor to counteract the negative stiffness due to centrifugal forces. -If the added stiffness is higher than the maximum negative stiffness, then the poles of the IFF damped system will stay in the (stable) right half-plane. - - -Thus, IFF should not be used for rotating positioning platforms unless some stiffness is added in parallel with the force sensor. -If no parallel stiffness is added, an unstable pole is added in the system. -The frequency of this pole can be made small if the frequency of the position system resonance is much larger than the frequency of the rotation. -#+end_important - -* Direct Velocity Feedback -<> -** Introduction :ignore: -In this section, we study the use of Direct Velocity Feedback to damp the resonances of the positioning station. -We thus suppose that we are able to measure to relative displacement (or velocity) $d_u$ and $d_v$. - -** Analytical Study -The equation of motion are: -\begin{equation} -\begin{bmatrix} d_u \\ d_v \end{bmatrix} = -\frac{1}{(m s^2 + (k - m{\omega}^2))^2 + (2 m {\omega} s)^2} -\begin{bmatrix} - ms^2 + (k-m{\omega}^2) & 2 m \omega s \\ - -2 m \omega s & ms^2 + (k-m{\omega}^2) \\ -\end{bmatrix} -\begin{bmatrix} F_u \\ F_v \end{bmatrix} -\end{equation} - -If we note $\omega_0 = \sqrt{\frac{k}{m}}$, we obtain -\begin{align} - d_u &= \frac{1}{m}\frac{s^2 + (\omega_0^2 - \omega^2)}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_u + \frac{1}{m} \frac{2 \omega s}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_v\\ - d_v &= - \frac{1}{m} \frac{2 \omega s}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_u + \frac{1}{m}\frac{s^2 + (\omega_0^2 - \omega^2)}{s^4 + 2 (\omega_0^2 + \omega^2) s^2 + (\omega_0^2 - \omega^2)^2} F_v -\end{align} - -** High and Low frequency behavior -At low frequency: -\begin{align} - d_u &= \frac{1}{m}\frac{1}{\omega_0^2 - \omega^2} F_u \\ - d_v &= \frac{1}{m}\frac{1}{\omega_0^2 - \omega^2} F_v -\end{align} - -Which can be re-written: -\begin{align} - d_u &= \frac{1}{k} \frac{1}{1 - \frac{\omega^2}{\omega_0^2}} F_u \\ - d_v &= \frac{1}{k} \frac{1}{1 - \frac{\omega^2}{\omega_0^2}} F_v -\end{align} - -The usual low frequency gain of $\frac{1}{k}$ is modified by a factor $\frac{1}{1 - \frac{\omega^2}{\omega_0^2}}$. - -At high frequency: -\begin{align} - d_u &= \frac{1}{m s^2} F_u + \frac{2 \omega}{m s^3} F_v\\ - d_v &= -\frac{2 \omega}{m s^3} F_u + \frac{1}{m s^2} F_v -\end{align} - -Thus the rotating speed does not change the high frequency behavior of the diagonal terms but change the coupling. - -** Poles and Zeros -The direct terms (diagonal terms of the 2x2 transfer function matrix) have two complex conjugate zeros at: -\begin{equation} - z = \pm j \sqrt{\omega_0^2 - \omega^2} -\end{equation} - -Which are between the two pairs of complex conjugate poles at: -\begin{align} - p_1 &= \pm j (\omega_0 - \omega) \\ - p_2 &= \pm j (\omega_0 + \omega) -\end{align} - -** DVF Plant and Root Locus -#+begin_src matlab :exports none - w0 = 2*pi; % [rad/s] - m = 1; % [kg] - k = m*w0^2; % [N/m] - - ws = linspace(0, 0.9*w0, 4); - - G_dvf = {zeros(2, 2, length(ws))}; - - for i = 1:length(ws) - w = ws(i); - G_dvf(:, :, i) = {[ (m*s^2 + k-m*w^2)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2), (2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2); - -(2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2), (m*s^2 + k-m*w^2)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2) ]}; - end -#+end_src - -The bode plot for the diagonal and off-diagonal elements are shown in Figure [[fig:dvf_plant_and_coupling]]. - -The change of dynamics from $F_u$ to $d_u$ due to the change in rotation speed is shown in Figure [[fig:dvf_variability_plant_ws]]. -It is shown that the rotation speed does not change much the low frequency and high frequency gains. -It only modifies the location of the two pair of complex conjugate pairs. - -The root locus for Decentralized Direct Velocity Feedback is shown in Figure [[fig:dvf_root_locus_ws]]. -It is shown that the closed-loop poles are in the left-half of the complex plane, whatever the gain. -Moreover, has much damping can be added to both pairs of complex conjugate poles. - -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - i = 2; - - figure; - ax1 = subplot(2, 2, 1); - hold on; - plot(freqs, abs(squeeze(freqresp(G_dvf{i}(1,1), freqs, 'Hz')))) - plot(freqs, ones(size(freqs))*1/(k * (1 - ws(i)^2/(k/m))), 'k--') - plot(freqs, abs(squeeze(freqresp(1/m/s^2, freqs, 'Hz'))), 'k--') - plot(sqrt(k/m - ws(i))/2/pi, 1, 'ko') - plot((sqrt(k/m) + ws(i))/2/pi, 1, 'kx') - plot((sqrt(k/m) - ws(i))/2/pi, 1, 'kx') - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - ylabel('Amplitude [m/N]'); - title(['$\frac{d_u}{F_u}$' sprintf(', $\\omega = %.2f \\omega_0 $', ws(i)/w0)]); - - ax3 = subplot(2, 2, 3); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf{i}(1, 1), freqs, 'Hz')))); - hold off; - yticks(-180:90:180); - ylim([-180 180]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - - ax2 = subplot(2, 2, 2); - hold on; - plot(freqs, abs(squeeze(freqresp(G_dvf{i}(1,2), freqs, 'Hz')))) - plot((sqrt(k/m) + ws(i))/2/pi, 1, 'kx') - plot((sqrt(k/m) - ws(i))/2/pi, 1, 'kx') - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - title(['$\frac{d_v}{F_u}$' sprintf(', $\\omega = %.2f \\omega_0 $', ws(i)/w0)]); - - ax4 = subplot(2, 2, 4); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(G_dvf{i}(1, 2), freqs, 'Hz')))); - hold off; - yticks(-180:90:180); - ylim([-180 180]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); - - linkaxes([ax1,ax2,ax3,ax4],'x'); - linkaxes([ax1,ax2],'y'); -#+end_src - -#+begin_src matlab :tangle no :exports results :results file replace -exportFig('figs/dvf_plant_and_coupling.pdf', 'width', 'full', 'height', 'full') -#+end_src - -#+name: fig:dvf_plant_and_coupling -#+caption: Transfer Function from $F_u$ to $d_u$ and from $F_u$ to $d_v$ for $\omega = 0.3 \omega_0$ -#+RESULTS: -[[file:figs/dvf_plant_and_coupling.png]] - -#+begin_src matlab :exports none - freqs = logspace(-2, 1, 1000); - - figure; - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(G_dvf{i}(1,1), freqs, 'Hz'))), ... - 'DisplayName', sprintf('$\\omega = %.2f \\omega_0 $', ws(i)/w0)) - end - hold off; - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - xlabel('Frequency [Hz]'); ylabel('Amplitude [m/N]'); - legend('location', 'northwest'); - title('$\frac{d_u}{F_u}$'); - ylim([0, 1e1]); -#+end_src - -#+begin_src matlab :tangle no :exports results :results file replace -exportFig('figs/dvf_variability_plant_ws.pdf', 'width', 'full', 'height', 'tall') -#+end_src - -#+name: fig:dvf_variability_plant_ws -#+caption: Transfer Function from $F_u$ to $d_u$ for multiple rotation speed -#+RESULTS: -[[file:figs/dvf_variability_plant_ws.png]] - -#+begin_src matlab :exports none - figure; - - gains = logspace(-1, 3, 200); - - hold on; - for i = 1:length(ws) - set(gca,'ColorOrderIndex',i); - plot(real(pole(G_dvf{i})), imag(pole(G_dvf{i})), 'x', ... - 'DisplayName', sprintf('$\\omega = %.2f \\omega_0 $', ws(i)/w0)); - set(gca,'ColorOrderIndex',i); - plot(real(tzero(G_dvf{i})), imag(tzero(G_dvf{i})), 'o', ... - 'HandleVisibility', 'off'); - for k = 1:length(gains) - set(gca,'ColorOrderIndex',i); - cl_poles = pole(feedback(G_dvf{i}, s*gains(k)*eye(2))); - plot(real(cl_poles), imag(cl_poles), '.', ... - 'HandleVisibility', 'off'); - end - end - hold off; - axis square; - xlim([-14, 1]); ylim([0, 15]); - - xlabel('Real Part'); ylabel('Imaginary Part'); - legend('location', 'northwest'); -#+end_src - -#+begin_src matlab :tangle no :exports results :results file replace -exportFig('figs/dvf_root_locus_ws.pdf', 'width', 'wide', 'height', 'tall') -#+end_src - -#+name: fig:dvf_root_locus_ws -#+caption: Change of the Root Locus plot for multiple rotating speed -#+RESULTS: -[[file:figs/dvf_root_locus_ws.png]] - -** Conclusion -#+begin_important -(Relative) Direct Velocity Feedback can be used to damp the resonance of a rotating positioning stage. - -As shown by the Root Locus in Figure [[fig:dvf_root_locus_ws]]: -- DVF permits to critically damp the vibrations of the positioning stage -- DVF is unconditionally stage -#+end_important - - -* Control Strategies -<> -** Measurement in the fixed reference frame -First, let's consider a measurement in the fixed referenced frame. - -The transfer function from actuator $[F_u, F_v]$ to sensor $[D_x, D_y]$ is then $G(\theta)$. - -Then the measurement is subtracted to the reference signal $[r_x, r_y]$ to obtain the position error in the fixed reference frame $[\epsilon_x, \epsilon_y]$. - -The position error $[\epsilon_x, \epsilon_y]$ is then express in the rotating frame corresponding to the actuators $[\epsilon_u, \epsilon_v]$. - -Finally, the control low $K$ links the position errors $[\epsilon_u, \epsilon_v]$ to the actuator forces $[F_u, F_v]$. - -The block diagram is shown on figure [[fig:control_measure_fixed_2dof]]. - -#+name: fig:control_measure_fixed_2dof -#+caption: Control with a measure from fixed frame -[[./figs/control_measure_fixed_2dof.png]] - -The loop gain is then $L = G(\theta) K J(\theta)$. - -One question we wish to answer is: is $G(\theta) J(\theta) = G(\theta_0) J(\theta_0)$? - -** Measurement in the rotating frame -Let's consider that the measurement is made in the rotating reference frame. - -The corresponding block diagram is shown figure [[fig:control_measure_rotating_2dof]]. - -#+name: fig:control_measure_rotating_2dof -#+caption: Control with a measure from rotating frame -[[./figs/control_measure_rotating_2dof.png]] - -The loop gain is $L = G K$. - -* Multi Body Model - Simscape -:PROPERTIES: -:HEADER-ARGS:matlab+: :tangle matlab/simscape_analysis.m -:END: -<> - -** Matlab Init :noexport:ignore: -#+begin_src matlab :tangle no :exports none :noweb yes :var current_dir=(file-name-directory buffer-file-name) - <> -#+end_src - -#+begin_src matlab :exports none :noweb yes - <> -#+end_src - -#+begin_src matlab :tangle no - addpath('./matlab/'); - addpath('./matlab/mat/'); -#+end_src - -#+begin_src matlab :eval no - addpath('./mat/'); -#+end_src - -** Initialization -Let's load the previously defined parameters for the model. - -#+begin_src matlab :exports none :noweb yes - load('parameters.mat'); -#+end_src - -#+begin_src matlab :results none - bode_opts = bodeoptions; - bode_opts.FreqUnits = 'Hz'; - bode_opts.MagUnits = 'abs'; - bode_opts.MagScale = 'log'; - bode_opts.Grid = 'on'; - bode_opts.PhaseVisible = 'off'; - bode_opts.Title.FontSize = 10; - bode_opts.XLabel.FontSize = 10; - bode_opts.YLabel.FontSize = 10; - bode_opts.TickLabel.FontSize = 10; -#+end_src - -#+begin_src matlab :exports none - open rotating_frame.slx -#+end_src - -First we define the parameters that must be defined in order to run the Simscape simulation. -#+begin_src matlab :exports code - w = 2*pi; % Rotation speed [rad/s] - - theta_e = 0; % Static measurement error on the angle theta [rad] - - m = 5; % mass of the sample [kg] - - mTuv = 30;% Mass of the moving part of the Tuv stage [kg] - kTuv = 1e8; % Stiffness of the Tuv stage [N/m] - cTuv = 0; % Damping of the Tuv stage [N/(m/s)] -#+end_src - -Then, we defined parameters that will be used in the following analysis. -#+begin_src matlab :exports code - mlight = 5; % Mass for light sample [kg] - mheavy = 55; % Mass for heavy sample [kg] - - wlight = 2*pi; % Max rot. speed for light sample [rad/s] - wheavy = 2*pi/60; % Max rot. speed for heavy sample [rad/s] - - kvc = 1e3; % Voice Coil Stiffness [N/m] - kpz = 1e8; % Piezo Stiffness [N/m] - - d = 0.01; % Maximum excentricity from rotational axis [m] - - freqs = logspace(-2, 3, 1000); % Frequency vector for analysis [Hz] -#+end_src - -** Identification in the rotating referenced frame -We initialize the inputs and outputs of the system to identify: -- Inputs: $f_u$ and $f_v$ -- Outputs: $d_u$ and $d_v$ - -#+begin_src matlab :exports code - %% Options for Linearized - options = linearizeOptions; - options.SampleTime = 0; - - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - io(1) = linio([mdl, '/fu'], 1, 'input'); - io(2) = linio([mdl, '/fv'], 1, 'input'); - - io(3) = linio([mdl, '/du'], 1, 'output'); - io(4) = linio([mdl, '/dv'], 1, 'output'); -#+end_src - -We start we identify the transfer functions at high speed with the light sample. -#+begin_src matlab :exports code - w = wlight; % Rotation speed [rad/s] - m = mlight; % mass of the sample [kg] - - kTuv = kpz; - Gpz_light = linearize(mdl, io, 0.1); - Gpz_light.InputName = {'Fu', 'Fv'}; - Gpz_light.OutputName = {'Du', 'Dv'}; - - kTuv = kvc; - Gvc_light = linearize(mdl, io, 0.1); - Gvc_light.InputName = {'Fu', 'Fv'}; - Gvc_light.OutputName = {'Du', 'Dv'}; -#+end_src - -Then we identify the system with an heavy mass and low speed. -#+begin_src matlab :exports code - w = wheavy; % Rotation speed [rad/s] - m = mheavy; % mass of the sample [kg] - - kTuv = kpz; - Gpz_heavy = linearize(mdl, io, 0.1); - Gpz_heavy.InputName = {'Fu', 'Fv'}; - Gpz_heavy.OutputName = {'Du', 'Dv'}; - - kTuv = kvc; - Gvc_heavy = linearize(mdl, io, 0.1); - Gvc_heavy.InputName = {'Fu', 'Fv'}; - Gvc_heavy.OutputName = {'Du', 'Dv'}; -#+end_src - -** Coupling ratio between $f_{uv}$ and $d_{uv}$ -In order to validate the equations written, we can compute the coupling ratio using the simscape model and compare with the equations. - -From the previous identification, we plot the coupling ratio in both case (figure [[fig:coupling_ratio_light_heavy]]). - -We obtain the same result than the analytical case (figures [[fig:coupling_light]] and [[fig:coupling_heavy]]). -#+begin_src matlab :exports none - figure; - hold on; - plot(freqs, abs(squeeze(freqresp(Gvc_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_light('Dv', 'Fu'), freqs, 'Hz')))); - plot(freqs, abs(squeeze(freqresp(Gpz_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_light('Dv', 'Fu'), freqs, 'Hz')))); - set(gca,'ColorOrderIndex',1); - plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_heavy('Dv', 'Fu'), freqs, 'Hz'))), '--'); - plot(freqs, abs(squeeze(freqresp(Gpz_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_heavy('Dv', 'Fu'), freqs, 'Hz'))), '--'); - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); - legend({'light - VC', 'light - PZ', 'heavy - VC', 'heavy - PZ'}, 'Location', 'northeast') -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes :mkdirp yes -#+begin_src matlab :var filepath="figs/coupling_ratio_light_heavy.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:coupling_ratio_light_heavy -#+CAPTION: Coupling ratio obtained with the Simscape model -[[file:figs/coupling_ratio_light_heavy.png]] - -** Transfer function from force to force sensor (IFF plant) -#+begin_src matlab :exports code - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - io(1) = linio([mdl, '/fu'], 1, 'input'); - io(2) = linio([mdl, '/fv'], 1, 'input'); - - io(3) = linio([mdl, '/fum'], 1, 'output'); - io(4) = linio([mdl, '/fvm'], 1, 'output'); -#+end_src - -We start we identify the transfer functions at high speed with the light sample. -#+begin_src matlab :exports code - w = wlight; % Rotation speed [rad/s] - m = mlight; % mass of the sample [kg] - - kTuv = kpz; - Gpz_light = linearize(mdl, io, 0.1); - Gpz_light.InputName = {'Fu', 'Fv'}; - Gpz_light.OutputName = {'Fum', 'Fvm'}; - - kTuv = kvc; - Gvc_light = linearize(mdl, io, 0.1); - Gvc_light.InputName = {'Fu', 'Fv'}; - Gvc_light.OutputName = {'Fum', 'Fvm'}; -#+end_src - -Then we identify the system with an heavy mass and low speed. -#+begin_src matlab :exports code - w = wheavy; % Rotation speed [rad/s] - m = mheavy; % mass of the sample [kg] - - kTuv = kpz; - Gpz_heavy = linearize(mdl, io, 0.1); - Gpz_heavy.InputName = {'Fu', 'Fv'}; - Gpz_heavy.OutputName = {'Fum', 'Fvm'}; - - kTuv = kvc; - Gvc_heavy = linearize(mdl, io, 0.1); - Gvc_heavy.InputName = {'Fu', 'Fv'}; - Gvc_heavy.OutputName = {'Fum', 'Fvm'}; -#+end_src - -#+begin_src matlab :exports none - figure; - hold on; - plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Fum', 'Fu'), freqs, 'Hz')))); - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); - legend({'light - VC', 'light - PZ', 'heavy - VC', 'heavy - PZ'}, 'Location', 'northeast') -#+end_src - -** Plant Control - SISO approach -*** Plant identification -The goal is to study the control problems due to the coupling that appears because of the rotation. - -#+begin_src matlab :exports none - %% Options for Linearized - options = linearizeOptions; - options.SampleTime = 0; - - %% Name of the Simulink File - mdl = 'rotating_frame'; - - %% Input/Output definition - io(1) = linio([mdl, '/fu'], 1, 'input'); - io(2) = linio([mdl, '/fv'], 1, 'input'); - - io(3) = linio([mdl, '/du'], 1, 'output'); - io(4) = linio([mdl, '/dv'], 1, 'output'); -#+end_src - -First, we identify the system when the rotation speed is null and then when the rotation speed is equal to 60rpm. - -The actuators are voice coil with some damping added. - -The bode plot of the system not rotating and rotating at 60rpm is shown figure [[fig:Gvc_speed]]. - -#+begin_src matlab :exports none - w = 0; % Rotation speed [rad/s] - m = mlight; % mass of the sample [kg] - kTuv = kvc; - cTuv = 0.1*sqrt(kTuv*m); - - Gvc = linearize(mdl, io, 0.1); - Gvc.InputName = {'Fu', 'Fv'}; - Gvc.OutputName = {'Du', 'Dv'}; -#+end_src - -#+begin_src matlab :exports none - w = wlight; % Rotation speed [rad/s] - m = mlight; % mass of the sample [kg] - kTuv = kvc; - cTuv = 0.1*sqrt(kTuv*m); - - Gtvc = linearize(mdl, io, 0.1); - Gtvc.InputName = {'Fu', 'Fv'}; - Gtvc.OutputName = {'Du', 'Dv'}; -#+end_src - -#+begin_src matlab :exports none - figure; - ax1 = subplot(2,2,1); - title('From $F_u$ to $D_u$'); - hold on; - plot(freqs, abs(squeeze(freqresp(Gvc(1, 1), freqs, 'Hz')))); - plot(freqs, abs(squeeze(freqresp(Gtvc(1, 1), freqs, 'Hz')))); - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,2,3); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(Gvc(1, 1), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 0$'); - plot(freqs, 180/pi*angle(squeeze(freqresp(Gtvc(1, 1), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 60$rpm'); - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - legend('Location', 'northeast'); - linkaxes([ax1,ax2],'x'); - - ax1 = subplot(2,2,2); - title('From $F_u$ to $D_v$'); - hold on; - plot(freqs, abs(squeeze(freqresp(Gvc(1, 2), freqs, 'Hz')))); - plot(freqs, abs(squeeze(freqresp(Gtvc(1, 2), freqs, 'Hz')))); - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - - ax2 = subplot(2,2,4); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(Gvc(1, 2), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 0$'); - plot(freqs, 180/pi*angle(squeeze(freqresp(Gtvc(1, 2), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 60$rpm'); - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); - legend('Location', 'northeast'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/Gvc_speed.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:Gvc_speed -#+CAPTION: Change of transfer functions due to rotating speed -[[file:figs/Gvc_speed.png]] - -*** Effect of rotation speed -We first identify the system (voice coil and light mass) for multiple rotation speed. -Then we compute the bode plot of the system (figure [[fig:Guu_uv_ws]]). - -As the rotation frequency increases: -- one pole goes to lower frequencies while the other goes to higher frequencies -- one zero appears between the two poles -- the zero disappears when $\omega > \sqrt{\frac{k}{m}}$ and the low frequency pole becomes unstable (positive real part) - -To stabilize the unstable pole, we need a control bandwidth of at least twice of frequency of the unstable pole. - -#+begin_src matlab :exports none - ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] - m = mlight; % mass of the sample [kg] - - kTuv = kvc; - cTuv = 0.1*sqrt(kTuv*m); - - Gs_vc = {zeros(1, length(ws))}; - - for i = 1:length(ws) - w = ws(i); - Gs_vc{i} = linearize(mdl, io, 0.1); - Gs_vc{i}.InputName = {'Fu', 'Fv'}; - Gs_vc{i}.OutputName = {'Du', 'Dv'}; - end -#+end_src - -#+begin_src matlab :exports none - freqs = logspace(-2, 2, 1000); - - figure; - ax1 = subplot(2,2,1); - title('$D_u/F_u$'); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs_vc{i}(1, 1), freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - ylim([1e-8, 1]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,2,3); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{i}(1, 1), freqs, 'Hz')))); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - linkaxes([ax1,ax2],'x'); - - ax1 = subplot(2,2,2); - title('$D_v/F_u$'); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs_vc{i}(1, 2), freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - ylim([1e-8, 1]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - set(gca, 'YTickLabel',[]); - - ax2 = subplot(2,2,4); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{i}(1, 2), freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - set(gca, 'YTickLabel',[]); - xlabel('Frequency [Hz]'); - legend('Location', 'northeast'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/Guu_uv_ws.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:Guu_uv_ws -#+CAPTION: Diagonal term as a function of the rotation frequency -[[file:figs/Guu_uv_ws.png]] - -Then, we can look at the same plots for the piezoelectric actuator (figure [[fig:Guu_ws_pz]]). The effect of the rotation frequency has very little effect on the dynamics of the system to control. - -#+begin_src matlab :exports none - ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] - m = mlight; % mass of the sample [kg] - - kTuv = kpz; - cTuv = 0.1*sqrt(kTuv*m); - - Gs_pz = {zeros(1, length(ws))}; - - for i = 1:length(ws) - w = ws(i); - Gs_pz{i} = linearize(mdl, io, 0.1); - Gs_pz{i}.InputName = {'Fu', 'Fv'}; - Gs_pz{i}.OutputName = {'Du', 'Dv'}; - end -#+end_src - -#+begin_src matlab :exports none - freqs = logspace(2, 3, 1000); - - figure; - ax1 = subplot(2,1,1); - hold on; - for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs_pz{i}(1, 1), freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - set(gca, 'XTickLabel',[]); - ylabel('Magnitude [m/N]'); - - ax2 = subplot(2,1,2); - hold on; - for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_pz{i}(1, 1), freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); - end - hold off; - yticks(-180:90:180); - ylim([-180 180]); - xlim([freqs(1), freqs(end)]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - legend('Location', 'northeast'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/Guu_ws_pz.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:Guu_ws_pz -#+CAPTION: Diagonal term as a function of the rotation frequency -[[file:figs/Guu_ws_pz.png]] - -*** Controller design -We design a controller based on the identification when the system is not rotating. - -The obtained controller is a lead-lag controller with the following transfer function. -#+begin_src matlab :results none :exports code - Kll = 2.0698e09*(s+40.45)*(s+1.181)/((s+0.01)*(s+198.4)*(s+2790)); - K = [Kll 0; - 0 Kll]; - - K.InputName = {'Du', 'Dv'}; - K.OutputName = {'Fu', 'Fv'}; -#+end_src - -The loop gain is displayed figure [[fig:Gvc_loop_gain]]. - -#+begin_src matlab :exports none - freqs = logspace(-2, 2, 1000); - - figure; - % Amplitude - ax1 = subplot(2,1,1); - hold on; - plot(freqs, abs(squeeze(freqresp(Gvc('Du', 'fu')*Kll, freqs, 'Hz'))), '-'); - set(gca,'xscale','log'); set(gca,'yscale','log'); - ylabel('Amplitude [m/N]'); - set(gca, 'XTickLabel',[]); - hold off; - % Phase - ax2 = subplot(2,1,2); - hold on; - plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gvc('Du', 'fu')*Kll, freqs, 'Hz')))), '-'); - set(gca,'xscale','log'); - yticks(-180:180:180); - ylim([-180 180]); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - hold off; - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/Gvc_loop_gain.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:Gvc_loop_gain -#+CAPTION: Loop gain obtained for a lead-lag controller on the system with a voice coil -[[file:figs/Gvc_loop_gain.png]] - -*** Controlling the rotating system -We here want to see if the system is robust with respect to the rotation speed. -We use the controller that was designed based on the dynamics of the non-rotating system. - -Let's first plot the SISO loop gain. - -#+begin_src matlab :exports none - freqs = logspace(-2, 2, 1000); - - figure; - % Amplitude - ax1 = subplot(2,1,1); - hold on; - plot(freqs, abs(squeeze(freqresp(Gs_vc{1}(1, 1)*Kll, freqs, 'Hz'))), '-'); - plot(freqs, abs(squeeze(freqresp(Gs_vc{2}(1, 1)*Kll, freqs, 'Hz'))), '-'); - plot(freqs, abs(squeeze(freqresp(Gs_vc{5}(1, 1)*Kll, freqs, 'Hz'))), '-'); - set(gca,'xscale','log'); set(gca,'yscale','log'); - ylabel('Amplitude [m/N]'); - set(gca, 'XTickLabel',[]); - hold off; - - % Phase - ax2 = subplot(2,1,2); - hold on; - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{1}(1, 1)*Kll, freqs, 'Hz'))), 'DisplayName', sprintf('%.0f rpm', ws(1)./(2*pi).*60)); - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{2}(1, 1)*Kll, freqs, 'Hz'))), 'DisplayName', sprintf('%.0f rpm', ws(2)./(2*pi).*60)); - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{5}(1, 1)*Kll, freqs, 'Hz'))), 'DisplayName', sprintf('%.0f rpm', ws(5)./(2*pi).*60)); - set(gca,'xscale','log'); - yticks(-180:180:180); - ylim([-180 180]); - xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); - hold off; - legend('Location', 'northeast'); - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/loop_gain_turning.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+NAME: fig:loop_gain_turning -#+CAPTION: Loop Gain $G_u * K$ -[[file:figs/loop_gain_turning.png]] - -We can now compute the close-loop systems. -#+begin_src matlab - Gvc_cl = {zeros(1, length(ws))}; - for i = 1:length(ws) - Gvc_cl{i} = feedback(Gs_vc{i}, K, 'name'); - end -#+end_src - -Let's now look on figure [[fig:evolution_poles_u]] at the evolution of the poles of the system when closing only one loop (controlling only one direction). We see that two complex conjugate poles are approaching the real axis and then they separate: one goes to positive real part and the other goes to negative real part. -The system then goes unstable at some point (here for $\omega=60rpm$). - -#+begin_src matlab - figure; - hold on; - for i = 1:length(ws) - sys = feedback(Gs_vc{i}(1, 1), K(1, 1), 'name'); - plot(real(pole(sys)), imag(pole(sys)), 'x', 'DisplayName', sprintf('$\\omega = %.0f rpm$', ws(i)/(2*pi)*60)); - end - hold off; - xlim([-80, 10]); - xlabel('Real Axis'); ylabel('Imaginary Axis'); - legend('Location', 'northeast'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/evolution_poles_u.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+NAME: fig:evolution_poles_u -#+CAPTION: Evolution of the poles of the closed-loop system when closing just one loop -[[file:figs/evolution_poles_u.png]] - -If we look at the poles of the closed loop-system for multiple rotating speed (figure [[fig:poles_cl_system]]) when closing the two loops (MIMO system), we see that they all have a negative real part (stable system), and their evolution on the complex plane is rather small compare to the open loop evolution. - -#+begin_src matlab - figure; - hold on; - for i = 1:length(ws) - plot(real(pole(Gvc_cl{i})), imag(pole(Gvc_cl{i})), 'x', 'DisplayName', sprintf('$\\omega = %.0f rpm$', ws(i)/(2*pi)*60)); - end - hold off; - xlim([-80, 0]); - xlabel('Real Axis'); ylabel('Imaginary Axis'); - legend('Location', 'northeast'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/poles_cl_system.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+NAME: fig:poles_cl_system -#+CAPTION: Evolution of the poles of the closed-loop system -[[file:figs/poles_cl_system.png]] - -*** TODO Neglected coupling -Take a diagonal system and apply the diagonal controller. - -I expect that the system will be unstable -=> in some way the coupling makes the system stable - -*** Close loop performance -First, we create the closed loop systems. Then, we plot the transfer function from the reference signals $[r_u, r_v]$ to the output $[d_u, d_v]$ (figure [[fig:perfcomp]]). - -#+begin_src matlab :results none :exports code - freqs = logspace(-2, 3, 1000); - - figure; - ax1 = subplot(1,2,1); - title('$G_{r_u \to d_u}$') - hold on; - for i = 1:length(ws) - sys = Gvc_cl{i}*K; - plot(freqs, abs(squeeze(freqresp(sys(1, 1), freqs, 'Hz')))); - end - hold off; - xlim([freqs(1), freqs(end)]); - ylim([1e-4, 10]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - xlabel('Frequency [Hz]'); ylabel('Magnitude [m/N]'); - - ax2 = subplot(1,2,2); - title('$G_{r_u \to d_v}$') - hold on; - for i = 1:length(ws) - sys = Gvc_cl{i}*K; - plot(freqs, abs(squeeze(freqresp(sys(1, 2), freqs, 'Hz'))), 'DisplayName', sprintf('$\\omega = %.0f rpm$', ws(i)/(2*pi)*60)); - end - hold off; - xlim([freqs(1), freqs(end)]); - ylim([1e-4, 10]); - set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); - xlabel('Frequency [Hz]'); - legend('Location', 'northeast') - - linkaxes([ax1,ax2],'x'); -#+end_src - -#+HEADER: :tangle no :exports results :results none :noweb yes -#+begin_src matlab :var filepath="figs/perfcomp.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") - <> -#+end_src - -#+LABEL: fig:perfcomp -#+CAPTION: Close loop performance for $\omega = 0$ and $\omega = 60 rpm$ -[[file:figs/perfcomp.png]] - -*** Campbell Diagram for the close loop system - -#+begin_src matlab :exports code - m = mlight; - k = kvc; - c = 0.1*sqrt(k*m); - - wsvc = linspace(0, 10, 100); % [rad/s] - - polesvc = zeros(8, length(wsvc)); - - for i = 1:length(wsvc) - Gs = (m*s^2 + (k-m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2); - Gcs = (2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2); - - G = [Gs, Gcs; Gcs, Gs]; - G.InputName = {'Fu', 'Fv'}; - G.OutputName = {'Du', 'Dv'}; - - polei = pole(feedback(G, K, 'name')); - polesvc(:, i) = sort(polei(imag(polei) > 0)); - - polei = pole(feedback(G, 10*K, 'name')); - polesvcb(:, i) = sort(polei(imag(polei) > 0)); - end -#+end_src - -#+begin_src matlab :exports none - figure; - % Amplitude - ax1 = subplot(1,2,1); - hold on; - for i = 1:8 - plot(wsvc, real(polesvc(i, :)), 'b') - plot(wsvc, real(polesvcb(i, :)), 'r') - end - plot(wsvc, zeros(size(wsvc)), 'k--') - hold off; - xlabel('Rotation Frequency [rad/s]'); - ylabel('Pole Real Part'); - - ax2 = subplot(1,2,2); - hold on; - for i = 1:8 - plot(wsvc, imag(polesvc(i, :)), 'b') - plot(wsvc, imag(polesvcb(i, :)), 'r') - end - hold off; - xlabel('Rotation Frequency [rad/s]'); - ylabel('Pole Imaginary Part'); -#+end_src - - -*** Conclusion -#+begin_important - Even though considering one input and output at a time would results in an unstable system (figure [[fig:evolution_poles_u]]), when using the diagonal MIMO controller, the system stays stable (figure [[fig:poles_cl_system]]). This could be understood by saying that when controlling both directions at the same time, the coupling effect should be much lower than when controlling only one direction. - - The close-loop performance does not vary a lot with the rotating speed (figure [[fig:perfcomp]]) even tough the open loop system is varying quite a lot (figure [[fig:Guu_uv_ws]]). -#+end_important - diff --git a/matlab/control.m b/matlab/control.m deleted file mode 100644 index 74c069b..0000000 --- a/matlab/control.m +++ /dev/null @@ -1,21 +0,0 @@ -%% Controller -s = tf('s'); -K = 4.5724e11*(s+44.46)/((s+8.127e-08)*(s+0.0002334)*(s+384.9)); - -%% Open Simulink for Control -open rotating_frame_ctrl.slx - -sim rotating_frame_ctrl.slx - -%% -figure; -hold on; -plot(sim_out.Time, sim_out.Data(:, 1)); -plot(sim_out.Time, sim_out.Data(:, 2)); -hold off; -xlabel('Time (s)'); -ylabel('Displacement (m)'); -legend({'Dx', 'Dy'}); - -exportFig('D_x_y', 'wide-tall'); - diff --git a/matlab/id_non_rot_frame.m b/matlab/id_non_rot_frame.m deleted file mode 100644 index 556e8ab..0000000 --- a/matlab/id_non_rot_frame.m +++ /dev/null @@ -1,52 +0,0 @@ -%% Open Simulink file -open rotating_frame.slx - -%% Options for Linearized -options = linearizeOptions; -options.SampleTime = 0; - -%% Name of the Simulink File -mdl = 'rotating_frame'; - -%% Input/Output definition -io(1) = linio([mdl, '/fx'], 1, 'input'); -io(2) = linio([mdl, '/fy'], 1, 'input'); - -io(3) = linio([mdl, '/dx'], 1, 'output'); -io(4) = linio([mdl, '/dy'], 1, 'output'); - -%% Run the linearization -angle_e = 0; rot_speed = 0; -G = linearize(mdl, io, 0); - -%% Input/Output names -G.InputName = {'Fx', 'Fy'}; -G.OutputName = {'Dx', 'Dy'}; - -%% Run the linearization -angle_e = 0; rot_speed = 2*pi; -Gr = linearize(mdl, io, 0); - -%% Input/Output names -Gr.InputName = {'Fx', 'Fy'}; -Gr.OutputName = {'Dx', 'Dy'}; - - -%% Run the linearization -angle_e = 1*2*pi/180; rot_speed = 2*pi; -Ge = linearize(mdl, io, 0); - -%% Input/Output names -Ge.InputName = {'Fx', 'Fy'}; -Ge.OutputName = {'Dx', 'Dy'}; - -%% -f = figure('visible', 'off'); -bode(G); -exportFig('G_x_y', 'wide-tall'); -close(f); - -figure; -bode(Ge); -% exportFig('G_x_y_e', 'normal-normal'); - diff --git a/matlab/id_rot_fix.m b/matlab/id_rot_fix.m deleted file mode 100644 index e61d548..0000000 --- a/matlab/id_rot_fix.m +++ /dev/null @@ -1,44 +0,0 @@ -%% Open Simulink file -open rotating_frame.slx - -%% Options for Linearized -options = linearizeOptions; -options.SampleTime = 0; - -%% Name of the Simulink File -mdl = 'rotating_frame'; - -%% Input/Output definition -io(1) = linio([mdl, '/fu'], 1, 'input'); -io(2) = linio([mdl, '/fv'], 1, 'input'); - -io(3) = linio([mdl, '/dx'], 1, 'output'); -io(4) = linio([mdl, '/dy'], 1, 'output'); - -%% Run the linearization -rot_speed = 2*pi; -G = linearize(mdl, io, 0.0); - -%% Input/Output names -G.InputName = {'Fu', 'Fv'}; -G.OutputName = {'Dx', 'Dy'}; - -%% Run the linearization -G1 = linearize(mdl, io, 0.4); - -%% Input/Output names -G1.InputName = {'Fu', 'Fv'}; -G1.OutputName = {'Dx', 'Dy'}; - -%% Run the linearization -G2 = linearize(mdl, io, 0.8); - -%% Input/Output names -G2.InputName = {'Fu', 'Fv'}; -G2.OutputName = {'Dx', 'Dy'}; - -figure; -bode(G, G1, G2); -exportFig('G_u_v_to_x_y', 'wide-tall'); - - diff --git a/matlab/identification.m b/matlab/identification.m deleted file mode 100644 index 723f0b5..0000000 --- a/matlab/identification.m +++ /dev/null @@ -1,46 +0,0 @@ -%% Open Simulink file -open rotating_frame.slx - -%% Options for Linearized -options = linearizeOptions; -options.SampleTime = 0; - -%% Name of the Simulink File -mdl = 'rotating_frame'; - -%% Input/Output definition -io(1) = linio([mdl, '/fu'], 1, 'input'); -io(2) = linio([mdl, '/fv'], 1, 'input'); - -io(3) = linio([mdl, '/du'], 1, 'output'); -io(4) = linio([mdl, '/dv'], 1, 'output'); - -%% Run the linearization -rot_speed = 0; -G = linearize(mdl, io, 0.0); - -%% Input/Output names -G.InputName = {'Fu', 'Fv'}; -G.OutputName = {'Du', 'Dv'}; - -%% Run the linearization -rot_speed = 2*pi/60; -G1 = linearize(mdl, io, 0.0); - -%% Input/Output names -G1.InputName = {'Fu', 'Fv'}; -G1.OutputName = {'Du', 'Dv'}; - -%% Run the linearization -rot_speed = 2*pi; -G2 = linearize(mdl, io, 0.0); - -%% Input/Output names -G2.InputName = {'Fu', 'Fv'}; -G2.OutputName = {'Du', 'Dv'}; - -figure; -bode(G, G1, G2); -legend({'$\omega = 0$', '$\omega = 2pi/60$', '$\omega = 2pi$'}) -exportFig('G_u_v', 'normal-normal'); - diff --git a/matlab/mat/nass_controllers.mat b/matlab/mat/nass_controllers.mat new file mode 100644 index 0000000..5f6576f Binary files /dev/null and b/matlab/mat/nass_controllers.mat differ diff --git a/matlab/mat/parameters.mat b/matlab/mat/parameters.mat deleted file mode 100644 index 21835c7..0000000 Binary files a/matlab/mat/parameters.mat and /dev/null differ diff --git a/matlab/mat/rotating_generic_plants.mat b/matlab/mat/rotating_generic_plants.mat new file mode 100644 index 0000000..84a0d54 Binary files /dev/null and b/matlab/mat/rotating_generic_plants.mat differ diff --git a/matlab/mat/rotating_nass_plants.mat b/matlab/mat/rotating_nass_plants.mat new file mode 100644 index 0000000..93aa237 Binary files /dev/null and b/matlab/mat/rotating_nass_plants.mat differ diff --git a/matlab/mat/uniaxial_micro_station_parameters.mat b/matlab/mat/uniaxial_micro_station_parameters.mat new file mode 100644 index 0000000..295bd47 Binary files /dev/null and b/matlab/mat/uniaxial_micro_station_parameters.mat differ diff --git a/matlab/nass_rotating_model.slx b/matlab/nass_rotating_model.slx new file mode 100644 index 0000000..2a3acb1 Binary files /dev/null and b/matlab/nass_rotating_model.slx differ diff --git a/matlab/rotating_1_system_description.m b/matlab/rotating_1_system_description.m new file mode 100644 index 0000000..3e8ec27 --- /dev/null +++ b/matlab/rotating_1_system_description.m @@ -0,0 +1,220 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +% System Poles: Campbell Diagram +% The poles of $\mathbf{G}_d$ are the complex solutions $p$ of equation eqref:eq:poles. + +% #+name: eq:poles +% \begin{equation} +% \left( \frac{p^2}{{\omega_0}^2} + 2 \xi \frac{p}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{p}{\omega_0} \right)^2 = 0 +% \end{equation} + +% Supposing small damping ($\xi \ll 1$), two pairs of complex conjugate poles are obtained as shown in equation eqref:eq:pole_values. + +% #+name: eq:pole_values +% \begin{subequations} +% \begin{align} +% p_{+} &= - \xi \omega_0 \left( 1 + \frac{\Omega}{\omega_0} \right) \pm j \omega_0 \left( 1 + \frac{\Omega}{\omega_0} \right) \\ +% p_{-} &= - \xi \omega_0 \left( 1 - \frac{\Omega}{\omega_0} \right) \pm j \omega_0 \left( 1 - \frac{\Omega}{\omega_0} \right) +% \end{align} +% \end{subequations} + + +%% Model parameters for first analysis +kn = 1; % Actuator Stiffness [N/m] +mn = 1; % Payload Mass [kg] +cn = 0.05; % Actuator Damping [N/(m/s)] + +xin = cn/(2*sqrt(kn*mn)); % Modal Damping [-] +w0n = sqrt(kn/mn); % Natural Frequency [rad/s] + +%% Computation of the poles as a function of the rotating velocity +Wzs = linspace(0, 2, 51); % Vector of rotation speeds [rad/s] + +p_ws = zeros(4, length(Wzs)); + +for i = 1:length(Wzs) + Wz = Wzs(i); + + pole_G = pole(1/(((s^2)/(w0n^2) + 2*xin*s/w0n + 1 - (Wz^2)/(w0n^2))^2 + (2*Wz*s/(w0n^2))^2)); + [~, i_sort] = sort(imag(pole_G)); + p_ws(:, i) = pole_G(i_sort); +end + +clear pole_G; + + + +% The real and complex parts of these two pairs of complex conjugate poles are represented in Figure ref:fig:rotating_campbell_diagram as a function of the rotational speed $\Omega$. +% As the rotational speed increases, $p_{+}$ goes to higher frequencies and $p_{-}$ goes to lower frequencies. +% The system becomes unstable for $\Omega > \omega_0$ as the real part of $p_{-}$ is positive. +% Physically, the negative stiffness term $-m\Omega^2$ induced by centrifugal forces exceeds the spring stiffness $k$. + + +%% Campbell diagram - Real and Imaginary parts of the poles as a function of the rotating velocity +figure; +tiledlayout(1, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(Wzs, real(p_ws(1, :)), '-', 'color', colors(1,:), 'DisplayName', '$p_{+}$') +plot(Wzs, real(p_ws(4, :)), '-', 'color', colors(1,:), 'HandleVisibility', 'off') +plot(Wzs, real(p_ws(2, :)), '-', 'color', colors(2,:), 'DisplayName', '$p_{-}$') +plot(Wzs, real(p_ws(3, :)), '-', 'color', colors(2,:), 'HandleVisibility', 'off') +plot(Wzs, zeros(size(Wzs)), 'k--', 'HandleVisibility', 'off') +hold off; +xlabel('Rotational Speed $\Omega$'); ylabel('Real Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +xlim([0, 2*w0n]); +xticks([0,w0n/2,w0n,3/2*w0n,2*w0n]) +xticklabels({'$0$', '', '$\omega_0$', '', '$2 \omega_0$'}) +ylim([-3*xin, 3*xin]); +yticks([-3*xin, -2*xin, -xin, 0, xin, 2*xin, 3*xin]) +yticklabels({'', '', '$-\xi\omega_0$', '$0$', ''}) + +ax2 = nexttile(); +hold on; +plot(Wzs, imag(p_ws(1, :)), '-', 'color', colors(1,:)) +plot(Wzs, imag(p_ws(4, :)), '-', 'color', colors(1,:)) +plot(Wzs, imag(p_ws(2, :)), '-', 'color', colors(2,:)) +plot(Wzs, imag(p_ws(3, :)), '-', 'color', colors(2,:)) +plot(Wzs, zeros(size(Wzs)), 'k--') +hold off; +xlabel('Rotational Speed $\Omega$'); ylabel('Imaginary Part'); +xlim([0, 2*w0n]); +xticks([0,w0n/2,w0n,3/2*w0n,2*w0n]) +xticklabels({'$0$', '', '$\omega_0$', '', '$2 \omega_0$'}) +ylim([-3*w0n, 3*w0n]); +yticks([-3*w0n, -2*w0n, -w0n, 0, w0n, 2*w0n, 3*w0n]) +yticklabels({'', '', '$-\omega_0$', '$0$', '$\omega_0$', '', ''}) + +% Identify Generic Dynamics :noexport: + +%% Sample +ms = 0.5; % Sample mass [kg] + +%% Tuv Stage +kn = 1; % Stiffness [N/m] +mn = 0.5; % Tuv mass [kg] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "normal"; % Default: 2DoF stage + +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdu, Fdv] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % [Dfx, Dfy] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] + +%% Tested rotating velocities [rad/s] +Wzs = [0, 0.1, 0.2, 0.7, 1.2]; % Vector of rotation speeds [rad/s] + +Gs = {zeros(2, 2, length(Wzs))}; % Direct terms + +for i = 1:length(Wzs) + Wz = Wzs(i); + + %% Linearize the model + G = linearize(mdl, io, 0); + + %% Input/Output definition + G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + Gs{:,:,i} = G; +end + +%% Save All Identified Plants +save('./mat/rotating_generic_plants.mat', 'Gs', 'Wzs'); + +% System Dynamics: Effect of rotation +% The system dynamics from actuator forces $[F_u, F_v]$ to the relative motion $[d_u, d_v]$ is identified for several rotating velocities. + +% Looking at the transfer function matrix $\mathbf{G}_d$ in equation eqref:eq:Gd_w0_xi_k, one can see that the two diagonal (direct) terms are equal and that the two off-diagonal (coupling) terms are opposite. +% The bode plot of these two terms are shown in Figure ref:fig:rotating_direct_coupling_bode_plot for several rotational speeds $\Omega$. +% These plots confirm the expected behavior: the frequency of the two pairs of complex conjugate poles are further separated as $\Omega$ increases. +% For $\Omega > \omega_0$, the low frequency pair of complex conjugate poles $p_{-}$ becomes unstable. + + +%% Bode plot of the direct and coupling terms for several rotating velocities +freqs = logspace(-1, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +title('Direct terms: $d_u/F_u$, $d_v/F_v$'); +ylim([1e-2, 1e2]); +yticks([1e-2,1e-1,1,1e1,1e2]) +yticklabels({'$0.01/k$', '$0.1/k$', '$1/k$', '$10/k$', '$100/k$'}) + +ax2 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0$', Wzs(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('Coupling Terms: $d_u/F_v$, $d_v/F_u$'); +ldg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-2, 1e2]); + +ax3 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-1,1,1e1]) +xticklabels({'$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax4 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)); +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); set(gca, 'YTickLabel',[]); +xticks([1e-1,1,1e1]) +xticklabels({'$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2,ax3,ax4],'x'); +xlim([freqs(1), freqs(end)]); + +linkaxes([ax1,ax2],'y'); diff --git a/matlab/rotating_2_iff_pure_int.m b/matlab/rotating_2_iff_pure_int.m new file mode 100644 index 0000000..abfddd7 --- /dev/null +++ b/matlab/rotating_2_iff_pure_int.m @@ -0,0 +1,152 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); + +% Effect of the rotation speed on the IFF plant dynamics +% The transfer functions from actuator forces $[F_u,\ F_v]$ to the measured force sensors $[f_u,\ f_v]$ are identified for several rotating velocities and shown in Figure ref:fig:rotating_iff_bode_plot_effect_rot. + +% As was expected from the derived equations of motion: +% - when $0 < \Omega < \omega_0$: the low frequency gain is no longer zero and two (non-minimum phase) real zero appears at low frequency. +% The low frequency gain increases with $\Omega$. +% A pair of (minimum phase) complex conjugate zeros appears between the two complex conjugate poles that are split further apart as $\Omega$ increases. +% - when $\omega_0 < \Omega$: the low frequency pole becomes unstable. + + +%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation +figure; +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('fu', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); +title('Direct terms: $f_u/F_u$, $f_v/F_v$'); +ylim([1e-3, 1e2]); + +ax2 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('fv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0$', Wzs(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('Coupling Terms: $f_u/F_v$, $f_v/F_u$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-3, 1e2]); + +ax3 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('fu', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax4 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('fv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)); +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); set(gca, 'YTickLabel',[]); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2,ax3,ax4],'x'); +xlim([freqs(1), freqs(end)]); + +linkaxes([ax1,ax2],'y'); + + + +% #+name: fig:rotating_iff_diagram +% #+caption: Control diagram for decentralized Integral Force Feedback +% #+RESULTS: +% [[file:figs/rotating_iff_diagram.png]] + +% The decentralized IFF controller $\bm{K}_F$ corresponds to a diagonal controller with integrators: +% #+name: eq:Kf_pure_int +% \begin{equation} +% \begin{aligned} +% \mathbf{K}_{F}(s) &= \begin{bmatrix} K_{F}(s) & 0 \\ 0 & K_{F}(s) \end{bmatrix} \\ +% K_{F}(s) &= g \cdot \frac{1}{s} +% \end{aligned} +% \end{equation} + +% In order to see how the IFF controller affects the poles of the closed loop system, a Root Locus plot (Figure ref:fig:rotating_root_locus_iff_pure_int) is constructed as follows: the poles of the closed-loop system are drawn in the complex plane as the controller gain $g$ varies from $0$ to $\infty$ for the two controllers $K_{F}$ simultaneously. +% As explained in cite:preumont08_trans_zeros_struc_contr_with,skogestad07_multiv_feedb_contr, the closed-loop poles start at the open-loop poles (shown by $\tikz[baseline=-0.6ex] \node[cross out, draw=black, minimum size=1ex, line width=2pt, inner sep=0pt, outer sep=0pt] at (0, 0){};$) for $g = 0$ and coincide with the transmission zeros (shown by $\tikz[baseline=-0.6ex] \draw[line width=2pt, inner sep=0pt, outer sep=0pt] (0,0) circle[radius=3pt];$) as $g \to \infty$. + +% #+begin_important +% Whereas collocated IFF is usually associated with unconditional stability cite:preumont91_activ, this property is lost due to gyroscopic effects as soon as the rotation velocity in non-null. +% This can be seen in the Root Locus plot (Figure ref:fig:rotating_root_locus_iff_pure_int) where poles corresponding to the controller are bound to the right half plane implying closed-loop system instability. +% #+end_important + +% Physically, this can be explained like so: at low frequency, the loop gain is very large due to the pure integrator in $K_{F}$ and the finite gain of the plant (Figure ref:fig:rotating_iff_bode_plot_effect_rot). +% The control system is thus canceling the spring forces which makes the suspended platform no able to hold the payload against centrifugal forces, hence the instability. + + +%% Root Locus for the Decentralized Integral Force Feedback controller +figure; + +Kiff = 1/s*eye(2); + +gains = logspace(-2, 4, 300); +Wz_i = [1,3,4]; + +hold on; +for i = 1:length(Wz_i) + plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8); + plot(real(tzero(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(tzero(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'o', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',8); + for g = gains + cl_poles = pole(feedback(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff, -1)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',4); + end +end +hold off; +axis square; +xlim([-1.8, 0.2]); ylim([0, 2]); +xticks([-1, 0]) +xticklabels({'-$\omega_0$', '$0$'}) +yticks([0, 1, 2]) +yticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; diff --git a/matlab/rotating_3_iff_hpf.m b/matlab/rotating_3_iff_hpf.m new file mode 100644 index 0000000..7dab985 --- /dev/null +++ b/matlab/rotating_3_iff_hpf.m @@ -0,0 +1,474 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); + +% Modified Integral Force Feedback Controller +% The Integral Force Feedback Controller is modified such that instead of using pure integrators, pseudo integrators (i.e. low pass filters) are used: +% \begin{equation} +% K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} +% 1 & 0 \\ +% 0 & 1 +% \end{bmatrix} +% \end{equation} +% where $\omega_i$ characterize down to which frequency the signal is integrated. + +% Let's arbitrary choose the following control parameters: + +%% Modified IFF - parameters +g = 2; % Controller gain +wi = 0.1; % HPF Cut-Off frequency [rad/s] + +Kiff = (g/s)*eye(2); % Pure IFF +Kiff_hpf = (g/(wi+s))*eye(2); % IFF with added HPF + + + +% The loop gains ($K_F(s)$ times the direct dynamics $f_u/F_u$) with and without the added HPF are shown in Figure ref:fig:rotating_iff_modified_loop_gain. +% The effect of the added HPF limits the low frequency gain to finite values as expected. + + +%% Loop gain for the IFF with pure integrator and modified IFF with added high pass filter +freqs = logspace(-2, 1, 1000); +Wz_i = 2; + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff(1,1), freqs, 'rad/s')))) +plot(freqs, abs(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff_hpf(1,1), freqs, 'rad/s')))) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Loop Gain'); + +% Phase +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff(1,1), freqs, 'rad/s'))), 'DisplayName', 'IFF') +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff_hpf(1,1), freqs, 'rad/s'))), 'DisplayName', 'IFF + HPF') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) +leg = legend('location', 'southwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 20; + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); + + + +% #+name: fig:rotating_iff_modified_loop_gain +% #+caption: Loop gain for the IFF with pure integrator and modified IFF with added high pass filter ($\Omega = 0.1\omega_0$) +% #+RESULTS: +% [[file:figs/rotating_iff_modified_loop_gain.png]] + +% The Root Locus plots for the decentralized IFF with and without the HPF are displayed in Figure ref:fig:rotating_iff_root_locus_hpf. +% With the added HPF, the poles of the closed loop system are shown to be *stable up to some value of the gain* $g_\text{max}$ given by equation eqref:eq:gmax_iff_hpf. + +% #+name: eq:gmax_iff_hpf +% \begin{equation} +% \boxed{g_{\text{max}} = \omega_i \left( \frac{{\omega_0}^2}{\Omega^2} - 1 \right)} +% \end{equation} + +% It is interesting to note that $g_{\text{max}}$ also corresponds to the controller gain at which the low frequency loop gain (Figure ref:fig:rotating_iff_modified_loop_gain) reaches one. + + +%% Root Locus for the initial IFF and the modified IFF +gains = logspace(-2, 4, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([1,2]); +hold on; +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:), 'HandleVisibility', 'off','MarkerSize',4); +end +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:), 'HandleVisibility', 'off','MarkerSize',4); +end +% Pure Integrator +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(1,:), 'DisplayName', 'IFF','MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(1,:), 'HandleVisibility', 'off','MarkerSize',8); +% Modified IFF +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'x', 'color', colors(2,:), 'DisplayName', 'IFF + HPF','MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'o', 'color', colors(2,:), 'HandleVisibility', 'off','MarkerSize',8); +hold off; +axis square; +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +xlabel('Real Part'); ylabel('Imaginary Part'); + +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +ax2 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +% Pure Integrator +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); +% Modified IFF +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +title('Zoom near the origin'); + +xlim([-0.15, 0.1]); ylim([-0.15, 0.15]); +xticks([-0.1, 0, 0.1]) +xticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) +yticks([-0.1, 0, 0.1]) +yticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) + +% Optimal IFF with HPF parameters $\omega_i$ and $g$ +% Two parameters can be tuned for the modified controller in equation eqref:eq:iff_lhf: the gain $g$ and the pole's location $\omega_i$. +% The optimal values of $\omega_i$ and $g$ are here considered as the values for which the damping of all the closed-loop poles are simultaneously maximized. + +% In order to visualize how $\omega_i$ does affect the attainable damping, the Root Locus plots for several $\omega_i$ are displayed in Figure ref:fig:rotating_root_locus_iff_modified_effect_wi. +% It is shown that even though small $\omega_i$ seem to allow more damping to be added to the suspension modes, the control gain $g$ may be limited to small values due to equation eqref:eq:gmax_iff_hpf. + + +%% High Pass Filter Cut-Off Frequency +wis = [0.01, 0.1, 0.5, 1]*Wzs(2); % [rad/s] + +%% Root Locus for the initial IFF and the modified IFF +gains = logspace(-2, 4, 200); + +figure; +tiledlayout(1, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = (1/(wi+s))*eye(2); + L(wi_i) = plot(nan, nan, '.', 'color', colors(wi_i,:), 'DisplayName', sprintf('$\\omega_i = %.2f \\omega_0$', wi./Wzs(2))); + for g = gains + clpoles = pole(feedback(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(wi_i,:),'MarkerSize',4); + end + plot(real(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(wi_i,:),'MarkerSize',8); + plot(real(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(wi_i,:),'MarkerSize',8); +end +hold off; +axis square; +xlim([-2.3, 0.1]); ylim([-1.2, 1.2]); +xticks([-2:1:2]); yticks([-2:1:2]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +xlabel('Real Part'); ylabel('Imaginary Part'); +clear L + +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +ax2 = nexttile(); +hold on; +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = (1/(wi+s))*eye(2); + L(wi_i) = plot(nan, nan, '.', 'color', colors(wi_i,:)); + for g = gains + clpoles = pole(feedback(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(wi_i,:),'MarkerSize',4); + end + plot(real(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(wi_i,:),'MarkerSize',8); + plot(real(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(wi_i,:),'MarkerSize',8); +end +hold off; +axis square; +xlim([-2.3, 0.1]); ylim([-1.2, 1.2]); +xticks([-2:1:2]); yticks([-2:1:2]); +xlabel('Real Part'); ylabel('Imaginary Part'); +title('Zoom near the origin'); +clear L + +xlim([-0.15, 0.1]); ylim([-0.15, 0.15]); +xticks([-0.1, 0, 0.1]) +xticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) +yticks([-0.1, 0, 0.1]) +yticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) + + + +% #+name: fig:rotating_root_locus_iff_modified_effect_wi +% #+caption: Root Locus for several high pass filter cut-off frequency +% #+RESULTS: +% [[file:figs/rotating_root_locus_iff_modified_effect_wi.png]] + +% In order to study this trade off, the attainable closed-loop damping ratio $\xi_{\text{cl}}$ is computed as a function of $\omega_i/\omega_0$. +% The gain $g_{\text{opt}}$ at which this maximum damping is obtained is also displayed and compared with the gain $g_{\text{max}}$ at which the system becomes unstable (Figure ref:fig:rotating_iff_hpf_optimal_gain). + +% Three regions can be observed: +% - $\omega_i/\omega_0 < 0.02$: the added damping is limited by the maximum allowed control gain $g_{\text{max}}$ +% - $0.02 < \omega_i/\omega_0 < 0.2$: the attainable damping ratio is maximized and is reached for $g \approx 2$ +% - $0.2 < \omega_i/\omega_0$: the added damping decreases as $\omega_i/\omega_0$ increases. + + +%% Compute the optimal control gain +wis = logspace(-2, 1, 100); % [rad/s] + +opt_xi = zeros(1, length(wis)); % Optimal simultaneous damping +opt_gain = zeros(1, length(wis)); % Corresponding optimal gain + +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = 1/(s + wi)*eye(2); + + fun = @(g)computeSimultaneousDamping(g, Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.5*wi*((1/Wzs(2))^2 - 1)); + opt_xi(wi_i) = 1/xi_opt; + opt_gain(wi_i) = g_opt; +end + +%% Attainable damping ratio as a function of wi/w0. Corresponding control gain g_opt and g_max are also shown +figure; +yyaxis left +plot(wis, opt_xi, '-', 'DisplayName', '$\xi_{cl}$'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(wis, opt_gain, '-', 'DisplayName', '$g_{opt}$'); +plot(wis, wis*((1/Wzs(2))^2 - 1), '--', 'DisplayName', '$g_{max}$'); +set(gca, 'YScale', 'lin'); +ylim([0,10]); +ylabel('Controller gain $g$'); + +xlabel('$\omega_i/\omega_0$'); +set(gca, 'XScale', 'log'); +legend('location', 'northeast', 'FontSize', 8); + +% Obtained Damped Plant + +% Let's choose $\omega_i = 0.1 \cdot \omega_0$ and compute the damped plant. +% The undamped and damped plants are compared in Figure ref:fig:rotating_iff_hpf_damped_plant in blue and red respectively. +% A well damped plant is indeed obtained. + +% However, the magnitude of the coupling term ($d_v/F_u$) is larger then IFF is applied. + + +%% Compute damped plant +wi = 0.1; % [rad/s] +g = 2; % Gain +Kiff_hpf = (g/(wi+s))*eye(2); % IFF with added HPF +Kiff_hpf.InputName = {'fu', 'fv'}; +Kiff_hpf.OutputName = {'Fu', 'Fv'}; + +G_iff_hpf = feedback(Gs{2}, Kiff_hpf, 'name'); + +isstable(G_iff_hpf) % Verify stability + +%% Damped plant with IFF and added HPF - Transfer function from $F_u$ to $d_u$ +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(Gs{2}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3)], ... + 'DisplayName', '$d_u/F_u$, OL') +plot(freqs, abs(squeeze(freqresp(G_iff_hpf('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:)], ... + 'DisplayName', '$d_u/F_u$, IFF') +plot(freqs, abs(squeeze(freqresp(Gs{2}('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', '$d_v/F_u$, OL') +plot(freqs, abs(squeeze(freqresp(G_iff_hpf('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$d_v/F_u$, IFF') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +leg.ItemTokenSize(1) = 20; + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{2}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_hpf('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); + + + +% #+name: fig:rotating_iff_hpf_damped_plant +% #+caption: Damped plant with IFF and added HPF - Transfer function from $F_u$ to $d_u$, $\omega_i = 0.1 \cdot \omega_0$, $\Omega = 0.1 \cdot \omega_0$ +% #+RESULTS: +% [[file:figs/rotating_iff_hpf_damped_plant.png]] + +% In order to study how $\omega_i$ affects the coupling of the damped plant, the closed-loop plant is identified for several $\omega_i$. +% The direct and coupling terms of the plants are shown in Figure ref:fig:rotating_iff_hpf_damped_plant_effect_wi_coupling (left) and the ratio between the two (i.e. the coupling ratio) is shown in Figure ref:fig:rotating_iff_hpf_damped_plant_effect_wi_coupling (right). + +% The coupling ratio is decreasing as $\omega_i$ increases. +% There is therefore a *trade-off between achievable damping and coupling ratio* for the choice of $\omega_i$. +% The same trade-off can be seen between achievable damping and loss of compliance at low frequency (see Figure ref:fig:rotating_iff_hpf_effect_wi_compliance). + + +%% Compute damped plant +wis = [0.03, 0.1, 0.5]; % [rad/s] +g = 2; % Gain + +Gs_iff_hpf = {}; + +for i = 1:length(wis) + Kiff_hpf = (g/(wis(i)+s))*eye(2); % IFF with added HPF + Kiff_hpf.InputName = {'fu', 'fv'}; + Kiff_hpf.OutputName = {'Fu', 'Fv'}; + + Gs_iff_hpf(i) = {feedback(Gs{2}, Kiff_hpf, 'name')}; +end + +%% Effect of $\omega_i$ on the damped plant coupling +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(wis) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(i,:)], ... + 'DisplayName', sprintf('$d_u/F_u$, $\\omega_i = %.2f \\omega_0$', wis(i))) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(i,:), 0.5], ... + 'DisplayName', sprintf('$d_v/F_u$, $\\omega_i = %.2f \\omega_0$', wis(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1); +leg.ItemTokenSize(1) = 20; + +ax3 = nexttile([3,1]); +hold on; +for i = 1:length(wis) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Dv', 'Fu')/Gs_iff_hpf{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(i,:)], ... + 'DisplayName', sprintf('$\\omega_i = %.2f \\omega_0$', wis(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Coupling Ratio'); +leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); +leg.ItemTokenSize(1) = 20; +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax2 = nexttile; +hold on; +for i = 1:length(wis) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_iff_hpf{i}('Du', 'Fu'), freqs, 'rad/s'))), '-') +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); + + + +% #+name: fig:rotating_iff_hpf_damped_plant_effect_wi_coupling +% #+caption: Effect of $\omega_i$ on the damped plant coupling +% #+RESULTS: +% [[file:figs/rotating_iff_hpf_damped_plant_effect_wi_coupling.png]] + + +%% Effect of $\omega_i$ on the obtained compliance +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(1, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile(); +hold on; +for i = 1:length(wis) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Du', 'Fdx'), freqs, 'rad/s'))), '-', 'color', [colors(i,:)], ... + 'DisplayName', sprintf('$d_{x}/F_{dx}$, $\\omega_i = %.2f \\omega_0$', wis(i))) +end +plot(freqs, abs(squeeze(freqresp(Gs{2}('Du', 'Fdx'), freqs, 'rad/s'))), 'k--', ... + 'DisplayName', '$d_{x}/F_{dx}$, OL') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); +leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1); +leg.ItemTokenSize(1) = 20; +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) diff --git a/matlab/rotating_4_iff_kp.m b/matlab/rotating_4_iff_kp.m new file mode 100644 index 0000000..9c5ff91 --- /dev/null +++ b/matlab/rotating_4_iff_kp.m @@ -0,0 +1,500 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); + +% Identify plant with parallel stiffnesses :noexport: + +%% Tuv Stage +mn = 0.5; % Tuv mass [kg] + +%% Sample +ms = 0.5; % Sample mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage + +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdu, Fdv] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] + +% Effect of the parallel stiffness on the IFF plant +% The IFF plant (transfer function from $[F_u, F_v]$ to $[f_u, f_v]$) is identified in three different cases: +% - without parallel stiffness $k_p = 0$ +% - with a small parallel stiffness $k_p < m \Omega^2$ +% - with a large parallel stiffness $k_p > m \Omega^2$ + + +Wz = 0.1; % The rotation speed [rad/s] + +%% No parallel Stiffness +kp = 0; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +G_no_kp = linearize(mdl, io, 0); +G_no_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G_no_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Small parallel Stiffness +kp = 0.5*(mn+ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +G_low_kp = linearize(mdl, io, 0); +G_low_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G_low_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Large parallel Stiffness +kp = 1.5*(mn+ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +G_high_kp = linearize(mdl, io, 0); +G_high_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G_high_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + + +% The Bode plots of the obtained dynamics are shown in Figure ref:fig:rotating_iff_effect_kp. +% One can see that for $k_p > m \Omega^2$, the two real zeros with $k_p < m \Omega^2$ are transformed into two complex conjugate zeros and the systems shows alternating complex conjugate poles and zeros. + + +%% Effect of the parallel stiffness on the IFF plant +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G_no_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-', ... + 'DisplayName', '$k_p = 0$') +plot(freqs, abs(squeeze(freqresp(G_low_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-', ... + 'DisplayName', '$k_p < m\Omega^2$') +plot(freqs, abs(squeeze(freqresp(G_high_kp('fu', 'Fu'), freqs, 'rad/s'))), '-', ... + 'DisplayName', '$k_p > m\Omega^2$') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); +ylim([1e-5, 5e1]); +legend('location', 'southeast', 'FontSize', 8); + +% Phase +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_no_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-') +plot(freqs, 180/pi*angle(squeeze(freqresp(G_low_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-') +plot(freqs, 180/pi*angle(squeeze(freqresp(G_high_kp('fu', 'Fu'), freqs, 'rad/s'))), '-') +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +hold off; +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); + + + +% #+name: fig:rotating_iff_effect_kp +% #+caption: Effect of the parallel stiffness on the IFF plant: Bode plot of $G_{k}(1,1) = f_u/F_u$ without parallel spring, with parallel spring stiffness $k_p < m \Omega^2$ and $k_p > m \Omega^2$, $\Omega = 0.1 \omega_0$ +% #+RESULTS: +% [[file:figs/rotating_iff_effect_kp.png]] + +% Figure ref:fig:rotating_iff_kp_root_locus shows the Root Locus plots for $k_p = 0$, $k_p < m \Omega^2$ and $k_p > m \Omega^2$ when $K_F$ is a pure integrator as in Eq. eqref:eq:Kf_pure_int. +% It is shown that if the added stiffness is higher than the maximum negative stiffness, the poles of the closed-loop system are bounded on the (stable) left half-plane, and hence the *unconditional stability of IFF is recovered*. + + +%% Root Locus for IFF without parallel spring, with small parallel spring and with large parallel spring +gains = logspace(-2, 2, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([1,2]); +hold on; +plot(real(pole(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(1,:), ... + 'DisplayName', '$k_p = 0$','MarkerSize',8); +plot(real(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(1,:), ... + 'HandleVisibility', 'off','MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_no_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(1,:), ... + 'HandleVisibility', 'off','MarkerSize',4); +end + +plot(real(pole(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(2,:), ... + 'DisplayName', '$k_p < m\Omega^2$','MarkerSize',8); +plot(real(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(2,:), ... + 'HandleVisibility', 'off','MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_low_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(2,:), ... + 'HandleVisibility', 'off','MarkerSize',4); +end + +plot(real(pole(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(3,:), ... + 'DisplayName', '$k_p > m\Omega^2$','MarkerSize',8); +plot(real(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(3,:), ... + 'HandleVisibility', 'off','MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_high_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(3,:), ... + 'HandleVisibility', 'off','MarkerSize',4); +end +hold off; +axis square; +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; + +ax2 = nexttile(); +hold on; +plot(real(pole(G_no_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_no_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(1,:), 'MarkerSize',8); +plot(real(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(1,:), 'MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_no_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(1,:), 'MarkerSize', 4); +end + +plot(real(pole(G_low_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_low_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(2,:), 'MarkerSize',8); +plot(real(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(2,:), 'MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_low_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(2,:), 'MarkerSize', 4); +end + +plot(real(pole(G_high_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_high_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(3,:), 'MarkerSize',8); +plot(real(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(3,:), 'MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_high_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(3,:), 'MarkerSize',4); +end +hold off; +axis equal; +xlim([-0.04, 0.04]); ylim([-0.08, 0.08]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +xlabel('Real Part'); ylabel('Imaginary Part'); +title('Zoom on controller pole') + +% Effect of $k_p$ on the attainable damping + +% Even though the parallel stiffness $k_p$ has no impact on the open-loop poles (as the overall stiffness $k$ is kept constant), it has a large impact on the transmission zeros. +% Moreover, as the attainable damping is generally proportional to the distance between poles and zeros cite:preumont18_vibrat_contr_activ_struc_fourt_edition, the parallel stiffness $k_p$ is foreseen to have some impact on the attainable damping. + +% To study this effect, Root Locus plots for several parallel stiffnesses $k_p > m \Omega^2$ are shown in Figure ref:fig:rotating_iff_kp_root_locus_effect_kp. +% The frequencies of the transmission zeros of the system are increasing with an increase of the parallel stiffness $k_p$ (thus getting closer to the poles) and the associated attainable damping is reduced. + +% #+begin_important +% Therefore, even though the parallel stiffness $k_p$ should be larger than $m \Omega^2$ for stability reasons, it should not be taken too large as this would limit the attainable damping. +% #+end_important + + +%% Tested parallel stiffnesses +kps = [2, 20, 40]*(mn + ms)*Wz^2; + +%% Root Locus: Effect of the parallel stiffness on the attainable damping +figure; + +gains = logspace(-2, 4, 500); + +hold on; +for kp_i = 1:length(kps) + kp = kps(kp_i); % Parallel Stiffness [N/m] + cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] + kn = 1 - kp; % Stiffness [N/m] + cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + + % Identify dynamics + G = linearize(mdl, io, 0); + G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; + G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), 'x', 'color', colors(kp_i,:), ... + 'DisplayName', sprintf('$k_p = %.1f m \\Omega^2$', kp/((mn+ms)*Wz^2)),'MarkerSize',8); + plot(real(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), imag(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), 'o', 'color', colors(kp_i,:), ... + 'HandleVisibility', 'off','MarkerSize',8); + for g = gains + cl_poles = pole(feedback(G({'fu', 'fv'}, {'Fu', 'Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(kp_i,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); + end +end +hold off; +axis square; +% xlim([-1.15, 0.05]); ylim([0, 1.2]); +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 12; + + + +% #+name: fig:rotating_iff_kp_root_locus_effect_kp +% #+caption: Root Locus: Effect of the parallel stiffness on the attainable damping, $\Omega = 0.1 \omega_0$ +% #+RESULTS: +% [[file:figs/rotating_iff_kp_root_locus_effect_kp.png]] + +% This is confirmed by the Figure ref:fig:rotating_iff_kp_optimal_gain where the attainable closed-loop damping ratio $\xi_{\text{cl}}$ and the associated optimal control gain $g_\text{opt}$ are computed as a function of the parallel stiffness. + + +%% Computes the optimal parameters and attainable simultaneous damping +alphas = logspace(-2, 0, 100); +alphas(end) = []; % Remove last point + +opt_xi = zeros(1, length(alphas)); % Optimal simultaneous damping +opt_gain = zeros(1, length(alphas)); % Corresponding optimal gain + +Kiff = 1/s*eye(2); + +for alpha_i = 1:length(alphas) + kp = alphas(alpha_i); + cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] + kn = 1 - kp; % Stiffness [N/m] + cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + + % Identify dynamics + G = linearize(mdl, io, 0); + G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; + G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, G({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 2); + opt_xi(alpha_i) = 1/xi_opt; + opt_gain(alpha_i) = g_opt; +end + +%% Attainable damping as a function of the stiffness ratio +figure; +yyaxis left +plot(alphas, opt_xi, '-', 'DisplayName', '$\xi_{cl}$'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(alphas, opt_gain, '-', 'DisplayName', '$g_{opt}$'); +set(gca, 'YScale', 'lin'); +ylim([0,2.5]); +ylabel('Controller gain $g$'); + +set(gca, 'XScale', 'log'); +legend('location', 'northeast', 'FontSize', 8); + +xlabel('$k_p$'); +xlim([0.01, 1]); +xticks([0.01, 0.1, 1]) +xticklabels({'$m\Omega^2$', '$10m\Omega^2$', '$100m\Omega^2$'}) + +% Damped plant +% Let's choose a parallel stiffness equal to $k_p = 2 m \Omega^2$ and compute the damped plant. +% The damped and undamped transfer functions from $F_u$ to $d_u$ are compared in Figure ref:fig:rotating_iff_kp_damped_plant. + +% Even though the two resonances are well damped, the IFF changes the low frequency behavior of the plant which is usually not wanted. +% This is due to the fact that "pure" integrators are used, and that the low frequency loop gains becomes large below some frequency. + + +%% Identify dynamics with parallel stiffness = 2mW^2 +Wz = 0.1; % [rad/s] +kp = 2*(mn + ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +% Identify dynamics +G = linearize(mdl, io, 0); +G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% IFF controller with pure integrator +Kiff_kp = (2.2/s)*eye(2); +Kiff_kp.InputName = {'fu', 'fv'}; +Kiff_kp.OutputName = {'Fu', 'Fv'}; + +%% Compute the damped plant +G_cl_iff_kp = feedback(G, Kiff_kp, 'name'); + +%% Damped plant with IFF - Transfer function from $F_u$ to $d_u$ +freqs = logspace(-3, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', '$d_u/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', '$d_u/F_u$ - IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', '$d_v/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$d_v/F_u$ - IFF + $k_p$') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize(1) = 20; +ylim([1e-6, 1e2]); + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-3,1e-2,1e-1,1,1e1]) +xticklabels({'$0.001 \omega_0$', '$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); + + + +% #+name: fig:rotating_iff_kp_damped_plant +% #+caption: Damped plant with IFF - Transfer function from $F_u$ to $d_u$ +% #+RESULTS: +% [[file:figs/rotating_iff_kp_damped_plant.png]] + +% In order to lower the low frequency gain, an high pass filter is added to the IFF controller (which is equivalent as shifting the controller pole to the left in the complex plane): +% \begin{equation} +% K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} +% 1 & 0 \\ +% 0 & 1 +% \end{bmatrix} +% \end{equation} + +% Let's see how the high pass filter impacts the attainable damping. +% The controller gain $g$ is kept constant while $\omega_i$ is changed, and the minimum damping ratio of the damped plant is computed. +% The obtained damping ratio as a function of $\omega_i/\omega_0$ (where $\omega_0$ is the resonance of the system without rotation) is shown in Figure ref:fig:rotating_iff_kp_added_hpf_effect_damping. + + +w0 = sqrt((kn+kp)/(mn+ms)); % Resonance frequency [rad/s] +wis = w0*logspace(-2, 0, 100); % LPF cut-off [rad/s] + +%% Computes the obtained damping as a function of the HPF cut-off frequency +opt_xi = zeros(1, length(wis)); % Optimal simultaneous damping + +for wi_i = 1:length(wis) + Kiff_kp_hpf = (2.2/(s + wis(wi_i)))*eye(2); + Kiff_kp_hpf.InputName = {'fu', 'fv'}; + Kiff_kp_hpf.OutputName = {'Fu', 'Fv'}; + + [~, xi] = damp(feedback(G, Kiff_kp_hpf, 'name')); + opt_xi(wi_i) = min(xi); +end + +%% Effect of the high pass filter cut-off frequency on the obtained damping +figure; +plot(wis, opt_xi, '-'); +set(gca, 'XScale', 'log'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); +xlabel('$\omega_i/\omega_0$'); + + + +% #+name: fig:rotating_iff_kp_added_hpf_effect_damping +% #+caption: Effect of the high pass filter cut-off frequency on the obtained damping +% #+RESULTS: +% [[file:figs/rotating_iff_kp_added_hpf_effect_damping.png]] + +% Let's choose $\omega_i = 0.1 \cdot \omega_0$ and compute the damped plant again. +% The Bode plots of the undamped, damped with "pure" IFF, and with added high pass filters are shown in Figure ref:fig:rotating_iff_kp_added_hpf_damped_plant. +% The added high pass filter gives almost the same damping properties while giving acceptable low frequency behavior. + + +%% Compute the damped plant with added High Pass Filter +Kiff_kp_hpf = (2.2/(s + 0.1*w0))*eye(2); +Kiff_kp_hpf.InputName = {'fu', 'fv'}; +Kiff_kp_hpf.OutputName = {'Fu', 'Fv'}; + +G_cl_iff_hpf_kp = feedback(G, Kiff_kp_hpf, 'name'); + +%% Bode plot of the direct and coupling terms for several rotating velocities +freqs = logspace(-3, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros( 1,3), ... + 'DisplayName', '$d_u/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', '$d_u/F_u$ - IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_hpf_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', '$d_u/F_u$ - IFF + $k_p$ + HPF') +plot(freqs, abs(squeeze(freqresp(G( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros( 1,3), 0.5], ... + 'DisplayName', '$d_v/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$d_v/F_u$ - IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_hpf_kp('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(2,:), 0.5], ... + 'DisplayName', '$d_v/F_u$ - IFF + $k_p$ + HPF') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize(1) = 20; + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros( 1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_kp( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_hpf_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-3,1e-2,1e-1,1,1e1]) +xticklabels({'$0.001 \omega_0$', '$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); diff --git a/matlab/rotating_5_rdc.m b/matlab/rotating_5_rdc.m new file mode 100644 index 0000000..48997fa --- /dev/null +++ b/matlab/rotating_5_rdc.m @@ -0,0 +1,185 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); + +% Decentralized Relative Damping Control +% The transfer functions from $[F_u,\ F_v]$ to $[d_u,\ d_v]$ is identified and shown in Figure ref:fig:rotating_rdc_plant_effect_rot for several rotating velocities. + + +%% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation +figure; +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); +title('Direct terms: $d_u/F_u$, $d_v/F_v$'); +ylim([1e-3, 1e2]); + +ax2 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0$', Wzs(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('Coupling Terms: $d_u/F_v$, $d_v/F_u$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-3, 1e2]); + +ax3 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax4 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)); +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); set(gca, 'YTickLabel',[]); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2,ax3,ax4],'x'); +xlim([freqs(1), freqs(end)]); + +linkaxes([ax1,ax2],'y'); + + + +% #+name: fig:rotating_rdc_plant_effect_rot +% #+caption: Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation +% #+RESULTS: +% [[file:figs/rotating_rdc_plant_effect_rot.png]] + +% In order to see if large damping can be added with Relative Damping Control, the root locus is computed (Figure ref:fig:rotating_rdc_root_locus). +% The closed-loop system is unconditionally stable and the poles can be damped as much as wanted. + + +%% Root Locus for Relative Damping Control +figure; + +Krdc = s*eye(2); % Relative damping controller + +gains = logspace(-2, 2, 300); % Tested gains +Wz_i = [1,3,4]; + +hold on; +for i = 1:length(Wz_i) + plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8); + plot(real(tzero(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(tzero(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'o', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',8); + for g = gains + cl_poles = pole(feedback(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'}), g*Krdc, -1)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',4); + end +end +hold off; +axis square; +xlim([-1.8, 0.2]); ylim([0, 2]); +xticks([-1, 0]) +xticklabels({'-$\omega_0$', '$0$'}) +yticks([0, 1, 2]) +yticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; + +% Damped Plant +% Let's select a reasonable "Relative Damping Control" gain, and compute the closed-loop damped system. +% The open-loop and damped plants are compared in Figure ref:fig:rotating_rdc_damped_plant. + +% The rotating aspect does not add any complexity for the use of Relative Damping Control. +% It does not increase the low frequency coupling as compared to Integral Force Feedback. + + +i = 2; + +%% Relative Damping Controller +Krdc = 2*s*eye(2); +Krdc.InputName = {'Du', 'Dv'}; +Krdc.OutputName = {'Fu', 'Fv'}; + +%% Compute the damped plant +G_cl_rdc = feedback(Gs{i}, Krdc, 'name'); + +%% Damped plant using Relative Damping Control +figure; +freqs = logspace(-3, 2, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(Gs{i}( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL - $G_d(1,1)$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'RDC - $G_d(1,1)$') +plot(freqs, abs(squeeze(freqresp(Gs{i}( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'OL - $G_d(2,1)$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', 'RDC - $G_d(2,1)$') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize(1) = 20; +ylim([1e-6, 1e2]); + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_rdc('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); diff --git a/matlab/rotating_6_act_damp_comparison.m b/matlab/rotating_6_act_damp_comparison.m new file mode 100644 index 0000000..c9ed4fd --- /dev/null +++ b/matlab/rotating_6_act_damp_comparison.m @@ -0,0 +1,261 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); + +% Identify plants :noexport: + +%% The rotating speed is set to $\Omega = 0.1 \omega_0$. +Wz = 0.1; % [rad/s] + +%% Masses +ms = 0.5; % Sample mass [kg] +mn = 0.5; % Tuv mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop + +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdu, Fdv] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % [Dfx, Dfy] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] + +%% Identifying plant with parallel stiffness + +model_config.Tuv_type = "parallel_k"; + +% Parallel stiffness +kp = 2*(mn+ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] + +% Tuv Stage +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +% Linearize +G_kp = linearize(mdl, io, 0); +G_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Identifying plant with no parallel stiffness + +model_config.Tuv_type = "normal"; + +% Tuv Stage +kn = 1; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +% Linearize +G = linearize(mdl, io, 0); +G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% IFF Controller +Kiff = (2.2/(s + 0.1))*eye(2); +Kiff.InputName = {'fu', 'fv'}; +Kiff.OutputName = {'Fu', 'Fv'}; + +%% IFF Controller with added stiffness +Kiff_kp = (2.2/(s + 0.1))*eye(2); +Kiff_kp.InputName = {'fu', 'fv'}; +Kiff_kp.OutputName = {'Fu', 'Fv'}; + +%% Relative Damping Controller +Krdc = 2*s*eye(2); +Krdc.InputName = {'Du', 'Dv'}; +Krdc.OutputName = {'Fu', 'Fv'}; + +% Root Locus + +% Figure ref:fig:rotating_comp_techniques_root_locus shows the Root Locus plots for the two proposed IFF modifications as well as for relative damping control. +% While the two pairs of complex conjugate open-loop poles are identical for both IFF modifications, the transmission zeros are not. +% This means that the closed-loop behavior of both systems will differ when large control gains are used. + +% One can observe that the closed loop poles corresponding to the system with added springs (in red) are bounded to the left half plane implying unconditional stability. +% This is not the case for the system where the controller is augmented with an HPF (in blue). + +% It is interesting to note that the maximum added damping is very similar for both techniques. + + +%% Comparison of active damping techniques for rotating platform - Root Locus +figure; + +gains = logspace(-2, 2, 500); + +hold on; +% IFF +plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ... + 'DisplayName', 'IFF with HPF', 'MarkerSize', 8); +plot(real(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'o', 'color', colors(1,:), ... + 'HandleVisibility', 'off', 'MarkerSize', 8); +for g = gains + cl_poles = pole(feedback(G({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +% IFF with parallel stiffness +plot(real(pole(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), imag(pole(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), 'x', 'color', colors(2,:), ... + 'DisplayName', 'IFF with $k_p$', 'MarkerSize', 8); +plot(real(tzero(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), imag(tzero(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), 'o', 'color', colors(2,:), ... + 'HandleVisibility', 'off', 'MarkerSize', 8); +for g = gains + cl_poles = pole(feedback(G_kp({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +% RDC +plot(real(pole(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(3,:), ... + 'DisplayName', 'RDC', 'MarkerSize', 8); +plot(real(tzero(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), imag(tzero(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), 'o', 'color', colors(3,:), ... + 'HandleVisibility', 'off', 'MarkerSize', 8); +for g = gains + cl_poles = pole(feedback(G({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(3,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +hold off; +axis square; +xlim([-1.15, 0.05]); ylim([0, 1.2]); + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 12; + +% Obtained Damped Plant +% The actively damped plants are computed for the three techniques and compared in Figure ref:fig:rotating_comp_techniques_dampled_plants. + +% #+begin_important +% It is shown that while the diagonal (direct) terms of the damped plants are similar for the three active damping techniques, of off-diagonal (coupling) terms are not. +% Integral Force Feedback strategy is adding some coupling at low frequency which may negatively impact the positioning performances. +% #+end_important + + +%% Compute Damped plants +G_cl_iff = feedback(G, Kiff, 'name'); +G_cl_iff_kp = feedback(G_kp, Kiff_kp, 'name'); +G_cl_rdc = feedback(G, Krdc, 'name'); + +%% Comparison of the damped plants obtained with the three active damping techniques +figure; +freqs = logspace(-3, 2, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'IFF + HPF') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', 'IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(3,:), ... + 'DisplayName', 'RDC') +plot(freqs, abs(squeeze(freqresp(G( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', 'Coupling') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(2,:), 0.5], ... + 'DisplayName', 'Coupling') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(3,:), 0.5], ... + 'DisplayName', 'Coupling') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-6, 1e2]) + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_rdc( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(3,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); + +% Transmissibility And Compliance +% The proposed active damping techniques are now compared in terms of closed-loop transmissibility and compliance. + +% The transmissibility is here defined as the transfer function from a displacement of the rotating stage along $\vec{i}_x$ to the displacement of the payload along the same direction. +% It is used to characterize how much vibration is transmitted through the suspended platform to the payload. + +% The compliance describes the displacement response of the payload to external forces applied to it. +% This is a useful metric when disturbances are directly applied to the payload. +% It is here defined as the transfer function from external forces applied on the payload along $\vec{i}_x$ to the displacement of the payload along the same direction. + +% Very similar results are obtained for the two proposed IFF modifications in terms of transmissibility and compliance (Figure ref:fig:rotating_comp_techniques_transmissibility_compliance). + +% #+begin_important +% Using IFF degrades the compliance at low frequency while using relative damping control degrades the transmissibility at high frequency. +% This is very well known characteristics of these common active damping techniques that holds when applied to rotating platforms. +% #+end_important + + +%% Comparison of the obtained transmissibilty and compliance for the three tested active damping techniques +freqs = logspace(-2, 2, 1000); + +figure; +tiledlayout(1, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Transmissibility +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'IFF + HPF') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', 'IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', colors(3,:), ... + 'DisplayName', 'RDC') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]'); +xlim([freqs(1), freqs(end)]); + +% Compliance +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'IFF + HPF') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', 'IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', colors(3,:), ... + 'DisplayName', 'RDC') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize = [10, 1]; +xlim([freqs(1), freqs(end)]); diff --git a/matlab/rotating_7_nano_hexapod.m b/matlab/rotating_7_nano_hexapod.m new file mode 100644 index 0000000..32d25d9 --- /dev/null +++ b/matlab/rotating_7_nano_hexapod.m @@ -0,0 +1,1206 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Simscape model name +mdl = 'rotating_model'; + +% Identify NASS dynamics :noexport: +% First, the dynamics is identified for all the considered cases. + + +%% Nano-Hexapod +mn = 15; % Nano-Hexapod mass [kg] + +%% Light Sample +ms = 1; % Sample Mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "normal"; % Default: 2DoF stage + +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdx, Fdy] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % [Dfx, Dfy] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] + +%% Voice Coil (i.e. soft) Nano-Hexapod +kn = 1e4; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_vc_norot = linearize(mdl, io, 0.0); +G_vc_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_vc_fast = linearize(mdl, io, 0.0); +G_vc_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% APA (i.e. relatively stiff) Nano-Hexapod +kn = 1e6; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_md_norot = linearize(mdl, io, 0.0); +G_md_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_md_fast = linearize(mdl, io, 0.0); +G_md_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Piezoelectric (i.e. stiff) Nano-Hexapod +kn = 1e8; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_pz_norot = linearize(mdl, io, 0.0); +G_pz_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_pz_fast = linearize(mdl, io, 0.0); +G_pz_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +% Nano-Active-Stabilization-System - Plant Dynamics +% For the NASS, the maximum rotating velocity is $\Omega = \SI[parse-numbers=false]{2\pi}{\radian\per\s}$ for a suspended mass on top of the nano-hexapod's actuators equal to $m_n + m_s = \SI{16}{\kilo\gram}$. +% The parallel stiffness corresponding to the centrifugal forces is $m \Omega^2 \approx \SI{0.6}{\newton\per\mm}$. + + +%% Compute negative spring in [N/m] +Kneg_light = (15+1)*(2*pi)^2; + + + +% The transfer functions from nano-hexapod actuator force $F_u$ to the displacement of the nano-hexapod in the same direction $d_u$ as well as in the orthogonal direction $d_v$ (coupling) are shown in Figure ref:fig:rotating_nano_hexapod_dynamics for all three considered nano-hexapod stiffnesses. + +% #+begin_important +% It is shown that the rotation has the largest effect on the soft nano-hexapod: +% - larger coupling (the ratio of the coupling term to the direct term is larger for the sort nano-hexapod) +% - larger shift of poles as a function of the rotating velocity +% #+end_important + + +%% Effect of rotation on the nano-hexapod dynamics +freqs = logspace(0, 3, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([2,1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(1,:), ... + 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(1,:), ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_u/F_u$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast( 'Dv', 'Fu'), freqs, 'Hz'))), '-' , 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_v/F_u$'); + +plot(freqs, abs(squeeze(freqresp(G_md_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(2,:), ... + 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(2,:), ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_u/F_u$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast( 'Dv', 'Fu'), freqs, 'Hz'))), '-' , 'color', [colors(2,:), 0.5], ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_v/F_u$'); + +plot(freqs, abs(squeeze(freqresp(G_pz_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(3,:), ... + 'DisplayName', '$k_n = 100\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(3,:), ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_u/F_u$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast( 'Dv', 'Fu'), freqs, 'Hz'))), '-' , 'color', [colors(3,:), 0.5], ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_v/F_u$'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Magnitude [m/N]'); set(gca, 'XTickLabel',[]); +ylim([1e-12, 1e-2]) +ldg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 3); +ldg.ItemTokenSize = [20, 1]; + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_vc_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(1,:)); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(1,:)); + +plot(freqs, 180/pi*angle(squeeze(freqresp(G_md_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(2,:)); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(2,:)); + +plot(freqs, 180/pi*angle(squeeze(freqresp(G_pz_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(3,:)); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +hold off; +yticks(-360:90:360); +ylim([-180, 0]); + +linkaxes([ax1,ax2],'x'); +xlim([1, 1e3]); + +% Coupling :noexport: +% Let's define the /coupling ratio/ $\mathcal{C}$ in the system as the ratio of the magnitude of the coupling term $G_c$ to the magnitude of the direct term $G_d$: +% \begin{equation} +% \mathcal{C}(\omega) = \frac{|G_c(j\omega)|}{|G_d(j\omega)|} +% \end{equation} + +% This gives some information in the coupling in the system. +% This is quite important as high coupling can affect the closed-loop stability. + +% The coupling ratio for the three nano-hexapod stiffnesses are shown in Figure ref:fig:rotating_coupling_ratio_nano_hexapod for the maximum rotating velocity $\Omega = 60\,\text{rpm}$. + +% #+begin_important +% It is shown that the low frequency coupling is inversely proportional to the nano-hexapod stiffness (Figure ref:fig:rotating_coupling_ratio_nano_hexapod). +% High nano-hexapod stiffness makes the system better decoupled and therefore easier to control. +% #+end_important + + +%% Coupling ratio of the nano-hexapod at maximum velocity +figure; +tiledlayout(1, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dv', 'Fu')/G_vc_fast('Du', 'Fu'), freqs, 'Hz'))), ... + 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dv', 'Fu')/G_md_fast('Du', 'Fu'), freqs, 'Hz'))), ... + 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dv', 'Fu')/G_pz_fast('Du', 'Fu'), freqs, 'Hz'))), ... + 'DisplayName', '$k_n = 100\,N/\mu m$'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); +xlim([1, 500]); +legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1); + +% Optimal IFF with High Pass Filter +% Let's apply Integral Force Feedback with an added High Pass Filter to the three nano-hexapods. + +% First, let's find the parameters of the IFF controller that yield best simultaneous damping. +% The results are shown in Figure ref:fig:rotating_iff_hpf_nass_optimal_gain. +% The added damping for the soft nano-hexapod is quite low and is limited by the maximum usable gain. + + +%% Compute the optimal control gain +wis = logspace(-2, 3, 200); % [rad/s] + +opt_iff_hpf_xi_vc = zeros(1, length(wis)); % Optimal simultaneous damping +opt_iff_hpf_gain_vc = zeros(1, length(wis)); % Corresponding optimal gain + +opt_iff_hpf_xi_md = zeros(1, length(wis)); % Optimal simultaneous damping +opt_iff_hpf_gain_md = zeros(1, length(wis)); % Corresponding optimal gain + +opt_iff_hpf_xi_pz = zeros(1, length(wis)); % Optimal simultaneous damping +opt_iff_hpf_gain_pz = zeros(1, length(wis)); % Corresponding optimal gain + +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = 1/(s + wi)*eye(2); + + fun = @(g)computeSimultaneousDamping(g, G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_hpf_xi_vc(wi_i) = 1/xi_opt; + opt_iff_hpf_gain_vc(wi_i) = g_opt; + + fun = @(g)computeSimultaneousDamping(g, G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_hpf_xi_md(wi_i) = 1/xi_opt; + opt_iff_hpf_gain_md(wi_i) = g_opt; + + fun = @(g)computeSimultaneousDamping(g, G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_hpf_xi_pz(wi_i) = 1/xi_opt; + opt_iff_hpf_gain_pz(wi_i) = g_opt; +end + +%% Optimal modified IFF parameters that yields maximum simultaneous damping +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +yyaxis left +plot(wis, opt_iff_hpf_xi_vc, '-', 'DisplayName', '$\xi_{cl}$'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(wis, opt_iff_hpf_gain_vc, '-', 'DisplayName', '$g_{opt}$'); +plot(wis, wis*((sqrt(1e4/16)/(2*pi))^2 - 1), '--', 'DisplayName', '$g_{max}$'); +set(gca, 'YScale', 'lin'); +ylim([0,200]); +xlabel('$\omega_i$ [rad/s]'); +set(gca, 'YTickLabel',[]); +% ylabel('Controller gain $g$'); +set(gca, 'XScale', 'log'); +xticks([1e-2,1,1e2]) +legend('location', 'northwest', 'FontSize', 8); +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +yyaxis left +plot(wis, opt_iff_hpf_xi_md, '-'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +% ylabel('Damping Ratio $\xi$'); +set(gca, 'YTickLabel',[]); + +yyaxis right +hold on; +plot(wis, opt_iff_hpf_gain_md, '-'); +plot(wis, wis*((sqrt(1e6/16)/(2*pi))^2 - 1), '--'); +set(gca, 'YScale', 'lin'); +ylim([0,1000]); +xlabel('$\omega_i$ [rad/s]'); +% ylabel('Controller gain $g$'); +set(gca, 'YTickLabel',[]); +set(gca, 'XScale', 'log'); +xticks([1e-2,1,1e2]) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +yyaxis left +plot(wis, opt_iff_hpf_xi_pz, '-'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +set(gca, 'YTickLabel',[]); +% ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(wis, opt_iff_hpf_gain_pz, '-'); +plot(wis, wis*((sqrt(1e8/16)/(2*pi))^2 - 1), '--'); +set(gca, 'YScale', 'lin'); +ylim([0,10000]); +xlabel('$\omega_i$ [rad/s]'); +set(gca, 'YTickLabel',[]); +ylabel('Controller gain $g$'); +set(gca, 'XScale', 'log'); +xticks([1e-2,1,1e2]) +title('$k_n = 100\,N/\mu m$'); + + + +% #+name: fig:rotating_iff_hpf_nass_optimal_gain +% #+caption: Optimal high pass filter cut-off frequency $\omega_i$ that yields maximum simultaneous damping +% #+RESULTS: +% [[file:figs/rotating_iff_hpf_nass_optimal_gain.png]] + +% The IFF parameters are chosen as follow: +% - for $k_n = \SI{0.01}{\N\per\mu\m}$: $\omega_i$ is chosen such that the maximum damping is achieved while the gain is less than half of the maximum gain at which the system is unstable. +% This is done to have some control robustness. +% - for $k_n = \SI{1}{\N\per\mu\m}$ and $k_n = \SI{100}{\N\per\mu\m}$: the largest $\omega_i$ is chosen such that obtained damping is $\SI{95}{\percent}$ of the maximum achievable damping. +% Large $\omega_i$ is chosen here to limit the loss of compliance and the increase of coupling at low frequency as was shown in Section ref:sec:rotating_iff_pseudo_int. + +% The obtained IFF parameters and the achievable damping are summarized in Table ref:tab:iff_hpf_opt_iff_hpf_params_nass. + + +%% Find optimal parameters with at least a gain margin of 2 +i_iff_hpf_vc = find(opt_iff_hpf_gain_vc < 0.5*(wis*((sqrt(1e4/16)/(2*pi))^2 - 1))); +i_iff_hpf_vc = i_iff_hpf_vc(1); + +i_iff_hpf_md = find(opt_iff_hpf_xi_md > 0.95*max(opt_iff_hpf_xi_md)); +i_iff_hpf_md = i_iff_hpf_md(end)+1; + +i_iff_hpf_pz = find(opt_iff_hpf_xi_pz > 0.95*max(opt_iff_hpf_xi_pz)); +i_iff_hpf_pz = i_iff_hpf_pz(end)+1; + + + +% #+name: tab:iff_hpf_opt_iff_hpf_params_nass +% #+caption: Obtained optimal parameters for the modified IFF controller +% #+attr_latex: :environment tabularx :width 0.5\linewidth :align lXXX +% #+attr_latex: :center t :booktabs t +% #+RESULTS: +% | | $\omega_i$ | $g$ | $\xi$ | +% |-----------------------+------------+---------+-------| +% | $k_n = 0.01\,N/\mu m$ | 7.32 | 51.13 | 0.45 | +% | $k_n = 1\,N/\mu m$ | 39.17 | 426.95 | 0.93 | +% | $k_n = 100\,N/\mu m$ | 499.45 | 3774.63 | 0.94 | + +% The Root Locus for all three nano-hexapods are shown in Figure ref:fig:rotating_root_locus_iff_hpf_nass with included optimal chosen gains. + + +%% Optimal IFF with added HPF +Kiff_hpf_vc = opt_iff_hpf_gain_vc(i_iff_hpf_vc)/(s + wis(i_iff_hpf_vc))*eye(2); +Kiff_hpf_vc.InputName = {'fu', 'fv'}; +Kiff_hpf_vc.OutputName = {'Fu', 'Fv'}; + +Kiff_hpf_md = opt_iff_hpf_gain_md(i_iff_hpf_md)/(s + wis(i_iff_hpf_md))*eye(2); +Kiff_hpf_md.InputName = {'fu', 'fv'}; +Kiff_hpf_md.OutputName = {'Fu', 'Fv'}; + +Kiff_hpf_pz = opt_iff_hpf_gain_pz(i_iff_hpf_pz)/(s + wis(i_iff_hpf_pz))*eye(2); +Kiff_hpf_pz.InputName = {'fu', 'fv'}; +Kiff_hpf_pz.OutputName = {'Fu', 'Fv'}; + +%% Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately stiff nano-hexapods +gains = logspace(-2, 3, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Voice coil Nano-Hexapod +ax1 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 0$'); +plot(real(pole(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(pole(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'x', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(tzero(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'o', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +for g = gains + clpoles = pole(feedback(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 60$ rpm'); +plot(real(pole(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(pole(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'x', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(tzero(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'o', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +plot([0, -1e2*opt_iff_hpf_xi_vc(i_iff_hpf_vc)], [0, 1e2*cos(asin(opt_iff_hpf_xi_vc(i_iff_hpf_vc)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_hpf_xi_vc(i_iff_hpf_vc)), 'color', [zeros(1,3), 0.5]) +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-65, 5]); ylim([-35, 35]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; + +% APA Nano-Hexapod +ax2 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(pole(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(tzero(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(pole(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(tzero(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e3*opt_iff_hpf_xi_md(i_iff_hpf_md)], [0, 1e3*cos(asin(opt_iff_hpf_xi_md(i_iff_hpf_md)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_hpf_xi_md(i_iff_hpf_md)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-520, 20]); ylim([-270, 270]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +% Piezo Nano-Hexapod +ax3 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(pole(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(tzero(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(pole(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(tzero(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e4*opt_iff_hpf_xi_pz(i_iff_hpf_pz)], [0, 1e4*cos(asin(opt_iff_hpf_xi_pz(i_iff_hpf_pz)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_hpf_xi_pz(i_iff_hpf_pz)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-5200, 20]); ylim([-2700, 2700]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 100\,N/\mu m$'); + +% Optimal IFF with Parallel Stiffness +% For each considered nano-hexapod stiffness, the parallel stiffness $k_p$ is varied from $k_{p,\text{min}} = m\Omega^2$ (the minimum stiffness to have unconditional stability) to $k_{p,\text{max}} = k_n$ (the total nano-hexapod stiffness). +% In order to keep the overall stiffness constant, the actuator stiffness $k_a$ is decreased when $k_p$ is increased: +% \begin{equation} +% k_a = k_n - k_p +% \end{equation} +% With $k_n$ the total nano-hexapod stiffness. + +% An high pass filter is also added to limit the low frequency gain. +% The cut-off frequency $\omega_i$ is chosen to be one tenth of the system resonance: +% \begin{equation} +% \omega_i = \omega_0/10 +% \end{equation} + + +%% Maximum rotating velocity +Wz = 2*pi; % [rad/s] + +%% Minimum parallel stiffness +kp_min = (mn + ms) * Wz^2; % [N/m] + +%% Parameters for simulation +mn = 15; % Nano-Hexapod mass [kg] +ms = 1; % Sample Mass [kg] + +%% IFF Controller +Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF +Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF +Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage + +%% Computes the optimal parameters and attainable simultaneous damping - Voice Coil nano-hexapod +kps_vc = logspace(log10(kp_min), log10(1e4), 100); % Tested parallel stiffnesses [N/m] +kps_vc(end) = []; + +opt_iff_kp_xi_vc = zeros(1, length(kps_vc)); % Optimal simultaneous damping +opt_iff_kp_gain_vc = zeros(1, length(kps_vc)); % Corresponding optimal gain + +for kp_i = 1:length(kps_vc) + % Voice Coil Nano-Hexapod + kp = kps_vc(kp_i); + cp = 2*0.001*sqrt((ms + mn)*kp); + kn = 1e4 - kp; % Nano-Hexapod Stiffness [N/m] + cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + + % Identify dynamics + Giff_vc = linearize(mdl, io, 0); + Giff_vc.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + Giff_vc.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, Giff_vc({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_vc); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_kp_xi_vc(kp_i) = 1/xi_opt; + opt_iff_kp_gain_vc(kp_i) = g_opt; +end + +%% Computes the optimal parameters and attainable simultaneous damping - APA nano-hexapod +kps_md = logspace(log10(kp_min), log10(1e6), 100); % Tested parallel stiffnesses [N/m] +kps_md(end) = []; + +opt_iff_kp_xi_md = zeros(1, length(kps_md)); % Optimal simultaneous damping +opt_iff_kp_gain_md = zeros(1, length(kps_md)); % Corresponding optimal gain + + +for kp_i = 1:length(kps_md) + % Voice Coil Nano-Hexapod + kp = kps_md(kp_i); + cp = 2*0.001*sqrt((ms + mn)*kp); + kn = 1e6 - kp; % Nano-Hexapod Stiffness [N/m] + cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + + % Identify dynamics + Giff_md = linearize(mdl, io, 0); + Giff_md.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + Giff_md.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, Giff_md({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_md); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_kp_xi_md(kp_i) = 1/xi_opt; + opt_iff_kp_gain_md(kp_i) = g_opt; +end + +%% Computes the optimal parameters and attainable simultaneous damping - Piezo nano-hexapod +kps_pz = logspace(log10(kp_min), log10(1e8), 100); % Tested parallel stiffnesses [N/m] +kps_pz(end) = []; + +opt_iff_kp_xi_pz = zeros(1, length(kps_pz)); % Optimal simultaneous damping +opt_iff_kp_gain_pz = zeros(1, length(kps_pz)); % Corresponding optimal gain + + +for kp_i = 1:length(kps_pz) + % Voice Coil Nano-Hexapod + kp = kps_pz(kp_i); + cp = 2*0.001*sqrt((ms + mn)*kp); + kn = 1e8 - kp; % Nano-Hexapod Stiffness [N/m] + cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + + % Identify dynamics + Giff_pz = linearize(mdl, io, 0); + Giff_pz.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + Giff_pz.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, Giff_pz({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_pz); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_kp_xi_pz(kp_i) = 1/xi_opt; + opt_iff_kp_gain_pz(kp_i) = g_opt; +end + + + +% The achievable maximum simultaneous damping of all the modes is computed as a function of the parallel stiffnesses. +% The comparison for the nano-hexapod stiffnesses is done in Figure ref:fig:rotating_iff_kp_nass_optimal_gain. +% It is shown that *the soft nano-hexapod cannot yield good damping*. +% For the two stiff options, the achievable damping starts to significantly decrease when the parallel stiffness is one tenth of the total stiffness $k_p = k_n/10$. + + +%% Optimal IFF gain and associated simultaneous damping as a function of the parallel stiffness +figure; +hold on; +plot(kps_vc, opt_iff_kp_xi_vc, '-', 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(kps_md, opt_iff_kp_xi_md, '-', 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(kps_pz, opt_iff_kp_xi_pz, '-', 'DisplayName', '$k_n = 100\,N/\mu m$'); +hold off; +xlabel('$k_p [N/m]$'); +ylabel('Damping Ratio $\xi$'); +set(gca, 'XScale', 'log'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +legend('location', 'southeast', 'FontSize', 8); +xlim([kps_pz(1), kps_pz(end)]) + + + +% #+name: fig:rotating_iff_kp_nass_optimal_gain +% #+caption: Maximum achievable simultaneous damping with IFF as a function of the parallel stiffness for all three nano-hexapod stiffnesses +% #+RESULTS: +% [[file:figs/rotating_iff_kp_nass_optimal_gain.png]] + +% Let's choose $k_p = \SI{e3}{\newton\per\m}$, $k_p = \SI{e4}{\newton\per\m}$ and $k_p = \SI{e6}{\newton\per\m}$ for the three considered nano-hexapods respectively based on Figure ref:fig:rotating_iff_kp_nass_optimal_gain. + +% The corresponding optimal controller gains are shown in Table ref:tab:iff_kp_opt_iff_kp_params_nass. + + +%% Find result with wanted parallel stiffness +[~, i_kp_vc] = min(abs(kps_vc - 1e3)); +[~, i_kp_md] = min(abs(kps_md - 1e4)); +[~, i_kp_pz] = min(abs(kps_pz - 1e6)); + + + +% #+name: tab:iff_kp_opt_iff_kp_params_nass +% #+caption: Obtained optimal parameters for the modified IFF controller +% #+attr_latex: :environment tabularx :width 0.4\linewidth :align lXX +% #+attr_latex: :center t :booktabs t +% #+RESULTS: +% | | $g$ | $\xi_{\text{opt}}$ | +% |-----------------------+---------+--------------------| +% | $k_n = 0.01\,N/\mu m$ | 47.9 | 0.44 | +% | $k_n = 1\,N/\mu m$ | 465.57 | 0.97 | +% | $k_n = 100\,N/\mu m$ | 4624.25 | 1.0 | + +% The root locus for the three nano-hexapod with parallel stiffnesses are shown in Figure ref:fig:rotating_root_locus_iff_kp_nass. + +% #+begin_important +% Similarly to what was found with the IFF and added High Pass Filter: +% - the stiff nano-hexapod is less affected by the rotation than the soft one +% - the achievable damping is much larger with the stiff nano-hexapods +% #+end_important + + +%% Optimal IFF with added parallel stiffness +Kiff_kp_vc = opt_iff_kp_gain_vc(i_kp_vc)/(s + 0.1*sqrt(1e4/(ms+mn)))*eye(2); +Kiff_kp_vc.InputName = {'fu', 'fv'}; +Kiff_kp_vc.OutputName = {'Fu', 'Fv'}; + +Kiff_kp_md = opt_iff_kp_gain_md(i_kp_md)/(s + 0.1*sqrt(1e6/(ms+mn)))*eye(2); +Kiff_kp_md.InputName = {'fu', 'fv'}; +Kiff_kp_md.OutputName = {'Fu', 'Fv'}; + +Kiff_kp_pz = opt_iff_kp_gain_pz(i_kp_pz)/(s + 0.1*sqrt(1e8/(ms+mn)))*eye(2); +Kiff_kp_pz.InputName = {'fu', 'fv'}; +Kiff_kp_pz.OutputName = {'Fu', 'Fv'}; + +%% Identify plant with optimal parallel stiffness - Soft nano-hexapod +kp = kps_vc(i_kp_vc); +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e4-kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_vc_kp_fast = linearize(mdl, io, 0); +G_vc_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_vc_kp_norot = linearize(mdl, io, 0); +G_vc_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Identify plant with optimal parallel stiffness - Stiff nano-hexapod +kp = kps_md(i_kp_md); +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e6 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_md_kp_fast = linearize(mdl, io, 0); +G_md_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_md_kp_norot = linearize(mdl, io, 0); +G_md_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Identify plant with optimal parallel stiffness - Stiff nano-hexapod +kp = kps_pz(i_kp_pz); +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e8 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_pz_kp_fast = linearize(mdl, io, 0); +G_pz_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_pz_kp_norot = linearize(mdl, io, 0); +G_pz_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately stiff nano-hexapods +gains = logspace(-2, 2, 400); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +% Soft Nano-Hexapod - No Rotation +for g = gains + clpoles = pole(feedback(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 0$'); +plot(real(pole(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(pole(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'x', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(tzero(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'o', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +% Soft Nano-Hexapod - High Speed Rotation +for g = gains + clpoles = pole(feedback(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 60$ rpm'); +plot(real(pole(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(pole(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'x', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(tzero(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'o', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot([0, -1e2*opt_iff_kp_xi_vc(i_kp_vc)], [0, 1e2*cos(asin(opt_iff_kp_xi_vc(i_kp_vc)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_kp_xi_vc(i_kp_vc)), 'color', [zeros(1,3), 0.5]); +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-65, 5]); ylim([-35, 35]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; + +ax2 = nexttile(); +hold on; +% Stiff Nano-Hexapod - No Rotation +for g = gains + clpoles = pole(feedback(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(pole(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(tzero(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +% Stiff Nano-Hexapod - High Speed Rotation +for g = gains + clpoles = pole(feedback(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(pole(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(tzero(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); +L = plot([0, -1e3*opt_iff_kp_xi_md(i_kp_md)], [0, 1e3*cos(asin(opt_iff_kp_xi_md(i_kp_md)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_kp_xi_md(i_kp_md)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +xlim([-520, 20]); ylim([-270, 270]); +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +% Stiff Nano-Hexapod - No Rotation +for g = gains + clpoles = pole(feedback(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(pole(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(tzero(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +% Stiff Nano-Hexapod - High Speed Rotation +for g = gains + clpoles = pole(feedback(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(pole(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(tzero(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); +L = plot([0, -1e4*opt_iff_kp_xi_pz(i_kp_pz)], [0, 1e4*cos(asin(opt_iff_kp_xi_pz(i_kp_pz)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_kp_xi_pz(i_kp_pz)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +xlim([-5200, 200]); ylim([-2700, 2700]); +title('$k_n = 100\,N/\mu m$'); + +% Optimal Relative Motion Control + +% For each considered nano-hexapod stiffness, relative damping control is applied and the achievable damping ratio as a function of the controller gain is shown in Figure ref:fig:rotating_rdc_optimal_gain. + + +%% Computes the optimal parameters and attainable simultaneous damping - Piezo nano-hexapod +rdc_gains = 2*logspace(1, 5, 200); +% Obtained simultaneous damping +rdc_xi_vc = zeros(1, length(rdc_gains)); +rdc_xi_md = zeros(1, length(rdc_gains)); +rdc_xi_pz = zeros(1, length(rdc_gains)); + +Krdc = s*eye(2); +Krdc.InputName = {'Du', 'Dv'}; +Krdc.OutputName = {'Fu', 'Fv'}; + +for g_i = 1:length(rdc_gains) + [~, xi] = damp(feedback(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), rdc_gains(g_i)*Krdc)); + rdc_xi_vc(g_i) = min(xi); + + [~, xi] = damp(feedback(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), rdc_gains(g_i)*Krdc)); + rdc_xi_md(g_i) = min(xi); + + [~, xi] = damp(feedback(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), rdc_gains(g_i)*Krdc)); + rdc_xi_pz(g_i) = min(xi); +end + +%% Optimal IFF gain and associated simultaneous damping as a function of the parallel stiffness +figure; +hold on; +plot(rdc_gains, rdc_xi_vc, '-', 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(rdc_gains, rdc_xi_md, '-', 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(rdc_gains, rdc_xi_pz, '-', 'DisplayName', '$k_n = 100\,N/\mu m$'); +hold off; +xlabel('Relative Damping Controller gain $g$'); +ylabel('Damping Ratio $\xi$'); +set(gca, 'XScale', 'log'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +xlim([rdc_gains(1), rdc_gains(end)]) +legend('location', 'southeast', 'FontSize', 8); + + + +% #+name: fig:rotating_rdc_optimal_gain +% #+caption: Achievable simultaneous damping with "Relative Damping Control" as a function of the controller gain for all three nano-hexapod stiffnesses +% #+RESULTS: +% [[file:figs/rotating_rdc_optimal_gain.png]] + +% The gain is chosen is chosen such that 99% of modal damping is obtained. +% The root locus for all three nano-hexapod stiffnesses are shown in Figure ref:fig:rotating_root_locus_rdc_nass. + +% #+begin_important +% Relative damping control is much less impacted by gyroscopic effects. +% It can be easily applied on the nano-hexapod with and without rotation without much differences. +% #+end_important + + +%% Optimal RDC +[~, i_rdc_vc] = min(abs(rdc_xi_vc - 0.99)); +[~, i_rdc_md] = min(abs(rdc_xi_md - 0.99)); +[~, i_rdc_pz] = min(abs(rdc_xi_pz - 0.99)); + +Krdc_vc = rdc_gains(i_rdc_vc)*Krdc; +Krdc_md = rdc_gains(i_rdc_md)*Krdc; +Krdc_pz = rdc_gains(i_rdc_pz)*Krdc; + +%% Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately strdc nano-hexapods +gains = logspace(-2, 3, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Voice coil Nano-Hexapod +ax1 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 0$'); +plot(real(pole(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(pole(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'x', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(tzero(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'o', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +for g = gains + clpoles = pole(feedback(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 60$ rpm'); +plot(real(pole(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(pole(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'x', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(tzero(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'o', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +plot([0, -1e2*rdc_xi_vc(i_rdc_vc)], [0, 1e2*cos(asin(rdc_xi_vc(i_rdc_vc)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', rdc_xi_vc(i_rdc_vc)), 'color', [zeros(1,3), 0.5]) +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-65, 5]); ylim([-35, 35]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; + +% APA Nano-Hexapod +ax2 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(pole(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(tzero(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(pole(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(tzero(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e3*rdc_xi_md(i_rdc_md)], [0, 1e3*cos(asin(rdc_xi_md(i_rdc_md)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', rdc_xi_md(i_rdc_md)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-520, 20]); ylim([-270, 270]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +% Piezo Nano-Hexapod +ax3 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(pole(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(tzero(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(pole(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(tzero(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e4*rdc_xi_pz(i_rdc_pz)], [0, 1e4*cos(asin(rdc_xi_pz(i_rdc_pz)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', rdc_xi_pz(i_rdc_pz)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-5200, 20]); ylim([-2700, 2700]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 100\,N/\mu m$'); + +%% Closed Loop Plants - IFF with HPF +G_vc_norot_iff_hpf = feedback(G_vc_norot, Kiff_hpf_vc, 'name'); +G_vc_fast_iff_hpf = feedback(G_vc_fast, Kiff_hpf_vc, 'name'); + +G_md_norot_iff_hpf = feedback(G_md_norot, Kiff_hpf_md, 'name'); +G_md_fast_iff_hpf = feedback(G_md_fast, Kiff_hpf_md, 'name'); + +G_pz_norot_iff_hpf = feedback(G_pz_norot, Kiff_hpf_pz, 'name'); +G_pz_fast_iff_hpf = feedback(G_pz_fast, Kiff_hpf_pz, 'name'); + +%% Closed Loop Plants - IFF with Parallel Stiffness +G_vc_norot_iff_kp = feedback(G_vc_kp_norot, Kiff_kp_vc, 'name'); +G_vc_fast_iff_kp = feedback(G_vc_kp_fast, Kiff_kp_vc, 'name'); + +G_md_norot_iff_kp = feedback(G_md_kp_norot, Kiff_kp_md, 'name'); +G_md_fast_iff_kp = feedback(G_md_kp_fast, Kiff_kp_md, 'name'); + +G_pz_norot_iff_kp = feedback(G_pz_kp_norot, Kiff_kp_pz, 'name'); +G_pz_fast_iff_kp = feedback(G_pz_kp_fast, Kiff_kp_pz, 'name'); + +%% Closed Loop Plants - RDC +G_vc_norot_rdc = feedback(G_vc_norot, Krdc_vc, 'name'); +G_vc_fast_rdc = feedback(G_vc_fast, Krdc_vc, 'name'); + +G_md_norot_rdc = feedback(G_md_norot, Krdc_md, 'name'); +G_md_fast_rdc = feedback(G_md_fast, Krdc_md, 'name'); + +G_pz_norot_rdc = feedback(G_pz_norot, Krdc_pz, 'name'); +G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name'); + +%% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses +figure; +freqs_vc = logspace(-1, 2, 1000); +freqs_md = logspace(0, 3, 1000); +freqs_pz = logspace(0, 3, 1000); + +figure; +tiledlayout(3, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([2,1]); +hold on; +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [zeros(1,3), 0.5]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(1,:), 0.5]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(2,:), 0.5]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(3,:)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(3,:), 0.5]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Magnitude [m/N]'); set(gca, 'XTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile([2,1]); +hold on; +plot(freqs_md, abs(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [zeros(1,3), 0.5]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(1,:), 0.5]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(2,:), 0.5]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(3,:)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(3,:), 0.5]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile([2,1]); +hold on; +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [zeros(1,3)], ... + 'DisplayName', 'OL'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(1,:)], ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(2,:)], ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(3,:)], ... + 'DisplayName', 'RDC'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +ylim([1e-12, 1e-2]) +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; +title('$k_n = 100\,N/\mu m$'); + +ax1b = nexttile; +hold on; +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast_iff_hpf( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast_iff_kp( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast_rdc( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(3,:)]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +hold off; +yticks(-360:90:360); +ylim([-180, 180]); +xlim([freqs_vc(1), freqs_vc(end)]); + +ax2b = nexttile; +hold on; +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast_iff_hpf( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast_iff_kp( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast_rdc( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(3,:)]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-180, 180]); +xlim([freqs_md(1), freqs_md(end)]); + +ax3b = nexttile; +hold on; +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast_iff_hpf( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast_iff_kp( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast_rdc( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(3,:)]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-180, 180]); +xlim([freqs_pz(1), freqs_pz(end)]); + +linkaxes([ax1,ax2,ax3],'y'); +linkaxes([ax1b,ax2b,ax3b],'y'); +linkaxes([ax1,ax1b],'x'); +linkaxes([ax2,ax2b],'x'); +linkaxes([ax3,ax3b],'x'); diff --git a/matlab/rotating_8_nass.m b/matlab/rotating_8_nass.m new file mode 100644 index 0000000..3d13596 --- /dev/null +++ b/matlab/rotating_8_nass.m @@ -0,0 +1,602 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions + +%% Colors for the figures +colors = colororder; + +%% Nano-Hexapod on top of Micro-Station model +mdl = 'nass_rotating_model'; + +%% Load micro-station parameters +load('uniaxial_micro_station_parameters.mat') + +%% Load controllers +load('nass_controllers.mat'); + +% System dynamics + + +%% Nano-Hexapod +mn = 15; % Nano-Hexapod mass [kg] + +%% Light Sample +ms = 1; % Sample Mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "normal"; % Default: 2DoF stage + +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Forces [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % Direct Forces on Sample [Fdx, Fdy] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % Floor Motion [Dfx, Dfy] +io(io_i) = linio([mdl, '/ft'], 1, 'openinput'); io_i = io_i + 1; % Micro-Station Disturbances [Ftx, Fty] +io(io_i) = linio([mdl, '/nano_hexapod'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/nano_hexapod'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'],1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] + + + +% The dynamics of the undamped and damped plants are identified. +% The active damping parameters used are the optimal ones previously identified (i.e. for the rotating nano-hexapod fixed on a rigid platform). + + +%% Voice Coil (i.e. soft) Nano-Hexapod +kn = 1e4; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_vc_norot = linearize(mdl, io, 0.0); +G_vc_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_vc_fast = linearize(mdl, io, 0.0); +G_vc_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% APA (i.e. relatively stiff) Nano-Hexapod +kn = 1e6; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_md_norot = linearize(mdl, io, 0.0); +G_md_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_md_fast = linearize(mdl, io, 0.0); +G_md_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Piezoelectric (i.e. stiff) Nano-Hexapod +kn = 1e8; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_pz_norot = linearize(mdl, io, 0.0); +G_pz_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_pz_fast = linearize(mdl, io, 0.0); +G_pz_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Identify plants with Parallel stiffnesses +model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage + +% Voice Coil +kp = 1e3; +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e4-kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_vc_kp_fast = linearize(mdl, io, 0); +G_vc_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_vc_kp_norot = linearize(mdl, io, 0); +G_vc_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +% APA +kp = 1e4; +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e6 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_md_kp_fast = linearize(mdl, io, 0); +G_md_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_md_kp_norot = linearize(mdl, io, 0); +G_md_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +% Piezo +kp = 1e5; +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e8 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_pz_kp_fast = linearize(mdl, io, 0); +G_pz_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_pz_kp_norot = linearize(mdl, io, 0); +G_pz_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Closed Loop Plants - IFF with HPF +G_vc_norot_iff_hpf = feedback(G_vc_norot, Kiff_hpf_vc, 'name'); +G_vc_fast_iff_hpf = feedback(G_vc_fast, Kiff_hpf_vc, 'name'); + +G_md_norot_iff_hpf = feedback(G_md_norot, Kiff_hpf_md, 'name'); +G_md_fast_iff_hpf = feedback(G_md_fast, Kiff_hpf_md, 'name'); + +G_pz_norot_iff_hpf = feedback(G_pz_norot, Kiff_hpf_pz, 'name'); +G_pz_fast_iff_hpf = feedback(G_pz_fast, Kiff_hpf_pz, 'name'); + +%% Closed Loop Plants - IFF with Parallel Stiffness +G_vc_norot_iff_kp = feedback(G_vc_kp_norot, Kiff_kp_vc, 'name'); +G_vc_fast_iff_kp = feedback(G_vc_kp_fast, Kiff_kp_vc, 'name'); + +G_md_norot_iff_kp = feedback(G_md_kp_norot, Kiff_kp_md, 'name'); +G_md_fast_iff_kp = feedback(G_md_kp_fast, Kiff_kp_md, 'name'); + +G_pz_norot_iff_kp = feedback(G_pz_kp_norot, Kiff_kp_pz, 'name'); +G_pz_fast_iff_kp = feedback(G_pz_kp_fast, Kiff_kp_pz, 'name'); + +%% Closed Loop Plants - RDC +G_vc_norot_rdc = feedback(G_vc_norot, Krdc_vc, 'name'); +G_vc_fast_rdc = feedback(G_vc_fast, Krdc_vc, 'name'); + +G_md_norot_rdc = feedback(G_md_norot, Krdc_md, 'name'); +G_md_fast_rdc = feedback(G_md_fast, Krdc_md, 'name'); + +G_pz_norot_rdc = feedback(G_pz_norot, Krdc_pz, 'name'); +G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name'); + + + +% The undamped and damped plants are shown in Figure ref:fig:rotating_nass_plant_comp_stiffness. +% Three nano-hexapod velocities are shown (from left to right): $k_n = \SI{0.01}{\N\per\mu\m}$, $k_n = \SI{1}{\N\per\mu\m}$ and $k_n = \SI{100}{\N\per\mu\m}$. +% The direct terms are shown by the solid curves while the coupling terms are shown by the shaded ones. + +% #+begin_important +% It can be observed on Figure ref:fig:rotating_nass_plant_comp_stiffness that: +% - Coupling (ratio between the off-diagonal and direct terms) is larger for the soft nano-hexapod +% - Damping added by the three proposed techniques is quite high and the obtained plant is rather easy to control +% - There is some coupling between nano-hexapod and micro-station dynamics for the stiff nano-hexapod (mode at 200Hz) +% - The two proposed IFF modification yields similar results +% #+end_important + + +%% Bode plot of the transfer function from nano-hexapod actuator to measured motion by the external metrology +freqs_vc = logspace(-1, 2, 1000); +freqs_md = logspace(0, 3, 1000); +freqs_pz = logspace(0, 3, 1000); + +figure; +tiledlayout(3, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([2,1]); +hold on; +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Magnitude [m/N]'); set(gca, 'XTickLabel',[]); +ylim([1e-12, 1e-2]) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile([2,1]); +hold on; +plot(freqs_md, abs(squeeze(freqresp(G_md_fast('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +ylim([1e-12, 1e-2]) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile([2,1]); +hold on; +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +ylim([1e-12, 1e-2]) +ldg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; +title('$k_n = 100\,N/\mu m$'); + +ax1b = nexttile; +hold on; +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', zeros(1,3)); +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', colors(1,:)); +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', colors(2,:)); +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +hold off; +yticks(-360:90:360); +ylim([-270, 90]); + +ax2b = nexttile; +hold on; +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', zeros(1,3)); +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', colors(1,:)); +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', colors(2,:)); +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast_rdc('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-270, 90]); + +ax3b = nexttile; +hold on; +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', zeros(1,3)); +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', colors(1,:)); +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', colors(2,:)); +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-270, 90]); + +linkaxes([ax1,ax1b],'x'); +xlim([freqs_vc(1), freqs_vc(end)]); + +linkaxes([ax2,ax2b],'x'); +xlim([freqs_md(1), freqs_md(end)]); + +linkaxes([ax3,ax3b],'x'); +xlim([freqs_pz(1), freqs_pz(end)]); + + + +% #+name: fig:rotating_nass_plant_comp_stiffness +% #+caption: Bode plot of the transfer function from nano-hexapod actuator to measured motion by the external metrology +% #+RESULTS: +% [[file:figs/rotating_nass_plant_comp_stiffness.png]] + +% To confirm that the coupling is smaller when the stiffness of the nano-hexapod is increase, the /coupling ratio/ for the three nano-hexapod stiffnesses are shown in Figure ref:fig:rotating_nass_plant_coupling_comp. + + +%% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses +figure; +freqs_vc = logspace(-1, 2, 1000); +freqs_md = logspace(0, 3, 1000); +freqs_pz = logspace(0, 3, 1000); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast('Dy', 'Fu')/G_vc_fast('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dy', 'Fu')/G_vc_fast_iff_hpf('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dy', 'Fu')/G_vc_fast_iff_kp('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc('Dy', 'Fu')/G_vc_fast_rdc('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Coupling Ratio'); +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs_md, abs(squeeze(freqresp(G_md_fast('Dy', 'Fu')/G_md_fast('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dy', 'Fu')/G_md_fast_iff_hpf('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp('Dy', 'Fu')/G_md_fast_iff_kp('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc('Dy', 'Fu')/G_md_fast_rdc('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast('Dy', 'Fu')/G_pz_fast('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dy', 'Fu')/G_pz_fast_iff_hpf('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dy', 'Fu')/G_pz_fast_iff_kp('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc('Dy', 'Fu')/G_pz_fast_rdc('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') + +% Effect of disturbances + +% The effect of three disturbances are considered: +% - Floor motion (Figure ref:fig:rotating_nass_effect_floor_motion) +% - Micro-Station vibrations (Figure ref:fig:rotating_nass_effect_stage_vibration) +% - Direct force applied on the payload (Figure ref:fig:rotating_nass_effect_direct_forces) + +% #+begin_important +% Conclusions are similar than with the uniaxial (non-rotating) model: +% - Regarding the effect of floor motion and forces applied on the payload: +% - The stiffer, the better (magnitudes are lower for the right curves, Figures ref:fig:rotating_nass_effect_floor_motion and ref:fig:rotating_nass_effect_direct_forces) +% - Integral Force Feedback degrades the performances at low frequency compared to relative damping control +% - Regarding the effect of micro-station vibrations: +% - Having a soft nano-hexapod allows to filter these vibrations between the suspensions modes of the nano-hexapod and some flexible modes of the micro-station. Using relative damping control reduce this filtering (Figure ref:fig:rotating_nass_effect_stage_vibration, left). +% #+end_important + + +%% Effect of Floor motion on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +freqs = logspace(-1, 3, 1000); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dx', 'Dfx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Magnitude $d_x/D_{f,x}$ [m/N]'); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dx', 'Dfx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dx', 'Dfx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') + + + +% #+name: fig:rotating_nass_effect_floor_motion +% #+caption: Effect of Floor motion on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +% #+RESULTS: +% [[file:figs/rotating_nass_effect_floor_motion.png]] + + +%% Effect of micro-station vibrations on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dx', 'Ftx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Magnitude $d_x/f_{t,x}$ [m/N]'); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dx', 'Ftx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dx', 'Ftx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') + + + +% #+name: fig:rotating_nass_effect_stage_vibration +% #+caption: Effect of micro-station vibrations on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +% #+RESULTS: +% [[file:figs/rotating_nass_effect_stage_vibration.png]] + + +%% Effect of sample forces on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dx', 'Fdx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Magnitude $d_x/f_{s,x}$ [m/N]'); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dx', 'Fdx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dx', 'Fdx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') diff --git a/matlab/rotating_frame.slx b/matlab/rotating_frame.slx deleted file mode 100644 index 6d553e9..0000000 Binary files a/matlab/rotating_frame.slx and /dev/null differ diff --git a/matlab/rotating_model.slx b/matlab/rotating_model.slx new file mode 100644 index 0000000..b59ea44 Binary files /dev/null and b/matlab/rotating_model.slx differ diff --git a/matlab/simscape_analysis.m b/matlab/simscape_analysis.m deleted file mode 100644 index 61a971d..0000000 --- a/matlab/simscape_analysis.m +++ /dev/null @@ -1,623 +0,0 @@ -%% Clear Workspace and Close figures -clear; close all; clc; - -%% Intialize Laplace variable -s = zpk('s'); - -addpath('./mat/'); - -% Initialization -% Let's load the previously defined parameters for the model. - - -load('parameters.mat'); - -bode_opts = bodeoptions; -bode_opts.FreqUnits = 'Hz'; -bode_opts.MagUnits = 'abs'; -bode_opts.MagScale = 'log'; -bode_opts.Grid = 'on'; -bode_opts.PhaseVisible = 'off'; -bode_opts.Title.FontSize = 10; -bode_opts.XLabel.FontSize = 10; -bode_opts.YLabel.FontSize = 10; -bode_opts.TickLabel.FontSize = 10; - -open rotating_frame.slx - - - -% First we define the parameters that must be defined in order to run the Simscape simulation. - -w = 2*pi; % Rotation speed [rad/s] - -theta_e = 0; % Static measurement error on the angle theta [rad] - -m = 5; % mass of the sample [kg] - -mTuv = 30;% Mass of the moving part of the Tuv stage [kg] -kTuv = 1e8; % Stiffness of the Tuv stage [N/m] -cTuv = 0; % Damping of the Tuv stage [N/(m/s)] - - - -% Then, we defined parameters that will be used in the following analysis. - -mlight = 5; % Mass for light sample [kg] -mheavy = 55; % Mass for heavy sample [kg] - -wlight = 2*pi; % Max rot. speed for light sample [rad/s] -wheavy = 2*pi/60; % Max rot. speed for heavy sample [rad/s] - -kvc = 1e3; % Voice Coil Stiffness [N/m] -kpz = 1e8; % Piezo Stiffness [N/m] - -d = 0.01; % Maximum excentricity from rotational axis [m] - -freqs = logspace(-2, 3, 1000); % Frequency vector for analysis [Hz] - -% Identification in the rotating referenced frame -% We initialize the inputs and outputs of the system to identify: -% - Inputs: $f_u$ and $f_v$ -% - Outputs: $d_u$ and $d_v$ - - -%% Options for Linearized -options = linearizeOptions; -options.SampleTime = 0; - -%% Name of the Simulink File -mdl = 'rotating_frame'; - -%% Input/Output definition -io(1) = linio([mdl, '/fu'], 1, 'input'); -io(2) = linio([mdl, '/fv'], 1, 'input'); - -io(3) = linio([mdl, '/du'], 1, 'output'); -io(4) = linio([mdl, '/dv'], 1, 'output'); - - - -% We start we identify the transfer functions at high speed with the light sample. - -w = wlight; % Rotation speed [rad/s] -m = mlight; % mass of the sample [kg] - -kTuv = kpz; -Gpz_light = linearize(mdl, io, 0.1); -Gpz_light.InputName = {'Fu', 'Fv'}; -Gpz_light.OutputName = {'Du', 'Dv'}; - -kTuv = kvc; -Gvc_light = linearize(mdl, io, 0.1); -Gvc_light.InputName = {'Fu', 'Fv'}; -Gvc_light.OutputName = {'Du', 'Dv'}; - - - -% Then we identify the system with an heavy mass and low speed. - -w = wheavy; % Rotation speed [rad/s] -m = mheavy; % mass of the sample [kg] - -kTuv = kpz; -Gpz_heavy = linearize(mdl, io, 0.1); -Gpz_heavy.InputName = {'Fu', 'Fv'}; -Gpz_heavy.OutputName = {'Du', 'Dv'}; - -kTuv = kvc; -Gvc_heavy = linearize(mdl, io, 0.1); -Gvc_heavy.InputName = {'Fu', 'Fv'}; -Gvc_heavy.OutputName = {'Du', 'Dv'}; - -% Coupling ratio between $f_{uv}$ and $d_{uv}$ -% In order to validate the equations written, we can compute the coupling ratio using the simscape model and compare with the equations. - -% From the previous identification, we plot the coupling ratio in both case (figure [[fig:coupling_ratio_light_heavy]]). - -% We obtain the same result than the analytical case (figures [[fig:coupling_light]] and [[fig:coupling_heavy]]). - -figure; -hold on; -plot(freqs, abs(squeeze(freqresp(Gvc_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_light('Dv', 'Fu'), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gpz_light('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_light('Dv', 'Fu'), freqs, 'Hz')))); -set(gca,'ColorOrderIndex',1); -plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gvc_heavy('Dv', 'Fu'), freqs, 'Hz'))), '--'); -plot(freqs, abs(squeeze(freqresp(Gpz_heavy('Du', 'Fu'), freqs, 'Hz')))./abs(squeeze(freqresp(Gpz_heavy('Dv', 'Fu'), freqs, 'Hz'))), '--'); -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); -legend({'light - VC', 'light - PZ', 'heavy - VC', 'heavy - PZ'}, 'Location', 'northeast') - -% Transfer function from force to force sensor (IFF plant) - -%% Name of the Simulink File -mdl = 'rotating_frame'; - -%% Input/Output definition -io(1) = linio([mdl, '/fu'], 1, 'input'); -io(2) = linio([mdl, '/fv'], 1, 'input'); - -io(3) = linio([mdl, '/fum'], 1, 'output'); -io(4) = linio([mdl, '/fvm'], 1, 'output'); - - - -% We start we identify the transfer functions at high speed with the light sample. - -w = wlight; % Rotation speed [rad/s] -m = mlight; % mass of the sample [kg] - -kTuv = kpz; -Gpz_light = linearize(mdl, io, 0.1); -Gpz_light.InputName = {'Fu', 'Fv'}; -Gpz_light.OutputName = {'Fum', 'Fvm'}; - -kTuv = kvc; -Gvc_light = linearize(mdl, io, 0.1); -Gvc_light.InputName = {'Fu', 'Fv'}; -Gvc_light.OutputName = {'Fum', 'Fvm'}; - - - -% Then we identify the system with an heavy mass and low speed. - -w = wheavy; % Rotation speed [rad/s] -m = mheavy; % mass of the sample [kg] - -kTuv = kpz; -Gpz_heavy = linearize(mdl, io, 0.1); -Gpz_heavy.InputName = {'Fu', 'Fv'}; -Gpz_heavy.OutputName = {'Fum', 'Fvm'}; - -kTuv = kvc; -Gvc_heavy = linearize(mdl, io, 0.1); -Gvc_heavy.InputName = {'Fu', 'Fv'}; -Gvc_heavy.OutputName = {'Fum', 'Fvm'}; - -figure; -hold on; -plot(freqs, abs(squeeze(freqresp(Gvc_heavy('Fum', 'Fu'), freqs, 'Hz')))); -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); -legend({'light - VC', 'light - PZ', 'heavy - VC', 'heavy - PZ'}, 'Location', 'northeast') - -% Plant identification -% The goal is to study the control problems due to the coupling that appears because of the rotation. - - -%% Options for Linearized -options = linearizeOptions; -options.SampleTime = 0; - -%% Name of the Simulink File -mdl = 'rotating_frame'; - -%% Input/Output definition -io(1) = linio([mdl, '/fu'], 1, 'input'); -io(2) = linio([mdl, '/fv'], 1, 'input'); - -io(3) = linio([mdl, '/du'], 1, 'output'); -io(4) = linio([mdl, '/dv'], 1, 'output'); - - - -% First, we identify the system when the rotation speed is null and then when the rotation speed is equal to 60rpm. - -% The actuators are voice coil with some damping added. - -% The bode plot of the system not rotating and rotating at 60rpm is shown figure [[fig:Gvc_speed]]. - - -w = 0; % Rotation speed [rad/s] -m = mlight; % mass of the sample [kg] -kTuv = kvc; -cTuv = 0.1*sqrt(kTuv*m); - -Gvc = linearize(mdl, io, 0.1); -Gvc.InputName = {'Fu', 'Fv'}; -Gvc.OutputName = {'Du', 'Dv'}; - -w = wlight; % Rotation speed [rad/s] -m = mlight; % mass of the sample [kg] -kTuv = kvc; -cTuv = 0.1*sqrt(kTuv*m); - -Gtvc = linearize(mdl, io, 0.1); -Gtvc.InputName = {'Fu', 'Fv'}; -Gtvc.OutputName = {'Du', 'Dv'}; - -figure; -ax1 = subplot(2,2,1); -title('From $F_u$ to $D_u$'); -hold on; -plot(freqs, abs(squeeze(freqresp(Gvc(1, 1), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gtvc(1, 1), freqs, 'Hz')))); -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,2,3); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(Gvc(1, 1), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 0$'); -plot(freqs, 180/pi*angle(squeeze(freqresp(Gtvc(1, 1), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 60$rpm'); -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'northeast'); -linkaxes([ax1,ax2],'x'); - -ax1 = subplot(2,2,2); -title('From $F_u$ to $D_v$'); -hold on; -plot(freqs, abs(squeeze(freqresp(Gvc(1, 2), freqs, 'Hz')))); -plot(freqs, abs(squeeze(freqresp(Gtvc(1, 2), freqs, 'Hz')))); -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); - -ax2 = subplot(2,2,4); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(Gvc(1, 2), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 0$'); -plot(freqs, 180/pi*angle(squeeze(freqresp(Gtvc(1, 2), freqs, 'Hz'))), 'DisplayName', 'Gvc - $\omega = 60$rpm'); -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); -legend('Location', 'northeast'); -linkaxes([ax1,ax2],'x'); - -% Effect of rotation speed -% We first identify the system (voice coil and light mass) for multiple rotation speed. -% Then we compute the bode plot of the system (figure [[fig:Guu_uv_ws]]). - -% As the rotation frequency increases: -% - one pole goes to lower frequencies while the other goes to higher frequencies -% - one zero appears between the two poles -% - the zero disappears when $\omega > \sqrt{\frac{k}{m}}$ and the low frequency pole becomes unstable (positive real part) - -% To stabilize the unstable pole, we need a control bandwidth of at least twice of frequency of the unstable pole. - - -ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] -m = mlight; % mass of the sample [kg] - -kTuv = kvc; -cTuv = 0.1*sqrt(kTuv*m); - -Gs_vc = {zeros(1, length(ws))}; - -for i = 1:length(ws) - w = ws(i); - Gs_vc{i} = linearize(mdl, io, 0.1); - Gs_vc{i}.InputName = {'Fu', 'Fv'}; - Gs_vc{i}.OutputName = {'Du', 'Dv'}; -end - -freqs = logspace(-2, 2, 1000); - -figure; -ax1 = subplot(2,2,1); -title('$D_u/F_u$'); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs_vc{i}(1, 1), freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -ylim([1e-8, 1]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,2,3); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{i}(1, 1), freqs, 'Hz')))); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -linkaxes([ax1,ax2],'x'); - -ax1 = subplot(2,2,2); -title('$D_v/F_u$'); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs_vc{i}(1, 2), freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -ylim([1e-8, 1]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -set(gca, 'YTickLabel',[]); - -ax2 = subplot(2,2,4); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{i}(1, 2), freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -set(gca, 'YTickLabel',[]); -xlabel('Frequency [Hz]'); -legend('Location', 'northeast'); -linkaxes([ax1,ax2],'x'); - - - -% #+LABEL: fig:Guu_uv_ws -% #+CAPTION: Diagonal term as a function of the rotation frequency -% [[file:figs/Guu_uv_ws.png]] - -% Then, we can look at the same plots for the piezoelectric actuator (figure [[fig:Guu_ws_pz]]). The effect of the rotation frequency has very little effect on the dynamics of the system to control. - - -ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] -m = mlight; % mass of the sample [kg] - -kTuv = kpz; -cTuv = 0.1*sqrt(kTuv*m); - -Gs_pz = {zeros(1, length(ws))}; - -for i = 1:length(ws) - w = ws(i); - Gs_pz{i} = linearize(mdl, io, 0.1); - Gs_pz{i}.InputName = {'Fu', 'Fv'}; - Gs_pz{i}.OutputName = {'Du', 'Dv'}; -end - -freqs = logspace(2, 3, 1000); - -figure; -ax1 = subplot(2,1,1); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs_pz{i}(1, 1), freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,1,2); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_pz{i}(1, 1), freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'northeast'); -linkaxes([ax1,ax2],'x'); - -% Controller design -% We design a controller based on the identification when the system is not rotating. - -% The obtained controller is a lead-lag controller with the following transfer function. - -Kll = 2.0698e09*(s+40.45)*(s+1.181)/((s+0.01)*(s+198.4)*(s+2790)); -K = [Kll 0; - 0 Kll]; - -K.InputName = {'Du', 'Dv'}; -K.OutputName = {'Fu', 'Fv'}; - - - -% The loop gain is displayed figure [[fig:Gvc_loop_gain]]. - - -freqs = logspace(-2, 2, 1000); - -figure; -% Amplitude -ax1 = subplot(2,1,1); -hold on; -plot(freqs, abs(squeeze(freqresp(Gvc('Du', 'fu')*Kll, freqs, 'Hz'))), '-'); -set(gca,'xscale','log'); set(gca,'yscale','log'); -ylabel('Amplitude [m/N]'); -set(gca, 'XTickLabel',[]); -hold off; -% Phase -ax2 = subplot(2,1,2); -hold on; -plot(freqs, 180/pi*unwrap(angle(squeeze(freqresp(Gvc('Du', 'fu')*Kll, freqs, 'Hz')))), '-'); -set(gca,'xscale','log'); -yticks(-180:180:180); -ylim([-180 180]); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -hold off; -linkaxes([ax1,ax2],'x'); - -% Controlling the rotating system -% We here want to see if the system is robust with respect to the rotation speed. -% We use the controller that was designed based on the dynamics of the non-rotating system. - -% Let's first plot the SISO loop gain. - - -freqs = logspace(-2, 2, 1000); - -figure; -% Amplitude -ax1 = subplot(2,1,1); -hold on; -plot(freqs, abs(squeeze(freqresp(Gs_vc{1}(1, 1)*Kll, freqs, 'Hz'))), '-'); -plot(freqs, abs(squeeze(freqresp(Gs_vc{2}(1, 1)*Kll, freqs, 'Hz'))), '-'); -plot(freqs, abs(squeeze(freqresp(Gs_vc{5}(1, 1)*Kll, freqs, 'Hz'))), '-'); -set(gca,'xscale','log'); set(gca,'yscale','log'); -ylabel('Amplitude [m/N]'); -set(gca, 'XTickLabel',[]); -hold off; - -% Phase -ax2 = subplot(2,1,2); -hold on; -plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{1}(1, 1)*Kll, freqs, 'Hz'))), 'DisplayName', sprintf('%.0f rpm', ws(1)./(2*pi).*60)); -plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{2}(1, 1)*Kll, freqs, 'Hz'))), 'DisplayName', sprintf('%.0f rpm', ws(2)./(2*pi).*60)); -plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_vc{5}(1, 1)*Kll, freqs, 'Hz'))), 'DisplayName', sprintf('%.0f rpm', ws(5)./(2*pi).*60)); -set(gca,'xscale','log'); -yticks(-180:180:180); -ylim([-180 180]); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -hold off; -legend('Location', 'northeast'); -linkaxes([ax1,ax2],'x'); - - - -% #+NAME: fig:loop_gain_turning -% #+CAPTION: Loop Gain $G_u * K$ -% [[file:figs/loop_gain_turning.png]] - -% We can now compute the close-loop systems. - -Gvc_cl = {zeros(1, length(ws))}; -for i = 1:length(ws) - Gvc_cl{i} = feedback(Gs_vc{i}, K, 'name'); -end - - - -% Let's now look on figure [[fig:evolution_poles_u]] at the evolution of the poles of the system when closing only one loop (controlling only one direction). We see that two complex conjugate poles are approaching the real axis and then they separate: one goes to positive real part and the other goes to negative real part. -% The system then goes unstable at some point (here for $\omega=60rpm$). - - -figure; -hold on; -for i = 1:length(ws) - sys = feedback(Gs_vc{i}(1, 1), K(1, 1), 'name'); - plot(real(pole(sys)), imag(pole(sys)), 'x', 'DisplayName', sprintf('$\\omega = %.0f rpm$', ws(i)/(2*pi)*60)); -end -hold off; -xlim([-80, 10]); -xlabel('Real Axis'); ylabel('Imaginary Axis'); -legend('Location', 'northeast'); - - - -% #+NAME: fig:evolution_poles_u -% #+CAPTION: Evolution of the poles of the closed-loop system when closing just one loop -% [[file:figs/evolution_poles_u.png]] - -% If we look at the poles of the closed loop-system for multiple rotating speed (figure [[fig:poles_cl_system]]) when closing the two loops (MIMO system), we see that they all have a negative real part (stable system), and their evolution on the complex plane is rather small compare to the open loop evolution. - - -figure; -hold on; -for i = 1:length(ws) - plot(real(pole(Gvc_cl{i})), imag(pole(Gvc_cl{i})), 'x', 'DisplayName', sprintf('$\\omega = %.0f rpm$', ws(i)/(2*pi)*60)); -end -hold off; -xlim([-80, 0]); -xlabel('Real Axis'); ylabel('Imaginary Axis'); -legend('Location', 'northeast'); - -% Close loop performance -% First, we create the closed loop systems. Then, we plot the transfer function from the reference signals $[r_u, r_v]$ to the output $[d_u, d_v]$ (figure [[fig:perfcomp]]). - - -freqs = logspace(-2, 3, 1000); - -figure; -ax1 = subplot(1,2,1); -title('$G_{r_u \to d_u}$') -hold on; -for i = 1:length(ws) - sys = Gvc_cl{i}*K; - plot(freqs, abs(squeeze(freqresp(sys(1, 1), freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -ylim([1e-4, 10]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -xlabel('Frequency [Hz]'); ylabel('Magnitude [m/N]'); - -ax2 = subplot(1,2,2); -title('$G_{r_u \to d_v}$') -hold on; -for i = 1:length(ws) - sys = Gvc_cl{i}*K; - plot(freqs, abs(squeeze(freqresp(sys(1, 2), freqs, 'Hz'))), 'DisplayName', sprintf('$\\omega = %.0f rpm$', ws(i)/(2*pi)*60)); -end -hold off; -xlim([freqs(1), freqs(end)]); -ylim([1e-4, 10]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -xlabel('Frequency [Hz]'); -legend('Location', 'northeast') - -linkaxes([ax1,ax2],'x'); - -% Campbell Diagram for the close loop system - - -m = mlight; -k = kvc; -c = 0.1*sqrt(k*m); - -wsvc = linspace(0, 10, 100); % [rad/s] - -polesvc = zeros(8, length(wsvc)); - -for i = 1:length(wsvc) - Gs = (m*s^2 + (k-m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2); - Gcs = (2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2); - - G = [Gs, Gcs; Gcs, Gs]; - G.InputName = {'Fu', 'Fv'}; - G.OutputName = {'Du', 'Dv'}; - - polei = pole(feedback(G, K, 'name')); - polesvc(:, i) = sort(polei(imag(polei) > 0)); - - polei = pole(feedback(G, 10*K, 'name')); - polesvcb(:, i) = sort(polei(imag(polei) > 0)); -end - -figure; -% Amplitude -ax1 = subplot(1,2,1); -hold on; -for i = 1:8 - plot(wsvc, real(polesvc(i, :)), 'b') - plot(wsvc, real(polesvcb(i, :)), 'r') -end -plot(wsvc, zeros(size(wsvc)), 'k--') -hold off; -xlabel('Rotation Frequency [rad/s]'); -ylabel('Pole Real Part'); - -ax2 = subplot(1,2,2); -hold on; -for i = 1:8 - plot(wsvc, imag(polesvc(i, :)), 'b') - plot(wsvc, imag(polesvcb(i, :)), 'r') -end -hold off; -xlabel('Rotation Frequency [rad/s]'); -ylabel('Pole Imaginary Part'); diff --git a/matlab/src/computeSimultaneousDamping.m b/matlab/src/computeSimultaneousDamping.m new file mode 100644 index 0000000..8f6f942 --- /dev/null +++ b/matlab/src/computeSimultaneousDamping.m @@ -0,0 +1,10 @@ +% =computeSimultaneousDamping= + +function [xi_min] = computeSimultaneousDamping(g, G, K) + [~, xi] = damp(minreal(feedback(G, g*K), [], false)); + xi_min = 1/min(xi); + + if xi_min < 0 + xi_min = 1e8; + end +end diff --git a/matlab/system_numerical_analysis.m b/matlab/system_numerical_analysis.m deleted file mode 100644 index bd863d0..0000000 --- a/matlab/system_numerical_analysis.m +++ /dev/null @@ -1,397 +0,0 @@ -%% Clear Workspace and Close figures -clear; close all; clc; - -%% Intialize Laplace variable -s = zpk('s'); - -% Numerical Values for the NASS -% Let's define the parameters for the NASS. - -mlight = 35; % Mass for light sample [kg] -mheavy = 85; % Mass for heavy sample [kg] - -wlight = 2*pi; % Max rot. speed for light sample [rad/s] -wheavy = 2*pi/60; % Max rot. speed for heavy sample [rad/s] - -kvc = 1e3; % Voice Coil Stiffness [N/m] -kpz = 1e8; % Piezo Stiffness [N/m] - -wdot = 1; % Maximum rotation acceleration [rad/s2] - -d = 0.01; % Maximum excentricity from rotational axis [m] -ddot = 0.2; % Maximum Horizontal speed [m/s] - -save('./mat/parameters.mat'); - -labels = {'Light sample mass [kg]', ... - 'Heavy sample mass [kg]', ... - 'Max rot. speed - light [rpm]', ... - 'Max rot. speed - heavy [rpm]', ... - 'Voice Coil Stiffness [N/m]', ... - 'Piezo Stiffness [N/m]', ... - 'Max rot. acceleration [rad/s2]', ... - 'Max mass excentricity [m]', ... - 'Max Horizontal speed [m/s]'}; -data = [mlight, mheavy, 60*wlight/2/pi, 60*wheavy/2/pi, kvc, kpz, wdot, d, ddot]; -data2orgtable(data', labels, {}, ' %.1e ') - -% Euler and Coriolis forces - Numerical Result -% First we will determine the value for Euler and Coriolis forces during regular experiment. -% - *Euler forces*: $m d_v \ddot{\theta}$ -% - *Coriolis forces*: $2 m \dot{d_v} \dot{\theta}$ - - -Felight = mlight*d*wdot; -Feheavy = mheavy*d*wdot; - -Fclight = 2*mlight*ddot*wlight; -Fcheavy = 2*mheavy*ddot*wheavy; - - - -% The obtained values are displayed in table [[tab:euler_coriolis]]. - - -data = [Fclight, Fcheavy ; - Felight, Feheavy]; -data2orgtable(data, {'Coriolis', 'Euler'}, {'Light', 'Heavy'}, ' %.1fN ') - -% Negative Spring Effect - Numerical Result -% The negative stiffness due to the rotation is equal to $-m{\omega_0}^2$. - - -Klight = mlight*wlight^2; -Kheavy = mheavy*wheavy^2; - - - -% The values for the negative spring effect are displayed in table [[tab:negative_spring]]. - -% This is definitely negligible when using piezoelectric actuators. It may not be the case when using voice coil actuators. - - -data = [Klight, Kheavy]; -data2orgtable(data, {'Neg. Spring'}, {'Light', 'Heavy'}, ' %.1f[N/m] ') - -% Numerical Analysis -% We plot on the same graph $\frac{|-m \omega^2 + (k - m {\omega_0}^2)|}{|2 m \omega_0 \omega|}$ for the voice coil and the piezo: -% - with the light sample (figure [[fig:coupling_light]]). -% - with the heavy sample (figure [[fig:coupling_heavy]]). - - -f = logspace(-1, 3, 1000); - -figure; -hold on; -plot(f, abs(-mlight*(2*pi*f).^2 + kvc - mlight * wlight^2)./abs(2*mlight*wlight*2*pi*f), 'DisplayName', 'Voice Coil') -plot(f, abs(-mlight*(2*pi*f).^2 + kpz - mlight * wlight^2)./abs(2*mlight*wlight*2*pi*f), 'DisplayName', 'Piezo') -plot(f, ones(1, length(f)), 'k--', 'HandleVisibility', 'off') -hold off; -xlim([f(1), f(end)]); -set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); -xlabel('Frequency [Hz]'); -legend('Location', 'northeast'); - - - -% #+LABEL: fig:coupling_light -% #+CAPTION: Relative Coupling for light mass and high rotation speed -% [[file:./figs/coupling_light.png]] - - -figure; -hold on; -plot(f, abs(-mheavy*(2*pi*f).^2 + kvc - mheavy * wheavy^2)./abs(2*mheavy*wheavy*2*pi*f), 'DisplayName', 'Voice Coil') -plot(f, abs(-mheavy*(2*pi*f).^2 + kpz - mheavy * wheavy^2)./abs(2*mheavy*wheavy*2*pi*f), 'DisplayName', 'Piezo') -plot(f, ones(1, length(f)), 'k--', 'HandleVisibility', 'off') -hold off; -xlim([f(1), f(end)]); -set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); -xlabel('Frequency [Hz]'); -legend('Location', 'northeast'); - -% Limitations due to negative stiffness effect -% If $\max{\dot{\theta}} \ll \sqrt{\frac{k}{m}}$, then the negative spring effect is negligible and $k - m\dot{\theta}^2 \approx k$. - -% Let's estimate what is the maximum rotation speed for which the negative stiffness effect is still negligible ($\omega_\text{max} = 0.1 \sqrt{\frac{k}{m}}$). Results are shown table [[tab:negative_stiffness]]. - -data = 0.1*60*(1/2/pi)*[sqrt(kvc/mlight), sqrt(kpz/mlight); - sqrt(kvc/mheavy), sqrt(kpz/mheavy)]; -data2orgtable(data, {'Light', 'Heavy'}, {'Voice Coil', 'Piezo'}, ' %.0f[rpm] ') - - - -% #+NAME: tab:negative_stiffness -% #+CAPTION: Maximum rotation speed at which negative stiffness is negligible ($0.1\sqrt{\frac{k}{m}}$) -% #+RESULTS: -% | | Voice Coil | Piezo | -% |-------+------------+-----------| -% | Light | 5[rpm] | 1614[rpm] | -% | Heavy | 3[rpm] | 1036[rpm] | - -% The negative spring effect is proportional to the rotational speed $\omega$. -% The system dynamics will be much more affected when using soft actuator. - -% #+begin_important -% Negative stiffness effect has very important effect when using soft actuators. -% #+end_important - -% The system can even goes unstable when $m \omega^2 > k$, that is when the centrifugal forces are higher than the forces due to stiffness. - -% From this analysis, we can determine the lowest practical stiffness that is possible to use: $k_\text{min} = 10 m \omega^2$ (table sec:tab:min_k) - - -data = 10*[mlight*2*pi, mheavy*2*pi/60] -data2orgtable(data, {'k min [N/m]'}, {'Light', 'Heavy'}, ' %.0f ') - -% Voice coil actuator - -m = mlight; -k = kvc; - -ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] - -Gs = {zeros(1, length(ws))}; -Gcs = {zeros(1, length(ws))}; - -for i = 1:length(ws) - w = ws(i); - Gs(i) = {(m*s^2 + (k-m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; - Gcs(i) = {(2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; -end - -freqs = logspace(-2, 1, 1000); - -figure; -ax1 = subplot(2,1,1); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs{i}, freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,1,2); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -linkaxes([ax1,ax2],'x'); - - - -% #+LABEL: fig:G_ws_vc -% #+CAPTION: Bode plot of the direct transfer function term (from $F_u$ to $D_u$) for multiple rotation speed - Voice coil -% [[file:figs/G_ws_vc.png]] - - - -freqs = logspace(-2, 1, 1000); - -figure; -ax1 = subplot(2,1,1); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gcs{i}, freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,1,2); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gcs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -linkaxes([ax1,ax2],'x'); - -% Piezoelectric actuator - -m = mlight; -k = kpz; - -ws = linspace(0, 2*pi, 5); % Rotation speed vector [rad/s] - -Gs = {zeros(1, length(ws))}; -Gcs = {zeros(1, length(ws))}; - -for i = 1:length(ws) - w = ws(i); - Gs(i) = {(m*s^2 + (k-m*w^2))/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; - Gcs(i) = {(2*m*w*s)/((m*s^2 + (k - m*w^2))^2 + (2*m*w*s)^2)}; -end - -freqs = logspace(2, 3, 1000); - -figure; -ax1 = subplot(2,1,1); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gs{i}, freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,1,2); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -linkaxes([ax1,ax2],'x'); - - - -% #+LABEL: fig:G_ws_pz -% #+CAPTION: Bode plot of the direct transfer function term (from $F_u$ to $D_u$) for multiple rotation speed - Piezoelectric actuator -% [[file:figs/G_ws_pz.png]] - - -figure; -ax1 = subplot(2,1,1); -hold on; -for i = 1:length(ws) - plot(freqs, abs(squeeze(freqresp(Gcs{i}, freqs, 'Hz')))); -end -hold off; -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); -set(gca, 'XTickLabel',[]); -ylabel('Magnitude [m/N]'); - -ax2 = subplot(2,1,2); -hold on; -for i = 1:length(ws) - plot(freqs, 180/pi*angle(squeeze(freqresp(Gcs{i}, freqs, 'Hz'))), 'DisplayName', sprintf('w = %.0f [rpm]', ws(i)*60/2/pi)); -end -hold off; -yticks(-180:90:180); -ylim([-180 180]); -xlim([freqs(1), freqs(end)]); -set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); -xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); -legend('Location', 'southwest'); -linkaxes([ax1,ax2],'x'); - -% Campbell diagram -% The poles of the system are computed for multiple values of the rotation frequency. To simplify the computation of the poles, we add some damping to the system. - - -m = mlight; -k = kvc; -c = 0.1*sqrt(k*m); - -wsvc = linspace(0, 10, 100); % [rad/s] - -polesvc = zeros(2, length(wsvc)); - -for i = 1:length(wsvc) - polei = pole(1/((m*s^2 + c*s + (k - m*wsvc(i)^2))^2 + (2*m*wsvc(i)*s)^2)); - polesvc(:, i) = sort(polei(imag(polei) > 0)); -end - -m = mlight; -k = kpz; -c = 0.1*sqrt(k*m); - -wspz = linspace(0, 1000, 100); % [rad/s] - -polespz = zeros(2, length(wspz)); - -for i = 1:length(wspz) - polei = pole(1/((m*s^2 + c*s + (k - m*wspz(i)^2))^2 + (2*m*wspz(i)*s)^2)); - polespz(:, i) = sort(polei(imag(polei) > 0)); -end - - - -% We then plot the real and imaginary part of the poles as a function of the rotation frequency (figures [[fig:poles_w_vc]] and [[fig:poles_w_pz]]). - -% When the real part of one pole becomes positive, the system goes unstable. - -% For the voice coil (figure [[fig:poles_w_vc]]), the system is unstable when the rotation speed is above 5 rad/s. The real and imaginary part of the poles of the system with piezoelectric actuators are changing much less (figure [[fig:poles_w_pz]]). - - -figure; -% Amplitude -ax1 = subplot(1,2,1); -hold on; -plot(wsvc, real(polesvc(1, :))) -set(gca,'ColorOrderIndex',1) -plot(wsvc, real(polesvc(2, :))) -plot(wsvc, zeros(size(wsvc)), 'k--') -hold off; -xlabel('Rotation Frequency [rad/s]'); -ylabel('Pole Real Part'); -ax2 = subplot(1,2,2); -hold on; -plot(wsvc, imag(polesvc(1, :))) -set(gca,'ColorOrderIndex',1) -plot(wsvc, -imag(polesvc(1, :))) -set(gca,'ColorOrderIndex',1) -plot(wsvc, imag(polesvc(2, :))) -set(gca,'ColorOrderIndex',1) -plot(wsvc, -imag(polesvc(2, :))) -hold off; -xlabel('Rotation Frequency [rad/s]'); -ylabel('Pole Imaginary Part'); - - - -% #+LABEL: fig:poles_w_vc -% #+CAPTION: Real and Imaginary part of the poles of the system as a function of the rotation speed - Voice Coil and light sample -% [[file:figs/poles_w_vc.png]] - - - -figure; -% Amplitude -ax1 = subplot(1,2,1); -hold on; -plot(wspz, real(polespz(1, :))) -set(gca,'ColorOrderIndex',1) -plot(wspz, real(polespz(2, :))) -plot(wspz, zeros(size(wspz)), 'k--') -hold off; -xlabel('Rotation Frequency [rad/s]'); -ylabel('Pole Real Part'); -ax2 = subplot(1,2,2); -hold on; -plot(wspz, imag(polespz(1, :))) -set(gca,'ColorOrderIndex',1) -plot(wspz, -imag(polespz(1, :))) -set(gca,'ColorOrderIndex',1) -plot(wspz, imag(polespz(2, :))) -set(gca,'ColorOrderIndex',1) -plot(wspz, -imag(polespz(2, :))) -hold off; -xlabel('Rotation Frequency [rad/s]'); -ylabel('Pole Imaginary Part'); diff --git a/nass-rotating-3dof-model.html b/nass-rotating-3dof-model.html new file mode 100644 index 0000000..f24b522 Binary files /dev/null and b/nass-rotating-3dof-model.html differ diff --git a/nass-rotating-3dof-model.org b/nass-rotating-3dof-model.org new file mode 100644 index 0000000..789092f --- /dev/null +++ b/nass-rotating-3dof-model.org @@ -0,0 +1,4918 @@ +#+TITLE: NASS - Effect of rotation +:DRAWER: +#+LANGUAGE: en +#+EMAIL: dehaeze.thomas@gmail.com +#+AUTHOR: Dehaeze Thomas + +#+HTML_LINK_HOME: ../index.html +#+HTML_LINK_UP: ../index.html + +#+HTML_HEAD: +#+HTML_HEAD: + +#+BIND: org-latex-image-default-option "scale=1" +#+BIND: org-latex-image-default-width "" + +#+LaTeX_CLASS: scrreprt +#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full] +#+LaTeX_HEADER: \usepackage{siunitx} +#+LaTeX_HEADER: \usepackage{tikz} +#+LaTeX_HEADER: \usetikzlibrary{shapes.misc,arrows,arrows.meta} +#+LaTeX_HEADER: \usepackage{bm} +#+LaTeX_HEADER: \usepackage{amsmath} +#+LaTeX_HEADER_EXTRA: \usepackage{amssymb} +#+LaTeX_HEADER_EXTRA: \input{preamble.tex} +#+LaTeX_HEADER_EXTRA: \addbibresource{ref.bib} + +#+PROPERTY: header-args:matlab :session *MATLAB* +#+PROPERTY: header-args:matlab+ :comments org +#+PROPERTY: header-args:matlab+ :exports none +#+PROPERTY: header-args:matlab+ :results none +#+PROPERTY: header-args:matlab+ :eval no-export +#+PROPERTY: header-args:matlab+ :noweb yes +#+PROPERTY: header-args:matlab+ :mkdirp yes +#+PROPERTY: header-args:matlab+ :output-dir figs +#+PROPERTY: header-args:matlab+ :tangle no + +#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/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+ :tangle 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: + +#+begin_export html +


+

This report is also available as a pdf.

+
+#+end_export + +#+latex: \clearpage + +* Introduction :ignore: + +An important aspect of the Nano Active Stabilization System (NASS) is that the nano-hexapod is continuously rotating around a vertical axis while the external metrology is not. +Such rotation induces gyroscopic effects that may impact the system dynamics and obtained performances. + +In this report, this rotating aspect of the NASS is studied. +It is structured in several sections: +- Section ref:sec:rotating_system_description: a simple model of a rotating suspended platform that will be used throughout this study is presented. The effect of the rotation velocity on the system dynamics is shown. +- Section ref:sec:rotating_iff_pure_int: Integral Force Feedback (IFF) is applied to the rotating platform, and it is shown that the unconditional stability of IFF is lost due to Gyroscopic effects induced by the rotation. +- Section ref:sec:rotating_iff_pseudo_int: A first modification of the IFF control law is proposed such that damping can be added to the suspension modes in a robust way. This modification consists of adding an high pass filter to the IFF controller. Optimal high pass filter cut-off frequency is computed. +- Section ref:sec:rotating_iff_parallel_stiffness: A second modification is proposed to regain the unconditional stability of IFF. This modification consists of adding stiffness in parallel to the force sensors. Optimal parallel stiffness is computed. +- Section ref:sec:rotating_relative_damp_control: Relative damping control is applied to the rotating system. +- Section ref:sec:rotating_comp_act_damp: Once the optimal control parameters for the three tested active damping techniques are obtained, they are compared in terms of achievable damping, obtained damped plant and closed-loop compliance and transmissibility. +- Section ref:sec:rotating_nano_hexapod: the previous analysis is applied on three nano-hexapod stiffnesses and optimal active damping controller are obtained. +- Section ref:sec:rotating_nass: up until this section, the study was performed on a very simplistic model that just captures the rotation aspect and the model parameters were not tuned to corresponds to the NASS. In this last section, a model of the micro-station is added below the suspended platform (i.e. the nano-hexapod) with a rotating spindle and parameters tuned to match the NASS dynamics. The goal is to determine if the rotation imposes performance limitation for the NASS. + +To run the Matlab code, go in the =matlab= directory and run the Matlab files corresponding to each section (see Table ref:tab:section_matlab_code). + +#+name: tab:section_matlab_code +#+caption: Report sections and corresponding Matlab files +#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX +#+attr_latex: :center t :booktabs t +| *Sections* | *Matlab File* | +|-------------------------------------------------+------------------------------------| +| Section ref:sec:rotating_system_description | =rotating_1_system_description.m= | +| Section ref:sec:rotating_iff_pure_int | =rotating_2_iff_pure_int.m= | +| Section ref:sec:rotating_iff_pseudo_int | =rotating_3_iff_hpf.m= | +| Section ref:sec:rotating_iff_parallel_stiffness | =rotating_4_iff_kp.m= | +| Section ref:sec:rotating_relative_damp_control | =rotating_5_rdc.m= | +| Section ref:sec:rotating_comp_act_damp | =rotating_5_act_damp_comparison.m= | +| Section ref:sec:rotating_nano_hexapod | =rotating_6_nano_hexapod.m= | +| Section ref:sec:rotating_nass | =rotating_6_nass.m= | + +* System Description and Analysis +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_1_system_description.m +:END: +<> + +** Introduction :ignore: +The studied system consists of a 2 degree of freedom translation stage on top of a rotating stage (Figure ref:fig:rotating_3dof_model_schematic). + +The rotating stage is supposed to be ideal, meaning it induces a perfect rotation $\theta(t) = \Omega t$ where $\Omega$ is the rotational speed in $\si{\radian\per\s}$. + +The suspended platform consists of two orthogonal actuators each represented by three elements in parallel: a spring with a stiffness $k$ in $\si{\newton\per\meter}$, a dashpot with a damping coefficient $c$ in $\si{\newton\per(\meter\per\second)}$ and an ideal force source $F_u, F_v$. +A payload with a mass $m$ in $\si{\kilo\gram}$, is mounted on the (rotating) suspended platform. + +Two reference frames are used: an inertial frame $(\vec{i}_x, \vec{i}_y, \vec{i}_z)$ and a uniform rotating frame $(\vec{i}_u, \vec{i}_v, \vec{i}_w)$ rigidly fixed on top of the rotating stage with $\vec{i}_w$ aligned with the rotation axis. +The position of the payload is represented by $(d_u, d_v, 0)$ expressed in the rotating frame. + +#+begin_src latex :file rotating_3dof_model_schematic.pdf +\begin{tikzpicture} + % Angle + \def\thetau{25} + + % Rotational Stage + \draw[fill=black!60!white] (0, 0) circle (4.3); + \draw[fill=black!40!white] (0, 0) circle (3.8); + + % Label + \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage}; + + % Rotating Scope + \begin{scope}[rotate=\thetau] + % Rotating Frame + \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6); + % Label + \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform}; + + % Mass + \draw[fill=white] (-1, -1) rectangle (1, 1); + % Label + \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload}; + + % Attached Points + \node[] at (-1, 0){$\bullet$}; + \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu); + \draw[] ($(cu) + (0, -0.8)$) coordinate(actu) -- ($(cu) + (0, 0.8)$) coordinate(ku); + \node[] at (0, -1){$\bullet$}; + \draw[] (0, -1) -- ++(0, -0.2) coordinate(cv); + \draw[] ($(cv) + (-0.8, 0)$)coordinate(kv) -- ($(cv) + (0.8, 0)$) coordinate(actv); + + % Spring and Actuator for U + \draw[actuator={0.6}{0.2}{black}] (actu) -- node[above=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0); + \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0); + \draw[damper={black}{8}{8}] (cu) -- node[above left=0.2 and -0.1, rotate=\thetau]{$c$} (cu-|-2.6,0); + + \draw[actuator={0.6}{0.2}{black}] (actv) -- node[left, rotate=\thetau]{$F_v$} (actv|-0,-2.6); + \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6); + \draw[damper={black}{8}{8}] (cv) -- node[left=0.1, rotate=\thetau]{$c$} (cv|-0,-2.6); + \end{scope} + + % Inertial Frame + \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$}; + \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$}; + \draw[fill, color=black] (-4, -4) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; + + \draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; + \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; + \draw[fill, color=black] (0,0) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){}; + \draw[dashed] (0, 0) -- ++(2, 0); + \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; + + \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; +\end{tikzpicture} +#+end_src + +#+name: fig:rotating_3dof_model_schematic +#+caption: Schematic of the studied system +#+RESULTS: +[[file:figs/rotating_3dof_model_schematic.png]] + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +** Equations of motion +To obtain the equations of motion for the system represented in Figure ref:fig:rotating_3dof_model_schematic, the Lagrangian equations are used: +#+name: eq:lagrangian_equations +\begin{equation} + \frac{d}{dt} \left( \frac{\partial L}{\partial \dot{q}_i} \right) + \frac{\partial D}{\partial \dot{q}_i} - \frac{\partial L}{\partial q_i} = Q_i +\end{equation} +with $L = T - V$ the Lagrangian, $T$ the kinetic coenergy, $V$ the potential energy, $D$ the dissipation function, and $Q_i$ the generalized force associated with the generalized variable $\begin{bmatrix}q_1 & q_2\end{bmatrix} = \begin{bmatrix}d_u & d_v\end{bmatrix}$. +The equation of motion corresponding to the constant rotation along $\vec{i}_w$ is disregarded as this motion is considered to be imposed by the rotation stage. +#+name: eq:energy_functions_lagrange +\begin{equation} + \begin{aligned} + T &= \frac{1}{2} m \left( ( \dot{d}_u - \Omega d_v )^2 + ( \dot{d}_v + \Omega d_u )^2 \right), \\ + V &= \frac{1}{2} k \big( {d_u}^2 + {d_v}^2 \big), \ Q_1 = F_u, \\ + D &= \frac{1}{2} c \big( \dot{d}_u{}^2 + \dot{d}_v{}^2 \big), \ Q_2 = F_v + \end{aligned} +\end{equation} + +Substituting equations eqref:eq:energy_functions_lagrange into equation eqref:eq:lagrangian_equations for both generalized coordinates gives two coupled differential equations eqref:eq:eom_coupled_1 and eqref:eq:eom_coupled_2. +#+name: eq:eom_coupled +\begin{subequations} + \begin{align} + m \ddot{d}_u + c \dot{d}_u + ( k - m \Omega^2 ) d_u &= F_u + 2 m \Omega \dot{d}_v \label{eq:eom_coupled_1} \\ + m \ddot{d}_v + c \dot{d}_v + ( k \underbrace{-\,m \Omega^2}_{\text{Centrif.}} ) d_v &= F_v \underbrace{-\,2 m \Omega \dot{d}_u}_{\text{Coriolis}} \label{eq:eom_coupled_2} + \end{align} +\end{subequations} + +The uniform rotation of the system induces *two gyroscopic effects* as shown in equation eqref:eq:eom_coupled: +- *Centrifugal forces*: that can been seen as an added *negative stiffness* $- m \Omega^2$ along $\vec{i}_u$ and $\vec{i}_v$ +- *Coriolis Forces*: that adds *coupling* between the two orthogonal directions. + +One can verify that without rotation ($\Omega = 0$) the system becomes equivalent to two uncoupled one degree of freedom mass-spring-damper systems. + +** Transfer Functions in the Laplace domain +To study the dynamics of the system, the differential equations of motions eqref:eq:eom_coupled are converted into the Laplace domain and the $2 \times 2$ transfer function matrix $\mathbf{G}_d$ from $\begin{bmatrix}F_u & F_v\end{bmatrix}$ to $\begin{bmatrix}d_u & d_v\end{bmatrix}$ in equation eqref:eq:Gd_mimo_tf is obtained. +Its elements are shown in equation eqref:eq:Gd_indiv_el. + +#+name: eq:Gd_mimo_tf +\begin{equation} + \begin{bmatrix} d_u \\ d_v \end{bmatrix} = \mathbf{G}_d \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +#+name: eq:Gd_indiv_el +\begin{subequations} +\begin{align} + \mathbf{G}_{d}(1,1) &= \mathbf{G}_{d}(2,2) = \frac{ms^2 + cs + k - m \Omega^2}{\left( m s^2 + cs + k - m \Omega^2 \right)^2 + \left( 2 m \Omega s \right)^2} \\ + \mathbf{G}_{d}(1,2) &= -\mathbf{G}_{d}(2,1) = \frac{2 m \Omega s}{\left( m s^2 + cs + k - m \Omega^2 \right)^2 + \left( 2 m \Omega s \right)^2} +\end{align} +\end{subequations} + +To simplify the analysis, the undamped natural frequency $\omega_0$ and the damping ratio $\xi$ are used as in equation eqref:eq:xi_and_omega. +#+name: eq:xi_and_omega +\begin{equation} + \omega_0 = \sqrt{\frac{k}{m}} \text{ in } \si{\radian\per\second}, \quad \xi = \frac{c}{2 \sqrt{k m}} +\end{equation} + +The elements of transfer function matrix $\mathbf{G}_d$ are now described by equation eqref:eq:Gd_w0_xi_k. +#+name: eq:Gd_w0_xi_k +\begin{subequations} + \begin{align} + \mathbf{G}_{d}(1,1) &= \frac{\frac{1}{k} \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \\ + \mathbf{G}_{d}(1,2) &= \frac{\frac{1}{k} \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} + \end{align} +\end{subequations} + +** System Poles: Campbell Diagram +The poles of $\mathbf{G}_d$ are the complex solutions $p$ of equation eqref:eq:poles. + +#+name: eq:poles +\begin{equation} + \left( \frac{p^2}{{\omega_0}^2} + 2 \xi \frac{p}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{p}{\omega_0} \right)^2 = 0 +\end{equation} + +Supposing small damping ($\xi \ll 1$), two pairs of complex conjugate poles are obtained as shown in equation eqref:eq:pole_values. + +#+name: eq:pole_values +\begin{subequations} + \begin{align} + p_{+} &= - \xi \omega_0 \left( 1 + \frac{\Omega}{\omega_0} \right) \pm j \omega_0 \left( 1 + \frac{\Omega}{\omega_0} \right) \\ + p_{-} &= - \xi \omega_0 \left( 1 - \frac{\Omega}{\omega_0} \right) \pm j \omega_0 \left( 1 - \frac{\Omega}{\omega_0} \right) + \end{align} +\end{subequations} + +#+begin_src matlab +%% Model parameters for first analysis +kn = 1; % Actuator Stiffness [N/m] +mn = 1; % Payload Mass [kg] +cn = 0.05; % Actuator Damping [N/(m/s)] + +xin = cn/(2*sqrt(kn*mn)); % Modal Damping [-] +w0n = sqrt(kn/mn); % Natural Frequency [rad/s] +#+end_src + +#+begin_src matlab +%% Computation of the poles as a function of the rotating velocity +Wzs = linspace(0, 2, 51); % Vector of rotation speeds [rad/s] + +p_ws = zeros(4, length(Wzs)); + +for i = 1:length(Wzs) + Wz = Wzs(i); + + pole_G = pole(1/(((s^2)/(w0n^2) + 2*xin*s/w0n + 1 - (Wz^2)/(w0n^2))^2 + (2*Wz*s/(w0n^2))^2)); + [~, i_sort] = sort(imag(pole_G)); + p_ws(:, i) = pole_G(i_sort); +end + +clear pole_G; +#+end_src + +The real and complex parts of these two pairs of complex conjugate poles are represented in Figure ref:fig:rotating_campbell_diagram as a function of the rotational speed $\Omega$. +As the rotational speed increases, $p_{+}$ goes to higher frequencies and $p_{-}$ goes to lower frequencies. +The system becomes unstable for $\Omega > \omega_0$ as the real part of $p_{-}$ is positive. +Physically, the negative stiffness term $-m\Omega^2$ induced by centrifugal forces exceeds the spring stiffness $k$. + +#+begin_src matlab :results none +%% Campbell diagram - Real and Imaginary parts of the poles as a function of the rotating velocity +figure; +tiledlayout(1, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(Wzs, real(p_ws(1, :)), '-', 'color', colors(1,:), 'DisplayName', '$p_{+}$') +plot(Wzs, real(p_ws(4, :)), '-', 'color', colors(1,:), 'HandleVisibility', 'off') +plot(Wzs, real(p_ws(2, :)), '-', 'color', colors(2,:), 'DisplayName', '$p_{-}$') +plot(Wzs, real(p_ws(3, :)), '-', 'color', colors(2,:), 'HandleVisibility', 'off') +plot(Wzs, zeros(size(Wzs)), 'k--', 'HandleVisibility', 'off') +hold off; +xlabel('Rotational Speed $\Omega$'); ylabel('Real Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +xlim([0, 2*w0n]); +xticks([0,w0n/2,w0n,3/2*w0n,2*w0n]) +xticklabels({'$0$', '', '$\omega_0$', '', '$2 \omega_0$'}) +ylim([-3*xin, 3*xin]); +yticks([-3*xin, -2*xin, -xin, 0, xin, 2*xin, 3*xin]) +yticklabels({'', '', '$-\xi\omega_0$', '$0$', ''}) + +ax2 = nexttile(); +hold on; +plot(Wzs, imag(p_ws(1, :)), '-', 'color', colors(1,:)) +plot(Wzs, imag(p_ws(4, :)), '-', 'color', colors(1,:)) +plot(Wzs, imag(p_ws(2, :)), '-', 'color', colors(2,:)) +plot(Wzs, imag(p_ws(3, :)), '-', 'color', colors(2,:)) +plot(Wzs, zeros(size(Wzs)), 'k--') +hold off; +xlabel('Rotational Speed $\Omega$'); ylabel('Imaginary Part'); +xlim([0, 2*w0n]); +xticks([0,w0n/2,w0n,3/2*w0n,2*w0n]) +xticklabels({'$0$', '', '$\omega_0$', '', '$2 \omega_0$'}) +ylim([-3*w0n, 3*w0n]); +yticks([-3*w0n, -2*w0n, -w0n, 0, w0n, 2*w0n, 3*w0n]) +yticklabels({'', '', '$-\omega_0$', '$0$', '$\omega_0$', '', ''}) +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_campbell_diagram.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_campbell_diagram +#+caption: Campbell diagram - Real and Imaginary parts of the poles as a function of the rotating velocity +#+RESULTS: +[[file:figs/rotating_campbell_diagram.png]] + +** Identify Generic Dynamics :noexport: +#+begin_src matlab +%% Sample +ms = 0.5; % Sample mass [kg] + +%% Tuv Stage +kn = 1; % Stiffness [N/m] +mn = 0.5; % Tuv mass [kg] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "normal"; % Default: 2DoF stage +#+end_src + +#+begin_src matlab +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdu, Fdv] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % [Dfx, Dfy] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] +#+end_src + +#+begin_src matlab +%% Tested rotating velocities [rad/s] +Wzs = [0, 0.1, 0.2, 0.7, 1.2]; % Vector of rotation speeds [rad/s] + +Gs = {zeros(2, 2, length(Wzs))}; % Direct terms + +for i = 1:length(Wzs) + Wz = Wzs(i); + + %% Linearize the model + G = linearize(mdl, io, 0); + + %% Input/Output definition + G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + Gs{:,:,i} = G; +end +#+end_src + +#+begin_src matlab :tangle no +%% Save All Identified Plants +save('./matlab/mat/rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +#+begin_src matlab :eval no +%% Save All Identified Plants +save('./mat/rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +** System Dynamics: Effect of rotation +The system dynamics from actuator forces $[F_u, F_v]$ to the relative motion $[d_u, d_v]$ is identified for several rotating velocities. + +Looking at the transfer function matrix $\mathbf{G}_d$ in equation eqref:eq:Gd_w0_xi_k, one can see that the two diagonal (direct) terms are equal and that the two off-diagonal (coupling) terms are opposite. +The bode plot of these two terms are shown in Figure ref:fig:rotating_direct_coupling_bode_plot for several rotational speeds $\Omega$. +These plots confirm the expected behavior: the frequency of the two pairs of complex conjugate poles are further separated as $\Omega$ increases. +For $\Omega > \omega_0$, the low frequency pair of complex conjugate poles $p_{-}$ becomes unstable. + +#+begin_src matlab :results none +%% Bode plot of the direct and coupling terms for several rotating velocities +freqs = logspace(-1, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +title('Direct terms: $d_u/F_u$, $d_v/F_v$'); +ylim([1e-2, 1e2]); +yticks([1e-2,1e-1,1,1e1,1e2]) +yticklabels({'$0.01/k$', '$0.1/k$', '$1/k$', '$10/k$', '$100/k$'}) + +ax2 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0$', Wzs(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('Coupling Terms: $d_u/F_v$, $d_v/F_u$'); +ldg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-2, 1e2]); + +ax3 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-1,1,1e1]) +xticklabels({'$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax4 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)); +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); set(gca, 'YTickLabel',[]); +xticks([1e-1,1,1e1]) +xticklabels({'$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2,ax3,ax4],'x'); +xlim([freqs(1), freqs(end)]); + +linkaxes([ax1,ax2],'y'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_direct_coupling_bode_plot.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_direct_coupling_bode_plot +#+caption: Bode plot of the direct and coupling terms for several rotating velocities +#+RESULTS: +[[file:figs/rotating_direct_coupling_bode_plot.png]] + +* Integral Force Feedback +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_2_iff_pure_int.m +:END: +<> + +** Introduction :ignore: +In order to further decrease the residual vibrations, active damping can be used for reducing the magnification of the response in the vicinity of the resonances cite:collette11_review_activ_vibrat_isolat_strat. + +Many active damping techniques have been developed over the years such as Positive Position Feedback (PPF) cite:lin06_distur_atten_precis_hexap_point,fanson90_posit_posit_feedb_contr_large_space_struc, Integral Force Feedback (IFF) cite:preumont91_activ and Direct Velocity Feedback (DVF) cite:karnopp74_vibrat_contr_using_semi_activ_force_gener,serrand00_multic_feedb_contr_isolat_base_excit_vibrat,preumont02_force_feedb_versus_accel_feedb. \par + +In cite:preumont92_activ_dampin_by_local_force, the IFF control scheme has been proposed, where a force sensor, a force actuator and an integral controller are used to directly augment the damping of a mechanical system. +When the force sensor is collocated with the actuator, the open-loop transfer function has alternating poles and zeros which facilitate to guarantee the stability of the closed loop system cite:preumont02_force_feedb_versus_accel_feedb. +It was latter shown that this property holds for multiple collated actuator/sensor pairs cite:preumont08_trans_zeros_struc_contr_with. \par + +The main advantages of IFF over other active damping techniques are the guaranteed stability even in presence of flexible dynamics, good performances and robustness properties cite:preumont02_force_feedb_versus_accel_feedb. \par + +Several improvements of the classical IFF have been proposed, such as adding a feed-through term to increase the achievable damping cite:teo15_optim_integ_force_feedb_activ_vibrat_contr or adding an high pass filter to recover the loss of compliance at low frequency cite:chesne16_enhan_dampin_flexib_struc_using_force_feedb. +Recently, an $\mathcal{H}_\infty$ optimization criterion has been used to derive optimal gains for the IFF controller cite:zhao19_optim_integ_force_feedb_contr. \par + +However, none of these study have been applied to a rotating system. +In this section, Integral Force Feedback strategy is applied on the rotating suspended platform, and it is shown that gyroscopic effects alters the system dynamics and that IFF cannot be applied as is. + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +#+begin_src matlab +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +** System and Equations of motion +In order to apply Integral Force Feedback, two force sensors are added in series with the actuators (Figure ref:fig:rotating_3dof_model_schematic_iff). +Two identical controllers $K_F$ are then used to feedback each of the sensed force to its associated actuator: +\begin{equation} + K_{F}(s) = g \cdot \frac{1}{s} +\end{equation} + +#+begin_src latex :file rotating_3dof_model_schematic_iff.pdf + \begin{tikzpicture} + % Angle + \def\thetau{25} + + % Rotational Stage + \draw[fill=black!60!white] (0, 0) circle (4.3); + \draw[fill=black!40!white] (0, 0) circle (3.8); + + % Label + \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage}; + + % Rotating Scope + \begin{scope}[rotate=\thetau] + % Rotating Frame + \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6); + % Label + \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform}; + + % Mass + \draw[fill=white] (-1, -1) rectangle (1, 1); + % Label + \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload}; + + % Attached Points + \node[] at (-1, 0){$\bullet$}; + \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au); + \node[] at (0, -1){$\bullet$}; + \draw[] (0, -1) -- ++(0, -0.2) coordinate(av); + + % Force Sensors + \draw[draw=colorblue, fill=colorblue!10!white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$); + \draw[draw=colorblue] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$); + \draw[draw=colorblue] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$); + + \draw[draw=colorblue, fill=colorblue!10!white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$); + \draw[draw=colorblue] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$); + \draw[draw=colorblue] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$); + + % Spring and Actuator for U + \draw[actuator={0.6}{0.2}{black}] (actu) -- coordinate[midway](actumid) (actu-|-2.6,0); + \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0); + + % \draw[actuator={0.6}{0.2}] (actv) -- node[right, rotate=\thetau]{$F_v$} (actv|-0,-2.6); + \draw[actuator={0.6}{0.2}{black}] (actv) -- coordinate[midway](actvmid) (actv|-0,-2.6); + \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6); + + \node[color=colorblue, block={0.8cm}{0.6cm}, fill=colorblue!10!white, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.2)$) {$K_{F}$}; + \draw[->, draw=colorblue] ($(au) + (-0.1, -0.5)$) |- (Ku.east) node[below right, rotate=\thetau]{$f_{u}$}; + \draw[->, draw=colorblue] (Ku.north) -- ($(actumid) + (0, -0.1)$) node[below left, rotate=\thetau]{$F_u$}; + + \node[color=colorblue, block={0.8cm}{0.6cm}, fill=colorblue!10!white, rotate=\thetau] (Kv) at ($(actvmid) + (1.2, 0)$) {$K_{F}$}; + \draw[->, draw=colorblue] ($(av) + (0.5, -0.1)$) -| (Kv.north) node[above right, rotate=\thetau]{$f_{v}$}; + \draw[->, draw=colorblue] (Kv.west) -- ($(actvmid) + (0.1, 0)$) node[below right, rotate=\thetau]{$F_v$}; + \end{scope} + + % Inertial Frame + \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$}; + \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$}; + \draw[fill, color=black] (-4, -4) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; + + \node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){}; + \draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; + \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; + \draw[dashed] (0, 0) -- ++(2, 0); + \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; + \node[] at (0,0) {$\bullet$}; + + \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; + \end{tikzpicture} +#+end_src + +#+name: fig:rotating_3dof_model_schematic_iff +#+caption: System with added Force Sensor in series with the actuators (shown in blue with the associated controllers) +#+RESULTS: +[[file:figs/rotating_3dof_model_schematic_iff.png]] + + +The forces $\begin{bmatrix}f_u & f_v\end{bmatrix}$ measured by the two force sensors represented in Figure ref:fig:rotating_3dof_model_schematic_iff are described by equation eqref:eq:measured_force. +#+name: eq:measured_force +\begin{equation} + \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = + \begin{bmatrix} F_u \\ F_v \end{bmatrix} - (c s + k) + \begin{bmatrix} d_u \\ d_v \end{bmatrix} +\end{equation} + +The transfer function matrix $\mathbf{G}_{f}$ from actuator forces to measured forces in equation eqref:eq:Gf_mimo_tf can be obtained by inserting equation eqref:eq:Gd_w0_xi_k into equation eqref:eq:measured_force. +Its elements are shown in equation eqref:eq:Gf_indiv_el. + +#+name: eq:Gf_mimo_tf +\begin{equation} + \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = \mathbf{G}_{f} \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +#+name: eq:Gf_indiv_el +\begin{subequations} +\label{eq:Gf} + \begin{align} + \mathbf{G}_{f}(1,1) &= \mathbf{G}_{f}(2,2) = \frac{\left( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} \right) \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right) + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \label{eq:Gf_diag_tf} \\ + \mathbf{G}_{f}(1,2) &= -\mathbf{G}_{f}(2,1) = \frac{- \left( 2 \xi \frac{s}{\omega_0} + 1 \right) \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \label{eq:Gf_off_diag_tf} + \end{align} +\end{subequations} + +The zeros of the diagonal terms of $\mathbf{G}_f$ in equation eqref:eq:Gf_diag_tf are computed, and neglecting the damping for simplicity, *two complex conjugated zeros* $z_{c}$ are obtained in equation eqref:eq:iff_zero_cc, and *two real zeros* $z_{r}$ in equation eqref:eq:iff_zero_real. +\begin{subequations} + \begin{align} + z_c &= \pm j \omega_0 \sqrt{\frac{1}{2} \sqrt{8 \frac{\Omega^2}{{\omega_0}^2} + 1} + \frac{\Omega^2}{{\omega_0}^2} + \frac{1}{2} } \label{eq:iff_zero_cc} \\ + z_r &= \pm \omega_0 \sqrt{\frac{1}{2} \sqrt{8 \frac{\Omega^2}{{\omega_0}^2} + 1} - \frac{\Omega^2}{{\omega_0}^2} - \frac{1}{2} } \label{eq:iff_zero_real} + \end{align} +\end{subequations} + +It is interesting to see that the frequency of the pair of complex conjugate zeros $z_c$ in equation eqref:eq:iff_zero_cc always lies between the frequency of the two pairs of complex conjugate poles $p_{-}$ and $p_{+}$ in equation eqref:eq:pole_values. +This is what usually gives the unconditional stability of IFF when collocated force sensors are used. + +However, for non-null rotational speeds, the two real zeros $z_r$ in equation eqref:eq:iff_zero_real are inducing a *non-minimum phase behavior*. +This can be seen in the Bode plot of the diagonal terms (Figure ref:fig:rotating_iff_bode_plot_effect_rot) where the low frequency gain is no longer zero while the phase stays at $\SI{180}{\degree}$. + +The low frequency gain of $\mathbf{G}_f$ increases with the rotational speed $\Omega$ as shown in equation eqref:eq:low_freq_gain_iff_plan. +#+name: eq:low_freq_gain_iff_plan +\begin{equation} + \lim_{\omega \to 0} \left| \mathbf{G}_f (j\omega) \right| = \begin{bmatrix} + \frac{\Omega^2}{{\omega_0}^2 - \Omega^2} & 0 \\ + 0 & \frac{\Omega^2}{{\omega_0}^2 - \Omega^2} +\end{bmatrix} +\end{equation} + +This can be explained as follows: a constant actuator force $F_u$ induces a small displacement of the mass $d_u = \frac{F_u}{k - m\Omega^2}$ (Hooke's law taking into account the negative stiffness induced by the rotation). +This small displacement then increases the centrifugal force $m\Omega^2d_u = \frac{\Omega^2}{{\omega_0}^2 - \Omega^2} F_u$ which is then measured by the force sensors. + +** Effect of the rotation speed on the IFF plant dynamics +The transfer functions from actuator forces $[F_u,\ F_v]$ to the measured force sensors $[f_u,\ f_v]$ are identified for several rotating velocities and shown in Figure ref:fig:rotating_iff_bode_plot_effect_rot. + +As was expected from the derived equations of motion: +- when $0 < \Omega < \omega_0$: the low frequency gain is no longer zero and two (non-minimum phase) real zero appears at low frequency. + The low frequency gain increases with $\Omega$. + A pair of (minimum phase) complex conjugate zeros appears between the two complex conjugate poles that are split further apart as $\Omega$ increases. +- when $\omega_0 < \Omega$: the low frequency pole becomes unstable. + +#+begin_src matlab :results none +%% Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation +figure; +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('fu', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); +title('Direct terms: $f_u/F_u$, $f_v/F_v$'); +ylim([1e-3, 1e2]); + +ax2 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('fv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0$', Wzs(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('Coupling Terms: $f_u/F_v$, $f_v/F_u$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-3, 1e2]); + +ax3 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('fu', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax4 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('fv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)); +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); set(gca, 'YTickLabel',[]); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2,ax3,ax4],'x'); +xlim([freqs(1), freqs(end)]); + +linkaxes([ax1,ax2],'y'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_bode_plot_effect_rot.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_bode_plot_effect_rot +#+caption: Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation +#+RESULTS: +[[file:figs/rotating_iff_bode_plot_effect_rot.png]] + +** Decentralized Integral Force Feedback +The control diagram for decentralized Integral Force Feedback is shown in Figure ref:fig:rotating_iff_diagram. + +#+begin_src latex :file rotating_iff_diagram.pdf +\tikzset{block/.default={0.8cm}{0.8cm}} +\tikzset{addb/.append style={scale=0.7}} +\tikzset{node distance=0.6} + +\begin{tikzpicture} + \node[block={1.8cm}{2.2cm}] (G) {$\bm{G}_f$}; + + % Inputs of the controllers + \coordinate[] (output1) at ($(G.south east)!0.75!(G.north east)$); + \coordinate[] (output2) at ($(G.south east)!0.25!(G.north east)$); + \coordinate[] (input1) at ($(G.south west)!0.75!(G.north west)$); + \coordinate[] (input2) at ($(G.south west)!0.25!(G.north west)$); + + \node[block, left=1.8 of input1] (K1) {$g/s$}; + \node[block] (K2) at ($(K1.east|-input2)+(0.6, 0)$) {$g/s$}; + + % Connections and labels + \draw[->] (K1.east) -- (input1)node[above left]{$F_u$}; + \draw[->] (K2.east) -- (input2)node[above left]{$F_v$}; + + \draw[->] (output1) -- ++(0.8, 0) node[above left]{$f_u$}; + \draw[->] (output2) -- ++(0.8, 0) node[above left]{$f_v$}; + + \draw[->] ($(output1)+(0.2, 0)$)node[branch]{} -- ++(0, 1.2) -| ($(K1.west) + (-0.8, 0)$)coordinate(start) -- (K1.west); + \draw[->] ($(output2)+(0.2, 0)$)node[branch]{} -- ++(0, -1.2) -| (start|-K2) -- (K2.west); + + \begin{scope}[on background layer] + \node[fit={(K1.north west) (K2.south east)}, inner sep=6pt, draw, dashed, fill=black!20!white] (K) {}; + \node[below left] at (K.north east) {$\bm{K}_F$}; + \end{scope} +\end{tikzpicture} +#+end_src + +#+name: fig:rotating_iff_diagram +#+caption: Control diagram for decentralized Integral Force Feedback +#+RESULTS: +[[file:figs/rotating_iff_diagram.png]] + +The decentralized IFF controller $\bm{K}_F$ corresponds to a diagonal controller with integrators: +#+name: eq:Kf_pure_int +\begin{equation} +\begin{aligned} + \mathbf{K}_{F}(s) &= \begin{bmatrix} K_{F}(s) & 0 \\ 0 & K_{F}(s) \end{bmatrix} \\ + K_{F}(s) &= g \cdot \frac{1}{s} +\end{aligned} +\end{equation} + +In order to see how the IFF controller affects the poles of the closed loop system, a Root Locus plot (Figure ref:fig:rotating_root_locus_iff_pure_int) is constructed as follows: the poles of the closed-loop system are drawn in the complex plane as the controller gain $g$ varies from $0$ to $\infty$ for the two controllers $K_{F}$ simultaneously. +As explained in cite:preumont08_trans_zeros_struc_contr_with,skogestad07_multiv_feedb_contr, the closed-loop poles start at the open-loop poles (shown by $\tikz[baseline=-0.6ex] \node[cross out, draw=black, minimum size=1ex, line width=2pt, inner sep=0pt, outer sep=0pt] at (0, 0){};$) for $g = 0$ and coincide with the transmission zeros (shown by $\tikz[baseline=-0.6ex] \draw[line width=2pt, inner sep=0pt, outer sep=0pt] (0,0) circle[radius=3pt];$) as $g \to \infty$. + +#+begin_important +Whereas collocated IFF is usually associated with unconditional stability cite:preumont91_activ, this property is lost due to gyroscopic effects as soon as the rotation velocity in non-null. +This can be seen in the Root Locus plot (Figure ref:fig:rotating_root_locus_iff_pure_int) where poles corresponding to the controller are bound to the right half plane implying closed-loop system instability. +#+end_important + +Physically, this can be explained like so: at low frequency, the loop gain is very large due to the pure integrator in $K_{F}$ and the finite gain of the plant (Figure ref:fig:rotating_iff_bode_plot_effect_rot). +The control system is thus canceling the spring forces which makes the suspended platform no able to hold the payload against centrifugal forces, hence the instability. + +#+begin_src matlab +%% Root Locus for the Decentralized Integral Force Feedback controller +figure; + +Kiff = 1/s*eye(2); + +gains = logspace(-2, 4, 300); +Wz_i = [1,3,4]; + +hold on; +for i = 1:length(Wz_i) + plot(real(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8); + plot(real(tzero(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(tzero(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'o', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',8); + for g = gains + cl_poles = pole(feedback(Gs{Wz_i(i)}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff, -1)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',4); + end +end +hold off; +axis square; +xlim([-1.8, 0.2]); ylim([0, 2]); +xticks([-1, 0]) +xticklabels({'-$\omega_0$', '$0$'}) +yticks([0, 1, 2]) +yticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_root_locus_iff_pure_int.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_root_locus_iff_pure_int +#+caption: Root Locus for the Decentralized Integral Force Feedback controller. Several rotating speed are shown. +#+RESULTS: +[[file:figs/rotating_root_locus_iff_pure_int.png]] + +* Integral Force Feedback with an High Pass Filter +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_3_iff_hpf.m +:END: +<> + +** Introduction :ignore: +As was explained in the previous section, the instability of the IFF controller applied on the rotating system comes in part from the high gain at low frequency caused by the pure integrators. + +In order to limit the low frequency controller gain, an High Pass Filter (HPF) can be added to the controller as shown in equation eqref:eq:iff_lhf. + +#+name: eq:iff_lhf +\begin{equation} + \boxed{K_{F}(s) = g \cdot \frac{1}{s} \cdot \underbrace{\frac{s/\omega_i}{1 + s/\omega_i}}_{\text{HPF}} = g \cdot \frac{1}{s + \omega_i}} +\end{equation} + +This is equivalent as to slightly *shifting the controller pole to the left along the real axis*. + +This modification of the IFF controller is typically done to avoid saturation associated with the pure integrator cite:preumont91_activ,marneffe07_activ_passiv_vibrat_isolat_dampin_shunt_trans. +This is however not why this high pass filter is added here. + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +#+begin_src matlab +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +** Modified Integral Force Feedback Controller +The Integral Force Feedback Controller is modified such that instead of using pure integrators, pseudo integrators (i.e. low pass filters) are used: +\begin{equation} + K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\end{bmatrix} +\end{equation} +where $\omega_i$ characterize down to which frequency the signal is integrated. + +Let's arbitrary choose the following control parameters: +#+begin_src matlab :exports code +%% Modified IFF - parameters +g = 2; % Controller gain +wi = 0.1; % HPF Cut-Off frequency [rad/s] + +Kiff = (g/s)*eye(2); % Pure IFF +Kiff_hpf = (g/(wi+s))*eye(2); % IFF with added HPF +#+end_src + +The loop gains ($K_F(s)$ times the direct dynamics $f_u/F_u$) with and without the added HPF are shown in Figure ref:fig:rotating_iff_modified_loop_gain. +The effect of the added HPF limits the low frequency gain to finite values as expected. + +#+begin_src matlab :results none +%% Loop gain for the IFF with pure integrator and modified IFF with added high pass filter +freqs = logspace(-2, 1, 1000); +Wz_i = 2; + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff(1,1), freqs, 'rad/s')))) +plot(freqs, abs(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff_hpf(1,1), freqs, 'rad/s')))) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Loop Gain'); + +% Phase +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff(1,1), freqs, 'rad/s'))), 'DisplayName', 'IFF') +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{Wz_i}('fu', 'Fu')*Kiff_hpf(1,1), freqs, 'rad/s'))), 'DisplayName', 'IFF + HPF') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) +leg = legend('location', 'southwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 20; + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_modified_loop_gain.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_modified_loop_gain +#+caption: Loop gain for the IFF with pure integrator and modified IFF with added high pass filter ($\Omega = 0.1\omega_0$) +#+RESULTS: +[[file:figs/rotating_iff_modified_loop_gain.png]] + +The Root Locus plots for the decentralized IFF with and without the HPF are displayed in Figure ref:fig:rotating_iff_root_locus_hpf. +With the added HPF, the poles of the closed loop system are shown to be *stable up to some value of the gain* $g_\text{max}$ given by equation eqref:eq:gmax_iff_hpf. + +#+name: eq:gmax_iff_hpf +\begin{equation} + \boxed{g_{\text{max}} = \omega_i \left( \frac{{\omega_0}^2}{\Omega^2} - 1 \right)} +\end{equation} + +It is interesting to note that $g_{\text{max}}$ also corresponds to the controller gain at which the low frequency loop gain (Figure ref:fig:rotating_iff_modified_loop_gain) reaches one. + +#+begin_src matlab :results none +%% Root Locus for the initial IFF and the modified IFF +gains = logspace(-2, 4, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([1,2]); +hold on; +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:), 'HandleVisibility', 'off','MarkerSize',4); +end +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:), 'HandleVisibility', 'off','MarkerSize',4); +end +% Pure Integrator +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(1,:), 'DisplayName', 'IFF','MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(1,:), 'HandleVisibility', 'off','MarkerSize',8); +% Modified IFF +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'x', 'color', colors(2,:), 'DisplayName', 'IFF + HPF','MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'o', 'color', colors(2,:), 'HandleVisibility', 'off','MarkerSize',8); +hold off; +axis square; +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +xlabel('Real Part'); ylabel('Imaginary Part'); + +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +ax2 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +for g = gains + clpoles = pole(feedback(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +% Pure Integrator +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); +% Modified IFF +plot(real(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(pole(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + imag(tzero(Gs{Wz_i}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +title('Zoom near the origin'); + +xlim([-0.15, 0.1]); ylim([-0.15, 0.15]); +xticks([-0.1, 0, 0.1]) +xticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) +yticks([-0.1, 0, 0.1]) +yticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_root_locus_hpf.pdf', 'width', 'full', 'height', 700); +#+end_src + +#+name: fig:rotating_iff_root_locus_hpf +#+caption: Root Locus for the initial IFF and the modified IFF +#+RESULTS: +[[file:figs/rotating_iff_root_locus_hpf.png]] + +** Optimal IFF with HPF parameters $\omega_i$ and $g$ +Two parameters can be tuned for the modified controller in equation eqref:eq:iff_lhf: the gain $g$ and the pole's location $\omega_i$. +The optimal values of $\omega_i$ and $g$ are here considered as the values for which the damping of all the closed-loop poles are simultaneously maximized. + +In order to visualize how $\omega_i$ does affect the attainable damping, the Root Locus plots for several $\omega_i$ are displayed in Figure ref:fig:rotating_root_locus_iff_modified_effect_wi. +It is shown that even though small $\omega_i$ seem to allow more damping to be added to the suspension modes, the control gain $g$ may be limited to small values due to equation eqref:eq:gmax_iff_hpf. + +#+begin_src matlab +%% High Pass Filter Cut-Off Frequency +wis = [0.01, 0.1, 0.5, 1]*Wzs(2); % [rad/s] +#+end_src + +#+begin_src matlab :results none +%% Root Locus for the initial IFF and the modified IFF +gains = logspace(-2, 4, 200); + +figure; +tiledlayout(1, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = (1/(wi+s))*eye(2); + L(wi_i) = plot(nan, nan, '.', 'color', colors(wi_i,:), 'DisplayName', sprintf('$\\omega_i = %.2f \\omega_0$', wi./Wzs(2))); + for g = gains + clpoles = pole(feedback(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(wi_i,:),'MarkerSize',4); + end + plot(real(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(wi_i,:),'MarkerSize',8); + plot(real(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(wi_i,:),'MarkerSize',8); +end +hold off; +axis square; +xlim([-2.3, 0.1]); ylim([-1.2, 1.2]); +xticks([-2:1:2]); yticks([-2:1:2]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +xlabel('Real Part'); ylabel('Imaginary Part'); +clear L + +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +ax2 = nexttile(); +hold on; +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = (1/(wi+s))*eye(2); + L(wi_i) = plot(nan, nan, '.', 'color', colors(wi_i,:)); + for g = gains + clpoles = pole(feedback(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(wi_i,:),'MarkerSize',4); + end + plot(real(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(pole(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'x', 'color', colors(wi_i,:),'MarkerSize',8); + plot(real(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + imag(tzero(Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), ... + 'o', 'color', colors(wi_i,:),'MarkerSize',8); +end +hold off; +axis square; +xlim([-2.3, 0.1]); ylim([-1.2, 1.2]); +xticks([-2:1:2]); yticks([-2:1:2]); +xlabel('Real Part'); ylabel('Imaginary Part'); +title('Zoom near the origin'); +clear L + +xlim([-0.15, 0.1]); ylim([-0.15, 0.15]); +xticks([-0.1, 0, 0.1]) +xticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) +yticks([-0.1, 0, 0.1]) +yticklabels({'$-0.1\omega_0$', '$0$', '$0.1\omega_0$'}) +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_root_locus_iff_modified_effect_wi.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_root_locus_iff_modified_effect_wi +#+caption: Root Locus for several high pass filter cut-off frequency +#+RESULTS: +[[file:figs/rotating_root_locus_iff_modified_effect_wi.png]] + +In order to study this trade off, the attainable closed-loop damping ratio $\xi_{\text{cl}}$ is computed as a function of $\omega_i/\omega_0$. +The gain $g_{\text{opt}}$ at which this maximum damping is obtained is also displayed and compared with the gain $g_{\text{max}}$ at which the system becomes unstable (Figure ref:fig:rotating_iff_hpf_optimal_gain). + +Three regions can be observed: +- $\omega_i/\omega_0 < 0.02$: the added damping is limited by the maximum allowed control gain $g_{\text{max}}$ +- $0.02 < \omega_i/\omega_0 < 0.2$: the attainable damping ratio is maximized and is reached for $g \approx 2$ +- $0.2 < \omega_i/\omega_0$: the added damping decreases as $\omega_i/\omega_0$ increases. + +#+begin_src matlab +%% Compute the optimal control gain +wis = logspace(-2, 1, 100); % [rad/s] + +opt_xi = zeros(1, length(wis)); % Optimal simultaneous damping +opt_gain = zeros(1, length(wis)); % Corresponding optimal gain + +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = 1/(s + wi)*eye(2); + + fun = @(g)computeSimultaneousDamping(g, Gs{2}({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.5*wi*((1/Wzs(2))^2 - 1)); + opt_xi(wi_i) = 1/xi_opt; + opt_gain(wi_i) = g_opt; +end +#+end_src + +#+begin_src matlab :results none +%% Attainable damping ratio as a function of wi/w0. Corresponding control gain g_opt and g_max are also shown +figure; +yyaxis left +plot(wis, opt_xi, '-', 'DisplayName', '$\xi_{cl}$'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(wis, opt_gain, '-', 'DisplayName', '$g_{opt}$'); +plot(wis, wis*((1/Wzs(2))^2 - 1), '--', 'DisplayName', '$g_{max}$'); +set(gca, 'YScale', 'lin'); +ylim([0,10]); +ylabel('Controller gain $g$'); + +xlabel('$\omega_i/\omega_0$'); +set(gca, 'XScale', 'log'); +legend('location', 'northeast', 'FontSize', 8); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_hpf_optimal_gain.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_iff_hpf_optimal_gain +#+caption: Attainable damping ratio $\xi_\text{cl}$ as a function of $\omega_i/\omega_0$. Corresponding control gain $g_\text{opt}$ and $g_\text{max}$ are also shown +#+RESULTS: +[[file:figs/rotating_iff_hpf_optimal_gain.png]] + +** Obtained Damped Plant + +Let's choose $\omega_i = 0.1 \cdot \omega_0$ and compute the damped plant. +The undamped and damped plants are compared in Figure ref:fig:rotating_iff_hpf_damped_plant in blue and red respectively. +A well damped plant is indeed obtained. + +However, the magnitude of the coupling term ($d_v/F_u$) is larger then IFF is applied. + +#+begin_src matlab +%% Compute damped plant +wi = 0.1; % [rad/s] +g = 2; % Gain +Kiff_hpf = (g/(wi+s))*eye(2); % IFF with added HPF +Kiff_hpf.InputName = {'fu', 'fv'}; +Kiff_hpf.OutputName = {'Fu', 'Fv'}; + +G_iff_hpf = feedback(Gs{2}, Kiff_hpf, 'name'); + +isstable(G_iff_hpf) % Verify stability +#+end_src + +#+begin_src matlab :results none +%% Damped plant with IFF and added HPF - Transfer function from $F_u$ to $d_u$ +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(Gs{2}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3)], ... + 'DisplayName', '$d_u/F_u$, OL') +plot(freqs, abs(squeeze(freqresp(G_iff_hpf('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:)], ... + 'DisplayName', '$d_u/F_u$, IFF') +plot(freqs, abs(squeeze(freqresp(Gs{2}('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', '$d_v/F_u$, OL') +plot(freqs, abs(squeeze(freqresp(G_iff_hpf('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$d_v/F_u$, IFF') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +leg.ItemTokenSize(1) = 20; + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{2}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_iff_hpf('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_hpf_damped_plant.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_hpf_damped_plant +#+caption: Damped plant with IFF and added HPF - Transfer function from $F_u$ to $d_u$, $\omega_i = 0.1 \cdot \omega_0$, $\Omega = 0.1 \cdot \omega_0$ +#+RESULTS: +[[file:figs/rotating_iff_hpf_damped_plant.png]] + +In order to study how $\omega_i$ affects the coupling of the damped plant, the closed-loop plant is identified for several $\omega_i$. +The direct and coupling terms of the plants are shown in Figure ref:fig:rotating_iff_hpf_damped_plant_effect_wi_coupling (left) and the ratio between the two (i.e. the coupling ratio) is shown in Figure ref:fig:rotating_iff_hpf_damped_plant_effect_wi_coupling (right). + +The coupling ratio is decreasing as $\omega_i$ increases. +There is therefore a *trade-off between achievable damping and coupling ratio* for the choice of $\omega_i$. +The same trade-off can be seen between achievable damping and loss of compliance at low frequency (see Figure ref:fig:rotating_iff_hpf_effect_wi_compliance). + +#+begin_src matlab +%% Compute damped plant +wis = [0.03, 0.1, 0.5]; % [rad/s] +g = 2; % Gain + +Gs_iff_hpf = {}; + +for i = 1:length(wis) + Kiff_hpf = (g/(wis(i)+s))*eye(2); % IFF with added HPF + Kiff_hpf.InputName = {'fu', 'fv'}; + Kiff_hpf.OutputName = {'Fu', 'Fv'}; + + Gs_iff_hpf(i) = {feedback(Gs{2}, Kiff_hpf, 'name')}; +end +#+end_src + +#+begin_src matlab :exports none :results none +%% Effect of $\omega_i$ on the damped plant coupling +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(wis) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(i,:)], ... + 'DisplayName', sprintf('$d_u/F_u$, $\\omega_i = %.2f \\omega_0$', wis(i))) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(i,:), 0.5], ... + 'DisplayName', sprintf('$d_v/F_u$, $\\omega_i = %.2f \\omega_0$', wis(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1); +leg.ItemTokenSize(1) = 20; + +ax3 = nexttile([3,1]); +hold on; +for i = 1:length(wis) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Dv', 'Fu')/Gs_iff_hpf{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(i,:)], ... + 'DisplayName', sprintf('$\\omega_i = %.2f \\omega_0$', wis(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Coupling Ratio'); +leg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); +leg.ItemTokenSize(1) = 20; +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax2 = nexttile; +hold on; +for i = 1:length(wis) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs_iff_hpf{i}('Du', 'Fu'), freqs, 'rad/s'))), '-') +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_hpf_damped_plant_effect_wi_coupling.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_hpf_damped_plant_effect_wi_coupling +#+caption: Effect of $\omega_i$ on the damped plant coupling +#+RESULTS: +[[file:figs/rotating_iff_hpf_damped_plant_effect_wi_coupling.png]] + +#+begin_src matlab :exports none :results none +%% Effect of $\omega_i$ on the obtained compliance +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(1, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile(); +hold on; +for i = 1:length(wis) + plot(freqs, abs(squeeze(freqresp(Gs_iff_hpf{i}('Du', 'Fdx'), freqs, 'rad/s'))), '-', 'color', [colors(i,:)], ... + 'DisplayName', sprintf('$d_{x}/F_{dx}$, $\\omega_i = %.2f \\omega_0$', wis(i))) +end +plot(freqs, abs(squeeze(freqresp(Gs{2}('Du', 'Fdx'), freqs, 'rad/s'))), 'k--', ... + 'DisplayName', '$d_{x}/F_{dx}$, OL') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); +leg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1); +leg.ItemTokenSize(1) = 20; +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_hpf_effect_wi_compliance.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_iff_hpf_effect_wi_compliance +#+caption: Effect of $\omega_i$ on the obtained compliance +#+RESULTS: +[[file:figs/rotating_iff_hpf_effect_wi_compliance.png]] + +* IFF with a stiffness in parallel with the force sensor +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_4_iff_kp.m +:END: +<> + +** Introduction :ignore: +In this section it is proposed to add springs in parallel with the force sensors to counteract the negative stiffness induced by the gyroscopic effects. + +Such springs are schematically shown in Figure ref:fig:rotating_3dof_model_schematic_iff_parallel_springs where $k_a$ is the stiffness of the actuator and $k_p$ the added stiffness in parallel with the actuator and force sensor. + +#+begin_src latex :file rotating_3dof_model_schematic_iff_parallel_springs.pdf +\begin{tikzpicture} + % Angle + \def\thetau{25} + + % Rotational Stage + \draw[fill=black!60!white] (0, 0) circle (4.3); + \draw[fill=black!40!white] (0, 0) circle (3.8); + + % Label + \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage}; + + % Rotating Scope + \begin{scope}[rotate=\thetau] + % Rotating Frame + \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6); + % Label + \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform}; + + % Mass + \draw[fill=white] (-1, -1) rectangle (1, 1); + % Label + \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload}; + + % Attached Points + \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(au); + \draw[] (0, -1) -- ++(0, -0.2) coordinate(av); + + % Force Sensors + \draw[fill=white] ($(au) + (-0.2, -0.5)$) rectangle ($(au) + (0, 0.5)$); + \draw[] ($(au) + (-0.2, -0.5)$)coordinate(actu) -- ($(au) + (0, 0.5)$); + \draw[] ($(au) + (-0.2, 0.5)$)coordinate(ku) -- ($(au) + (0, -0.5)$); + \node[below=0.1, rotate=\thetau] at ($(au) + (-0.1, -0.5)$) {$f_{u}$}; + + \draw[fill=white] ($(av) + (-0.5, -0.2)$) rectangle ($(av) + (0.5, 0)$); + \draw[] ($(av) + ( 0.5, -0.2)$)coordinate(actv) -- ($(av) + (-0.5, 0)$); + \draw[] ($(av) + (-0.5, -0.2)$)coordinate(kv) -- ($(av) + ( 0.5, 0)$); + \node[right=0.1, rotate=\thetau] at ($(av) + (0.5, -0.1)$) {$f_{v}$}; + + % Spring and Actuator for U + \draw[actuator={0.6}{0.2}{black}] (actu) -- node[below=0.1, rotate=\thetau]{$F_u$} (actu-|-2.6,0); + \draw[spring=0.2] (ku) -- node[below=0.1, rotate=\thetau]{$k_a$} (ku-|-2.6,0); + \draw[spring=0.2,draw=colorred] (-1, 0.8) -- node[above=0.1, rotate=\thetau, color=colorred]{$k_p$} (-1, 0.8-|-2.6,0); + + \draw[actuator={0.6}{0.2}{black}] (actv) -- node[right=0.1, rotate=\thetau]{$F_v$} (actv|-0,-2.6); + \draw[spring=0.2] (kv) -- node[right=0.1, rotate=\thetau]{$k_a$} (kv|-0,-2.6); + \draw[spring=0.2, draw=colorred] (-0.8, -1) -- node[left=0.1, rotate=\thetau, color=colorred]{$k_p$} (-0.8, -1|-0,-2.6); + \end{scope} + + % Inertial Frame + \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$}; + \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$}; + \draw[fill, color=black] (-4, -4) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; + + \node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){}; + \draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; + \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; + \draw[dashed] (0, 0) -- ++(2, 0); + \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; + \node[] at (0,0) {$\bullet$}; + + \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; +\end{tikzpicture} +#+end_src + +#+name: fig:rotating_3dof_model_schematic_iff_parallel_springs +#+caption: Studied system with additional springs in parallel with the actuators and force sensors (shown in red) +#+RESULTS: +[[file:figs/rotating_3dof_model_schematic_iff_parallel_springs.png]] + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +#+begin_src matlab +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +** Equations +The forces measured by the two force sensors represented in Figure ref:fig:rotating_3dof_model_schematic_iff_parallel_springs are described by Eq. eqref:eq:measured_force_kp. + +#+name: eq:measured_force_kp +\begin{equation} + \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = + \begin{bmatrix} F_u \\ F_v \end{bmatrix} - (c s + k_a) + \begin{bmatrix} d_u \\ d_v \end{bmatrix} +\end{equation} + +In order to keep the overall stiffness $k = k_a + k_p$ constant, thus not modifying the open-loop poles as $k_p$ is changed, a scalar parameter $\alpha$ ($0 \le \alpha < 1$) is defined to describe the fraction of the total stiffness in parallel with the actuator and force sensor as in Eq. eqref:eq:kp_alpha. + +#+name: eq:kp_alpha +\begin{equation} + k_p = \alpha k, \quad k_a = (1 - \alpha) k +\end{equation} + +After the equations of motion derived and transformed in the Laplace domain, the transfer function matrix $\mathbf{G}_k$ in Eq. eqref:eq:Gk_mimo_tf is computed. +Its elements are shown in Eq. eqref:eq:Gk_diag and eqref:eq:Gk_off_diag. + +#+name: eq:Gk_mimo_tf +\begin{equation} + \begin{bmatrix} f_u \\ f_v \end{bmatrix} = + \mathbf{G}_k + \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +#+name: eq:Gk +\begin{subequations} +\begin{align} +\mathbf{G}_{k}(1,1) &= \mathbf{G}_{k}(2,2) = \frac{\big( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} + \alpha \big) \big( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \big) + \big( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \big)^2}{\big( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \big)^2 + \big( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \big)^2} \label{eq:Gk_diag} \\ +\mathbf{G}_{k}(1,2) &= -\mathbf{G}_{k}(2,1) = \frac{- \left( 2 \xi \frac{s}{\omega_0} + 1 - \alpha \right) \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \label{eq:Gk_off_diag} +\end{align} +\end{subequations} + +Comparing $\mathbf{G}_k$ in Eq. eqref:eq:Gk with $\mathbf{G}_f$ in Eq. eqref:eq:Gf shows that while the poles of the system are kept the same, the zeros of the diagonal terms have changed. +The two real zeros $z_r$ in Eq. eqref:eq:iff_zero_real that were inducing a non-minimum phase behavior are transformed into two complex conjugate zeros if the condition in Eq. eqref:eq:kp_cond_cc_zeros holds. + +#+name: eq:kp_cond_cc_zeros +\begin{equation} + \boxed{\alpha > \frac{\Omega^2}{{\omega_0}^2} \quad \Leftrightarrow \quad k_p > m \Omega^2} +\end{equation} + +#+begin_important +Thus, if the added *parallel stiffness* $k_p$ is *higher than the negative stiffness induced by centrifugal forces* $m \Omega^2$, the dynamics from actuator to its collocated force sensor will show minimum phase behavior. +#+end_important + +** Identify plant with parallel stiffnesses :noexport: +#+begin_src matlab +%% Tuv Stage +mn = 0.5; % Tuv mass [kg] + +%% Sample +ms = 0.5; % Sample mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage +#+end_src + +#+begin_src matlab +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdu, Fdv] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] +#+end_src + +** Effect of the parallel stiffness on the IFF plant +The IFF plant (transfer function from $[F_u, F_v]$ to $[f_u, f_v]$) is identified in three different cases: +- without parallel stiffness $k_p = 0$ +- with a small parallel stiffness $k_p < m \Omega^2$ +- with a large parallel stiffness $k_p > m \Omega^2$ + +#+begin_src matlab +Wz = 0.1; % The rotation speed [rad/s] + +%% No parallel Stiffness +kp = 0; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +G_no_kp = linearize(mdl, io, 0); +G_no_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G_no_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Small parallel Stiffness +kp = 0.5*(mn+ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +G_low_kp = linearize(mdl, io, 0); +G_low_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G_low_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Large parallel Stiffness +kp = 1.5*(mn+ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +G_high_kp = linearize(mdl, io, 0); +G_high_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G_high_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +The Bode plots of the obtained dynamics are shown in Figure ref:fig:rotating_iff_effect_kp. +One can see that for $k_p > m \Omega^2$, the two real zeros with $k_p < m \Omega^2$ are transformed into two complex conjugate zeros and the systems shows alternating complex conjugate poles and zeros. + +#+begin_src matlab :results none +%% Effect of the parallel stiffness on the IFF plant +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G_no_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-', ... + 'DisplayName', '$k_p = 0$') +plot(freqs, abs(squeeze(freqresp(G_low_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-', ... + 'DisplayName', '$k_p < m\Omega^2$') +plot(freqs, abs(squeeze(freqresp(G_high_kp('fu', 'Fu'), freqs, 'rad/s'))), '-', ... + 'DisplayName', '$k_p > m\Omega^2$') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); +ylim([1e-5, 5e1]); +legend('location', 'southeast', 'FontSize', 8); + +% Phase +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_no_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-') +plot(freqs, 180/pi*angle(squeeze(freqresp(G_low_kp( 'fu', 'Fu'), freqs, 'rad/s'))), '-') +plot(freqs, 180/pi*angle(squeeze(freqresp(G_high_kp('fu', 'Fu'), freqs, 'rad/s'))), '-') +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +hold off; +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_effect_kp.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_effect_kp +#+caption: Effect of the parallel stiffness on the IFF plant: Bode plot of $G_{k}(1,1) = f_u/F_u$ without parallel spring, with parallel spring stiffness $k_p < m \Omega^2$ and $k_p > m \Omega^2$, $\Omega = 0.1 \omega_0$ +#+RESULTS: +[[file:figs/rotating_iff_effect_kp.png]] + +Figure ref:fig:rotating_iff_kp_root_locus shows the Root Locus plots for $k_p = 0$, $k_p < m \Omega^2$ and $k_p > m \Omega^2$ when $K_F$ is a pure integrator as in Eq. eqref:eq:Kf_pure_int. +It is shown that if the added stiffness is higher than the maximum negative stiffness, the poles of the closed-loop system are bounded on the (stable) left half-plane, and hence the *unconditional stability of IFF is recovered*. + +#+begin_src matlab :results none +%% Root Locus for IFF without parallel spring, with small parallel spring and with large parallel spring +gains = logspace(-2, 2, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([1,2]); +hold on; +plot(real(pole(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(1,:), ... + 'DisplayName', '$k_p = 0$','MarkerSize',8); +plot(real(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(1,:), ... + 'HandleVisibility', 'off','MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_no_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(1,:), ... + 'HandleVisibility', 'off','MarkerSize',4); +end + +plot(real(pole(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(2,:), ... + 'DisplayName', '$k_p < m\Omega^2$','MarkerSize',8); +plot(real(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(2,:), ... + 'HandleVisibility', 'off','MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_low_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(2,:), ... + 'HandleVisibility', 'off','MarkerSize',4); +end + +plot(real(pole(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(3,:), ... + 'DisplayName', '$k_p > m\Omega^2$','MarkerSize',8); +plot(real(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(3,:), ... + 'HandleVisibility', 'off','MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_high_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(3,:), ... + 'HandleVisibility', 'off','MarkerSize',4); +end +hold off; +axis square; +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; + +ax2 = nexttile(); +hold on; +plot(real(pole(G_no_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_no_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(1,:), 'MarkerSize',8); +plot(real(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_no_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(1,:), 'MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_no_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(1,:), 'MarkerSize', 4); +end + +plot(real(pole(G_low_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_low_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(2,:), 'MarkerSize',8); +plot(real(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_low_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(2,:), 'MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_low_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(2,:), 'MarkerSize', 4); +end + +plot(real(pole(G_high_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), imag(pole(G_high_kp( {'fu','fv'},{'Fu','Fv'})*(1/s))), 'x', 'color', colors(3,:), 'MarkerSize',8); +plot(real(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), imag(tzero(G_high_kp({'fu','fv'},{'Fu','Fv'})*(1/s))), 'o', 'color', colors(3,:), 'MarkerSize',8); +for g = gains + cl_poles = pole(feedback(G_high_kp({'fu','fv'},{'Fu','Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(3,:), 'MarkerSize',4); +end +hold off; +axis equal; +xlim([-0.04, 0.04]); ylim([-0.08, 0.08]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +xlabel('Real Part'); ylabel('Imaginary Part'); +title('Zoom on controller pole') +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_root_locus.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_kp_root_locus +#+caption: Root Locus for IFF without parallel spring, with small parallel spring and with large parallel spring +#+RESULTS: +[[file:figs/rotating_iff_kp_root_locus.png]] + +** Effect of $k_p$ on the attainable damping + +Even though the parallel stiffness $k_p$ has no impact on the open-loop poles (as the overall stiffness $k$ is kept constant), it has a large impact on the transmission zeros. +Moreover, as the attainable damping is generally proportional to the distance between poles and zeros cite:preumont18_vibrat_contr_activ_struc_fourt_edition, the parallel stiffness $k_p$ is foreseen to have some impact on the attainable damping. + +To study this effect, Root Locus plots for several parallel stiffnesses $k_p > m \Omega^2$ are shown in Figure ref:fig:rotating_iff_kp_root_locus_effect_kp. +The frequencies of the transmission zeros of the system are increasing with an increase of the parallel stiffness $k_p$ (thus getting closer to the poles) and the associated attainable damping is reduced. + +#+begin_important +Therefore, even though the parallel stiffness $k_p$ should be larger than $m \Omega^2$ for stability reasons, it should not be taken too large as this would limit the attainable damping. +#+end_important + +#+begin_src matlab +%% Tested parallel stiffnesses +kps = [2, 20, 40]*(mn + ms)*Wz^2; +#+end_src + +#+begin_src matlab :results none +%% Root Locus: Effect of the parallel stiffness on the attainable damping +figure; + +gains = logspace(-2, 4, 500); + +hold on; +for kp_i = 1:length(kps) + kp = kps(kp_i); % Parallel Stiffness [N/m] + cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] + kn = 1 - kp; % Stiffness [N/m] + cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + + % Identify dynamics + G = linearize(mdl, io, 0); + G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; + G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), 'x', 'color', colors(kp_i,:), ... + 'DisplayName', sprintf('$k_p = %.1f m \\Omega^2$', kp/((mn+ms)*Wz^2)),'MarkerSize',8); + plot(real(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), imag(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*(1/s*eye(2)))), 'o', 'color', colors(kp_i,:), ... + 'HandleVisibility', 'off','MarkerSize',8); + for g = gains + cl_poles = pole(feedback(G({'fu', 'fv'}, {'Fu', 'Fv'}), (g/s)*eye(2))); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(kp_i,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); + end +end +hold off; +axis square; +% xlim([-1.15, 0.05]); ylim([0, 1.2]); +xlim([-2.25, 0.25]); ylim([-1.25, 1.25]); +xticks([-2, -1, 0]) +xticklabels({'$-2\omega_0$', '$-\omega_0$', '$0$'}) +yticks([-1, 0, 1]) +yticklabels({'$-\omega_0$', '$0$', '$\omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 12; +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_root_locus_effect_kp.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_kp_root_locus_effect_kp +#+caption: Root Locus: Effect of the parallel stiffness on the attainable damping, $\Omega = 0.1 \omega_0$ +#+RESULTS: +[[file:figs/rotating_iff_kp_root_locus_effect_kp.png]] + +This is confirmed by the Figure ref:fig:rotating_iff_kp_optimal_gain where the attainable closed-loop damping ratio $\xi_{\text{cl}}$ and the associated optimal control gain $g_\text{opt}$ are computed as a function of the parallel stiffness. + +#+begin_src matlab +%% Computes the optimal parameters and attainable simultaneous damping +alphas = logspace(-2, 0, 100); +alphas(end) = []; % Remove last point + +opt_xi = zeros(1, length(alphas)); % Optimal simultaneous damping +opt_gain = zeros(1, length(alphas)); % Corresponding optimal gain + +Kiff = 1/s*eye(2); + +for alpha_i = 1:length(alphas) + kp = alphas(alpha_i); + cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] + kn = 1 - kp; % Stiffness [N/m] + cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + + % Identify dynamics + G = linearize(mdl, io, 0); + G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; + G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, G({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 2); + opt_xi(alpha_i) = 1/xi_opt; + opt_gain(alpha_i) = g_opt; +end +#+end_src + +#+begin_src matlab +%% Attainable damping as a function of the stiffness ratio +figure; +yyaxis left +plot(alphas, opt_xi, '-', 'DisplayName', '$\xi_{cl}$'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(alphas, opt_gain, '-', 'DisplayName', '$g_{opt}$'); +set(gca, 'YScale', 'lin'); +ylim([0,2.5]); +ylabel('Controller gain $g$'); + +set(gca, 'XScale', 'log'); +legend('location', 'northeast', 'FontSize', 8); + +xlabel('$k_p$'); +xlim([0.01, 1]); +xticks([0.01, 0.1, 1]) +xticklabels({'$m\Omega^2$', '$10m\Omega^2$', '$100m\Omega^2$'}) +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_optimal_gain.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_iff_kp_optimal_gain +#+caption: Attainable damping ratio $\xi_\text{cl}$ as a function of the parallel stiffness $k_p$. Corresponding control gain $g_\text{opt}$ is also shown. Values for $k_p < m\Omega^2$ are not shown as the system is unstable. +#+RESULTS: +[[file:figs/rotating_iff_kp_optimal_gain.png]] + +** Damped plant +Let's choose a parallel stiffness equal to $k_p = 2 m \Omega^2$ and compute the damped plant. +The damped and undamped transfer functions from $F_u$ to $d_u$ are compared in Figure ref:fig:rotating_iff_kp_damped_plant. + +Even though the two resonances are well damped, the IFF changes the low frequency behavior of the plant which is usually not wanted. +This is due to the fact that "pure" integrators are used, and that the low frequency loop gains becomes large below some frequency. + +#+begin_src matlab +%% Identify dynamics with parallel stiffness = 2mW^2 +Wz = 0.1; % [rad/s] +kp = 2*(mn + ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +% Identify dynamics +G = linearize(mdl, io, 0); +G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy'}; +G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% IFF controller with pure integrator +Kiff_kp = (2.2/s)*eye(2); +Kiff_kp.InputName = {'fu', 'fv'}; +Kiff_kp.OutputName = {'Fu', 'Fv'}; + +%% Compute the damped plant +G_cl_iff_kp = feedback(G, Kiff_kp, 'name'); +#+end_src + +#+begin_src matlab :results none +%% Damped plant with IFF - Transfer function from $F_u$ to $d_u$ +freqs = logspace(-3, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', '$d_u/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', '$d_u/F_u$ - IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', '$d_v/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$d_v/F_u$ - IFF + $k_p$') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize(1) = 20; +ylim([1e-6, 1e2]); + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-3,1e-2,1e-1,1,1e1]) +xticklabels({'$0.001 \omega_0$', '$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_damped_plant.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_kp_damped_plant +#+caption: Damped plant with IFF - Transfer function from $F_u$ to $d_u$ +#+RESULTS: +[[file:figs/rotating_iff_kp_damped_plant.png]] + +In order to lower the low frequency gain, an high pass filter is added to the IFF controller (which is equivalent as shifting the controller pole to the left in the complex plane): +\begin{equation} + K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\end{bmatrix} +\end{equation} + +Let's see how the high pass filter impacts the attainable damping. +The controller gain $g$ is kept constant while $\omega_i$ is changed, and the minimum damping ratio of the damped plant is computed. +The obtained damping ratio as a function of $\omega_i/\omega_0$ (where $\omega_0$ is the resonance of the system without rotation) is shown in Figure ref:fig:rotating_iff_kp_added_hpf_effect_damping. + +#+begin_src matlab +w0 = sqrt((kn+kp)/(mn+ms)); % Resonance frequency [rad/s] +wis = w0*logspace(-2, 0, 100); % LPF cut-off [rad/s] +#+end_src + +#+begin_src matlab +%% Computes the obtained damping as a function of the HPF cut-off frequency +opt_xi = zeros(1, length(wis)); % Optimal simultaneous damping + +for wi_i = 1:length(wis) + Kiff_kp_hpf = (2.2/(s + wis(wi_i)))*eye(2); + Kiff_kp_hpf.InputName = {'fu', 'fv'}; + Kiff_kp_hpf.OutputName = {'Fu', 'Fv'}; + + [~, xi] = damp(feedback(G, Kiff_kp_hpf, 'name')); + opt_xi(wi_i) = min(xi); +end +#+end_src + +#+begin_src matlab :results none +%% Effect of the high pass filter cut-off frequency on the obtained damping +figure; +plot(wis, opt_xi, '-'); +set(gca, 'XScale', 'log'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); +xlabel('$\omega_i/\omega_0$'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_added_hpf_effect_damping.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_iff_kp_added_hpf_effect_damping +#+caption: Effect of the high pass filter cut-off frequency on the obtained damping +#+RESULTS: +[[file:figs/rotating_iff_kp_added_hpf_effect_damping.png]] + +Let's choose $\omega_i = 0.1 \cdot \omega_0$ and compute the damped plant again. +The Bode plots of the undamped, damped with "pure" IFF, and with added high pass filters are shown in Figure ref:fig:rotating_iff_kp_added_hpf_damped_plant. +The added high pass filter gives almost the same damping properties while giving acceptable low frequency behavior. + +#+begin_src matlab +%% Compute the damped plant with added High Pass Filter +Kiff_kp_hpf = (2.2/(s + 0.1*w0))*eye(2); +Kiff_kp_hpf.InputName = {'fu', 'fv'}; +Kiff_kp_hpf.OutputName = {'Fu', 'Fv'}; + +G_cl_iff_hpf_kp = feedback(G, Kiff_kp_hpf, 'name'); +#+end_src + +#+begin_src matlab :results none +%% Bode plot of the direct and coupling terms for several rotating velocities +freqs = logspace(-3, 1, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros( 1,3), ... + 'DisplayName', '$d_u/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', '$d_u/F_u$ - IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_hpf_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', '$d_u/F_u$ - IFF + $k_p$ + HPF') +plot(freqs, abs(squeeze(freqresp(G( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros( 1,3), 0.5], ... + 'DisplayName', '$d_v/F_u$ - OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$d_v/F_u$ - IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_hpf_kp('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(2,:), 0.5], ... + 'DisplayName', '$d_v/F_u$ - IFF + $k_p$ + HPF') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize(1) = 20; + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros( 1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_kp( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_hpf_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-3,1e-2,1e-1,1,1e1]) +xticklabels({'$0.001 \omega_0$', '$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_added_hpf_damped_plant.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_iff_kp_added_hpf_damped_plant +#+caption: Damped plant with IFF - Transfer function from $F_u$ to $d_u$ +#+RESULTS: +[[file:figs/rotating_iff_kp_added_hpf_damped_plant.png]] + +* Relative Damping Control +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_5_rdc.m +:END: +<> + +** Introduction :ignore: +In order to apply a "relative damping control strategy", relative motion sensors are added in parallel with the actuators as shown in Figure ref:fig:rotating_3dof_model_schematic_rdc. + +Two controllers $K_d$ are used to fed back the relative motion to the actuator. +$K_d$ is a derivator: +\begin{equation} +K_d(s) = s +\end{equation} + +To be implemented in practice, it is usually replaced by a an high pass filter: +\begin{equation} +K_d(s) = \frac{s}{s + \omega_d} +\end{equation} + + +#+begin_src latex :file rotating_3dof_model_schematic_rdc.pdf +\begin{tikzpicture} + % Angle + \def\thetau{25} + + % Rotational Stage + \draw[fill=black!60!white] (0, 0) circle (4.3); + \draw[fill=black!40!white] (0, 0) circle (3.8); + + % Label + \node[anchor=north west, rotate=\thetau] at (-2.5, 2.5) {\small Rotating Stage}; + + % Rotating Scope + \begin{scope}[rotate=\thetau] + % Rotating Frame + \draw[fill=black!20!white] (-2.6, -2.6) rectangle (2.6, 2.6); + % Label + \node[anchor=north west, rotate=\thetau] at (-2.6, 2.6) {\small Suspended Platform}; + + % Mass + \draw[fill=white] (-1, -1) rectangle (1, 1); + % Label + \node[anchor=south west, rotate=\thetau] at (-1, -1) {\small Payload}; + + % Attached Points + \node[] at (-1, 0){$\bullet$}; + \draw[] (-1, 0) -- ++(-0.2, 0) coordinate(cu); + \draw[] ($(cu) + (0, -0.8)$) coordinate(actu) -- ($(cu) + (0, 0.8)$) coordinate(ku); + \node[] at (0, -1){$\bullet$}; + \draw[] (0, -1) -- ++(0, -0.2) coordinate(cv); + \draw[] ($(cv) + (-0.8, 0)$)coordinate(kv) -- ($(cv) + (0.8, 0)$) coordinate(actv); + + % Spring and Actuator for U + \draw[actuator={0.6}{0.2}{black}] (cu) -- coordinate[midway, below=0.1](actumid) node[above=0.1, rotate=\thetau]{$F_u$} (cu-|-2.6,0); + \draw[spring=0.2] (ku) -- node[above=0.1, rotate=\thetau]{$k$} (ku-|-2.6,0); + \draw[<->, dashed, draw=coloryellow] (actu) node[below=0.1, rotate=\thetau, color=coloryellow](du){$d_u$} -- (actu-|-2.6,0); + + \node[color=coloryellow, block={0.6cm}{0.6cm}, fill=coloryellow!10!white, rotate=\thetau] (Ku) at ($(actumid) + (0, -1.4)$) {$K_{d}$}; + \draw[->, draw=coloryellow] (du.south) -- ++(0, -0.8) -| (Ku.south); + \draw[->, draw=coloryellow] (Ku.north) -- (actumid); + + \draw[actuator={0.6}{0.2}{black}] (cv) -- coordinate[midway, right=0.1](actvmid) node[left, rotate=\thetau]{$F_v$} (cv|-0,-2.6); + \draw[spring=0.2] (kv) -- node[left, rotate=\thetau]{$k$} (kv|-0,-2.6); + \draw[<->, dashed, draw=coloryellow] (actv)node[right=0.1, rotate=\thetau, color=coloryellow](dv){$d_v$} -- (actv|-0,-2.6); + + \node[color=coloryellow, block={0.6cm}{0.6cm}, fill=coloryellow!10!white, rotate=\thetau] (Kv) at ($(actvmid) + (1.4, 0)$) {$K_{d}$}; + \draw[->, draw=coloryellow] (dv.east) -- ++(0.8, 0) |- (Kv.east); + \draw[->, draw=coloryellow] (Kv.west) -- (actvmid); + \end{scope} + + % Inertial Frame + \draw[->] (-4, -4) -- ++(2, 0) node[below]{$\vec{i}_x$}; + \draw[->] (-4, -4) -- ++(0, 2) node[left]{$\vec{i}_y$}; + \draw[fill, color=black] (-4, -4) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm, label=left:$\vec{i}_z$] at (-4, -4){}; + + \draw[->] (0, 0) node[above left, rotate=\thetau]{$\vec{i}_w$} -- ++(\thetau:2) node[above, rotate=\thetau]{$\vec{i}_u$}; + \draw[->] (0, 0) -- ++(\thetau+90:2) node[left, rotate=\thetau]{$\vec{i}_v$}; + \draw[fill, color=black] (0,0) circle (0.06); + \node[draw, circle, inner sep=0pt, minimum size=0.3cm] at (0, 0){}; + \draw[dashed] (0, 0) -- ++(2, 0); + \draw[] (1.5, 0) arc (0:\thetau:1.5) node[midway, right]{$\theta$}; + + \draw[->] (3.5, 0) arc (0:40:3.5) node[midway, left]{$\Omega$}; +\end{tikzpicture} +#+end_src + +#+name: fig:rotating_3dof_model_schematic_rdc +#+caption: System with relative motion sensor and decentralized "relative damping control" applied. +#+RESULTS: +[[file:figs/rotating_3dof_model_schematic_rdc.png]] + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +#+begin_src matlab +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +** Equations of motion +Let's note $\bm{G}_d$ the transfer function between actuator forces and measured relative motion in parallel with the actuators: +\begin{equation} + \begin{bmatrix} d_u \\ d_v \end{bmatrix} = \mathbf{G}_d \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +With: +\begin{subequations} + \begin{align} + \mathbf{G}_{d}(1,1) &= \mathbf{G}_{d}(2,2) = \frac{\frac{1}{k} \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \\ + \mathbf{G}_{d}(1,2) &= -\mathbf{G}_{d}(2,1) = \frac{\frac{1}{k} \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} + \end{align} +\end{subequations} + +Neglecting the damping for simplicity ($\xi \ll 1$), the direct terms have two complex conjugate zeros: +\begin{equation} + z = \pm j \sqrt{\omega_0^2 - \omega^2} +\end{equation} + +Which are between the two pairs of complex conjugate poles at: +\begin{align} + p_1 &= \pm j (\omega_0 - \omega) \\ + p_2 &= \pm j (\omega_0 + \omega) +\end{align} + +Therefore, for $\Omega < \sqrt{k/m}$ (i.e. stable system), the transfer functions for Relative Damping Control have *alternating complex conjugate poles and zeros*. + +** Decentralized Relative Damping Control +The transfer functions from $[F_u,\ F_v]$ to $[d_u,\ d_v]$ is identified and shown in Figure ref:fig:rotating_rdc_plant_effect_rot for several rotating velocities. + +#+begin_src matlab :results none +%% Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation +figure; +freqs = logspace(-2, 1, 1000); + +figure; +tiledlayout(3, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [N/N]'); +title('Direct terms: $d_u/F_u$, $d_v/F_v$'); +ylim([1e-3, 1e2]); + +ax2 = nexttile([2, 1]); +hold on; +for i = 1:length(Wzs) + plot(freqs, abs(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0$', Wzs(i))) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('Coupling Terms: $d_u/F_v$, $d_v/F_u$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-3, 1e2]); + +ax3 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)) +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +ax4 = nexttile; +hold on; +for i = 1:length(Wzs) + plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(i,:)); +end +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); set(gca, 'YTickLabel',[]); +yticks(-180:90:180); +ylim([-180 180]); +xticks([1e-2,1e-1,1,1e1]) +xticklabels({'$0.01 \omega_0$', '$0.1 \omega_0$', '$\omega_0$', '$10 \omega_0$'}) + +linkaxes([ax1,ax2,ax3,ax4],'x'); +xlim([freqs(1), freqs(end)]); + +linkaxes([ax1,ax2],'y'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_rdc_plant_effect_rot.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_rdc_plant_effect_rot +#+caption: Bode plot of the direct and coupling term for the "relative damping control" plant - Effect of rotation +#+RESULTS: +[[file:figs/rotating_rdc_plant_effect_rot.png]] + +In order to see if large damping can be added with Relative Damping Control, the root locus is computed (Figure ref:fig:rotating_rdc_root_locus). +The closed-loop system is unconditionally stable and the poles can be damped as much as wanted. + +#+begin_src matlab :results none +%% Root Locus for Relative Damping Control +figure; + +Krdc = s*eye(2); % Relative damping controller + +gains = logspace(-2, 2, 300); % Tested gains +Wz_i = [1,3,4]; + +hold on; +for i = 1:length(Wz_i) + plot(real(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(i,:), ... + 'DisplayName', sprintf('$\\Omega = %.1f \\omega_0 $', Wzs(Wz_i(i))),'MarkerSize',8); + plot(real(tzero(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), imag(tzero(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'})*Krdc)), 'o', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',8); + for g = gains + cl_poles = pole(feedback(Gs{Wz_i(i)}({'du', 'dv'}, {'Fu', 'Fv'}), g*Krdc, -1)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(i,:), ... + 'HandleVisibility', 'off','MarkerSize',4); + end +end +hold off; +axis square; +xlim([-1.8, 0.2]); ylim([0, 2]); +xticks([-1, 0]) +xticklabels({'-$\omega_0$', '$0$'}) +yticks([0, 1, 2]) +yticklabels({'$0$', '$\omega_0$', '$2 \omega_0$'}) + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 8; +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_rdc_root_locus.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_rdc_root_locus +#+caption: Root Locus for Relative Damping Control +#+RESULTS: +[[file:figs/rotating_rdc_root_locus.png]] + +** Damped Plant +Let's select a reasonable "Relative Damping Control" gain, and compute the closed-loop damped system. +The open-loop and damped plants are compared in Figure ref:fig:rotating_rdc_damped_plant. + +The rotating aspect does not add any complexity for the use of Relative Damping Control. +It does not increase the low frequency coupling as compared to Integral Force Feedback. + +#+begin_src matlab +i = 2; + +%% Relative Damping Controller +Krdc = 2*s*eye(2); +Krdc.InputName = {'Du', 'Dv'}; +Krdc.OutputName = {'Fu', 'Fv'}; + +%% Compute the damped plant +G_cl_rdc = feedback(Gs{i}, Krdc, 'name'); +#+end_src + +#+begin_src matlab :results none +%% Damped plant using Relative Damping Control +figure; +freqs = logspace(-3, 2, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(Gs{i}( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL - $G_d(1,1)$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'RDC - $G_d(1,1)$') +plot(freqs, abs(squeeze(freqresp(Gs{i}( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'OL - $G_d(2,1)$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', 'RDC - $G_d(2,1)$') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize(1) = 20; +ylim([1e-6, 1e2]); + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(Gs{i}('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_rdc('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_rdc_damped_plant.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_rdc_damped_plant +#+caption: Damped plant using Relative Damping Control +#+RESULTS: +[[file:figs/rotating_rdc_damped_plant.png]] + +* Comparison of Active Damping Techniques +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_6_act_damp_comparison.m +:END: +<> + +** Introduction :ignore: +These two proposed IFF modifications as well as relative damping control are now compared in terms of added damping and closed-loop behavior. + +For the following comparisons, the cut-off frequency for the added HPF is set to $\omega_i = 0.1 \omega_0$ and the stiffness of the parallel springs is set to $k_p = 5 m \Omega^2$ (corresponding to $\alpha = 0.05$). +These values are chosen based on previous discussion about optimal parameters. + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +#+begin_src matlab +%% Load "Generic" system dynamics +load('rotating_generic_plants.mat', 'Gs', 'Wzs'); +#+end_src + +** Identify plants :noexport: +#+begin_src matlab +%% The rotating speed is set to $\Omega = 0.1 \omega_0$. +Wz = 0.1; % [rad/s] + +%% Masses +ms = 0.5; % Sample mass [kg] +mn = 0.5; % Tuv mass [kg] +#+end_src + +#+begin_src matlab +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop + +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdu, Fdv] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % [Dfx, Dfy] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] +#+end_src + +#+begin_src matlab +%% Identifying plant with parallel stiffness + +model_config.Tuv_type = "parallel_k"; + +% Parallel stiffness +kp = 2*(mn+ms)*Wz^2; % Parallel Stiffness [N/m] +cp = 0.001*2*sqrt(kp*(mn+ms)); % Small parallel damping [N/(m/s)] + +% Tuv Stage +kn = 1 - kp; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +% Linearize +G_kp = linearize(mdl, io, 0); +G_kp.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_kp.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +#+begin_src matlab +%% Identifying plant with no parallel stiffness + +model_config.Tuv_type = "normal"; + +% Tuv Stage +kn = 1; % Stiffness [N/m] +cn = 0.01*2*sqrt(kn*(mn+ms)); % Damping [N/(m/s)] + +% Linearize +G = linearize(mdl, io, 0); +G.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +#+begin_src matlab +%% IFF Controller +Kiff = (2.2/(s + 0.1))*eye(2); +Kiff.InputName = {'fu', 'fv'}; +Kiff.OutputName = {'Fu', 'Fv'}; +#+end_src + +#+begin_src matlab +%% IFF Controller with added stiffness +Kiff_kp = (2.2/(s + 0.1))*eye(2); +Kiff_kp.InputName = {'fu', 'fv'}; +Kiff_kp.OutputName = {'Fu', 'Fv'}; +#+end_src + +#+begin_src matlab +%% Relative Damping Controller +Krdc = 2*s*eye(2); +Krdc.InputName = {'Du', 'Dv'}; +Krdc.OutputName = {'Fu', 'Fv'}; +#+end_src + +** Root Locus + +Figure ref:fig:rotating_comp_techniques_root_locus shows the Root Locus plots for the two proposed IFF modifications as well as for relative damping control. +While the two pairs of complex conjugate open-loop poles are identical for both IFF modifications, the transmission zeros are not. +This means that the closed-loop behavior of both systems will differ when large control gains are used. + +One can observe that the closed loop poles corresponding to the system with added springs (in red) are bounded to the left half plane implying unconditional stability. +This is not the case for the system where the controller is augmented with an HPF (in blue). + +It is interesting to note that the maximum added damping is very similar for both techniques. + +#+begin_src matlab :exports none :results none +%% Comparison of active damping techniques for rotating platform - Root Locus +figure; + +gains = logspace(-2, 2, 500); + +hold on; +% IFF +plot(real(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(pole(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'x', 'color', colors(1,:), ... + 'DisplayName', 'IFF with HPF', 'MarkerSize', 8); +plot(real(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), imag(tzero(G({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff)), 'o', 'color', colors(1,:), ... + 'HandleVisibility', 'off', 'MarkerSize', 8); +for g = gains + cl_poles = pole(feedback(G({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +% IFF with parallel stiffness +plot(real(pole(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), imag(pole(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), 'x', 'color', colors(2,:), ... + 'DisplayName', 'IFF with $k_p$', 'MarkerSize', 8); +plot(real(tzero(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), imag(tzero(G_kp({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp)), 'o', 'color', colors(2,:), ... + 'HandleVisibility', 'off', 'MarkerSize', 8); +for g = gains + cl_poles = pole(feedback(G_kp({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +% RDC +plot(real(pole(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), imag(pole(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), 'x', 'color', colors(3,:), ... + 'DisplayName', 'RDC', 'MarkerSize', 8); +plot(real(tzero(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), imag(tzero(G({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc)), 'o', 'color', colors(3,:), ... + 'HandleVisibility', 'off', 'MarkerSize', 8); +for g = gains + cl_poles = pole(feedback(G({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc)); + plot(real(cl_poles), imag(cl_poles), '.', 'color', colors(3,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +hold off; +axis square; +xlim([-1.15, 0.05]); ylim([0, 1.2]); + +xlabel('Real Part'); ylabel('Imaginary Part'); +leg = legend('location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 12; +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_comp_techniques_root_locus.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_comp_techniques_root_locus +#+caption: Comparison of active damping techniques for rotating platform - Root Locus +#+RESULTS: +[[file:figs/rotating_comp_techniques_root_locus.png]] + +** Obtained Damped Plant +The actively damped plants are computed for the three techniques and compared in Figure ref:fig:rotating_comp_techniques_dampled_plants. + +#+begin_important +It is shown that while the diagonal (direct) terms of the damped plants are similar for the three active damping techniques, of off-diagonal (coupling) terms are not. +Integral Force Feedback strategy is adding some coupling at low frequency which may negatively impact the positioning performances. +#+end_important + +#+begin_src matlab +%% Compute Damped plants +G_cl_iff = feedback(G, Kiff, 'name'); +G_cl_iff_kp = feedback(G_kp, Kiff_kp, 'name'); +G_cl_rdc = feedback(G, Krdc, 'name'); +#+end_src + +#+begin_src matlab :exports none :results none +%% Comparison of the damped plants obtained with the three active damping techniques +figure; +freqs = logspace(-3, 2, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Magnitude +ax1 = nexttile([2, 1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'IFF + HPF') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', 'IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(3,:), ... + 'DisplayName', 'RDC') +plot(freqs, abs(squeeze(freqresp(G( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(1,:), 0.5], ... + 'DisplayName', 'Coupling') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(2,:), 0.5], ... + 'DisplayName', 'Coupling') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Dv', 'Fu'), freqs, 'rad/s'))), '-', 'color', [colors(3,:), 0.5], ... + 'DisplayName', 'Coupling') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); ylabel('Magnitude [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize = [10, 1]; +ylim([1e-6, 1e2]) + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', zeros(1,3)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(1,:)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_iff_kp('Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(2,:)) +plot(freqs, 180/pi*angle(squeeze(freqresp(G_cl_rdc( 'Du', 'Fu'), freqs, 'rad/s'))), '-', 'color', colors(3,:)) +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [rad/s]'); ylabel('Phase [deg]'); +yticks(-180:90:180); +ylim([-180 180]); + +linkaxes([ax1,ax2],'x'); +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_comp_techniques_dampled_plants.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_comp_techniques_dampled_plants +#+caption: Comparison of the damped plants obtained with the three active damping techniques +#+RESULTS: +[[file:figs/rotating_comp_techniques_dampled_plants.png]] + + +** Transmissibility And Compliance +The proposed active damping techniques are now compared in terms of closed-loop transmissibility and compliance. + +The transmissibility is here defined as the transfer function from a displacement of the rotating stage along $\vec{i}_x$ to the displacement of the payload along the same direction. +It is used to characterize how much vibration is transmitted through the suspended platform to the payload. + +The compliance describes the displacement response of the payload to external forces applied to it. +This is a useful metric when disturbances are directly applied to the payload. +It is here defined as the transfer function from external forces applied on the payload along $\vec{i}_x$ to the displacement of the payload along the same direction. + +Very similar results are obtained for the two proposed IFF modifications in terms of transmissibility and compliance (Figure ref:fig:rotating_comp_techniques_transmissibility_compliance). + +#+begin_important +Using IFF degrades the compliance at low frequency while using relative damping control degrades the transmissibility at high frequency. +This is very well known characteristics of these common active damping techniques that holds when applied to rotating platforms. +#+end_important + +#+begin_src matlab :exports none :results none +%% Comparison of the obtained transmissibilty and compliance for the three tested active damping techniques +freqs = logspace(-2, 2, 1000); + +figure; +tiledlayout(1, 2, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Transmissibility +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'IFF + HPF') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', 'IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Dx', 'Dfx'), freqs, 'rad/s'))), '-', 'color', colors(3,:), ... + 'DisplayName', 'RDC') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Transmissibility [m/m]'); +xlim([freqs(1), freqs(end)]); + +% Compliance +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G( 'Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', zeros(1,3), ... + 'DisplayName', 'OL') +plot(freqs, abs(squeeze(freqresp(G_cl_iff( 'Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', colors(1,:), ... + 'DisplayName', 'IFF + HPF') +plot(freqs, abs(squeeze(freqresp(G_cl_iff_kp('Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', colors(2,:), ... + 'DisplayName', 'IFF + $k_p$') +plot(freqs, abs(squeeze(freqresp(G_cl_rdc( 'Dx', 'Fdx'), freqs, 'rad/s'))), '-', 'color', colors(3,:), ... + 'DisplayName', 'RDC') +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [rad/s]'); ylabel('Compliance [m/N]'); +ldg = legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 2); +ldg.ItemTokenSize = [10, 1]; +xlim([freqs(1), freqs(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_comp_techniques_transmissibility_compliance.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_comp_techniques_transmissibility_compliance +#+caption: Comparison of the obtained transmissibilty and compliance for the three tested active damping techniques +#+RESULTS: +[[file:figs/rotating_comp_techniques_transmissibility_compliance.png]] + +* Rotating Nano-Hexapod +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_7_nano_hexapod.m +:END: +<> +** Introduction :ignore: +The current analysis is now applied on a model representing the rotating nano-hexapod. + +Three nano-hexapod stiffnesses are tested: $k_n = \SI{0.01}{\N\per\mu\m}$, $k_n = \SI{1}{\N\per\mu\m}$ and $k_n = \SI{100}{\N\per\mu\m}$. + +Only the maximum rotating velocity is considered ($\Omega = \SI{60}{rpm}$) with the light sample ($m_s = \SI{1}{kg}$) as this is the worst identified case scenario. + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Simscape model name +mdl = 'rotating_model'; +#+end_src + +** Identify NASS dynamics :noexport: +First, the dynamics is identified for all the considered cases. + +#+begin_src matlab +%% Nano-Hexapod +mn = 15; % Nano-Hexapod mass [kg] + +%% Light Sample +ms = 1; % Sample Mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "normal"; % Default: 2DoF stage +#+end_src + +#+begin_src matlab +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % [Fdx, Fdy] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % [Dfx, Dfy] +io(io_i) = linio([mdl, '/translation_stage'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/translation_stage'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'], 1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] +#+end_src + +#+begin_src matlab +%% Voice Coil (i.e. soft) Nano-Hexapod +kn = 1e4; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_vc_norot = linearize(mdl, io, 0.0); +G_vc_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_vc_fast = linearize(mdl, io, 0.0); +G_vc_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% APA (i.e. relatively stiff) Nano-Hexapod +kn = 1e6; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_md_norot = linearize(mdl, io, 0.0); +G_md_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_md_fast = linearize(mdl, io, 0.0); +G_md_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Piezoelectric (i.e. stiff) Nano-Hexapod +kn = 1e8; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_pz_norot = linearize(mdl, io, 0.0); +G_pz_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_pz_fast = linearize(mdl, io, 0.0); +G_pz_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +** Nano-Active-Stabilization-System - Plant Dynamics +For the NASS, the maximum rotating velocity is $\Omega = \SI[parse-numbers=false]{2\pi}{\radian\per\s}$ for a suspended mass on top of the nano-hexapod's actuators equal to $m_n + m_s = \SI{16}{\kilo\gram}$. +The parallel stiffness corresponding to the centrifugal forces is $m \Omega^2 \approx \SI{0.6}{\newton\per\mm}$. + +#+begin_src matlab +%% Compute negative spring in [N/m] +Kneg_light = (15+1)*(2*pi)^2; +#+end_src + +The transfer functions from nano-hexapod actuator force $F_u$ to the displacement of the nano-hexapod in the same direction $d_u$ as well as in the orthogonal direction $d_v$ (coupling) are shown in Figure ref:fig:rotating_nano_hexapod_dynamics for all three considered nano-hexapod stiffnesses. + +#+begin_important +It is shown that the rotation has the largest effect on the soft nano-hexapod: +- larger coupling (the ratio of the coupling term to the direct term is larger for the sort nano-hexapod) +- larger shift of poles as a function of the rotating velocity +#+end_important + +#+begin_src matlab :results none +%% Effect of rotation on the nano-hexapod dynamics +freqs = logspace(0, 3, 1000); + +figure; +tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([2,1]); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(1,:), ... + 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(1,:), ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_u/F_u$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast( 'Dv', 'Fu'), freqs, 'Hz'))), '-' , 'color', [colors(1,:), 0.5], ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_v/F_u$'); + +plot(freqs, abs(squeeze(freqresp(G_md_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(2,:), ... + 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(2,:), ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_u/F_u$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast( 'Dv', 'Fu'), freqs, 'Hz'))), '-' , 'color', [colors(2,:), 0.5], ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_v/F_u$'); + +plot(freqs, abs(squeeze(freqresp(G_pz_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(3,:), ... + 'DisplayName', '$k_n = 100\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(3,:), ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_u/F_u$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast( 'Dv', 'Fu'), freqs, 'Hz'))), '-' , 'color', [colors(3,:), 0.5], ... + 'DisplayName', '$\Omega = 60\,$rpm, $D_v/F_u$'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Magnitude [m/N]'); set(gca, 'XTickLabel',[]); +ylim([1e-12, 1e-2]) +ldg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 3); +ldg.ItemTokenSize = [20, 1]; + +ax2 = nexttile; +hold on; +plot(freqs, 180/pi*angle(squeeze(freqresp(G_vc_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(1,:)); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(1,:)); + +plot(freqs, 180/pi*angle(squeeze(freqresp(G_md_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(2,:)); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(2,:)); + +plot(freqs, 180/pi*angle(squeeze(freqresp(G_pz_norot('Du', 'Fu'), freqs, 'Hz'))), '--', 'color', colors(3,:)); +plot(freqs, 180/pi*angle(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs, 'Hz'))), '-' , 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +hold off; +yticks(-360:90:360); +ylim([-180, 0]); + +linkaxes([ax1,ax2],'x'); +xlim([1, 1e3]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nano_hexapod_dynamics.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_nano_hexapod_dynamics +#+caption: Effect of rotation on the nano-hexapod dynamics - Dashed lines are the plants without rotation, solid lines are plants at maximum rotating velocity, and shaded lines are coupling terms at maximum rotating velocity +#+RESULTS: +[[file:figs/rotating_nano_hexapod_dynamics.png]] + +** Coupling :noexport: +Let's define the /coupling ratio/ $\mathcal{C}$ in the system as the ratio of the magnitude of the coupling term $G_c$ to the magnitude of the direct term $G_d$: +\begin{equation} +\mathcal{C}(\omega) = \frac{|G_c(j\omega)|}{|G_d(j\omega)|} +\end{equation} + +This gives some information in the coupling in the system. +This is quite important as high coupling can affect the closed-loop stability. + +The coupling ratio for the three nano-hexapod stiffnesses are shown in Figure ref:fig:rotating_coupling_ratio_nano_hexapod for the maximum rotating velocity $\Omega = 60\,\text{rpm}$. + +#+begin_important +It is shown that the low frequency coupling is inversely proportional to the nano-hexapod stiffness (Figure ref:fig:rotating_coupling_ratio_nano_hexapod). +High nano-hexapod stiffness makes the system better decoupled and therefore easier to control. +#+end_important + +#+begin_src matlab :results none +%% Coupling ratio of the nano-hexapod at maximum velocity +figure; +tiledlayout(1, 1, 'TileSpacing', 'Compact', 'Padding', 'None'); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dv', 'Fu')/G_vc_fast('Du', 'Fu'), freqs, 'Hz'))), ... + 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dv', 'Fu')/G_md_fast('Du', 'Fu'), freqs, 'Hz'))), ... + 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dv', 'Fu')/G_pz_fast('Du', 'Fu'), freqs, 'Hz'))), ... + 'DisplayName', '$k_n = 100\,N/\mu m$'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Coupling ratio'); +xlim([1, 500]); +legend('location', 'southeast', 'FontSize', 8, 'NumColumns', 1); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_coupling_ratio_nano_hexapod.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_coupling_ratio_nano_hexapod +#+caption: Coupling ratio of the nano-hexapod at maximum velocity ($\Omega = 60\,\text{rpm}$) +#+RESULTS: +[[file:figs/rotating_coupling_ratio_nano_hexapod.png]] + +** Optimal IFF with High Pass Filter +Let's apply Integral Force Feedback with an added High Pass Filter to the three nano-hexapods. + +First, let's find the parameters of the IFF controller that yield best simultaneous damping. +The results are shown in Figure ref:fig:rotating_iff_hpf_nass_optimal_gain. +The added damping for the soft nano-hexapod is quite low and is limited by the maximum usable gain. + +#+begin_src matlab +%% Compute the optimal control gain +wis = logspace(-2, 3, 200); % [rad/s] + +opt_iff_hpf_xi_vc = zeros(1, length(wis)); % Optimal simultaneous damping +opt_iff_hpf_gain_vc = zeros(1, length(wis)); % Corresponding optimal gain + +opt_iff_hpf_xi_md = zeros(1, length(wis)); % Optimal simultaneous damping +opt_iff_hpf_gain_md = zeros(1, length(wis)); % Corresponding optimal gain + +opt_iff_hpf_xi_pz = zeros(1, length(wis)); % Optimal simultaneous damping +opt_iff_hpf_gain_pz = zeros(1, length(wis)); % Corresponding optimal gain + +for wi_i = 1:length(wis) + wi = wis(wi_i); + Kiff = 1/(s + wi)*eye(2); + + fun = @(g)computeSimultaneousDamping(g, G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_hpf_xi_vc(wi_i) = 1/xi_opt; + opt_iff_hpf_gain_vc(wi_i) = g_opt; + + fun = @(g)computeSimultaneousDamping(g, G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_hpf_xi_md(wi_i) = 1/xi_opt; + opt_iff_hpf_gain_md(wi_i) = g_opt; + + fun = @(g)computeSimultaneousDamping(g, G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_hpf_xi_pz(wi_i) = 1/xi_opt; + opt_iff_hpf_gain_pz(wi_i) = g_opt; +end +#+end_src + +#+begin_src matlab :results none +%% Optimal modified IFF parameters that yields maximum simultaneous damping +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +yyaxis left +plot(wis, opt_iff_hpf_xi_vc, '-', 'DisplayName', '$\xi_{cl}$'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(wis, opt_iff_hpf_gain_vc, '-', 'DisplayName', '$g_{opt}$'); +plot(wis, wis*((sqrt(1e4/16)/(2*pi))^2 - 1), '--', 'DisplayName', '$g_{max}$'); +set(gca, 'YScale', 'lin'); +ylim([0,200]); +xlabel('$\omega_i$ [rad/s]'); +set(gca, 'YTickLabel',[]); +% ylabel('Controller gain $g$'); +set(gca, 'XScale', 'log'); +xticks([1e-2,1,1e2]) +legend('location', 'northwest', 'FontSize', 8); +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +yyaxis left +plot(wis, opt_iff_hpf_xi_md, '-'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +% ylabel('Damping Ratio $\xi$'); +set(gca, 'YTickLabel',[]); + +yyaxis right +hold on; +plot(wis, opt_iff_hpf_gain_md, '-'); +plot(wis, wis*((sqrt(1e6/16)/(2*pi))^2 - 1), '--'); +set(gca, 'YScale', 'lin'); +ylim([0,1000]); +xlabel('$\omega_i$ [rad/s]'); +% ylabel('Controller gain $g$'); +set(gca, 'YTickLabel',[]); +set(gca, 'XScale', 'log'); +xticks([1e-2,1,1e2]) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +yyaxis left +plot(wis, opt_iff_hpf_xi_pz, '-'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +set(gca, 'YTickLabel',[]); +% ylabel('Damping Ratio $\xi$'); + +yyaxis right +hold on; +plot(wis, opt_iff_hpf_gain_pz, '-'); +plot(wis, wis*((sqrt(1e8/16)/(2*pi))^2 - 1), '--'); +set(gca, 'YScale', 'lin'); +ylim([0,10000]); +xlabel('$\omega_i$ [rad/s]'); +set(gca, 'YTickLabel',[]); +ylabel('Controller gain $g$'); +set(gca, 'XScale', 'log'); +xticks([1e-2,1,1e2]) +title('$k_n = 100\,N/\mu m$'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_hpf_nass_optimal_gain.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_iff_hpf_nass_optimal_gain +#+caption: Optimal high pass filter cut-off frequency $\omega_i$ that yields maximum simultaneous damping +#+RESULTS: +[[file:figs/rotating_iff_hpf_nass_optimal_gain.png]] + +The IFF parameters are chosen as follow: +- for $k_n = \SI{0.01}{\N\per\mu\m}$: $\omega_i$ is chosen such that the maximum damping is achieved while the gain is less than half of the maximum gain at which the system is unstable. + This is done to have some control robustness. +- for $k_n = \SI{1}{\N\per\mu\m}$ and $k_n = \SI{100}{\N\per\mu\m}$: the largest $\omega_i$ is chosen such that obtained damping is $\SI{95}{\percent}$ of the maximum achievable damping. + Large $\omega_i$ is chosen here to limit the loss of compliance and the increase of coupling at low frequency as was shown in Section ref:sec:rotating_iff_pseudo_int. + +The obtained IFF parameters and the achievable damping are summarized in Table ref:tab:iff_hpf_opt_iff_hpf_params_nass. + +#+begin_src matlab +%% Find optimal parameters with at least a gain margin of 2 +i_iff_hpf_vc = find(opt_iff_hpf_gain_vc < 0.5*(wis*((sqrt(1e4/16)/(2*pi))^2 - 1))); +i_iff_hpf_vc = i_iff_hpf_vc(1); + +i_iff_hpf_md = find(opt_iff_hpf_xi_md > 0.95*max(opt_iff_hpf_xi_md)); +i_iff_hpf_md = i_iff_hpf_md(end)+1; + +i_iff_hpf_pz = find(opt_iff_hpf_xi_pz > 0.95*max(opt_iff_hpf_xi_pz)); +i_iff_hpf_pz = i_iff_hpf_pz(end)+1; +#+end_src + +#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*) +data2orgtable([wis(i_iff_hpf_vc), opt_iff_hpf_gain_vc(i_iff_hpf_vc), opt_iff_hpf_xi_vc(i_iff_hpf_vc); wis(i_iff_hpf_md), opt_iff_hpf_gain_md(i_iff_hpf_md), opt_iff_hpf_xi_md(i_iff_hpf_md); wis(i_iff_hpf_pz), opt_iff_hpf_gain_pz(i_iff_hpf_pz), opt_iff_hpf_xi_pz(i_iff_hpf_pz)], {'$k_n = 0.01\,N/\mu m$', '$k_n = 1\,N/\mu m$', '$k_n = 100\,N/\mu m$'}, {'$\omega_i$', '$g$', '$\xi$'}, ' %.2f '); +#+end_src + +#+name: tab:iff_hpf_opt_iff_hpf_params_nass +#+caption: Obtained optimal parameters for the modified IFF controller +#+attr_latex: :environment tabularx :width 0.5\linewidth :align lXXX +#+attr_latex: :center t :booktabs t +#+RESULTS: +| | $\omega_i$ | $g$ | $\xi$ | +|-----------------------+------------+---------+-------| +| $k_n = 0.01\,N/\mu m$ | 7.32 | 51.13 | 0.45 | +| $k_n = 1\,N/\mu m$ | 39.17 | 426.95 | 0.93 | +| $k_n = 100\,N/\mu m$ | 499.45 | 3774.63 | 0.94 | + +The Root Locus for all three nano-hexapods are shown in Figure ref:fig:rotating_root_locus_iff_hpf_nass with included optimal chosen gains. + +#+begin_src matlab +%% Optimal IFF with added HPF +Kiff_hpf_vc = opt_iff_hpf_gain_vc(i_iff_hpf_vc)/(s + wis(i_iff_hpf_vc))*eye(2); +Kiff_hpf_vc.InputName = {'fu', 'fv'}; +Kiff_hpf_vc.OutputName = {'Fu', 'Fv'}; + +Kiff_hpf_md = opt_iff_hpf_gain_md(i_iff_hpf_md)/(s + wis(i_iff_hpf_md))*eye(2); +Kiff_hpf_md.InputName = {'fu', 'fv'}; +Kiff_hpf_md.OutputName = {'Fu', 'Fv'}; + +Kiff_hpf_pz = opt_iff_hpf_gain_pz(i_iff_hpf_pz)/(s + wis(i_iff_hpf_pz))*eye(2); +Kiff_hpf_pz.InputName = {'fu', 'fv'}; +Kiff_hpf_pz.OutputName = {'Fu', 'Fv'}; +#+end_src + +#+begin_src matlab :results none +%% Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately stiff nano-hexapods +gains = logspace(-2, 3, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Voice coil Nano-Hexapod +ax1 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 0$'); +plot(real(pole(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(pole(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'x', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(tzero(G_vc_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'o', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +for g = gains + clpoles = pole(feedback(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 60$ rpm'); +plot(real(pole(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(pole(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'x', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + imag(tzero(G_vc_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_vc)), ... + 'o', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +plot([0, -1e2*opt_iff_hpf_xi_vc(i_iff_hpf_vc)], [0, 1e2*cos(asin(opt_iff_hpf_xi_vc(i_iff_hpf_vc)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_hpf_xi_vc(i_iff_hpf_vc)), 'color', [zeros(1,3), 0.5]) +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-65, 5]); ylim([-35, 35]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; + +% APA Nano-Hexapod +ax2 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(pole(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(tzero(G_md_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(pole(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + imag(tzero(G_md_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_md)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e3*opt_iff_hpf_xi_md(i_iff_hpf_md)], [0, 1e3*cos(asin(opt_iff_hpf_xi_md(i_iff_hpf_md)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_hpf_xi_md(i_iff_hpf_md)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-520, 20]); ylim([-270, 270]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +% Piezo Nano-Hexapod +ax3 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(pole(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(tzero(G_pz_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_hpf_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_hpf_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(pole(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + imag(tzero(G_pz_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_hpf_pz)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e4*opt_iff_hpf_xi_pz(i_iff_hpf_pz)], [0, 1e4*cos(asin(opt_iff_hpf_xi_pz(i_iff_hpf_pz)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_hpf_xi_pz(i_iff_hpf_pz)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-5200, 20]); ylim([-2700, 2700]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 100\,N/\mu m$'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_root_locus_iff_hpf_nass.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_root_locus_iff_hpf_nass +#+caption: Root Locus for modified IFF with high pass filter. Optimal $\omega_i$ is used. The three nano-hexapod stiffnesses are compared. The grey line indicates the minimum damping obtained with the optimal chosen control parameters. +#+RESULTS: +[[file:figs/rotating_root_locus_iff_hpf_nass.png]] + +** Optimal IFF with Parallel Stiffness +For each considered nano-hexapod stiffness, the parallel stiffness $k_p$ is varied from $k_{p,\text{min}} = m\Omega^2$ (the minimum stiffness to have unconditional stability) to $k_{p,\text{max}} = k_n$ (the total nano-hexapod stiffness). +In order to keep the overall stiffness constant, the actuator stiffness $k_a$ is decreased when $k_p$ is increased: +\begin{equation} +k_a = k_n - k_p +\end{equation} +With $k_n$ the total nano-hexapod stiffness. + +An high pass filter is also added to limit the low frequency gain. +The cut-off frequency $\omega_i$ is chosen to be one tenth of the system resonance: +\begin{equation} +\omega_i = \omega_0/10 +\end{equation} + +#+begin_src matlab +%% Maximum rotating velocity +Wz = 2*pi; % [rad/s] + +%% Minimum parallel stiffness +kp_min = (mn + ms) * Wz^2; % [N/m] +#+end_src + +#+begin_src matlab +%% Parameters for simulation +mn = 15; % Nano-Hexapod mass [kg] +ms = 1; % Sample Mass [kg] + +%% IFF Controller +Kiff_vc = 1/(s + 0.1*sqrt(1e4/(mn+ms)))*eye(2); % IFF +Kiff_md = 1/(s + 0.1*sqrt(1e6/(mn+ms)))*eye(2); % IFF +Kiff_pz = 1/(s + 0.1*sqrt(1e8/(mn+ms)))*eye(2); % IFF + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage +#+end_src + +#+begin_src matlab +%% Computes the optimal parameters and attainable simultaneous damping - Voice Coil nano-hexapod +kps_vc = logspace(log10(kp_min), log10(1e4), 100); % Tested parallel stiffnesses [N/m] +kps_vc(end) = []; + +opt_iff_kp_xi_vc = zeros(1, length(kps_vc)); % Optimal simultaneous damping +opt_iff_kp_gain_vc = zeros(1, length(kps_vc)); % Corresponding optimal gain + +for kp_i = 1:length(kps_vc) + % Voice Coil Nano-Hexapod + kp = kps_vc(kp_i); + cp = 2*0.001*sqrt((ms + mn)*kp); + kn = 1e4 - kp; % Nano-Hexapod Stiffness [N/m] + cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + + % Identify dynamics + Giff_vc = linearize(mdl, io, 0); + Giff_vc.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + Giff_vc.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, Giff_vc({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_vc); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_kp_xi_vc(kp_i) = 1/xi_opt; + opt_iff_kp_gain_vc(kp_i) = g_opt; +end +#+end_src + +#+begin_src matlab +%% Computes the optimal parameters and attainable simultaneous damping - APA nano-hexapod +kps_md = logspace(log10(kp_min), log10(1e6), 100); % Tested parallel stiffnesses [N/m] +kps_md(end) = []; + +opt_iff_kp_xi_md = zeros(1, length(kps_md)); % Optimal simultaneous damping +opt_iff_kp_gain_md = zeros(1, length(kps_md)); % Corresponding optimal gain + + +for kp_i = 1:length(kps_md) + % Voice Coil Nano-Hexapod + kp = kps_md(kp_i); + cp = 2*0.001*sqrt((ms + mn)*kp); + kn = 1e6 - kp; % Nano-Hexapod Stiffness [N/m] + cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + + % Identify dynamics + Giff_md = linearize(mdl, io, 0); + Giff_md.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + Giff_md.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, Giff_md({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_md); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_kp_xi_md(kp_i) = 1/xi_opt; + opt_iff_kp_gain_md(kp_i) = g_opt; +end +#+end_src + +#+begin_src matlab +%% Computes the optimal parameters and attainable simultaneous damping - Piezo nano-hexapod +kps_pz = logspace(log10(kp_min), log10(1e8), 100); % Tested parallel stiffnesses [N/m] +kps_pz(end) = []; + +opt_iff_kp_xi_pz = zeros(1, length(kps_pz)); % Optimal simultaneous damping +opt_iff_kp_gain_pz = zeros(1, length(kps_pz)); % Corresponding optimal gain + + +for kp_i = 1:length(kps_pz) + % Voice Coil Nano-Hexapod + kp = kps_pz(kp_i); + cp = 2*0.001*sqrt((ms + mn)*kp); + kn = 1e8 - kp; % Nano-Hexapod Stiffness [N/m] + cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + + % Identify dynamics + Giff_pz = linearize(mdl, io, 0); + Giff_pz.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; + Giff_pz.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + + fun = @(g)computeSimultaneousDamping(g, Giff_pz({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_pz); + + [g_opt, xi_opt] = fminsearch(fun, 0.1); + opt_iff_kp_xi_pz(kp_i) = 1/xi_opt; + opt_iff_kp_gain_pz(kp_i) = g_opt; +end +#+end_src + +The achievable maximum simultaneous damping of all the modes is computed as a function of the parallel stiffnesses. +The comparison for the nano-hexapod stiffnesses is done in Figure ref:fig:rotating_iff_kp_nass_optimal_gain. +It is shown that *the soft nano-hexapod cannot yield good damping*. +For the two stiff options, the achievable damping starts to significantly decrease when the parallel stiffness is one tenth of the total stiffness $k_p = k_n/10$. + +#+begin_src matlab :results none +%% Optimal IFF gain and associated simultaneous damping as a function of the parallel stiffness +figure; +hold on; +plot(kps_vc, opt_iff_kp_xi_vc, '-', 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(kps_md, opt_iff_kp_xi_md, '-', 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(kps_pz, opt_iff_kp_xi_pz, '-', 'DisplayName', '$k_n = 100\,N/\mu m$'); +hold off; +xlabel('$k_p [N/m]$'); +ylabel('Damping Ratio $\xi$'); +set(gca, 'XScale', 'log'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +legend('location', 'southeast', 'FontSize', 8); +xlim([kps_pz(1), kps_pz(end)]) +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_iff_kp_nass_optimal_gain.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_iff_kp_nass_optimal_gain +#+caption: Maximum achievable simultaneous damping with IFF as a function of the parallel stiffness for all three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_iff_kp_nass_optimal_gain.png]] + +Let's choose $k_p = \SI{e3}{\newton\per\m}$, $k_p = \SI{e4}{\newton\per\m}$ and $k_p = \SI{e6}{\newton\per\m}$ for the three considered nano-hexapods respectively based on Figure ref:fig:rotating_iff_kp_nass_optimal_gain. + +The corresponding optimal controller gains are shown in Table ref:tab:iff_kp_opt_iff_kp_params_nass. + +#+begin_src matlab +%% Find result with wanted parallel stiffness +[~, i_kp_vc] = min(abs(kps_vc - 1e3)); +[~, i_kp_md] = min(abs(kps_md - 1e4)); +[~, i_kp_pz] = min(abs(kps_pz - 1e6)); +#+end_src + +#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*) +data2orgtable([opt_iff_kp_gain_vc(i_kp_vc), opt_iff_kp_xi_vc(i_kp_vc); opt_iff_kp_gain_md(i_kp_md), opt_iff_kp_xi_md(i_kp_md); opt_iff_kp_gain_pz(i_kp_pz), opt_iff_kp_xi_pz(i_kp_pz)], {'$k_n = 0.01\,N/\mu m$', '$k_n = 1\,N/\mu m$', '$k_n = 100\,N/\mu m$'}, {'$g$', '$\xi_{\text{opt}}$'}, ' %.2f '); +#+end_src + +#+name: tab:iff_kp_opt_iff_kp_params_nass +#+caption: Obtained optimal parameters for the modified IFF controller +#+attr_latex: :environment tabularx :width 0.4\linewidth :align lXX +#+attr_latex: :center t :booktabs t +#+RESULTS: +| | $g$ | $\xi_{\text{opt}}$ | +|-----------------------+---------+--------------------| +| $k_n = 0.01\,N/\mu m$ | 47.9 | 0.44 | +| $k_n = 1\,N/\mu m$ | 465.57 | 0.97 | +| $k_n = 100\,N/\mu m$ | 4624.25 | 1.0 | + +The root locus for the three nano-hexapod with parallel stiffnesses are shown in Figure ref:fig:rotating_root_locus_iff_kp_nass. + +#+begin_important +Similarly to what was found with the IFF and added High Pass Filter: +- the stiff nano-hexapod is less affected by the rotation than the soft one +- the achievable damping is much larger with the stiff nano-hexapods +#+end_important + +#+begin_src matlab +%% Optimal IFF with added parallel stiffness +Kiff_kp_vc = opt_iff_kp_gain_vc(i_kp_vc)/(s + 0.1*sqrt(1e4/(ms+mn)))*eye(2); +Kiff_kp_vc.InputName = {'fu', 'fv'}; +Kiff_kp_vc.OutputName = {'Fu', 'Fv'}; + +Kiff_kp_md = opt_iff_kp_gain_md(i_kp_md)/(s + 0.1*sqrt(1e6/(ms+mn)))*eye(2); +Kiff_kp_md.InputName = {'fu', 'fv'}; +Kiff_kp_md.OutputName = {'Fu', 'Fv'}; + +Kiff_kp_pz = opt_iff_kp_gain_pz(i_kp_pz)/(s + 0.1*sqrt(1e8/(ms+mn)))*eye(2); +Kiff_kp_pz.InputName = {'fu', 'fv'}; +Kiff_kp_pz.OutputName = {'Fu', 'Fv'}; +#+end_src + +#+begin_src matlab +%% Identify plant with optimal parallel stiffness - Soft nano-hexapod +kp = kps_vc(i_kp_vc); +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e4-kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_vc_kp_fast = linearize(mdl, io, 0); +G_vc_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_vc_kp_norot = linearize(mdl, io, 0); +G_vc_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_vc_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Identify plant with optimal parallel stiffness - Stiff nano-hexapod +kp = kps_md(i_kp_md); +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e6 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_md_kp_fast = linearize(mdl, io, 0); +G_md_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_md_kp_norot = linearize(mdl, io, 0); +G_md_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_md_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Identify plant with optimal parallel stiffness - Stiff nano-hexapod +kp = kps_pz(i_kp_pz); +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e8 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_pz_kp_fast = linearize(mdl, io, 0); +G_pz_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_pz_kp_norot = linearize(mdl, io, 0); +G_pz_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy'}; +G_pz_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +#+begin_src matlab :results none +%% Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately stiff nano-hexapods +gains = logspace(-2, 2, 400); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +% Soft Nano-Hexapod - No Rotation +for g = gains + clpoles = pole(feedback(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 0$'); +plot(real(pole(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(pole(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'x', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(tzero(G_vc_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'o', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +% Soft Nano-Hexapod - High Speed Rotation +for g = gains + clpoles = pole(feedback(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 60$ rpm'); +plot(real(pole(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(pole(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'x', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + imag(tzero(G_vc_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_vc)), ... + 'o', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot([0, -1e2*opt_iff_kp_xi_vc(i_kp_vc)], [0, 1e2*cos(asin(opt_iff_kp_xi_vc(i_kp_vc)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_kp_xi_vc(i_kp_vc)), 'color', [zeros(1,3), 0.5]); +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-65, 5]); ylim([-35, 35]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; + +ax2 = nexttile(); +hold on; +% Stiff Nano-Hexapod - No Rotation +for g = gains + clpoles = pole(feedback(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(pole(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(tzero(G_md_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +% Stiff Nano-Hexapod - High Speed Rotation +for g = gains + clpoles = pole(feedback(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(pole(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + imag(tzero(G_md_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_md)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); +L = plot([0, -1e3*opt_iff_kp_xi_md(i_kp_md)], [0, 1e3*cos(asin(opt_iff_kp_xi_md(i_kp_md)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_kp_xi_md(i_kp_md)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +xlim([-520, 20]); ylim([-270, 270]); +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +% Stiff Nano-Hexapod - No Rotation +for g = gains + clpoles = pole(feedback(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(pole(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(tzero(G_pz_kp_norot({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +% Stiff Nano-Hexapod - High Speed Rotation +for g = gains + clpoles = pole(feedback(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), g*Kiff_kp_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'}), Kiff_kp_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(pole(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + imag(tzero(G_pz_kp_fast({'fu', 'fv'}, {'Fu', 'Fv'})*Kiff_kp_pz)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); +L = plot([0, -1e4*opt_iff_kp_xi_pz(i_kp_pz)], [0, 1e4*cos(asin(opt_iff_kp_xi_pz(i_kp_pz)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', opt_iff_kp_xi_pz(i_kp_pz)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +xlim([-5200, 200]); ylim([-2700, 2700]); +title('$k_n = 100\,N/\mu m$'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_root_locus_iff_kp_nass.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_root_locus_iff_kp_nass +#+caption: Root Locus for optimal parameters (IFF + $k_p$ strategy) - Comparison of attainable damping with the three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_root_locus_iff_kp_nass.png]] + +** Optimal Relative Motion Control + +For each considered nano-hexapod stiffness, relative damping control is applied and the achievable damping ratio as a function of the controller gain is shown in Figure ref:fig:rotating_rdc_optimal_gain. + +#+begin_src matlab +%% Computes the optimal parameters and attainable simultaneous damping - Piezo nano-hexapod +rdc_gains = 2*logspace(1, 5, 200); +% Obtained simultaneous damping +rdc_xi_vc = zeros(1, length(rdc_gains)); +rdc_xi_md = zeros(1, length(rdc_gains)); +rdc_xi_pz = zeros(1, length(rdc_gains)); + +Krdc = s*eye(2); +Krdc.InputName = {'Du', 'Dv'}; +Krdc.OutputName = {'Fu', 'Fv'}; + +for g_i = 1:length(rdc_gains) + [~, xi] = damp(feedback(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), rdc_gains(g_i)*Krdc)); + rdc_xi_vc(g_i) = min(xi); + + [~, xi] = damp(feedback(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), rdc_gains(g_i)*Krdc)); + rdc_xi_md(g_i) = min(xi); + + [~, xi] = damp(feedback(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), rdc_gains(g_i)*Krdc)); + rdc_xi_pz(g_i) = min(xi); +end +#+end_src + +#+begin_src matlab :results none +%% Optimal IFF gain and associated simultaneous damping as a function of the parallel stiffness +figure; +hold on; +plot(rdc_gains, rdc_xi_vc, '-', 'DisplayName', '$k_n = 0.01\,N/\mu m$'); +plot(rdc_gains, rdc_xi_md, '-', 'DisplayName', '$k_n = 1\,N/\mu m$'); +plot(rdc_gains, rdc_xi_pz, '-', 'DisplayName', '$k_n = 100\,N/\mu m$'); +hold off; +xlabel('Relative Damping Controller gain $g$'); +ylabel('Damping Ratio $\xi$'); +set(gca, 'XScale', 'log'); +set(gca, 'YScale', 'lin'); +ylim([0,1]); +xlim([rdc_gains(1), rdc_gains(end)]) +legend('location', 'southeast', 'FontSize', 8); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_rdc_optimal_gain.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_rdc_optimal_gain +#+caption: Achievable simultaneous damping with "Relative Damping Control" as a function of the controller gain for all three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_rdc_optimal_gain.png]] + +The gain is chosen is chosen such that 99% of modal damping is obtained. +The root locus for all three nano-hexapod stiffnesses are shown in Figure ref:fig:rotating_root_locus_rdc_nass. + +#+begin_important +Relative damping control is much less impacted by gyroscopic effects. +It can be easily applied on the nano-hexapod with and without rotation without much differences. +#+end_important + +#+begin_src matlab +%% Optimal RDC +[~, i_rdc_vc] = min(abs(rdc_xi_vc - 0.99)); +[~, i_rdc_md] = min(abs(rdc_xi_md - 0.99)); +[~, i_rdc_pz] = min(abs(rdc_xi_pz - 0.99)); + +Krdc_vc = rdc_gains(i_rdc_vc)*Krdc; +Krdc_md = rdc_gains(i_rdc_md)*Krdc; +Krdc_pz = rdc_gains(i_rdc_pz)*Krdc; +#+end_src + +#+begin_src matlab :results none +%% Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately strdc nano-hexapods +gains = logspace(-2, 3, 200); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +% Voice coil Nano-Hexapod +ax1 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 0$'); +plot(real(pole(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(pole(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'x', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(tzero(G_vc_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'o', 'color', colors(1,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +for g = gains + clpoles = pole(feedback(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_vc)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4, ... + 'HandleVisibility', 'off'); +end +clpoles = pole(feedback(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_vc)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15, ... + 'DisplayName', '$\Omega = 60$ rpm'); +plot(real(pole(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(pole(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'x', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); +plot(real(tzero(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + imag(tzero(G_vc_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_vc)), ... + 'o', 'color', colors(2,:),'MarkerSize',8, ... + 'HandleVisibility', 'off'); + +plot([0, -1e2*rdc_xi_vc(i_rdc_vc)], [0, 1e2*cos(asin(rdc_xi_vc(i_rdc_vc)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', rdc_xi_vc(i_rdc_vc)), 'color', [zeros(1,3), 0.5]) +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-65, 5]); ylim([-35, 35]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [10, 1]; + +% APA Nano-Hexapod +ax2 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(pole(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(tzero(G_md_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_md)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_md)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(pole(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + imag(tzero(G_md_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_md)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e3*rdc_xi_md(i_rdc_md)], [0, 1e3*cos(asin(rdc_xi_md(i_rdc_md)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', rdc_xi_md(i_rdc_md)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-520, 20]); ylim([-270, 270]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +% Piezo Nano-Hexapod +ax3 = nexttile(); +hold on; +for g = gains + clpoles = pole(feedback(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(1,:),'MarkerSize', 15); +plot(real(pole(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(pole(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'x', 'color', colors(1,:),'MarkerSize',8); +plot(real(tzero(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(tzero(G_pz_norot({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'o', 'color', colors(1,:),'MarkerSize',8); + +for g = gains + clpoles = pole(feedback(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), g*Krdc_pz)); + plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize',4); +end +clpoles = pole(feedback(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'}), Krdc_pz)); +plot(real(clpoles), imag(clpoles), '.', 'color', colors(2,:),'MarkerSize', 15); +plot(real(pole(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(pole(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'x', 'color', colors(2,:),'MarkerSize',8); +plot(real(tzero(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + imag(tzero(G_pz_fast({'Du', 'Dv'}, {'Fu', 'Fv'})*Krdc_pz)), ... + 'o', 'color', colors(2,:),'MarkerSize',8); + +L = plot([0, -1e4*rdc_xi_pz(i_rdc_pz)], [0, 1e4*cos(asin(rdc_xi_pz(i_rdc_pz)))], '-', ... + 'DisplayName', sprintf('$\\xi = %.2f$', rdc_xi_pz(i_rdc_pz)), 'color', [zeros(1,3), 0.5]); +leg = legend(L, 'location', 'northwest', 'FontSize', 8); +leg.ItemTokenSize(1) = 10; +hold off; +axis square; +xlabel('Real Part'); ylabel('Imaginary Part'); +xlim([-5200, 20]); ylim([-2700, 2700]); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 100\,N/\mu m$'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_root_locus_rdc_nass.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_root_locus_rdc_nass +#+caption: Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately stiff nano-hexapods +#+RESULTS: +[[file:figs/rotating_root_locus_rdc_nass.png]] + +** Comparison of the obtained damped plants +Let's now compare the obtained damped plants for the three active damping techniques applied on the three nano-hexapod stiffnesses (Figure ref:fig:rotating_nass_damped_plant_comp). + +#+begin_important +Similarly to what was concluded in previous analysis: +- IFF adds coupling below the resonance frequency as compared to the open-loop and RDC cases +- Add three methods are yielding good damping, except for IFF applied on the soft nano-hexapod where things are more complicated +- Coupling is smaller for stiff nano-hexapods +#+end_important + +#+begin_src matlab :tangle no +%% Saved controllers +save('./matlab/mat/nass_controllers.mat', ... + 'Kiff_hpf_vc', 'Kiff_hpf_md', 'Kiff_hpf_pz', ... + 'Kiff_kp_vc', 'Kiff_kp_md', 'Kiff_kp_pz', ... + 'Krdc_vc', 'Krdc_md', 'Krdc_pz'); +#+end_src + +#+begin_src matlab :tangle no +%% Load controllers +load('nass_controllers.mat'); +#+end_src + +#+begin_src matlab +%% Closed Loop Plants - IFF with HPF +G_vc_norot_iff_hpf = feedback(G_vc_norot, Kiff_hpf_vc, 'name'); +G_vc_fast_iff_hpf = feedback(G_vc_fast, Kiff_hpf_vc, 'name'); + +G_md_norot_iff_hpf = feedback(G_md_norot, Kiff_hpf_md, 'name'); +G_md_fast_iff_hpf = feedback(G_md_fast, Kiff_hpf_md, 'name'); + +G_pz_norot_iff_hpf = feedback(G_pz_norot, Kiff_hpf_pz, 'name'); +G_pz_fast_iff_hpf = feedback(G_pz_fast, Kiff_hpf_pz, 'name'); + +%% Closed Loop Plants - IFF with Parallel Stiffness +G_vc_norot_iff_kp = feedback(G_vc_kp_norot, Kiff_kp_vc, 'name'); +G_vc_fast_iff_kp = feedback(G_vc_kp_fast, Kiff_kp_vc, 'name'); + +G_md_norot_iff_kp = feedback(G_md_kp_norot, Kiff_kp_md, 'name'); +G_md_fast_iff_kp = feedback(G_md_kp_fast, Kiff_kp_md, 'name'); + +G_pz_norot_iff_kp = feedback(G_pz_kp_norot, Kiff_kp_pz, 'name'); +G_pz_fast_iff_kp = feedback(G_pz_kp_fast, Kiff_kp_pz, 'name'); + +%% Closed Loop Plants - RDC +G_vc_norot_rdc = feedback(G_vc_norot, Krdc_vc, 'name'); +G_vc_fast_rdc = feedback(G_vc_fast, Krdc_vc, 'name'); + +G_md_norot_rdc = feedback(G_md_norot, Krdc_md, 'name'); +G_md_fast_rdc = feedback(G_md_fast, Krdc_md, 'name'); + +G_pz_norot_rdc = feedback(G_pz_norot, Krdc_pz, 'name'); +G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name'); +#+end_src + +#+begin_src matlab :exports none :results none +%% Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses +figure; +freqs_vc = logspace(-1, 2, 1000); +freqs_md = logspace(0, 3, 1000); +freqs_pz = logspace(0, 3, 1000); + +figure; +tiledlayout(3, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([2,1]); +hold on; +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [zeros(1,3), 0.5]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(1,:), 0.5]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(2,:), 0.5]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(3,:)]); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc( 'Dv', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(3,:), 0.5]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Magnitude [m/N]'); set(gca, 'XTickLabel',[]); +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile([2,1]); +hold on; +plot(freqs_md, abs(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [zeros(1,3), 0.5]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(1,:), 0.5]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(2,:), 0.5]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(3,:)]); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc( 'Dv', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(3,:), 0.5]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile([2,1]); +hold on; +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [zeros(1,3)], ... + 'DisplayName', 'OL'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(1,:)], ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(2,:)], ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(3,:)], ... + 'DisplayName', 'RDC'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc( 'Dv', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +ylim([1e-12, 1e-2]) +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; +title('$k_n = 100\,N/\mu m$'); + +ax1b = nexttile; +hold on; +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast_iff_hpf( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast_iff_kp( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_vc, 180/pi*angle(squeeze(freqresp(G_vc_fast_rdc( 'Du', 'Fu'), freqs_vc, 'Hz'))), '-' , 'color', [colors(3,:)]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +hold off; +yticks(-360:90:360); +ylim([-180, 180]); +xlim([freqs_vc(1), freqs_vc(end)]); + +ax2b = nexttile; +hold on; +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast_iff_hpf( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast_iff_kp( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_md, 180/pi*angle(squeeze(freqresp(G_md_fast_rdc( 'Du', 'Fu'), freqs_md, 'Hz'))), '-' , 'color', [colors(3,:)]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-180, 180]); +xlim([freqs_md(1), freqs_md(end)]); + +ax3b = nexttile; +hold on; +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [zeros(1,3)]); +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast_iff_hpf( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(1,:)]); +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast_iff_kp( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(2,:)]); +plot(freqs_pz, 180/pi*angle(squeeze(freqresp(G_pz_fast_rdc( 'Du', 'Fu'), freqs_pz, 'Hz'))), '-' , 'color', [colors(3,:)]); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-180, 180]); +xlim([freqs_pz(1), freqs_pz(end)]); + +linkaxes([ax1,ax2,ax3],'y'); +linkaxes([ax1b,ax2b,ax3b],'y'); +linkaxes([ax1,ax1b],'x'); +linkaxes([ax2,ax2b],'x'); +linkaxes([ax3,ax3b],'x'); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nass_damped_plant_comp.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_nass_damped_plant_comp +#+caption: Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with $k_p$ and RDC) applied on the three nano-hexapod stiffnesses. $\Omega = 60\,\text{rmp}$ and $m_n + m_s = \SI{16}{\kg}$. +#+RESULTS: +[[file:figs/rotating_nass_damped_plant_comp.png]] + +* Nano-Active-Stabilization-System with rotation +:PROPERTIES: +:header-args:matlab+: :tangle matlab/rotating_8_nass.m +:END: +<> +** Introduction :ignore: +Up until now, the model used consisted of an infinitely stiff vertical rotating stage with a X-Y suspended stage. + +While quite simplistic, this allowed to study the effects of rotation and the associated limitations when active damping is to be applied. + +In this section, the limited compliance of the micro-station is taken into account as well as the rotation of the spindle. + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :results silent :noweb yes +<> +#+end_src + +#+begin_src matlab :tangle no :noweb yes +<> +#+end_src + +#+begin_src matlab :eval no :noweb yes +<> +#+end_src + +#+begin_src matlab :noweb yes +<> +#+end_src + +#+begin_src matlab +%% Nano-Hexapod on top of Micro-Station model +mdl = 'nass_rotating_model'; + +%% Load micro-station parameters +load('uniaxial_micro_station_parameters.mat') + +%% Load controllers +load('nass_controllers.mat'); +#+end_src + +** NASS model + +In order to be a bit closer to the NASS application, the 2DoF nano-hexapod (modelled as shown in Figure ref:fig:rotating_3dof_model_schematic) is now located on top of a model of the micro-station including (see Figure ref:fig:rotating_nass_model for a 3D view): +- the floor whose motion is imposed +- a 2DoF granite ($k_{g,x} = k_{g,y} = \SI{950}{\N\per\mu\m}$, $m_g = \SI{2500}{\kg}$) +- a 2DoF $T_y$ stage ($k_{t,x} = k_{t,y} = \SI{520}{\N\per\mu\m}$, $m_g = \SI{600}{\kg}$) +- a spindle (vertical rotation) stage whose rotation is imposed ($m_s = \SI{600}{\kg}$) +- a 2DoF micro-hexapod ($k_{h,x} = k_{h,y} = \SI{61}{\N\per\mu\m}$, $m_g = \SI{15}{\kg}$) + +A payload is rigidly fixed to the nano-hexapod and the $x,y$ motion of the payload is measured with respect to the granite. + +#+name: fig:rotating_nass_model +#+caption: 3D view of the Nano-Active-Stabilization-System model. +[[file:figs/rotating_nass_model.png]] + +** System dynamics + +#+begin_src matlab +%% Nano-Hexapod +mn = 15; % Nano-Hexapod mass [kg] + +%% Light Sample +ms = 1; % Sample Mass [kg] + +%% General Configuration +model_config = struct(); +model_config.controller = "open_loop"; % Default: Open-Loop +model_config.Tuv_type = "normal"; % Default: 2DoF stage +#+end_src + +#+begin_src matlab +%% Input/Output definition +clear io; io_i = 1; +io(io_i) = linio([mdl, '/controller'], 1, 'openinput'); io_i = io_i + 1; % Actuator Forces [Fu, Fv] +io(io_i) = linio([mdl, '/fd'], 1, 'openinput'); io_i = io_i + 1; % Direct Forces on Sample [Fdx, Fdy] +io(io_i) = linio([mdl, '/xf'], 1, 'openinput'); io_i = io_i + 1; % Floor Motion [Dfx, Dfy] +io(io_i) = linio([mdl, '/ft'], 1, 'openinput'); io_i = io_i + 1; % Micro-Station Disturbances [Ftx, Fty] +io(io_i) = linio([mdl, '/nano_hexapod'], 1, 'openoutput'); io_i = io_i + 1; % [Fmu, Fmv] +io(io_i) = linio([mdl, '/nano_hexapod'], 2, 'openoutput'); io_i = io_i + 1; % [Du, Dv] +io(io_i) = linio([mdl, '/ext_metrology'],1, 'openoutput'); io_i = io_i + 1; % [Dx, Dy] +#+end_src + +The dynamics of the undamped and damped plants are identified. +The active damping parameters used are the optimal ones previously identified (i.e. for the rotating nano-hexapod fixed on a rigid platform). + +#+begin_src matlab +%% Voice Coil (i.e. soft) Nano-Hexapod +kn = 1e4; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_vc_norot = linearize(mdl, io, 0.0); +G_vc_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_vc_fast = linearize(mdl, io, 0.0); +G_vc_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% APA (i.e. relatively stiff) Nano-Hexapod +kn = 1e6; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_md_norot = linearize(mdl, io, 0.0); +G_md_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_md_fast = linearize(mdl, io, 0.0); +G_md_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +%% Piezoelectric (i.e. stiff) Nano-Hexapod +kn = 1e8; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.005*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +Wz = 0; % Rotating Velocity [rad/s] +G_pz_norot = linearize(mdl, io, 0.0); +G_pz_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 2*pi; % Rotating Velocity [rad/s] +G_pz_fast = linearize(mdl, io, 0.0); +G_pz_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +#+begin_src matlab +%% Identify plants with Parallel stiffnesses +model_config.Tuv_type = "parallel_k"; % Default: 2DoF stage + +% Voice Coil +kp = 1e3; +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e4-kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_vc_kp_fast = linearize(mdl, io, 0); +G_vc_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_vc_kp_norot = linearize(mdl, io, 0); +G_vc_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_vc_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +% APA +kp = 1e4; +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e6 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_md_kp_fast = linearize(mdl, io, 0); +G_md_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_md_kp_norot = linearize(mdl, io, 0); +G_md_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_md_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +% Piezo +kp = 1e5; +cp = 2*0.001*sqrt((ms + mn)*kp); +kn = 1e8 - kp; % Nano-Hexapod Stiffness [N/m] +cn = 2*0.01*sqrt((ms + mn)*kn); % Nano-Hexapod Damping [N/(m/s)] + +% Identify dynamics +Wz = 2*pi; % [rad/s] +G_pz_kp_fast = linearize(mdl, io, 0); +G_pz_kp_fast.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_kp_fast.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; + +Wz = 0; % [rad/s] +G_pz_kp_norot = linearize(mdl, io, 0); +G_pz_kp_norot.InputName = {'Fu', 'Fv', 'Fdx', 'Fdy', 'Dfx', 'Dfy', 'Ftx', 'Fty'}; +G_pz_kp_norot.OutputName = {'fu', 'fv', 'Du', 'Dv', 'Dx', 'Dy'}; +#+end_src + +#+begin_src matlab +%% Closed Loop Plants - IFF with HPF +G_vc_norot_iff_hpf = feedback(G_vc_norot, Kiff_hpf_vc, 'name'); +G_vc_fast_iff_hpf = feedback(G_vc_fast, Kiff_hpf_vc, 'name'); + +G_md_norot_iff_hpf = feedback(G_md_norot, Kiff_hpf_md, 'name'); +G_md_fast_iff_hpf = feedback(G_md_fast, Kiff_hpf_md, 'name'); + +G_pz_norot_iff_hpf = feedback(G_pz_norot, Kiff_hpf_pz, 'name'); +G_pz_fast_iff_hpf = feedback(G_pz_fast, Kiff_hpf_pz, 'name'); + +%% Closed Loop Plants - IFF with Parallel Stiffness +G_vc_norot_iff_kp = feedback(G_vc_kp_norot, Kiff_kp_vc, 'name'); +G_vc_fast_iff_kp = feedback(G_vc_kp_fast, Kiff_kp_vc, 'name'); + +G_md_norot_iff_kp = feedback(G_md_kp_norot, Kiff_kp_md, 'name'); +G_md_fast_iff_kp = feedback(G_md_kp_fast, Kiff_kp_md, 'name'); + +G_pz_norot_iff_kp = feedback(G_pz_kp_norot, Kiff_kp_pz, 'name'); +G_pz_fast_iff_kp = feedback(G_pz_kp_fast, Kiff_kp_pz, 'name'); + +%% Closed Loop Plants - RDC +G_vc_norot_rdc = feedback(G_vc_norot, Krdc_vc, 'name'); +G_vc_fast_rdc = feedback(G_vc_fast, Krdc_vc, 'name'); + +G_md_norot_rdc = feedback(G_md_norot, Krdc_md, 'name'); +G_md_fast_rdc = feedback(G_md_fast, Krdc_md, 'name'); + +G_pz_norot_rdc = feedback(G_pz_norot, Krdc_pz, 'name'); +G_pz_fast_rdc = feedback(G_pz_fast, Krdc_pz, 'name'); +#+end_src + +The undamped and damped plants are shown in Figure ref:fig:rotating_nass_plant_comp_stiffness. +Three nano-hexapod velocities are shown (from left to right): $k_n = \SI{0.01}{\N\per\mu\m}$, $k_n = \SI{1}{\N\per\mu\m}$ and $k_n = \SI{100}{\N\per\mu\m}$. +The direct terms are shown by the solid curves while the coupling terms are shown by the shaded ones. + +#+begin_important +It can be observed on Figure ref:fig:rotating_nass_plant_comp_stiffness that: +- Coupling (ratio between the off-diagonal and direct terms) is larger for the soft nano-hexapod +- Damping added by the three proposed techniques is quite high and the obtained plant is rather easy to control +- There is some coupling between nano-hexapod and micro-station dynamics for the stiff nano-hexapod (mode at 200Hz) +- The two proposed IFF modification yields similar results +#+end_important + +#+begin_src matlab :exports none :results none +%% Bode plot of the transfer function from nano-hexapod actuator to measured motion by the external metrology +freqs_vc = logspace(-1, 2, 1000); +freqs_md = logspace(0, 3, 1000); +freqs_pz = logspace(0, 3, 1000); + +figure; +tiledlayout(3, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile([2,1]); +hold on; +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc('Dy', 'Fu'), freqs_vc, 'Hz'))), 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +ylabel('Magnitude [m/N]'); set(gca, 'XTickLabel',[]); +ylim([1e-12, 1e-2]) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile([2,1]); +hold on; +plot(freqs_md, abs(squeeze(freqresp(G_md_fast('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc('Dy', 'Fu'), freqs_md, 'Hz'))), 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +ylim([1e-12, 1e-2]) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile([2,1]); +hold on; +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [zeros(1,3), 0.5], ... + 'DisplayName', 'Coupling'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [colors(1,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [colors(2,:), 0.5], ... + 'HandleVisibility', 'off'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc('Dy', 'Fu'), freqs_pz, 'Hz'))), 'color', [colors(3,:), 0.5], ... + 'HandleVisibility', 'off'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +set(gca, 'XTickLabel',[]); set(gca, 'YTickLabel',[]); +ylim([1e-12, 1e-2]) +ldg = legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; +title('$k_n = 100\,N/\mu m$'); + +ax1b = nexttile; +hold on; +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', zeros(1,3)); +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', colors(1,:)); +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', colors(2,:)); +plot(freqs_vc, 180/pi*unwrap(angle(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Fu'), freqs_vc, 'Hz')))), 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); ylabel('Phase [deg]'); +hold off; +yticks(-360:90:360); +ylim([-270, 90]); + +ax2b = nexttile; +hold on; +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', zeros(1,3)); +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', colors(1,:)); +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', colors(2,:)); +plot(freqs_md, 180/pi*unwrap(angle(squeeze(freqresp(G_md_fast_rdc('Dx', 'Fu'), freqs_md, 'Hz')))), 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-270, 90]); + +ax3b = nexttile; +hold on; +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', zeros(1,3)); +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', colors(1,:)); +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', colors(2,:)); +plot(freqs_pz, 180/pi*unwrap(angle(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Fu'), freqs_pz, 'Hz')))), 'color', colors(3,:)); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +hold off; +yticks(-360:90:360); +ylim([-270, 90]); + +linkaxes([ax1,ax1b],'x'); +xlim([freqs_vc(1), freqs_vc(end)]); + +linkaxes([ax2,ax2b],'x'); +xlim([freqs_md(1), freqs_md(end)]); + +linkaxes([ax3,ax3b],'x'); +xlim([freqs_pz(1), freqs_pz(end)]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nass_plant_comp_stiffness.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:rotating_nass_plant_comp_stiffness +#+caption: Bode plot of the transfer function from nano-hexapod actuator to measured motion by the external metrology +#+RESULTS: +[[file:figs/rotating_nass_plant_comp_stiffness.png]] + +To confirm that the coupling is smaller when the stiffness of the nano-hexapod is increase, the /coupling ratio/ for the three nano-hexapod stiffnesses are shown in Figure ref:fig:rotating_nass_plant_coupling_comp. + +#+begin_src matlab :exports none :results none +%% Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses +figure; +freqs_vc = logspace(-1, 2, 1000); +freqs_md = logspace(0, 3, 1000); +freqs_pz = logspace(0, 3, 1000); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast('Dy', 'Fu')/G_vc_fast('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dy', 'Fu')/G_vc_fast_iff_hpf('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dy', 'Fu')/G_vc_fast_iff_kp('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_vc, abs(squeeze(freqresp(G_vc_fast_rdc('Dy', 'Fu')/G_vc_fast_rdc('Dx', 'Fu'), freqs_vc, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Coupling Ratio'); +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs_md, abs(squeeze(freqresp(G_md_fast('Dy', 'Fu')/G_md_fast('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dy', 'Fu')/G_md_fast_iff_hpf('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_iff_kp('Dy', 'Fu')/G_md_fast_iff_kp('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_md, abs(squeeze(freqresp(G_md_fast_rdc('Dy', 'Fu')/G_md_fast_rdc('Dx', 'Fu'), freqs_md, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast('Dy', 'Fu')/G_pz_fast('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dy', 'Fu')/G_pz_fast_iff_hpf('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dy', 'Fu')/G_pz_fast_iff_kp('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs_pz, abs(squeeze(freqresp(G_pz_fast_rdc('Dy', 'Fu')/G_pz_fast_rdc('Dx', 'Fu'), freqs_pz, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nass_plant_coupling_comp.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_nass_plant_coupling_comp +#+caption: Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_nass_plant_coupling_comp.png]] + +** Effect of disturbances + +The effect of three disturbances are considered: +- Floor motion (Figure ref:fig:rotating_nass_effect_floor_motion) +- Micro-Station vibrations (Figure ref:fig:rotating_nass_effect_stage_vibration) +- Direct force applied on the payload (Figure ref:fig:rotating_nass_effect_direct_forces) + +#+begin_important +Conclusions are similar than with the uniaxial (non-rotating) model: +- Regarding the effect of floor motion and forces applied on the payload: + - The stiffer, the better (magnitudes are lower for the right curves, Figures ref:fig:rotating_nass_effect_floor_motion and ref:fig:rotating_nass_effect_direct_forces) + - Integral Force Feedback degrades the performances at low frequency compared to relative damping control +- Regarding the effect of micro-station vibrations: + - Having a soft nano-hexapod allows to filter these vibrations between the suspensions modes of the nano-hexapod and some flexible modes of the micro-station. Using relative damping control reduce this filtering (Figure ref:fig:rotating_nass_effect_stage_vibration, left). +#+end_important + +#+begin_src matlab :exports none :results none +%% Effect of Floor motion on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +freqs = logspace(-1, 3, 1000); + +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dx', 'Dfx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Magnitude $d_x/D_{f,x}$ [m/N]'); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dx', 'Dfx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dx', 'Dfx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Dfx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nass_effect_floor_motion.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_nass_effect_floor_motion +#+caption: Effect of Floor motion on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_nass_effect_floor_motion.png]] + +#+begin_src matlab :exports none :results none +%% Effect of micro-station vibrations on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dx', 'Ftx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Magnitude $d_x/f_{t,x}$ [m/N]'); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dx', 'Ftx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dx', 'Ftx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Ftx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nass_effect_stage_vibration.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_nass_effect_stage_vibration +#+caption: Effect of micro-station vibrations on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_nass_effect_stage_vibration.png]] + +#+begin_src matlab :exports none :results none +%% Effect of sample forces on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +figure; +tiledlayout(1, 3, 'TileSpacing', 'Compact', 'Padding', 'None'); + +ax1 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_vc_fast('Dx', 'Fdx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_hpf('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_iff_kp('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_vc_fast_rdc('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); ylabel('Magnitude $d_x/f_{s,x}$ [m/N]'); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 0.01\,N/\mu m$'); + +ax2 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_md_fast('Dx', 'Fdx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_hpf('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_iff_kp('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_md_fast_rdc('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 1\,N/\mu m$'); + +ax3 = nexttile(); +hold on; +plot(freqs, abs(squeeze(freqresp(G_pz_fast('Dx', 'Fdx'), freqs, 'Hz'))), 'color', zeros(1,3), ... + 'DisplayName', 'OL'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_hpf('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(1,:), ... + 'DisplayName', 'IFF + $k_p$'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_iff_kp('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(2,:), ... + 'DisplayName', 'IFF + HPF'); +plot(freqs, abs(squeeze(freqresp(G_pz_fast_rdc('Dx', 'Fdx'), freqs, 'Hz'))), 'color', colors(3,:), ... + 'DisplayName', 'RDC'); +hold off; +set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); +xlabel('Frequency [Hz]'); set(gca, 'YTickLabel',[]); +xticks([1e-1, 1e0, 1e1, 1e2, 1e3]); +xtickangle(0) +title('$k_n = 100\,N/\mu m$'); +ldg = legend('location', 'northwest', 'FontSize', 8, 'NumColumns', 1); +ldg.ItemTokenSize = [20, 1]; + +linkaxes([ax1,ax2,ax3], 'y') +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace +exportFig('figs/rotating_nass_effect_direct_forces.pdf', 'width', 'full', 'height', 'normal'); +#+end_src + +#+name: fig:rotating_nass_effect_direct_forces +#+caption: Effect of sample forces on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses +#+RESULTS: +[[file:figs/rotating_nass_effect_direct_forces.png]] + +* Conclusion + +In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a spindle model (Section ref:sec:rotating_system_description). +Decentralized IFF with pure integrators was shown to be unstable when applied to rotating platforms (Section ref:sec:rotating_iff_pure_int). +Two modifications of the classical IFF control have been proposed to overcome this issue. + +The first modification concerns the controller and consists of adding an high pass filter to the pure integrators. +This is equivalent as to moving the controller pole to the left along the real axis. +This allows the closed loop system to be stable up to some value of the controller gain (Section ref:sec:rotating_iff_pseudo_int). + +The second proposed modification concerns the mechanical system. +Additional springs are added in parallel with the actuators and force sensors. +It was shown that if the stiffness $k_p$ of the additional springs is larger than the negative stiffness $m \Omega^2$ induced by centrifugal forces, the classical decentralized IFF regains its unconditional stability property (Section ref:sec:rotating_iff_parallel_stiffness). + +These two modifications were compared with relative damping control in Section ref:sec:rotating_comp_act_damp. +While having very different implementations, both proposed modifications were found to be very similar when it comes to the attainable damping and the obtained closed loop system behavior. + +Then, this study has been applied to a rotating system that corresponds to the nano-hexapod parameters (Section ref:sec:rotating_nano_hexapod). +To be closer to the real system dynamics, the limited compliance of the micro-station has been taken into account. +Results show that the two proposed IFF modifications can be applied for the NASS even in the presence of spindle rotation. + +* Notations :noexport: +<> + +| | Mathematical Notation | Matlab | Unit | +|-----------------------------------+------------------------------+---------------+---------| +| Actuator Stiffness | $k$ | =k= | N/m | +| Actuator Damping | $c$ | =c= | N/(m/s) | +| Payload Mass | $m$ | =m= | kg | +| Damping Ratio | $\xi = \frac{c}{2\sqrt{km}}$ | =xi= | | +| Actuator Force | $\bm{F}, F_u, F_v$ | =F= =Fu= =Fv= | N | +| Force Sensor signal | $\bm{f}, f_u, f_v$ | =f= =fu= =fv= | N | +| Relative Displacement | $\bm{d}, d_u, d_v$ | =d= =du= =dv= | m | +| Resonance freq. when $\Omega = 0$ | $\omega_0$ | =w0= | rad/s | +| Rotation Speed | $\Omega = \dot{\theta}$ | =W= | rad/s | +| Low Pass Filter corner frequency | $\omega_i$ | =wi= | rad/s | + +| | Mathematical Notation | Matlab | Unit | +|------------------+-----------------------+--------+---------| +| Laplace variable | $s$ | =s= | | +| Complex number | $j$ | =j= | | +| Frequency | $\omega$ | =w= | [rad/s] | + +* Bibliography :ignore: +#+latex: \printbibliography + +* Helping Functions :noexport: +** Initialize Path +#+NAME: m-init-path +#+BEGIN_SRC matlab +%% Path for functions, data and scripts +addpath('./matlab/mat/'); % Path for data +addpath('./matlab/src/'); % Path for Functions +addpath('./matlab/'); % Path for scripts +#+END_SRC + +#+NAME: m-init-path-tangle +#+BEGIN_SRC matlab +%% Path for functions, data and scripts +addpath('./mat/'); % Path for data +addpath('./src/'); % Path for Functions +#+END_SRC + +** Initialize other elements +#+NAME: m-init-other +#+BEGIN_SRC matlab +%% Colors for the figures +colors = colororder; +#+END_SRC + +** =computeSimultaneousDamping= +#+begin_src matlab :tangle matlab/src/computeSimultaneousDamping.m +function [xi_min] = computeSimultaneousDamping(g, G, K) + [~, xi] = damp(minreal(feedback(G, g*K), [], false)); + xi_min = 1/min(xi); + + if xi_min < 0 + xi_min = 1e8; + end +end +#+end_src + diff --git a/nass-rotating-3dof-model.pdf b/nass-rotating-3dof-model.pdf new file mode 100644 index 0000000..313a63b Binary files /dev/null and b/nass-rotating-3dof-model.pdf differ diff --git a/nass-rotating-3dof-model.tex b/nass-rotating-3dof-model.tex new file mode 100644 index 0000000..235bbda --- /dev/null +++ b/nass-rotating-3dof-model.tex @@ -0,0 +1,1080 @@ +% Created 2023-02-28 Tue 14:05 +% Intended LaTeX compiler: pdflatex +\documentclass[a4paper, 10pt, DIV=12, parskip=full]{scrreprt} + +\usepackage{siunitx} +\usepackage{tikz} +\usetikzlibrary{shapes.misc,arrows,arrows.meta} +\usepackage{bm} +\usepackage{amsmath} +\usepackage{amssymb} +\input{preamble.tex} +\addbibresource{ref.bib} +\author{Dehaeze Thomas} +\date{\today} +\title{NASS - Effect of rotation} +\hypersetup{ + pdfauthor={Dehaeze Thomas}, + pdftitle={NASS - Effect of rotation}, + pdfkeywords={}, + pdfsubject={}, + pdfcreator={Emacs 28.2 (Org mode 9.5.2)}, + pdflang={English}} +\usepackage{biblatex} + +\begin{document} + +\maketitle +\tableofcontents + +\clearpage + +An important aspect of the Nano Active Stabilization System (NASS) is that the nano-hexapod is continuously rotating around a vertical axis while the external metrology is not. +Such rotation induces gyroscopic effects that may impact the system dynamics and obtained performances. + +In this report, this rotating aspect of the NASS is studied. +It is structured in several sections: +\begin{itemize} +\item Section \ref{sec:rotating_system_description}: a simple model of a rotating suspended platform that will be used throughout this study is presented. The effect of the rotation velocity on the system dynamics is shown. +\item Section \ref{sec:rotating_iff_pure_int}: Integral Force Feedback (IFF) is applied to the rotating platform, and it is shown that the unconditional stability of IFF is lost due to Gyroscopic effects induced by the rotation. +\item Section \ref{sec:rotating_iff_pseudo_int}: A first modification of the IFF control law is proposed such that damping can be added to the suspension modes in a robust way. This modification consists of adding an high pass filter to the IFF controller. Optimal high pass filter cut-off frequency is computed. +\item Section \ref{sec:rotating_iff_parallel_stiffness}: A second modification is proposed to regain the unconditional stability of IFF. This modification consists of adding stiffness in parallel to the force sensors. Optimal parallel stiffness is computed. +\item Section \ref{sec:rotating_relative_damp_control}: Relative damping control is applied to the rotating system. +\item Section \ref{sec:rotating_comp_act_damp}: Once the optimal control parameters for the three tested active damping techniques are obtained, they are compared in terms of achievable damping, obtained damped plant and closed-loop compliance and transmissibility. +\item Section \ref{sec:rotating_nano_hexapod}: the previous analysis is applied on three nano-hexapod stiffnesses and optimal active damping controller are obtained. +\item Section \ref{sec:rotating_nass}: up until this section, the study was performed on a very simplistic model that just captures the rotation aspect and the model parameters were not tuned to corresponds to the NASS. In this last section, a model of the micro-station is added below the suspended platform (i.e. the nano-hexapod) with a rotating spindle and parameters tuned to match the NASS dynamics. The goal is to determine if the rotation imposes performance limitation for the NASS. +\end{itemize} + +To run the Matlab code, go in the \texttt{matlab} directory and run the Matlab files corresponding to each section (see Table \ref{tab:section_matlab_code}). + +\begin{table}[htbp] +\caption{\label{tab:section_matlab_code}Report sections and corresponding Matlab files} +\centering +\begin{tabularx}{0.6\linewidth}{lX} +\toprule +\textbf{Sections} & \textbf{Matlab File}\\ +\midrule +Section \ref{sec:rotating_system_description} & \texttt{rotating\_1\_system\_description.m}\\ +Section \ref{sec:rotating_iff_pure_int} & \texttt{rotating\_2\_iff\_pure\_int.m}\\ +Section \ref{sec:rotating_iff_pseudo_int} & \texttt{rotating\_3\_iff\_hpf.m}\\ +Section \ref{sec:rotating_iff_parallel_stiffness} & \texttt{rotating\_4\_iff\_kp.m}\\ +Section \ref{sec:rotating_comp_act_damp} & \texttt{rotating\_5\_act\_damp\_comparison.m}\\ +Section \ref{sec:rotating_nano_hexapod} & \texttt{rotating\_6\_nano\_hexapod.m}\\ +Section \ref{sec:rotating_nass} & \texttt{rotating\_6\_nass.m}\\ +\bottomrule +\end{tabularx} +\end{table} + +\chapter{System Description and Analysis} +\label{sec:org057d64e} +\label{sec:rotating_system_description} +The studied system consists of a 2 degree of freedom translation stage on top of a rotating stage (Figure \ref{fig:rotating_3dof_model_schematic}). + +The rotating stage is supposed to be ideal, meaning it induces a perfect rotation \(\theta(t) = \Omega t\) where \(\Omega\) is the rotational speed in \(\si{\radian\per\s}\). + +The suspended platform consists of two orthogonal actuators each represented by three elements in parallel: a spring with a stiffness \(k\) in \(\si{\newton\per\meter}\), a dashpot with a damping coefficient \(c\) in \(\si{\newton\per(\meter\per\second)}\) and an ideal force source \(F_u, F_v\). +A payload with a mass \(m\) in \(\si{\kilo\gram}\), is mounted on the (rotating) suspended platform. + +Two reference frames are used: an inertial frame \((\vec{i}_x, \vec{i}_y, \vec{i}_z)\) and a uniform rotating frame \((\vec{i}_u, \vec{i}_v, \vec{i}_w)\) rigidly fixed on top of the rotating stage with \(\vec{i}_w\) aligned with the rotation axis. +The position of the payload is represented by \((d_u, d_v, 0)\) expressed in the rotating frame. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_3dof_model_schematic.png} +\caption{\label{fig:rotating_3dof_model_schematic}Schematic of the studied system} +\end{figure} + +\section{Equations of motion} +\label{sec:org32cf2f6} +To obtain the equations of motion for the system represented in Figure \ref{fig:rotating_3dof_model_schematic}, the Lagrangian equations are used: +\begin{equation} +\label{eq:lagrangian_equations} + \frac{d}{dt} \left( \frac{\partial L}{\partial \dot{q}_i} \right) + \frac{\partial D}{\partial \dot{q}_i} - \frac{\partial L}{\partial q_i} = Q_i +\end{equation} +with \(L = T - V\) the Lagrangian, \(T\) the kinetic coenergy, \(V\) the potential energy, \(D\) the dissipation function, and \(Q_i\) the generalized force associated with the generalized variable \(\begin{bmatrix}q_1 & q_2\end{bmatrix} = \begin{bmatrix}d_u & d_v\end{bmatrix}\). +The equation of motion corresponding to the constant rotation along \(\vec{i}_w\) is disregarded as this motion is considered to be imposed by the rotation stage. +\begin{equation} +\label{eq:energy_functions_lagrange} + \begin{aligned} + T &= \frac{1}{2} m \left( ( \dot{d}_u - \Omega d_v )^2 + ( \dot{d}_v + \Omega d_u )^2 \right), \\ + V &= \frac{1}{2} k \big( {d_u}^2 + {d_v}^2 \big), \ Q_1 = F_u, \\ + D &= \frac{1}{2} c \big( \dot{d}_u{}^2 + \dot{d}_v{}^2 \big), \ Q_2 = F_v + \end{aligned} +\end{equation} + +Substituting equations \eqref{eq:energy_functions_lagrange} into equation \eqref{eq:lagrangian_equations} for both generalized coordinates gives two coupled differential equations \eqref{eq:eom_coupled_1} and \eqref{eq:eom_coupled_2}. +\begin{subequations} +\label{eq:eom_coupled} + \begin{align} + m \ddot{d}_u + c \dot{d}_u + ( k - m \Omega^2 ) d_u &= F_u + 2 m \Omega \dot{d}_v \label{eq:eom_coupled_1} \\ + m \ddot{d}_v + c \dot{d}_v + ( k \underbrace{-\,m \Omega^2}_{\text{Centrif.}} ) d_v &= F_v \underbrace{-\,2 m \Omega \dot{d}_u}_{\text{Coriolis}} \label{eq:eom_coupled_2} + \end{align} +\end{subequations} + +The uniform rotation of the system induces \textbf{two gyroscopic effects} as shown in equation \eqref{eq:eom_coupled}: +\begin{itemize} +\item \textbf{Centrifugal forces}: that can been seen as an added \textbf{negative stiffness} \(- m \Omega^2\) along \(\vec{i}_u\) and \(\vec{i}_v\) +\item \textbf{Coriolis Forces}: that adds \textbf{coupling} between the two orthogonal directions. +\end{itemize} + +One can verify that without rotation (\(\Omega = 0\)) the system becomes equivalent to two uncoupled one degree of freedom mass-spring-damper systems. + +\section{Transfer Functions in the Laplace domain} +\label{sec:org8130277} +To study the dynamics of the system, the differential equations of motions \eqref{eq:eom_coupled} are converted into the Laplace domain and the \(2 \times 2\) transfer function matrix \(\mathbf{G}_d\) from \(\begin{bmatrix}F_u & F_v\end{bmatrix}\) to \(\begin{bmatrix}d_u & d_v\end{bmatrix}\) in equation \eqref{eq:Gd_mimo_tf} is obtained. +Its elements are shown in equation \eqref{eq:Gd_indiv_el}. + +\begin{equation} +\label{eq:Gd_mimo_tf} + \begin{bmatrix} d_u \\ d_v \end{bmatrix} = \mathbf{G}_d \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{subequations} +\label{eq:Gd_indiv_el} +\begin{align} + \mathbf{G}_{d}(1,1) &= \mathbf{G}_{d}(2,2) = \frac{ms^2 + cs + k - m \Omega^2}{\left( m s^2 + cs + k - m \Omega^2 \right)^2 + \left( 2 m \Omega s \right)^2} \\ + \mathbf{G}_{d}(1,2) &= -\mathbf{G}_{d}(2,1) = \frac{2 m \Omega s}{\left( m s^2 + cs + k - m \Omega^2 \right)^2 + \left( 2 m \Omega s \right)^2} +\end{align} +\end{subequations} + +To simplify the analysis, the undamped natural frequency \(\omega_0\) and the damping ratio \(\xi\) are used as in equation \eqref{eq:xi_and_omega}. +\begin{equation} +\label{eq:xi_and_omega} + \omega_0 = \sqrt{\frac{k}{m}} \text{ in } \si{\radian\per\second}, \quad \xi = \frac{c}{2 \sqrt{k m}} +\end{equation} + +The elements of transfer function matrix \(\mathbf{G}_d\) are now described by equation \eqref{eq:Gd_w0_xi_k}. +\begin{subequations} +\label{eq:Gd_w0_xi_k} + \begin{align} + \mathbf{G}_{d}(1,1) &= \frac{\frac{1}{k} \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \\ + \mathbf{G}_{d}(1,2) &= \frac{\frac{1}{k} \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} + \end{align} +\end{subequations} + +\section{System Poles: Campbell Diagram} +\label{sec:org7485ccd} +The poles of \(\mathbf{G}_d\) are the complex solutions \(p\) of equation \eqref{eq:poles}. + +\begin{equation} +\label{eq:poles} + \left( \frac{p^2}{{\omega_0}^2} + 2 \xi \frac{p}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{p}{\omega_0} \right)^2 = 0 +\end{equation} + +Supposing small damping (\(\xi \ll 1\)), two pairs of complex conjugate poles are obtained as shown in equation \eqref{eq:pole_values}. + +\begin{subequations} +\label{eq:pole_values} + \begin{align} + p_{+} &= - \xi \omega_0 \left( 1 + \frac{\Omega}{\omega_0} \right) \pm j \omega_0 \left( 1 + \frac{\Omega}{\omega_0} \right) \\ + p_{-} &= - \xi \omega_0 \left( 1 - \frac{\Omega}{\omega_0} \right) \pm j \omega_0 \left( 1 - \frac{\Omega}{\omega_0} \right) + \end{align} +\end{subequations} + +The real and complex parts of these two pairs of complex conjugate poles are represented in Figure \ref{fig:rotating_campbell_diagram} as a function of the rotational speed \(\Omega\). +As the rotational speed increases, \(p_{+}\) goes to higher frequencies and \(p_{-}\) goes to lower frequencies. +The system becomes unstable for \(\Omega > \omega_0\) as the real part of \(p_{-}\) is positive. +Physically, the negative stiffness term \(-m\Omega^2\) induced by centrifugal forces exceeds the spring stiffness \(k\). + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_campbell_diagram.png} +\caption{\label{fig:rotating_campbell_diagram}Campbell diagram - Real and Imaginary parts of the poles as a function of the rotating velocity} +\end{figure} + +\section{System Dynamics: Effect of rotation} +\label{sec:orgb1d33ee} +The system dynamics from actuator forces \([F_u, F_v]\) to the relative motion \([d_u, d_v]\) is identified for several rotating velocities. + +Looking at the transfer function matrix \(\mathbf{G}_d\) in equation \eqref{eq:Gd_w0_xi_k}, one can see that the two diagonal (direct) terms are equal and that the two off-diagonal (coupling) terms are opposite. +The bode plot of these two terms are shown in Figure \ref{fig:rotating_direct_coupling_bode_plot} for several rotational speeds \(\Omega\). +These plots confirm the expected behavior: the frequency of the two pairs of complex conjugate poles are further separated as \(\Omega\) increases. +For \(\Omega > \omega_0\), the low frequency pair of complex conjugate poles \(p_{-}\) becomes unstable. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_direct_coupling_bode_plot.png} +\caption{\label{fig:rotating_direct_coupling_bode_plot}Bode plot of the direct and coupling terms for several rotating velocities} +\end{figure} + +\chapter{Integral Force Feedback} +\label{sec:org8602056} +\label{sec:rotating_iff_pure_int} +In order to further decrease the residual vibrations, active damping can be used for reducing the magnification of the response in the vicinity of the resonances \cite{collette11_review_activ_vibrat_isolat_strat}. + +Many active damping techniques have been developed over the years such as Positive Position Feedback (PPF) \cite{lin06_distur_atten_precis_hexap_point,fanson90_posit_posit_feedb_contr_large_space_struc}, Integral Force Feedback (IFF) \cite{preumont91_activ} and Direct Velocity Feedback (DVF) \cite{karnopp74_vibrat_contr_using_semi_activ_force_gener,serrand00_multic_feedb_contr_isolat_base_excit_vibrat,preumont02_force_feedb_versus_accel_feedb}. \par + +In \cite{preumont92_activ_dampin_by_local_force}, the IFF control scheme has been proposed, where a force sensor, a force actuator and an integral controller are used to directly augment the damping of a mechanical system. +When the force sensor is collocated with the actuator, the open-loop transfer function has alternating poles and zeros which facilitate to guarantee the stability of the closed loop system \cite{preumont02_force_feedb_versus_accel_feedb}. +It was latter shown that this property holds for multiple collated actuator/sensor pairs \cite{preumont08_trans_zeros_struc_contr_with}. \par + +The main advantages of IFF over other active damping techniques are the guaranteed stability even in presence of flexible dynamics, good performances and robustness properties \cite{preumont02_force_feedb_versus_accel_feedb}. \par + +Several improvements of the classical IFF have been proposed, such as adding a feed-through term to increase the achievable damping \cite{teo15_optim_integ_force_feedb_activ_vibrat_contr} or adding an high pass filter to recover the loss of compliance at low frequency \cite{chesne16_enhan_dampin_flexib_struc_using_force_feedb}. +Recently, an \(\mathcal{H}_\infty\) optimization criterion has been used to derive optimal gains for the IFF controller \cite{zhao19_optim_integ_force_feedb_contr}. \par + +However, none of these study have been applied to a rotating system. +In this section, Integral Force Feedback strategy is applied on the rotating suspended platform, and it is shown that gyroscopic effects alters the system dynamics and that IFF cannot be applied as is. + +\section{System and Equations of motion} +\label{sec:orgd805948} +In order to apply Integral Force Feedback, two force sensors are added in series with the actuators (Figure \ref{fig:rotating_3dof_model_schematic_iff}). +Two identical controllers \(K_F\) are then used to feedback each of the sensed force to its associated actuator: +\begin{equation} + K_{F}(s) = g \cdot \frac{1}{s} +\end{equation} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_3dof_model_schematic_iff.png} +\caption{\label{fig:rotating_3dof_model_schematic_iff}System with added Force Sensor in series with the actuators (shown in blue with the associated controllers)} +\end{figure} + + +The forces \(\begin{bmatrix}f_u & f_v\end{bmatrix}\) measured by the two force sensors represented in Figure \ref{fig:rotating_3dof_model_schematic_iff} are described by equation \eqref{eq:measured_force}. +\begin{equation} +\label{eq:measured_force} + \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = + \begin{bmatrix} F_u \\ F_v \end{bmatrix} - (c s + k) + \begin{bmatrix} d_u \\ d_v \end{bmatrix} +\end{equation} + +The transfer function matrix \(\mathbf{G}_{f}\) from actuator forces to measured forces in equation \eqref{eq:Gf_mimo_tf} can be obtained by inserting equation \eqref{eq:Gd_w0_xi_k} into equation \eqref{eq:measured_force}. +Its elements are shown in equation \eqref{eq:Gf_indiv_el}. + +\begin{equation} +\label{eq:Gf_mimo_tf} + \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = \mathbf{G}_{f} \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{subequations} +\label{eq:Gf_indiv_el} +\label{eq:Gf} + \begin{align} + \mathbf{G}_{f}(1,1) &= \mathbf{G}_{f}(2,2) = \frac{\left( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} \right) \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right) + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \label{eq:Gf_diag_tf} \\ + \mathbf{G}_{f}(1,2) &= -\mathbf{G}_{f}(2,1) = \frac{- \left( 2 \xi \frac{s}{\omega_0} + 1 \right) \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \label{eq:Gf_off_diag_tf} + \end{align} +\end{subequations} + +The zeros of the diagonal terms of \(\mathbf{G}_f\) in equation \eqref{eq:Gf_diag_tf} are computed, and neglecting the damping for simplicity, \textbf{two complex conjugated zeros} \(z_{c}\) are obtained in equation \eqref{eq:iff_zero_cc}, and \textbf{two real zeros} \(z_{r}\) in equation \eqref{eq:iff_zero_real}. +\begin{subequations} + \begin{align} + z_c &= \pm j \omega_0 \sqrt{\frac{1}{2} \sqrt{8 \frac{\Omega^2}{{\omega_0}^2} + 1} + \frac{\Omega^2}{{\omega_0}^2} + \frac{1}{2} } \label{eq:iff_zero_cc} \\ + z_r &= \pm \omega_0 \sqrt{\frac{1}{2} \sqrt{8 \frac{\Omega^2}{{\omega_0}^2} + 1} - \frac{\Omega^2}{{\omega_0}^2} - \frac{1}{2} } \label{eq:iff_zero_real} + \end{align} +\end{subequations} + +It is interesting to see that the frequency of the pair of complex conjugate zeros \(z_c\) in equation \eqref{eq:iff_zero_cc} always lies between the frequency of the two pairs of complex conjugate poles \(p_{-}\) and \(p_{+}\) in equation \eqref{eq:pole_values}. +This is what usually gives the unconditional stability of IFF when collocated force sensors are used. + +However, for non-null rotational speeds, the two real zeros \(z_r\) in equation \eqref{eq:iff_zero_real} are inducing a \textbf{non-minimum phase behavior}. +This can be seen in the Bode plot of the diagonal terms (Figure \ref{fig:rotating_iff_bode_plot_effect_rot}) where the low frequency gain is no longer zero while the phase stays at \(\SI{180}{\degree}\). + +The low frequency gain of \(\mathbf{G}_f\) increases with the rotational speed \(\Omega\) as shown in equation \eqref{eq:low_freq_gain_iff_plan}. +\begin{equation} +\label{eq:low_freq_gain_iff_plan} + \lim_{\omega \to 0} \left| \mathbf{G}_f (j\omega) \right| = \begin{bmatrix} + \frac{\Omega^2}{{\omega_0}^2 - \Omega^2} & 0 \\ + 0 & \frac{\Omega^2}{{\omega_0}^2 - \Omega^2} +\end{bmatrix} +\end{equation} + +This can be explained as follows: a constant actuator force \(F_u\) induces a small displacement of the mass \(d_u = \frac{F_u}{k - m\Omega^2}\) (Hooke's law taking into account the negative stiffness induced by the rotation). +This small displacement then increases the centrifugal force \(m\Omega^2d_u = \frac{\Omega^2}{{\omega_0}^2 - \Omega^2} F_u\) which is then measured by the force sensors. + +\section{Effect of the rotation speed on the IFF plant dynamics} +\label{sec:orgcebce06} +The transfer functions from actuator forces \([F_u,\ F_v]\) to the measured force sensors \([f_u,\ f_v]\) are identified for several rotating velocities and shown in Figure \ref{fig:rotating_iff_bode_plot_effect_rot}. + +As was expected from the derived equations of motion: +\begin{itemize} +\item when \(0 < \Omega < \omega_0\): the low frequency gain is no longer zero and two (non-minimum phase) real zero appears at low frequency. +The low frequency gain increases with \(\Omega\). +A pair of (minimum phase) complex conjugate zeros appears between the two complex conjugate poles that are split further apart as \(\Omega\) increases. +\item when \(\omega_0 < \Omega\): the low frequency pole becomes unstable. +\end{itemize} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_bode_plot_effect_rot.png} +\caption{\label{fig:rotating_iff_bode_plot_effect_rot}Bode plot of the direct and coupling term for Integral Force Feedback - Effect of rotation} +\end{figure} + +\section{Decentralized Integral Force Feedback} +\label{sec:orge2c5479} +The control diagram for decentralized Integral Force Feedback is shown in Figure \ref{fig:rotating_iff_diagram}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_diagram.png} +\caption{\label{fig:rotating_iff_diagram}Control diagram for decentralized Integral Force Feedback} +\end{figure} + +The decentralized IFF controller \(\bm{K}_F\) corresponds to a diagonal controller with integrators: +\begin{equation} +\label{eq:Kf_pure_int} +\begin{aligned} + \mathbf{K}_{F}(s) &= \begin{bmatrix} K_{F}(s) & 0 \\ 0 & K_{F}(s) \end{bmatrix} \\ + K_{F}(s) &= g \cdot \frac{1}{s} +\end{aligned} +\end{equation} + +In order to see how the IFF controller affects the poles of the closed loop system, a Root Locus plot (Figure \ref{fig:rotating_root_locus_iff_pure_int}) is constructed as follows: the poles of the closed-loop system are drawn in the complex plane as the controller gain \(g\) varies from \(0\) to \(\infty\) for the two controllers \(K_{F}\) simultaneously. +As explained in \cite{preumont08_trans_zeros_struc_contr_with,skogestad07_multiv_feedb_contr}, the closed-loop poles start at the open-loop poles (shown by \(\tikz[baseline=-0.6ex] \node[cross out, draw=black, minimum size=1ex, line width=2pt, inner sep=0pt, outer sep=0pt] at (0, 0){};\)) for \(g = 0\) and coincide with the transmission zeros (shown by \(\tikz[baseline=-0.6ex] \draw[line width=2pt, inner sep=0pt, outer sep=0pt] (0,0) circle[radius=3pt];\)) as \(g \to \infty\). + +\begin{important} +Whereas collocated IFF is usually associated with unconditional stability \cite{preumont91_activ}, this property is lost due to gyroscopic effects as soon as the rotation velocity in non-null. +This can be seen in the Root Locus plot (Figure \ref{fig:rotating_root_locus_iff_pure_int}) where poles corresponding to the controller are bound to the right half plane implying closed-loop system instability. +\end{important} + +Physically, this can be explained like so: at low frequency, the loop gain is very large due to the pure integrator in \(K_{F}\) and the finite gain of the plant (Figure \ref{fig:rotating_iff_bode_plot_effect_rot}). +The control system is thus canceling the spring forces which makes the suspended platform no able to hold the payload against centrifugal forces, hence the instability. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_root_locus_iff_pure_int.png} +\caption{\label{fig:rotating_root_locus_iff_pure_int}Root Locus for the Decentralized Integral Force Feedback controller. Several rotating speed are shown.} +\end{figure} + +\chapter{Integral Force Feedback with an High Pass Filter} +\label{sec:orgfb40773} +\label{sec:rotating_iff_pseudo_int} +As was explained in the previous section, the instability of the IFF controller applied on the rotating system comes in part from the high gain at low frequency caused by the pure integrators. + +In order to limit the low frequency controller gain, an High Pass Filter (HPF) can be added to the controller as shown in equation \eqref{eq:iff_lhf}. + +\begin{equation} +\label{eq:iff_lhf} + \boxed{K_{F}(s) = g \cdot \frac{1}{s} \cdot \underbrace{\frac{s/\omega_i}{1 + s/\omega_i}}_{\text{HPF}} = g \cdot \frac{1}{s + \omega_i}} +\end{equation} + +This is equivalent as to slightly \textbf{shifting the controller pole to the left along the real axis}. + +This modification of the IFF controller is typically done to avoid saturation associated with the pure integrator \cite{preumont91_activ,marneffe07_activ_passiv_vibrat_isolat_dampin_shunt_trans}. +This is however not why this high pass filter is added here. + +\section{Modified Integral Force Feedback Controller} +\label{sec:orgdadd42f} +The Integral Force Feedback Controller is modified such that instead of using pure integrators, pseudo integrators (i.e. low pass filters) are used: +\begin{equation} + K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\end{bmatrix} +\end{equation} +where \(\omega_i\) characterize down to which frequency the signal is integrated. + +Let's arbitrary choose the following control parameters: +\begin{minted}[]{matlab} +%% Modified IFF - parameters +g = 2; % Controller gain +wi = 0.1; % HPF Cut-Off frequency [rad/s] + +Kiff = (g/s)*eye(2); % Pure IFF +Kiff_hpf = (g/(wi+s))*eye(2); % IFF with added HPF +\end{minted} + +The loop gains (\(K_F(s)\) times the direct dynamics \(f_u/F_u\)) with and without the added HPF are shown in Figure \ref{fig:rotating_iff_modified_loop_gain}. +The effect of the added HPF limits the low frequency gain to finite values as expected. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_modified_loop_gain.png} +\caption{\label{fig:rotating_iff_modified_loop_gain}Loop gain for the IFF with pure integrator and modified IFF with added high pass filter (\(\Omega = 0.1\omega_0\))} +\end{figure} + +The Root Locus plots for the decentralized IFF with and without the HPF are displayed in Figure \ref{fig:rotating_iff_root_locus_hpf}. +With the added HPF, the poles of the closed loop system are shown to be \textbf{stable up to some value of the gain} \(g_\text{max}\) given by equation \eqref{eq:gmax_iff_hpf}. + +\begin{equation} +\label{eq:gmax_iff_hpf} + \boxed{g_{\text{max}} = \omega_i \left( \frac{{\omega_0}^2}{\Omega^2} - 1 \right)} +\end{equation} + +It is interesting to note that \(g_{\text{max}}\) also corresponds to the controller gain at which the low frequency loop gain (Figure \ref{fig:rotating_iff_modified_loop_gain}) reaches one. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_root_locus_hpf.png} +\caption{\label{fig:rotating_iff_root_locus_hpf}Root Locus for the initial IFF and the modified IFF} +\end{figure} + +\section{Optimal IFF with HPF parameters \(\omega_i\) and \(g\)} +\label{sec:org021fb11} +Two parameters can be tuned for the modified controller in equation \eqref{eq:iff_lhf}: the gain \(g\) and the pole's location \(\omega_i\). +The optimal values of \(\omega_i\) and \(g\) are here considered as the values for which the damping of all the closed-loop poles are simultaneously maximized. + +In order to visualize how \(\omega_i\) does affect the attainable damping, the Root Locus plots for several \(\omega_i\) are displayed in Figure \ref{fig:rotating_root_locus_iff_modified_effect_wi}. +It is shown that even though small \(\omega_i\) seem to allow more damping to be added to the suspension modes, the control gain \(g\) may be limited to small values due to equation \eqref{eq:gmax_iff_hpf}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_root_locus_iff_modified_effect_wi.png} +\caption{\label{fig:rotating_root_locus_iff_modified_effect_wi}Root Locus for several high pass filter cut-off frequency} +\end{figure} + +In order to study this trade off, the attainable closed-loop damping ratio \(\xi_{\text{cl}}\) is computed as a function of \(\omega_i/\omega_0\). +The gain \(g_{\text{opt}}\) at which this maximum damping is obtained is also displayed and compared with the gain \(g_{\text{max}}\) at which the system becomes unstable (Figure \ref{fig:rotating_iff_hpf_optimal_gain}). + +Three regions can be observed: +\begin{itemize} +\item \(\omega_i/\omega_0 < 0.02\): the added damping is limited by the maximum allowed control gain \(g_{\text{max}}\) +\item \(0.02 < \omega_i/\omega_0 < 0.2\): the attainable damping ratio is maximized and is reached for \(g \approx 2\) +\item \(0.2 < \omega_i/\omega_0\): the added damping decreases as \(\omega_i/\omega_0\) increases. +\end{itemize} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_hpf_optimal_gain.png} +\caption{\label{fig:rotating_iff_hpf_optimal_gain}Attainable damping ratio \(\xi_\text{cl}\) as a function of \(\omega_i/\omega_0\). Corresponding control gain \(g_\text{opt}\) and \(g_\text{max}\) are also shown} +\end{figure} + +\section{Obtained Damped Plant} +\label{sec:orgb6771f0} + +Let's choose \(\omega_i = 0.1 \cdot \omega_0\) and compute the damped plant. +The undamped and damped plants are compared in Figure \ref{fig:rotating_iff_hpf_damped_plant} in blue and red respectively. +A well damped plant is indeed obtained. + +However, the magnitude of the coupling term (\(d_v/F_u\)) is larger then IFF is applied. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_hpf_damped_plant.png} +\caption{\label{fig:rotating_iff_hpf_damped_plant}Damped plant with IFF and added HPF - Transfer function from \(F_u\) to \(d_u\), \(\omega_i = 0.1 \cdot \omega_0\), \(\Omega = 0.1 \cdot \omega_0\)} +\end{figure} + +In order to study how \(\omega_i\) affects the coupling of the damped plant, the closed-loop plant is identified for several \(\omega_i\). +The direct and coupling terms of the plants are shown in Figure \ref{fig:rotating_iff_hpf_damped_plant_effect_wi_coupling} (left) and the ratio between the two (i.e. the coupling ratio) is shown in Figure \ref{fig:rotating_iff_hpf_damped_plant_effect_wi_coupling} (right). + +The coupling ratio is decreasing as \(\omega_i\) increases. +There is therefore a \textbf{trade-off between achievable damping and coupling ratio} for the choice of \(\omega_i\). +The same trade-off can be seen between achievable damping and loss of compliance at low frequency (see Figure \ref{fig:rotating_iff_hpf_effect_wi_compliance}). + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_hpf_damped_plant_effect_wi_coupling.png} +\caption{\label{fig:rotating_iff_hpf_damped_plant_effect_wi_coupling}Effect of \(\omega_i\) on the damped plant coupling} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_hpf_effect_wi_compliance.png} +\caption{\label{fig:rotating_iff_hpf_effect_wi_compliance}Effect of \(\omega_i\) on the obtained compliance} +\end{figure} + +\chapter{IFF with a stiffness in parallel with the force sensor} +\label{sec:org5641ff7} +\label{sec:rotating_iff_parallel_stiffness} +In this section it is proposed to add springs in parallel with the force sensors to counteract the negative stiffness induced by the gyroscopic effects. + +Such springs are schematically shown in Figure \ref{fig:rotating_3dof_model_schematic_iff_parallel_springs} where \(k_a\) is the stiffness of the actuator and \(k_p\) the added stiffness in parallel with the actuator and force sensor. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_3dof_model_schematic_iff_parallel_springs.png} +\caption{\label{fig:rotating_3dof_model_schematic_iff_parallel_springs}Studied system with additional springs in parallel with the actuators and force sensors (shown in red)} +\end{figure} + +\section{Equations} +\label{sec:org3a4d6b3} +The forces measured by the two force sensors represented in Figure \ref{fig:rotating_3dof_model_schematic_iff_parallel_springs} are described by Eq. \eqref{eq:measured_force_kp}. + +\begin{equation} +\label{eq:measured_force_kp} + \begin{bmatrix} f_{u} \\ f_{v} \end{bmatrix} = + \begin{bmatrix} F_u \\ F_v \end{bmatrix} - (c s + k_a) + \begin{bmatrix} d_u \\ d_v \end{bmatrix} +\end{equation} + +In order to keep the overall stiffness \(k = k_a + k_p\) constant, thus not modifying the open-loop poles as \(k_p\) is changed, a scalar parameter \(\alpha\) (\(0 \le \alpha < 1\)) is defined to describe the fraction of the total stiffness in parallel with the actuator and force sensor as in Eq. \eqref{eq:kp_alpha}. + +\begin{equation} +\label{eq:kp_alpha} + k_p = \alpha k, \quad k_a = (1 - \alpha) k +\end{equation} + +After the equations of motion derived and transformed in the Laplace domain, the transfer function matrix \(\mathbf{G}_k\) in Eq. \eqref{eq:Gk_mimo_tf} is computed. +Its elements are shown in Eq. \eqref{eq:Gk_diag} and \eqref{eq:Gk_off_diag}. + +\begin{equation} +\label{eq:Gk_mimo_tf} + \begin{bmatrix} f_u \\ f_v \end{bmatrix} = + \mathbf{G}_k + \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +\begin{subequations} +\label{eq:Gk} +\begin{align} +\mathbf{G}_{k}(1,1) &= \mathbf{G}_{k}(2,2) = \frac{\big( \frac{s^2}{{\omega_0}^2} - \frac{\Omega^2}{{\omega_0}^2} + \alpha \big) \big( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \big) + \big( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \big)^2}{\big( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \big)^2 + \big( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \big)^2} \label{eq:Gk_diag} \\ +\mathbf{G}_{k}(1,2) &= -\mathbf{G}_{k}(2,1) = \frac{- \left( 2 \xi \frac{s}{\omega_0} + 1 - \alpha \right) \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \label{eq:Gk_off_diag} +\end{align} +\end{subequations} + +Comparing \(\mathbf{G}_k\) in Eq. \eqref{eq:Gk} with \(\mathbf{G}_f\) in Eq. \eqref{eq:Gf} shows that while the poles of the system are kept the same, the zeros of the diagonal terms have changed. +The two real zeros \(z_r\) in Eq. \eqref{eq:iff_zero_real} that were inducing a non-minimum phase behavior are transformed into two complex conjugate zeros if the condition in Eq. \eqref{eq:kp_cond_cc_zeros} holds. + +\begin{equation} +\label{eq:kp_cond_cc_zeros} + \boxed{\alpha > \frac{\Omega^2}{{\omega_0}^2} \quad \Leftrightarrow \quad k_p > m \Omega^2} +\end{equation} + +\begin{important} +Thus, if the added \textbf{parallel stiffness} \(k_p\) is \textbf{higher than the negative stiffness induced by centrifugal forces} \(m \Omega^2\), the dynamics from actuator to its collocated force sensor will show minimum phase behavior. +\end{important} + +\section{Effect of the parallel stiffness on the IFF plant} +\label{sec:org7a5fe58} +The IFF plant (transfer function from \([F_u, F_v]\) to \([f_u, f_v]\)) is identified in three different cases: +\begin{itemize} +\item without parallel stiffness \(k_p = 0\) +\item with a small parallel stiffness \(k_p < m \Omega^2\) +\item with a large parallel stiffness \(k_p > m \Omega^2\) +\end{itemize} + +The Bode plots of the obtained dynamics are shown in Figure \ref{fig:rotating_iff_effect_kp}. +One can see that for \(k_p > m \Omega^2\), the two real zeros with \(k_p < m \Omega^2\) are transformed into two complex conjugate zeros and the systems shows alternating complex conjugate poles and zeros. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_effect_kp.png} +\caption{\label{fig:rotating_iff_effect_kp}Effect of the parallel stiffness on the IFF plant: Bode plot of \(G_{k}(1,1) = f_u/F_u\) without parallel spring, with parallel spring stiffness \(k_p < m \Omega^2\) and \(k_p > m \Omega^2\), \(\Omega = 0.1 \omega_0\)} +\end{figure} + +Figure \ref{fig:rotating_iff_kp_root_locus} shows the Root Locus plots for \(k_p = 0\), \(k_p < m \Omega^2\) and \(k_p > m \Omega^2\) when \(K_F\) is a pure integrator as in Eq. \eqref{eq:Kf_pure_int}. +It is shown that if the added stiffness is higher than the maximum negative stiffness, the poles of the closed-loop system are bounded on the (stable) left half-plane, and hence the \textbf{unconditional stability of IFF is recovered}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_root_locus.png} +\caption{\label{fig:rotating_iff_kp_root_locus}Root Locus for IFF without parallel spring, with small parallel spring and with large parallel spring} +\end{figure} + +\section{Effect of \(k_p\) on the attainable damping} +\label{sec:orgaa16b8e} + +Even though the parallel stiffness \(k_p\) has no impact on the open-loop poles (as the overall stiffness \(k\) is kept constant), it has a large impact on the transmission zeros. +Moreover, as the attainable damping is generally proportional to the distance between poles and zeros \cite{preumont18_vibrat_contr_activ_struc_fourt_edition}, the parallel stiffness \(k_p\) is foreseen to have some impact on the attainable damping. + +To study this effect, Root Locus plots for several parallel stiffnesses \(k_p > m \Omega^2\) are shown in Figure \ref{fig:rotating_iff_kp_root_locus_effect_kp}. +The frequencies of the transmission zeros of the system are increasing with an increase of the parallel stiffness \(k_p\) (thus getting closer to the poles) and the associated attainable damping is reduced. + +\begin{important} +Therefore, even though the parallel stiffness \(k_p\) should be larger than \(m \Omega^2\) for stability reasons, it should not be taken too large as this would limit the attainable damping. +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_root_locus_effect_kp.png} +\caption{\label{fig:rotating_iff_kp_root_locus_effect_kp}Root Locus: Effect of the parallel stiffness on the attainable damping, \(\Omega = 0.1 \omega_0\)} +\end{figure} + +This is confirmed by the Figure \ref{fig:rotating_iff_kp_optimal_gain} where the attainable closed-loop damping ratio \(\xi_{\text{cl}}\) and the associated optimal control gain \(g_\text{opt}\) are computed as a function of the parallel stiffness. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_optimal_gain.png} +\caption{\label{fig:rotating_iff_kp_optimal_gain}Attainable damping ratio \(\xi_\text{cl}\) as a function of the parallel stiffness \(k_p\). Corresponding control gain \(g_\text{opt}\) is also shown. Values for \(k_p < m\Omega^2\) are not shown as the system is unstable.} +\end{figure} + +\section{Damped plant} +\label{sec:org3b9852c} +Let's choose a parallel stiffness equal to \(k_p = 2 m \Omega^2\) and compute the damped plant. +The damped and undamped transfer functions from \(F_u\) to \(d_u\) are compared in Figure \ref{fig:rotating_iff_kp_damped_plant}. + +Even though the two resonances are well damped, the IFF changes the low frequency behavior of the plant which is usually not wanted. +This is due to the fact that ``pure'' integrators are used, and that the low frequency loop gains becomes large below some frequency. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_damped_plant.png} +\caption{\label{fig:rotating_iff_kp_damped_plant}Damped plant with IFF - Transfer function from \(F_u\) to \(d_u\)} +\end{figure} + +In order to lower the low frequency gain, an high pass filter is added to the IFF controller (which is equivalent as shifting the controller pole to the left in the complex plane): +\begin{equation} + K_{\text{IFF}}(s) = g\frac{1}{\omega_i + s} \begin{bmatrix} + 1 & 0 \\ + 0 & 1 +\end{bmatrix} +\end{equation} + +Let's see how the high pass filter impacts the attainable damping. +The controller gain \(g\) is kept constant while \(\omega_i\) is changed, and the minimum damping ratio of the damped plant is computed. +The obtained damping ratio as a function of \(\omega_i/\omega_0\) (where \(\omega_0\) is the resonance of the system without rotation) is shown in Figure \ref{fig:rotating_iff_kp_added_hpf_effect_damping}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_added_hpf_effect_damping.png} +\caption{\label{fig:rotating_iff_kp_added_hpf_effect_damping}Effect of the high pass filter cut-off frequency on the obtained damping} +\end{figure} + +Let's choose \(\omega_i = 0.1 \cdot \omega_0\) and compute the damped plant again. +The Bode plots of the undamped, damped with ``pure'' IFF, and with added high pass filters are shown in Figure \ref{fig:rotating_iff_kp_added_hpf_damped_plant}. +The added high pass filter gives almost the same damping properties while giving acceptable low frequency behavior. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_added_hpf_damped_plant.png} +\caption{\label{fig:rotating_iff_kp_added_hpf_damped_plant}Damped plant with IFF - Transfer function from \(F_u\) to \(d_u\)} +\end{figure} + +\chapter{Relative Damping Control} +\label{sec:orgd8405fb} +\label{sec:rotating_relative_damp_control} +In order to apply a ``relative damping control strategy'', relative motion sensors are added in parallel with the actuators as shown in Figure \ref{fig:rotating_3dof_model_schematic_rdc}. + +Two controllers \(K_d\) are used to fed back the relative motion to the actuator. +\(K_d\) is a derivator: +\begin{equation} +K_d(s) = s +\end{equation} + +To be implemented in practice, it is usually replaced by a an high pass filter: +\begin{equation} +K_d(s) = \frac{s}{s + \omega_d} +\end{equation} + + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_3dof_model_schematic_rdc.png} +\caption{\label{fig:rotating_3dof_model_schematic_rdc}System with relative motion sensor and decentralized ``relative damping control'' applied.} +\end{figure} + +\section{Equations of motion} +\label{sec:org5975c6a} +Let's note \(\bm{G}_d\) the transfer function between actuator forces and measured relative motion in parallel with the actuators: +\begin{equation} + \begin{bmatrix} d_u \\ d_v \end{bmatrix} = \mathbf{G}_d \begin{bmatrix} F_u \\ F_v \end{bmatrix} +\end{equation} + +With: +\begin{subequations} + \begin{align} + \mathbf{G}_{d}(1,1) &= \mathbf{G}_{d}(2,2) = \frac{\frac{1}{k} \left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} \\ + \mathbf{G}_{d}(1,2) &= -\mathbf{G}_{d}(2,1) = \frac{\frac{1}{k} \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)}{\left( \frac{s^2}{{\omega_0}^2} + 2 \xi \frac{s}{\omega_0} + 1 - \frac{{\Omega}^2}{{\omega_0}^2} \right)^2 + \left( 2 \frac{\Omega}{\omega_0} \frac{s}{\omega_0} \right)^2} + \end{align} +\end{subequations} + +Neglecting the damping for simplicity (\(\xi \ll 1\)), the direct terms have two complex conjugate zeros: +\begin{equation} + z = \pm j \sqrt{\omega_0^2 - \omega^2} +\end{equation} + +Which are between the two pairs of complex conjugate poles at: +\begin{align} + p_1 &= \pm j (\omega_0 - \omega) \\ + p_2 &= \pm j (\omega_0 + \omega) +\end{align} + +Therefore, for \(\Omega < \sqrt{k/m}\) (i.e. stable system), the transfer functions for Relative Damping Control have \textbf{alternating complex conjugate poles and zeros}. + +\section{Decentralized Relative Damping Control} +\label{sec:orgd96d997} +The transfer functions from \([F_u,\ F_v]\) to \([d_u,\ d_v]\) is identified and shown in Figure \ref{fig:rotating_rdc_plant_effect_rot} for several rotating velocities. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_rdc_plant_effect_rot.png} +\caption{\label{fig:rotating_rdc_plant_effect_rot}Bode plot of the direct and coupling term for the ``relative damping control'' plant - Effect of rotation} +\end{figure} + +In order to see if large damping can be added with Relative Damping Control, the root locus is computed (Figure \ref{fig:rotating_rdc_root_locus}). +The closed-loop system is unconditionally stable and the poles can be damped as much as wanted. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_rdc_root_locus.png} +\caption{\label{fig:rotating_rdc_root_locus}Root Locus for Relative Damping Control} +\end{figure} + +\section{Damped Plant} +\label{sec:org4b65581} +Let's select a reasonable ``Relative Damping Control'' gain, and compute the closed-loop damped system. +The open-loop and damped plants are compared in Figure \ref{fig:rotating_rdc_damped_plant}. + +The rotating aspect does not add any complexity for the use of Relative Damping Control. +It does not increase the low frequency coupling as compared to Integral Force Feedback. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_rdc_damped_plant.png} +\caption{\label{fig:rotating_rdc_damped_plant}Damped plant using Relative Damping Control} +\end{figure} + +\chapter{Comparison of Active Damping Techniques} +\label{sec:orgb99bbdc} +\label{sec:rotating_comp_act_damp} +These two proposed IFF modifications as well as relative damping control are now compared in terms of added damping and closed-loop behavior. + +For the following comparisons, the cut-off frequency for the added HPF is set to \(\omega_i = 0.1 \omega_0\) and the stiffness of the parallel springs is set to \(k_p = 5 m \Omega^2\) (corresponding to \(\alpha = 0.05\)). +These values are chosen based on previous discussion about optimal parameters. + +\section{Root Locus} +\label{sec:orga1f0863} + +Figure \ref{fig:rotating_comp_techniques_root_locus} shows the Root Locus plots for the two proposed IFF modifications as well as for relative damping control. +While the two pairs of complex conjugate open-loop poles are identical for both IFF modifications, the transmission zeros are not. +This means that the closed-loop behavior of both systems will differ when large control gains are used. + +One can observe that the closed loop poles corresponding to the system with added springs (in red) are bounded to the left half plane implying unconditional stability. +This is not the case for the system where the controller is augmented with an HPF (in blue). + +It is interesting to note that the maximum added damping is very similar for both techniques. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_comp_techniques_root_locus.png} +\caption{\label{fig:rotating_comp_techniques_root_locus}Comparison of active damping techniques for rotating platform - Root Locus} +\end{figure} + +\section{Obtained Damped Plant} +\label{sec:org9f20150} +The actively damped plants are computed for the three techniques and compared in Figure \ref{fig:rotating_comp_techniques_dampled_plants}. + +\begin{important} +It is shown that while the diagonal (direct) terms of the damped plants are similar for the three active damping techniques, of off-diagonal (coupling) terms are not. +Integral Force Feedback strategy is adding some coupling at low frequency which may negatively impact the positioning performances. +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_comp_techniques_dampled_plants.png} +\caption{\label{fig:rotating_comp_techniques_dampled_plants}Comparison of the damped plants obtained with the three active damping techniques} +\end{figure} + + +\section{Transmissibility And Compliance} +\label{sec:orgdf971c5} +The proposed active damping techniques are now compared in terms of closed-loop transmissibility and compliance. + +The transmissibility is here defined as the transfer function from a displacement of the rotating stage along \(\vec{i}_x\) to the displacement of the payload along the same direction. +It is used to characterize how much vibration is transmitted through the suspended platform to the payload. + +The compliance describes the displacement response of the payload to external forces applied to it. +This is a useful metric when disturbances are directly applied to the payload. +It is here defined as the transfer function from external forces applied on the payload along \(\vec{i}_x\) to the displacement of the payload along the same direction. + +Very similar results are obtained for the two proposed IFF modifications in terms of transmissibility and compliance (Figure \ref{fig:rotating_comp_techniques_transmissibility_compliance}). + +\begin{important} +Using IFF degrades the compliance at low frequency while using relative damping control degrades the transmissibility at high frequency. +This is very well known characteristics of these common active damping techniques that holds when applied to rotating platforms. +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_comp_techniques_transmissibility_compliance.png} +\caption{\label{fig:rotating_comp_techniques_transmissibility_compliance}Comparison of the obtained transmissibilty and compliance for the three tested active damping techniques} +\end{figure} + +\chapter{Rotating Nano-Hexapod} +\label{sec:org69b6cd1} +\label{sec:rotating_nano_hexapod} +The current analysis is now applied on a model representing the rotating nano-hexapod. + +Three nano-hexapod stiffnesses are tested: \(k_n = \SI{0.01}{\N\per\mu\m}\), \(k_n = \SI{1}{\N\per\mu\m}\) and \(k_n = \SI{100}{\N\per\mu\m}\). + +Only the maximum rotating velocity is considered (\(\Omega = \SI{60}{rpm}\)) with the light sample (\(m_s = \SI{1}{kg}\)) as this is the worst identified case scenario. +\section{Nano-Active-Stabilization-System - Plant Dynamics} +\label{sec:org83bcdf5} +For the NASS, the maximum rotating velocity is \(\Omega = \SI[parse-numbers=false]{2\pi}{\radian\per\s}\) for a suspended mass on top of the nano-hexapod's actuators equal to \(m_n + m_s = \SI{16}{\kilo\gram}\). +The parallel stiffness corresponding to the centrifugal forces is \(m \Omega^2 \approx \SI{0.6}{\newton\per\mm}\). + +The transfer functions from nano-hexapod actuator force \(F_u\) to the displacement of the nano-hexapod in the same direction \(d_u\) as well as in the orthogonal direction \(d_v\) (coupling) are shown in Figure \ref{fig:rotating_nano_hexapod_dynamics} for all three considered nano-hexapod stiffnesses. + +\begin{important} +It is shown that the rotation has the largest effect on the soft nano-hexapod: +\begin{itemize} +\item larger coupling (the ratio of the coupling term to the direct term is larger for the sort nano-hexapod) +\item larger shift of poles as a function of the rotating velocity +\end{itemize} +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nano_hexapod_dynamics.png} +\caption{\label{fig:rotating_nano_hexapod_dynamics}Effect of rotation on the nano-hexapod dynamics - Dashed lines are the plants without rotation, solid lines are plants at maximum rotating velocity, and shaded lines are coupling terms at maximum rotating velocity} +\end{figure} + +\section{Optimal IFF with High Pass Filter} +\label{sec:org12ad94d} +Let's apply Integral Force Feedback with an added High Pass Filter to the three nano-hexapods. + +First, let's find the parameters of the IFF controller that yield best simultaneous damping. +The results are shown in Figure \ref{fig:rotating_iff_hpf_nass_optimal_gain}. +The added damping for the soft nano-hexapod is quite low and is limited by the maximum usable gain. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_hpf_nass_optimal_gain.png} +\caption{\label{fig:rotating_iff_hpf_nass_optimal_gain}Optimal high pass filter cut-off frequency \(\omega_i\) that yields maximum simultaneous damping} +\end{figure} + +The IFF parameters are chosen as follow: +\begin{itemize} +\item for \(k_n = \SI{0.01}{\N\per\mu\m}\): \(\omega_i\) is chosen such that the maximum damping is achieved while the gain is less than half of the maximum gain at which the system is unstable. +This is done to have some control robustness. +\item for \(k_n = \SI{1}{\N\per\mu\m}\) and \(k_n = \SI{100}{\N\per\mu\m}\): the largest \(\omega_i\) is chosen such that obtained damping is \(\SI{95}{\percent}\) of the maximum achievable damping. +Large \(\omega_i\) is chosen here to limit the loss of compliance and the increase of coupling at low frequency as was shown in Section \ref{sec:rotating_iff_pseudo_int}. +\end{itemize} + +The obtained IFF parameters and the achievable damping are summarized in Table \ref{tab:iff_hpf_opt_iff_hpf_params_nass}. + +\begin{table}[htbp] +\caption{\label{tab:iff_hpf_opt_iff_hpf_params_nass}Obtained optimal parameters for the modified IFF controller} +\centering +\begin{tabularx}{0.5\linewidth}{lXXX} +\toprule + & \(\omega_i\) & \(g\) & \(\xi\)\\ +\midrule +\(k_n = 0.01\,N/\mu m\) & 7.32 & 51.13 & 0.45\\ +\(k_n = 1\,N/\mu m\) & 39.17 & 426.95 & 0.93\\ +\(k_n = 100\,N/\mu m\) & 499.45 & 3774.63 & 0.94\\ +\bottomrule +\end{tabularx} +\end{table} + +The Root Locus for all three nano-hexapods are shown in Figure \ref{fig:rotating_root_locus_iff_hpf_nass} with included optimal chosen gains. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_root_locus_iff_hpf_nass.png} +\caption{\label{fig:rotating_root_locus_iff_hpf_nass}Root Locus for modified IFF with high pass filter. Optimal \(\omega_i\) is used. The three nano-hexapod stiffnesses are compared. The grey line indicates the minimum damping obtained with the optimal chosen control parameters.} +\end{figure} + +\section{Optimal IFF with Parallel Stiffness} +\label{sec:org1fa3213} +For each considered nano-hexapod stiffness, the parallel stiffness \(k_p\) is varied from \(k_{p,\text{min}} = m\Omega^2\) (the minimum stiffness to have unconditional stability) to \(k_{p,\text{max}} = k_n\) (the total nano-hexapod stiffness). +In order to keep the overall stiffness constant, the actuator stiffness \(k_a\) is decreased when \(k_p\) is increased: +\begin{equation} +k_a = k_n - k_p +\end{equation} +With \(k_n\) the total nano-hexapod stiffness. + +An high pass filter is also added to limit the low frequency gain. +The cut-off frequency \(\omega_i\) is chosen to be one tenth of the system resonance: +\begin{equation} +\omega_i = \omega_0/10 +\end{equation} + +The achievable maximum simultaneous damping of all the modes is computed as a function of the parallel stiffnesses. +The comparison for the nano-hexapod stiffnesses is done in Figure \ref{fig:rotating_iff_kp_nass_optimal_gain}. +It is shown that \textbf{the soft nano-hexapod cannot yield good damping}. +For the two stiff options, the achievable damping starts to significantly decrease when the parallel stiffness is one tenth of the total stiffness \(k_p = k_n/10\). + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_iff_kp_nass_optimal_gain.png} +\caption{\label{fig:rotating_iff_kp_nass_optimal_gain}Maximum achievable simultaneous damping with IFF as a function of the parallel stiffness for all three nano-hexapod stiffnesses} +\end{figure} + +Let's choose \(k_p = \SI{e3}{\newton\per\m}\), \(k_p = \SI{e4}{\newton\per\m}\) and \(k_p = \SI{e6}{\newton\per\m}\) for the three considered nano-hexapods respectively based on Figure \ref{fig:rotating_iff_kp_nass_optimal_gain}. + +The corresponding optimal controller gains are shown in Table \ref{tab:iff_kp_opt_iff_kp_params_nass}. + +\begin{table}[htbp] +\caption{\label{tab:iff_kp_opt_iff_kp_params_nass}Obtained optimal parameters for the modified IFF controller} +\centering +\begin{tabularx}{0.4\linewidth}{lXX} +\toprule + & \(g\) & \(\xi_{\text{opt}}\)\\ +\midrule +\(k_n = 0.01\,N/\mu m\) & 47.9 & 0.44\\ +\(k_n = 1\,N/\mu m\) & 465.57 & 0.97\\ +\(k_n = 100\,N/\mu m\) & 4624.25 & 1.0\\ +\bottomrule +\end{tabularx} +\end{table} + +The root locus for the three nano-hexapod with parallel stiffnesses are shown in Figure \ref{fig:rotating_root_locus_iff_kp_nass}. + +\begin{important} +Similarly to what was found with the IFF and added High Pass Filter: +\begin{itemize} +\item the stiff nano-hexapod is less affected by the rotation than the soft one +\item the achievable damping is much larger with the stiff nano-hexapods +\end{itemize} +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_root_locus_iff_kp_nass.png} +\caption{\label{fig:rotating_root_locus_iff_kp_nass}Root Locus for optimal parameters (IFF + \(k_p\) strategy) - Comparison of attainable damping with the three nano-hexapod stiffnesses} +\end{figure} + +\section{Optimal Relative Motion Control} +\label{sec:org7b55b79} + +For each considered nano-hexapod stiffness, relative damping control is applied and the achievable damping ratio as a function of the controller gain is shown in Figure \ref{fig:rotating_rdc_optimal_gain}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_rdc_optimal_gain.png} +\caption{\label{fig:rotating_rdc_optimal_gain}Achievable simultaneous damping with ``Relative Damping Control'' as a function of the controller gain for all three nano-hexapod stiffnesses} +\end{figure} + +The gain is chosen is chosen such that 99\% of modal damping is obtained. +The root locus for all three nano-hexapod stiffnesses are shown in Figure \ref{fig:rotating_root_locus_rdc_nass}. + +\begin{important} +Relative damping control is much less impacted by gyroscopic effects. +It can be easily applied on the nano-hexapod with and without rotation without much differences. +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_root_locus_rdc_nass.png} +\caption{\label{fig:rotating_root_locus_rdc_nass}Root Locus for optimal parameters - Comparison of attainable damping with the soft and moderately stiff nano-hexapods} +\end{figure} + +\section{Comparison of the obtained damped plants} +\label{sec:orgb53c4fc} +Let's now compare the obtained damped plants for the three active damping techniques applied on the three nano-hexapod stiffnesses (Figure \ref{fig:rotating_nass_damped_plant_comp}). + +\begin{important} +Similarly to what was concluded in previous analysis: +\begin{itemize} +\item IFF adds coupling below the resonance frequency as compared to the open-loop and RDC cases +\item Add three methods are yielding good damping, except for IFF applied on the soft nano-hexapod where things are more complicated +\item Coupling is smaller for stiff nano-hexapods +\end{itemize} +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_damped_plant_comp.png} +\caption{\label{fig:rotating_nass_damped_plant_comp}Comparison of the damped plants (direct and coupling terms) for the three proposed active damping techniques (IFF with HPF, IFF with \(k_p\) and RDC) applied on the three nano-hexapod stiffnesses. \(\Omega = 60\,\text{rmp}\) and \(m_n + m_s = \SI{16}{\kg}\).} +\end{figure} + +\chapter{Nano-Active-Stabilization-System with rotation} +\label{sec:orga4c7572} +\label{sec:rotating_nass} +Up until now, the model used consisted of an infinitely stiff vertical rotating stage with a X-Y suspended stage. + +While quite simplistic, this allowed to study the effects of rotation and the associated limitations when active damping is to be applied. + +In this section, the limited compliance of the micro-station is taken into account as well as the rotation of the spindle. +\section{NASS model} +\label{sec:org9bfd222} + +In order to be a bit closer to the NASS application, the 2DoF nano-hexapod (modelled as shown in Figure \ref{fig:rotating_3dof_model_schematic}) is now located on top of a model of the micro-station including (see Figure \ref{fig:rotating_nass_model} for a 3D view): +\begin{itemize} +\item the floor whose motion is imposed +\item a 2DoF granite (\(k_{g,x} = k_{g,y} = \SI{950}{\N\per\mu\m}\), \(m_g = \SI{2500}{\kg}\)) +\item a 2DoF \(T_y\) stage (\(k_{t,x} = k_{t,y} = \SI{520}{\N\per\mu\m}\), \(m_g = \SI{600}{\kg}\)) +\item a spindle (vertical rotation) stage whose rotation is imposed (\(m_s = \SI{600}{\kg}\)) +\item a 2DoF micro-hexapod (\(k_{h,x} = k_{h,y} = \SI{61}{\N\per\mu\m}\), \(m_g = \SI{15}{\kg}\)) +\end{itemize} + +A payload is rigidly fixed to the nano-hexapod and the \(x,y\) motion of the payload is measured with respect to the granite. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_model.png} +\caption{\label{fig:rotating_nass_model}3D view of the Nano-Active-Stabilization-System model.} +\end{figure} + +\section{System dynamics} +\label{sec:org08abf57} + +The dynamics of the undamped and damped plants are identified. +The active damping parameters used are the optimal ones previously identified (i.e. for the rotating nano-hexapod fixed on a rigid platform). + +The undamped and damped plants are shown in Figure \ref{fig:rotating_nass_plant_comp_stiffness}. +Three nano-hexapod velocities are shown (from left to right): \(k_n = \SI{0.01}{\N\per\mu\m}\), \(k_n = \SI{1}{\N\per\mu\m}\) and \(k_n = \SI{100}{\N\per\mu\m}\). +The direct terms are shown by the solid curves while the coupling terms are shown by the shaded ones. + +\begin{important} +It can be observed on Figure \ref{fig:rotating_nass_plant_comp_stiffness} that: +\begin{itemize} +\item Coupling (ratio between the off-diagonal and direct terms) is larger for the soft nano-hexapod +\item Damping added by the three proposed techniques is quite high and the obtained plant is rather easy to control +\item There is some coupling between nano-hexapod and micro-station dynamics for the stiff nano-hexapod (mode at 200Hz) +\item The two proposed IFF modification yields similar results +\end{itemize} +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_plant_comp_stiffness.png} +\caption{\label{fig:rotating_nass_plant_comp_stiffness}Bode plot of the transfer function from nano-hexapod actuator to measured motion by the external metrology} +\end{figure} + +To confirm that the coupling is smaller when the stiffness of the nano-hexapod is increase, the \emph{coupling ratio} for the three nano-hexapod stiffnesses are shown in Figure \ref{fig:rotating_nass_plant_coupling_comp}. + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_plant_coupling_comp.png} +\caption{\label{fig:rotating_nass_plant_coupling_comp}Coupling ratio for the proposed active damping techniques evaluated for the three nano-hexapod stiffnesses} +\end{figure} + +\section{Effect of disturbances} +\label{sec:org9170a64} + +The effect of three disturbances are considered: +\begin{itemize} +\item Floor motion (Figure \ref{fig:rotating_nass_effect_floor_motion}) +\item Micro-Station vibrations (Figure \ref{fig:rotating_nass_effect_stage_vibration}) +\item Direct force applied on the payload (Figure \ref{fig:rotating_nass_effect_direct_forces}) +\end{itemize} + +\begin{important} +Conclusions are similar than with the uniaxial (non-rotating) model: +\begin{itemize} +\item Regarding the effect of floor motion and forces applied on the payload: +\begin{itemize} +\item The stiffer, the better (magnitudes are lower for the right curves, Figures \ref{fig:rotating_nass_effect_floor_motion} and \ref{fig:rotating_nass_effect_direct_forces}) +\item Integral Force Feedback degrades the performances at low frequency compared to relative damping control +\end{itemize} +\item Regarding the effect of micro-station vibrations: +\begin{itemize} +\item Having a soft nano-hexapod allows to filter these vibrations between the suspensions modes of the nano-hexapod and some flexible modes of the micro-station. Using relative damping control reduce this filtering (Figure \ref{fig:rotating_nass_effect_stage_vibration}, left). +\end{itemize} +\end{itemize} +\end{important} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_effect_floor_motion.png} +\caption{\label{fig:rotating_nass_effect_floor_motion}Effect of Floor motion on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_effect_stage_vibration.png} +\caption{\label{fig:rotating_nass_effect_stage_vibration}Effect of micro-station vibrations on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses} +\end{figure} + +\begin{figure}[htbp] +\centering +\includegraphics[scale=1]{figs/rotating_nass_effect_direct_forces.png} +\caption{\label{fig:rotating_nass_effect_direct_forces}Effect of sample forces on the position error - Comparison of active damping techniques for the three nano-hexapod stiffnesses} +\end{figure} + +\chapter{Conclusion} +\label{sec:orgecb53c9} + +In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a spindle model (Section \ref{sec:rotating_system_description}). +Decentralized IFF with pure integrators was shown to be unstable when applied to rotating platforms (Section \ref{sec:rotating_iff_pure_int}). +Two modifications of the classical IFF control have been proposed to overcome this issue. + +The first modification concerns the controller and consists of adding an high pass filter to the pure integrators. +This is equivalent as to moving the controller pole to the left along the real axis. +This allows the closed loop system to be stable up to some value of the controller gain (Section \ref{sec:rotating_iff_pseudo_int}). + +The second proposed modification concerns the mechanical system. +Additional springs are added in parallel with the actuators and force sensors. +It was shown that if the stiffness \(k_p\) of the additional springs is larger than the negative stiffness \(m \Omega^2\) induced by centrifugal forces, the classical decentralized IFF regains its unconditional stability property (Section \ref{sec:rotating_iff_parallel_stiffness}). + +These two modifications were compared with relative damping control in Section \ref{sec:rotating_comp_act_damp}. +While having very different implementations, both proposed modifications were found to be very similar when it comes to the attainable damping and the obtained closed loop system behavior. + +Then, this study has been applied to a rotating system that corresponds to the nano-hexapod parameters (Section \ref{sec:rotating_nano_hexapod}). +To be closer to the real system dynamics, the limited compliance of the micro-station has been taken into account. +Results show that the two proposed IFF modifications can be applied for the NASS even in the presence of spindle rotation. + +\printbibliography +\end{document} diff --git a/preamble.tex b/preamble.tex new file mode 100644 index 0000000..66b1d11 --- /dev/null +++ b/preamble.tex @@ -0,0 +1,134 @@ +\usepackage{float} +\usepackage{caption,tabularx,booktabs} + +\usepackage[ % use biblatex for bibliography + backend=biber, % use biber backend (bibtex replacement) or bibtex + style=ieee, % bib style + citestyle=numeric-comp, % + hyperref=true, % activate hyperref support + backref=true, % activate backrefs + isbn=false, % don't show isbn tags + url=false, % don't show url tags + doi=false, % don't show doi tags + urldate=long, % display type for dates + maxnames=3, % + minnames=1, % + maxbibnames=5, % + minbibnames=3, % + maxcitenames=2, % + mincitenames=1 % + ]{biblatex} + +\usepackage{fontawesome} + +\usepackage{caption} +\usepackage{subcaption} + +\captionsetup[figure]{labelfont=bf} +\captionsetup[subfigure]{labelfont=bf} +\captionsetup[listing]{labelfont=bf} +\captionsetup[table]{labelfont=bf} + 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