diff --git a/nass-uniaxial-model.org b/nass-uniaxial-model.org index 6a193b9..c4d7277 100644 --- a/nass-uniaxial-model.org +++ b/nass-uniaxial-model.org @@ -92,8 +92,7 @@ (setq org-latex-subtitle-format "\\subtitle{%s}") (setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing - org-ref-acronyms-before-parsing - tdh-org-ref-extract-bibtex-to-file)) + org-ref-acronyms-before-parsing)) #+END_SRC * Introduction :ignore: @@ -117,9 +116,9 @@ Once the system is well damped, a feedback position controller is applied, and t Two key effects that may limit that positioning performances are then considered: the limited micro-station compliance (Section ref:sec:uniaxial_support_compliance) and the presence of dynamics between the nano-hexapod and the sample's point of interest (Section ref:sec:uniaxial_payload_dynamics). -Conclusion remarks are given in Section ref:sec:conclusion. +Conclusion remarks are given in Section ref:sec:uniaxial_conclusion. -#+name: tab:section_matlab_code +#+name: tab:uniaxial_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 @@ -5594,21 +5593,19 @@ It will be therefore important to take special care when designing sampling envi #+end_important * Conclusion -<> +<> In this study, a uniaxial model of the nano-active-stabilization-system has been tuned both from dynamical measurements (Section ref:sec:micro_station_model) and from disturbances measurements (Section ref:sec:uniaxial_disturbances). It has been shown that three active damping techniques can be used to critically damp the nano-hexapod resonances (Section ref:sec:uniaxial_active_damping). However, this model does not allows to determine which one is most suited to this application. -Finally, position feedback controllers have been developed for three considered nano-hexapod stiffnesses. +Position feedback controllers have been developed for three considered nano-hexapod stiffnesses (Section ref:sec:uniaxial_position_control). These controllers were shown to be robust to the change of sample's masses, and to provide good rejection of disturbances. -It has been found that having a soft nano-hexapod makes the plant dynamics easier to control (because decoupled from the micro-station dynamics) and requires less position feedback bandwidth to fulfill the requirements. +It has been found that having a soft nano-hexapod makes the plant dynamics easier to control (because decoupled from the micro-station dynamics, see Section ref:sec:uniaxial_support_compliance) and requires less position feedback bandwidth to fulfill the requirements. The moderately stiff nano-hexapod ($k_n = 1\,N/\mu m$) is requiring a bit more position feedback bandwidth, but it still seems to give acceptable results. However, the stiff nano-hexapod is the most complex to control and gives the worst positioning performance. -# TODO - Add summary table of advantages and disadvantages of nano-hexapod stiffnesses - * Bibliography :ignore: #+latex: \printbibliography[heading=bibintoc,title={Bibliography}] diff --git a/nass-uniaxial-model.pdf b/nass-uniaxial-model.pdf index 86b6b4b..350fefb 100644 Binary files a/nass-uniaxial-model.pdf and b/nass-uniaxial-model.pdf differ diff --git a/nass-uniaxial-model.tex b/nass-uniaxial-model.tex index 9d789e9..d861117 100644 --- a/nass-uniaxial-model.tex +++ b/nass-uniaxial-model.tex @@ -1,4 +1,4 @@ -% Created 2023-06-30 Fri 20:00 +% Created 2023-07-03 Mon 17:24 % Intended LaTeX compiler: pdflatex \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} @@ -943,12 +943,11 @@ In this study, a uniaxial model of the nano-active-stabilization-system has been It has been shown that three active damping techniques can be used to critically damp the nano-hexapod resonances (Section \ref{sec:uniaxial_active_damping}). However, this model does not allows to determine which one is most suited to this application. -Finally, position feedback controllers have been developed for three considered nano-hexapod stiffnesses. +Position feedback controllers have been developed for three considered nano-hexapod stiffnesses (Section \ref{sec:uniaxial_position_control}). These controllers were shown to be robust to the change of sample's masses, and to provide good rejection of disturbances. -It has been found that having a soft nano-hexapod makes the plant dynamics easier to control (because decoupled from the micro-station dynamics) and requires less position feedback bandwidth to fulfill the requirements. +It has been found that having a soft nano-hexapod makes the plant dynamics easier to control (because decoupled from the micro-station dynamics, see Section \ref{sec:uniaxial_support_compliance}) and requires less position feedback bandwidth to fulfill the requirements. The moderately stiff nano-hexapod (\(k_n = 1\,N/\mu m\)) is requiring a bit more position feedback bandwidth, but it still seems to give acceptable results. However, the stiff nano-hexapod is the most complex to control and gives the worst positioning performance. - \printbibliography[heading=bibintoc,title={Bibliography}] \end{document}