From 021a2744cbd702192b852f9447195ecfa4b2270d Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 19 Mar 2024 14:03:01 +0100 Subject: [PATCH] Minor modifications after integration in the Thesis --- nass-uniaxial-model.org | 15 ++++++--------- nass-uniaxial-model.pdf | Bin 5083342 -> 5083518 bytes nass-uniaxial-model.tex | 7 +++---- 3 files changed, 9 insertions(+), 13 deletions(-) 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 86b6b4b01f6871e0bd57f2ca5bba063f89818d1a..350fefbd587876b4413e5789d50bdbaed7e548f3 100644 GIT binary patch delta 38430 zcmXuqV{m0nxHjO4C$??dww+9D+va{_8#|L^f{E?y*tR{fZR5*1r@kN8s{47Wx~i)e zesuMk%5Mh${M!s(n+gkfUYe?|LD(gg45lg;qeWniDjGLPf=KcgWQC^SE7zHvn2HTz z#A&gc5Wb<~0D{tk5ZLAk`skmL!uXBX^XpK!t_z8FS*98-RAYd&-6gIKx{5cvPcIlH z0!SK$gvjb^S~^;%E+aSO!-366^45a|ztOE-S8&Tto+#TjvhKwWUjBG)QqJ%-#+RMX zNgV6WD9xyUbSSlFC|MxY!L_>(BR37@TLrPl8FuNVJAKsQT}XLF0E&6{NtPMM7dwIwths6-XZn#w<7Dd)T+1-(bJNeS-(}6e29!fHIH}W79#D zMTkSCpmRke-1Pq$OcX(}j|8IFN6u{p5(805K?i?OcwZvEBZwG?)z1e z75u;0`i54H{XdZi6pW58kM@7vGfH$5ya+`R^lup7Fu!4a!~TZz4Hu*+f;XlF^s^?Q 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