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Minor modifications after integration in the Thesis

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Thomas Dehaeze 2024-03-19 14:03:01 +01:00
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nass-uniaxial-model.org
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@ -92,8 +92,7 @@
(setq org-latex-subtitle-format "\\subtitle{%s}") (setq org-latex-subtitle-format "\\subtitle{%s}")
(setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing (setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing
org-ref-acronyms-before-parsing org-ref-acronyms-before-parsing))
tdh-org-ref-extract-bibtex-to-file))
#+END_SRC #+END_SRC
* Introduction :ignore: * 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). 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 #+caption: Report sections and corresponding Matlab files
#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX #+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
#+attr_latex: :center t :booktabs t #+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 #+end_important
* Conclusion * Conclusion
<<sec:conclusion>> <<sec:uniaxial_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). 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). 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. 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. 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. 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. 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: * Bibliography :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}] #+latex: \printbibliography[heading=bibintoc,title={Bibliography}]

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nass-uniaxial-model.tex
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% Created 2023-06-30 Fri 20:00 % Created 2023-07-03 Mon 17:24
% Intended LaTeX compiler: pdflatex % Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} \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}). 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. 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. 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. 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. However, the stiff nano-hexapod is the most complex to control and gives the worst positioning performance.
\printbibliography[heading=bibintoc,title={Bibliography}] \printbibliography[heading=bibintoc,title={Bibliography}]
\end{document} \end{document}