From 327ff6e29b360bd0649e5cf4d85ad4b2f9ec02c2 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 6 Nov 2024 17:25:26 +0100 Subject: [PATCH] Finish first version --- simscape-micro-station.org | 37 +++++++++++++++++-------------------- simscape-micro-station.pdf | Bin 8447471 -> 8441751 bytes simscape-micro-station.tex | 18 ++++++++---------- 3 files changed, 25 insertions(+), 30 deletions(-) diff --git a/simscape-micro-station.org b/simscape-micro-station.org index ccd99c3..22afec2 100644 --- a/simscape-micro-station.org +++ b/simscape-micro-station.org @@ -308,16 +308,20 @@ Be able to pass custom =.mat= files (one mat file per disturbance)? - Maybe say that we remove the excentricity (by circle fit: show it in the figure) - Then the rest is modelled by stochastic disturbance +** DONE [#C] Add picture of measured ground motion +CLOSED: [2024-11-06 Wed 16:29] +** DONE [#C] Add screenshot of Simscape model +CLOSED: [2024-11-06 Wed 16:29] +** DONE [#B] I have no measurement of horizontal ground motion :@marc: +CLOSED: [2024-11-06 Wed 16:29] + +- State "DONE" from "WAIT" [2024-11-06 Wed 16:29] +- Wait for Marc reply + ** TODO [#C] Add glossary PoI | Point of interest -** TODO [#C] Add picture of measured ground motion -** TODO [#C] Add screenshot of Simscape model -** WAIT [#B] I have no measurement of horizontal ground motion :@marc: - -- Wait for Marc reply - ** Backup - Kinematics *** Micro-Station DoF table @@ -1589,7 +1593,7 @@ exportFig('figs/ustation_comp_com_response_ry_z.pdf', 'width', 'third', 'height' ** Micro-station compliance <> -As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is hard. +As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is difficult. When considering the NASS, the most important dynamical characteristics of the micro-station is its compliance as it is what can impact the plant dynamics. The adopted strategy is therefore to accurately model the micro-station compliance. @@ -2828,13 +2832,13 @@ exportFig('figs/ustation_errors_model_dy_vertical.pdf', 'width', 'half', 'height :END: <> -In order to have good model: -- kinematics -- dynamics -- disturbances - -Validated with time domain simulations. +In this study, a multi-body model of the micro-station was developed. +It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station. +However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS. +After tuning the model parameters, a good match with the measured compliance was obtained (Figure ref:fig:ustation_frf_compliance_model). +The disturbances that affect the sample's position should also be well modelled. +After experimental estimation of the disturbances (Section ref:sec:ustation_disturbances), the multi-body model was finally validated by performing a tomography simulation (Figure ref:fig:ustation_errors_model_spindle) as well as a simulation in which the translation stage is scanned (Figure ref:fig:ustation_errors_model_dy_vertical). * Bibliography :ignore: #+latex: \printbibliography[heading=bibintoc,title={Bibliography}] @@ -4419,8 +4423,6 @@ end :END: **** Documentation -Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}. -The radius of the circles can be chosen as well as the angles where the joints are located (see Figure ref:fig:joint_position_general). #+begin_src latex :file stewart_bottom_plate.pdf :tangle no \begin{tikzpicture} @@ -4465,11 +4467,6 @@ The radius of the circles can be chosen as well as the angles where the joints a \end{tikzpicture} #+end_src -#+name: fig:joint_position_general -#+caption: Position of the joints -#+RESULTS: -[[file:figs/stewart_bottom_plate.png]] - **** Function description #+begin_src matlab function [stewart] = 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the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is hard. +As was shown in the previous section, the dynamics of the micro-station is complex and tuning the multi-body model parameters to obtain a perfect match is difficult. When considering the NASS, the most important dynamical characteristics of the micro-station is its compliance as it is what can impact the plant dynamics. The adopted strategy is therefore to accurately model the micro-station compliance. @@ -821,15 +821,13 @@ Similar error amplitude can be observed, thus indicating that the multi-body mod \chapter*{Conclusion} \label{sec:uniaxial_conclusion} -In order to have good model: -\begin{itemize} -\item kinematics -\item dynamics -\item disturbances -\end{itemize} - -Validated with time domain simulations. +In this study, a multi-body model of the micro-station was developed. +It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station. +However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS. +After tuning the model parameters, a good match with the measured compliance was obtained (Figure \ref{fig:ustation_frf_compliance_model}). +The disturbances that affect the sample's position should also be well modelled. +After experimental estimation of the disturbances (Section \ref{sec:ustation_disturbances}), the multi-body model was finally validated by performing a tomography simulation (Figure \ref{fig:ustation_errors_model_spindle}) as well as a simulation in which the translation stage is scanned (Figure \ref{fig:ustation_errors_model_dy_vertical}). \printbibliography[heading=bibintoc,title={Bibliography}] \end{document}