Finish first version

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Thomas Dehaeze 2024-11-06 17:25:26 +01:00
parent 64c072f187
commit 327ff6e29b
3 changed files with 25 additions and 30 deletions

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@ -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) - Maybe say that we remove the excentricity (by circle fit: show it in the figure)
- Then the rest is modelled by stochastic disturbance - 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 ** TODO [#C] Add glossary
PoI | Point of interest 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 ** Backup - Kinematics
*** Micro-Station DoF table *** Micro-Station DoF table
@ -1589,7 +1593,7 @@ exportFig('figs/ustation_comp_com_response_ry_z.pdf', 'width', 'third', 'height'
** Micro-station compliance ** Micro-station compliance
<<ssec:ustation_model_compliance>> <<ssec:ustation_model_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. 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. 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: :END:
<<sec:uniaxial_conclusion>> <<sec:uniaxial_conclusion>>
In order to have good model: In this study, a multi-body model of the micro-station was developed.
- kinematics It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station.
- dynamics However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS.
- disturbances After tuning the model parameters, a good match with the measured compliance was obtained (Figure ref:fig:ustation_frf_compliance_model).
Validated with time domain simulations.
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: * Bibliography :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}] #+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
@ -4419,8 +4423,6 @@ end
:END: :END:
**** Documentation **** 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_src latex :file stewart_bottom_plate.pdf :tangle no
\begin{tikzpicture} \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{tikzpicture}
#+end_src #+end_src
#+name: fig:joint_position_general
#+caption: Position of the joints
#+RESULTS:
[[file:figs/stewart_bottom_plate.png]]
**** Function description **** Function description
#+begin_src matlab #+begin_src matlab
function [stewart] = generateGeneralConfiguration(stewart, args) function [stewart] = generateGeneralConfiguration(stewart, args)

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@ -1,4 +1,4 @@
% Created 2024-11-06 Wed 16:28 % Created 2024-11-06 Wed 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}
@ -473,7 +473,7 @@ Tuning the numerous model parameters to better match the measurements is an high
\section{Micro-station compliance} \section{Micro-station compliance}
\label{ssec:ustation_model_compliance} \label{ssec:ustation_model_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. 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. 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} \chapter*{Conclusion}
\label{sec:uniaxial_conclusion} \label{sec:uniaxial_conclusion}
In order to have good model: In this study, a multi-body model of the micro-station was developed.
\begin{itemize} It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station.
\item kinematics However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS.
\item dynamics After tuning the model parameters, a good match with the measured compliance was obtained (Figure \ref{fig:ustation_frf_compliance_model}).
\item disturbances
\end{itemize}
Validated with time domain simulations.
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}] \printbibliography[heading=bibintoc,title={Bibliography}]
\end{document} \end{document}