Finish first version
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@ -308,16 +308,20 @@ Be able to pass custom =.mat= files (one mat file per disturbance)?
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- Maybe say that we remove the excentricity (by circle fit: show it in the figure)
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- Maybe say that we remove the excentricity (by circle fit: show it in the figure)
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- Then the rest is modelled by stochastic disturbance
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- Then the rest is modelled by stochastic disturbance
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** DONE [#C] Add picture of measured ground motion
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CLOSED: [2024-11-06 Wed 16:29]
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** DONE [#C] Add screenshot of Simscape model
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CLOSED: [2024-11-06 Wed 16:29]
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** DONE [#B] I have no measurement of horizontal ground motion :@marc:
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CLOSED: [2024-11-06 Wed 16:29]
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- State "DONE" from "WAIT" [2024-11-06 Wed 16:29]
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- Wait for Marc reply
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** TODO [#C] Add glossary
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** TODO [#C] Add glossary
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PoI | Point of interest
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PoI | Point of interest
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** TODO [#C] Add picture of measured ground motion
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** TODO [#C] Add screenshot of Simscape model
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** WAIT [#B] I have no measurement of horizontal ground motion :@marc:
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- Wait for Marc reply
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** Backup - Kinematics
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** Backup - Kinematics
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*** Micro-Station DoF table
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*** Micro-Station DoF table
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@ -1589,7 +1593,7 @@ exportFig('figs/ustation_comp_com_response_ry_z.pdf', 'width', 'third', 'height'
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** Micro-station compliance
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** Micro-station compliance
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<<ssec:ustation_model_compliance>>
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<<ssec:ustation_model_compliance>>
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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.
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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.
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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.
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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.
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The adopted strategy is therefore to accurately model the micro-station compliance.
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The adopted strategy is therefore to accurately model the micro-station compliance.
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@ -2828,13 +2832,13 @@ exportFig('figs/ustation_errors_model_dy_vertical.pdf', 'width', 'half', 'height
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:END:
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:END:
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<<sec:uniaxial_conclusion>>
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<<sec:uniaxial_conclusion>>
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In order to have good model:
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In this study, a multi-body model of the micro-station was developed.
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- kinematics
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It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station.
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- dynamics
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However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS.
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- disturbances
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After tuning the model parameters, a good match with the measured compliance was obtained (Figure ref:fig:ustation_frf_compliance_model).
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Validated with time domain simulations.
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The disturbances that affect the sample's position should also be well modelled.
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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).
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* Bibliography :ignore:
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* Bibliography :ignore:
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#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
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#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
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@ -4419,8 +4423,6 @@ end
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:END:
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:END:
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**** Documentation
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**** Documentation
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Joints are positions on a circle centered with the Z axis of {F} and {M} and at a chosen distance from {F} and {M}.
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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).
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#+begin_src latex :file stewart_bottom_plate.pdf :tangle no
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#+begin_src latex :file stewart_bottom_plate.pdf :tangle no
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\begin{tikzpicture}
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\begin{tikzpicture}
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@ -4465,11 +4467,6 @@ The radius of the circles can be chosen as well as the angles where the joints a
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\end{tikzpicture}
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\end{tikzpicture}
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#+end_src
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#+end_src
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#+name: fig:joint_position_general
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#+caption: Position of the joints
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#+RESULTS:
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[[file:figs/stewart_bottom_plate.png]]
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**** Function description
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**** Function description
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#+begin_src matlab
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#+begin_src matlab
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function [stewart] = generateGeneralConfiguration(stewart, args)
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function [stewart] = generateGeneralConfiguration(stewart, args)
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Binary file not shown.
@ -1,4 +1,4 @@
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% Created 2024-11-06 Wed 16:28
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% Created 2024-11-06 Wed 17:24
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% Intended LaTeX compiler: pdflatex
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% Intended LaTeX compiler: pdflatex
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\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
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\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
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@ -473,7 +473,7 @@ Tuning the numerous model parameters to better match the measurements is an high
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\section{Micro-station compliance}
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\section{Micro-station compliance}
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\label{ssec:ustation_model_compliance}
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\label{ssec:ustation_model_compliance}
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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.
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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.
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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.
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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.
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The adopted strategy is therefore to accurately model the micro-station compliance.
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The adopted strategy is therefore to accurately model the micro-station compliance.
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@ -821,15 +821,13 @@ Similar error amplitude can be observed, thus indicating that the multi-body mod
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\chapter*{Conclusion}
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\chapter*{Conclusion}
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\label{sec:uniaxial_conclusion}
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\label{sec:uniaxial_conclusion}
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In order to have good model:
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In this study, a multi-body model of the micro-station was developed.
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\begin{itemize}
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It was found difficult to match the measured dynamics obtained from the modal analysis of the micro-station.
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\item kinematics
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However, the most important dynamical characteristics to be modelled is the compliance, as it is what impacts the dynamics of the NASS.
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\item dynamics
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After tuning the model parameters, a good match with the measured compliance was obtained (Figure \ref{fig:ustation_frf_compliance_model}).
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\item disturbances
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\end{itemize}
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Validated with time domain simulations.
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The disturbances that affect the sample's position should also be well modelled.
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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}).
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\printbibliography[heading=bibintoc,title={Bibliography}]
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\printbibliography[heading=bibintoc,title={Bibliography}]
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\end{document}
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\end{document}
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