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)
- 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
<<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.
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:
<<sec:uniaxial_conclusion>>
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] = 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
\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}
\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.
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}