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Thomas Dehaeze 2025-02-06 16:35:41 +01:00
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simscape-nass.org
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#+LaTeX_CLASS: scrreprt
#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]
#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
#+LATEX_HEADER: \input{preamble.tex}
#+LATEX_HEADER_EXTRA: \input{preamble_extra.tex}
#+LATEX_HEADER_EXTRA: \bibliography{simscape-nass.bib}
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@ -44,12 +45,6 @@
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
#+begin_export html
<hr>
<p>This report is also available as a <a href="./simscape-nass.pdf">pdf</a>.</p>
<hr>
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#+latex: \clearpage
* Build :noexport:
@ -96,41 +91,191 @@
#+END_SRC
* Notes :noexport:
** Notes
Prefix is =nass=
The goals of this report are:
- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]): Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_experiment.org][uncertainty_experiment]]): Effect of experimental conditions on the plant (payload mass, Ry position, Rz position, Rz velocity, etc...)
- Determination of the optimal stiffness for the hexapod actuators: [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]], [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
- Explain why HAC-LAC strategy is nice (maybe already explained earlier) ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control.org][control]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-vibration-isolation.org][hexapod - vibration isolation]])
- How to apply/optimize IFF on an hexapod? ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]])
- ([[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org][decoupling-strategies]]): Decoupling strategies for HAC?
- Validation of the concept using simulations:
- [ ] Find where this simulation in OL/CL is made
- [X] ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]): Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
- [X] ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_experiment.org][uncertainty_experiment]]): Effect of experimental conditions on the plant (payload mass, Ry position, Rz position, Rz velocity, etc...)
- [ ] Determination of the *optimal stiffness* for the hexapod actuators:
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
- [ ] [[file:/home/thomas/Cloud/meetings/group-meetings-me/2020-04-06-NASS-Design/2020-04-06-NASS-Design.org][group-meeting-optimal-stiffness]]
Should this be in this report? *This should be in chapter 2*
- [X] Explain why HAC-LAC strategy is nice (*It was already explained in uniaxial model*)
- [X] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control.org][different control architectures]]
- [X] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-vibration-isolation.org][hexapod - vibration isolation]]
- [X] How to apply/optimize IFF on an hexapod? ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]])
- [X] ([[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org][decoupling-strategies]]): Decoupling strategies for HAC? (maybe also in previous report)
*Will be in chapter 2*
- [X] Validation of the concept using simulations:
- [X] Find where this simulation in OL/CL is made (maybe for the conference?)
It was re-made for micro-station validation. Will just have to do the same simulation but with nano-hexapod in closed-loop
- Tomography experiment (maybe also Ty scans)
- Open VS Closed loop results
- *Conclusion*: concept validation
nano hexapod architecture with APA
decentralized IFF + centralized HAC
- In this section simple control (in the frame of the struts)
- Justify future used control architecture (control in the frame of the struts? Need to check what was done in ID31 tests)
- Table that compares different approaches (specify performances in different DoF, same plans on the diagonal, etc...)
- Literature review about Stewart platform control?
*In chapter 2: Special section about MIMO control, complementary filters, etc...*
** Outline
*** Control Kinematics
- Explain how the position error can be expressed in the frame of the nano-hexapod
- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]): Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
- Control architecture, block diagram
*** LAC
- How to apply/optimize IFF on an hexapod? ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]], [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]])
- Robustness to payload mass
- Root Locus
- Damping optimization
*** HAC
- ([[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_experiment.org][uncertainty_experiment]]): Effect of experimental conditions on the plant (payload mass, Ry position, Rz position, Rz velocity, etc...)
- Determination of the *optimal stiffness* for the hexapod actuators:
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
- [ ] [[file:/home/thomas/Cloud/meetings/group-meetings-me/2020-04-06-NASS-Design/2020-04-06-NASS-Design.org][group-meeting-optimal-stiffness]]
- Effect of micro-station compliance
- Effect of IFF
- Effect of payload mass
- Decoupled plant
- Controller design
*** Simulations
- Take into account disturbances, metrology sensor noise. Maybe say here that we don't take in account other noise sources as they will be optimized latter (detail design phase)
- Tomography + lateral scans (same as what was done in open loop [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org::*Simulation of Scientific Experiments][here]])
- Validation of concept
** DONE Old Outline
CLOSED: [2024-11-07 Thu 16:19]
*** Introduction :ignore:
Discussion of:
- Transformation matrices / control architecture (computation of the position error in the frame of the nano-hexapod)
- Control of parallel architectures
- Control in the frame of struts or cartesian?
- Effect of rotation on IFF? => APA
- HAC-LAC
- New noise budgeting?
*** Control Kinematics
- Explain how the position error can be expressed in the frame of the nano-hexapod
- block diagram
- Explain how to go from external metrology to the frame of the nano-hexapod
*** High Authority Control - Low Authority Control (HAC-LAC)
- general idea
- case for parallel manipulator: decentralized LAC + centralized HAC
*** Decoupling Strategies for parallel manipulators
[[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org::+TITLE: Diagonal control using the SVD and the Jacobian Matrix][study]]
- Jacobian matrices, CoK, CoM, ...
- Discussion of cubic architecture
- SVD, Modal, ...
*** Decentralized Integral Force Feedback (LAC)
- Root Locus
- Damping optimization
*** Decoupled Dynamics
- Centralized HAC
- Control in the frame of the struts
- Effect of IFF
*** Centralized Position Controller (HAC)
- Decoupled plant
- Controller design
*** Time domain simulations
Goal: validation of the concept
- Take into account disturbances, sensor noise, etc...
- Tomography + lateral scans (same as what was done in open loop [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org::*Simulation of Scientific Experiments][here]])
** TODO [#A] Merge the micro-station model with the nano-hexapod model
** TODO [#B] Rework the Simulink file
- [ ] Change the variable names to make things consistent
- [ ] Rework the org files to match the new variable names
** DONE [#A] Where to discuss the necessity of estimated Rz?
CLOSED: [2025-02-06 Thu 16:35]
One big advantage of doing the control in the cartesian plane, is that we don't need the estimation of nano-hexapod Rz, therefore we don't need the encoders anymore!
Maybe this should be done *here*.
Here it can be reminded when doing the control in the cartesian frame.
** CANC [#C] What performance metric can we use? :@christophe:
CLOSED: [2024-11-12 Tue 09:22]
- State "CANC" from "QUES" [2024-11-12 Tue 09:22]
This can be nice to have a (scalar) performance metric that can be used for optimization.
In cite:hauge04_sensor_contr_space_based_six, a (scalar) performance metric representing the 6dof transmissibility is used.
** DONE [#C] Identify the sensibility to disturbances without the nano-hexapod and save the results
CLOSED: [2024-11-07 Thu 09:20]
This can then be used to compare with obtained performance with the nano-hexapod.
This should be done in the ustation report (A4).
* Introduction :ignore:
From last sections:
- Uniaxial: No stiff nano-hexapod (should also demonstrate that here)
- Rotating: No soft nano-hexapod, Decentralized IFF can be used robustly by adding parallel stiffness
#+name: tab:simscape_nass_section_matlab_code
In this section:
- Take the model of the nano-hexapod with stiffness 1um/N
- Apply decentralized IFF
- Apply HAC-LAC
- Check robustness to payload change
- Simulation of experiments
#+name: tab:nass_section_matlab_code
#+caption: Report sections and corresponding Matlab files
#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
#+attr_latex: :center t :booktabs t
| *Sections* | *Matlab File* |
|-----------------------------------+----------------------|
| Section ref:sec:simscape_nass_1_a | =simscape_nass_1_.m= |
| *Sections* | *Matlab File* |
|--------------------------+---------------|
| Section ref:sec:nass_1_a | =nass_1_.m= |
* Section 1
* Control Kinematics
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/simscape_nass_1.m
:HEADER-ARGS:matlab+: :tangle matlab/nass_1_kinematics.m
:END:
<<sec:simscape_nass_1_a>>
<<sec:nass_kinematics>>
** Introduction :ignore:
- Explain how the position error can be expressed in the frame of the nano-hexapod
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/positioning_error.org][positioning_error]]: Explain how the NASS control is made (computation of the wanted position, measurement of the sample position, computation of the errors)
- Control architecture, block diagram
- Schematic with micro-station + nass + metrology + control system
- Zoom in the control system with blocs
- Then explain all the blocs
- Say that there are many control strategies.
It will be the topic of chapter 2.3.
Here, we start with something simple: control in the frame of the struts
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
@ -168,8 +313,103 @@ load('uniaxial_micro_station_parameters.mat')
#+end_src
** Micro Station Kinematics
- from ref:ssec:ustation_kinematics, computation of the wanted sample pose from the setpoint of each stage.
** Computation of the sample's pose error
From metrology (here supposed to be perfect 6-DoF), compute the sample's pose error.
Has to invert the homogeneous transformation.
** Position error in the frame of the nano-hexapod
Explain how to compute the errors in the frame of the struts (rotating)
* Decentralized Active Damping
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/nass_2_active_damping.m
:END:
<<sec:nass_active_damping>>
** Introduction :ignore:
- How to apply/optimize IFF on an hexapod? ()
- Robustness to payload mass
- Root Locus
- Damping optimization
- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]]
- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]]
- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Vibration Control and Active Damping][Vibration Control and Active Damping]]
** IFF Plant
- Show how it changes with the payload mass (1, 25, 50)
- Effect of rotation (1rpm, 60rpm)
** Controller Design
- Apply IFF
- Show Root Locus
- Choose optimal gain.
Here in MIMO, cannot have optimal damping for all modes. (there is a paper that tries to optimize that)
- Show robustness to change of payload (loci?)
- Reference to paper showing stability in MIMO for decentralized IFF
** Sensitivity to disturbances
- Compute transfer functions from spindle vertical error to sample vertical error with IFF (and compare without the NASS)
- Same for horizontal
- Maybe noise budgeting, but may be complex in MIMO...
* Centralized Active Vibration Control
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/nass_3_hac.m
:END:
<<sec:nass_hac>>
** Introduction :ignore:
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_experiment.org][uncertainty_experiment]]: Effect of experimental conditions on the plant (payload mass, Ry position, Rz position, Rz velocity, etc...)
- Effect of micro-station compliance
- Effect of IFF
- Effect of payload mass
- Decoupled plant
- Controller design
From control kinematics:
- Talk about issue of not estimating Rz from external metrology? (maybe could be nice to discuss that during the experiments!)
- Show what happens is Rz is not estimated (for instance supposed equaled to zero => increased coupling)
** HAC Plant
- Compute transfer function from u to dL (with IFF applied)
** Effect of Payload mass
- Show effect of payload mass + rotation
** Controller design
- Show robustness with Loci
** Sensitivity to disturbances
- Compute transfer functions from spindle vertical error to sample vertical error with HAC-IFF
Compare without the NASS, and with just IFF
- Same for horizontal
- Maybe noise budgeting, but may be complex in MIMO...
** Tomography experiment
- With HAC-IFF, perform tomography experiment, and compare with open-loop
- Take into account disturbances, metrology sensor noise. Maybe say here that we don't take in account other noise sources as they will be optimized latter (detail design phase)
- Tomography + lateral scans (same as what was done in open loop [[file:~/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org::*Simulation of Scientific Experiments][here]])
- Validation of concept
* Conclusion
<<sec:simscape_nass_conclusion>>
<<sec:nass_conclusion>>
* Bibliography :ignore:
#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]