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+\renewenvironment{verbatim}{\VerbatimEnvironment\begin{minted}[]{text}}{\end{minted}} + +\usepackage{soul} +\sethlcolor{my-pale-grey} + +\let\OldTexttt\texttt +\renewcommand{\texttt}[1]{{\ttfamily\hl{\mbox{\,#1\,}}}} + +\makeatletter +\preto\Gin@extensions{png,} +\DeclareGraphicsRule{.png}{pdf}{.pdf}{\noexpand\Gin@base.pdf} +\preto\Gin@extensions{gif,} +\DeclareGraphicsRule{.gif}{png}{.png}{\noexpand\Gin@base.png} +\makeatother + +\usepackage{hyperref} +\hypersetup{ + colorlinks = true, + allcolors = my-blue +} + +\usepackage{hypcap} diff --git a/simscape-nass.org b/simscape-nass.org index d6db83c..234827d 100644 --- a/simscape-nass.org +++ b/simscape-nass.org @@ -15,7 +15,8 @@ #+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} #+BIND: org-latex-bib-compiler "biber" @@ -44,12 +45,6 @@ #+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png") :END: -#+begin_export html -
-

This report is also available as a pdf.

-
-#+end_export - #+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: -<> +<> ** 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) <> @@ -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: +<> +** 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: +<> +** 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 -<> +<> + * Bibliography :ignore: #+latex: \printbibliography[heading=bibintoc,title={Bibliography}]