438 lines
18 KiB
Org Mode
438 lines
18 KiB
Org Mode
#+TITLE: Simscape Model - Nano Active Stabilization System
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:DRAWER:
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+LaTeX_CLASS: scrreprt
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#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]
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#+LATEX_HEADER: \input{preamble.tex}
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#+LATEX_HEADER_EXTRA: \input{preamble_extra.tex}
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#+LATEX_HEADER_EXTRA: \bibliography{simscape-nass.bib}
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#+BIND: org-latex-bib-compiler "biber"
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports none
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:matlab+ :tangle no
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :tangle no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports results
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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:END:
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#+latex: \clearpage
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* Build :noexport:
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#+NAME: startblock
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#+BEGIN_SRC emacs-lisp :results none :tangle no
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(add-to-list 'org-latex-classes
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'("scrreprt"
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"\\documentclass{scrreprt}"
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("\\chapter{%s}" . "\\chapter*{%s}")
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("\\section{%s}" . "\\section*{%s}")
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("\\subsection{%s}" . "\\subsection*{%s}")
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("\\paragraph{%s}" . "\\paragraph*{%s}")
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))
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;; Remove automatic org heading labels
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(defun my-latex-filter-removeOrgAutoLabels (text backend info)
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"Org-mode automatically generates labels for headings despite explicit use of `#+LABEL`. This filter forcibly removes all automatically generated org-labels in headings."
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(when (org-export-derived-backend-p backend 'latex)
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(replace-regexp-in-string "\\\\label{sec:org[a-f0-9]+}\n" "" text)))
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(add-to-list 'org-export-filter-headline-functions
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'my-latex-filter-removeOrgAutoLabels)
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;; Remove all org comments in the output LaTeX file
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(defun delete-org-comments (backend)
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(loop for comment in (reverse (org-element-map (org-element-parse-buffer)
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'comment 'identity))
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do
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(setf (buffer-substring (org-element-property :begin comment)
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(org-element-property :end comment))
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"")))
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(add-hook 'org-export-before-processing-hook 'delete-org-comments)
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;; Use no package by default
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(setq org-latex-packages-alist nil)
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(setq org-latex-default-packages-alist nil)
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;; Do not include the subtitle inside the title
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(setq org-latex-subtitle-separate t)
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(setq org-latex-subtitle-format "\\subtitle{%s}")
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(setq org-export-before-parsing-hook '(org-ref-glossary-before-parsing
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org-ref-acronyms-before-parsing))
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#+END_SRC
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* Notes :noexport:
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** Notes
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Prefix is =nass=
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The goals of this report are:
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- [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)
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- [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...)
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- [ ] Determination of the *optimal stiffness* for the hexapod actuators:
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]]
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]]
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
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- [ ] [[file:/home/thomas/Cloud/meetings/group-meetings-me/2020-04-06-NASS-Design/2020-04-06-NASS-Design.org][group-meeting-optimal-stiffness]]
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Should this be in this report? *This should be in chapter 2*
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- [X] Explain why HAC-LAC strategy is nice (*It was already explained in uniaxial model*)
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- [X] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control.org][different control architectures]]
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- [X] [[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-vibration-isolation.org][hexapod - vibration isolation]]
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- [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]])
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- [X] ([[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org][decoupling-strategies]]): Decoupling strategies for HAC? (maybe also in previous report)
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*Will be in chapter 2*
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- [X] Validation of the concept using simulations:
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- [X] Find where this simulation in OL/CL is made (maybe for the conference?)
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It was re-made for micro-station validation. Will just have to do the same simulation but with nano-hexapod in closed-loop
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- Tomography experiment (maybe also Ty scans)
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- Open VS Closed loop results
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- *Conclusion*: concept validation
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nano hexapod architecture with APA
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decentralized IFF + centralized HAC
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- In this section simple control (in the frame of the struts)
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- Justify future used control architecture (control in the frame of the struts? Need to check what was done in ID31 tests)
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- Table that compares different approaches (specify performances in different DoF, same plans on the diagonal, etc...)
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- Literature review about Stewart platform control?
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*In chapter 2: Special section about MIMO control, complementary filters, etc...*
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** Outline
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*** Control Kinematics
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- Explain how the position error can be expressed in the frame of the nano-hexapod
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- ([[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)
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- Control architecture, block diagram
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*** LAC
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- 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]])
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- Robustness to payload mass
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- Root Locus
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- Damping optimization
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*** HAC
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- ([[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...)
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- Determination of the *optimal stiffness* for the hexapod actuators:
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/uncertainty_optimal_stiffness.org][uncertainty_optimal_stiffness]]
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/optimal_stiffness_disturbances.org][optimal_stiffness_disturbances]]
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/documents/state-of-thesis-2020/index.org][state-of-thesis-2020]]
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- [ ] [[file:/home/thomas/Cloud/meetings/group-meetings-me/2020-04-06-NASS-Design/2020-04-06-NASS-Design.org][group-meeting-optimal-stiffness]]
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- Effect of micro-station compliance
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- Effect of IFF
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- Effect of payload mass
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- Decoupled plant
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- Controller design
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*** Simulations
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- 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)
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- 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]])
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- Validation of concept
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** DONE Old Outline
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CLOSED: [2024-11-07 Thu 16:19]
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*** Introduction :ignore:
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Discussion of:
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- Transformation matrices / control architecture (computation of the position error in the frame of the nano-hexapod)
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- Control of parallel architectures
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- Control in the frame of struts or cartesian?
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- Effect of rotation on IFF? => APA
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- HAC-LAC
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- New noise budgeting?
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*** Control Kinematics
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- Explain how the position error can be expressed in the frame of the nano-hexapod
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- block diagram
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- Explain how to go from external metrology to the frame of the nano-hexapod
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*** High Authority Control - Low Authority Control (HAC-LAC)
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- general idea
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- case for parallel manipulator: decentralized LAC + centralized HAC
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*** Decoupling Strategies for parallel manipulators
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[[file:~/Cloud/research/matlab/decoupling-strategies/svd-control.org::+TITLE: Diagonal control using the SVD and the Jacobian Matrix][study]]
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- Jacobian matrices, CoK, CoM, ...
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- Discussion of cubic architecture
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- SVD, Modal, ...
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*** Decentralized Integral Force Feedback (LAC)
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- Root Locus
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- Damping optimization
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*** Decoupled Dynamics
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- Centralized HAC
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- Control in the frame of the struts
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- Effect of IFF
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*** Centralized Position Controller (HAC)
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- Decoupled plant
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- Controller design
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*** Time domain simulations
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Goal: validation of the concept
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- Take into account disturbances, sensor noise, etc...
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- 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]])
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** TODO [#A] Merge the micro-station model with the nano-hexapod model
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** TODO [#B] Rework the Simulink file
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- [ ] Change the variable names to make things consistent
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- [ ] Rework the org files to match the new variable names
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** DONE [#A] Where to discuss the necessity of estimated Rz?
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CLOSED: [2025-02-06 Thu 16:35]
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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!
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Maybe this should be done *here*.
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Here it can be reminded when doing the control in the cartesian frame.
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** CANC [#C] What performance metric can we use? :@christophe:
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CLOSED: [2024-11-12 Tue 09:22]
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- State "CANC" from "QUES" [2024-11-12 Tue 09:22]
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This can be nice to have a (scalar) performance metric that can be used for optimization.
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In cite:hauge04_sensor_contr_space_based_six, a (scalar) performance metric representing the 6dof transmissibility is used.
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** DONE [#C] Identify the sensibility to disturbances without the nano-hexapod and save the results
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CLOSED: [2024-11-07 Thu 09:20]
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This can then be used to compare with obtained performance with the nano-hexapod.
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This should be done in the ustation report (A4).
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* Introduction :ignore:
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From last sections:
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- Uniaxial: No stiff nano-hexapod (should also demonstrate that here)
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- Rotating: No soft nano-hexapod, Decentralized IFF can be used robustly by adding parallel stiffness
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In this section:
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- Take the model of the nano-hexapod with stiffness 1um/N
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- Apply decentralized IFF
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- Apply HAC-LAC
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- Check robustness to payload change
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- Simulation of experiments
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#+name: tab:nass_section_matlab_code
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#+caption: Report sections and corresponding Matlab files
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#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
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#+attr_latex: :center t :booktabs t
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| *Sections* | *Matlab File* |
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|--------------------------+---------------|
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| Section ref:sec:nass_1_a | =nass_1_.m= |
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* Control Kinematics
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/nass_1_kinematics.m
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:END:
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<<sec:nass_kinematics>>
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** Introduction :ignore:
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- Explain how the position error can be expressed in the frame of the nano-hexapod
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- [ ] [[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)
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- Control architecture, block diagram
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- Schematic with micro-station + nass + metrology + control system
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- Zoom in the control system with blocs
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- Then explain all the blocs
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- Say that there are many control strategies.
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It will be the topic of chapter 2.3.
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Here, we start with something simple: control in the frame of the struts
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no :noweb yes
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<<m-init-path>>
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#+end_src
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#+begin_src matlab :eval no :noweb yes
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<<m-init-path-tangle>>
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#+end_src
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#+begin_src matlab :noweb yes
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<<m-init-other>>
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#+end_src
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#+begin_src matlab
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%% Uniaxial Simscape model name
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mdl = 'nass_uniaxial_model';
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#+end_src
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#+begin_src matlab
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%% Frequency Vector [Hz]
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freqs = logspace(0, 3, 1000);
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#+end_src
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#+begin_src matlab
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%% Load the micro-station parameters
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load('uniaxial_micro_station_parameters.mat')
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#+end_src
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** Micro Station Kinematics
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- from ref:ssec:ustation_kinematics, computation of the wanted sample pose from the setpoint of each stage.
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** Computation of the sample's pose error
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From metrology (here supposed to be perfect 6-DoF), compute the sample's pose error.
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Has to invert the homogeneous transformation.
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** Position error in the frame of the nano-hexapod
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Explain how to compute the errors in the frame of the struts (rotating)
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* Decentralized Active Damping
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/nass_2_active_damping.m
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:END:
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<<sec:nass_active_damping>>
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** Introduction :ignore:
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- How to apply/optimize IFF on an hexapod? ()
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- Robustness to payload mass
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- Root Locus
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- Damping optimization
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- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control_active_damping.org][control_active_damping]]
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- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org][active damping for stewart platforms]]
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- [ ][[file:~/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org::*Vibration Control and Active Damping][Vibration Control and Active Damping]]
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** IFF Plant
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- Show how it changes with the payload mass (1, 25, 50)
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- Effect of rotation (1rpm, 60rpm)
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** Controller Design
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- Apply IFF
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- Show Root Locus
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- Choose optimal gain.
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Here in MIMO, cannot have optimal damping for all modes. (there is a paper that tries to optimize that)
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- Show robustness to change of payload (loci?)
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- Reference to paper showing stability in MIMO for decentralized IFF
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** Sensitivity to disturbances
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- Compute transfer functions from spindle vertical error to sample vertical error with IFF (and compare without the NASS)
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- Same for horizontal
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- Maybe noise budgeting, but may be complex in MIMO...
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* Centralized Active Vibration Control
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/nass_3_hac.m
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:END:
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<<sec:nass_hac>>
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** Introduction :ignore:
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- [ ] [[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...)
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- Effect of micro-station compliance
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- Effect of IFF
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- Effect of payload mass
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- Decoupled plant
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- Controller design
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From control kinematics:
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- Talk about issue of not estimating Rz from external metrology? (maybe could be nice to discuss that during the experiments!)
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- Show what happens is Rz is not estimated (for instance supposed equaled to zero => increased coupling)
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** HAC Plant
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- Compute transfer function from u to dL (with IFF applied)
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** Effect of Payload mass
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- Show effect of payload mass + rotation
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** Controller design
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- Show robustness with Loci
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** Sensitivity to disturbances
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- Compute transfer functions from spindle vertical error to sample vertical error with HAC-IFF
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Compare without the NASS, and with just IFF
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- Same for horizontal
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- Maybe noise budgeting, but may be complex in MIMO...
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** Tomography experiment
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- With HAC-IFF, perform tomography experiment, and compare with open-loop
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- 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)
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- 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]])
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- Validation of concept
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* Conclusion
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<<sec:nass_conclusion>>
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* Bibliography :ignore:
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#+latex: \printbibliography[heading=bibintoc,title={Bibliography}]
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* Helping Functions :noexport:
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** Initialize Path
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#+NAME: m-init-path
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#+BEGIN_SRC matlab
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%% Path for functions, data and scripts
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addpath('./matlab/mat/'); % Path for data
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addpath('./matlab/'); % Path for scripts
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#+END_SRC
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#+NAME: m-init-path-tangle
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#+BEGIN_SRC matlab
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%% Path for functions, data and scripts
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addpath('./mat/'); % Path for data
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#+END_SRC
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** Initialize other elements
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#+NAME: m-init-other
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#+BEGIN_SRC matlab
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%% Colors for the figures
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colors = colororder;
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#+END_SRC
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