181 lines
6.1 KiB
TeX
181 lines
6.1 KiB
TeX
% Created 2025-02-12 Wed 11:34
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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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\input{preamble.tex}
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\input{preamble_extra.tex}
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\bibliography{simscape-nass.bib}
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\author{Dehaeze Thomas}
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\date{\today}
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\title{Simscape Model - Nano Active Stabilization System}
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\hypersetup{
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pdfauthor={Dehaeze Thomas},
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pdftitle={Simscape Model - Nano Active Stabilization System},
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pdfkeywords={},
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pdfsubject={},
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pdfcreator={Emacs 29.4 (Org mode 9.6)},
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pdflang={English}}
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\usepackage{biblatex}
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\begin{document}
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\maketitle
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\tableofcontents
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\clearpage
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From last sections:
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\begin{itemize}
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\item Uniaxial: No stiff nano-hexapod (should also demonstrate that here)
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\item Rotating: No soft nano-hexapod, Decentralized IFF can be used robustly by adding parallel stiffness
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\end{itemize}
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In this section:
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\begin{itemize}
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\item Take the model of the nano-hexapod with stiffness 1um/N
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\item Apply decentralized IFF
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\item Apply HAC-LAC
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\item Check robustness to payload change
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\item Simulation of experiments
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\end{itemize}
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\begin{table}[htbp]
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\centering
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\begin{tabularx}{0.6\linewidth}{lX}
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\toprule
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\textbf{Sections} & \textbf{Matlab File}\\
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\midrule
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Section \ref{sec:nass_1_a} & \texttt{nass\_1\_.m}\\
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\bottomrule
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\end{tabularx}
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\caption{\label{tab:nass_section_matlab_code}Report sections and corresponding Matlab files}
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\end{table}
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\chapter{Control Kinematics}
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\label{sec:nass_kinematics}
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\begin{itemize}
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\item Explain how the position error can be expressed in the frame of the nano-hexapod
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\item[{$\square$}] \href{file:///home/thomas/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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\item Control architecture, block diagram
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\item Schematic with micro-station + nass + metrology + control system
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\item Zoom in the control system with blocs
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\item Then explain all the blocs
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\item 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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\end{itemize}
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\section{Micro Station Kinematics}
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\begin{itemize}
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\item from \ref{ssec:ustation_kinematics}, computation of the wanted sample pose from the setpoint of each stage.
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\end{itemize}
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\section{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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\section{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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\chapter{Decentralized Active Damping}
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\label{sec:nass_active_damping}
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\begin{itemize}
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\item How to apply/optimize IFF on an hexapod? ()
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\item Robustness to payload mass
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\item Root Locus
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\item Damping optimization
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\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/control\_active\_damping.org}{control\_active\_damping}
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\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/control-active-damping.org}{active damping for stewart platforms}
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\item\relax [ ]\href{file:///home/thomas/Cloud/work-projects/ID31-NASS/matlab/stewart-simscape/org/bibliography.org}{Vibration Control and Active Damping}
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\end{itemize}
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\section{IFF Plant}
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\begin{itemize}
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\item Show how it changes with the payload mass (1, 25, 50)
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\item Effect of rotation (1rpm, 60rpm)
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\end{itemize}
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\section{Controller Design}
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\begin{itemize}
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\item Apply IFF
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\item Show Root Locus
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\item 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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\item Show robustness to change of payload (loci?)
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\item Reference to paper showing stability in MIMO for decentralized IFF
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\end{itemize}
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\section{Sensitivity to disturbances}
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\begin{itemize}
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\item Compute transfer functions from spindle vertical error to sample vertical error with IFF (and compare without the NASS)
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\item Same for horizontal
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\item Maybe noise budgeting, but may be complex in MIMO\ldots{}
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\end{itemize}
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\chapter{Centralized Active Vibration Control}
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\label{sec:nass_hac}
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\begin{itemize}
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\item[{$\square$}] \href{file:///home/thomas/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\ldots{})
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\item Effect of micro-station compliance
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\item Effect of IFF
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\item Effect of payload mass
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\item Decoupled plant
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\item Controller design
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\end{itemize}
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From control kinematics:
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\begin{itemize}
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\item Talk about issue of not estimating Rz from external metrology? (maybe could be nice to discuss that during the experiments!)
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\item Show what happens is Rz is not estimated (for instance supposed equaled to zero => increased coupling)
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\end{itemize}
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\section{HAC Plant}
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\begin{itemize}
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\item Compute transfer function from u to dL (with IFF applied)
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\end{itemize}
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\section{Effect of Payload mass}
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\begin{itemize}
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\item Show effect of payload mass + rotation
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\end{itemize}
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\section{Controller design}
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\begin{itemize}
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\item Show robustness with Loci
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\end{itemize}
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\section{Sensitivity to disturbances}
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\begin{itemize}
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\item 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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\item Same for horizontal
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\item Maybe noise budgeting, but may be complex in MIMO\ldots{}
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\end{itemize}
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\section{Tomography experiment}
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\begin{itemize}
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\item With HAC-IFF, perform tomography experiment, and compare with open-loop
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\item 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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\item Tomography + lateral scans (same as what was done in open loop \href{file:///home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A4-simscape-micro-station/simscape-micro-station.org}{here})
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\item Validation of concept
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\end{itemize}
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\chapter{Conclusion}
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\label{sec:nass_conclusion}
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\printbibliography[heading=bibintoc,title={Bibliography}]
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\end{document}
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