Change two damping values
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@ -32,11 +32,11 @@ freqs = 5*logspace(0, 3, 1000);
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% Tuning of the APA model :ignore:
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% 9 parameters ($m$, $k_1$, $c_1$, $k_e$, $c_e$, $k_a$, $c_a$, $g_s$ and $g_a$) have to be tuned such that the dynamics of the model (Figure ref:fig:test_apa_2dof_model_Simscape) well represents the identified dynamics in Section ref:sec:test_apa_dynamics.
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% 9 parameters ($m$, $k_1$, $c_1$, $k_e$, $c_e$, $k_a$, $c_a$, $g_s$ and $g_a$) have to be tuned such that the dynamics of the model (Figure ref:fig:test_apa_2dof_model_simscape) well represents the identified dynamics in Section ref:sec:test_apa_dynamics.
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% #+name: fig:test_apa_2dof_model_Simscape
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% #+name: fig:test_apa_2dof_model_simscape
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% #+caption: Schematic of the two degrees-of-freedom model of the APA300ML with input $V_a$ and outputs $d_e$ and $V_s$
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% [[file:figs/test_apa_2dof_model_Simscape.png]]
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% [[file:figs/test_apa_2dof_model_simscape.png]]
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%% Stiffness values for the 2DoF APA model
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@ -50,8 +50,8 @@ ka = 1.5*(ktot-k1); % Stiffness of the (two) actuator stacks [N/m]
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ke = 2*ka; % Stiffness of the Sensor stack [N/m]
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%% Damping values for the 2DoF APA model
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c1 = 20; % Damping for the Shell [N/(m/s)]
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ca = 100; % Damping of the actuators stacks [N/(m/s)]
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c1 = 5; % Damping for the Shell [N/(m/s)]
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ca = 50; % Damping of the actuators stacks [N/(m/s)]
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ce = 2*ca; % Damping of the sensor stack [N/(m/s)]
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%% Estimation ot the sensor and actuator sensitivities
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@ -69,7 +69,7 @@ n_hexapod.actuator = initializeAPA(...
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'Gs', 1 ... % Sensor constant [V/m]
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);
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c_granite = 0; % Do not take into account damping added by the air bearing
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c_granite = 50; % Do not take into account damping added by the air bearing
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% Run the linearization
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G_norm = linearize(mdl, io, 0.0, opts);
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@ -44,7 +44,7 @@ n_hexapod.actuator = initializeAPA(...
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'ga', 1, ...
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'gs', 1);
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c_granite = 100; % Rought estimation of the damping added by the air bearing
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c_granite = 50; % Rought estimation of the damping added by the air bearing
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% Identify the dynamics
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G_norm = linearize(mdl, io, 0.0, opts);
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@ -1396,11 +1396,11 @@ Such a simple model has some limitations:
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**** Tuning of the APA model :ignore:
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9 parameters ($m$, $k_1$, $c_1$, $k_e$, $c_e$, $k_a$, $c_a$, $g_s$ and $g_a$) have to be tuned such that the dynamics of the model (Figure ref:fig:test_apa_2dof_model_Simscape) well represents the identified dynamics in Section ref:sec:test_apa_dynamics.
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9 parameters ($m$, $k_1$, $c_1$, $k_e$, $c_e$, $k_a$, $c_a$, $g_s$ and $g_a$) have to be tuned such that the dynamics of the model (Figure ref:fig:test_apa_2dof_model_simscape) well represents the identified dynamics in Section ref:sec:test_apa_dynamics.
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#+name: fig:test_apa_2dof_model_Simscape
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#+name: fig:test_apa_2dof_model_simscape
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#+caption: Schematic of the two degrees-of-freedom model of the APA300ML with input $V_a$ and outputs $d_e$ and $V_s$
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[[file:figs/test_apa_2dof_model_Simscape.png]]
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[[file:figs/test_apa_2dof_model_simscape.png]]
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#+begin_src matlab
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%% Stiffness values for the 2DoF APA model
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@ -1414,8 +1414,8 @@ ka = 1.5*(ktot-k1); % Stiffness of the (two) actuator stacks [N/m]
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ke = 2*ka; % Stiffness of the Sensor stack [N/m]
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%% Damping values for the 2DoF APA model
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c1 = 20; % Damping for the Shell [N/(m/s)]
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ca = 100; % Damping of the actuators stacks [N/(m/s)]
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c1 = 5; % Damping for the Shell [N/(m/s)]
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ca = 50; % Damping of the actuators stacks [N/(m/s)]
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ce = 2*ca; % Damping of the sensor stack [N/(m/s)]
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#+end_src
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@ -1435,7 +1435,7 @@ n_hexapod.actuator = initializeAPA(...
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'Gs', 1 ... % Sensor constant [V/m]
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);
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c_granite = 0; % Do not take into account damping added by the air bearing
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c_granite = 50; % Do not take into account damping added by the air bearing
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% Run the linearization
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G_norm = linearize(mdl, io, 0.0, opts);
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@ -1460,7 +1460,7 @@ First, the mass $m$ supported by the APA300ML can be estimated from the geometry
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Both methods lead to an estimated mass of $m = 5.7\,\text{kg}$.
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Then, the axial stiffness of the shell was estimated at $k_1 = 0.38\,N/\mu m$ in Section ref:ssec:test_apa_meas_dynamics from the frequency of the anti-resonance seen on Figure ref:fig:test_apa_frf_force.
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Similarly, $c_1$ can be estimated from the damping ratio of the same anti-resonance and is found to be close to $20\,Ns/m$.
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Similarly, $c_1$ can be estimated from the damping ratio of the same anti-resonance and is found to be close to $5\,Ns/m$.
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Then, it is reasonable to assume that the sensor stacks and the two actuator stacks have identical mechanical characteristics[fn:5].
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Therefore, we have $k_e = 2 k_a$ and $c_e = 2 c_a$ as the actuator stack is composed of two stacks in series.
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@ -1477,11 +1477,11 @@ Knowing from eqref:eq:test_apa_tot_stiffness that the total stiffness is $k_{\te
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\end{equation}
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Then, $c_a$ (and therefore $c_e = 2 c_a$) can be tuned to match the damping ratio of the identified resonance.
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$c_a = 100\,Ns/m$ and $c_e = 200\,Ns/m$ are obtained.
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$c_a = 50\,Ns/m$ and $c_e = 100\,Ns/m$ are obtained.
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In the last step, $g_s$ and $g_a$ can be tuned to match the gain of the identified transfer functions.
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The obtained parameters of the model shown in Figure ref:fig:test_apa_2dof_model_Simscape are summarized in Table ref:tab:test_apa_2dof_parameters.
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The obtained parameters of the model shown in Figure ref:fig:test_apa_2dof_model_simscape are summarized in Table ref:tab:test_apa_2dof_parameters.
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#+name: tab:test_apa_2dof_parameters
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#+caption: Summary of the obtained parameters for the 2 DoF APA300ML model
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@ -1493,9 +1493,9 @@ The obtained parameters of the model shown in Figure ref:fig:test_apa_2dof_model
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| $k_1$ | $0.38\,N/\mu m$ |
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| $k_e$ | $5.0\, N/\mu m$ |
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| $k_a$ | $2.5\,N/\mu m$ |
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| $c_1$ | $20\,Ns/m$ |
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| $c_e$ | $200\,Ns/m$ |
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| $c_a$ | $100\,Ns/m$ |
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| $c_1$ | $5\,Ns/m$ |
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| $c_e$ | $100\,Ns/m$ |
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| $c_a$ | $50\,Ns/m$ |
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| $g_a$ | $-2.58\,N/V$ |
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| $g_s$ | $0.46\,V/\mu m$ |
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@ -1632,7 +1632,7 @@ exportFig('figs/test_apa_2dof_comp_frf_force.pdf', 'width', 'half', 'height', 't
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**** Introduction :ignore:
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In this section, a /super element/ of the APA300ML is computed using a finite element software[fn:11].
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It is then imported into Simscape (in the form of a stiffness matrix and a mass matrix) and included in the same model that was used in ref:sec:test_apa_model_2dof.
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This procedure is illustrated in Figure ref:fig:test_apa_super_element_Simscape.
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This procedure is illustrated in Figure ref:fig:test_apa_super_element_simscape.
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Several /remote points/ are defined in the finite element model (here illustrated by colorful planes and numbers from =1= to =5=) and are then made accessible in the Simscape model as shown at the right by the "frames" =F1= to =F5=.
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For the APA300ML /super element/, 5 /remote points/ are defined.
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@ -1640,10 +1640,10 @@ Two /remote points/ (=1= and =2=) are fixed to the top and bottom mechanical int
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Two /remote points/ (=3= and =4=) are located across two piezoelectric stacks and are used to apply internal forces representing the actuator stacks.
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Finally, two /remote points/ (=4= and =4=) are located across the third piezoelectric stack, and will be used to measured the strain of the sensor stack.
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#+name: fig:test_apa_super_element_Simscape
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#+name: fig:test_apa_super_element_simscape
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#+attr_latex: :width 1.0\linewidth
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#+caption: Finite Element Model of the APA300ML with "remotes points" on the left. Simscape model with included "Reduced Order Flexible Solid" on the right.
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[[file:figs/test_apa_super_element_Simscape.png]]
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[[file:figs/test_apa_super_element_simscape.png]]
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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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@ -1699,7 +1699,7 @@ n_hexapod.actuator = initializeAPA(...
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'ga', 1, ...
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'gs', 1);
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c_granite = 100; % Rought estimation of the damping added by the air bearing
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c_granite = 50; % Rought estimation of the damping added by the air bearing
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% Identify the dynamics
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G_norm = linearize(mdl, io, 0.0, opts);
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@ -1,4 +1,4 @@
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% Created 2024-04-30 Tue 17:24
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% Created 2024-10-26 Sat 12:10
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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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@ -31,7 +31,7 @@
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pdftitle={Test Bench - Amplified Piezoelectric Actuator},
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pdfkeywords={},
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pdfsubject={},
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pdfcreator={Emacs 29.3 (Org mode 9.6)},
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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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@ -553,19 +553,19 @@ Such a simple model has some limitations:
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\caption{\label{fig:test_apa_2dof_model}Schematic of the two degrees-of-freedom model of the APA300ML, adapted from \cite{souleille18_concep_activ_mount_space_applic}}
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\end{figure}
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9 parameters (\(m\), \(k_1\), \(c_1\), \(k_e\), \(c_e\), \(k_a\), \(c_a\), \(g_s\) and \(g_a\)) have to be tuned such that the dynamics of the model (Figure \ref{fig:test_apa_2dof_model_Simscape}) well represents the identified dynamics in Section \ref{sec:test_apa_dynamics}.
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9 parameters (\(m\), \(k_1\), \(c_1\), \(k_e\), \(c_e\), \(k_a\), \(c_a\), \(g_s\) and \(g_a\)) have to be tuned such that the dynamics of the model (Figure \ref{fig:test_apa_2dof_model_simscape}) well represents the identified dynamics in Section \ref{sec:test_apa_dynamics}.
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1]{figs/test_apa_2dof_model_Simscape.png}
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\caption{\label{fig:test_apa_2dof_model_Simscape}Schematic of the two degrees-of-freedom model of the APA300ML with input \(V_a\) and outputs \(d_e\) and \(V_s\)}
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\includegraphics[scale=1]{figs/test_apa_2dof_model_simscape.png}
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\caption{\label{fig:test_apa_2dof_model_simscape}Schematic of the two degrees-of-freedom model of the APA300ML with input \(V_a\) and outputs \(d_e\) and \(V_s\)}
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\end{figure}
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First, the mass \(m\) supported by the APA300ML can be estimated from the geometry and density of the different parts or by directly measuring it using a precise weighing scale.
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Both methods lead to an estimated mass of \(m = 5.7\,\text{kg}\).
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Then, the axial stiffness of the shell was estimated at \(k_1 = 0.38\,N/\mu m\) in Section \ref{ssec:test_apa_meas_dynamics} from the frequency of the anti-resonance seen on Figure \ref{fig:test_apa_frf_force}.
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Similarly, \(c_1\) can be estimated from the damping ratio of the same anti-resonance and is found to be close to \(20\,Ns/m\).
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Similarly, \(c_1\) can be estimated from the damping ratio of the same anti-resonance and is found to be close to \(5\,Ns/m\).
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Then, it is reasonable to assume that the sensor stacks and the two actuator stacks have identical mechanical characteristics\footnote{Note that this is not completely correct as it was shown in Section \ref{ssec:test_apa_stiffness} that the electrical boundaries of the piezoelectric stack impacts its stiffness and that the sensor stack is almost open-circuited while the actuator stacks are almost short-circuited.}.
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Therefore, we have \(k_e = 2 k_a\) and \(c_e = 2 c_a\) as the actuator stack is composed of two stacks in series.
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@ -582,11 +582,11 @@ Knowing from \eqref{eq:test_apa_tot_stiffness} that the total stiffness is \(k_{
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\end{equation}
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Then, \(c_a\) (and therefore \(c_e = 2 c_a\)) can be tuned to match the damping ratio of the identified resonance.
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\(c_a = 100\,Ns/m\) and \(c_e = 200\,Ns/m\) are obtained.
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\(c_a = 50\,Ns/m\) and \(c_e = 100\,Ns/m\) are obtained.
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In the last step, \(g_s\) and \(g_a\) can be tuned to match the gain of the identified transfer functions.
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The obtained parameters of the model shown in Figure \ref{fig:test_apa_2dof_model_Simscape} are summarized in Table \ref{tab:test_apa_2dof_parameters}.
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The obtained parameters of the model shown in Figure \ref{fig:test_apa_2dof_model_simscape} are summarized in Table \ref{tab:test_apa_2dof_parameters}.
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\begin{table}[htbp]
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\centering
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@ -598,9 +598,9 @@ The obtained parameters of the model shown in Figure \ref{fig:test_apa_2dof_mode
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\(k_1\) & \(0.38\,N/\mu m\)\\
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\(k_e\) & \(5.0\, N/\mu m\)\\
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\(k_a\) & \(2.5\,N/\mu m\)\\
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\(c_1\) & \(20\,Ns/m\)\\
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\(c_e\) & \(200\,Ns/m\)\\
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\(c_a\) & \(100\,Ns/m\)\\
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\(c_1\) & \(5\,Ns/m\)\\
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\(c_e\) & \(100\,Ns/m\)\\
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\(c_a\) & \(50\,Ns/m\)\\
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\(g_a\) & \(-2.58\,N/V\)\\
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\(g_s\) & \(0.46\,V/\mu m\)\\
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\bottomrule
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@ -634,7 +634,7 @@ This indicates that this model represents well the axial dynamics of the APA300M
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\label{sec:test_apa_model_flexible}
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In this section, a \emph{super element} of the APA300ML is computed using a finite element software\footnote{Ansys\textsuperscript{\textregistered} was used}.
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It is then imported into Simscape (in the form of a stiffness matrix and a mass matrix) and included in the same model that was used in \ref{sec:test_apa_model_2dof}.
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This procedure is illustrated in Figure \ref{fig:test_apa_super_element_Simscape}.
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This procedure is illustrated in Figure \ref{fig:test_apa_super_element_simscape}.
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Several \emph{remote points} are defined in the finite element model (here illustrated by colorful planes and numbers from \texttt{1} to \texttt{5}) and are then made accessible in the Simscape model as shown at the right by the ``frames'' \texttt{F1} to \texttt{F5}.
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For the APA300ML \emph{super element}, 5 \emph{remote points} are defined.
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@ -644,8 +644,8 @@ Finally, two \emph{remote points} (\texttt{4} and \texttt{4}) are located across
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=1.0\linewidth]{figs/test_apa_super_element_Simscape.png}
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\caption{\label{fig:test_apa_super_element_Simscape}Finite Element Model of the APA300ML with ``remotes points'' on the left. Simscape model with included ``Reduced Order Flexible Solid'' on the right.}
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\includegraphics[scale=1,width=1.0\linewidth]{figs/test_apa_super_element_simscape.png}
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\caption{\label{fig:test_apa_super_element_simscape}Finite Element Model of the APA300ML with ``remotes points'' on the left. Simscape model with included ``Reduced Order Flexible Solid'' on the right.}
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\end{figure}
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\paragraph{Identification of the Actuator and Sensor constants}
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