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Correct duplicated label

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Thomas Dehaeze 2025-02-04 15:48:37 +01:00
parent a23328954a
commit f982191961
1 changed files with 4 additions and 4 deletions
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@ -1286,7 +1286,7 @@ exportFig('figs/test_id31_first_id_iff.pdf', 'width', 'half', 'height', 600);
One possible explanation of the increased coupling observed in Figure ref:fig:test_id31_first_id_int is the poor alignment between the external metrology axes (i.e. the interferometer supports) and the nano-hexapod axes.
To estimate this alignment, a decentralized low-bandwidth feedback controller based on the nano-hexapod encoders was implemented.
This allowed to perform two straight movements of the nano-hexapod along its $x$ and $y$ axes.
During these two movements, the external metrology measurement was recorded and are shown in Figure ref:fig:test_id31_Rz_align_error.
During these two movements, the external metrology measurement was recorded and are shown in Figure ref:fig:test_id31_Rz_align_error_and_correct.
It was found that there is a misalignment of 2.7 degrees (rotation along the vertical axis) between the interferometer axes and nano-hexapod axes.
This was corrected by adding an offset to the spindle angle.
After alignment, the same movement was performed using the nano-hexapod while recording the signal of the external metrology.
@ -1360,7 +1360,7 @@ leg.ItemTokenSize(1) = 15;
exportFig('figs/test_id31_Rz_align_correct.pdf', 'width', 'half', 'height', 'normal');
#+end_src
#+name: fig:test_id31_Rz_align_error
#+name: fig:test_id31_Rz_align_error_and_correct
#+caption: Measurement of the Nano-Hexapod axes in the frame of the external metrology. Before alignment (\subref{fig:test_id31_Rz_align_error}) and after alignment (\subref{fig:test_id31_Rz_align_correct}).
#+attr_latex: :options [htbp]
#+begin_figure
@ -2284,7 +2284,7 @@ exportFig('figs/test_id31_Kiff_loop_gain.pdf', 'width', 'half', 'height', 600);
#+end_subfigure
#+end_figure
To estimate the added damping, a root-locus plot is computed using the multi-body model (Figure ref:fig:test_id31_iff_root_locus_m0).
To estimate the added damping, a root-locus plot is computed using the multi-body model (Figure ref:fig:test_id31_iff_root_locus).
It can be seen that for all considered payloads, the poles are bounded to the "left-half plane" indicating that the decentralized IFF is robust.
The closed-loop poles for the chosen value of the gain are displayed by black crosses.
It can be seen that while damping can be added for all payloads (as compared to the open-loop case), the optimal value of the gain is different for each payload.
@ -2427,7 +2427,7 @@ xlabel('Real part'); ylabel('Imaginary part');
exportFig('figs/test_id31_iff_root_locus_m3.pdf', 'width', 'third', 'height', 'normal');
#+end_src
#+name: fig:test_id31_iff_root_locus_m0
#+name: fig:test_id31_iff_root_locus
#+caption: Root Locus plots for the designed decentralized IFF controller and using the multy-body model. Black crosses indicate the closed-loop poles for the choosen value of the gain.
#+attr_latex: :options [htbp]
#+begin_figure