diff --git a/figs/test_nhexa_comp_simscape_Vs_diag_masses.pdf b/figs/test_nhexa_comp_simscape_Vs_diag_masses.pdf index 261f1e4..1448186 100644 Binary files a/figs/test_nhexa_comp_simscape_Vs_diag_masses.pdf and b/figs/test_nhexa_comp_simscape_Vs_diag_masses.pdf differ diff --git a/figs/test_nhexa_comp_simscape_Vs_diag_masses.png b/figs/test_nhexa_comp_simscape_Vs_diag_masses.png index 67fdab4..955fe5d 100644 Binary files a/figs/test_nhexa_comp_simscape_Vs_diag_masses.png and b/figs/test_nhexa_comp_simscape_Vs_diag_masses.png differ diff --git a/figs/test_nhexa_comp_simscape_de_diag_masses.pdf b/figs/test_nhexa_comp_simscape_de_diag_masses.pdf index 8a7e594..a819763 100644 Binary files a/figs/test_nhexa_comp_simscape_de_diag_masses.pdf and b/figs/test_nhexa_comp_simscape_de_diag_masses.pdf differ diff --git a/figs/test_nhexa_comp_simscape_de_diag_masses.png b/figs/test_nhexa_comp_simscape_de_diag_masses.png index bfc4157..d977300 100644 Binary files a/figs/test_nhexa_comp_simscape_de_diag_masses.png and b/figs/test_nhexa_comp_simscape_de_diag_masses.png differ diff --git a/test-bench-nano-hexapod.bib b/test-bench-nano-hexapod.bib index e0d429c..e69de29 100644 --- a/test-bench-nano-hexapod.bib +++ b/test-bench-nano-hexapod.bib @@ -1,49 +0,0 @@ -@article{souleille18_concep_activ_mount_space_applic, - author = {Souleille, Adrien and Lampert, Thibault and Lafarga, V and - Hellegouarch, Sylvain and Rondineau, Alan and Rodrigues, - Gon{\c{c}}alo and Collette, Christophe}, - title = {A Concept of Active Mount for Space Applications}, - journal = {CEAS Space Journal}, - volume = 10, - number = 2, - pages = {157--165}, - year = 2018, - publisher = {Springer}, -} - -@phdthesis{poel10_explor_activ_hard_mount_vibrat, - author = {van der Poel, Gerrit Wijnand}, - doi = {10.3990/1.9789036530163}, - isbn = {978-90-365-3016-3}, - keywords = {parallel robot}, - school = {University of Twente}, - title = {An Exploration of Active Hard Mount Vibration Isolation for - Precision Equipment}, - year = 2010, -} - -@book{indri20_mechat_robot, - author = {Indri, Marina and Oboe, Roberto}, - title = {Mechatronics and Robotics: New Trends and Challenges}, - year = 2020, - publisher = {CRC Press}, -} - -@book{skogestad07_multiv_feedb_contr, - author = {Skogestad, Sigurd and Postlethwaite, Ian}, - title = {Multivariable Feedback Control: Analysis and Design - - Second Edition}, - year = 2007, - publisher = {John Wiley}, - isbn = {978-0470011683}, - keywords = {favorite}, -} - -@article{oomen15_ident_robus_contr_compl_system, - author = {Oomen, Tom and Steinbuch, Maarten}, - title = {Identification for Robust Control of Complex Systems: - Algorithm and Motion Application}, - journal = {Control-oriented modelling and identification: theory and - applications, IET}, - year = 2015, -} diff --git a/test-bench-nano-hexapod.org b/test-bench-nano-hexapod.org index e3b96be..972aecd 100644 --- a/test-bench-nano-hexapod.org +++ b/test-bench-nano-hexapod.org @@ -500,13 +500,13 @@ ws = ws(imag(ws) > 0); #+end_src #+name: tab:test_nhexa_suspended_table_simscape_modes -#+caption: Comparison of the identified suspension modes with the Simscape model and measured experimentally +#+caption: Comparison of suspension modes of the multi-body model and the measured ones #+attr_latex: :environment tabularx :width 0.6\linewidth :align Xcccc #+attr_latex: :center t :booktabs t | Directions | $D_x$, $D_y$ | $R_z$ | $D_z$ | $R_x$, $R_y$ | |--------------+--------------+--------+--------+--------------| -| Experimental | 1.3 Hz | 2.0 Hz | 6.9 Hz | 9.5 Hz | | Multi-body | 1.3 Hz | 1.8 Hz | 6.8 Hz | 9.5 Hz | +| Experimental | 1.3 Hz | 2.0 Hz | 6.9 Hz | 9.5 Hz | * Nano-Hexapod Measured Dynamics :PROPERTIES: @@ -1505,7 +1505,7 @@ for i_mass = [0:3] end set(gca, 'ColorOrderIndex', i_mass+1) plot(freqs, abs(squeeze(freqresp(sim_ol.G_de{i_mass+1}(1,1), freqs, 'Hz'))), '--', ... - 'DisplayName', 'Simscape'); + 'DisplayName', 'Model'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); @@ -1555,7 +1555,7 @@ for i_mass = 0:3 'HandleVisibility', 'off'); end plot(freqs, abs(squeeze(freqresp(sim_ol.G_Vs{i_mass+1}(1,1), freqs, 'Hz'))), '--', 'color', colors(i_mass+1,:), ... - 'DisplayName', 'Simscape'); + 'DisplayName', 'Model'); end hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); diff --git a/test-bench-nano-hexapod.pdf b/test-bench-nano-hexapod.pdf index cbb9aae..52e33e5 100644 Binary files a/test-bench-nano-hexapod.pdf and b/test-bench-nano-hexapod.pdf differ diff --git a/test-bench-nano-hexapod.tex b/test-bench-nano-hexapod.tex index fcdf245..2e45cd0 100644 --- a/test-bench-nano-hexapod.tex +++ b/test-bench-nano-hexapod.tex @@ -1,4 +1,4 @@ -% Created 2024-11-18 Mon 11:31 +% Created 2024-11-18 Mon 11:41 % Intended LaTeX compiler: pdflatex \documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt} @@ -231,14 +231,14 @@ The stiffness of the springs in the horizontal plane is set at \(0.5\,N/mm\). The obtained suspension modes of the multi-body model are compared with the measured modes in Table \ref{tab:test_nhexa_suspended_table_simscape_modes}. \begin{table}[htbp] -\caption{\label{tab:test_nhexa_suspended_table_simscape_modes}Comparison of the identified suspension modes with the Simscape model and measured experimentally} +\caption{\label{tab:test_nhexa_suspended_table_simscape_modes}Comparison of suspension modes of the multi-body model and the measured ones} \centering \begin{tabularx}{0.6\linewidth}{Xcccc} \toprule Directions & \(D_x\), \(D_y\) & \(R_z\) & \(D_z\) & \(R_x\), \(R_y\)\\ \midrule -Experimental & 1.3 Hz & 2.0 Hz & 6.9 Hz & 9.5 Hz\\ Multi-body & 1.3 Hz & 1.8 Hz & 6.8 Hz & 9.5 Hz\\ +Experimental & 1.3 Hz & 2.0 Hz & 6.9 Hz & 9.5 Hz\\ \bottomrule \end{tabularx} \end{table}