Simscape => multi-body model

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,
-}

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');

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}