Better LaTeX setup
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@@ -55,7 +55,6 @@
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("\\paragraph{%s}" . "\\paragraph*{%s}")
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))
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;; Remove automatic org heading labels
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(defun my-latex-filter-removeOrgAutoLabels (text backend info)
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"Org-mode automatically generates labels for headings despite explicit use of `#+LABEL`. This filter forcibly removes all automatically generated org-labels in headings."
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@@ -86,11 +85,6 @@
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org-ref-acronyms-before-parsing))
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#+END_SRC
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* Useful snippets :noexport:
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- acronyms acrshort:nass acrshort:mimo acrshort:lti [[acrfull:siso][Single-Input Single-Output (SISO)]]
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- glossary terms gls:ka, gls:phi.
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* Glossary and Acronyms - Tables :ignore:
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#+name: glossary
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@@ -173,7 +167,6 @@
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:UNNUMBERED: notoc
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:END:
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\gls{phi}
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* Résumé
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:PROPERTIES:
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@@ -198,7 +191,6 @@
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* Introduction
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# [[file:/home/thomas/Cloud/work-projects/ID31-NASS/phd-thesis-chapters/A0-nass-introduction/nass-introduction.org][NASS - Introduction]]
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* Conceptual Design Development
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\minitoc
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**** Abstract
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@@ -388,8 +380,6 @@ For further analysis, 9 "configurations" of the uniaxial NASS model of Figure re
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#+end_subfigure
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#+end_figure
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**** Identification of all combination of stiffnesses / masses :noexport:
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*** Disturbance Identification
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/uniaxial_3_disturbances.m
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@@ -734,8 +724,6 @@ Therefore, it is expected that the micro-station dynamics might impact the achie
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#+end_subfigure
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#+end_figure
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**** Active Damping Controller Optimization and Damped plants :noexport:
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**** Achievable Damping and Damped Plants
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<<ssec:uniaxial_active_damping_achievable_damping>>
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@@ -1627,8 +1615,6 @@ Physically, the negative stiffness term $-m\Omega^2$ induced by centrifugal forc
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#+end_subfigure
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#+end_figure
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**** Identify Generic Dynamics :noexport:
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**** System Dynamics: Effect of rotation
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The system dynamics from actuator forces $[F_u, F_v]$ to the relative motion $[d_u, d_v]$ is identified for several rotating velocities.
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Looking at the transfer function matrix $\mathbf{G}_d$ in equation eqref:eq:rotating_Gd_w0_xi_k, one can see that the two diagonal (direct) terms are equal and that the two off-diagonal (coupling) terms are opposite.
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@@ -1953,8 +1939,6 @@ Thus, if the added /parallel stiffness/ $k_p$ is higher than the /negative stiff
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\boxed{\alpha > \frac{\Omega^2}{{\omega_0}^2} \quad \Leftrightarrow \quad k_p > m \Omega^2}
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\end{equation}
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**** Identify plant with parallel stiffnesses :noexport:
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**** Effect of parallel stiffness on the IFF plant
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The IFF plant (transfer function from $[F_u, F_v]$ to $[f_u, f_v]$) is identified without parallel stiffness $k_p = 0$, with a small parallel stiffness $k_p < m \Omega^2$ and with a large parallel stiffness $k_p > m \Omega^2$.
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Bode plots of the obtained dynamics are shown in Figure ref:fig:rotating_iff_effect_kp.
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@@ -2129,8 +2113,6 @@ These two proposed IFF modifications and relative damping control are compared i
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For the following comparisons, the cut-off frequency for the added HPF is set to $\omega_i = 0.1 \omega_0$ and the stiffness of the parallel springs is set to $k_p = 5 m \Omega^2$ (corresponding to $\alpha = 0.05$).
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These values are chosen one the basis of previous discussions about optimal parameters.
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**** Identify plants :noexport:
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**** Root Locus
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Figure ref:fig:rotating_comp_techniques_root_locus shows the Root Locus plots for the two proposed IFF modifications and the relative damping control.
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While the two pairs of complex conjugate open-loop poles are identical for both IFF modifications, the transmission zeros are not.
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@@ -2203,8 +2185,6 @@ The previous analysis is now applied to a model representing a rotating nano-hex
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Three nano-hexapod stiffnesses are tested as for the uniaxial model: $k_n = \SI{0.01}{\N\per\mu\m}$, $k_n = \SI{1}{\N\per\mu\m}$ and $k_n = \SI{100}{\N\per\mu\m}$.
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Only the maximum rotating velocity is here considered ($\Omega = \SI{60}{rpm}$) with the light sample ($m_s = \SI{1}{kg}$) because this is the worst identified case scenario in terms of gyroscopic effects.
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**** Identify NASS dynamics :noexport:
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**** Nano-Active-Stabilization-System - Plant Dynamics
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For the NASS, the maximum rotating velocity is $\Omega = \SI[parse-numbers=false]{2\pi}{\radian\per\s}$ for a suspended mass on top of the nano-hexapod's actuators equal to $m_n + m_s = \SI{16}{\kilo\gram}$.
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The parallel stiffness corresponding to the centrifugal forces is $m \Omega^2 \approx \SI{0.6}{\newton\per\mm}$.
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@@ -2524,6 +2504,7 @@ Conclusions are similar than those of the uniaxial (non-rotating) model:
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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<<sec:rotating_conclusion>>
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In this study, the gyroscopic effects induced by the spindle's rotation have been studied using a simplified model (Section ref:sec:rotating_system_description).
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Decentralized acrlong:iff with pure integrators was shown to be unstable when applied to rotating platforms (Section ref:sec:rotating_iff_pure_int).
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@@ -3154,6 +3135,9 @@ This can be seen in Figure ref:fig:modal_comp_acc_frf_modal_3 that shows the fre
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#+end_figure
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*** Conclusion
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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<<sec:modal_conclusion>>
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In this study, a modal analysis of the micro-station was performed.
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@@ -4752,6 +4736,9 @@ Using this simple test bench, it can be concluded that the /super element/ model
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#+end_figure
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*** Conclusion
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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<<sec:test_apa_conclusion>>
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In this study, the amplified piezoelectric actuators "APA300ML" have been characterized to ensure that they fulfill all the requirements determined during the detailed design phase.
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@@ -6360,6 +6347,11 @@ Therefore, the model effectively represents the system coupling for different pa
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[[file:figs/test_nhexa_comp_simscape_de_all_high_mass.png]]
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*** Conclusion
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:PROPERTIES:
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:UNNUMBERED: t
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:END:
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<<sec:test_nhexa_conclusion>>
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The goal of this test bench was to obtain an accurate model of the nano-hexapod that could then be included on top of the micro-station model.
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The adopted strategy was to identify the nano-hexapod dynamics under conditions in which all factors that could have affected the nano-hexapod dynamics were considered.
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This was achieved by developing a suspended table with low frequency suspension modes that can be accurately modeled (Section ref:sec:test_nhexa_table).
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@@ -7630,6 +7622,7 @@ Moreover, the systematic approach to system development and validation, along wi
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#+begin_export latex
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\begin{refsection}[ref.bib]
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\renewcommand{\clearpage}{} % Désactive \clearpage temporairement
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% List all papers even if not cited
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\nocite{*}
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% Sort by year
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@@ -7642,10 +7635,11 @@ Moreover, the systematic approach to system development and validation, along wi
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#+end_export
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* Glossary :ignore:
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[[printglossaries:]]
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#+latex: \printglossary[type=\acronymtype]
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#+latex: \printglossary[type=\glossarytype]
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#+latex: \printglossary
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# #+latex: \printglossary[type=\acronymtype]
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# #+latex: \printglossary[type=\glossarytype]
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# #+latex: \printglossary
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* Footnotes
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