diff --git a/.gitmodules b/.gitmodules index 237813d..e701280 100644 --- a/.gitmodules +++ b/.gitmodules @@ -132,10 +132,10 @@ url = https://git.tdehaeze.xyz/tdehaeze/dehaeze19_compl_filter_shapin_using_synth [submodule "dcm-stepper-calibration"] path = dcm-stepper-calibration - url = https://git.tdehaeze.xyz/tdehaeze/dcm-stepper-calibration + url = https://gitlab.esrf.fr/dehaeze/dcm-stepper-calibration [submodule "dcm-feedback-control"] path = dcm-feedback-control - url = https://git.tdehaeze.xyz/tdehaeze/dcm-feedback-control + url = https://gitlab.esrf.fr/dehaeze/dcm-feedback-control [submodule "dcm-simscape-model"] path = dcm-simscape-model url = https://git.tdehaeze.xyz/tdehaeze/dcm-simscape-model @@ -145,3 +145,18 @@ [submodule "dcm-kinematics"] path = dcm-kinematics url = https://gitlab.esrf.fr/dehaeze/dcm-kinematics +[submodule "dcm-user-guide"] + path = dcm-user-guide + url = https://gitlab.esrf.fr/dehaeze/dcm-user-guide +[submodule "dcm-speedgoat"] + path = dcm-speedgoat + url = https://gitlab.esrf.fr/dehaeze/dcm-speedgoat +[submodule "dcm-laser-setup"] + path = dcm-laser-setup + url = https://gitlab.esrf.fr/dehaeze/dcm-laser-setup +[submodule "dcm-bragg-control"] + path = dcm-bragg-control + url = https://gitlab.esrf.fr/dehaeze/dcm-bragg-control +[submodule "dcm-simscape"] + path = dcm-simscape + url = https://gitlab.esrf.fr/dehaeze/dcm-simscape diff --git a/dcm-bragg-control b/dcm-bragg-control new file mode 160000 index 0000000..30e24e3 --- /dev/null +++ b/dcm-bragg-control @@ -0,0 +1 @@ +Subproject commit 30e24e3ad3f62edc31609b3ba9fee7d929d6d050 diff --git a/dcm-feedback-control b/dcm-feedback-control new file mode 160000 index 0000000..cbc63a0 --- /dev/null +++ b/dcm-feedback-control @@ -0,0 +1 @@ +Subproject commit cbc63a0661ddc4d812e1503beb4d69b571820b3d diff --git a/dcm-laser-setup b/dcm-laser-setup new file mode 160000 index 0000000..eb49513 --- /dev/null +++ b/dcm-laser-setup @@ -0,0 +1 @@ +Subproject commit eb495136c817b64908b3f028de5cdc73b39475ec diff --git a/dcm-simscape b/dcm-simscape new file mode 160000 index 0000000..f6400c1 --- /dev/null +++ b/dcm-simscape @@ -0,0 +1 @@ +Subproject commit f6400c14de49371591162fbc3b520052803d88cb diff --git a/dcm-speedgoat b/dcm-speedgoat new file mode 160000 index 0000000..d4fdcd3 --- /dev/null +++ b/dcm-speedgoat @@ -0,0 +1 @@ +Subproject commit d4fdcd3e2d8c784ead5c72d47a96c088b611d226 diff --git a/dcm-stepper-calibration b/dcm-stepper-calibration new file mode 160000 index 0000000..1512272 --- /dev/null +++ b/dcm-stepper-calibration @@ -0,0 +1 @@ +Subproject commit 1512272e10f96d69b2e6b6560f5c52ef2431a133 diff --git a/dcm-user-guide b/dcm-user-guide new file mode 160000 index 0000000..b1a5119 --- /dev/null +++ b/dcm-user-guide @@ -0,0 +1 @@ +Subproject commit b1a511922af662ea2f57d16fb54f175d8413f1d2 diff --git a/index.html b/index.html index 60cda4d..582966c 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Research Pages @@ -37,13 +37,13 @@ Welcome to my research pages.

-
-

1. Papers

+
+

1. Papers

-
-

1.1. Conference Papers

+
+

1.1. Conference Papers

  • Dehaeze, T., Mattenet, M. M., Collette, C., Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty, In MEDSI’18 (pp. 153–157) (2018). Geneva, Switzerland: JACoW Publishing @@ -79,8 +79,8 @@ Welcome to my research pages.
-
-

1.2. Journal Papers

+
+

1.2. Journal Papers

  • Verma, M., Dehaeze, T., Zhao, G., Watchi, J., Collette, C., Virtual sensor fusion for high precision control, Mechanical Systems and Signal Processing, 150, 107241 (2020) @@ -99,12 +99,12 @@ Welcome to my research pages.
-
-

2. Nano Active Stabilization System (NASS)

+
+

2. Nano Active Stabilization System (NASS)

-
-

2.1. General Reports

+
+

2.1. General Reports

NASS - Report 2020 @@ -117,8 +117,8 @@ General report on the NASS project made in 2020.

-
-

2.2. Measurements, Models and Test Benches

+
+

2.2. Measurements, Models and Test Benches

NASS - Micro Station Measurements @@ -169,8 +169,8 @@ Presentation of the short stroke metrology concept.

-
-

2.3. Nano-Hexapod

+
+

2.3. Nano-Hexapod

Equipments: @@ -202,22 +202,102 @@ Presentation of the short stroke metrology concept.

-
-

3. Double Crystal Monochromator (DCM)

+
+

3. Double Crystal Monochromator (DCM)

Kinematics +

+
+

+Kinematics of the DCM is described (both for motors and sensors). Transformations matrices are derived and all notations and conventions are well defined. +

+
+ +

Metrology

+
+

+Internal metrology of the DCM (i.e. interferometers) is described. Methods to properly initialize and calibrate the metrology are proposed. +

+
+ +

+Feedback Control +

+
+

+This project deals with the Feedback Control of the DCM: +

+ +

+Identification of the system’s dynamics Change of coordinates Feedback controller design Obtained performances in closed loop +

+
+ +

+User Guide +

+
+

+The goal of this repository is to provide a simple guide for the use of the DCM. +

+
+ +

+Stepper Motor Calibration +

+
+

+This repository includes all the work done in order to calibrate the errors induced by the stepper motors. +

+
+ +

+Speedgoat Real Time Program +

+
+

+This repository described the working principles of the Real Time program running on the Speedgoat machine for the DCM. +

+
+ +

+Laser Setup +

+
+

+This project summarized all the work done on the Laser Setup. This includes alignement, calibration, noise and stability measurements. +

+
+ +

+Control of Bragg Axis +

+
+

+The control of the Bragg angle using the Aerotech controller is described (control architecture, identified dynamics, etc.). +

+
+ +

+Multi-Body model (Simscape) +

+
+

+Multi-body model of the DCM using Simscape (Matlab Toolbox). Dynamics of the system is studied, matched with the identified dynamics. Feedback control is applied, and the model is used to study possible improvements. +

+
-
-

4. Useful Pages / Tutorials

+
+

4. Useful Pages / Tutorials

-
-

4.1. General Mechatronics

+
+

4.1. General Mechatronics

Spectral Analysis @@ -246,8 +326,8 @@ Several types of linear filters (low pass, high pass, notch, lead, etc.) are pre

-
-

4.2. System Modeling using Simscape

+
+

4.2. System Modeling using Simscape

Finite Element Models with Simscape @@ -281,12 +361,12 @@ In order to start the simulation at equilibrium, few measured can be employed th

-
-

5. Test Benches / Experiments

+
+

5. Test Benches / Experiments

-
-

5.1. Intrumentation Related

+
+

5.1. Intrumentation Related

Voltage Amplifiers for Piezoelectric Actuators @@ -310,8 +390,8 @@ Its noise characteristics as well as non-linearities are measured.

-
-

5.2. Amplified Piezoelecric Actuator

+
+

5.2. Amplified Piezoelecric Actuator

Amplified Piezoelectric Actuator - Test bench and Finite Element Model @@ -356,8 +436,8 @@ The goal is to form a super sensor that has better noise characteristics

-
-

5.3. Vibration Table

+
+

5.3. Vibration Table

Instrumented Vibration Table used for Modal Testing @@ -371,8 +451,8 @@ A vibration table is developed to perform controlled modal tests.

-
-

6. Notes

+
+

6. Notes

  • EUSPEN - 2020 - Notes
    • @@ -380,8 +460,8 @@ A vibration table is developed to perform controlled modal tests.
-
-

7. Lectures

+
+

7. Lectures

  • H-Infinity - Robust Control
    • diff --git a/index.org b/index.org index 6a1c5f2..64907d4 100644 --- a/index.org +++ b/index.org @@ -149,31 +149,53 @@ Presentation of the short stroke metrology concept. - [[file:test-bench-nass-spindle/index.org][Nano-Hexapod on top of Spindle]] * Double Crystal Monochromator (DCM) + [[file:dcm-kinematics/index.html][Kinematics]] +#+begin_quote +Kinematics of the DCM is described (both for motors and sensors). Transformations matrices are derived and all notations and conventions are well defined. +#+end_quote + [[file:dcm-metrology/index.html][Metrology]] +#+begin_quote +Internal metrology of the DCM (i.e. interferometers) is described. Methods to properly initialize and calibrate the metrology are proposed. +#+end_quote -# [[file:dcm-stepper-calibration/index.html][Calibration of stepper motors]] -# #+begin_quote -# Analysis of stepper motors' errors is performed. -# Calibration table are computed to compensate for the repeatable errors. -# #+end_quote +[[file:dcm-feedback-control/index.html][Feedback Control]] +#+begin_quote +This project deals with the Feedback Control of the DCM: -# [[file:dcm-metrology/index.html][Metrology]] -# #+begin_quote -# The metrology concept is described. -# The calibration of the metrology is performed using an external metrology using the X-ray. -# #+end_quote +Identification of the system's dynamics Change of coordinates Feedback controller design Obtained performances in closed loop +#+end_quote -# [[file:dcm-feedback-control/index.html][Feedback Control]] -# #+begin_quote -# System dynamics is identified. -# Feedback control using the piezoelectric actuator is designed and experimentally validated. -# #+end_quote +[[file:dcm-user-guide/index.html][User Guide]] +#+begin_quote +The goal of this repository is to provide a simple guide for the use of the DCM. +#+end_quote -# [[file:dcm-simscape-model/index.html][Multi-Body (Simscape) model]] -# #+begin_quote -# A multi-body model of the DCM is developed and used to test various control strategies and change of architecture. -# #+end_quote +[[file:dcm-stepper-calibration/index.html][Stepper Motor Calibration]] +#+begin_quote +This repository includes all the work done in order to calibrate the errors induced by the stepper motors. +#+end_quote + +[[file:dcm-speedgoat/index.html][Speedgoat Real Time Program]] +#+begin_quote +This repository described the working principles of the Real Time program running on the Speedgoat machine for the DCM. +#+end_quote + +[[file:dcm-laser-setup/index.html][Laser Setup]] +#+begin_quote +This project summarized all the work done on the Laser Setup. This includes alignement, calibration, noise and stability measurements. +#+end_quote + +[[file:dcm-bragg-control/index.html][Control of Bragg Axis]] +#+begin_quote +The control of the Bragg angle using the Aerotech controller is described (control architecture, identified dynamics, etc.). +#+end_quote + +[[file:dcm-simscape/index.html][Multi-Body model (Simscape)]] +#+begin_quote +Multi-body model of the DCM using Simscape (Matlab Toolbox). Dynamics of the system is studied, matched with the identified dynamics. Feedback control is applied, and the model is used to study possible improvements. +#+end_quote * Useful Pages / Tutorials ** General Mechatronics