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Add all DCM documents

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Thomas Dehaeze 2022-06-02 22:34:36 +02:00
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commit 8af7df9d2d
10 changed files with 180 additions and 56 deletions
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19
.gitmodules vendored
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@ -132,10 +132,10 @@
url = https://git.tdehaeze.xyz/tdehaeze/dehaeze19_compl_filter_shapin_using_synth url = https://git.tdehaeze.xyz/tdehaeze/dehaeze19_compl_filter_shapin_using_synth
[submodule "dcm-stepper-calibration"] [submodule "dcm-stepper-calibration"]
path = 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"] [submodule "dcm-feedback-control"]
path = 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"] [submodule "dcm-simscape-model"]
path = dcm-simscape-model path = dcm-simscape-model
url = https://git.tdehaeze.xyz/tdehaeze/dcm-simscape-model url = https://git.tdehaeze.xyz/tdehaeze/dcm-simscape-model
@ -145,3 +145,18 @@
[submodule "dcm-kinematics"] [submodule "dcm-kinematics"]
path = dcm-kinematics path = dcm-kinematics
url = https://gitlab.esrf.fr/dehaeze/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

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dcm-bragg-control Submodule

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Subproject commit 30e24e3ad3f62edc31609b3ba9fee7d929d6d050

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dcm-feedback-control Submodule

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Subproject commit cbc63a0661ddc4d812e1503beb4d69b571820b3d

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dcm-laser-setup Submodule

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Subproject commit eb495136c817b64908b3f028de5cdc73b39475ec

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dcm-simscape Submodule

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Subproject commit f6400c14de49371591162fbc3b520052803d88cb

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dcm-speedgoat Submodule

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Subproject commit d4fdcd3e2d8c784ead5c72d47a96c088b611d226

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dcm-stepper-calibration Submodule

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Subproject commit 1512272e10f96d69b2e6b6560f5c52ef2431a133

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dcm-user-guide Submodule

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Subproject commit b1a511922af662ea2f57d16fb54f175d8413f1d2

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index.html
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2022-06-02 Thu 19:15 --> <!-- 2022-06-02 Thu 22:34 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Research Pages</title> <title>Research Pages</title>
<meta name="author" content="Dehaeze Thomas" /> <meta name="author" content="Dehaeze Thomas" />
@ -37,13 +37,13 @@
Welcome to my research pages. Welcome to my research pages.
</p> </p>
<div id="outline-container-org5bcf370" class="outline-2"> <div id="outline-container-orga67e658" class="outline-2">
<h2 id="org5bcf370"><span class="section-number-2">1.</span> Papers</h2> <h2 id="orga67e658"><span class="section-number-2">1.</span> Papers</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
</div> </div>
<div id="outline-container-orge197ac1" class="outline-3"> <div id="outline-container-org1be2914" class="outline-3">
<h3 id="orge197ac1"><span class="section-number-3">1.1.</span> Conference Papers</h3> <h3 id="org1be2914"><span class="section-number-3">1.1.</span> Conference Papers</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<ul class="org-ul"> <ul class="org-ul">
<li>Dehaeze, T., Mattenet, M. M., Collette, C., <b>Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty</b>, In MEDSI&rsquo;18 (pp. 153–157) (2018). Geneva, Switzerland: JACoW Publishing <li>Dehaeze, T., Mattenet, M. M., Collette, C., <b>Sample Stabilization For Tomography Experiments In Presence Of Large Plant Uncertainty</b>, In MEDSI&rsquo;18 (pp. 153–157) (2018). Geneva, Switzerland: JACoW Publishing
@ -79,8 +79,8 @@ Welcome to my research pages.
</div> </div>
</div> </div>
<div id="outline-container-org5ffc110" class="outline-3"> <div id="outline-container-org90b1d65" class="outline-3">
<h3 id="org5ffc110"><span class="section-number-3">1.2.</span> Journal Papers</h3> <h3 id="org90b1d65"><span class="section-number-3">1.2.</span> Journal Papers</h3>
<div class="outline-text-3" id="text-1-2"> <div class="outline-text-3" id="text-1-2">
<ul class="org-ul"> <ul class="org-ul">
<li>Verma, M., Dehaeze, T., Zhao, G., Watchi, J., Collette, C., <b>Virtual sensor fusion for high precision control, Mechanical Systems and Signal Processing</b>, 150, 107241 (2020) <li>Verma, M., Dehaeze, T., Zhao, G., Watchi, J., Collette, C., <b>Virtual sensor fusion for high precision control, Mechanical Systems and Signal Processing</b>, 150, 107241 (2020)
@ -99,12 +99,12 @@ Welcome to my research pages.
</div> </div>
</div> </div>
<div id="outline-container-orgf56927c" class="outline-2"> <div id="outline-container-org420fe1c" class="outline-2">
<h2 id="orgf56927c"><span class="section-number-2">2.</span> Nano Active Stabilization System (NASS)</h2> <h2 id="org420fe1c"><span class="section-number-2">2.</span> Nano Active Stabilization System (NASS)</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
</div> </div>
<div id="outline-container-org3c680e7" class="outline-3"> <div id="outline-container-org3ac12d7" class="outline-3">
<h3 id="org3c680e7"><span class="section-number-3">2.1.</span> General Reports</h3> <h3 id="org3ac12d7"><span class="section-number-3">2.1.</span> General Reports</h3>
<div class="outline-text-3" id="text-2-1"> <div class="outline-text-3" id="text-2-1">
<p> <p>
<a href="nass-report-2020/index.html">NASS - Report 2020</a> <a href="nass-report-2020/index.html">NASS - Report 2020</a>
@ -117,8 +117,8 @@ General report on the NASS project made in 2020.
</div> </div>
</div> </div>
<div id="outline-container-orgc0f126f" class="outline-3"> <div id="outline-container-org1e4a9db" class="outline-3">
<h3 id="orgc0f126f"><span class="section-number-3">2.2.</span> Measurements, Models and Test Benches</h3> <h3 id="org1e4a9db"><span class="section-number-3">2.2.</span> Measurements, Models and Test Benches</h3>
<div class="outline-text-3" id="text-2-2"> <div class="outline-text-3" id="text-2-2">
<p> <p>
<a href="nass-micro-station-measurements/index.html">NASS - Micro Station Measurements</a> <a href="nass-micro-station-measurements/index.html">NASS - Micro Station Measurements</a>
@ -169,8 +169,8 @@ Presentation of the short stroke metrology concept.
</div> </div>
</div> </div>
<div id="outline-container-org7b3660b" class="outline-3"> <div id="outline-container-org4a69b7f" class="outline-3">
<h3 id="org7b3660b"><span class="section-number-3">2.3.</span> Nano-Hexapod</h3> <h3 id="org4a69b7f"><span class="section-number-3">2.3.</span> Nano-Hexapod</h3>
<div class="outline-text-3" id="text-2-3"> <div class="outline-text-3" id="text-2-3">
<p> <p>
<b>Equipments</b>: <b>Equipments</b>:
@ -202,22 +202,102 @@ Presentation of the short stroke metrology concept.
</div> </div>
</div> </div>
<div id="outline-container-org49e79f0" class="outline-2"> <div id="outline-container-orgd2f31a7" class="outline-2">
<h2 id="org49e79f0"><span class="section-number-2">3.</span> Double Crystal Monochromator (DCM)</h2> <h2 id="orgd2f31a7"><span class="section-number-2">3.</span> Double Crystal Monochromator (DCM)</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
<p> <p>
<a href="dcm-kinematics/index.html">Kinematics</a> <a href="dcm-kinematics/index.html">Kinematics</a>
</p>
<blockquote>
<p>
Kinematics of the DCM is described (both for motors and sensors). Transformations matrices are derived and all notations and conventions are well defined.
</p>
</blockquote>
<p>
<a href="dcm-metrology/index.html">Metrology</a> <a href="dcm-metrology/index.html">Metrology</a>
</p> </p>
<blockquote>
<p>
Internal metrology of the DCM (i.e. interferometers) is described. Methods to properly initialize and calibrate the metrology are proposed.
</p>
</blockquote>
<p>
<a href="dcm-feedback-control/index.html">Feedback Control</a>
</p>
<blockquote>
<p>
This project deals with the Feedback Control of the DCM:
</p>
<p>
Identification of the system&rsquo;s dynamics Change of coordinates Feedback controller design Obtained performances in closed loop
</p>
</blockquote>
<p>
<a href="dcm-user-guide/index.html">User Guide</a>
</p>
<blockquote>
<p>
The goal of this repository is to provide a simple guide for the use of the DCM.
</p>
</blockquote>
<p>
<a href="dcm-stepper-calibration/index.html">Stepper Motor Calibration</a>
</p>
<blockquote>
<p>
This repository includes all the work done in order to calibrate the errors induced by the stepper motors.
</p>
</blockquote>
<p>
<a href="dcm-speedgoat/index.html">Speedgoat Real Time Program</a>
</p>
<blockquote>
<p>
This repository described the working principles of the Real Time program running on the Speedgoat machine for the DCM.
</p>
</blockquote>
<p>
<a href="dcm-laser-setup/index.html">Laser Setup</a>
</p>
<blockquote>
<p>
This project summarized all the work done on the Laser Setup. This includes alignement, calibration, noise and stability measurements.
</p>
</blockquote>
<p>
<a href="dcm-bragg-control/index.html">Control of Bragg Axis</a>
</p>
<blockquote>
<p>
The control of the Bragg angle using the Aerotech controller is described (control architecture, identified dynamics, etc.).
</p>
</blockquote>
<p>
<a href="dcm-simscape/index.html">Multi-Body model (Simscape)</a>
</p>
<blockquote>
<p>
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.
</p>
</blockquote>
</div> </div>
</div> </div>
<div id="outline-container-org3564575" class="outline-2"> <div id="outline-container-orga8b972f" class="outline-2">
<h2 id="org3564575"><span class="section-number-2">4.</span> Useful Pages / Tutorials</h2> <h2 id="orga8b972f"><span class="section-number-2">4.</span> Useful Pages / Tutorials</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
</div> </div>
<div id="outline-container-orgd677c17" class="outline-3"> <div id="outline-container-org14f3092" class="outline-3">
<h3 id="orgd677c17"><span class="section-number-3">4.1.</span> General Mechatronics</h3> <h3 id="org14f3092"><span class="section-number-3">4.1.</span> General Mechatronics</h3>
<div class="outline-text-3" id="text-4-1"> <div class="outline-text-3" id="text-4-1">
<p> <p>
<a href="spectral-analysis/index.html">Spectral Analysis</a> <a href="spectral-analysis/index.html">Spectral Analysis</a>
@ -246,8 +326,8 @@ Several types of linear filters (low pass, high pass, notch, lead, etc.) are pre
</div> </div>
</div> </div>
<div id="outline-container-org923c658" class="outline-3"> <div id="outline-container-org2798ad7" class="outline-3">
<h3 id="org923c658"><span class="section-number-3">4.2.</span> System Modeling using Simscape</h3> <h3 id="org2798ad7"><span class="section-number-3">4.2.</span> System Modeling using Simscape</h3>
<div class="outline-text-3" id="text-4-2"> <div class="outline-text-3" id="text-4-2">
<p> <p>
<a href="simscape-fem/index.html">Finite Element Models with Simscape</a> <a href="simscape-fem/index.html">Finite Element Models with Simscape</a>
@ -281,12 +361,12 @@ In order to start the simulation at equilibrium, few measured can be employed th
</div> </div>
</div> </div>
<div id="outline-container-org09bc092" class="outline-2"> <div id="outline-container-org5eddddb" class="outline-2">
<h2 id="org09bc092"><span class="section-number-2">5.</span> Test Benches / Experiments</h2> <h2 id="org5eddddb"><span class="section-number-2">5.</span> Test Benches / Experiments</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
</div> </div>
<div id="outline-container-orge25dfd1" class="outline-3"> <div id="outline-container-org3e03e27" class="outline-3">
<h3 id="orge25dfd1"><span class="section-number-3">5.1.</span> Intrumentation Related</h3> <h3 id="org3e03e27"><span class="section-number-3">5.1.</span> Intrumentation Related</h3>
<div class="outline-text-3" id="text-5-1"> <div class="outline-text-3" id="text-5-1">
<p> <p>
<a href="test-bench-piezo-amplifiers/index.html">Voltage Amplifiers for Piezoelectric Actuators</a> <a href="test-bench-piezo-amplifiers/index.html">Voltage Amplifiers for Piezoelectric Actuators</a>
@ -310,8 +390,8 @@ Its noise characteristics as well as non-linearities are measured.
</div> </div>
</div> </div>
<div id="outline-container-org50f7033" class="outline-3"> <div id="outline-container-orge46b032" class="outline-3">
<h3 id="org50f7033"><span class="section-number-3">5.2.</span> Amplified Piezoelecric Actuator</h3> <h3 id="orge46b032"><span class="section-number-3">5.2.</span> Amplified Piezoelecric Actuator</h3>
<div class="outline-text-3" id="text-5-2"> <div class="outline-text-3" id="text-5-2">
<p> <p>
<a href="test-bench-apa/index.html">Amplified Piezoelectric Actuator - Test bench and Finite Element Model</a> <a href="test-bench-apa/index.html">Amplified Piezoelectric Actuator - Test bench and Finite Element Model</a>
@ -356,8 +436,8 @@ The goal is to form a <i>super sensor</i> that has better noise characteristics
</div> </div>
</div> </div>
<div id="outline-container-org2660fa1" class="outline-3"> <div id="outline-container-orgd8627af" class="outline-3">
<h3 id="org2660fa1"><span class="section-number-3">5.3.</span> Vibration Table</h3> <h3 id="orgd8627af"><span class="section-number-3">5.3.</span> Vibration Table</h3>
<div class="outline-text-3" id="text-5-3"> <div class="outline-text-3" id="text-5-3">
<p> <p>
<a href="vibration-table/index.html">Instrumented Vibration Table used for Modal Testing</a> <a href="vibration-table/index.html">Instrumented Vibration Table used for Modal Testing</a>
@ -371,8 +451,8 @@ A vibration table is developed to perform controlled modal tests.
</div> </div>
</div> </div>
<div id="outline-container-orgc3e10b1" class="outline-2"> <div id="outline-container-org7f51a56" class="outline-2">
<h2 id="orgc3e10b1"><span class="section-number-2">6.</span> Notes</h2> <h2 id="org7f51a56"><span class="section-number-2">6.</span> Notes</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
<ul class="org-ul"> <ul class="org-ul">
<li><a href="euspen_2020_notes/notes.html">EUSPEN - 2020 - Notes</a></li> <li><a href="euspen_2020_notes/notes.html">EUSPEN - 2020 - Notes</a></li>
@ -380,8 +460,8 @@ A vibration table is developed to perform controlled modal tests.
</div> </div>
</div> </div>
<div id="outline-container-org58f9fe0" class="outline-2"> <div id="outline-container-org4b54bac" class="outline-2">
<h2 id="org58f9fe0"><span class="section-number-2">7.</span> Lectures</h2> <h2 id="org4b54bac"><span class="section-number-2">7.</span> Lectures</h2>
<div class="outline-text-2" id="text-7"> <div class="outline-text-2" id="text-7">
<ul class="org-ul"> <ul class="org-ul">
<li><a href="lecture-h-infinity/index.html">H-Infinity - Robust Control</a></li> <li><a href="lecture-h-infinity/index.html">H-Infinity - Robust Control</a></li>

60
index.org
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@ -149,31 +149,53 @@ Presentation of the short stroke metrology concept.
- [[file:test-bench-nass-spindle/index.org][Nano-Hexapod on top of Spindle]] - [[file:test-bench-nass-spindle/index.org][Nano-Hexapod on top of Spindle]]
* Double Crystal Monochromator (DCM) * Double Crystal Monochromator (DCM)
[[file:dcm-kinematics/index.html][Kinematics]] [[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]] [[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]] [[file:dcm-feedback-control/index.html][Feedback Control]]
# #+begin_quote #+begin_quote
# Analysis of stepper motors' errors is performed. This project deals with the Feedback Control of the DCM:
# Calibration table are computed to compensate for the repeatable errors.
# #+end_quote
# [[file:dcm-metrology/index.html][Metrology]] Identification of the system's dynamics Change of coordinates Feedback controller design Obtained performances in closed loop
# #+begin_quote #+end_quote
# The metrology concept is described.
# The calibration of the metrology is performed using an external metrology using the X-ray.
# #+end_quote
# [[file:dcm-feedback-control/index.html][Feedback Control]] [[file:dcm-user-guide/index.html][User Guide]]
# #+begin_quote #+begin_quote
# System dynamics is identified. The goal of this repository is to provide a simple guide for the use of the DCM.
# Feedback control using the piezoelectric actuator is designed and experimentally validated. #+end_quote
# #+end_quote
# [[file:dcm-simscape-model/index.html][Multi-Body (Simscape) model]] [[file:dcm-stepper-calibration/index.html][Stepper Motor Calibration]]
# #+begin_quote #+begin_quote
# A multi-body model of the DCM is developed and used to test various control strategies and change of architecture. This repository includes all the work done in order to calibrate the errors induced by the stepper motors.
# #+end_quote #+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 * Useful Pages / Tutorials
** General Mechatronics ** General Mechatronics