15 KiB
Research Pages
Welcome to my research pages.
Papers
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
- Dehaeze, T., Vermat, M., Christophe, C., Complementary filters shaping using $H_\infty$ synthesis, In 7th International Conference on Control, Mechatronics and Automation (ICCMA) (pp. 459–464) (2019)
- Dehaeze, T., Collette, C., Active damping of rotating platforms using Integral Force Feedback, In Proceedings of the International Conference on Modal Analysis Noise and Vibration Engineering (ISMA) (2020)
- Dehaeze, T., Bonnefoy, J., Collette, C., Mechatronics approach for the development of a Nano-Active-Stabilization-System, In MEDSI'20 (2021). JACoW Publishing
- Brumund, P., Dehaeze, T., Multibody simulations with reduced order flexible bodies obtained by FEA, In MEDSI'20 (2021). JACoW Publishing
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)
- Verma, M., Lafarga, V., Dehaeze, T., Collette, C., Multi-degree of freedom isolation system with high frequency roll-off for drone camera stabilization, IEEE Access, (2020)
- Dehaeze, T., Collette, C., Active damping of rotating platforms using integral force feedback, Engineering Research Express, (2021)
Nano Active Stabilization System (NASS)
General Reports
General report on the NASS project made in 2020.
Measurements, Models and Test Benches
NASS - Micro Station Measurements
This document gathers all the measurements made on the Micro-Station.
This document presents the Simscape model used to represent the micro-station as well as the Nano Active Stabilization System.
Finite Element Models of the nano-hexapod are developed and used with Simscape to perform dynamics meaurements. In this document, models of Amplified Piezoelectric Actuators, Flexible Joints, and Entire Stewart platform's strut are developed and tested.
Presentation of the first metrology concept for the NASS. First experimental results are presented.
Presentation of the short stroke metrology concept.
Nano-Hexapod
Equipments:
- Voltage Amplifier: PD200
- Encoder: Renishaw Vionic
- Flexible Joints
- Amplified Piezoelectric Actuator: APA300ML
- Control Electronics and Cabling
Assembly:
Nano-Hexapod Test Benches:
Double Crystal Monochromator (DCM)
Kinematics of the DCM is described (both for motors and sensors). Transformations matrices are derived and all notations and conventions are well defined.
Internal metrology of the DCM (i.e. interferometers) is described. Methods to properly initialize and calibrate the metrology are proposed.
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
The goal of this repository is to provide a simple guide for the use of the DCM.
This repository includes all the work done in order to calibrate the errors induced by the stepper motors.
This repository described the working principles of the Real Time program running on the Speedgoat machine for the DCM.
This project summarized all the work done on the Laser Setup. This includes alignement, calibration, noise and stability measurements.
The control of the Bragg angle using the Aerotech controller is described (control architecture, identified dynamics, etc.).
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.
Useful Pages / Tutorials
General Mechatronics
Basics of spectral analysis are presented alongside the Matlab codes. This includes:
- power spectral density
- cumulative power spectrum
- noise budgeting
- …
Several types of linear filters (low pass, high pass, notch, lead, etc.) are presented with the corresponding Matlab code.
System Modeling using Simscape
Finite Element Models with Simscape
Finite Element Models (FEM) can be included into Simscape Multi-Body models. This document presents how to do so.
Stewart Platforms modeled with Simscape
The goal of this project is to provide a Matlab/Simscape Toolbox to study Stewart platforms.
Manage Gravity within Simscape
Gravity can add some problems in multi-body simscape models: at the beginning of the simulation, some sag will be experience that may be unwanted. In order to start the simulation at equilibrium, few measured can be employed that are described in this document.
Test Benches / Experiments
Intrumentation Related
Voltage Amplifiers for Piezoelectric Actuators
Voltage amplifiers for capacitive loads (piezoelectric actuators) are measured in term of dynamics from input voltage to output voltage. Their output impedance are also measured.
The Attocube (a fiber based interferometer) is tested. Its noise characteristics as well as non-linearities are measured.
Amplified Piezoelecric Actuator
Amplified Piezoelectric Actuator - Test bench and Finite Element Model
A test bench is used to characterise the performances of an Amplified Piezoelectric Actuator (APA). The dynamics of the system is identified and compared with a Finite Element Model (FEM).
Encoder in parallel with an Amplified Piezoelectric Actuator
An encoder is fixed in parallel with an amplified piezoelectric actuator. The transfer function from the actuator to the motions measured by the encoder is identified.
Piezoelectric Stack as Force Sensor
A part of a piezoelectric stack can be used as a force sensor. Then, the force sensors is collocated with the part of the stack used as an actuator and Integral Force Feedback control strategy can be used to add damping in the system. This is performed on an Amplified Piezoelectric Actuator
Sensor Fusion of Inertial Sensors
A geophone and a accelerometer are experimentally fused together using complementary filters. The goal is to form a super sensor that has better noise characteristics than the individual sensors.
Vibration Table
Instrumented Vibration Table used for Modal Testing
A vibration table is developed to perform controlled modal tests.