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Rework the control files

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Thomas Dehaeze
2020-03-13 10:35:21 +01:00
parent 158fc1d065
commit 2a5c629df7
6 changed files with 310 additions and 303 deletions
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@@ -4,7 +4,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-03-03 mar. 16:04 -->
<!-- 2020-03-13 ven. 10:34 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platforms</title>
@@ -241,10 +241,9 @@
<li><a href="#orgf1c7b3b">3. Simscape Model of the Stewart Platform (link)</a></li>
<li><a href="#org369c8bb">4. Kinematic Analysis (link)</a></li>
<li><a href="#org2e3169e">5. Identification of the Stewart Dynamics (link)</a></li>
<li><a href="#orgc3a4c87">6. Active Damping (link)</a></li>
<li><a href="#org5b4e9b0">7. Motion Control of the Stewart Platform (link)</a></li>
<li><a href="#org1f468b1">8. Cubic Configuration (link)</a></li>
<li><a href="#orga2bd0e9">9. Bibliography (link)</a></li>
<li><a href="#org0fdb910">6. Control</a></li>
<li><a href="#org1f468b1">7. Cubic Configuration (link)</a></li>
<li><a href="#orga2bd0e9">8. Bibliography (link)</a></li>
</ul>
</div>
</div>
@@ -349,37 +348,53 @@ The code that is used for identification is explained <a href="identification.ht
</div>
</div>
<div id="outline-container-orgc3a4c87" class="outline-2">
<h2 id="orgc3a4c87"><span class="section-number-2">6</span> Active Damping (<a href="active-damping.html">link</a>)</h2>
<div id="outline-container-org0fdb910" class="outline-2">
<h2 id="org0fdb910"><span class="section-number-2">6</span> Control</h2>
<div class="outline-text-2" id="text-6">
<p>
The use of different sensors are compared for active damping:
The use of active control for Stewart platforms is a wide subject.
Many aspect can be studied.
</p>
<p>
The sensors used is of primary important. We can have:
</p>
<ul class="org-ul">
<li>Inertial Sensor in each strut</li>
<li>Inertial Sensor fixed to the mobile platform</li>
<li>Force Sensor in each strut</li>
<li>Relative Motion Sensor in each strut</li>
<li>Sensors located in each strut: relative motion, force sensor, inertial sensor</li>
<li>Sensors measuring the relative motion between the fixed base and the mobile platform</li>
<li>Inertial sensors located on the mobile platform</li>
</ul>
<p>
The result of the analysis is accessible <a href="active-damping.html">here</a>.
The control objective can also vary:
</p>
</div>
</div>
<ul class="org-ul">
<li>Reference Tracking</li>
<li>Active Damping</li>
<li>Vibration Isolation</li>
</ul>
<div id="outline-container-org5b4e9b0" class="outline-2">
<h2 id="org5b4e9b0"><span class="section-number-2">7</span> Motion Control of the Stewart Platform (<a href="control-study.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
Some control architecture for motion control of the Stewart platform are applied on the Simscape model and compared in <a href="control-study.html">this</a> document.
The Control for Stewart platforms is here studied in the following files:
</p>
<ul class="org-ul">
<li><b>Active Damping</b> (<a href="control-active-damping.html">link</a>).
The use of different sensors are compared for active damping:
<ul class="org-ul">
<li>Inertial Sensor in each strut or fixed to the mobile platform</li>
<li>Force Sensor in each strut</li>
<li>Relative Motion Sensor in each strut</li>
</ul></li>
<li><b>Motion Control</b> (<a href="control-tracking.html">link</a>).
Different control architectures (centralized and decentralized) are compared for the position control of the Stewart platform.</li>
<li><b>Vibration Isolation</b> (<a href="control-vibration-isolation.html">link</a>)</li>
</ul>
</div>
</div>
<div id="outline-container-org1f468b1" class="outline-2">
<h2 id="org1f468b1"><span class="section-number-2">8</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<h2 id="org1f468b1"><span class="section-number-2">7</span> Cubic Configuration (<a href="cubic-configuration.html">link</a>)</h2>
<div class="outline-text-2" id="text-7">
<p>
The cubic configuration is a special class of Stewart platform that has interesting properties.
</p>
@@ -391,8 +406,8 @@ These properties are studied in <a href="cubic-configuration.html">this</a> docu
</div>
<div id="outline-container-orga2bd0e9" class="outline-2">
<h2 id="orga2bd0e9"><span class="section-number-2">9</span> Bibliography (<a href="bibliography.html">link</a>)</h2>
<div class="outline-text-2" id="text-9">
<h2 id="orga2bd0e9"><span class="section-number-2">8</span> Bibliography (<a href="bibliography.html">link</a>)</h2>
<div class="outline-text-2" id="text-8">
<p>
Many text books, PhD thesis and articles related to parallel robots and Stewart platforms are gathered in <a href="bibliography.html">this</a> document.
</p>
@@ -401,7 +416,7 @@ Many text books, PhD thesis and articles related to parallel robots and Stewart
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-03-03 mar. 16:04</p>
<p class="date">Created: 2020-03-13 ven. 10:34</p>
</div>
</body>
</html>