We first initialize the Stewart platform. @@ -396,8 +395,8 @@ payload = initializePayload('type',
We identify the transfer function from the actuator forces \(\bm{\tau}\) to the absolute displacement of the mobile platform \(\bm{\mathcal{X}}\) in three different cases: @@ -409,8 +408,8 @@ We identify the transfer function from the actuator forces \(\bm{\tau}\) to the
controller = initializeController('type', 'open-loop'); @@ -435,8 +434,8 @@ G_ol.OutputName = {'Dx', -1.3.2 HAC - IFF
++1.3.2 HAC - IFF
controller = initializeController('type', 'iff'); @@ -462,8 +461,8 @@ G_iff.OutputName = {'Dx', -1.3.3 HAC - DVF
++1.3.3 HAC - DVF
-controller = initializeController('type', 'dvf'); @@ -527,12 +526,12 @@ We then design a controller based on the transfer functions from \(\bm{\mathcal{-1.6 HAC - DVF
++1.6 HAC - DVF
--1.6.1 Plant
++1.6.1 Plant
-@@ -543,8 +542,8 @@ We then design a controller based on the transfer functions from \(\bm{\mathcal{-1.6.2 Controller Design
++-1.6.2 Controller Design
We design a diagonal controller with equal bandwidth for the 6 terms. @@ -579,8 +578,8 @@ Finally, we pre-multiply the diagonal controller by \(\bm{J}^{-T}\) prior implem
-1.6.3 Obtained Performance
++-1.6.3 Obtained Performance
We identify the transmissibility and compliance of the system. @@ -617,12 +616,12 @@ We identify the transmissibility and compliance of the system.
-1.7 HAC - IFF
++1.7 HAC - IFF
--1.7.1 Plant
++1.7.1 Plant
-@@ -633,8 +632,8 @@ We identify the transmissibility and compliance of the system.-1.7.2 Controller Design
++-1.7.2 Controller Design
We design a diagonal controller with equal bandwidth for the 6 terms. @@ -669,8 +668,8 @@ Finally, we pre-multiply the diagonal controller by \(\bm{J}^{-T}\) prior implem
-1.7.3 Obtained Performance
++1.7.3 Obtained Performance
-We identify the transmissibility and compliance of the system. @@ -826,8 +825,8 @@ Let’s define the system as shown in figure 13.
-2.1 Initialization
++2.1 Initialization
-We first initialize the Stewart platform. @@ -858,12 +857,12 @@ payload = initializePayload('type',
-2.2 Identification
++2.2 Identification
--2.2.1 HAC - Without LAC
++2.2.1 HAC - Without LAC
controller = initializeController('type', 'open-loop'); @@ -888,8 +887,8 @@ G_ol.OutputName = {'Dx', -2.2.2 HAC - DVF
++2.2.2 HAC - DVF
-controller = initializeController('type', 'dvf'); @@ -987,8 +986,8 @@ There are mainly three different cases:-3.1 Initialization
++3.1 Initialization
-We first initialize the Stewart platform. @@ -1019,8 +1018,8 @@ payload = initializePayload('type',
-3.2 Identification
++3.2 Identification
-controller = initializeController('type', 'dvf'); @@ -1135,8 +1134,8 @@ The overall controller is then \(K(s) = W_1 K_s(s)\) as shown in Figure-3.3.3 Results
++3.3.3 Results
We identify the transmissibility and compliance of the Stewart platform under open-loop and closed-loop control. @@ -1184,8 +1183,8 @@ The results are shown in figure
4 Time Domain Simulation
--4.1 Initialization
++4.1 Initialization
-We first initialize the Stewart platform. @@ -1308,8 +1307,8 @@ K_hac_dvf = inv(stewart.kinematics.J')
-4.4 Results
++4.4 Results
figure; @@ -1418,7 +1417,7 @@ ylabel('Orientation error [rad]');-diff --git a/org/bibliography.org b/org/bibliography.org index c743941..c228061 100644 --- a/org/bibliography.org +++ b/org/bibliography.org @@ -46,6 +46,8 @@ Things to add: - cite:beijen18_exper_estim_trans_matric_indus - cite:xie17_model_contr_hybrid_passiv_activ - cite:chi15_desig_exper_study_vcm_based +- cite:guo08_cascad_contr_hydraul_driven_paral +- cite:zheng18_stewar_isolat_with_high_static * Books | |Created: 2020-03-13 ven. 10:34
+Created: 2020-03-16 lun. 11:21
| diff --git a/org/control-tracking.org b/org/control-tracking.org index ccb2c6c..58191bb 100644 --- a/org/control-tracking.org +++ b/org/control-tracking.org @@ -610,7 +610,7 @@ This will simplify the design of the controller as all the elements of the diago #+end_src #+name: fig:plant_centralized_L -#+caption: Diagonal and off-diagonal elements of the plant $\bm{K}\bm{G}$ ([[./figs/plant_centralized_L.png][png]], [[./figs/plant_centralized_L.pdf][pdf]]) +#+caption: Diagonal and off-diagonal elements of the plant $\bm{J}\bm{G}$ ([[./figs/plant_centralized_L.png][png]], [[./figs/plant_centralized_L.pdf][pdf]]) [[file:figs/plant_centralized_L.png]] We can see that this *totally decouples the system at low frequency*. diff --git a/org/control-vibration-isolation.org b/org/control-vibration-isolation.org index b4f1a01..bb71fa1 100644 --- a/org/control-vibration-isolation.org +++ b/org/control-vibration-isolation.org @@ -39,17 +39,6 @@ :END: * Introduction :ignore: -Control architectures can be divided in different ways. - -It can depend on the sensor used: -- Sensors located in each strut: relative motion, force sensor, inertial sensor -- Sensors measuring the relative motion between the fixed base and the mobile platform -- Inertial sensors located on the mobile platform - -It can also depends on the control objective: -- Reference Tracking -- Active Damping -- Vibration Isolation * HAC-LAC (Cascade) Control - Integral Control ** Introduction diff --git a/org/ref.bib b/org/ref.bib index 2168586..6601853 100644 --- a/org/ref.bib +++ b/org/ref.bib @@ -1330,3 +1330,33 @@ url = {https://doi.org/10.1016/j.actaastro.2020.02.033}, tags = {parallel robot}, } + +@article{guo08_cascad_contr_hydraul_driven_paral, + author = {HongBo Guo and YongGuang Liu and GuiRong Liu and HongRen + Li}, + title = {Cascade Control of a Hydraulically Driven 6-dof Parallel + Robot Manipulator Based on a Sliding Mode}, + journal = {Control Engineering Practice}, + volume = 16, + number = 9, + pages = {1055-1068}, + year = 2008, + doi = {10.1016/j.conengprac.2007.11.005}, + url = {https://doi.org/10.1016/j.conengprac.2007.11.005}, + tags = {parallel robot}, +} + +@article{zheng18_stewar_isolat_with_high_static, + author = {Yisheng Zheng and Qingpin Li and Bo Yan and Yajun Luo and + Xinong Zhang}, + title = {A Stewart Isolator With High-Static-Low-Dynamic Stiffness + Struts Based on Negative Stiffness Magnetic Springs}, + journal = {Journal of Sound and Vibration}, + volume = 422, + number = {nil}, + pages = {390-408}, + year = 2018, + doi = {10.1016/j.jsv.2018.02.046}, + url = {https://doi.org/10.1016/j.jsv.2018.02.046}, + tags = {parallel robot}, +}