From 799b63d2a4d059a4bdf662ed702875e7731c056d Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 11 Feb 2020 15:50:52 +0100 Subject: [PATCH] Update html pages --- docs/active-damping.html | 122 ++++----- docs/control-study.html | 59 ++-- docs/cubic-configuration.html | 60 ++-- docs/dynamics-study.html | 40 +-- docs/identification.html | 154 +++++------ docs/index.html | 52 ++-- docs/kinematic-study.html | 242 ++++++++-------- docs/simscape-model.html | 101 ++++--- docs/simulink-project.html | 18 +- docs/static-analysis.html | 10 +- docs/stewart-architecture.html | 485 ++++++++++++++++----------------- org/active-damping.org | 18 +- org/control-study.org | 10 +- org/cubic-configuration.org | 15 +- org/dynamics-study.org | 14 +- org/identification.org | 19 +- org/kinematic-study.org | 18 +- org/simscape-model.org | 13 +- org/simulink-project.org | 30 +- org/static-analysis.org | 28 +- org/stewart-architecture.org | 8 +- 21 files changed, 778 insertions(+), 738 deletions(-) diff --git a/docs/active-damping.html b/docs/active-damping.html index 0aa17b4..5607b64 100644 --- a/docs/active-damping.html +++ b/docs/active-damping.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Stewart Platform - Decentralized Active Damping @@ -268,28 +268,28 @@ for the JavaScript code in this tag.

Table of Contents

@@ -300,22 +300,22 @@ for the JavaScript code in this tag. The following decentralized active damping techniques are briefly studied:

-

Inertial Control

-
+

1 Inertial Control

+

-

Identification of the Dynamics

-
+

1.1 Identification of the Dynamics

+
stewart = initializeStewartPlatform();
 stewart = initializeFramesPositions(stewart, 'H', 90e-3, 'MO_B', 45e-3);
@@ -362,9 +362,9 @@ The transfer function from actuator forces to force sensors is shown in Figure <
-
-

Effect of the Flexible Joint stiffness on the Dynamics

-
+
+

1.2 Effect of the Flexible Joint stiffness on the Dynamics

+

We add some stiffness and damping in the flexible joints and we re-identify the dynamics.

@@ -388,9 +388,9 @@ The new dynamics from force actuator to force sensor is shown in Figure
-
-

Obtained Damping

-
+ -
-

Conclusion

-
+
+

1.4 Conclusion

+

Joint stiffness does increase the resonance frequencies of the system but does not change the attainable damping when using relative motion sensors. @@ -435,16 +435,16 @@ Joint stiffness does increase the resonance frequencies of the system but does n

-

Integral Force Feedback

-
+

2 Integral Force Feedback

+

-
-

Identification of the Dynamics with perfect Joints

-
+
+

2.1 Identification of the Dynamics with perfect Joints

+

We first initialize the Stewart platform without joint stiffness.

@@ -498,9 +498,9 @@ The transfer function from actuator forces to force sensors is shown in Figure <
-
-

Effect of the Flexible Joint stiffness on the Dynamics

-
+
+

2.2 Effect of the Flexible Joint stiffness on the Dynamics

+

We add some stiffness and damping in the flexible joints and we re-identify the dynamics.

@@ -524,9 +524,9 @@ The new dynamics from force actuator to force sensor is shown in Figure
-
-

Obtained Damping

-
+ -
-

Conclusion

-
+
+

2.4 Conclusion

+

The joint stiffness has a huge impact on the attainable active damping performance when using force sensors. @@ -572,16 +572,16 @@ Thus, if Integral Force Feedback is to be used in a Stewart platform with flexib

-

Direct Velocity Feedback

-
+

3 Direct Velocity Feedback

+

-
-

Identification of the Dynamics with perfect Joints

-
+
+

3.1 Identification of the Dynamics with perfect Joints

+

We first initialize the Stewart platform without joint stiffness.

@@ -635,9 +635,9 @@ The transfer function from actuator forces to relative motion sensors is shown i
-
-

Effect of the Flexible Joint stiffness on the Dynamics

-
+
+

3.2 Effect of the Flexible Joint stiffness on the Dynamics

+

We add some stiffness and damping in the flexible joints and we re-identify the dynamics.

@@ -661,9 +661,9 @@ The new dynamics from force actuator to relative motion sensor is shown in Figur
-
-

Obtained Damping

-
+
+

3.3 Obtained Damping

+

The control is a performed in a decentralized manner. The \(6 \times 6\) control is a diagonal matrix with pure derivative action on the diagonal: @@ -694,9 +694,9 @@ The root locus is shown in figure 11 and the obtained

-
-

Conclusion

-
+
+

3.4 Conclusion

+

Joint stiffness does increase the resonance frequencies of the system but does not change the attainable damping when using relative motion sensors. @@ -709,7 +709,7 @@ Joint stiffness does increase the resonance frequencies of the system but does n

Author: Dehaeze Thomas

-

Created: 2020-02-11 mar. 15:26

+

Created: 2020-02-11 mar. 15:50

diff --git a/docs/control-study.html b/docs/control-study.html index 7cd7857..7feb15e 100644 --- a/docs/control-study.html +++ b/docs/control-study.html @@ -1,11 +1,10 @@ - - + Stewart Platform - Control Study @@ -269,13 +268,13 @@ for the JavaScript code in this tag.

Table of Contents

@@ -283,30 +282,12 @@ for the JavaScript code in this tag.
-

First Control Architecture

-
+

1 First Control Architecture

+
-

Control Schematic

-
-
-
\begin{tikzpicture}
-  % Blocs
-  \node[block] (J) at (0, 0) {$J$};
-  \node[addb={+}{}{}{}{-}, right=1 of J] (subr) {};
-  \node[block, right=0.8 of subr] (K) {$K_{L}$};
-  \node[block, right=1 of K] (G) {$G_{L}$};
-
-  % Connections and labels
-  \draw[<-] (J.west)node[above left]{$\bm{r}_{n}$} -- ++(-1, 0);
-  \draw[->] (J.east) -- (subr.west) node[above left]{$\bm{r}_{L}$};
-  \draw[->] (subr.east) -- (K.west) node[above left]{$\bm{\epsilon}_{L}$};
-  \draw[->] (K.east) -- (G.west) node[above left]{$\bm{\tau}$};
-  \draw[->] (G.east) node[above right]{$\bm{L}$} -| ($(G.east)+(1, -1)$) -| (subr.south);
-\end{tikzpicture}
-
-
- +

1.1 Control Schematic

+

control_measure_rotating_2dof.png @@ -316,8 +297,8 @@ for the JavaScript code in this tag.

-

Initialize the Stewart platform

-
+

1.2 Initialize the Stewart platform

+
stewart = initializeStewartPlatform();
 stewart = initializeFramesPositions(stewart);
@@ -334,8 +315,8 @@ stewart = initializeStewartPose(stewart);
-

Identification of the plant

-
+

1.3 Identification of the plant

+

Let’s identify the transfer function from \(\bm{\tau}}\) to \(\bm{L}\).

@@ -362,8 +343,8 @@ G.OutputName = {'L1', '
-

Plant Analysis

-
+

1.4 Plant Analysis

+

Diagonal terms Compare to off-diagonal terms @@ -371,8 +352,8 @@ Compare to off-diagonal terms

-

Controller Design

-
+

1.5 Controller Design

+

One integrator should be present in the controller.

@@ -401,7 +382,7 @@ Kl = Kl * eye(6);

Author: Dehaeze Thomas

-

Created: 2020-02-11 mar. 15:23

+

Created: 2020-02-11 mar. 15:50

diff --git a/docs/cubic-configuration.html b/docs/cubic-configuration.html index 9a6066b..973581e 100644 --- a/docs/cubic-configuration.html +++ b/docs/cubic-configuration.html @@ -4,7 +4,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Cubic configuration for the Stewart Platform @@ -268,19 +268,19 @@ for the JavaScript code in this tag.

Table of Contents