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Thomas Dehaeze
2020-02-11 15:50:52 +01:00
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commit 799b63d2a4
21 changed files with 778 additions and 738 deletions
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docs/control-study.html
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@@ -1,11 +1,10 @@
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-02-11 mar. 15:23 -->
<!-- 2020-02-11 mar. 15:50 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Stewart Platform - Control Study</title>
@@ -269,13 +268,13 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgc1805a8">First Control Architecture</a>
<li><a href="#orgc1805a8">1. First Control Architecture</a>
<ul>
<li><a href="#org066d914">Control Schematic</a></li>
<li><a href="#org64f6d6b">Initialize the Stewart platform</a></li>
<li><a href="#org4493ec7">Identification of the plant</a></li>
<li><a href="#org72dad5c">Plant Analysis</a></li>
<li><a href="#orga9fb0f5">Controller Design</a></li>
<li><a href="#org066d914">1.1. Control Schematic</a></li>
<li><a href="#org64f6d6b">1.2. Initialize the Stewart platform</a></li>
<li><a href="#org4493ec7">1.3. Identification of the plant</a></li>
<li><a href="#org72dad5c">1.4. Plant Analysis</a></li>
<li><a href="#orga9fb0f5">1.5. Controller Design</a></li>
</ul>
</li>
</ul>
@@ -283,30 +282,12 @@ for the JavaScript code in this tag.
</div>
<div id="outline-container-orgc1805a8" class="outline-2">
<h2 id="orgc1805a8">First Control Architecture</h2>
<div class="outline-text-2" id="text-orgc1805a8">
<h2 id="orgc1805a8"><span class="section-number-2">1</span> First Control Architecture</h2>
<div class="outline-text-2" id="text-1">
</div>
<div id="outline-container-org066d914" class="outline-3">
<h3 id="org066d914">Control Schematic</h3>
<div class="outline-text-3" id="text-org066d914">
<div class="org-src-container">
<pre class="src src-latex"><span class="org-font-latex-sedate"><span class="org-keyword">\begin</span></span>{<span class="org-function-name">tikzpicture</span>}
<span class="org-comment">% Blocs</span>
<span class="org-font-latex-sedate">\node</span>[block] (J) at (0, 0) {<span class="org-font-latex-math">$J$</span>};
<span class="org-font-latex-sedate">\node</span>[addb={+}{}{}{}{-}, right=1 of J] (subr) {};
<span class="org-font-latex-sedate">\node</span>[block, right=0.8 of subr] (K) {<span class="org-font-latex-math">$K</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">{L}$</span>};
<span class="org-font-latex-sedate">\node</span>[block, right=1 of K] (G) {<span class="org-font-latex-math">$G</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">{L}$</span>};
<span class="org-comment">% Connections and labels</span>
<span class="org-font-latex-sedate">\draw</span>[&lt;-] (J.west)node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\bm</span></span><span class="org-font-latex-math">{r}</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">{n}$</span>} -- ++(-1, 0);
<span class="org-font-latex-sedate">\draw</span>[-&gt;] (J.east) -- (subr.west) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\bm</span></span><span class="org-font-latex-math">{r}</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">{L}$</span>};
<span class="org-font-latex-sedate">\draw</span>[-&gt;] (subr.east) -- (K.west) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\bm</span></span><span class="org-font-latex-math">{</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\epsilon</span></span><span class="org-font-latex-math">}</span><span class="org-font-latex-math"><span class="org-font-latex-script-char">_</span></span><span class="org-font-latex-math">{L}$</span>};
<span class="org-font-latex-sedate">\draw</span>[-&gt;] (K.east) -- (G.west) node[above left]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\bm</span></span><span class="org-font-latex-math">{</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\tau</span></span><span class="org-font-latex-math">}$</span>};
<span class="org-font-latex-sedate">\draw</span>[-&gt;] (G.east) node[above right]{<span class="org-font-latex-math">$</span><span class="org-font-latex-sedate"><span class="org-font-latex-math">\bm</span></span><span class="org-font-latex-math">{L}$</span>} -| (<span class="org-font-latex-math">$(G.east)+(1, -1)$</span>) -| (subr.south);
<span class="org-font-latex-sedate"><span class="org-keyword">\end</span></span>{<span class="org-function-name">tikzpicture</span>}
</pre>
</div>
<h3 id="org066d914"><span class="section-number-3">1.1</span> Control Schematic</h3>
<div class="outline-text-3" id="text-1-1">
<div class="figure">
<p><img src="figs/control_measure_rotating_2dof.png" alt="control_measure_rotating_2dof.png" />
@@ -316,8 +297,8 @@ for the JavaScript code in this tag.
</div>
<div id="outline-container-org64f6d6b" class="outline-3">
<h3 id="org64f6d6b">Initialize the Stewart platform</h3>
<div class="outline-text-3" id="text-org64f6d6b">
<h3 id="org64f6d6b"><span class="section-number-3">1.2</span> Initialize the Stewart platform</h3>
<div class="outline-text-3" id="text-1-2">
<div class="org-src-container">
<pre class="src src-matlab">stewart = initializeStewartPlatform();
stewart = initializeFramesPositions(stewart);
@@ -334,8 +315,8 @@ stewart = initializeStewartPose(stewart);
</div>
<div id="outline-container-org4493ec7" class="outline-3">
<h3 id="org4493ec7">Identification of the plant</h3>
<div class="outline-text-3" id="text-org4493ec7">
<h3 id="org4493ec7"><span class="section-number-3">1.3</span> Identification of the plant</h3>
<div class="outline-text-3" id="text-1-3">
<p>
Let&rsquo;s identify the transfer function from \(\bm{\tau}}\) to \(\bm{L}\).
</p>
@@ -362,8 +343,8 @@ G.OutputName = {<span class="org-string">'L1'</span>, <span class="org-string">'
</div>
<div id="outline-container-org72dad5c" class="outline-3">
<h3 id="org72dad5c">Plant Analysis</h3>
<div class="outline-text-3" id="text-org72dad5c">
<h3 id="org72dad5c"><span class="section-number-3">1.4</span> Plant Analysis</h3>
<div class="outline-text-3" id="text-1-4">
<p>
Diagonal terms
Compare to off-diagonal terms
@@ -371,8 +352,8 @@ Compare to off-diagonal terms
</div>
</div>
<div id="outline-container-orga9fb0f5" class="outline-3">
<h3 id="orga9fb0f5">Controller Design</h3>
<div class="outline-text-3" id="text-orga9fb0f5">
<h3 id="orga9fb0f5"><span class="section-number-3">1.5</span> Controller Design</h3>
<div class="outline-text-3" id="text-1-5">
<p>
One integrator should be present in the controller.
</p>
@@ -401,7 +382,7 @@ Kl = Kl <span class="org-type">*</span> eye(6);
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-02-11 mar. 15:23</p>
<p class="date">Created: 2020-02-11 mar. 15:50</p>
</div>
</body>
</html>