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Thomas Dehaeze
2020-02-11 15:50:52 +01:00
parent f684653af8
commit 799b63d2a4
21 changed files with 778 additions and 738 deletions
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18
org/active-damping.org
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@@ -1,5 +1,11 @@
#+TITLE: Stewart Platform - Decentralized Active Damping
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -23,11 +29,13 @@
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Introduction :ignore:
@@ -54,7 +62,7 @@ The following decentralized active damping techniques are briefly studied:
#+end_src
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
#+begin_src matlab
@@ -283,7 +291,7 @@ The root locus is shown in figure [[fig:root_locus_inertial_rot_stiffness]] and
#+end_src
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
#+begin_src matlab
@@ -516,7 +524,7 @@ The root locus is shown in figure [[fig:root_locus_iff_rot_stiffness]] and the o
#+end_src
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
#+begin_src matlab

10
org/control-study.org
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@@ -1,5 +1,11 @@
#+TITLE: Stewart Platform - Control Study
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -26,7 +32,7 @@
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
@@ -43,7 +49,7 @@
#+end_src
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
** Control Schematic

15
org/cubic-configuration.org
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@@ -1,5 +1,11 @@
#+TITLE: Cubic configuration for the Stewart Platform
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -11,7 +17,6 @@
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
#+PROPERTY: header-args:matlab :session *MATLAB*
#+PROPERTY: header-args:matlab+ :tangle matlab/cubic_configuration.m
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none
@@ -24,11 +29,13 @@
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Introduction :ignore:
@@ -58,7 +65,7 @@ The goal is to study the benefits of using a cubic configuration:
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
** Cubic Stewart platform centered with the cube center - Jacobian estimated at the cube center

14
org/dynamics-study.org
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@@ -1,5 +1,11 @@
#+TITLE: Stewart Platform - Dynamics Study
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -23,11 +29,13 @@
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Some tests
@@ -41,7 +49,7 @@
#+end_src
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
** Simscape Model

19
org/identification.org
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@@ -1,5 +1,11 @@
#+TITLE: Identification of the Stewart Platform using Simscape
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -11,7 +17,6 @@
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
#+PROPERTY: header-args:matlab :session *MATLAB*
#+PROPERTY: header-args:matlab+ :tangle matlab/identification.m
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none
@@ -24,11 +29,13 @@
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Introduction :ignore:
@@ -68,7 +75,7 @@ An important difference from basic Simulink models is that the states in a physi
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
** Simscape Model
@@ -126,7 +133,7 @@ An important difference from basic Simulink models is that the states in a physi
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
** Initialize the Stewart Platform
@@ -355,7 +362,7 @@ Save the movie of the mode shape.
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
** Simscape Model

18
org/kinematic-study.org
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@@ -1,5 +1,11 @@
#+TITLE: Kinematic Study of the Stewart Platform
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -23,11 +29,13 @@
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Introduction :ignore:
@@ -230,7 +238,7 @@ This will also gives us the range for which the approximate forward kinematic is
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
*** Stewart architecture definition
@@ -336,7 +344,7 @@ This is what is analyzed in this section.
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
** Stewart architecture definition
@@ -493,7 +501,7 @@ However, for small displacements, we can use the Jacobian as an approximate solu
#+end_src
#+begin_src matlab :results none :exports none
simulinkproject('./');
simulinkproject('../');
#+end_src
** Stewart architecture definition

13
org/simscape-model.org
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@@ -1,5 +1,11 @@
#+TITLE: Stewart Platform - Simscape Model
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -23,11 +29,13 @@
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Introduction :ignore:
@@ -52,7 +60,6 @@ Thus, nothing should be changed by hand inside the Simscape model.
The main advantage to have all the parameters defined in one structure (and not hard-coded in some simulink blocs) it that we can easily change the Stewart architecture/parameters in a Matlab script to perform some parametric study for instance.
* Simulation Configuration - Configuration reference
<<sec:simulink_configuration>>
As multiple simulink files will be used for simulation and tests, it is very useful to determine good simulation configuration that will be *shared* among all the simulink files.

30
org/simulink-project.org
View File

@@ -9,39 +9,33 @@
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
#+OPTIONS: toc:nil
#+OPTIONS: html-postamble:nil
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
#+HTML_MATHJAX: align: center tagside: right font: TeX
#+HTML_HEAD: <script src="./js/jquery.min.js"></script>
#+HTML_HEAD: <script src="./js/bootstrap.min.js"></script>
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
#+PROPERTY: header-args:matlab :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:matlab+ :tangle no
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:shell :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
A Simulink Project is used for the study of Stewart platforms using Simscape.
@@ -59,7 +53,7 @@ From the [[https://mathworks.com/products/simulink/projects.html][Simulink proje
The project can be opened using the =simulinkproject= function:
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
When the project opens, a startup script is ran.

28
org/static-analysis.org
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@@ -1,5 +1,11 @@
#+TITLE: Stewart Platform - Static Analysis
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -10,16 +16,6 @@
#+HTML_HEAD: <script src="./js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script src="./js/readtheorg.js"></script>
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports both
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:matlab :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both
@@ -28,6 +24,18 @@
#+PROPERTY: header-args:matlab+ :noweb yes
#+PROPERTY: header-args:matlab+ :mkdirp yes
#+PROPERTY: header-args:matlab+ :output-dir figs
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/thesis/latex/}{config.tex}")
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
#+PROPERTY: header-args:latex+ :results file raw replace
#+PROPERTY: header-args:latex+ :buffer no
#+PROPERTY: header-args:latex+ :eval no-export
#+PROPERTY: header-args:latex+ :exports results
#+PROPERTY: header-args:latex+ :mkdirp yes
#+PROPERTY: header-args:latex+ :output-dir figs
#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
:END:
* Coupling

8
org/stewart-architecture.org
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@@ -1,5 +1,11 @@
#+TITLE: Stewart Platform - Definition of the Architecture
:DRAWER:
#+STARTUP: overview
#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas
#+HTML_LINK_HOME: ./index.html
#+HTML_LINK_UP: ./index.html
@@ -200,7 +206,7 @@ By following this procedure, we obtain a Matlab structure =stewart= that contain
#+end_src
#+begin_src matlab
simulinkproject('./');
simulinkproject('../');
#+end_src
** Example of the initialization of a Stewart Platform