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R /Info 1 0 R - /ID [ ] - /Size 437 + /ID [<6647E7618AFC5C71FA01A465DD30D035> <6647E7618AFC5C71FA01A465DD30D035>] + /Size 564 >> startxref -189491 +204115 %%EOF diff --git a/figs/open_loop_tf.png b/figs/open_loop_tf.png index 3f6d12b..f7791a9 100644 Binary files a/figs/open_loop_tf.png and b/figs/open_loop_tf.png differ diff --git a/figs/stewart_platform_legs.pdf b/figs/stewart_platform_legs.pdf new file mode 100644 index 0000000..6640766 Binary files /dev/null and b/figs/stewart_platform_legs.pdf differ diff --git a/figs/stewart_platform_legs.png b/figs/stewart_platform_legs.png new file mode 100644 index 0000000..63f6f0b Binary files /dev/null and b/figs/stewart_platform_legs.png differ diff --git a/figs/stewart_platform_rotations.pdf b/figs/stewart_platform_rotations.pdf new file mode 100644 index 0000000..b2ab9f6 Binary files /dev/null and b/figs/stewart_platform_rotations.pdf differ diff --git a/figs/stewart_platform_rotations.png b/figs/stewart_platform_rotations.png new file mode 100644 index 0000000..afda994 Binary files /dev/null and b/figs/stewart_platform_rotations.png differ diff --git a/figs/stewart_platform_translations.pdf b/figs/stewart_platform_translations.pdf new file mode 100644 index 0000000..5c1e5a0 Binary files /dev/null and b/figs/stewart_platform_translations.pdf differ diff --git a/figs/stewart_platform_translations.png b/figs/stewart_platform_translations.png new file mode 100644 index 0000000..5f91f1b Binary files /dev/null and b/figs/stewart_platform_translations.png differ diff --git a/index.html b/index.html new file mode 100644 index 0000000..588909f --- /dev/null +++ b/index.html @@ -0,0 +1,239 @@ + + + + + + +SVD Control + + + + + + + + + + + +
+

SVD Control

+ + +
+

1 Simscape Model - Gravimeter

+
+
+
+

1.1 Simulink

+
+
+
open('gravimeter.slx')
+
+
+ +
+
%% Name of the Simulink File
+mdl = 'gravimeter';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/F1'], 1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/F2'], 1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/F3'], 1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_side'], 1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_side'], 2, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_top'], 1, 'openoutput'); io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Acc_top'], 2, 'openoutput'); io_i = io_i + 1;
+
+G = linearize(mdl, io);
+G.InputName  = {'F1', 'F2', 'F3'};
+G.OutputName = {'Ax1', 'Az1', 'Ax2', 'Az2'};
+
+
+ +

+The plant as 6 states as expected (2 translations + 1 rotation) +

+ +
+
size(G)
+
+
+ +
+State-space model with 4 outputs, 3 inputs, and 6 states.
+
+ + + +
+

open_loop_tf.png +

+

Figure 1: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers

+
+
+
+
+ +
+

2 Simscape Model - Stewart Platform

+
+
+
+

2.1 Jacobian

+
+

+First, the position of the “joints” (points of force application) are estimated and the Jacobian computed. +

+ +
+
open('stewart_platform/drone_platform_jacobian.slx');
+
+
+ +
+
sim('drone_platform_jacobian');
+
+
+ +
+
Aa = [a1.Data(1,:);
+      a2.Data(1,:);
+      a3.Data(1,:);
+      a4.Data(1,:);
+      a5.Data(1,:);
+      a6.Data(1,:)]';
+
+Ab = [b1.Data(1,:);
+      b2.Data(1,:);
+      b3.Data(1,:);
+      b4.Data(1,:);
+      b5.Data(1,:);
+      b6.Data(1,:)]';
+
+As = (Ab - Aa)./vecnorm(Ab - Aa);
+
+l = vecnorm(Ab - Aa)';
+
+J = [As' , cross(Ab, As)'];
+
+save('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
+
+
+
+
+ +
+

2.2 Simulink

+
+
+
open('stewart_platform/drone_platform.slx');
+
+
+ +

+Definition of spring parameters +

+
+
kx = 50; % [N/m]
+ky = 50;
+kz = 50;
+
+cx = 0.025; % [Nm/rad]
+cy = 0.025;
+cz = 0.025;
+
+
+ +

+We load the Jacobian. +

+
+
load('./jacobian.mat', 'Aa', 'Ab', 'As', 'l', 'J');
+
+
+ + +

+The dynamics is identified from forces applied by each legs to the measured acceleration of the top platform. +

+
+
%% Name of the Simulink File
+mdl = 'drone_platform';
+
+%% Input/Output definition
+clear io; io_i = 1;
+io(io_i) = linio([mdl, '/u'],               1, 'openinput');  io_i = io_i + 1;
+io(io_i) = linio([mdl, '/Inertial Sensor'], 1, 'openoutput'); io_i = io_i + 1;
+
+G = linearize(mdl, io);
+G.InputName  = {'F1', 'F2', 'F3', 'F4', 'F5', 'F6'};
+G.OutputName = {'Ax', 'Ay', 'Az', 'Arx', 'Ary', 'Arz'};
+
+
+ +

+Thanks to the Jacobian, we compute the transfer functions in the frame of the legs and in an inertial frame. +

+
+
Gx = -G*inv(J');
+Gx.InputName  = {'Fx', 'Fy', 'Fz', 'Mx', 'My', 'Mz'};
+
+Gl = -J*G;
+Gl.OutputName  = {'A1', 'A2', 'A3', 'A4', 'A5', 'A6'};
+
+
+ + +
+

stewart_platform_translations.png +

+

Figure 2: Stewart Platform Plant from forces applied by the legs to the acceleration of the platform

+
+ + +
+

stewart_platform_rotations.png +

+

Figure 3: Stewart Platform Plant from torques applied by the legs to the angular acceleration of the platform

+
+ + +
+

stewart_platform_legs.png +

+

Figure 4: Stewart Platform Plant from forces applied by the legs to displacement of the legs

+
+
+
+
+
+
+

Author: Dehaeze Thomas

+

Created: 2020-09-21 lun. 13:07

+
+ + diff --git a/stewart_platform/drone_platform.slx b/stewart_platform/drone_platform.slx index f4ef854..d4d9134 100644 Binary files a/stewart_platform/drone_platform.slx and b/stewart_platform/drone_platform.slx differ