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Table of Contents

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-

1 Gravimeter - Simscape Model

+
+

1 Gravimeter - Simscape Model

-
-

1.1 Introduction

+
+

1.1 Introduction

-
+

gravimeter_model.png

Figure 1: Model of the gravimeter

@@ -92,8 +92,8 @@
-
-

1.2 Simscape Model - Parameters

+
+

1.2 Simscape Model - Parameters

open('gravimeter.slx')
@@ -124,8 +124,8 @@ g = 0; % Gravity [m/s2]
-
-

1.3 System Identification - Without Gravity

+
+

1.3 System Identification - Without Gravity

%% Name of the Simulink File
@@ -147,7 +147,7 @@ G.OutputName = {'Ax1',
-
+
 pole(G)
 ans =
       -0.000473481142385795 +      21.7596190728632i
@@ -172,7 +172,7 @@ State-space model with 4 outputs, 3 inputs, and 6 states.
 
 
 
-

+

 
open_loop_tf.png
 

 
Figure 2: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers

@@ -180,8 +180,8 @@ State-space model with 4 outputs, 3 inputs, and 6 states.
 

 

 
-

-
1.4 System Identification - With Gravity

+

+
1.4 System Identification - With Gravity

 

 

 
g = 9.80665; % Gravity [m/s2]
@@ -198,7 +198,7 @@ Gg.OutputName = {'Ax1', 
 We can now see that the system is unstable due to gravity.
 

-
+
 pole(Gg)
 ans =
           -10.9848275341252 +                     0i
@@ -210,7 +210,7 @@ ans =
 

 
 
-

+

 
open_loop_tf_g.png
 

 
Figure 3: Open Loop Transfer Function from 3 Actuators to 4 Accelerometers with an without gravity

@@ -218,12 +218,12 @@ ans =
 

 

 
-

-
1.5 Analytical Model

+

+
1.5 Analytical Model

 

 

-

-
1.5.1 Parameters

+

+
1.5.1 Parameters

 

 

 Bode options.
@@ -255,8 +255,8 @@ Frequency vector.
 

 

 
-

-
1.5.2 Generation of the State Space Model

+

+
1.5.2 Generation of the State Space Model

 

 

 Mass matrix
@@ -357,11 +357,11 @@ State-space model with 12 outputs, 6 inputs, and 6 states.
 

 

 
-

-
1.5.3 Comparison with the Simscape Model

+

+
1.5.3 Comparison with the Simscape Model

 

 
-

+

 
gravimeter_analytical_system_open_loop_models.png
 

 
Figure 4: Comparison of the analytical and the Simscape models

@@ -369,8 +369,8 @@ State-space model with 12 outputs, 6 inputs, and 6 states.
 

 

 
-

-
1.5.4 Analysis

+

+
1.5.4 Analysis

 

 

 
% figure
@@ -438,8 +438,8 @@ State-space model with 12 outputs, 6 inputs, and 6 states.
 

 

 
-

-
1.5.5 Control Section

+

+
1.5.5 Control Section

 

 

 
system_dec_10Hz = freqresp(system_dec,2*pi*10);
@@ -579,8 +579,8 @@ legend('Control OFF','D
 

 

 
-

-
1.5.6 Greshgorin radius

+

+
1.5.6 Greshgorin radius

 

 

 
system_dec_freq = freqresp(system_dec,w);
@@ -626,8 +626,8 @@ ylabel('Greshgorin radius [-]');
 

 

 
-

-
1.5.7 Injecting ground motion in the system to have the output

+

+
1.5.7 Injecting ground motion in the system to have the output

 

 

 
Fr = logspace(-2,3,1e3);
@@ -683,15 +683,15 @@ rot = PHI(:,11,11);
 

 

 
-

-
2 Gravimeter - Functions

+

+
2 Gravimeter - Functions

 

 

-

-
2.1 align

+

+
2.1 align

 

 

-
+
 

 
 

@@ -720,11 +720,11 @@ This Matlab function is accessible here.
 

 
 
-

-
2.2 pzmap_testCL

+

+
2.2 pzmap_testCL

 

 

-
+
 

 
 

@@ -773,15 +773,15 @@ This Matlab function is accessible here.
 

 

 
-

-
3 Stewart Platform - Simscape Model

+

+
3 Stewart Platform - Simscape Model

 

 

-In this analysis, we wish to applied SVD control to the Stewart Platform shown in Figure 5.
+In this analysis, we wish to applied SVD control to the Stewart Platform shown in Figure 5.
 

 
 
-

+

 
SP_assembly.png
 

 
Figure 5: Stewart Platform CAD View

@@ -791,21 +791,21 @@ In this analysis, we wish to applied SVD control to the Stewart Platform shown i
 The analysis of the SVD control applied to the Stewart platform is performed in the following sections:
 

 
    
-
  • Section 3.1: The parameters of the Simscape model of the Stewart platform are defined
    • 
-
  • Section 3.2: The plant is identified from the Simscape model and the centralized plant is computed thanks to the Jacobian
    • 
-
  • Section 3.3: The identified Dynamics is shown
    • 
-
  • Section 3.4: A real approximation of the plant is computed for further decoupling using the Singular Value Decomposition (SVD)
    • 
-
  • Section 3.5: The decoupling is performed thanks to the SVD. The effectiveness of the decoupling is verified using the Gershorin Radii
    • 
-
  • Section 3.6: The dynamics of the decoupled plant is shown
    • 
-
  • Section 3.7: A diagonal controller is defined to control the decoupled plant
    • 
-
  • Section 3.8: Finally, the closed loop system properties are studied
    • 
+
  • Section 3.1: The parameters of the Simscape model of the Stewart platform are defined
    • 
+
  • Section 3.2: The plant is identified from the Simscape model and the centralized plant is computed thanks to the Jacobian
    • 
+
  • Section 3.3: The identified Dynamics is shown
    • 
+
  • Section 3.4: A real approximation of the plant is computed for further decoupling using the Singular Value Decomposition (SVD)
    • 
+
  • Section 3.5: The decoupling is performed thanks to the SVD. The effectiveness of the decoupling is verified using the Gershorin Radii
    • 
+
  • Section 3.6: The dynamics of the decoupled plant is shown
    • 
+
  • Section 3.7: A diagonal controller is defined to control the decoupled plant
    • 
+
  • Section 3.8: Finally, the closed loop system properties are studied
    • 
 

 

-

-
3.1 Simscape Model - Parameters

+

+
3.1 Simscape Model - Parameters

 

 

-
+
 

 

 
open('drone_platform.slx');
@@ -844,11 +844,11 @@ We load the Jacobian (previously computed from the geometry).
 

 

 
-

-
3.2 Identification of the plant

+

+
3.2 Identification of the plant

 

 

-
+
 

 
 

@@ -885,11 +885,11 @@ State-space model with 6 outputs, 12 inputs, and 24 states.
 
 
 

-The “centralized” plant \(\bm{G}_x\) is now computed (Figure 6).
+The “centralized” plant \(\bm{G}_x\) is now computed (Figure 6).
 

 
 
-

+

 
centralized_control.png
 

 
Figure 6: Centralized control architecture

@@ -907,22 +907,22 @@ Gx.InputName  = {'Dwx', 
 

 
-

-
3.3 Obtained Dynamics

+

+
3.3 Obtained Dynamics

 

 

-
+
 

 
 
-

+

 
stewart_platform_translations.png
 

 
Figure 7: Stewart Platform Plant from forces applied by the legs to the acceleration of the platform

 

 
 
-

+

 
stewart_platform_rotations.png
 

 
Figure 8: Stewart Platform Plant from torques applied by the legs to the angular acceleration of the platform

@@ -930,11 +930,11 @@ Gx.InputName  = {'Dwx', 
 

 
-

-
3.4 Real Approximation of \(G\) at the decoupling frequency

+

+
3.4 Real Approximation of \(G\) at the decoupling frequency

 

 

-
+
 

 
 

@@ -1034,7 +1034,7 @@ H1 = inv(D*real(H1'*
 
 
 

-Please not that the plant \(G\) at \(\omega_c\) is already an almost real matrix.
+Note that the plant \(G\) at \(\omega_c\) is already an almost real matrix.
 This can be seen on the Bode plots where the phase is close to 1.
 This can be verified below where only the real value of \(G(\omega_c)\) is shown
 

@@ -1114,11 +1114,11 @@ This can be verified below where only the real value of \(G(\omega_c)\) is shown
 

 

 
-

-
3.5 Verification of the decoupling using the “Gershgorin Radii”

+

+
3.5 Verification of the decoupling using the “Gershgorin Radii”

 

 

-
+
 

 
 

@@ -1187,7 +1187,7 @@ H = abs(squeeze(freqresp(Gj, freqs, 'Hz')));
 

 
 
-

+

 
simscape_model_gershgorin_radii.png
 

 
Figure 9: Gershgorin Radii of the Coupled and Decoupled plants

@@ -1195,11 +1195,11 @@ H = abs(squeeze(freqresp(Gj, freqs, 'Hz')));
 

 

 
-

-
3.6 Decoupled Plant

+

+
3.6 Decoupled Plant

 

 

-
+
 

 
 

@@ -1208,14 +1208,14 @@ Let’s see the bode plot of the decoupled plant \(G_d(s)\).
 

 
 
-

+

 
simscape_model_decoupled_plant_svd.png
 

 
Figure 10: Decoupled Plant using SVD

 

 
 
-

+

 
simscape_model_decoupled_plant_jacobian.png
 

 
Figure 11: Decoupled Plant using the Jacobian

@@ -1223,11 +1223,11 @@ Let’s see the bode plot of the decoupled plant \(G_d(s)\).
 

 

 
-

-
3.7 Diagonal Controller

+

+
3.7 Diagonal Controller

 

 

-
+
 

 
 

@@ -1243,7 +1243,7 @@ K = eye(6)*C_g/(s
 
 

-The control diagram for the centralized control is shown in Figure 6.
+The control diagram for the centralized control is shown in Figure 6.
 

 
 

@@ -1252,7 +1252,7 @@ The Jacobian is used to convert forces in the cartesian frame to forces applied
 

 
 
-

+

 
centralized_control.png
 

 
Figure 12: Control Diagram for the Centralized control

@@ -1267,11 +1267,11 @@ The feedback system is computed as shown below.
 

 
 

-The SVD control architecture is shown in Figure 13.
+The SVD control architecture is shown in Figure 13.
 The matrices \(U\) and \(V\) are used to decoupled the plant \(G\).
 

 
-

+

 
svd_control.png
 

 
Figure 13: Control Diagram for the SVD control

@@ -1287,11 +1287,11 @@ The feedback system is computed as shown below.
 

 

 
-

-
3.8 Closed-Loop system Performances

+

+
3.8 Closed-Loop system Performances

 

 

-
+
 

 
 

@@ -1322,11 +1322,11 @@ ans =
 
 
 

-The obtained transmissibility in Open-loop, for the centralized control as well as for the SVD control are shown in Figure 14.
+The obtained transmissibility in Open-loop, for the centralized control as well as for the SVD control are shown in Figure 14.
 

 
 
-

+

 
stewart_platform_simscape_cl_transmissibility.png
 

 
Figure 14: Obtained Transmissibility

@@ -1337,7 +1337,7 @@ The obtained transmissibility in Open-loop, for the centralized control as well
 

 

 
Author: Dehaeze Thomas

-
Created: 2020-11-06 ven. 12:04

+
Created: 2020-11-06 ven. 12:22

 

 
 
diff --git a/index.org b/index.org
index 95ca425..d668a2d 100644
--- a/index.org
+++ b/index.org
@@ -945,7 +945,7 @@ The real approximation is computed as follows:
 |  220.6 | -220.6 |  220.6 | -220.6 | 220.6 | -220.6 |
 
 
-Please not that the plant $G$ at $\omega_c$ is already an almost real matrix.
+Note that the plant $G$ at $\omega_c$ is already an almost real matrix.
 This can be seen on the Bode plots where the phase is close to 1.
 This can be verified below where only the real value of $G(\omega_c)$ is shown
 
@@ -1031,10 +1031,11 @@ Gershgorin Radii for the decoupled plant using the Jacobian:
   hold off;
   xlabel('Frequency (Hz)'); ylabel('Gershgorin Radii')
   legend('location', 'northeast');
+  ylim([1e-3, 1e3]);
 #+end_src
 
 #+begin_src matlab :tangle no :exports results :results file replace
-  exportFig('figs/simscape_model_gershgorin_radii.pdf', 'width', 'full', 'height', 'full');
+  exportFig('figs/simscape_model_gershgorin_radii.pdf', 'eps', true, 'width', 'wide', 'height', 'tall');
 #+end_src
 
 #+name: fig:simscape_model_gershgorin_radii
@@ -1066,11 +1067,12 @@ Let's see the bode plot of the decoupled plant $G_d(s)$.
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
   ylabel('Magnitude'); xlabel('Frequency [Hz]');
-  legend('location', 'southeast');
+  legend('location', 'northwest');
+  ylim([1e-3, 1e5]);
 #+end_src
 
 #+begin_src matlab :tangle no :exports results :results file replace
-  exportFig('figs/simscape_model_decoupled_plant_svd.pdf', 'width', 'full', 'height', 'full');
+  exportFig('figs/simscape_model_decoupled_plant_svd.pdf', 'eps', true, 'width', 'wide', 'height', 'tall');
 #+end_src
 
 #+name: fig:simscape_model_decoupled_plant_svd
@@ -1096,11 +1098,12 @@ Let's see the bode plot of the decoupled plant $G_d(s)$.
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
   ylabel('Magnitude'); xlabel('Frequency [Hz]');
-  legend('location', 'southeast');
+  legend('location', 'northwest');
+  ylim([1e-3, 1e6]);
 #+end_src
 
 #+begin_src matlab :tangle no :exports results :results file replace
-  exportFig('figs/simscape_model_decoupled_plant_jacobian.pdf', 'width', 'full', 'height', 'full');
+  exportFig('figs/simscape_model_decoupled_plant_jacobian.pdf', 'eps', true, 'width', 'wide', 'height', 'tall');
 #+end_src
 
 #+name: fig:simscape_model_decoupled_plant_jacobian
@@ -1212,71 +1215,73 @@ Let's first verify the stability of the closed-loop systems:
 The obtained transmissibility in Open-loop, for the centralized control as well as for the SVD control are shown in Figure [[fig:stewart_platform_simscape_cl_transmissibility]].
 
 #+begin_src matlab :exports results
-  freqs = logspace(-3, 3, 1000);
+  freqs = logspace(-2, 2, 1000);
 
-  figure
+  figure;
+  tiledlayout(2, 2, 'TileSpacing', 'None', 'Padding', 'None');
 
-  ax1 = subplot(2, 3, 1);
+  ax1 = nexttile;
   hold on;
   plot(freqs, abs(squeeze(freqresp(G(    'Ax', 'Dwx')/s^2, freqs, 'Hz'))), 'DisplayName', 'Open-Loop');
   plot(freqs, abs(squeeze(freqresp(G_cen('Ax', 'Dwx')/s^2, freqs, 'Hz'))), 'DisplayName', 'Centralized');
   plot(freqs, abs(squeeze(freqresp(G_svd('Ax', 'Dwx')/s^2, freqs, 'Hz'))), 'DisplayName', 'SVD');
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Transmissibility - $D_x/D_{w,x}$');  xlabel('Frequency [Hz]');
+  ylabel('$D_x/D_{w,x}$, $D_y/D_{w, y}$'); set(gca, 'XTickLabel',[]);
   legend('location', 'southwest');
 
-  ax2 = subplot(2, 3, 2);
-  hold on;
-  plot(freqs, abs(squeeze(freqresp(G(    'Ay', 'Dwy')/s^2, freqs, 'Hz'))));
-  plot(freqs, abs(squeeze(freqresp(G_cen('Ay', 'Dwy')/s^2, freqs, 'Hz'))));
-  plot(freqs, abs(squeeze(freqresp(G_svd('Ay', 'Dwy')/s^2, freqs, 'Hz'))));
-  hold off;
-  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Transmissibility - $D_y/D_{w,y}$');  xlabel('Frequency [Hz]');
+  % ax2 = nexttile;
+  % hold on;
+  % plot(freqs, abs(squeeze(freqresp(G(    'Ay', 'Dwy')/s^2, freqs, 'Hz'))));
+  % plot(freqs, abs(squeeze(freqresp(G_cen('Ay', 'Dwy')/s^2, freqs, 'Hz'))));
+  % plot(freqs, abs(squeeze(freqresp(G_svd('Ay', 'Dwy')/s^2, freqs, 'Hz'))));
+  % hold off;
+  % set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  % ylabel('Transmissibility - $D_y/D_{w,y}$');  xlabel('Frequency [Hz]');
 
-  ax3 = subplot(2, 3, 3);
+  ax3 = nexttile;
   hold on;
   plot(freqs, abs(squeeze(freqresp(G(    'Az', 'Dwz')/s^2, freqs, 'Hz'))));
   plot(freqs, abs(squeeze(freqresp(G_cen('Az', 'Dwz')/s^2, freqs, 'Hz'))));
   plot(freqs, abs(squeeze(freqresp(G_svd('Az', 'Dwz')/s^2, freqs, 'Hz'))));
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Transmissibility - $D_z/D_{w,z}$');  xlabel('Frequency [Hz]');
+  ylabel('$D_z/D_{w,z}$'); set(gca, 'XTickLabel',[]);
 
-  ax4 = subplot(2, 3, 4);
+  ax4 = nexttile;
   hold on;
   plot(freqs, abs(squeeze(freqresp(G(    'Arx', 'Rwx')/s^2, freqs, 'Hz'))));
   plot(freqs, abs(squeeze(freqresp(G_cen('Arx', 'Rwx')/s^2, freqs, 'Hz'))));
   plot(freqs, abs(squeeze(freqresp(G_svd('Arx', 'Rwx')/s^2, freqs, 'Hz'))));
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Transmissibility - $R_x/R_{w,x}$');  xlabel('Frequency [Hz]');
+  ylabel('$R_x/R_{w,x}$, $R_y/R_{w,y}$');  xlabel('Frequency [Hz]');
 
-  ax5 = subplot(2, 3, 5);
-  hold on;
-  plot(freqs, abs(squeeze(freqresp(G(    'Ary', 'Rwy')/s^2, freqs, 'Hz'))));
-  plot(freqs, abs(squeeze(freqresp(G_cen('Ary', 'Rwy')/s^2, freqs, 'Hz'))));
-  plot(freqs, abs(squeeze(freqresp(G_svd('Ary', 'Rwy')/s^2, freqs, 'Hz'))));
-  hold off;
-  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Transmissibility - $R_y/R_{w,y}$');  xlabel('Frequency [Hz]');
+  % ax5 = nexttile;
+  % hold on;
+  % plot(freqs, abs(squeeze(freqresp(G(    'Ary', 'Rwy')/s^2, freqs, 'Hz'))));
+  % plot(freqs, abs(squeeze(freqresp(G_cen('Ary', 'Rwy')/s^2, freqs, 'Hz'))));
+  % plot(freqs, abs(squeeze(freqresp(G_svd('Ary', 'Rwy')/s^2, freqs, 'Hz'))));
+  % hold off;
+  % set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+  % ylabel('Transmissibility - $R_y/R_{w,y}$');  xlabel('Frequency [Hz]');
 
-  ax6 = subplot(2, 3, 6);
+  ax6 = nexttile;
   hold on;
   plot(freqs, abs(squeeze(freqresp(G(    'Arz', 'Rwz')/s^2, freqs, 'Hz'))));
   plot(freqs, abs(squeeze(freqresp(G_cen('Arz', 'Rwz')/s^2, freqs, 'Hz'))));
   plot(freqs, abs(squeeze(freqresp(G_svd('Arz', 'Rwz')/s^2, freqs, 'Hz'))));
   hold off;
   set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
-  ylabel('Transmissibility - $R_z/R_{w,z}$');  xlabel('Frequency [Hz]');
+  ylabel('$R_z/R_{w,z}$');  xlabel('Frequency [Hz]');
 
-  linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'x');
+  linkaxes([ax1,ax2,ax3,ax4,ax5,ax6],'xy');
   xlim([freqs(1), freqs(end)]);
+  ylim([1e-5, 1e2]);
 #+end_src
 
 #+begin_src matlab :tangle no :exports results :results file replace
-  exportFig('figs/stewart_platform_simscape_cl_transmissibility.pdf', 'width', 1600, 'height', 'full');
+  exportFig('figs/stewart_platform_simscape_cl_transmissibility.pdf', 'eps', true, 'width', 'wide', 'height', 'tall');
 #+end_src
 
 #+name: fig:stewart_platform_simscape_cl_transmissibility