Add study about spurious resonance

Minor Update
Update gitignore
2021-04-28 09:50:11 +02:00 · 2021-03-05 12:04:34 +01:00 · 2021-03-05 11:57:43 +01:00 · 2021-03-05 11:48:02 +01:00 · 2021-02-17 15:17:42 +01:00 · 2021-02-17 15:15:52 +01:00
202 changed files with 260756 additions and 10268 deletions
--- a/.gitattributes
+++ b/.gitattributes
@@ -0,0 +1 @@
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--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
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@@ -36,3 +37,14 @@ octave-workspace

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+++ b/css/readtheorg.css
--- a/docs/Comparison.docx
+++ b/docs/Comparison.docx
--- a/docs/Group_meeting_6.pdf
+++ b/docs/Group_meeting_6.pdf
--- a/docs/Group_meeting_6.pptx
+++ b/docs/Group_meeting_6.pptx
--- a/docs/MIMOmeetingSummary.pdf
+++ b/docs/MIMOmeetingSummary.pdf
--- a/system.pptx
+++ b/system.pptx
--- a/docs/exercise
+++ b/docs/exercise
--- a/docs/modal_control_gravimeter_numerical.m
+++ b/docs/modal_control_gravimeter_numerical.m
@@ -0,0 +1,103 @@
+clc
+clear all
+close all
+
+%% System properties
+g = 100000;
+w0 = 2*pi*.5; % MinusK BM1 tablle
+l = 0.5; %[m]
+la = 1; %[m]
+h = 1.7; %[m]
+ha = 1.7;% %[m]
+m = 400; %[kg]
+k = 15e3;%[N/m]
+kv = k;
+kh = 15e3;
+I = 115;%[kg m^2]
+dampv = 0.03;
+damph = 0.03;
+s = tf('s');
+
+%% State-space model
+M = [m 0 0
+     0 m 0
+     0 0 I];
+
+la = l;
+ha = h;
+kv = k;
+kh = k;
+ 
+%Jacobian of the bottom sensor
+Js1 = [1 0 h/2
+    0 1 -l/2];
+
+%Jacobian of the top sensor
+Js2 = [1 0 -h/2
+    0 1 0];
+
+%Jacobian of the actuators
+Ja = [1 0 ha/2 %Left horizontal actuator
+    %1 0 h/2 %Right horizontal actuator
+    0 1 -la/2 %Left vertical actuator
+    0 1 la/2]; %Right vertical actuator
+Jah = [1 0 ha/2];
+Jav = [0 1 -la/2 %Left vertical actuator
+    0 1 la/2]; %Right vertical actuator
+Jta = Ja';
+Jtah = Jah';
+Jtav = Jav';
+K = kv*Jtav*Jav + kh*Jtah*Jah;    
+C = dampv*kv*Jtav*Jav+damph*kh*Jtah*Jah;  
+
+E = [1 0 0
+    0 1 0
+    0 0 1]; %projecting ground motion in the directions of the legs
+
+AA = [zeros(3) eye(3)
+     -M\K -M\C];
+ 
+BB = [zeros(3,3)
+    M\Jta ];
+  
+% CC = [[Js1;Js2] zeros(4,3)];
+CC = [[Jah;Jav] zeros(3,3)];
+
+% DD = zeros(4,3);
+DD = zeros(3);
+
+G = ss(AA,BB,CC,DD);
+%% Modal coordinates
+[V,D] = eig(M\K);
+Mm = V'*M*V; % Modal mass matrix
+Dm = V'*C*V; % Modal damping matrix
+Km = V'*K*V; % Modal stiffness matrix
+
+Bm = inv(Mm)*V'*Jta;
+% Cm = [Js1;Js2]*V;
+Cm = [Jah;Jav]*V;
+
+
+omega = real(sqrt(inv(Mm)*Km));
+zeta = real(0.5*inv(Mm)*Dm*inv(omega));
+
+Gm = [1/(s^2+2*zeta(1,1)*omega(1,1)*s+omega(1,1)^2),0,0;
+    0,1/(s^2+2*zeta(2,2)*omega(2,2)*s+omega(2,2)^2),0;
+    0,0,1/(s^2+2*zeta(3,3)*omega(3,3)*s+omega(3,3)^2)];
+figure(1)
+bode(G,Cm*Gm*Bm)
+figure(2)
+bode(G,Gm)
+
+%% Controller
+s = tf('s');
+w0 = 2*pi*0.1;
+Kc = 100/(1+s/w0);
+Knet = inv(Bm)*Kc*inv(Cm);
+Gc = -lft(G,Knet); 
+isstable(Gc)
+
+
+
+
+
--- a/docs/obpsm_design_of_the_control_law_new.pdf
+++ b/docs/obpsm_design_of_the_control_law_new.pdf
--- a/docs/svd.pptx
+++ b/docs/svd.pptx
--- a/figs/3dof_model_fully_parallel.pdf
+++ b/figs/3dof_model_fully_parallel.pdf
--- a/figs/3dof_model_fully_parallel.png
+++ b/figs/3dof_model_fully_parallel.png
--- a/figs/SP_assembly.pdf
+++ b/figs/SP_assembly.pdf
--- a/figs/SP_assembly.png
+++ b/figs/SP_assembly.png
--- a/figs/block_diagram_jacobian_decoupling.pdf
+++ b/figs/block_diagram_jacobian_decoupling.pdf
--- a/figs/block_diagram_jacobian_decoupling.png
+++ b/figs/block_diagram_jacobian_decoupling.png
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+%%Trailer
+end
+%%EOF
--- a/figs/centralized_control.pdf
+++ b/figs/centralized_control.pdf
--- a/figs/centralized_control.png
+++ b/figs/centralized_control.png
--- a/figs/centralized_control_gravimeter.pdf
+++ b/figs/centralized_control_gravimeter.pdf
--- a/figs/centralized_control_gravimeter.png
+++ b/figs/centralized_control_gravimeter.png
--- a/figs/coupled_plant_bode.pdf
+++ b/figs/coupled_plant_bode.pdf
--- a/figs/coupled_plant_bode.png
+++ b/figs/coupled_plant_bode.png
--- a/figs/coupled_plant_bode_spurious.pdf
+++ b/figs/coupled_plant_bode_spurious.pdf
--- a/figs/coupled_plant_bode_spurious.png
+++ b/figs/coupled_plant_bode_spurious.png
--- a/figs/decoupling_modal.pdf
+++ b/figs/decoupling_modal.pdf
--- a/figs/decoupling_modal.png
+++ b/figs/decoupling_modal.png
--- a/figs/decoupling_svd.pdf
+++ b/figs/decoupling_svd.pdf
--- a/figs/decoupling_svd.png
+++ b/figs/decoupling_svd.png
--- a/figs/gershorin_raddii_coupled_analytical.pdf
+++ b/figs/gershorin_raddii_coupled_analytical.pdf
--- a/figs/gershorin_raddii_coupled_analytical.png
+++ b/figs/gershorin_raddii_coupled_analytical.png
--- a/figs/gershorin_raddii_decoupled_analytical.pdf
+++ b/figs/gershorin_raddii_decoupled_analytical.pdf
--- a/figs/gershorin_raddii_decoupled_analytical.png
+++ b/figs/gershorin_raddii_decoupled_analytical.png
--- a/figs/gravimeter_analytical_system_open_loop_models.pdf
+++ b/figs/gravimeter_analytical_system_open_loop_models.pdf
--- a/figs/gravimeter_analytical_system_open_loop_models.png
+++ b/figs/gravimeter_analytical_system_open_loop_models.png
--- a/figs/gravimeter_block_cok.pdf
+++ b/figs/gravimeter_block_cok.pdf
--- a/figs/gravimeter_block_cok.png
+++ b/figs/gravimeter_block_cok.png
--- a/figs/gravimeter_block_com.pdf
+++ b/figs/gravimeter_block_com.pdf
--- a/figs/gravimeter_block_com.png
+++ b/figs/gravimeter_block_com.png
--- a/figs/gravimeter_block_decentralized.pdf
+++ b/figs/gravimeter_block_decentralized.pdf
--- a/figs/gravimeter_block_decentralized.png
+++ b/figs/gravimeter_block_decentralized.png
--- a/figs/gravimeter_cl_transmissibility_coupling.pdf
+++ b/figs/gravimeter_cl_transmissibility_coupling.pdf
--- a/figs/gravimeter_cl_transmissibility_coupling.png
+++ b/figs/gravimeter_cl_transmissibility_coupling.png
--- a/figs/gravimeter_comp_loop_gain_diagonal.pdf
+++ b/figs/gravimeter_comp_loop_gain_diagonal.pdf
--- a/figs/gravimeter_comp_loop_gain_diagonal.png
+++ b/figs/gravimeter_comp_loop_gain_diagonal.png
--- a/figs/gravimeter_decouple_jacobian.pdf
+++ b/figs/gravimeter_decouple_jacobian.pdf
--- a/figs/gravimeter_decouple_jacobian.png
+++ b/figs/gravimeter_decouple_jacobian.png
--- a/figs/gravimeter_decouple_svd.pdf
+++ b/figs/gravimeter_decouple_svd.pdf
--- a/figs/gravimeter_decouple_svd.png
+++ b/figs/gravimeter_decouple_svd.png
--- a/figs/gravimeter_decoupled_plant_jacobian.eps
+++ b/figs/gravimeter_decoupled_plant_jacobian.eps
--- a/figs/gravimeter_decoupled_plant_jacobian.pdf
+++ b/figs/gravimeter_decoupled_plant_jacobian.pdf
--- a/figs/gravimeter_decoupled_plant_jacobian.png
+++ b/figs/gravimeter_decoupled_plant_jacobian.png
--- a/figs/gravimeter_decoupled_plant_svd.eps
+++ b/figs/gravimeter_decoupled_plant_svd.eps
--- a/figs/gravimeter_decoupled_plant_svd.pdf
+++ b/figs/gravimeter_decoupled_plant_svd.pdf
--- a/figs/gravimeter_decoupled_plant_svd.png
+++ b/figs/gravimeter_decoupled_plant_svd.png
--- a/figs/gravimeter_gershgorin_radii.eps
+++ b/figs/gravimeter_gershgorin_radii.eps
--- a/figs/gravimeter_gershgorin_radii.pdf
+++ b/figs/gravimeter_gershgorin_radii.pdf
--- a/figs/gravimeter_gershgorin_radii.png
+++ b/figs/gravimeter_gershgorin_radii.png
--- a/figs/gravimeter_jacobian_plant.pdf
+++ b/figs/gravimeter_jacobian_plant.pdf
--- a/figs/gravimeter_jacobian_plant.png
+++ b/figs/gravimeter_jacobian_plant.png
--- a/figs/gravimeter_model.pdf
+++ b/figs/gravimeter_model.pdf
--- a/figs/gravimeter_model.png
+++ b/figs/gravimeter_model.png
--- a/figs/gravimeter_model_K.pdf
+++ b/figs/gravimeter_model_K.pdf
--- a/figs/gravimeter_model_K.png
+++ b/figs/gravimeter_model_K.png
--- a/figs/gravimeter_model_KM.pdf
+++ b/figs/gravimeter_model_KM.pdf
--- a/figs/gravimeter_model_KM.png
+++ b/figs/gravimeter_model_KM.png
--- a/figs/gravimeter_model_M.pdf
+++ b/figs/gravimeter_model_M.pdf
--- a/figs/gravimeter_model_M.png
+++ b/figs/gravimeter_model_M.png
--- a/figs/gravimeter_model_analytical.pdf
+++ b/figs/gravimeter_model_analytical.pdf
--- a/figs/gravimeter_model_analytical.png
+++ b/figs/gravimeter_model_analytical.png
--- a/figs/gravimeter_plant_schematic.pdf
+++ b/figs/gravimeter_plant_schematic.pdf
--- a/figs/gravimeter_plant_schematic.png
+++ b/figs/gravimeter_plant_schematic.png
--- a/figs/gravimeter_platform_simscape_cl_transmissibility.eps
+++ b/figs/gravimeter_platform_simscape_cl_transmissibility.eps
--- a/figs/gravimeter_platform_simscape_cl_transmissibility.pdf
+++ b/figs/gravimeter_platform_simscape_cl_transmissibility.pdf
--- a/figs/gravimeter_platform_simscape_cl_transmissibility.png
+++ b/figs/gravimeter_platform_simscape_cl_transmissibility.png
--- a/figs/gravimeter_rga.pdf
+++ b/figs/gravimeter_rga.pdf
--- a/figs/gravimeter_rga.png
+++ b/figs/gravimeter_rga.png
--- a/figs/gravimeter_rga_num.pdf
+++ b/figs/gravimeter_rga_num.pdf
--- a/figs/gravimeter_rga_num.png
+++ b/figs/gravimeter_rga_num.png
--- a/figs/gravimeter_svd_high_damping.pdf
+++ b/figs/gravimeter_svd_high_damping.pdf
--- a/figs/gravimeter_svd_high_damping.png
+++ b/figs/gravimeter_svd_high_damping.png
--- a/figs/gravimeter_svd_low_damping.pdf
+++ b/figs/gravimeter_svd_low_damping.pdf
--- a/figs/gravimeter_svd_low_damping.png
+++ b/figs/gravimeter_svd_low_damping.png
--- a/figs/gravimeter_svd_plant.pdf
+++ b/figs/gravimeter_svd_plant.pdf
--- a/figs/gravimeter_svd_plant.png
+++ b/figs/gravimeter_svd_plant.png
--- a/figs/gravimeter_transmissibility_offset_act.pdf
+++ b/figs/gravimeter_transmissibility_offset_act.pdf
--- a/figs/gravimeter_transmissibility_offset_act.png
+++ b/figs/gravimeter_transmissibility_offset_act.png
--- a/figs/jac_decoupling_K.pdf
+++ b/figs/jac_decoupling_K.pdf
--- a/figs/jac_decoupling_K.png
+++ b/figs/jac_decoupling_K.png
--- a/figs/jac_decoupling_KM.pdf
+++ b/figs/jac_decoupling_KM.pdf
--- a/figs/jac_decoupling_KM.png
+++ b/figs/jac_decoupling_KM.png
--- a/figs/jac_decoupling_M.pdf
+++ b/figs/jac_decoupling_M.pdf
--- a/figs/jac_decoupling_M.png
+++ b/figs/jac_decoupling_M.png
--- a/figs/jacobian_decoupling_arch.pdf
+++ b/figs/jacobian_decoupling_arch.pdf
--- a/figs/jacobian_decoupling_arch.png
+++ b/figs/jacobian_decoupling_arch.png
--- a/figs/jacobian_plant.pdf
+++ b/figs/jacobian_plant.pdf
--- a/figs/jacobian_plant.png
+++ b/figs/jacobian_plant.png
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Thomas Dehaeze	a980b834bb	Add study about spurious resonance	2021-04-28 09:50:11 +02:00
Thomas Dehaeze	335df6b6dd	Minor Update	2021-03-05 12:04:34 +01:00
Thomas Dehaeze	7424500e7b	Update gitignore	2021-03-05 11:57:43 +01:00
Thomas Dehaeze	311b120cf4	Compare SVD/Jacobian/Modal decoupling	2021-03-05 11:48:02 +01:00
Thomas Dehaeze	519580d31c	Rename files	2021-02-17 15:17:42 +01:00
Thomas Dehaeze	c88f4c6097	Work on SVD section	2021-02-17 15:15:52 +01:00
Thomas Dehaeze	e77d747590	Output results	2021-02-05 16:18:57 +01:00
Thomas Dehaeze	192841352e	Add definition of K ronde	2021-02-05 15:45:49 +01:00
Thomas Dehaeze	dc72858a1f	Correct eq references	2021-02-05 13:58:54 +01:00
Thomas Dehaeze	245e6776a4	Analysis of parallel stiffness + examples	2021-02-05 13:54:57 +01:00
Thomas Dehaeze	c23ffb5870	Update matlab script	2021-01-25 11:45:06 +01:00
Thomas Dehaeze	93a2bb9f5a	Correct transmissibility plots + reworked Sismcape	2021-01-25 11:44:22 +01:00
Thomas Dehaeze	5e7a2c9436	Export to pdf	2021-01-11 09:47:03 +01:00
Thomas Dehaeze	cb32883aa1	Update links to sections	2021-01-11 09:44:23 +01:00
Thomas Dehaeze	c9fd923312	Correction of units	2021-01-11 09:24:30 +01:00
Thomas Dehaeze	e02f522e81	Change indentation	2021-01-11 09:09:48 +01:00
Thomas Dehaeze	2285284e91	Add link to pdf	2021-01-08 13:58:04 +01:00
Thomas Dehaeze	222d0f7dbe	Update gitignore	2021-01-08 13:57:07 +01:00
Thomas Dehaeze	9f0ace8959	Export to PDF	2021-01-08 13:56:14 +01:00
Thomas Dehaeze	bcdfc62052	Add damping analysis	2020-12-10 13:51:57 +01:00
Thomas Dehaeze	404c78505a	Change gravimeter axis	2020-12-10 13:26:01 +01:00
Thomas Dehaeze	754716e4ad	Add analysis about jacobian position	2020-12-10 13:16:23 +01:00
Thomas Dehaeze	a1581cb873	Clean simscape models	2020-11-25 09:40:17 +01:00
Thomas Dehaeze	9b29c73fff	Delete unused sections (analytical models)	2020-11-25 09:17:34 +01:00
Thomas Dehaeze	e69e5a5d2b	Reworked all the section about the Gravimeter	2020-11-25 09:17:11 +01:00
Thomas Dehaeze	87a0d98e01	Add figure about RGA	2020-11-23 18:01:13 +01:00
Thomas Dehaeze	cd38200cc8	Update gravimeter script	2020-11-16 15:23:43 +01:00
Thomas Dehaeze	93e9366c0e	Analysis of the Gravimeter (Jacobian + SVD)	2020-11-16 14:58:26 +01:00
Thomas Dehaeze	2d429caeb4	Use online CSS and JS	2020-11-12 10:18:50 +01:00
Thomas Dehaeze	e97a3d58ab	Better Matlab notations	2020-11-09 14:37:04 +01:00
Thomas Dehaeze	292ba73fb1	Update wrong formula for the closed-loop system	2020-11-09 10:54:46 +01:00
Thomas Dehaeze	c0ea426854	Change the controller tuning for Stewart platform	2020-11-06 18:00:30 +01:00
Thomas Dehaeze	028102a43a	Consider eps files as binary	2020-11-06 17:03:43 +01:00
Thomas Dehaeze	db91d27461	Add screenshots of the Simscape Model	2020-11-06 17:02:58 +01:00
Thomas Dehaeze	9bc1cf7e34	Rework some figures + add some control diagrams	2020-11-06 16:59:03 +01:00
Thomas Dehaeze	3b14dd83d8	Remove jacobian computation section	2020-11-06 15:06:25 +01:00
Thomas Dehaeze	9b6094679b	Add controller to Simscape	2020-11-06 15:01:55 +01:00
Thomas Dehaeze	4a89b95709	Make smaller figures	2020-11-06 12:28:18 +01:00
Thomas Dehaeze	f4d9fe6f66	Update Stewart Platform figures	2020-11-06 12:22:37 +01:00
Thomas Dehaeze	8425c1d613	Add custom css	2020-11-06 12:05:12 +01:00
Thomas Dehaeze	ff0e0bf73e	Add picture of platform and sections summary	2020-11-06 11:59:09 +01:00
Thomas Dehaeze	33b8583f62	Add some docs	2020-11-03 11:20:06 +01:00
Thomas Dehaeze	b1ad15bcf7	Update mass of the top platform	2020-11-03 11:20:00 +01:00
Thomas Dehaeze	c27d165390	Update matlab script	2020-10-22 18:04:39 +02:00
Thomas Dehaeze	2e7aacd9ed	Update stewart platform after discus. with mohit	2020-10-22 18:04:02 +02:00
Thomas Dehaeze	0b38138891	Updated parameters with mohit	2020-10-22 16:07:10 +02:00