From 83ee12d560946c941e3971e882f9463f5deae801 Mon Sep 17 00:00:00 2001 From: andrew-platt Date: Fri, 19 Dec 2025 16:39:01 -0700 Subject: [PATCH 1/2] Docs: updates to StC docs Co-authored-by: Hisham Tariq --- docs/source/user/servodyn-stc/StC_Theory.rst | 20 ++++++++++---------- 1 file changed, 10 insertions(+), 10 deletions(-) diff --git a/docs/source/user/servodyn-stc/StC_Theory.rst b/docs/source/user/servodyn-stc/StC_Theory.rst index ea6608f380..136f671884 100644 --- a/docs/source/user/servodyn-stc/StC_Theory.rst +++ b/docs/source/user/servodyn-stc/StC_Theory.rst @@ -473,7 +473,7 @@ Therefore :math:`\ddot{z}_{_{TMD_Z/P_N}}` is governed by the equations -The forces :math:`F_{X_{_{TMD_Z/O_N}}}` and :math:`F_{Z_{_{TMD_Z/O_N}}}` +The forces :math:`F_{X_{_{TMD_Z/O_N}}}` and :math:`F_{Y_{_{TMD_Z/O_N}}}` are solved noting :math:`\ddot{x}_{_{TMD_Z/P_N}} = \ddot{y}_{_{TMD_Z/P_N}} = 0`: @@ -565,11 +565,11 @@ first-order equations of the form A(\vec{u}) = \left[ \begin{array}{cccccc} 0& 1 &0&0&0&0 \\ - (\dot{\phi}_{_{P/O_N}}^2 + \dot{\psi}_{_{P/O_N}}^2-\frac{k_x}{m_x}) & - (\frac{c_x}{m_x}) &0&0&0&0 \\ + (\dot{\phi}_{_{O/O_N}}^2 + \dot{\psi}_{_{O/O_N}}^2-\frac{k_x}{m_x}) & - (\frac{c_x}{m_x}) &0&0&0&0 \\ 0&0&0& 1 &0&0 \\ - 0&0& (\dot{\theta}_{_{P/O_N}}^2 + \dot{\psi}_{_{P/O_N}}^2-\frac{k_y}{m_y}) & - (\frac{c_y}{m_y}) &0&0 \\ + 0&0& (\dot{\theta}_{_{O/O_N}}^2 + \dot{\psi}_{_{O/O_N}}^2-\frac{k_y}{m_y}) & - (\frac{c_y}{m_y}) &0&0 \\ 0&0&0&0&0& 1 \\ - 0&0&0&0& (\dot{\theta}_{_{P/O_N}}^2 + \dot{\phi}_{_{P/O_N}}^2-\frac{k_z}{m_z}) & - (\frac{c_z}{m_z}) \\ + 0&0&0&0& (\dot{\theta}_{_{O/O_N}}^2 + \dot{\phi}_{_{O/O_N}}^2-\frac{k_z}{m_z}) & - (\frac{c_z}{m_z}) \\ \end{array} \right] and @@ -578,11 +578,11 @@ and B(\vec{u}) = \left[ \begin{array}{l} 0 \\ - -\ddot{x}_{_{P/O_N}}+a_{_{G_X/O_N}} + \frac{1}{m_x} ( F_{ext_X} + F_{StopFrc_{X}}) \\ + -\ddot{x}_{_{O/O_N}}+a_{_{G_X/O_N}} + \frac{1}{m_x} ( F_{ext_X} + F_{StopFrc_{X}}) \\ 0 \\ - -\ddot{y}_{_{P/O_N}}+a_{_{G_Y/O_N}} + \frac{1}{m_y} (F_{ext_Y}+ F_{StopFrc_{Y}}) \\ + -\ddot{y}_{_{O/O_N}}+a_{_{G_Y/O_N}} + \frac{1}{m_y} (F_{ext_Y}+ F_{StopFrc_{Y}}) \\ 0 \\ - -\ddot{z}_{_{P/O_N}}+a_{_{G_Z/O_N}} + \frac{1}{m_z} (F_{ext_Z}+ F_{StopFrc_{Z}} + F_{Z_{PreLoad}}) + -\ddot{z}_{_{O/O_N}}+a_{_{G_Z/O_N}} + \frac{1}{m_z} (F_{ext_Z}+ F_{StopFrc_{Z}} + F_{Z_{PreLoad}}) \end{array} \right] :label: Bu @@ -615,9 +615,9 @@ The output includes reaction forces corresponding to \begin{aligned} \vec{F}_{_{P_G}} = R^T_{_{N/G}} & \left[ \begin{array}{l} - k_x {x}_{_{TMD/P_N}} + c_x \dot{x}_{_{TMD/P_N}} - F_{StopFrc_{X}} - F_{ext_x} - F_{X_{_{TMD_Y/O_N}}} - F_{X_{_{TMD_Z/O_N}}} \\ - k_y {y}_{_{TMD/P_N}} + c_y \dot{y}_{_{TMD/P_N}} - F_{StopFrc_{Y}} - F_{ext_y} - F_{Y_{_{TMD_X/O_N}}} - F_{Y_{_{TMD_Z/O_N}}} \\ - k_z {z}_{_{TMD/P_N}} + c_z \dot{z}_{_{TMD/P_N}} - F_{StopFrc_{Z}} - F_{ext_z} - F_{Z_{_{TMD_X/O_N}}} - F_{Z_{_{TMD_Y/O_N}}} - F_{Z_{PreLoad}} + k_x {x}_{_{TMD_X/P_N}} + c_x \dot{x}_{_{TMD_X/P_N}} - F_{StopFrc_{X}} - F_{ext_x} - F_{X_{_{TMD_Y/O_N}}} - F_{X_{_{TMD_Z/O_N}}} \\ + k_y {y}_{_{TMD_Y/P_N}} + c_y \dot{y}_{_{TMD_Y/P_N}} - F_{StopFrc_{Y}} - F_{ext_y} - F_{Y_{_{TMD_X/O_N}}} - F_{Y_{_{TMD_Z/O_N}}} \\ + k_z {z}_{_{TMD_Z/P_N}} + c_z \dot{z}_{_{TMD_Z/P_N}} - F_{StopFrc_{Z}} - F_{ext_z} - F_{Z_{_{TMD_X/O_N}}} - F_{Z_{_{TMD_Y/O_N}}} - F_{Z_{PreLoad}} \end{array} \right] \end{aligned} From d04e201a947043c36ee3002cbe840491ab31154d Mon Sep 17 00:00:00 2001 From: andrew-platt Date: Sun, 21 Dec 2025 13:43:18 -0700 Subject: [PATCH 2/2] Docs: correction to previous commits --- docs/source/user/servodyn-stc/StC_Theory.rst | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/docs/source/user/servodyn-stc/StC_Theory.rst b/docs/source/user/servodyn-stc/StC_Theory.rst index 136f671884..f452065fb5 100644 --- a/docs/source/user/servodyn-stc/StC_Theory.rst +++ b/docs/source/user/servodyn-stc/StC_Theory.rst @@ -565,11 +565,11 @@ first-order equations of the form A(\vec{u}) = \left[ \begin{array}{cccccc} 0& 1 &0&0&0&0 \\ - (\dot{\phi}_{_{O/O_N}}^2 + \dot{\psi}_{_{O/O_N}}^2-\frac{k_x}{m_x}) & - (\frac{c_x}{m_x}) &0&0&0&0 \\ + (\dot{\phi}_{_{N/O_N}}^2 + \dot{\psi}_{_{N/O_N}}^2-\frac{k_x}{m_x}) & - (\frac{c_x}{m_x}) &0&0&0&0 \\ 0&0&0& 1 &0&0 \\ - 0&0& (\dot{\theta}_{_{O/O_N}}^2 + \dot{\psi}_{_{O/O_N}}^2-\frac{k_y}{m_y}) & - (\frac{c_y}{m_y}) &0&0 \\ + 0&0& (\dot{\theta}_{_{N/O_N}}^2 + \dot{\psi}_{_{N/O_N}}^2-\frac{k_y}{m_y}) & - (\frac{c_y}{m_y}) &0&0 \\ 0&0&0&0&0& 1 \\ - 0&0&0&0& (\dot{\theta}_{_{O/O_N}}^2 + \dot{\phi}_{_{O/O_N}}^2-\frac{k_z}{m_z}) & - (\frac{c_z}{m_z}) \\ + 0&0&0&0& (\dot{\theta}_{_{N/O_N}}^2 + \dot{\phi}_{_{N/O_N}}^2-\frac{k_z}{m_z}) & - (\frac{c_z}{m_z}) \\ \end{array} \right] and @@ -578,11 +578,11 @@ and B(\vec{u}) = \left[ \begin{array}{l} 0 \\ - -\ddot{x}_{_{O/O_N}}+a_{_{G_X/O_N}} + \frac{1}{m_x} ( F_{ext_X} + F_{StopFrc_{X}}) \\ + -\ddot{x}_{_{P/O_N}}+a_{_{G_X/O_N}} + \frac{1}{m_x} ( F_{ext_X} + F_{StopFrc_{X}}) \\ 0 \\ - -\ddot{y}_{_{O/O_N}}+a_{_{G_Y/O_N}} + \frac{1}{m_y} (F_{ext_Y}+ F_{StopFrc_{Y}}) \\ + -\ddot{y}_{_{P/O_N}}+a_{_{G_Y/O_N}} + \frac{1}{m_y} (F_{ext_Y}+ F_{StopFrc_{Y}}) \\ 0 \\ - -\ddot{z}_{_{O/O_N}}+a_{_{G_Z/O_N}} + \frac{1}{m_z} (F_{ext_Z}+ F_{StopFrc_{Z}} + F_{Z_{PreLoad}}) + -\ddot{z}_{_{P/O_N}}+a_{_{G_Z/O_N}} + \frac{1}{m_z} (F_{ext_Z}+ F_{StopFrc_{Z}} + F_{Z_{PreLoad}}) \end{array} \right] :label: Bu