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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2022-02-15 mar. 14:15 --> <!-- 2022-02-15 mar. 14:18 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>ESRF Double Crystal Monochromator - Feedback Controller</title> <title>ESRF Double Crystal Monochromator - Feedback Controller</title>
<meta name="author" content="Dehaeze Thomas" /> <meta name="author" content="Dehaeze Thomas" />
@ -22,55 +22,55 @@
<h2>Table of Contents</h2> <h2>Table of Contents</h2>
<div id="text-table-of-contents" role="doc-toc"> <div id="text-table-of-contents" role="doc-toc">
<ul> <ul>
<li><a href="#org9127764">1. Estimation of Sensitivity Function</a> <li><a href="#orga1bae1c">1. Estimation of Sensitivity Function</a>
<ul> <ul>
<li><a href="#org7b2fb65">1.1. Load Data</a></li> <li><a href="#org735dcc9">1.1. Load Data</a></li>
<li><a href="#org7416bd6">1.2. Controller</a></li> <li><a href="#org3fc079f">1.2. Controller</a></li>
<li><a href="#org05c311a">1.3. Test</a></li> <li><a href="#org5af2b76">1.3. Test</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org594dd0a">2. System Identification</a> <li><a href="#orgbb0d924">2. System Identification</a>
<ul> <ul>
<li><a href="#org0a18e7e">2.1. Identification</a></li> <li><a href="#org6c48b35">2.1. Identification</a></li>
<li><a href="#orgf48794a">2.2. Identification - New</a></li> <li><a href="#org0b292a4">2.2. Identification - New</a></li>
<li><a href="#org60d766d">2.3. Identification - White noise</a></li> <li><a href="#org2e5fa20">2.3. Identification - White noise</a></li>
<li><a href="#org31395a9">2.4. Test</a></li> <li><a href="#org71bfb62">2.4. Test</a></li>
<li><a href="#orgf58cff7">2.5. New controller - Higher bandwidth</a></li> <li><a href="#orge135bfd">2.5. New controller - Higher bandwidth</a></li>
<li><a href="#org3141035">2.6. Added gain</a></li> <li><a href="#orgced05bb">2.6. Added gain</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgf483f30">3. Noise Budgeting</a> <li><a href="#org42b6fad">3. Noise Budgeting</a>
<ul> <ul>
<li><a href="#org186fa6a">3.1. No Displacement</a></li> <li><a href="#orgfab07e0">3.1. No Displacement</a></li>
<li><a href="#org64f1438">3.2. Scans</a></li> <li><a href="#org2959e07">3.2. Scans</a></li>
<li><a href="#org60807a5">3.3. Noise budgeting - No rotation</a></li> <li><a href="#orge57ff9f">3.3. Noise budgeting - No rotation</a></li>
<li><a href="#orgf1f9c40">3.4. Noise budgeting - Bragg rotation</a></li> <li><a href="#org5c8bbce">3.4. Noise budgeting - Bragg rotation</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orge12a029">4. Test Mode C</a> <li><a href="#org84729e1">4. Test Mode C</a>
<ul> <ul>
<li><a href="#org9173ef5">4.1. Mode B and Mode C</a></li> <li><a href="#org8cc30f1">4.1. Mode B and Mode C</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org0482355">5. Export numerator and denominator</a> <li><a href="#org0d833d1">5. Export numerator and denominator</a>
<ul> <ul>
<li><a href="#orga946414">5.1. Export</a></li> <li><a href="#org4532b44">5.1. Export</a></li>
<li><a href="#org8ed08fd">5.2. Verify</a></li> <li><a href="#org78d8a99">5.2. Verify</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
</div> </div>
</div> </div>
<hr> <hr>
<p>This report is also available as a <a href="./dcm_feedback.pdf">pdf</a>.</p> <p>This report is also available as a <a href="./dcm-feedback-control.pdf">pdf</a>.</p>
<hr> <hr>
<div id="outline-container-org9127764" class="outline-2"> <div id="outline-container-orga1bae1c" class="outline-2">
<h2 id="org9127764"><span class="section-number-2">1.</span> Estimation of Sensitivity Function</h2> <h2 id="orga1bae1c"><span class="section-number-2">1.</span> Estimation of Sensitivity Function</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
</div> </div>
<div id="outline-container-org7b2fb65" class="outline-3"> <div id="outline-container-org735dcc9" class="outline-3">
<h3 id="org7b2fb65"><span class="section-number-3">1.1.</span> Load Data</h3> <h3 id="org735dcc9"><span class="section-number-3">1.1.</span> Load Data</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<p> <p>
Two scans are performed: Two scans are performed:
@ -99,7 +99,7 @@ t = linspace(Ts, Ts<span class="org-builtin">*</span>length(ol_drx), length(ol_d
</div> </div>
<p> <p>
By comparison the frequency content of the crystal orientation errors between mode B and mode C, it is possible to estimate the Sensitivity transfer function (Figure <a href="#orge994d1e">1</a>). By comparison the frequency content of the crystal orientation errors between mode B and mode C, it is possible to estimate the Sensitivity transfer function (Figure <a href="#org5bf52a1">1</a>).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">win = hanning(ceil(1<span class="org-builtin">/</span>Ts)); <pre class="src src-matlab">win = hanning(ceil(1<span class="org-builtin">/</span>Ts));
@ -113,7 +113,7 @@ By comparison the frequency content of the crystal orientation errors between mo
</div> </div>
<div id="orge994d1e" class="figure"> <div id="org5bf52a1" class="figure">
<p><img src="figs/sensitivity_function_drx_est.png" alt="sensitivity_function_drx_est.png" /> <p><img src="figs/sensitivity_function_drx_est.png" alt="sensitivity_function_drx_est.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Estimation of the sensitivity transfer function magnitude</p> <p><span class="figure-number">Figure 1: </span>Estimation of the sensitivity transfer function magnitude</p>
@ -122,8 +122,8 @@ By comparison the frequency content of the crystal orientation errors between mo
</div> </div>
<div id="outline-container-org7416bd6" class="outline-3"> <div id="outline-container-org3fc079f" class="outline-3">
<h3 id="org7416bd6"><span class="section-number-3">1.2.</span> Controller</h3> <h3 id="org3fc079f"><span class="section-number-3">1.2.</span> Controller</h3>
<div class="outline-text-3" id="text-1-2"> <div class="outline-text-3" id="text-1-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'X_tal_cage_PID.mat'</span>, <span class="org-string">'K'</span>); <pre class="src src-matlab">load(<span class="org-string">'X_tal_cage_PID.mat'</span>, <span class="org-string">'K'</span>);
@ -131,7 +131,7 @@ By comparison the frequency content of the crystal orientation errors between mo
</div> </div>
<div id="org20267be" class="figure"> <div id="org2e1f293" class="figure">
<p><img src="figs/bode_plot_cur_controller.png" alt="bode_plot_cur_controller.png" /> <p><img src="figs/bode_plot_cur_controller.png" alt="bode_plot_cur_controller.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Bode Plot of the Controller</p> <p><span class="figure-number">Figure 2: </span>Bode Plot of the Controller</p>
@ -139,8 +139,8 @@ By comparison the frequency content of the crystal orientation errors between mo
</div> </div>
</div> </div>
<div id="outline-container-org05c311a" class="outline-3"> <div id="outline-container-org5af2b76" class="outline-3">
<h3 id="org05c311a"><span class="section-number-3">1.3.</span> Test</h3> <h3 id="org5af2b76"><span class="section-number-3">1.3.</span> Test</h3>
<div class="outline-text-3" id="text-1-3"> <div class="outline-text-3" id="text-1-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Ts = 5e<span class="org-builtin">-</span>3; <pre class="src src-matlab">Ts = 5e<span class="org-builtin">-</span>3;
@ -170,12 +170,12 @@ t = linspace(Ts, Ts<span class="org-builtin">*</span>length(ol_drx), length(ol_d
</div> </div>
</div> </div>
<div id="outline-container-org594dd0a" class="outline-2"> <div id="outline-container-orgbb0d924" class="outline-2">
<h2 id="org594dd0a"><span class="section-number-2">2.</span> System Identification</h2> <h2 id="orgbb0d924"><span class="section-number-2">2.</span> System Identification</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
</div> </div>
<div id="outline-container-org0a18e7e" class="outline-3"> <div id="outline-container-org6c48b35" class="outline-3">
<h3 id="org0a18e7e"><span class="section-number-3">2.1.</span> Identification</h3> <h3 id="org6c48b35"><span class="section-number-3">2.1.</span> Identification</h3>
<div class="outline-text-3" id="text-2-1"> <div class="outline-text-3" id="text-2-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">ur = load(<span class="org-string">'FJPUR_step.mat'</span>); <pre class="src src-matlab">ur = load(<span class="org-string">'FJPUR_step.mat'</span>);
@ -321,7 +321,7 @@ win = hanning(ceil(5<span class="org-builtin">*</span>Fs));
</div> </div>
<div id="org0a5ca51" class="figure"> <div id="orgb5ed826" class="figure">
<p><img src="figs/coherence_id_dcm_dyn.png" alt="coherence_id_dcm_dyn.png" /> <p><img src="figs/coherence_id_dcm_dyn.png" alt="coherence_id_dcm_dyn.png" />
</p> </p>
<p><span class="figure-number">Figure 3: </span>Coherence</p> <p><span class="figure-number">Figure 3: </span>Coherence</p>
@ -329,7 +329,7 @@ win = hanning(ceil(5<span class="org-builtin">*</span>Fs));
<div id="org632afe1" class="figure"> <div id="orgeff963e" class="figure">
<p><img src="figs/bode_plot_dcm_dynamics.png" alt="bode_plot_dcm_dynamics.png" /> <p><img src="figs/bode_plot_dcm_dynamics.png" alt="bode_plot_dcm_dynamics.png" />
</p> </p>
<p><span class="figure-number">Figure 4: </span>Bode Plot of the DCM dynamics in the frame of the fast jack.</p> <p><span class="figure-number">Figure 4: </span>Bode Plot of the DCM dynamics in the frame of the fast jack.</p>
@ -359,7 +359,7 @@ Kb = eye(3)<span class="org-builtin">*</span>(2<span class="org-builtin">*</span
</div> </div>
<div id="org8397eee" class="figure"> <div id="orgb03f205" class="figure">
<p><img src="figs/loop_gain_dcm_contr_simple.png" alt="loop_gain_dcm_contr_simple.png" /> <p><img src="figs/loop_gain_dcm_contr_simple.png" alt="loop_gain_dcm_contr_simple.png" />
</p> </p>
<p><span class="figure-number">Figure 5: </span>Loop gain</p> <p><span class="figure-number">Figure 5: </span>Loop gain</p>
@ -367,7 +367,7 @@ Kb = eye(3)<span class="org-builtin">*</span>(2<span class="org-builtin">*</span
<div id="org35c3172" class="figure"> <div id="orgc507071" class="figure">
<p><img src="figs/loop_gain_diag_old_new_contr.png" alt="loop_gain_diag_old_new_contr.png" /> <p><img src="figs/loop_gain_diag_old_new_contr.png" alt="loop_gain_diag_old_new_contr.png" />
</p> </p>
<p><span class="figure-number">Figure 6: </span>Loop gain</p> <p><span class="figure-number">Figure 6: </span>Loop gain</p>
@ -377,7 +377,7 @@ Kb = eye(3)<span class="org-builtin">*</span>(2<span class="org-builtin">*</span
Compare Sensitivity functions Compare Sensitivity functions
</p> </p>
<div id="org3879d08" class="figure"> <div id="orgd925333" class="figure">
<p><img src="figs/sensitivity_comp.png" alt="sensitivity_comp.png" /> <p><img src="figs/sensitivity_comp.png" alt="sensitivity_comp.png" />
</p> </p>
<p><span class="figure-number">Figure 7: </span>Comparison of sensitivity functions</p> <p><span class="figure-number">Figure 7: </span>Comparison of sensitivity functions</p>
@ -396,7 +396,7 @@ Lb = zeros(3, 3, length(f));
</div> </div>
<div id="org3e2aa6f" class="figure"> <div id="org18dbc34" class="figure">
<p><img src="figs/loci_loop_gain_comp_controllers.png" alt="loci_loop_gain_comp_controllers.png" /> <p><img src="figs/loci_loop_gain_comp_controllers.png" alt="loci_loop_gain_comp_controllers.png" />
</p> </p>
<p><span class="figure-number">Figure 8: </span>Root Locus</p> <p><span class="figure-number">Figure 8: </span>Root Locus</p>
@ -405,8 +405,8 @@ Lb = zeros(3, 3, length(f));
</div> </div>
<div id="outline-container-orgf48794a" class="outline-3"> <div id="outline-container-org0b292a4" class="outline-3">
<h3 id="orgf48794a"><span class="section-number-3">2.2.</span> Identification - New</h3> <h3 id="org0b292a4"><span class="section-number-3">2.2.</span> Identification - New</h3>
<div class="outline-text-3" id="text-2-2"> <div class="outline-text-3" id="text-2-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">ur = load(<span class="org-string">'FJPUR_step_new.mat'</span>); <pre class="src src-matlab">ur = load(<span class="org-string">'FJPUR_step_new.mat'</span>);
@ -577,7 +577,7 @@ Kb = eye(3)<span class="org-builtin">*</span>(2<span class="org-builtin">*</span
Compare Sensitivity functions Compare Sensitivity functions
</p> </p>
<div id="orgf885697" class="figure"> <div id="orga50e1b0" class="figure">
<p><img src="figs/sensitivity_comp.png" alt="sensitivity_comp.png" /> <p><img src="figs/sensitivity_comp.png" alt="sensitivity_comp.png" />
</p> </p>
<p><span class="figure-number">Figure 9: </span>Comparison of sensitivity functions</p> <p><span class="figure-number">Figure 9: </span>Comparison of sensitivity functions</p>
@ -596,7 +596,7 @@ Lb = zeros(3, 3, length(f));
</div> </div>
<div id="org70c85f2" class="figure"> <div id="org8eb0924" class="figure">
<p><img src="figs/loci_loop_gain_comp_controllers.png" alt="loci_loop_gain_comp_controllers.png" /> <p><img src="figs/loci_loop_gain_comp_controllers.png" alt="loci_loop_gain_comp_controllers.png" />
</p> </p>
<p><span class="figure-number">Figure 10: </span>Root Locus</p> <p><span class="figure-number">Figure 10: </span>Root Locus</p>
@ -605,8 +605,8 @@ Lb = zeros(3, 3, length(f));
</div> </div>
<div id="outline-container-org60d766d" class="outline-3"> <div id="outline-container-org2e5fa20" class="outline-3">
<h3 id="org60d766d"><span class="section-number-3">2.3.</span> Identification - White noise</h3> <h3 id="org2e5fa20"><span class="section-number-3">2.3.</span> Identification - White noise</h3>
<div class="outline-text-3" id="text-2-3"> <div class="outline-text-3" id="text-2-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">ur = load(<span class="org-string">'fjpur_white_noise.mat'</span>); <pre class="src src-matlab">ur = load(<span class="org-string">'fjpur_white_noise.mat'</span>);
@ -725,14 +725,14 @@ win = hanning(ceil(0.5<span class="org-builtin">*</span>Fs));
</div> </div>
<div id="org006c732" class="figure"> <div id="orgd142314" class="figure">
<p><img src="figs/coherence_ident_noise.png" alt="coherence_ident_noise.png" /> <p><img src="figs/coherence_ident_noise.png" alt="coherence_ident_noise.png" />
</p> </p>
<p><span class="figure-number">Figure 11: </span>description</p> <p><span class="figure-number">Figure 11: </span>description</p>
</div> </div>
<div id="org82515d7" class="figure"> <div id="orgc5ce01c" class="figure">
<p><img src="figs/bode_plot_ident_noise.png" alt="bode_plot_ident_noise.png" /> <p><img src="figs/bode_plot_ident_noise.png" alt="bode_plot_ident_noise.png" />
</p> </p>
<p><span class="figure-number">Figure 12: </span>Bode Plot of the DCM dynamics in the frame of the fast jack.</p> <p><span class="figure-number">Figure 12: </span>Bode Plot of the DCM dynamics in the frame of the fast jack.</p>
@ -762,14 +762,14 @@ Kb = eye(3)<span class="org-builtin">*</span>(2<span class="org-builtin">*</span
</div> </div>
<div id="org601fb53" class="figure"> <div id="org5a9c5a7" class="figure">
<p><img src="figs/loop_gain_dcm_contr_simple.png" alt="loop_gain_dcm_contr_simple.png" /> <p><img src="figs/loop_gain_dcm_contr_simple.png" alt="loop_gain_dcm_contr_simple.png" />
</p> </p>
<p><span class="figure-number">Figure 13: </span>Loop gain</p> <p><span class="figure-number">Figure 13: </span>Loop gain</p>
</div> </div>
<div id="orgb442ea7" class="figure"> <div id="org24e16fe" class="figure">
<p><img src="figs/loop_gain_diag_old_new_contr.png" alt="loop_gain_diag_old_new_contr.png" /> <p><img src="figs/loop_gain_diag_old_new_contr.png" alt="loop_gain_diag_old_new_contr.png" />
</p> </p>
<p><span class="figure-number">Figure 14: </span>Loop gain</p> <p><span class="figure-number">Figure 14: </span>Loop gain</p>
@ -779,7 +779,7 @@ Kb = eye(3)<span class="org-builtin">*</span>(2<span class="org-builtin">*</span
Compare Sensitivity functions Compare Sensitivity functions
</p> </p>
<div id="org55d152a" class="figure"> <div id="orgffa2ebc" class="figure">
<p><img src="figs/sensitivity_comp.png" alt="sensitivity_comp.png" /> <p><img src="figs/sensitivity_comp.png" alt="sensitivity_comp.png" />
</p> </p>
<p><span class="figure-number">Figure 15: </span>Comparison of sensitivity functions</p> <p><span class="figure-number">Figure 15: </span>Comparison of sensitivity functions</p>
@ -798,7 +798,7 @@ Lb = zeros(3, 3, length(f));
</div> </div>
<div id="orgdc493de" class="figure"> <div id="org7a84791" class="figure">
<p><img src="figs/loci_loop_gain_comp_controllers.png" alt="loci_loop_gain_comp_controllers.png" /> <p><img src="figs/loci_loop_gain_comp_controllers.png" alt="loci_loop_gain_comp_controllers.png" />
</p> </p>
<p><span class="figure-number">Figure 16: </span>Root Locus</p> <p><span class="figure-number">Figure 16: </span>Root Locus</p>
@ -807,8 +807,8 @@ Lb = zeros(3, 3, length(f));
</div> </div>
<div id="outline-container-org31395a9" class="outline-3"> <div id="outline-container-org71bfb62" class="outline-3">
<h3 id="org31395a9"><span class="section-number-3">2.4.</span> Test</h3> <h3 id="org71bfb62"><span class="section-number-3">2.4.</span> Test</h3>
<div class="outline-text-3" id="text-2-4"> <div class="outline-text-3" id="text-2-4">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak">%% Notch</span> <pre class="src src-matlab"><span class="org-matlab-cellbreak">%% Notch</span>
@ -851,8 +851,8 @@ Kb = 0.8<span class="org-builtin">*</span>eye(3)<span class="org-builtin">*</sp
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-orgf58cff7" class="outline-3"> <div id="outline-container-orge135bfd" class="outline-3">
<h3 id="orgf58cff7"><span class="section-number-3">2.5.</span> New controller - Higher bandwidth</h3> <h3 id="orge135bfd"><span class="section-number-3">2.5.</span> New controller - Higher bandwidth</h3>
<div class="outline-text-3" id="text-2-5"> <div class="outline-text-3" id="text-2-5">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak">%% Previously used controller</span> <pre class="src src-matlab"><span class="org-matlab-cellbreak">%% Previously used controller</span>
@ -916,7 +916,7 @@ Kb = 0.9<span class="org-builtin">*</span>eye(3)<span class="org-builtin">*</sp
</div> </div>
<div id="org9e271c2" class="figure"> <div id="org0c92a80" class="figure">
<p><img src="figs/loop_gain_compare.png" alt="loop_gain_compare.png" /> <p><img src="figs/loop_gain_compare.png" alt="loop_gain_compare.png" />
</p> </p>
<p><span class="figure-number">Figure 17: </span>description</p> <p><span class="figure-number">Figure 17: </span>description</p>
@ -937,14 +937,14 @@ Lb_new = zeros(3, 3, length(f));
</div> </div>
<div id="org8647e61" class="figure"> <div id="orgeff107d" class="figure">
<p><img src="figs/nyquist_compare.png" alt="nyquist_compare.png" /> <p><img src="figs/nyquist_compare.png" alt="nyquist_compare.png" />
</p> </p>
<p><span class="figure-number">Figure 18: </span>n</p> <p><span class="figure-number">Figure 18: </span>n</p>
</div> </div>
<div id="org9640964" class="figure"> <div id="orga2251e0" class="figure">
<p><img src="figs/sensitivity_function_compare.png" alt="sensitivity_function_compare.png" /> <p><img src="figs/sensitivity_function_compare.png" alt="sensitivity_function_compare.png" />
</p> </p>
<p><span class="figure-number">Figure 19: </span>description</p> <p><span class="figure-number">Figure 19: </span>description</p>
@ -954,8 +954,8 @@ Lb_new = zeros(3, 3, length(f));
<div id="outline-container-org3141035" class="outline-3"> <div id="outline-container-orgced05bb" class="outline-3">
<h3 id="org3141035"><span class="section-number-3">2.6.</span> Added gain</h3> <h3 id="orgced05bb"><span class="section-number-3">2.6.</span> Added gain</h3>
<div class="outline-text-3" id="text-2-6"> <div class="outline-text-3" id="text-2-6">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-matlab-cellbreak">%% Notch</span> <pre class="src src-matlab"><span class="org-matlab-cellbreak">%% Notch</span>
@ -1017,21 +1017,21 @@ Kb_gain = 0.9<span class="org-builtin">*</span>eye(3)<span class="org-builtin">
</div> </div>
<div id="org222e04a" class="figure"> <div id="org00ceb71" class="figure">
<p><img src="figs/loop_gain_compare_added_gain.png" alt="loop_gain_compare_added_gain.png" /> <p><img src="figs/loop_gain_compare_added_gain.png" alt="loop_gain_compare_added_gain.png" />
</p> </p>
<p><span class="figure-number">Figure 20: </span>description</p> <p><span class="figure-number">Figure 20: </span>description</p>
</div> </div>
<div id="org4a20f29" class="figure"> <div id="org83020b4" class="figure">
<p><img src="figs/sensitivity_new_gain_compare.png" alt="sensitivity_new_gain_compare.png" /> <p><img src="figs/sensitivity_new_gain_compare.png" alt="sensitivity_new_gain_compare.png" />
</p> </p>
<p><span class="figure-number">Figure 21: </span>description</p> <p><span class="figure-number">Figure 21: </span>description</p>
</div> </div>
<div id="orgab54e70" class="figure"> <div id="org003317c" class="figure">
<p><img src="figs/nyquist_after_gain_frequency.png" alt="nyquist_after_gain_frequency.png" /> <p><img src="figs/nyquist_after_gain_frequency.png" alt="nyquist_after_gain_frequency.png" />
</p> </p>
<p><span class="figure-number">Figure 22: </span>nyquist plot</p> <p><span class="figure-number">Figure 22: </span>nyquist plot</p>
@ -1041,12 +1041,12 @@ Kb_gain = 0.9<span class="org-builtin">*</span>eye(3)<span class="org-builtin">
</div> </div>
<div id="outline-container-orgf483f30" class="outline-2"> <div id="outline-container-org42b6fad" class="outline-2">
<h2 id="orgf483f30"><span class="section-number-2">3.</span> Noise Budgeting</h2> <h2 id="org42b6fad"><span class="section-number-2">3.</span> Noise Budgeting</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
</div> </div>
<div id="outline-container-org186fa6a" class="outline-3"> <div id="outline-container-orgfab07e0" class="outline-3">
<h3 id="org186fa6a"><span class="section-number-3">3.1.</span> No Displacement</h3> <h3 id="orgfab07e0"><span class="section-number-3">3.1.</span> No Displacement</h3>
<div class="outline-text-3" id="text-3-1"> <div class="outline-text-3" id="text-3-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@ -1275,8 +1275,8 @@ data_70_deg.drx = data_70_deg.allValues(<span class="org-builtin">:</span>,6) <s
<div id="outline-container-org64f1438" class="outline-3"> <div id="outline-container-org2959e07" class="outline-3">
<h3 id="org64f1438"><span class="section-number-3">3.2.</span> Scans</h3> <h3 id="org2959e07"><span class="section-number-3">3.2.</span> Scans</h3>
<div class="outline-text-3" id="text-3-2"> <div class="outline-text-3" id="text-3-2">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
@ -1437,8 +1437,8 @@ CPS_70_10_d = flip(<span class="org-builtin">-</span>cumtrapz(flip(f), flip(pxx
</div> </div>
</div> </div>
<div id="outline-container-org60807a5" class="outline-3"> <div id="outline-container-orge57ff9f" class="outline-3">
<h3 id="org60807a5"><span class="section-number-3">3.3.</span> Noise budgeting - No rotation</h3> <h3 id="orge57ff9f"><span class="section-number-3">3.3.</span> Noise budgeting - No rotation</h3>
<div class="outline-text-3" id="text-3-3"> <div class="outline-text-3" id="text-3-3">
<p> <p>
First, we look at the position errors when the bragg axis is not moving First, we look at the position errors when the bragg axis is not moving
@ -1488,7 +1488,7 @@ win = hanning(ceil(1<span class="org-builtin">/</span>Ts));
</div> </div>
<div id="orgf7417b6" class="figure"> <div id="org2f9ead0" class="figure">
<p><img src="figs/noise_budget_no_mov_asd.png" alt="noise_budget_no_mov_asd.png" /> <p><img src="figs/noise_budget_no_mov_asd.png" alt="noise_budget_no_mov_asd.png" />
</p> </p>
<p><span class="figure-number">Figure 23: </span>Amplitude Spectral Density</p> <p><span class="figure-number">Figure 23: </span>Amplitude Spectral Density</p>
@ -1511,7 +1511,7 @@ CPS_dz = cumtrapz(f, pxx_ol_dz);
</div> </div>
<div id="org7a0878c" class="figure"> <div id="orgda9f408" class="figure">
<p><img src="figs/noise_budget_no_mov_cas.png" alt="noise_budget_no_mov_cas.png" /> <p><img src="figs/noise_budget_no_mov_cas.png" alt="noise_budget_no_mov_cas.png" />
</p> </p>
<p><span class="figure-number">Figure 24: </span>Cumulative Amplitude Spectrum</p> <p><span class="figure-number">Figure 24: </span>Cumulative Amplitude Spectrum</p>
@ -1520,17 +1520,17 @@ CPS_dz = cumtrapz(f, pxx_ol_dz);
</div> </div>
<div id="outline-container-orgf1f9c40" class="outline-3"> <div id="outline-container-org5c8bbce" class="outline-3">
<h3 id="orgf1f9c40"><span class="section-number-3">3.4.</span> Noise budgeting - Bragg rotation</h3> <h3 id="org5c8bbce"><span class="section-number-3">3.4.</span> Noise budgeting - Bragg rotation</h3>
</div> </div>
</div> </div>
<div id="outline-container-orge12a029" class="outline-2"> <div id="outline-container-org84729e1" class="outline-2">
<h2 id="orge12a029"><span class="section-number-2">4.</span> Test Mode C</h2> <h2 id="org84729e1"><span class="section-number-2">4.</span> Test Mode C</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
</div> </div>
<div id="outline-container-org9173ef5" class="outline-3"> <div id="outline-container-org8cc30f1" class="outline-3">
<h3 id="org9173ef5"><span class="section-number-3">4.1.</span> Mode B and Mode C</h3> <h3 id="org8cc30f1"><span class="section-number-3">4.1.</span> Mode B and Mode C</h3>
<div class="outline-text-3" id="text-4-1"> <div class="outline-text-3" id="text-4-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">data_B = extractDatData(sprintf(<span class="org-string">"/home/thomas/mnt/data_id21/22Jan/blc13491/id21/test_regul_220119/%s"</span>,<span class="org-string">"lut_const_fj_vel_19012022_1450.dat"</span>), <span class="org-comment-delimiter">.</span><span class="org-comment">..</span> <pre class="src src-matlab">data_B = extractDatData(sprintf(<span class="org-string">"/home/thomas/mnt/data_id21/22Jan/blc13491/id21/test_regul_220119/%s"</span>,<span class="org-string">"lut_const_fj_vel_19012022_1450.dat"</span>), <span class="org-comment-delimiter">.</span><span class="org-comment">..</span>
@ -1620,12 +1620,12 @@ win = hanning(ceil(1<span class="org-builtin">/</span>Ts));
</div> </div>
</div> </div>
<div id="outline-container-org0482355" class="outline-2"> <div id="outline-container-org0d833d1" class="outline-2">
<h2 id="org0482355"><span class="section-number-2">5.</span> Export numerator and denominator</h2> <h2 id="org0d833d1"><span class="section-number-2">5.</span> Export numerator and denominator</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
</div> </div>
<div id="outline-container-orga946414" class="outline-3"> <div id="outline-container-org4532b44" class="outline-3">
<h3 id="orga946414"><span class="section-number-3">5.1.</span> Export</h3> <h3 id="org4532b44"><span class="section-number-3">5.1.</span> Export</h3>
<div class="outline-text-3" id="text-5-1"> <div class="outline-text-3" id="text-5-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">K_order = 10; <pre class="src src-matlab">K_order = 10;
@ -1673,8 +1673,8 @@ fclose(fileID);
</div> </div>
</div> </div>
<div id="outline-container-org8ed08fd" class="outline-3"> <div id="outline-container-org78d8a99" class="outline-3">
<h3 id="org8ed08fd"><span class="section-number-3">5.2.</span> Verify</h3> <h3 id="org78d8a99"><span class="section-number-3">5.2.</span> Verify</h3>
<div class="outline-text-3" id="text-5-2"> <div class="outline-text-3" id="text-5-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">K_data = importdata(<span class="org-string">'X_tal_cage_PID_20Hz.dat'</span>); <pre class="src src-matlab">K_data = importdata(<span class="org-string">'X_tal_cage_PID_20Hz.dat'</span>);
@ -1687,7 +1687,7 @@ K = tf(K_data(1,<span class="org-builtin">:</span>), K_data(2,<span class="org-b
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2022-02-15 mar. 14:15</p> <p class="date">Created: 2022-02-15 mar. 14:18</p>
</div> </div>
</body> </body>
</html> </html>

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@ -44,7 +44,7 @@
#+begin_export html #+begin_export html
<hr> <hr>
<p>This report is also available as a <a href="./dcm_feedback.pdf">pdf</a>.</p> <p>This report is also available as a <a href="./dcm-feedback-control.pdf">pdf</a>.</p>
<hr> <hr>
#+end_export #+end_export

2
index.html
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@ -1 +1 @@
dcm_feedback.html dcm-feedback-control.html