Initial Commit

.gitignore

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+auto/
+*.tex
+*.blg
+*-blx.bib
+*.bbl
+*.aux
+*.bcf
+*.fdb_latexmk
+*.log
+*.out
+*.pyg
+*.toc
+*.fls
+*.synctex.gz
+.auctex-auto/
+_minted*
+
+# Emacs
+auto/
+
+# Simulink Real Time
+*bio.m
+*pt.m
+*ref.m
+*ri.m
+*xcp.m
+*.mldatx
+*.slxc
+*.xml
+*_slrt_rtw/
+
+# data
+data/
+
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files
+*.mlappinstall
+*.mltbx
+
+# Generated helpsearch folders
+helpsearch*/
+
+# Simulink code generation folders
+slprj/
+sccprj/
+
+# Matlab code generation folders
+codegen/
+
+# Simulink autosave extension
+*.autosave
+
+# Octave session info
+octave-workspace

dcm_lookup_tables.org

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+#+TITLE: ESRF Double Crystal Monochromator - Lookup Tables
+:DRAWER:
+#+LANGUAGE: en
+#+EMAIL: dehaeze.thomas@gmail.com
+#+AUTHOR: Dehaeze Thomas
+
+#+HTML_LINK_HOME: ../index.html
+#+HTML_LINK_UP:   ../index.html
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+
+#+BIND: org-latex-image-default-option "scale=1"
+#+BIND: org-latex-image-default-width ""
+
+#+LaTeX_CLASS: scrreprt
+#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
+#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+#+LATEX_HEADER_EXTRA: \bibliography{ref}
+
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :results none
+#+PROPERTY: header-args:matlab+ :tangle no
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :noweb yes
+#+PROPERTY: header-args:matlab+ :mkdirp yes
+#+PROPERTY: header-args:matlab+ :output-dir figs
+
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
+#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
+#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
+#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
+#+PROPERTY: header-args:latex+ :results file raw replace
+#+PROPERTY: header-args:latex+ :buffer no
+#+PROPERTY: header-args:latex+ :tangle no
+#+PROPERTY: header-args:latex+ :eval no-export
+#+PROPERTY: header-args:latex+ :exports results
+#+PROPERTY: header-args:latex+ :mkdirp yes
+#+PROPERTY: header-args:latex+ :output-dir figs
+#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
+:END:
+
+#+begin_export html
+  <hr>
+  <p>This report is also available as a <a href="./dcm_lookup_tables.pdf">pdf</a>.</p>
+  <hr>
+#+end_export
+
+#+latex: \clearpage
+
+* Introduction
+
+* Stepper Motors Calibration
+:PROPERTIES:
+:header-args:matlab+: :tangle matlab/dcm_stepper_lut.m
+:END:
+<<sec:dcm_stepper_lut>>
+** Introduction                                                      :ignore:
+
+** Matlab Init                                             :noexport:ignore:
+#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
+<<matlab-dir>>
+#+end_src
+
+#+begin_src matlab :exports none :results silent :noweb yes
+<<matlab-init>>
+#+end_src
+
+#+begin_src matlab :tangle no :noweb yes
+<<m-init-path>>
+#+end_src
+
+#+begin_src matlab :eval no :noweb yes
+<<m-init-path-tangle>>
+#+end_src
+
+#+begin_src matlab :noweb yes
+<<m-init-other>>
+#+end_src
+
+** Schematic
+
+** Simulation
+In this section, we suppose that we are in the frame of one fast jack (all transformations are already done), and we wish to create a LUT for one fast jack.
+
+Let's say with make a Bragg angle scan between 10deg and 60deg during 100s.
+#+begin_src matlab
+Fs = 10e3; % Sample Frequency [Hz]
+t = 0:1/Fs:100; % Time vector [s]
+theta = linspace(10, 60, length(t)); % Bragg Angle [deg]
+#+end_src
+
+The IcePAP steps are following the theoretical formula:
+\begin{equation}
+d_z = \frac{d_{\text{off}}}{2 \cos \theta}
+\end{equation}
+with $\theta$ the bragg angle and $d_{\text{off}} = 10\,mm$.
+
+The motion to follow is then:
+#+begin_src matlab
+perfect_motion = 10e-3./(2*cos(theta*pi/180)); % Perfect motion [m]
+#+end_src
+
+And the IcePAP is generated those steps:
+#+begin_src matlab
+icepap_steps = perfect_motion; % IcePAP steps measured by Speedgoat [m]
+#+end_src
+
+#+begin_src matlab :exports none
+%% Steps as a function of the bragg angle
+figure;
+plot(theta, icepap_steps);
+xlabel('Bragg Angle [deg]'); ylabel('IcePAP Steps [m]');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/bragg_angle_icepap_steps_idealized.pdf', 'width', 'wide', 'height', 'normal');
+#+end_src
+
+#+name: fig:bragg_angle_icepap_steps_idealized
+#+caption: IcePAP Steps as a function of the Bragg Angle
+#+RESULTS:
+[[file:figs/bragg_angle_icepap_steps_idealized.png]]
+
+Then, we are measuring the motion of the Fast Jack using the Interferometer.
+The motion error is larger than in reality to be angle to see it more easily.
+#+begin_src matlab
+motion_error = 100e-6*sin(2*pi*perfect_motion/1e-3); % Error motion [m]
+
+measured_motion = perfect_motion + motion_error; % Measured motion of the Fast Jack [m]
+#+end_src
+
+#+begin_src matlab :exports none
+%% Measured Motion and Idealized Motion
+figure;
+hold on;
+plot(icepap_steps, measured_motion, ...
+    'DisplayName', 'Measured Motion');
+plot(icepap_steps, perfect_motion, 'k--', ...
+    'DisplayName', 'Ideal Motion');
+hold off;
+xlabel('IcePAP Steps [m]'); ylabel('Measured Motion [m]');
+legend('location', 'southeast');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/measured_and_ideal_motion_fast_jacks.pdf', 'width', 'wide', 'height', 'normal');
+#+end_src
+
+#+name: fig:measured_and_ideal_motion_fast_jacks
+#+caption: Measured motion as a function of the IcePAP Steps
+#+RESULTS:
+[[file:figs/measured_and_ideal_motion_fast_jacks.png]]
+
+Let's now compute the lookup table.
+For each micrometer of the IcePAP step, another step is associated that correspond to a position closer to the wanted position.
+
+#+begin_src matlab
+%% Get range for the LUT
+% We correct only in the range of tested/measured motion
+lut_range = round(1e6*min(icepap_steps)):round(1e6*max(icepap_steps)); % IcePAP steps [um]
+
+%% Initialize the LUT
+lut = zeros(size(lut_range));
+
+%% For each um in this range
+for i = 1:length(lut_range)
+    % Get points indices where the measured motion is closed to the wanted one
+    close_points = measured_motion > 1e-6*lut_range(i) - 500e-9 & measured_motion < 1e-6*lut_range(i) + 500e-9;
+    % Get the corresponding closest IcePAP step
+    lut(i) = round(1e6*mean(icepap_steps(close_points))); % [um]
+end
+#+end_src
+
+#+begin_src matlab :exports none
+%% Generated Lookup Table
+figure;
+plot(lut_range, lut);
+xlabel('IcePAP input step [um]'); ylabel('Lookup Table output [um]');
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/generated_lut_icepap.pdf', 'width', 'wide', 'height', 'normal');
+#+end_src
+
+#+name: fig:generated_lut_icepap
+#+caption: Generated Lookup Table
+#+RESULTS:
+[[file:figs/generated_lut_icepap.png]]
+
+We can see that the LUT is *not* the motion error (Figure [[fig:lut_correct_and_motion_error]]).
+#+begin_src matlab
+motion_error_lut = zeros(size(lut_range));
+for i = 1:length(lut_range)
+    % Get points indices where the icepap step is close to the wanted one
+    close_points = icepap_steps > 1e-6*lut_range(i) - 500e-9 & icepap_steps < 1e-6*lut_range(i) + 500e-9;
+    % Get the corresponding motion error
+    motion_error_lut(i) = lut_range(i) - 1e6*mean(measured_motion(close_points)); % [um]
+end
+#+end_src
+
+#+begin_src matlab :exports none
+%% Corrected motion and motion error at each step position
+figure;
+hold on;
+plot(lut_range, lut-lut_range, ...
+    'DisplayName', 'Lookup Table Correction');
+plot(lut_range, motion_error_lut, ...
+    'DisplayName', 'Motion Error');
+hold off;
+xlabel('IcePAP Steps [um]'); ylabel('Corrected motion [um]');
+ylim([-110, 110])
+#+end_src
+
+#+begin_src matlab :tangle no :exports results :results file replace
+exportFig('figs/lut_correct_and_motion_error.pdf', 'width', 'wide', 'height', 'normal');
+#+end_src
+
+#+name: fig:lut_correct_and_motion_error
+#+caption: LUT correction and motion error as a function of the IcePAP steps
+#+RESULTS:
+[[file:figs/lut_correct_and_motion_error.png]]
+
+* Attocube Calibration                                              :noexport:
+
+
+* Helping Functions                                                 :noexport:
+** Initialize Path
+#+NAME: m-init-path
+#+BEGIN_SRC matlab
+%% Path for functions, data and scripts
+addpath('./matlab/mat/'); % Path for data
+addpath('./matlab/');     % Path for scripts
+#+END_SRC
+
+#+NAME: m-init-path-tangle
+#+BEGIN_SRC matlab
+%% Path for functions, data and scripts
+addpath('./mat/'); % Path for data
+#+END_SRC
+
+** Initialize Simscape Model
+#+NAME: m-init-simscape
+#+begin_src matlab
+#+end_src
+
+** Initialize other elements
+#+NAME: m-init-other
+#+BEGIN_SRC matlab
+%% Colors for the figures
+colors = colororder;
+
+%% Frequency Vector
+freqs = logspace(1, 3, 1000);
+#+END_SRC
+
+* Bibliography                                                        :ignore:
+#+latex: \printbibliography

ref.bib

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+@article{fleming10_integ_strain_force_feedb_high,
+    author = {Fleming, Andrew J and Leang, Kam K},
+    title = {Integrated Strain and Force Feedback for High-Performance
+                  Control of Piezoelectric Actuators},
+    journal = {Sensors and Actuators A: Physical},
+    volume = 161,
+    number = {1-2},
+    pages = {256--265},
+    year = 2010,
+    publisher = {Elsevier}
+}