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Update Content - 2024-12-17

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Thomas Dehaeze 2024-12-17 15:25:38 +01:00
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content/zettels/position_jitter_due_to_asynchronous_acquisition.md
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@ -12,7 +12,7 @@ Tags
Sometime the controller is not compatible with the encoder protocol. Sometime the controller is not compatible with the encoder protocol.
In that case a PEPU can be used in between the encoder and the controller to convert the encoder value to something readable by the controller. In that case a PEPU can be used in between the encoder and the controller to convert the encoder value to something readable by the controller.
This is illustrated in Figure [1](#figure--fig:position-jitter-issue). This is illustrated in [1](#figure--fig:position-jitter-issue).
<a id="figure--fig:position-jitter-issue"></a> <a id="figure--fig:position-jitter-issue"></a>
@ -31,8 +31,8 @@ Let's choose the following parameters:
- \\(v = 1\\,mm/s\\): the scan velocity - \\(v = 1\\,mm/s\\): the scan velocity
- \\(T\_{s,\text{ctrl}} = 100\\,\mu s\\) the "sampling rate" of the controller - \\(T\_{s,\text{ctrl}} = 100\\,\mu s\\) the "sampling rate" of the controller
The encoder position as well as the stored value on the PEPU and the position used in the controller are shown in Figure [2](#figure--fig:jitter-error-example), left. The encoder position as well as the stored value on the PEPU and the position used in the controller are shown in [2](#figure--fig:jitter-error-example), left.
The errors associated with the "jitter" is shown in Figure [2](#figure--fig:jitter-error-example), right. The errors associated with the "jitter" is shown in [2](#figure--fig:jitter-error-example), right.
```matlab ```matlab
%% Simulation parameters %% Simulation parameters