Use online CSS and JS
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.figure p{
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text-align: center;
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}
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.figure img{
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max-width:100%;
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display: block;
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margin: auto;
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}
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table {
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margin-left: auto;
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margin-right: auto;
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}
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.org-src-container > pre.src:before {
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display: inline;
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position: absolute;
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color: #808080;
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background-color: white;
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top: -10px;
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left: 10px;
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padding: 0px 4px;
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border: 1px solid #d0d0d0;
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font-size: 80%;
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}
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.org-src-container > pre {
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margin-top: 1.5em;
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position: relative;
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overflow: visible;
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}
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.org-src-container > pre > code.src:before {
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display: inline;
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position: absolute;
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color: #808080;
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background-color: white;
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top: -10px;
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left: 10px;
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padding: 0px 4px;
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border: 1px solid #d0d0d0;
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font-size: 80%;
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}
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.org-src-container > pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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.org-src-container > pre.src-elisp:before { content: 'Emacs Lisp'; }
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.org-src-container > pre.src-sh:before { content: 'shell'; }
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.org-src-container > pre.src-bash:before { content: 'bash'; }
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.org-src-container > pre.src-org:before { content: 'Org mode'; }
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.org-src-container > pre.src-python:before { content: 'Python'; }
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.org-src-container > pre.src-matlab:before { content: 'Matlab'; }
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145
css/htmlize.css
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css/htmlize.css
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.org-bold { /* bold */ font-weight: bold; }
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.org-bold-italic { /* bold-italic */ font-weight: bold; font-style: italic; }
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.org-buffer-menu-buffer { /* buffer-menu-buffer */ font-weight: bold; }
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.org-builtin { /* font-lock-builtin-face */ color: #7a378b; }
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.org-button { /* button */ text-decoration: underline; }
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.org-calendar-today { /* calendar-today */ text-decoration: underline; }
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.org-change-log-acknowledgement { /* change-log-acknowledgement */ color: #b22222; }
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.org-change-log-conditionals { /* change-log-conditionals */ color: #a0522d; }
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.org-change-log-date { /* change-log-date */ color: #8b2252; }
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.org-change-log-email { /* change-log-email */ color: #a0522d; }
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.org-change-log-file { /* change-log-file */ color: #0000ff; }
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.org-change-log-function { /* change-log-function */ color: #a0522d; }
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.org-change-log-list { /* change-log-list */ color: #a020f0; }
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.org-change-log-name { /* change-log-name */ color: #008b8b; }
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.org-comint-highlight-input { /* comint-highlight-input */ font-weight: bold; }
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.org-comint-highlight-prompt { /* comint-highlight-prompt */ color: #00008b; }
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.org-comment { /* font-lock-comment-face */ color: #999988; font-style: italic; }
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.org-comment-delimiter { /* font-lock-comment-delimiter-face */ color: #999988; font-style: italic; }
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.org-completions-annotations { /* completions-annotations */ font-style: italic; }
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.org-completions-common-part { /* completions-common-part */ color: #000000; background-color: #ffffff; }
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.org-completions-first-difference { /* completions-first-difference */ font-weight: bold; }
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.org-constant { /* font-lock-constant-face */ color: #008b8b; }
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.org-diary { /* diary */ color: #ff0000; }
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.org-diff-context { /* diff-context */ color: #7f7f7f; }
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.org-diff-file-header { /* diff-file-header */ background-color: #b3b3b3; font-weight: bold; }
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.org-diff-function { /* diff-function */ background-color: #cccccc; }
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.org-diff-header { /* diff-header */ background-color: #cccccc; }
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.org-diff-hunk-header { /* diff-hunk-header */ background-color: #cccccc; }
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.org-diff-index { /* diff-index */ background-color: #b3b3b3; font-weight: bold; }
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.org-diff-nonexistent { /* diff-nonexistent */ background-color: #b3b3b3; font-weight: bold; }
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.org-diff-refine-change { /* diff-refine-change */ background-color: #d9d9d9; }
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.org-dired-directory { /* dired-directory */ color: #0000ff; }
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.org-dired-flagged { /* dired-flagged */ color: #ff0000; font-weight: bold; }
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.org-dired-header { /* dired-header */ color: #228b22; }
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.org-dired-ignored { /* dired-ignored */ color: #7f7f7f; }
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.org-dired-mark { /* dired-mark */ color: #008b8b; }
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.org-dired-marked { /* dired-marked */ color: #ff0000; font-weight: bold; }
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.org-dired-perm-write { /* dired-perm-write */ color: #b22222; }
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.org-dired-symlink { /* dired-symlink */ color: #a020f0; }
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.org-dired-warning { /* dired-warning */ color: #ff0000; font-weight: bold; }
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.org-doc { /* font-lock-doc-face */ color: #8b2252; }
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.org-escape-glyph { /* escape-glyph */ color: #a52a2a; }
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.org-file-name-shadow { /* file-name-shadow */ color: #7f7f7f; }
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.org-flyspell-duplicate { /* flyspell-duplicate */ color: #cdad00; font-weight: bold; text-decoration: underline; }
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.org-flyspell-incorrect { /* flyspell-incorrect */ color: #ff4500; font-weight: bold; text-decoration: underline; }
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.org-fringe { /* fringe */ background-color: #f2f2f2; }
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.org-function-name { /* font-lock-function-name-face */ color: teal; }
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.org-header-line { /* header-line */ color: #333333; background-color: #e5e5e5; }
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.org-help-argument-name { /* help-argument-name */ font-style: italic; }
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.org-highlight { /* highlight */ background-color: #b4eeb4; }
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.org-holiday { /* holiday */ background-color: #ffc0cb; }
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.org-isearch { /* isearch */ color: #b0e2ff; background-color: #cd00cd; }
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.org-isearch-fail { /* isearch-fail */ background-color: #ffc1c1; }
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.org-italic { /* italic */ font-style: italic; }
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.org-keyword { /* font-lock-keyword-face */ color: #0086b3; }
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.org-lazy-highlight { /* lazy-highlight */ background-color: #afeeee; }
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.org-link { /* link */ color: #0000ff; text-decoration: underline; }
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.org-link-visited { /* link-visited */ color: #8b008b; text-decoration: underline; }
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.org-log-edit-header { /* log-edit-header */ color: #a020f0; }
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.org-log-edit-summary { /* log-edit-summary */ color: #0000ff; }
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.org-log-edit-unknown-header { /* log-edit-unknown-header */ color: #b22222; }
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.org-match { /* match */ background-color: #ffff00; }
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.org-next-error { /* next-error */ background-color: #eedc82; }
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.org-nobreak-space { /* nobreak-space */ color: #a52a2a; text-decoration: underline; }
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.org-org-archived { /* org-archived */ color: #7f7f7f; }
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.org-org-block { /* org-block */ color: #7f7f7f; }
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.org-org-block-begin-line { /* org-block-begin-line */ color: #b22222; }
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.org-org-block-end-line { /* org-block-end-line */ color: #b22222; }
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.org-org-checkbox { /* org-checkbox */ font-weight: bold; }
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.org-org-checkbox-statistics-done { /* org-checkbox-statistics-done */ color: #228b22; font-weight: bold; }
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.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; }
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.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; }
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.org-org-code { /* org-code */ color: #7f7f7f; }
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.org-org-column { /* org-column */ background-color: #e5e5e5; }
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.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; }
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.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; }
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.org-org-document-info { /* org-document-info */ color: #191970; }
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.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; }
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.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; }
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.org-org-done { /* org-done */ color: #228b22; font-weight: bold; }
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.org-org-drawer { /* org-drawer */ color: #0000ff; }
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.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; }
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.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; }
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.org-org-formula { /* org-formula */ color: #b22222; }
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.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; }
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.org-org-hide { /* org-hide */ color: #ffffff; }
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.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; }
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.org-org-level-1 { /* org-level-1 */ color: #0000ff; }
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.org-org-level-2 { /* org-level-2 */ color: #a0522d; }
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.org-org-level-3 { /* org-level-3 */ color: #a020f0; }
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.org-org-level-4 { /* org-level-4 */ color: #b22222; }
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.org-org-level-5 { /* org-level-5 */ color: #228b22; }
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.org-org-level-6 { /* org-level-6 */ color: #008b8b; }
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.org-org-level-7 { /* org-level-7 */ color: #7a378b; }
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.org-org-level-8 { /* org-level-8 */ color: #8b2252; }
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.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; }
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.org-org-meta-line { /* org-meta-line */ color: #b22222; }
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.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; }
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.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; }
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.org-org-quote { /* org-quote */ color: #7f7f7f; }
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.org-org-scheduled { /* org-scheduled */ color: #006400; }
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.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; }
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.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; }
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.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; }
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.org-org-special-keyword { /* org-special-keyword */ color: #a020f0; }
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.org-org-table { /* org-table */ color: #0000ff; }
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.org-org-tag { /* org-tag */ font-weight: bold; }
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.org-org-target { /* org-target */ text-decoration: underline; }
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.org-org-time-grid { /* org-time-grid */ color: #b8860b; }
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.org-org-todo { /* org-todo */ color: #ff0000; font-weight: bold; }
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.org-org-upcoming-deadline { /* org-upcoming-deadline */ color: #b22222; }
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.org-org-verbatim { /* org-verbatim */ color: #7f7f7f; }
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.org-org-verse { /* org-verse */ color: #7f7f7f; }
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.org-org-warning { /* org-warning */ color: #ff0000; font-weight: bold; }
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.org-outline-1 { /* outline-1 */ color: #0000ff; }
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.org-outline-2 { /* outline-2 */ color: #a0522d; }
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.org-outline-3 { /* outline-3 */ color: #a020f0; }
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.org-outline-4 { /* outline-4 */ color: #b22222; }
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.org-outline-5 { /* outline-5 */ color: #228b22; }
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.org-outline-6 { /* outline-6 */ color: #008b8b; }
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.org-outline-7 { /* outline-7 */ color: #7a378b; }
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.org-outline-8 { /* outline-8 */ color: #8b2252; }
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.org-preprocessor { /* font-lock-preprocessor-face */ color: #7a378b; }
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.org-query-replace { /* query-replace */ color: #b0e2ff; background-color: #cd00cd; }
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.org-regexp-grouping-backslash { /* font-lock-regexp-grouping-backslash */ font-weight: bold; }
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.org-regexp-grouping-construct { /* font-lock-regexp-grouping-construct */ font-weight: bold; }
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.org-region { /* region */ background-color: #eedc82; }
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.org-secondary-selection { /* secondary-selection */ background-color: #ffff00; }
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.org-shadow { /* shadow */ color: #7f7f7f; }
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.org-show-paren-match { /* show-paren-match */ background-color: #40e0d0; }
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.org-show-paren-mismatch { /* show-paren-mismatch */ color: #ffffff; background-color: #a020f0; }
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.org-string { /* font-lock-string-face */ color: #dd1144; }
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.org-tool-bar { /* tool-bar */ color: #000000; background-color: #bfbfbf; }
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.org-tooltip { /* tooltip */ color: #000000; background-color: #ffffe0; }
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.org-trailing-whitespace { /* trailing-whitespace */ background-color: #ff0000; }
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.org-type { /* font-lock-type-face */ color: #228b22; }
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.org-underline { /* underline */ text-decoration: underline; }
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.org-variable-name { /* font-lock-variable-name-face */ color: teal; }
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.org-warning { /* font-lock-warning-face */ color: #ff0000; font-weight: bold; }
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.org-widget-button { /* widget-button */ font-weight: bold; }
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.org-widget-button-pressed { /* widget-button-pressed */ color: #ff0000; }
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.org-widget-documentation { /* widget-documentation */ color: #006400; }
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.org-widget-field { /* widget-field */ background-color: #d9d9d9; }
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.org-widget-inactive { /* widget-inactive */ color: #7f7f7f; }
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.org-widget-single-line-field { /* widget-single-line-field */ background-color: #d9d9d9; }
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Load Diff
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<head>
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<!-- 2020-11-10 mar. 12:53 -->
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<!-- 2020-11-12 jeu. 10:16 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Encoder - Test Bench</title>
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<title>Encoder - Test Bench</title>
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<meta name="generator" content="Org mode" />
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<meta name="author" content="Dehaeze Thomas" />
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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<link rel="stylesheet" type="text/css" href="./css/custom.css"/>
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<script type="text/javascript" src="./js/jquery.min.js"></script>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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<script type="text/javascript" src="./js/readtheorg.js"></script>
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</head>
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</head>
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<body>
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<body>
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<div id="org-div-home-and-up">
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<div id="org-div-home-and-up">
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<h2>Table of Contents</h2>
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<div id="text-table-of-contents">
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<ul>
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<ul>
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<li><a href="#org5ac16f2">1. Experimental Setup</a></li>
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<li><a href="#org1c5bda2">1. Experimental Setup</a></li>
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<li><a href="#org7441659">2. Noise Spectral Density of the Encoder</a>
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<li><a href="#orgdc41a88">2. Noise Spectral Density of the Encoder</a>
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<ul>
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<ul>
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<li><a href="#orgfface02">2.1. Load Data</a></li>
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<li><a href="#org9693b2a">2.1. Load Data</a></li>
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<li><a href="#orgeab98b2">2.2. Time Domain Results</a></li>
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<li><a href="#orgb24809d">2.2. Time Domain Results</a></li>
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<li><a href="#org9d7a1b2">2.3. Frequency Domain Noise</a></li>
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<li><a href="#org2228685">2.3. Frequency Domain Noise</a></li>
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</ul>
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</ul>
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</li>
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</li>
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<li><a href="#orga15f5e0">3. Dynamics from Actuator to Encoder</a>
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<li><a href="#orge121b74">3. Dynamics from Actuator to Encoder</a>
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<ul>
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<ul>
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<li><a href="#org371d2a2">3.1. Load Data</a></li>
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<li><a href="#orgae3dfc0">3.1. Load Data</a></li>
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<li><a href="#orgb2df3c8">3.2. Excitation and Measured Signals</a></li>
|
<li><a href="#org83ba060">3.2. Excitation and Measured Signals</a></li>
|
||||||
<li><a href="#orgfb97858">3.3. Identification</a></li>
|
<li><a href="#orge31f70d">3.3. Identification</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@ -53,23 +49,23 @@ In this document, we wish to study the use of an encoder in parallel with an Amp
|
|||||||
The document is divided into the following Sections:
|
The document is divided into the following Sections:
|
||||||
</p>
|
</p>
|
||||||
<ul class="org-ul">
|
<ul class="org-ul">
|
||||||
<li>Section <a href="#org973b24d">1</a>: the test-bench used is described</li>
|
<li>Section <a href="#orgae74897">1</a>: the test-bench used is described</li>
|
||||||
<li>Section <a href="#org7331cce">2</a>: the noise spectral density of the encoder is estimated</li>
|
<li>Section <a href="#org2f2ab76">2</a>: the noise spectral density of the encoder is estimated</li>
|
||||||
<li>Section <a href="#org9fb1af3">3</a>: the dynamics from the amplified piezoelectric actuator to the encoder measured displacement is identified</li>
|
<li>Section <a href="#org3ffacc7">3</a>: the dynamics from the amplified piezoelectric actuator to the encoder measured displacement is identified</li>
|
||||||
</ul>
|
</ul>
|
||||||
|
|
||||||
<div id="outline-container-org5ac16f2" class="outline-2">
|
<div id="outline-container-org1c5bda2" class="outline-2">
|
||||||
<h2 id="org5ac16f2"><span class="section-number-2">1</span> Experimental Setup</h2>
|
<h2 id="org1c5bda2"><span class="section-number-2">1</span> Experimental Setup</h2>
|
||||||
<div class="outline-text-2" id="text-1">
|
<div class="outline-text-2" id="text-1">
|
||||||
<p>
|
<p>
|
||||||
<a id="org973b24d"></a>
|
<a id="orgae74897"></a>
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The experimental Setup is schematically represented in Figure <a href="#org2529a80">1</a>.
|
The experimental Setup is schematically represented in Figure <a href="#orgb6cceaa">1</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<div class="note" id="org3cc7332">
|
<div class="note" id="org72fff46">
|
||||||
<p>
|
<p>
|
||||||
Here are the equipment used in the test bench:
|
Here are the equipment used in the test bench:
|
||||||
</p>
|
</p>
|
||||||
@ -89,21 +85,21 @@ The displacement of the mass (relative to the mechanical frame) is measured both
|
|||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org2529a80" class="figure">
|
<div id="orgb6cceaa" class="figure">
|
||||||
<p><img src="figs/exp_setup_schematic.png" alt="exp_setup_schematic.png" />
|
<p><img src="figs/exp_setup_schematic.png" alt="exp_setup_schematic.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 1: </span>Schematic of the Experiment</p>
|
<p><span class="figure-number">Figure 1: </span>Schematic of the Experiment</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="orgdf4e259" class="figure">
|
<div id="orge5d61dd" class="figure">
|
||||||
<p><img src="figs/IMG_20201023_153905.jpg" alt="IMG_20201023_153905.jpg" />
|
<p><img src="figs/IMG_20201023_153905.jpg" alt="IMG_20201023_153905.jpg" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 2: </span>Side View of the encoder</p>
|
<p><span class="figure-number">Figure 2: </span>Side View of the encoder</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="orga98f1bf" class="figure">
|
<div id="orgad29df1" class="figure">
|
||||||
<p><img src="figs/IMG_20201023_153914.jpg" alt="IMG_20201023_153914.jpg" />
|
<p><img src="figs/IMG_20201023_153914.jpg" alt="IMG_20201023_153914.jpg" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 3: </span>Front View of the encoder</p>
|
<p><span class="figure-number">Figure 3: </span>Front View of the encoder</p>
|
||||||
@ -111,11 +107,11 @@ The displacement of the mass (relative to the mechanical frame) is measured both
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org7441659" class="outline-2">
|
<div id="outline-container-orgdc41a88" class="outline-2">
|
||||||
<h2 id="org7441659"><span class="section-number-2">2</span> Noise Spectral Density of the Encoder</h2>
|
<h2 id="orgdc41a88"><span class="section-number-2">2</span> Noise Spectral Density of the Encoder</h2>
|
||||||
<div class="outline-text-2" id="text-2">
|
<div class="outline-text-2" id="text-2">
|
||||||
<p>
|
<p>
|
||||||
<a id="org7331cce"></a>
|
<a id="org2f2ab76"></a>
|
||||||
</p>
|
</p>
|
||||||
<p>
|
<p>
|
||||||
The goal in this section is the estimate the noise of both the encoder and the intereferometer.
|
The goal in this section is the estimate the noise of both the encoder and the intereferometer.
|
||||||
@ -127,8 +123,8 @@ Ideally, a mechanical part would clamp the two together, we here suppose that th
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgfface02" class="outline-3">
|
<div id="outline-container-org9693b2a" class="outline-3">
|
||||||
<h3 id="orgfface02"><span class="section-number-3">2.1</span> Load Data</h3>
|
<h3 id="org9693b2a"><span class="section-number-3">2.1</span> Load Data</h3>
|
||||||
<div class="outline-text-3" id="text-2-1">
|
<div class="outline-text-3" id="text-2-1">
|
||||||
<p>
|
<p>
|
||||||
The measurement data are loaded and the offset are removed using the <code>detrend</code> command.
|
The measurement data are loaded and the offset are removed using the <code>detrend</code> command.
|
||||||
@ -147,22 +143,22 @@ encoder = detrend(encoder, 0);
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgeab98b2" class="outline-3">
|
<div id="outline-container-orgb24809d" class="outline-3">
|
||||||
<h3 id="orgeab98b2"><span class="section-number-3">2.2</span> Time Domain Results</h3>
|
<h3 id="orgb24809d"><span class="section-number-3">2.2</span> Time Domain Results</h3>
|
||||||
<div class="outline-text-3" id="text-2-2">
|
<div class="outline-text-3" id="text-2-2">
|
||||||
<p>
|
<p>
|
||||||
The measurement of both the encoder and interferometer are shown in Figure <a href="#orgc0bfd00">4</a>.
|
The measurement of both the encoder and interferometer are shown in Figure <a href="#org481639f">4</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="orgc0bfd00" class="figure">
|
<div id="org481639f" class="figure">
|
||||||
<p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
|
<p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 4: </span>Huddle test - Time domain signals</p>
|
<p><span class="figure-number">Figure 4: </span>Huddle test - Time domain signals</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The raw signals are filtered with a Low Pass filter (defined below) such that we can see the low frequency motion (Figure <a href="#org2bb066f">5</a>).
|
The raw signals are filtered with a Low Pass filter (defined below) such that we can see the low frequency motion (Figure <a href="#orgaea06bd">5</a>).
|
||||||
</p>
|
</p>
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">G_lpf = 1<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>10);
|
<pre class="src src-matlab">G_lpf = 1<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>10);
|
||||||
@ -170,7 +166,7 @@ The raw signals are filtered with a Low Pass filter (defined below) such that we
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="org2bb066f" class="figure">
|
<div id="orgaea06bd" class="figure">
|
||||||
<p><img src="figs/huddle_test_time_domain_filtered.png" alt="huddle_test_time_domain_filtered.png" />
|
<p><img src="figs/huddle_test_time_domain_filtered.png" alt="huddle_test_time_domain_filtered.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 5: </span>Huddle test - Time domain signals filtered with a LPF at 10Hz</p>
|
<p><span class="figure-number">Figure 5: </span>Huddle test - Time domain signals filtered with a LPF at 10Hz</p>
|
||||||
@ -178,8 +174,8 @@ The raw signals are filtered with a Low Pass filter (defined below) such that we
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org9d7a1b2" class="outline-3">
|
<div id="outline-container-org2228685" class="outline-3">
|
||||||
<h3 id="org9d7a1b2"><span class="section-number-3">2.3</span> Frequency Domain Noise</h3>
|
<h3 id="org2228685"><span class="section-number-3">2.3</span> Frequency Domain Noise</h3>
|
||||||
<div class="outline-text-3" id="text-2-3">
|
<div class="outline-text-3" id="text-2-3">
|
||||||
<p>
|
<p>
|
||||||
The noise of the measurement (supposing there is no motion) is now translated in the frequency domain by computed the Amplitude Spectral Density.
|
The noise of the measurement (supposing there is no motion) is now translated in the frequency domain by computed the Amplitude Spectral Density.
|
||||||
@ -195,7 +191,7 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The comparison of the ASD of the encoder and interferometer are shown in Figure <a href="#org7272303">6</a>.
|
The comparison of the ASD of the encoder and interferometer are shown in Figure <a href="#org38217d2">6</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
@ -203,7 +199,7 @@ It is clear that although the encoder exhibit higher frequency noise, is it more
|
|||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org7272303" class="figure">
|
<div id="org38217d2" class="figure">
|
||||||
<p><img src="figs/huddle_test_asd.png" alt="huddle_test_asd.png" />
|
<p><img src="figs/huddle_test_asd.png" alt="huddle_test_asd.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the signals during the Huddle test</p>
|
<p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the signals during the Huddle test</p>
|
||||||
@ -212,19 +208,19 @@ It is clear that although the encoder exhibit higher frequency noise, is it more
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orga15f5e0" class="outline-2">
|
<div id="outline-container-orge121b74" class="outline-2">
|
||||||
<h2 id="orga15f5e0"><span class="section-number-2">3</span> Dynamics from Actuator to Encoder</h2>
|
<h2 id="orge121b74"><span class="section-number-2">3</span> Dynamics from Actuator to Encoder</h2>
|
||||||
<div class="outline-text-2" id="text-3">
|
<div class="outline-text-2" id="text-3">
|
||||||
<p>
|
<p>
|
||||||
<a id="org9fb1af3"></a>
|
<a id="org3ffacc7"></a>
|
||||||
</p>
|
</p>
|
||||||
<p>
|
<p>
|
||||||
Now the dynamics from the force actuator to the measurement by the encoder is identified.
|
Now the dynamics from the force actuator to the measurement by the encoder is identified.
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org371d2a2" class="outline-3">
|
<div id="outline-container-orgae3dfc0" class="outline-3">
|
||||||
<h3 id="org371d2a2"><span class="section-number-3">3.1</span> Load Data</h3>
|
<h3 id="orgae3dfc0"><span class="section-number-3">3.1</span> Load Data</h3>
|
||||||
<div class="outline-text-3" id="text-3-1">
|
<div class="outline-text-3" id="text-3-1">
|
||||||
<p>
|
<p>
|
||||||
As usual, the measurement data are loaded.
|
As usual, the measurement data are loaded.
|
||||||
@ -257,18 +253,18 @@ u = detrend(u, 0);
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgb2df3c8" class="outline-3">
|
<div id="outline-container-org83ba060" class="outline-3">
|
||||||
<h3 id="orgb2df3c8"><span class="section-number-3">3.2</span> Excitation and Measured Signals</h3>
|
<h3 id="org83ba060"><span class="section-number-3">3.2</span> Excitation and Measured Signals</h3>
|
||||||
<div class="outline-text-3" id="text-3-2">
|
<div class="outline-text-3" id="text-3-2">
|
||||||
<p>
|
<p>
|
||||||
The excitation signal is a white noise filtered by a low pass filter to not excite too much the high frequency modes.
|
The excitation signal is a white noise filtered by a low pass filter to not excite too much the high frequency modes.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The excitation signal is shown in Figure <a href="#org0fde08c">7</a>.
|
The excitation signal is shown in Figure <a href="#org93c938e">7</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<div id="org0fde08c" class="figure">
|
<div id="org93c938e" class="figure">
|
||||||
<p><img src="figs/encoder_identification_excitation_time.png" alt="encoder_identification_excitation_time.png" />
|
<p><img src="figs/encoder_identification_excitation_time.png" alt="encoder_identification_excitation_time.png" />
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
@ -277,15 +273,15 @@ The excitation signal is shown in Figure <a href="#org0fde08c">7</a>.
|
|||||||
The measured motion by the interferometer and encoder is shown in Figure
|
The measured motion by the interferometer and encoder is shown in Figure
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<div id="orgefc6685" class="figure">
|
<div id="org85b6206" class="figure">
|
||||||
<p><img src="figs/encoder_identification_motion.png" alt="encoder_identification_motion.png" />
|
<p><img src="figs/encoder_identification_motion.png" alt="encoder_identification_motion.png" />
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgfb97858" class="outline-3">
|
<div id="outline-container-orge31f70d" class="outline-3">
|
||||||
<h3 id="orgfb97858"><span class="section-number-3">3.3</span> Identification</h3>
|
<h3 id="orge31f70d"><span class="section-number-3">3.3</span> Identification</h3>
|
||||||
<div class="outline-text-3" id="text-3-3">
|
<div class="outline-text-3" id="text-3-3">
|
||||||
<p>
|
<p>
|
||||||
Now the dynamics from the voltage sent to the voltage amplitude driving the APA95ML to the measured displacement by both the encoder and interferometer are computed.
|
Now the dynamics from the voltage sent to the voltage amplitude driving the APA95ML to the measured displacement by both the encoder and interferometer are computed.
|
||||||
@ -304,22 +300,22 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The obtained coherence is shown in Figure <a href="#org1795d67">9</a>.
|
The obtained coherence is shown in Figure <a href="#org646a3b0">9</a>.
|
||||||
It is shown that the identification is good until 500Hz for the interferometer and until 1kHz for the encoder.
|
It is shown that the identification is good until 500Hz for the interferometer and until 1kHz for the encoder.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org1795d67" class="figure">
|
<div id="org646a3b0" class="figure">
|
||||||
<p><img src="figs/identification_dynamics_coherence.png" alt="identification_dynamics_coherence.png" />
|
<p><img src="figs/identification_dynamics_coherence.png" alt="identification_dynamics_coherence.png" />
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The compared dynamics as measured by the intereferometer and encoder are shown in Figure <a href="#org4ea418f">10</a>.
|
The compared dynamics as measured by the intereferometer and encoder are shown in Figure <a href="#orgbf0b43f">10</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org4ea418f" class="figure">
|
<div id="orgbf0b43f" class="figure">
|
||||||
<p><img src="figs/identification_dynamics_bode.png" alt="identification_dynamics_bode.png" />
|
<p><img src="figs/identification_dynamics_bode.png" alt="identification_dynamics_bode.png" />
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
@ -334,7 +330,7 @@ The second resonance at around 900Hz most likely corresponds to the resonance of
|
|||||||
</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: 2020-11-10 mar. 12:53</p>
|
<p class="date">Created: 2020-11-12 jeu. 10:16</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
@ -7,12 +7,8 @@
|
|||||||
#+HTML_LINK_HOME: ../index.html
|
#+HTML_LINK_HOME: ../index.html
|
||||||
#+HTML_LINK_UP: ../index.html
|
#+HTML_LINK_UP: ../index.html
|
||||||
|
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
|
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
|
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
|
||||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/custom.css"/>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
|
|
||||||
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
|
|
||||||
|
|
||||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
|
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
|
||||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||||||
|
|||||||
7
js/bootstrap.min.js
vendored
7
js/bootstrap.min.js
vendored
File diff suppressed because one or more lines are too long
4
js/jquery.min.js
vendored
4
js/jquery.min.js
vendored
File diff suppressed because one or more lines are too long
@ -1,87 +0,0 @@
|
|||||||
$(function() {
|
|
||||||
$('.note').before("<p class='admonition-title note'>Note</p>");
|
|
||||||
$('.seealso').before("<p class='admonition-title seealso'>See also</p>");
|
|
||||||
$('.warning').before("<p class='admonition-title warning'>Warning</p>");
|
|
||||||
$('.caution').before("<p class='admonition-title caution'>Caution</p>");
|
|
||||||
$('.attention').before("<p class='admonition-title attention'>Attention</p>");
|
|
||||||
$('.tip').before("<p class='admonition-title tip'>Tip</p>");
|
|
||||||
$('.important').before("<p class='admonition-title important'>Important</p>");
|
|
||||||
$('.hint').before("<p class='admonition-title hint'>Hint</p>");
|
|
||||||
$('.error').before("<p class='admonition-title error'>Error</p>");
|
|
||||||
$('.danger').before("<p class='admonition-title danger'>Danger</p>");
|
|
||||||
$('.question').before("<p class='admonition-title question'>Question</p>");
|
|
||||||
$('.summary').before("<p class='admonition-title hint'>Summary</p>");
|
|
||||||
});
|
|
||||||
|
|
||||||
$( document ).ready(function() {
|
|
||||||
|
|
||||||
// Shift nav in mobile when clicking the menu.
|
|
||||||
$(document).on('click', "[data-toggle='wy-nav-top']", function() {
|
|
||||||
$("[data-toggle='wy-nav-shift']").toggleClass("shift");
|
|
||||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
|
||||||
});
|
|
||||||
// Close menu when you click a link.
|
|
||||||
$(document).on('click', ".wy-menu-vertical .current ul li a", function() {
|
|
||||||
$("[data-toggle='wy-nav-shift']").removeClass("shift");
|
|
||||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
|
||||||
});
|
|
||||||
$(document).on('click', "[data-toggle='rst-current-version']", function() {
|
|
||||||
$("[data-toggle='rst-versions']").toggleClass("shift-up");
|
|
||||||
});
|
|
||||||
// Make tables responsive
|
|
||||||
$("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
|
|
||||||
});
|
|
||||||
|
|
||||||
$( document ).ready(function() {
|
|
||||||
$('#text-table-of-contents ul').first().addClass('nav');
|
|
||||||
// ScrollSpy also requires that we use
|
|
||||||
// a Bootstrap nav component.
|
|
||||||
$('body').scrollspy({target: '#text-table-of-contents'});
|
|
||||||
|
|
||||||
// add sticky table headers
|
|
||||||
$('table').stickyTableHeaders();
|
|
||||||
|
|
||||||
// set the height of tableOfContents
|
|
||||||
var $postamble = $('#postamble');
|
|
||||||
var $tableOfContents = $('#table-of-contents');
|
|
||||||
$tableOfContents.css({paddingBottom: $postamble.outerHeight()});
|
|
||||||
|
|
||||||
// add TOC button
|
|
||||||
var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
|
|
||||||
$('#content').prepend(toggleSidebar);
|
|
||||||
|
|
||||||
// add close button when sidebar showed in mobile screen
|
|
||||||
var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
|
|
||||||
var tocTitle = $('#table-of-contents').find('h2');
|
|
||||||
tocTitle.append(closeBtn);
|
|
||||||
});
|
|
||||||
|
|
||||||
window.SphinxRtdTheme = (function (jquery) {
|
|
||||||
var stickyNav = (function () {
|
|
||||||
var navBar,
|
|
||||||
win,
|
|
||||||
stickyNavCssClass = 'stickynav',
|
|
||||||
applyStickNav = function () {
|
|
||||||
if (navBar.height() <= win.height()) {
|
|
||||||
navBar.addClass(stickyNavCssClass);
|
|
||||||
} else {
|
|
||||||
navBar.removeClass(stickyNavCssClass);
|
|
||||||
}
|
|
||||||
},
|
|
||||||
enable = function () {
|
|
||||||
applyStickNav();
|
|
||||||
win.on('resize', applyStickNav);
|
|
||||||
},
|
|
||||||
init = function () {
|
|
||||||
navBar = jquery('nav.wy-nav-side:first');
|
|
||||||
win = jquery(window);
|
|
||||||
};
|
|
||||||
jquery(init);
|
|
||||||
return {
|
|
||||||
enable : enable
|
|
||||||
};
|
|
||||||
}());
|
|
||||||
return {
|
|
||||||
StickyNav : stickyNav
|
|
||||||
};
|
|
||||||
}($));
|
|
||||||
Loading…
Reference in New Issue
Block a user