Move files to matlab folder
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css/htmlize.css
145
css/htmlize.css
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css/readtheorg.css
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css/readtheorg.css
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doc/buf634.pdf
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124
index.org
124
index.org
@ -9,13 +9,11 @@
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+LATEX_CLASS: cleanreport
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#+LATEX_CLASS_OPTIONS: [conf, hangsection, secbreak]
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@ -34,6 +32,7 @@
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#+PROPERTY: header-args:latex+ :exports both
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :noweb yes
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#+PROPERTY: header-args:latex+ :tangle no
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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@ -368,27 +367,7 @@ In this section, we seek to identify all the blocks as shown in Fig. [[fig:block
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|-----------------------------------------------------+-------+------|
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| Attocube Measurement | =Va= | [m] |
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** ZIP file containing the data and matlab files :ignore:
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#+begin_src bash :exports none :results none
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if [ matlab/sercalo_identification.m -nt data/sercalo_identification.zip ]; then
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cp matlab/sercalo_identification.m sercalo_identification.m;
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zip data/sercalo_identification \
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mat/data_cal_pd_h.mat \
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mat/data_cal_pd_v.mat \
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mat/data_uch.mat \
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mat/data_ucv.mat \
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mat/data_unh.mat \
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mat/data_unv.mat \
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sercalo_identification.m
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rm sercalo_identification.m;
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fi
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#+end_src
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#+begin_note
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All the files (data and Matlab scripts) are accessible [[file:data/sercalo_identification.zip][here]].
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#+end_note
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** Matlab Init :noexport:ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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@ -397,6 +376,14 @@ In this section, we seek to identify all the blocks as shown in Fig. [[fig:block
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab/mat/');
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#+end_src
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#+begin_src matlab :eval no
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addpath('./mat/');
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#+end_src
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#+begin_src matlab
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fs = 1e4;
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Ts = 1/fs;
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@ -1848,6 +1835,14 @@ Multiple measurements are done with different experimental configuration as foll
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab/mat/');
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#+end_src
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#+begin_src matlab :eval no
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addpath('./mat/');
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#+end_src
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** Load Data
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#+begin_src matlab
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ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
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@ -2125,6 +2120,14 @@ The Attocube's "Environmental Compensation Unit" does not have a significant eff
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab/mat/');
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#+end_src
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#+begin_src matlab :eval no
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addpath('./mat/');
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#+end_src
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** Effect of the Sercalo angle error on the measured distance by the Attocube
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<<sec:sercalo_angle_error>>
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To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
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@ -2687,6 +2690,14 @@ This corresponds to a measurement error of the Attocube equals to (in [m])
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab/mat/');
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#+end_src
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#+begin_src matlab :eval no
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addpath('./mat/');
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#+end_src
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** Coprime Factorization
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#+begin_src matlab
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load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
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@ -2745,6 +2756,14 @@ The plant is put in a general configuration as shown in Fig. [[fig:general_contr
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab/mat/');
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#+end_src
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#+begin_src matlab :eval no
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addpath('./mat/');
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#+end_src
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** Load Plant
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#+begin_src matlab
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load('mat/plant.mat', 'G');
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@ -2804,6 +2823,14 @@ The plant is put in a general configuration as shown in Fig. [[fig:general_contr
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<<matlab-init>>
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#+end_src
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#+begin_src matlab :tangle no
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addpath('./matlab/mat/');
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#+end_src
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#+begin_src matlab :eval no
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addpath('./mat/');
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#+end_src
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#+begin_src matlab
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freqs = logspace(1, 3, 1000);
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#+end_src
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@ -2871,22 +2898,7 @@ Active damping does not seems to be applicable here.
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** Introduction :ignore:
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In this section, we try to implement a simple decentralized controller.
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** ZIP file containing the data and matlab files :ignore:
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#+begin_src bash :exports none :results none
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if [ matlab/decentralized_control.m -nt data/decentralized_control.zip ]; then
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cp matlab/decentralized_control.m decentralized_control.m;
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zip data/decentralized_control \
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mat/plant.mat \
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decentralized_control.m
|
||||
rm decentralized_control.m;
|
||||
fi
|
||||
#+end_src
|
||||
|
||||
#+begin_note
|
||||
All the files (data and Matlab scripts) are accessible [[file:data/decentralized_control.zip][here]].
|
||||
#+end_note
|
||||
|
||||
** Matlab Init :noexport: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
|
||||
@ -2895,6 +2907,14 @@ In this section, we try to implement a simple decentralized controller.
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
freqs = logspace(0, 3, 1000);
|
||||
#+end_src
|
||||
@ -3017,6 +3037,14 @@ This can be used to align the 4QD:
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
freqs = logspace(0, 2, 1000);
|
||||
#+end_src
|
||||
@ -3091,6 +3119,14 @@ All sources of error (detailed in the budget error in Section [[sec:budget_error
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
fs = 1e4;
|
||||
#+end_src
|
||||
|
||||
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
js/jquery.stickytableheaders.min.js
vendored
1
js/jquery.stickytableheaders.min.js
vendored
@ -1 +0,0 @@
|
||||
!function(a,b){"use strict";function c(c,g){var h=this;h.$el=a(c),h.el=c,h.id=e++,h.$window=a(b),h.$document=a(document),h.$el.bind("destroyed",a.proxy(h.teardown,h)),h.$clonedHeader=null,h.$originalHeader=null,h.isSticky=!1,h.hasBeenSticky=!1,h.leftOffset=null,h.topOffset=null,h.init=function(){h.$el.each(function(){var b=a(this);b.css("padding",0),h.$originalHeader=a("thead:first",this),h.$clonedHeader=h.$originalHeader.clone(),b.trigger("clonedHeader."+d,[h.$clonedHeader]),h.$clonedHeader.addClass("tableFloatingHeader"),h.$clonedHeader.css("display","none"),h.$originalHeader.addClass("tableFloatingHeaderOriginal"),h.$originalHeader.after(h.$clonedHeader),h.$printStyle=a('<style type="text/css" media="print">.tableFloatingHeader{display:none !important;}.tableFloatingHeaderOriginal{position:static !important;}</style>'),a("head").append(h.$printStyle)}),h.setOptions(g),h.updateWidth(),h.toggleHeaders(),h.bind()},h.destroy=function(){h.$el.unbind("destroyed",h.teardown),h.teardown()},h.teardown=function(){h.isSticky&&h.$originalHeader.css("position","static"),a.removeData(h.el,"plugin_"+d),h.unbind(),h.$clonedHeader.remove(),h.$originalHeader.removeClass("tableFloatingHeaderOriginal"),h.$originalHeader.css("visibility","visible"),h.$printStyle.remove(),h.el=null,h.$el=null},h.bind=function(){h.$scrollableArea.on("scroll."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.on("scroll."+d+h.id,h.setPositionValues),h.$window.on("resize."+d+h.id,h.toggleHeaders)),h.$scrollableArea.on("resize."+d,h.toggleHeaders),h.$scrollableArea.on("resize."+d,h.updateWidth)},h.unbind=function(){h.$scrollableArea.off("."+d,h.toggleHeaders),h.isWindowScrolling||(h.$window.off("."+d+h.id,h.setPositionValues),h.$window.off("."+d+h.id,h.toggleHeaders)),h.$scrollableArea.off("."+d,h.updateWidth)},h.toggleHeaders=function(){h.$el&&h.$el.each(function(){var b,c=a(this),d=h.isWindowScrolling?isNaN(h.options.fixedOffset)?h.options.fixedOffset.outerHeight():h.options.fixedOffset:h.$scrollableArea.offset().top+(isNaN(h.options.fixedOffset)?0:h.options.fixedOffset),e=c.offset(),f=h.$scrollableArea.scrollTop()+d,g=h.$scrollableArea.scrollLeft(),i=h.isWindowScrolling?f>e.top:d>e.top,j=(h.isWindowScrolling?f:0)<e.top+c.height()-h.$clonedHeader.height()-(h.isWindowScrolling?0:d);i&&j?(b=e.left-g+h.options.leftOffset,h.$originalHeader.css({position:"fixed","margin-top":h.options.marginTop,left:b,"z-index":3}),h.leftOffset=b,h.topOffset=d,h.$clonedHeader.css("display",""),h.isSticky||(h.isSticky=!0,h.updateWidth()),h.setPositionValues()):h.isSticky&&(h.$originalHeader.css("position","static"),h.$clonedHeader.css("display","none"),h.isSticky=!1,h.resetWidth(a("td,th",h.$clonedHeader),a("td,th",h.$originalHeader)))})},h.setPositionValues=function(){var a=h.$window.scrollTop(),b=h.$window.scrollLeft();!h.isSticky||0>a||a+h.$window.height()>h.$document.height()||0>b||b+h.$window.width()>h.$document.width()||h.$originalHeader.css({top:h.topOffset-(h.isWindowScrolling?0:a),left:h.leftOffset-(h.isWindowScrolling?0:b)})},h.updateWidth=function(){if(h.isSticky){h.$originalHeaderCells||(h.$originalHeaderCells=a("th,td",h.$originalHeader)),h.$clonedHeaderCells||(h.$clonedHeaderCells=a("th,td",h.$clonedHeader));var b=h.getWidth(h.$clonedHeaderCells);h.setWidth(b,h.$clonedHeaderCells,h.$originalHeaderCells),h.$originalHeader.css("width",h.$clonedHeader.width())}},h.getWidth=function(c){var d=[];return c.each(function(c){var e,f=a(this);if("border-box"===f.css("box-sizing"))e=f[0].getBoundingClientRect().width;else{var g=a("th",h.$originalHeader);if("collapse"===g.css("border-collapse"))if(b.getComputedStyle)e=parseFloat(b.getComputedStyle(this,null).width);else{var i=parseFloat(f.css("padding-left")),j=parseFloat(f.css("padding-right")),k=parseFloat(f.css("border-width"));e=f.outerWidth()-i-j-k}else e=f.width()}d[c]=e}),d},h.setWidth=function(a,b,c){b.each(function(b){var d=a[b];c.eq(b).css({"min-width":d,"max-width":d})})},h.resetWidth=function(b,c){b.each(function(b){var d=a(this);c.eq(b).css({"min-width":d.css("min-width"),"max-width":d.css("max-width")})})},h.setOptions=function(c){h.options=a.extend({},f,c),h.$scrollableArea=a(h.options.scrollableArea),h.isWindowScrolling=h.$scrollableArea[0]===b},h.updateOptions=function(a){h.setOptions(a),h.unbind(),h.bind(),h.updateWidth(),h.toggleHeaders()},h.init()}var d="stickyTableHeaders",e=0,f={fixedOffset:0,leftOffset:0,marginTop:0,scrollableArea:b};a.fn[d]=function(b){return this.each(function(){var e=a.data(this,"plugin_"+d);e?"string"==typeof b?e[b].apply(e):e.updateOptions(b):"destroy"!==b&&a.data(this,"plugin_"+d,new c(this,b))})}}(jQuery,window);
|
||||
@ -1,85 +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>");
|
||||
});
|
||||
|
||||
$( 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 = $('#table-of-contents').find('h2');
|
||||
tocTitle.append(closeBtn);
|
||||
});
|
||||
|
||||
window.SphinxRtdTheme = (function (jquery) {
|
||||
var stickyNav = (function () {
|
||||
var navBar,
|
||||
win,
|
||||
stickyNavCssClass = 'stickynav',
|
||||
applyStickNav = function () {
|
||||
if (navBar.height() <= win.height()) {
|
||||
navBar.addClass(stickyNavCssClass);
|
||||
} else {
|
||||
navBar.removeClass(stickyNavCssClass);
|
||||
}
|
||||
},
|
||||
enable = function () {
|
||||
applyStickNav();
|
||||
win.on('resize', applyStickNav);
|
||||
},
|
||||
init = function () {
|
||||
navBar = jquery('nav.wy-nav-side:first');
|
||||
win = jquery(window);
|
||||
};
|
||||
jquery(init);
|
||||
return {
|
||||
enable : enable
|
||||
};
|
||||
}());
|
||||
return {
|
||||
StickyNav : stickyNav
|
||||
};
|
||||
}($));
|
||||
@ -4,6 +4,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
freqs = logspace(1, 3, 1000);
|
||||
|
||||
% Load Plant
|
||||
|
||||
@ -4,6 +4,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
freqs = logspace(0, 3, 1000);
|
||||
|
||||
% Load Plant
|
||||
|
||||
@ -4,6 +4,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Effect of the Sercalo angle error on the measured distance by the Attocube
|
||||
% <<sec:sercalo_angle_error>>
|
||||
% To simplify, we suppose that the Newport mirror is a flat mirror (instead of a concave one).
|
||||
@ -179,6 +181,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Coprime Factorization
|
||||
|
||||
load('mat/plant.mat', 'sys', 'Gi', 'Zc', 'Ga', 'Gc', 'Gn', 'Gd');
|
||||
@ -191,6 +195,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Plant
|
||||
|
||||
load('mat/plant.mat', 'G');
|
||||
@ -233,6 +239,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
freqs = logspace(0, 2, 1000);
|
||||
|
||||
% Load Plant
|
||||
@ -283,6 +291,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
fs = 1e4;
|
||||
|
||||
% Data Load and pre-processing
|
||||
@ -515,14 +525,14 @@ Unvm = mean(reshape(uv.Unv, [fs floor(length(uv.t)/fs)]),2);
|
||||
figure;
|
||||
ax1 = subplot(1, 2, 1);
|
||||
hold on;
|
||||
plot(uh.Unh, uh.Va);
|
||||
plot(uh.Unh, uh.Vaf);
|
||||
plot(Unhm, Vahm)
|
||||
hold off;
|
||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [m]');
|
||||
|
||||
ax2 = subplot(1, 2, 2);
|
||||
hold on;
|
||||
plot(uv.Unv, uv.Va);
|
||||
plot(uv.Unv, uv.Vaf);
|
||||
plot(Unvm, Vavm)
|
||||
hold off;
|
||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
|
||||
@ -536,17 +546,16 @@ linkaxes([ax1,ax2],'xy');
|
||||
% [[file:figs/repeat_plot_raw.png]]
|
||||
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 2, 1);
|
||||
hold on;
|
||||
plot(uh.Unh, 1e9*(uh.Va - repmat(Vahm, length(uh.t)/length(Vahm),1)));
|
||||
plot(uh.Unh, 1e9*(uh.Vaf - repmat(Vahm, length(uh.t)/length(Vahm),1)));
|
||||
hold off;
|
||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
||||
|
||||
ax2 = subplot(1, 2, 2);
|
||||
hold on;
|
||||
plot(uv.Unv, 1e9*(uv.Va - repmat(Vavm, length(uv.t)/length(Vavm),1)));
|
||||
plot(uv.Unv, 1e9*(uv.Vaf - repmat(Vavm, length(uv.t)/length(Vavm),1)));
|
||||
hold off;
|
||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [nm]');
|
||||
|
||||
@ -562,7 +571,7 @@ ylim([-100 100]);
|
||||
|
||||
% We also plot the displacement measured during the huddle test.
|
||||
|
||||
% All the signals are shown on Fig. [[]].
|
||||
% All the signals are shown on Fig. [[fig:non-repeatability-parts]].
|
||||
|
||||
|
||||
Vphm = mean(reshape(uh.Vph/freqresp(Gd(1,1), 0), [fs floor(length(uh.t)/fs)]),2);
|
||||
@ -582,6 +591,16 @@ ht = load('./mat/data_huddle_test_3.mat', 't', 'Va');
|
||||
|
||||
htm = 1e9*ht.Va(1:length(Vaheq)) - repmat(mean(1e9*ht.Va(1:length(Vaheq))), length(uh.t)/length(Vaheq),1);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(uh.Unh, 1e9*(uh.Va - repmat(Vahm, length(uh.t)/length(Vahm),1)), 'DisplayName', 'Measured Non-Repeatability');
|
||||
plot(uh.Unh, 1e9*ht.Va(1:length(Vaheq))-mean(1e9*ht.Va(1:length(Vaheq))), 'DisplayName', 'Huddle Test');
|
||||
plot(uh.Unh, 1e9*Vaheq, 'DisplayName', 'Due to Sercalo Angle Error');
|
||||
hold off;
|
||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
||||
ylim([-100 100]);
|
||||
legend();
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 2, 1);
|
||||
hold on;
|
||||
@ -602,3 +621,71 @@ legend('location', 'northeast');
|
||||
|
||||
linkaxes([ax1,ax2],'xy');
|
||||
ylim([-100 100]);
|
||||
|
||||
% Results with a low pass filter
|
||||
% We filter the data with a first order low pass filter with a crossover frequency of $\omega_0$.
|
||||
|
||||
|
||||
w0 = 10; % [Hz]
|
||||
|
||||
G_lpf = 1/(1 + s/2/pi/w0);
|
||||
|
||||
uh.Vaf = lsim(G_lpf, uh.Va, uh.t);
|
||||
uv.Vaf = lsim(G_lpf, uv.Va, uv.t);
|
||||
|
||||
% Processing
|
||||
% First, we get the mean value as measured by the interferometer for each value of the Newport angle.
|
||||
|
||||
Vahm = mean(reshape(uh.Vaf, [fs floor(length(uh.t)/fs)]),2);
|
||||
Unhm = mean(reshape(uh.Unh, [fs floor(length(uh.t)/fs)]),2);
|
||||
|
||||
Vavm = mean(reshape(uv.Vaf, [fs floor(length(uv.t)/fs)]),2);
|
||||
Unvm = mean(reshape(uv.Unv, [fs floor(length(uv.t)/fs)]),2);
|
||||
|
||||
|
||||
|
||||
% #+RESULTS:
|
||||
% | Va - Horizontal [nm rms] | Va - Vertical [nm rms] |
|
||||
% |--------------------------+------------------------|
|
||||
% | 22.9 | 13.9 |
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 2, 1);
|
||||
hold on;
|
||||
plot(uh.Unh, uh.Vaf);
|
||||
plot(Unhm, Vahm)
|
||||
hold off;
|
||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [m]');
|
||||
|
||||
ax2 = subplot(1, 2, 2);
|
||||
hold on;
|
||||
plot(uv.Unv, uv.Vaf);
|
||||
plot(Unvm, Vavm)
|
||||
hold off;
|
||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [m]');
|
||||
|
||||
linkaxes([ax1,ax2],'xy');
|
||||
|
||||
|
||||
|
||||
% #+NAME: fig:repeat_plot_raw
|
||||
% #+CAPTION: Repeatability of the measurement ([[./figs/repeat_plot_lpf.png][png]], [[./figs/repeat_plot_lpf.pdf][pdf]])
|
||||
% [[file:figs/repeat_plot_lpf.png]]
|
||||
|
||||
|
||||
figure;
|
||||
ax1 = subplot(1, 2, 1);
|
||||
hold on;
|
||||
plot(uh.Unh, 1e9*(uh.Vaf - repmat(Vahm, length(uh.t)/length(Vahm),1)));
|
||||
hold off;
|
||||
xlabel('$V_{n,h}$ [V]'); ylabel('$V_a$ [nm]');
|
||||
|
||||
ax2 = subplot(1, 2, 2);
|
||||
hold on;
|
||||
plot(uv.Unv, 1e9*(uv.Vaf - repmat(Vavm, length(uv.t)/length(Vavm),1)));
|
||||
hold off;
|
||||
xlabel('$V_{n,v}$ [V]'); ylabel('$V_a$ [nm]');
|
||||
|
||||
linkaxes([ax1,ax2],'xy');
|
||||
ylim([-60 60]);
|
||||
|
||||
@ -4,6 +4,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
% Load Data
|
||||
|
||||
ht_1 = load('./mat/data_huddle_test_1.mat', 't', 'Vph', 'Vpv', 'Va');
|
||||
@ -43,36 +45,53 @@ ht_2 = ht_s{2};
|
||||
ht_3 = ht_s{3};
|
||||
ht_4 = ht_s{4};
|
||||
|
||||
% Filter data with low pass filter
|
||||
% We filter the data with a first order low pass filter with a crossover frequency of $\omega_0$.
|
||||
|
||||
|
||||
w0 = 50; % [Hz]
|
||||
|
||||
G_lpf = 1/(1 + s/2/pi/w0);
|
||||
|
||||
ht_1.Vaf = lsim(G_lpf, ht_1.Va, ht_1.t);
|
||||
ht_2.Vaf = lsim(G_lpf, ht_2.Va, ht_2.t);
|
||||
ht_3.Vaf = lsim(G_lpf, ht_3.Va, ht_3.t);
|
||||
ht_4.Vaf = lsim(G_lpf, ht_4.Va, ht_4.t);
|
||||
|
||||
% Time domain plots
|
||||
|
||||
figure;
|
||||
ax1 = subplot(2, 2, 1)
|
||||
ax1 = subplot(2, 2, 1);
|
||||
hold on;
|
||||
plot(ht_1.t, 1e9*ht_1.Va);
|
||||
plot(ht_1.t, 1e9*ht_1.Vaf);
|
||||
hold off;
|
||||
ylabel('Displacement [nm]');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
title('OL');
|
||||
|
||||
ax2 = subplot(2, 2, 2)
|
||||
ax2 = subplot(2, 2, 2);
|
||||
hold on;
|
||||
plot(ht_2.t, 1e9*ht_2.Va);
|
||||
plot(ht_2.t, 1e9*ht_2.Vaf);
|
||||
hold off;
|
||||
set(gca, 'XTickLabel',[]);
|
||||
set(gca, 'YTickLabel',[]);
|
||||
title('OL + CU');
|
||||
|
||||
ax3 = subplot(2, 2, 3)
|
||||
ax3 = subplot(2, 2, 3);
|
||||
hold on;
|
||||
plot(ht_3.t, 1e9*ht_3.Va);
|
||||
plot(ht_3.t, 1e9*ht_3.Vaf);
|
||||
hold off;
|
||||
xlabel('Time [s]');
|
||||
ylabel('Displacement [nm]');
|
||||
title('CL + CU');
|
||||
|
||||
ax4 = subplot(2, 2, 4)
|
||||
ax4 = subplot(2, 2, 4);
|
||||
hold on;
|
||||
plot(ht_4.t, 1e9*ht_4.Va);
|
||||
plot(ht_4.t, 1e9*ht_4.Vaf);
|
||||
hold off;
|
||||
xlabel('Time [s]');
|
||||
set(gca, 'YTickLabel',[]);
|
||||
|
||||
@ -4,6 +4,8 @@ clear; close all; clc;
|
||||
%% Intialize Laplace variable
|
||||
s = zpk('s');
|
||||
|
||||
addpath('./mat/');
|
||||
|
||||
fs = 1e4;
|
||||
Ts = 1/fs;
|
||||
freqs = logspace(1, 3, 1000);
|
||||
@ -123,6 +125,8 @@ legend();
|
||||
|
||||
|
||||
% #+name: tab:gain_4qd
|
||||
% #+attr_latex: :environment tabularx :width 0.5\linewidth :align lX
|
||||
% #+attr_latex: :center t :booktabs t :float t
|
||||
% #+caption: Identified Gain of the 4 quadrant diode
|
||||
% #+RESULTS:
|
||||
% | Horizontal [V/rad] | Vertical [V/rad] |
|
||||
|
||||
Loading…
Reference in New Issue
Block a user