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index.org
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index.org
@ -1,5 +1,8 @@
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#+TITLE: Sercalo Test Bench
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:DRAWER:
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#+BIND: org-latex-image-default-option "scale=1"
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#+BIND: org-latex-image-default-width ""
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#+STARTUP: overview
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#+LANGUAGE: en
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@ -14,11 +17,15 @@
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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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#+LATEX_CLASS: scrreprt
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#+LATEX_CLASS_OPTIONS: []
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#+LATEX_CLASS: cleanreport
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#+LATEX_CLASS_OPTIONS: [conf, hangsection, secbreak]
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#+LATEX_HEADER: \usepackage{minted}
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/latex/}{config.tex}")
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#+LATEX_HEADER: \newcommand{\authorFirstName}{Thomas}
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#+LATEX_HEADER: \newcommand{\authorLastName}{Dehaeze}
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#+LATEX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/tikz/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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@ -40,6 +47,12 @@
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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:END:
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#+begin_export html
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<hr>
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<p>This report is also available as a <a href="./index.pdf">pdf</a>.</p>
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<hr>
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#+end_export
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* Introduction
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** Block Diagram
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The block diagram of the setup to be controlled is shown in Fig. [[fig:block_diagram_simplify]].
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@ -136,6 +149,7 @@ The block diagram with each transfer function is shown in Fig. [[fig:block_diagr
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#+end_src
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#+name: fig:block_diagram
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#+attr_latex: :width \linewidth
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#+caption: Block Diagram of the Experimental Setup with detailed dynamics
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#+RESULTS:
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[[file:figs/sercalo_diagram.png]]
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@ -144,9 +158,12 @@ The block diagram with each transfer function is shown in Fig. [[fig:block_diagr
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From the Sercalo documentation, we have the parameters shown on table [[tab:sercalo_parameters]].
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#+name: tab:sercalo_parameters
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#+attr_latex: :environment tabularx :width \linewidth :align lXXXXX
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#+attr_latex: :center t :booktabs t :float t
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#+caption: Sercalo Parameters
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| | Maximum Stroke [deg] | Resonance Frequency [Hz] | DC Gain [mA/deg] | Gain at resonance [deg/V] | RC Resistance [Ohm] |
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|------------------+----------------------+--------------------------+------------------+---------------------------+---------------------|
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| | Max. Stroke | Res. Freq. | DC Gain | Gain at res. | RC Res. |
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| | [deg] | [Hz] | [mA/deg] | [deg/V] | [Ohm] |
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|------------------+-------------+------------+----------+--------------+---------|
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| AX1 (Horizontal) | 5 | 411.13 | 28.4 | 382.9 | 9.41 |
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| AX2 (Vertical) | 5 | 252.5 | 35.2 | 350.4 | |
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@ -269,10 +286,12 @@ And we have:
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\end{align*}
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#+name: fig:newport_doc
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#+attr_latex: :width \linewidth
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#+caption: Documentation of the Newport
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[[file:figs/newport_doc.png]]
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#+name: fig:newport_gain
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#+attr_latex: :width \linewidth
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#+caption: Transfer function of the Newport
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[[file:figs/newport_gain.png]]
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@ -539,6 +558,8 @@ Thus, we obtain the "gain of the 4 quadrant photo-diode as shown on table [[tab:
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#+end_src
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#+name: tab:gain_4qd
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#+attr_latex: :environment tabularx :width 0.5\linewidth :align lX
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#+attr_latex: :center t :booktabs t :float t
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#+caption: Identified Gain of the 4 quadrant diode
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#+RESULTS:
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| Horizontal [V/rad] | Vertical [V/rad] |
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@ -1807,6 +1828,8 @@ The goal is to determine the noise of the photodiodes as well as the noise of th
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Multiple measurements are done with different experimental configuration as follow:
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#+name: tab:huddle_tests
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#+attr_latex: :environment tabularx :width 0.7\linewidth :align lXXX
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#+attr_latex: :center t :booktabs t :float t
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#+caption: Experimental Configuration for the various Huddle test
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| Number | OL/CL | Compensation Unit | Aluminum |
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|--------+-------------+-------------------+----------|
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@ -2058,7 +2081,6 @@ We filter the data with a first order low pass filter with a crossover frequency
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#+CAPTION: PSD of the 4QD signal during Huddle tests ([[./figs/huddle_test_4qd_psd.png][png]], [[./figs/huddle_test_4qd_psd.pdf][pdf]])
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[[file:figs/huddle_test_4qd_psd.png]]
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** Conclusion
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The Attocube's "Environmental Compensation Unit" does not have a significant effect on the stability of the measurement.
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@ -2245,6 +2267,8 @@ The tracking error of the feedback system used to position the Sercalo mirror sh
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#+end_important
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#+name: tab:effect_angle_error
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#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
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#+attr_latex: :center t :booktabs t :float t
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#+caption: Effect of an angle error $\delta \theta_c$ of the Sercalo's mirror on the measurement error $\delta L$ by the Attocube
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| Angle Error $\delta \theta_c$ | Distance measurement error $\delta L$ |
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|-------------------------------+---------------------------------------|
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@ -2355,10 +2379,10 @@ These physical properties should change relatively slowly, however, for a beam p
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An *Environmental Compensation Unit* is used and can compensate for variations or air properties up to:
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| Air property Variations | Measurement error |
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|-------------------------+-------------------|
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| $\Delta T = \pm 0.1^oC$ | 20nm |
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| $\Delta P = \pm 1hPa$ | 50nm |
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| $\Delta \pm 2\%RH$ | 4nm |
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|-------------------------+---------------------|
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| $\Delta T = \pm 0.1^oC$ | $\pm 10\,\text{nm}$ |
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| $\Delta P = \pm 1hPa$ | $\pm 25\,\text{nm}$ |
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| $\Delta \pm 2\%RH$ | $\pm 2\,\text{nm}$ |
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#+begin_important
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The total measurement error induced by air properties variations is then:
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@ -2679,6 +2703,8 @@ The goal is the scale the plant prior to control synthesis.
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This will simplify the choice of weighting functions and will yield useful insight on the controllability of the plant.
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#+name: tab:plant_scaling_values
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#+attr_latex: :environment tabularx :width 0.7\linewidth :align lXXX
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#+attr_latex: :center t :booktabs t :float t
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#+caption: Maximum wanted values for various signals
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| | Value | Unit | Variable Name |
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|------------------------+-------+-------------+---------------|
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@ -21,7 +21,7 @@ Kppf.OutputName = {'Uch', 'Ucv'};
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figure;
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% Magnitude
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ax1 = subaxis(2,1,1);
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ax1 = subplot(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
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set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
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@ -30,7 +30,7 @@ ylabel('Magnitude [dB]');
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hold off;
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% Phase
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ax2 = subaxis(2,1,2);
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ax2 = subplot(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
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set(gca,'xscale','log');
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@ -23,7 +23,7 @@ K.OutputName = {'Uch', 'Ucv'};
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figure;
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% Magnitude
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ax1 = subaxis(2,1,1);
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ax1 = subplot(2,1,1);
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hold on;
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plot(freqs, abs(squeeze(freqresp(Kh*sys('Rh', 'Uch'), freqs, 'Hz'))), 'DisplayName', '$L_h = K_h G_{d,h}^{-1} G_{\frac{V_{p,h}}{\tilde{U}_{c,h}}} G_{i,h} $');
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plot(freqs, abs(squeeze(freqresp(Kv*sys('Rv', 'Ucv'), freqs, 'Hz'))), 'DisplayName', '$L_v = K_v G_{d,v}^{-1} G_{\frac{V_{p,v}}{\tilde{U}_{c,v}}} G_{i,v} $');
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@ -34,7 +34,7 @@ hold off;
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legend('location', 'northeast');
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% Phase
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ax2 = subaxis(2,1,2);
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ax2 = subplot(2,1,2);
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hold on;
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plot(freqs, 180/pi*angle(squeeze(freqresp(Kh*sys('Rh', 'Uch'), freqs, 'Hz'))));
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plot(freqs, 180/pi*angle(squeeze(freqresp(Kv*sys('Rv', 'Ucv'), freqs, 'Hz'))));
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% Time domain plots
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figure;
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ax1 = subaxis(2, 2, 1)
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ax1 = subplot(2, 2, 1)
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hold on;
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plot(ht_1.t, 1e9*ht_1.Va);
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hold off;
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@ -54,7 +54,7 @@ ylabel('Displacement [nm]');
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set(gca, 'XTickLabel',[]);
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title('OL');
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ax2 = subaxis(2, 2, 2)
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ax2 = subplot(2, 2, 2)
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hold on;
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plot(ht_2.t, 1e9*ht_2.Va);
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hold off;
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@ -62,7 +62,7 @@ set(gca, 'XTickLabel',[]);
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set(gca, 'YTickLabel',[]);
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title('OL + CU');
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ax3 = subaxis(2, 2, 3)
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ax3 = subplot(2, 2, 3)
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hold on;
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plot(ht_3.t, 1e9*ht_3.Va);
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hold off;
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@ -70,7 +70,7 @@ xlabel('Time [s]');
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ylabel('Displacement [nm]');
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title('CL + CU');
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ax4 = subaxis(2, 2, 4)
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ax4 = subplot(2, 2, 4)
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hold on;
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plot(ht_4.t, 1e9*ht_4.Va);
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hold off;
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@ -88,7 +88,7 @@ linkaxes([ax1 ax2 ax3 ax4], 'xy');
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figure;
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ax1 = subaxis(2, 2, 1)
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ax1 = subplot(2, 2, 1)
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hold on;
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plot(ht_1.t, ht_1.Vph);
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plot(ht_1.t, ht_1.Vpv);
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@ -97,7 +97,7 @@ ylabel('Voltage [V]');
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set(gca, 'XTickLabel',[]);
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title('OL');
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ax2 = subaxis(2, 2, 2)
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ax2 = subplot(2, 2, 2)
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hold on;
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plot(ht_2.t, ht_2.Vph);
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plot(ht_2.t, ht_2.Vpv);
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@ -106,7 +106,7 @@ set(gca, 'XTickLabel',[]);
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set(gca, 'YTickLabel',[]);
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title('OL + CU');
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ax3 = subaxis(2, 2, 3)
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ax3 = subplot(2, 2, 3)
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hold on;
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plot(ht_3.t, ht_3.Vph);
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plot(ht_3.t, ht_3.Vpv);
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@ -115,7 +115,7 @@ xlabel('Time [s]');
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ylabel('Voltage [V]');
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title('CL + CU');
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ax4 = subaxis(2, 2, 4)
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ax4 = subplot(2, 2, 4)
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hold on;
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plot(ht_4.t, ht_4.Vph);
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plot(ht_4.t, ht_4.Vpv);
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