.gitignore

@@ -1,9 +1,5 @@
 auto/
 *.tex
-*.bbl
-*.synctex.gz
-.auctex-auto/
-_minted*
 
 **/figs/*.svg
 **/figs/*.tex

index.org

@@ -1,8 +1,5 @@
 #+TITLE: Sercalo Test Bench
 :DRAWER:
-#+BIND: org-latex-image-default-option "scale=1"
-#+BIND: org-latex-image-default-width ""
-
 #+STARTUP: overview
 
 #+LANGUAGE: en
@@ -17,15 +14,11 @@
 #+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
 #+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
 
-#+LATEX_CLASS: cleanreport
+#+LATEX_CLASS: scrreprt
-#+LATEX_CLASS_OPTIONS: [conf, hangsection, secbreak]
+#+LATEX_CLASS_OPTIONS: []
 #+LATEX_HEADER: \usepackage{minted}
 
-#+LATEX_HEADER: \newcommand{\authorFirstName}{Thomas}
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/thesis/latex/}{config.tex}")
-#+LATEX_HEADER: \newcommand{\authorLastName}{Dehaeze}
-#+LATEX_HEADER: \newcommand{\authorEmail}{dehaeze.thomas@gmail.com}
-
-#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{/home/thomas/Cloud/tikz/org/}{config.tex}")
 #+PROPERTY: header-args:latex+ :imagemagick t :fit yes
 #+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
 #+PROPERTY: header-args:latex+ :imoutoptions -quality 100
@@ -47,12 +40,6 @@
 #+PROPERTY: header-args:matlab+ :mkdirp yes
 :END:
 
-#+begin_export html
-  <hr>
-  <p>This report is also available as a <a href="./index.pdf">pdf</a>.</p>
-  <hr>
-#+end_export
-
 * Introduction
 ** Block Diagram
 The block diagram of the setup to be controlled is shown in Fig. [[fig:block_diagram_simplify]].
@@ -149,7 +136,6 @@ The block diagram with each transfer function is shown in Fig. [[fig:block_diagr
 #+end_src
 
 #+name: fig:block_diagram
-#+attr_latex: :width \linewidth
 #+caption: Block Diagram of the Experimental Setup with detailed dynamics
 #+RESULTS:
 [[file:figs/sercalo_diagram.png]]
@@ -158,14 +144,11 @@ The block diagram with each transfer function is shown in Fig. [[fig:block_diagr
 From the Sercalo documentation, we have the parameters shown on table [[tab:sercalo_parameters]].
 
 #+name: tab:sercalo_parameters
-#+attr_latex: :environment tabularx :width \linewidth :align lXXXXX
-#+attr_latex: :center t :booktabs t :float t
 #+caption: Sercalo Parameters
-|                  | Max. Stroke | Res. Freq. |  DC Gain | Gain at res. | RC Res. |
+|                  | Maximum Stroke [deg] | Resonance Frequency [Hz] | DC Gain [mA/deg] | Gain at resonance [deg/V] | RC Resistance [Ohm] |
-|                  |       [deg] |       [Hz] | [mA/deg] |      [deg/V] | [Ohm]   |
+|------------------+----------------------+--------------------------+------------------+---------------------------+---------------------|
-|------------------+-------------+------------+----------+--------------+---------|
+| AX1 (Horizontal) |                    5 |                   411.13 |             28.4 |                     382.9 |                9.41 |
-| AX1 (Horizontal) |           5 |     411.13 |     28.4 |        382.9 | 9.41    |
+| AX2 (Vertical)   |                    5 |                    252.5 |             35.2 |                     350.4 |                     |
-| AX2 (Vertical)   |           5 |      252.5 |     35.2 |        350.4 |         |
 
 The Inductance and DC resistance of the two axis of the Sercalo have been measured:
 - $L_{c,h} = 0.1\ \text{mH}$
@@ -286,12 +269,10 @@ And we have:
 \end{align*}
 
 #+name: fig:newport_doc
-#+attr_latex: :width \linewidth
 #+caption: Documentation of the Newport
 [[file:figs/newport_doc.png]]
 
 #+name: fig:newport_gain
-#+attr_latex: :width \linewidth
 #+caption: Transfer function of the Newport
 [[file:figs/newport_gain.png]]
 
@@ -558,8 +539,6 @@ Thus, we obtain the "gain of the 4 quadrant photo-diode as shown on table [[tab:
 #+end_src
 
 #+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] |
@@ -1828,8 +1807,6 @@ The goal is to determine the noise of the photodiodes as well as the noise of th
 Multiple measurements are done with different experimental configuration as follow:
 
 #+name: tab:huddle_tests
-#+attr_latex: :environment tabularx :width 0.7\linewidth :align lXXX
-#+attr_latex: :center t :booktabs t :float t
 #+caption: Experimental Configuration for the various Huddle test
 | Number | OL/CL       | Compensation Unit | Aluminum |
 |--------+-------------+-------------------+----------|
@@ -2081,6 +2058,7 @@ We filter the data with a first order low pass filter with a crossover frequency
 #+CAPTION: PSD of the 4QD signal during Huddle tests ([[./figs/huddle_test_4qd_psd.png][png]], [[./figs/huddle_test_4qd_psd.pdf][pdf]])
 [[file:figs/huddle_test_4qd_psd.png]]
 
+
 ** Conclusion
 The Attocube's "Environmental Compensation Unit" does not have a significant effect on the stability of the measurement.
 
@@ -2267,8 +2245,6 @@ The tracking error of the feedback system used to position the Sercalo mirror sh
 #+end_important
 
 #+name: tab:effect_angle_error
-#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
-#+attr_latex: :center t :booktabs t :float t
 #+caption: Effect of an angle error $\delta \theta_c$ of the Sercalo's mirror on the measurement error $\delta L$ by the Attocube
 | Angle Error $\delta \theta_c$ | Distance measurement error $\delta L$ |
 |-------------------------------+---------------------------------------|
@@ -2378,11 +2354,11 @@ These physical properties should change relatively slowly, however, for a beam p
 | $\Delta 10\%RH$         | 10nm              |
 
 An *Environmental Compensation Unit* is used and can compensate for variations or air properties up to:
-| Air property Variations | Measurement error   |
+| Air property Variations | Measurement error |
-|-------------------------+---------------------|
+|-------------------------+-------------------|
-| $\Delta T = \pm 0.1^oC$ | $\pm 10\,\text{nm}$ |
+| $\Delta T = \pm 0.1^oC$ | 20nm              |
-| $\Delta P = \pm 1hPa$   | $\pm 25\,\text{nm}$ |
+| $\Delta P = \pm 1hPa$   | 50nm              |
-| $\Delta \pm 2\%RH$      | $\pm 2\,\text{nm}$  |
+| $\Delta \pm 2\%RH$      | 4nm               |
 
 #+begin_important
 The total measurement error induced by air properties variations is then:
@@ -2703,8 +2679,6 @@ The goal is the scale the plant prior to control synthesis.
 This will simplify the choice of weighting functions and will yield useful insight on the controllability of the plant.
 
 #+name: tab:plant_scaling_values
-#+attr_latex: :environment tabularx :width 0.7\linewidth :align lXXX
-#+attr_latex: :center t :booktabs t :float t
 #+caption: Maximum wanted values for various signals
 |                        | Value | Unit        | Variable Name |
 |------------------------+-------+-------------+---------------|

matlab/active_damping.m

@@ -21,7 +21,7 @@ Kppf.OutputName = {'Uch', 'Ucv'};
 
 figure;
 % Magnitude
-ax1 = subplot(2,1,1);
+ax1 = subaxis(2,1,1);
 hold on;
 plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
@@ -30,7 +30,7 @@ ylabel('Magnitude [dB]');
 hold off;
 
 % Phase
-ax2 = subplot(2,1,2);
+ax2 = subaxis(2,1,2);
 hold on;
 plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))), 'k-');
 set(gca,'xscale','log');

matlab/decentralized_control.m

@@ -23,7 +23,7 @@ K.OutputName = {'Uch', 'Ucv'};
 
 figure;
 % Magnitude
-ax1 = subplot(2,1,1);
+ax1 = subaxis(2,1,1);
 hold on;
 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} $');
 plot(freqs, abs(squeeze(freqresp(Kv*sys('Rv', 'Ucv'), freqs, 'Hz'))), 'DisplayName', '$L_v = K_v G_{d,v}^{-1} G_{\frac{V_{p,v}}{\tilde{U}_{c,v}}} G_{i,v} $');
@@ -34,7 +34,7 @@ hold off;
 legend('location', 'northeast');
 
 % Phase
-ax2 = subplot(2,1,2);
+ax2 = subaxis(2,1,2);
 hold on;
 plot(freqs, 180/pi*angle(squeeze(freqresp(Kh*sys('Rh', 'Uch'), freqs, 'Hz'))));
 plot(freqs, 180/pi*angle(squeeze(freqresp(Kv*sys('Rv', 'Ucv'), freqs, 'Hz'))));

matlab/huddle_test.m

@@ -46,7 +46,7 @@ ht_4 = ht_s{4};
 % Time domain plots
 
 figure;
-ax1 = subplot(2, 2, 1)
+ax1 = subaxis(2, 2, 1)
 hold on;
 plot(ht_1.t, 1e9*ht_1.Va);
 hold off;
@@ -54,7 +54,7 @@ ylabel('Displacement [nm]');
 set(gca, 'XTickLabel',[]);
 title('OL');
 
-ax2 = subplot(2, 2, 2)
+ax2 = subaxis(2, 2, 2)
 hold on;
 plot(ht_2.t, 1e9*ht_2.Va);
 hold off;
@@ -62,7 +62,7 @@ set(gca, 'XTickLabel',[]);
 set(gca, 'YTickLabel',[]);
 title('OL + CU');
 
-ax3 = subplot(2, 2, 3)
+ax3 = subaxis(2, 2, 3)
 hold on;
 plot(ht_3.t, 1e9*ht_3.Va);
 hold off;
@@ -70,7 +70,7 @@ xlabel('Time [s]');
 ylabel('Displacement [nm]');
 title('CL + CU');
 
-ax4 = subplot(2, 2, 4)
+ax4 = subaxis(2, 2, 4)
 hold on;
 plot(ht_4.t, 1e9*ht_4.Va);
 hold off;
@@ -88,7 +88,7 @@ linkaxes([ax1 ax2 ax3 ax4], 'xy');
 
 
 figure;
-ax1 = subplot(2, 2, 1)
+ax1 = subaxis(2, 2, 1)
 hold on;
 plot(ht_1.t, ht_1.Vph);
 plot(ht_1.t, ht_1.Vpv);
@@ -97,7 +97,7 @@ ylabel('Voltage [V]');
 set(gca, 'XTickLabel',[]);
 title('OL');
 
-ax2 = subplot(2, 2, 2)
+ax2 = subaxis(2, 2, 2)
 hold on;
 plot(ht_2.t, ht_2.Vph);
 plot(ht_2.t, ht_2.Vpv);
@@ -106,7 +106,7 @@ set(gca, 'XTickLabel',[]);
 set(gca, 'YTickLabel',[]);
 title('OL + CU');
 
-ax3 = subplot(2, 2, 3)
+ax3 = subaxis(2, 2, 3)
 hold on;
 plot(ht_3.t, ht_3.Vph);
 plot(ht_3.t, ht_3.Vpv);
@@ -115,7 +115,7 @@ xlabel('Time [s]');
 ylabel('Voltage [V]');
 title('CL + CU');
 
-ax4 = subplot(2, 2, 4)
+ax4 = subaxis(2, 2, 4)
 hold on;
 plot(ht_4.t, ht_4.Vph);
 plot(ht_4.t, ht_4.Vpv);