nass-micro-station-measurements/actuators-sensors/index.org

#+TITLE: Equipment
:DRAWER:
#+STARTUP: overview

#+LANGUAGE: en
#+EMAIL: dehaeze.thomas@gmail.com
#+AUTHOR: Dehaeze Thomas

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#+PROPERTY: header-args:matlab  :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :results none
#+PROPERTY: header-args:matlab+ :exports both
#+PROPERTY: header-args:matlab+ :eval no-export
#+PROPERTY: header-args:matlab+ :output-dir figs

#+PROPERTY: header-args:shell  :eval no-export
:END:

* Sensors
** Inertial Sensor
*** Accelerometers
|                    |      |
|--------------------+------|
| Micromega Dynamics | [[https://micromega-dynamics.com/products/][link]] |
| MMF                | [[https://www.mmf.de/seismic_accelerometers.htm][link]] |
| PCB                | [[https://www.pcb.com/products/productfinder.aspx?tx=14][link]] |

Wireless Accelerometers
- https://micromega-dynamics.com/products/recovib/miniature-vibration-recorder/

#+name: fig:characteristics_accelerometers
#+caption: Characteristics of commercially available accelerometers cite:collette11_review
[[file:figs/characteristics_accelerometers.png]]

*** Geophones
|          |      |
|----------+------|
| Sercel   | [[http://www.sercel.com/products/Pages/seismometers.aspx][link]] |
| Wilcoxon | [[https://wilcoxon.com/][link]] |

#+name: fig:characteristics_geophone
#+caption: Characteristics of commercially available geophones cite:collette11_review
[[file:figs/characteristics_geophone.png]]

** Force Sensors
|     |      |
|-----+------|
| PCB | [[https://www.pcb.com/products/productfinder.aspx?tx=17][link]] |

** Position Sensor

#+name: fig:characteristics_relative_sensor
#+caption: Characteristics of relative measurement sensors cite:collette11_review
[[file:figs/characteristics_relative_sensor.png]]

#+name: fig:position_sensor_characteristics
#+caption: Position sensor characteristics cite:fleming13_review_nanom_resol_posit_sensor
[[file:figs/position_sensor_characteristics.png]]


*** Strain Gauge
*** Capacitive Sensor
Description:
- http://www.lionprecision.com/tech-library/technotes/cap-0020-sensor-theory.html
- https://www.lionprecision.com/comparing-capacitive-and-eddy-current-sensors

|                |      |
|----------------+------|
| Micro Sense    | [[http://www.microsense.net/products-position-sensors.htm][link]] |
| Micro-Epsilon  | [[https://www.micro-epsilon.com/displacement-position-sensors/capacitive-sensor/][link]] |
| PI             | [[https://www.physikinstrumente.com/en/technology/sensor-technologies/capacitive-sensors/][link]] |
| Unipulse       | [[https://www.unipulse.com/product/ps-ia/][link]] |
| Lion-Precision | [[https://www.lionprecision.com/products/capacitive-sensors][link]] |

*** Inductive Sensor (Eddy Current)

|                |      |
|----------------+------|
| Micro-Epsilon  | [[https://www.micro-epsilon.com/displacement-position-sensors/eddy-current-sensor/][link]] |
| Lion Precision | [[https://www.lionprecision.com/products/eddy-current-sensors][link]] |

*** Inductive Sensor (LVDT)
|               |      |
|---------------+------|
| Micro-Epsilon | [[https://www.micro-epsilon.com/displacement-position-sensors/inductive-sensor-lvdt/][link]] |
| Keyence       | [[https://www.keyence.eu/products/measure/contact-distance-lvdt/gt2/index.jsp][link]] |

*** Interferometers
|          |      |
|----------+------|
| Attocube | [[http://www.attocube.com/][link]] |
| Zygo     | [[https://www.zygo.com/?/met/markets/stageposition/zmi/][link]] |
| Smaract  | [[https://www.smaract.com/interferometry][link]] |
| Qutools  | [[https://www.qutools.com/qudis/][link]] |
| Renishaw | [[https://www.renishaw.com/en/fibre-optic-laser-encoder-products--6594][link]] |
| Sios     | [[https://sios-de.com/products/length-measurement/laser-interferometer/][link]] |
| Keysight | [[https://www.keysight.com/en/pc-1000000393%3Aepsg%3Apgr/laser-heads?nid=-536900395.0&cc=FR&lc=fre][link]] |

#+caption: Characteristics of Environmental Units
|           | Temperature ($\pm\ ^oC$) | Pressure ($\pm\ hPa$) | Humidity $\pm\ \% RH$ | Wavelength Accuracy ($\pm\ \text{ppm}$) |
|-----------+--------------------------+-----------------------+-----------------------+-----------------------------------------|
| Attocube  |                      0.1 |                     1 |                     2 |                                     0.5 |
| Renishaw  |                      0.2 |                     1 |                     6 |                                       1 |
| Picoscale |                      0.2 |                     2 |                     2 |                                       1 |

#+name: fig:figure_name
#+caption: Expected precision of interferometer as a function of measured distance. Taken from cite:jang17_compen_refrac_index_air_laser
[[file:figs/interferometer_precision.png]]

*** Fiber Optic Displacement Sensor

|          |      |
|----------+------|
| Unipulse | [[https://www.unipulse.com/product/atw200-2/][link]] |

** Bibliography
cite:collette12_compar
cite:collette12_review
cite:fleming13_review_nanom_resol_posit_sensor

* Actuators
** Piezoelectric
|              |      |
|--------------+------|
| Cedrat       | [[http://www.cedrat-technologies.com/][link]] |
| PI           | [[https://www.physikinstrumente.com/en/][link]] |
| Piezo System | [[https://www.piezosystem.com/products/piezo_actuators/stacktypeactuators/][link]] |
| Noliac       | [[http://www.noliac.com/][link]] |

** Voice Coil
|                      |      |
|----------------------+------|
| Geeplus              | [[https://www.geeplus.com/][link]] |
| Maccon               | [[https://www.maccon.de/en.html][link]] |
| TDS PP               | [[https://www.tds-pp.com/en/][link]] |
| H2tech               | [[https://www.h2wtech.com/][link]] |
| PBA Systems          | [[http://www.pbasystems.com.sg/][link]] |
| Celera Motion        | [[https://www.celeramotion.com/][link]] |
| Beikimco             | [[http://www.beikimco.com/][link]] |
| Electromate          | [[https://www.electromate.com/][link]] |
| Magnetic Innovations | [[https://www.magneticinnovations.com/][link]] |

** Shaker

|                    |      |
|--------------------+------|
| BKSV               | [[https://www.bksv.com/en/products/shakers-and-exciters][link]] |
| Vibration Research | [[https://vibrationresearch.com/shakers/][link]] |
| Sentek Dynamics    | [[https://www.sentekdynamics.com/][link]] |

https://www.bksv.com/en/products/shakers-and-exciters/LDS-shaker-systems/permanent-magnet-shakers/V201

** Brushless DC Motor
cite:yedamale03_brush_dc_bldc_motor_fundam

https://www.electricaltechnology.org/2016/05/bldc-brushless-dc-motor-construction-working-principle.html

* Measurement System / Acquisition System
** Modal Analysis
https://dewesoft.com/applications/structural-dynamics/modal-analysis
Polytec 3D Scanning Laser Vibrometer https://www.polytec.com/us/vibrometry/products/full-field-vibrometers/psv-500-scanning-vibrometer/

* Control System
Dspace, Speedgoat

* Positioning Stages
** Hexapods
- https://www.alioindustries.com/
- https://www.symetrie.fr/en/home/
- https://www.physikinstrumente.com/en/products/parallel-kinematic-hexapods/

** Translation/Rotation Stage
- https://www.attocube.com/en/products/nanopositioners
- https://www.physikinstrumente.com/en/
- https://www.aerotech.com/
- https://www.etel.ch/

* Amplifiers
** Current Amplifiers

** Voltage Amplifiers

* ESRF Equipment
** Geophones
*** L-28LB
- http://www.sercel.com/products/Pages/seismometers.aspx
- [[file:files/Geophones_specifications_Sercel_EN.pdf][Data Sheet]].

#+name: fig:L28LB
#+caption: Picture of the L-28LB Geophone
[[file:./figs/L28LB.png]]


#+name: tab:L-28LB
#+caption: L-28LB Parameters
| Natural Frequency [Hz] |  4.5 |
| Weight [g]             |  140 |
| Sensitivity [V/(m/s)]  | 31.3 |

We define the parameters of the geophone and we plot its bode plot (figure [[fig:L28LB_bode_plot]]).
#+begin_src matlab :results none
  w0 = 4.5*2*pi; % [rad/s]
  ksi = 0.38;
  G0 = 31.3; % [V/(m/s)]
  G = G0*(s/w0)^2/((s/w0)^2 + 2*ksi*(s/w0) + 1);
#+end_src

#+begin_src matlab :results none :exports none
  freqs = logspace(-1, 2, 1000);

  figure;
  ax1 = subplot(2,1,1);
  plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  set(gca, 'XTickLabel',[]);
  ylabel('Magnitude [V/(m/s)]');

  ax2 = subplot(2,1,2);
  plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca,'xscale','log');
  yticks(-180:90:180);
  ylim([-180 180]);
  xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
  linkaxes([ax1,ax2],'x');
  xlim([fmin, fmax]);
#+end_src

#+NAME: fig:L28LB_bode_plot
#+HEADER: :tangle no :exports results :results raw :noweb yes
#+begin_src matlab :var filepath="figs/L28LB_bode_plot.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png")
  <<plt-matlab>>
#+end_src

#+NAME: fig:L28LB_bode_plot
#+CAPTION: Bode plot of the L-28LB Geophone
#+RESULTS: fig:L28LB_bode_plot
[[file:figs/L28LB_bode_plot.png]]

*** L-4C
- http://www.sercel.com/products/Pages/seismometers.aspx
- [[file:files/Geophones_specifications_Sercel_EN.pdf][Data Sheet]].

#+name: fig:L4C
#+caption: Picture of the L-4C Geophone
[[file:./figs/L4C.png]]

#+name: tab:L4C
#+caption: L4C Parameters
| Natural Frequency [Hz] |     1 |
| Weight [g]             |  2150 |
| Sensitivity [V/(m/s)]  | 276.8 |

#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
  <<matlab-dir>>
#+end_src

#+begin_src matlab :exports none :results silent :noweb yes
  <<matlab-init>>
#+end_src

The transfer function from the velocity and the measured voltage is defined below.

Its bode plot is shown on figure [[fig:L4C_bode_plot]].

#+begin_src matlab :results none
  w0 = 2*pi; % [rad/s]
  ksi = 0.28;
  G0 = 276.8; % [V/(m/s)]
  G = G0*(s/w0)^2/((s/w0)^2 + 2*ksi*(s/w0) + 1);
#+end_src

#+begin_src matlab :results none :exports none
  freqs = logspace(-2, 2, 1000);

  figure;
  ax1 = subplot(2,1,1);
  plot(freqs, abs(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
  set(gca, 'XTickLabel',[]);
  ylabel('Magnitude [V/(m/s)]');

  ax2 = subplot(2,1,2);
  plot(freqs, 180/pi*angle(squeeze(freqresp(G, freqs, 'Hz'))));
  set(gca,'xscale','log');
  yticks(-180:90:180);
  ylim([-180 180]);
  xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
  linkaxes([ax1,ax2],'x');
  xlim([fmin, fmax]);
#+end_src

#+NAME: fig:L4C_bode_plot
#+HEADER: :tangle no :exports results :results raw :noweb yes
#+begin_src matlab :var filepath="figs/L4C_bode_plot.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png")
  <<plt-matlab>>
#+end_src

#+NAME: fig:L4C_bode_plot
#+CAPTION: Bode plot of the L4C Geophone
#+RESULTS: fig:L4C_bode_plot
[[file:figs/L4C_bode_plot.png]]

*** L-22
- https://www.passcal.nmt.edu/content/instrumentation/sensors/short-period-sensors/l-22-sp-sensor

** Accelerometers
*** Pieozoelectric acc. 356b18 - 3 axis
- https://www.pcbpiezotronics.fr/produit/accelerometres/356b18/
- [[file:files/356B18_G.pdf][Data Sheet]].

#+name: fig:356b18
#+caption: Pieozoelectric acc. 356b18 - 3 axis
[[file:./figs/356b18.jpg]]


#+name: tab:356b18
#+caption: 356b18 Parameters
| Sensitivity          | 0.102 $V/(m/s^2)$  |
| Measurement Range    | 4.9 $m/s^2$ pk     |
| Frequency Range      | 0.5 to 3000 Hz     |
| resonant frequency   | > 20000 hz         |
| broadband resolution | 0.0005 $m/s^2$ rms |

*** Ceramic acc. 393B05 - 1 axis
- http://www.pcb.com/products.aspx?m=393B05
- [[file:files/393B05_K.pdf][Data Sheet]].

#+name: fig:393b05
#+caption: Ceramic acc. 393B05 - 1 axis
[[file:./figs/393b05.jpg]]


#+name: tab:393B05
#+caption: 393B05 Parameters
| Sensitivity (±10 %)    | 1.02 $V/(m/s^2)$    |
| Measurement Range      | 4.9 $m/s^2$ pk      |
| Frequency Range (±5 %) | 0.7 to 450 Hz       |
| resonant frequency     | > 2500 hz           |
| broadband resolution   | 0.00004 $m/s^2$ rms |
** Modal analysis
http://www.oros.com/3900-oros-modal-2.htm