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2019-05-14 23:06:50 +02:00
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2019-05-10 ven. 09:46 -->
<!-- 2019-05-14 mar. 23:06 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Measurements</title>
<meta name="generator" content="Org mode" />
<meta name="author" content="Thomas Dehaeze" />
<meta name="author" content="Dehaeze Thomas" />
<style type="text/css">
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@@ -195,10 +195,11 @@
</style>
<link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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@@ -247,53 +248,97 @@ for the JavaScript code in this tag.
</script>
</head>
<body>
<div id="content">
<div id="org-div-home-and-up">
<a accesskey="h" href="../index.html"> UP </a>
|
<a accesskey="H" href="../index.html"> HOME </a>
</div><div id="content">
<h1 class="title">Measurements</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org2e8dc82">1. Experimental conditions</a></li>
<li><a href="#org2f1a089">2. Measurements procedure</a></li>
<li><a href="#orgcb92a24">3. Measurement Files</a></li>
<li><a href="#orgad05307">4. Data Analysis</a>
<li><a href="#orgb9e4bbf">1. Experimental conditions</a></li>
<li><a href="#orgbe7bf59">2. Measurements procedure</a></li>
<li><a href="#org3337380">3. Measurement Files</a></li>
<li><a href="#orgc59cdd1">4. Data Analysis</a>
<ul>
<li><a href="#org28e779a">4.1. Loading of the data</a></li>
<li><a href="#orgf5d9ddc">4.2. Pre-processing of the data</a></li>
<li><a href="#orgf90fc5f">4.3. X-direction FRF</a></li>
<li><a href="#orgec13f33">4.4. Y-direction FRF</a></li>
<li><a href="#org0696fe4">4.5. Z-direction FRF</a></li>
<li><a href="#org97ea2b9">4.1. Loading of the data</a></li>
<li><a href="#org55d35ad">4.2. Pre-processing of the data</a></li>
<li><a href="#org409f95e">4.3. X-direction FRF</a></li>
<li><a href="#org5ca4365">4.4. Y-direction FRF</a></li>
<li><a href="#org491a242">4.5. Z-direction FRF</a></li>
</ul>
</li>
<li><a href="#orgf03bfb4">5. Results</a></li>
</ul>
</div>
</div>
<div id="outline-container-orgb9e4bbf" class="outline-2">
<h2 id="orgb9e4bbf"><span class="section-number-2">1</span> Experimental conditions</h2>
<div class="outline-text-2" id="text-1">
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
</colgroup>
<tbody>
<tr>
<td class="org-left"><b>Date</b></td>
<td class="org-left">2017-11-17</td>
</tr>
<tr>
<td class="org-left"><b>Sensors</b></td>
<td class="org-left">Accelerometers</td>
</tr>
<tr>
<td class="org-left"><b>Excitation</b></td>
<td class="org-left">Instrumented Hammer</td>
</tr>
<tr>
<td class="org-left"><b>Location</b></td>
<td class="org-left">Laboratory</td>
</tr>
</tbody>
</table>
<p>
<a href="../index.html">Back to main page</a>.
Dynamics of the station is evaluated using instrumented hammer and accelerometers fixed on each stage.
</p>
<div id="outline-container-org2e8dc82" class="outline-2">
<h2 id="org2e8dc82"><span class="section-number-2">1</span> Experimental conditions</h2>
<div class="outline-text-2" id="text-1">
<p>
<b>Goal</b>:
</p>
<ul class="org-ul">
<li>Obtain a first estimation of resonance frequencies</li>
</ul>
<ul class="org-ul">
<li>Measurement made in a metrology lab</li>
<li>The granite is not glued to the floor</li>
<li>The Y-Translation stage is powered and in closed-loop</li>
<li>The spindle is not powered</li>
<li>Mass is placed on top of the Hexapod (<b>how much?</b>) (figure <a href="#orge067538">1</a>).</li>
<li>Mass is placed on top of the Hexapod (<b>how much?</b>) (figure <a href="#orgb5022d9">1</a>).</li>
<li>Made by Marc Lesourd on the 17th of November 2017</li>
</ul>
<div id="orge067538" class="figure">
<div id="orgb5022d9" class="figure">
<p><img src="./figs/accelerometers.png" alt="accelerometers.png" width="500px" />
</p>
<p><span class="figure-number">Figure 1: </span>Accelerometers position</p>
</div>
<div id="org737c3b9" class="figure">
<div id="orgaaf63dd" class="figure">
<p><img src="./figs/instrumented_hammer.png" alt="instrumented_hammer.png" width="500px" />
</p>
<p><span class="figure-number">Figure 2: </span>Instrumented Hammer used</p>
@@ -301,11 +346,11 @@ for the JavaScript code in this tag.
</div>
</div>
<div id="outline-container-org2f1a089" class="outline-2">
<h2 id="org2f1a089"><span class="section-number-2">2</span> Measurements procedure</h2>
<div id="outline-container-orgbe7bf59" class="outline-2">
<h2 id="orgbe7bf59"><span class="section-number-2">2</span> Measurements procedure</h2>
<div class="outline-text-2" id="text-2">
<p>
<b>3-axis Accelerometers</b> (specifications table <a href="#org7e5f9c1">1</a>) are glued on (see figure <a href="#orge067538">1</a>):
<b>3-axis Accelerometers</b> (specifications table <a href="#org2f4877d">1</a>) are glued on (see figure <a href="#orgb5022d9">1</a>):
</p>
<ul class="org-ul">
<li>Marble</li>
@@ -314,7 +359,7 @@ for the JavaScript code in this tag.
<li>top of Hexapod</li>
</ul>
<table id="org7e5f9c1" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org2f4877d" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Pieozoelectric acc. 356b18 - 3 axis</caption>
<colgroup>
@@ -351,7 +396,7 @@ for the JavaScript code in this tag.
</table>
<p>
The structure is excited using an <b>instrumented hammer</b> with impacts on (see figure <a href="#org737c3b9">2</a>):
The structure is excited using an <b>instrumented hammer</b> with impacts on (see figure <a href="#orgaaf63dd">2</a>):
</p>
<ul class="org-ul">
<li>Marble</li>
@@ -360,8 +405,8 @@ The structure is excited using an <b>instrumented hammer</b> with impacts on (se
</div>
</div>
<div id="outline-container-orgcb92a24" class="outline-2">
<h2 id="orgcb92a24"><span class="section-number-2">3</span> Measurement Files</h2>
<div id="outline-container-org3337380" class="outline-2">
<h2 id="org3337380"><span class="section-number-2">3</span> Measurement Files</h2>
<div class="outline-text-2" id="text-3">
<p>
Two measurements files are:
@@ -370,7 +415,7 @@ Two measurements files are:
<li><code>id31_microstation_2017_11_17_frf.mat</code> that contains:
<ul class="org-ul">
<li><code>freq_frf</code> the frequency vector in Hz</li>
<li>Computed frequency response functions (see table <a href="#orgc7a9cf7">2</a>)</li>
<li>Computed frequency response functions (see table <a href="#org71ee83c">2</a>)</li>
</ul></li>
<li><code>id31_microstation_2017_11_17_coh.mat</code>
<ul class="org-ul">
@@ -379,10 +424,10 @@ Two measurements files are:
</ul>
<p>
For each of the measurement, the measured channels are shown on table <a href="#org4e93508">3</a>.
For each of the measurement, the measured channels are shown on table <a href="#org1bf8383">3</a>.
</p>
<table id="orgc7a9cf7" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org71ee83c" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Description of the location of direction of the excitation for each measurement</caption>
<colgroup>
@@ -438,7 +483,7 @@ For each of the measurement, the measured channels are shown on table <a href="#
</tbody>
</table>
<table id="org4e93508" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org1bf8383" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 3:</span> Description of each measurement channel</caption>
<colgroup>
@@ -554,12 +599,12 @@ For each of the measurement, the measured channels are shown on table <a href="#
</div>
</div>
<div id="outline-container-orgad05307" class="outline-2">
<h2 id="orgad05307"><span class="section-number-2">4</span> Data Analysis</h2>
<div id="outline-container-orgc59cdd1" class="outline-2">
<h2 id="orgc59cdd1"><span class="section-number-2">4</span> Data Analysis</h2>
<div class="outline-text-2" id="text-4">
</div>
<div id="outline-container-org28e779a" class="outline-3">
<h3 id="org28e779a"><span class="section-number-3">4.1</span> Loading of the data</h3>
<div id="outline-container-org97ea2b9" class="outline-3">
<h3 id="org97ea2b9"><span class="section-number-3">4.1</span> Loading of the data</h3>
<div class="outline-text-3" id="text-4-1">
<div class="org-src-container">
<pre class="src src-matlab">load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'./raw_data/id31_microstation_2017_11_17_coh.mat'</span>,<span class="org-underline">...</span>
@@ -583,8 +628,8 @@ load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string
</div>
</div>
<div id="outline-container-orgf5d9ddc" class="outline-3">
<h3 id="orgf5d9ddc"><span class="section-number-3">4.2</span> Pre-processing of the data</h3>
<div id="outline-container-org55d35ad" class="outline-3">
<h3 id="org55d35ad"><span class="section-number-3">4.2</span> Pre-processing of the data</h3>
<div class="outline-text-3" id="text-4-2">
<p>
The FRF data are scaled with the sensitivity of the accelerometer and integrated two times to have the displacement instead of the acceleration.
@@ -606,11 +651,11 @@ frf_marble_z = <span class="org-type">-</span><span class="org-highlight-numbers
</div>
</div>
<div id="outline-container-orgf90fc5f" class="outline-3">
<h3 id="orgf90fc5f"><span class="section-number-3">4.3</span> X-direction FRF</h3>
<div id="outline-container-org409f95e" class="outline-3">
<h3 id="org409f95e"><span class="section-number-3">4.3</span> X-direction FRF</h3>
<div class="outline-text-3" id="text-4-3">
<div id="org7ea5cb4" class="figure">
<div id="org5d69ec3" class="figure">
<p><img src="figs/marble_x_frf.png" alt="marble_x_frf.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Response to a force applied on the marble in the X direction</p>
@@ -618,7 +663,7 @@ frf_marble_z = <span class="org-type">-</span><span class="org-highlight-numbers
<div id="org55645ce" class="figure">
<div id="orgf472153" class="figure">
<p><img src="figs/hexa_x_frf.png" alt="hexa_x_frf.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Response to a force applied on the hexa in the X direction</p>
@@ -626,18 +671,18 @@ frf_marble_z = <span class="org-type">-</span><span class="org-highlight-numbers
</div>
</div>
<div id="outline-container-orgec13f33" class="outline-3">
<h3 id="orgec13f33"><span class="section-number-3">4.4</span> Y-direction FRF</h3>
<div id="outline-container-org5ca4365" class="outline-3">
<h3 id="org5ca4365"><span class="section-number-3">4.4</span> Y-direction FRF</h3>
<div class="outline-text-3" id="text-4-4">
<div id="org8de99f7" class="figure">
<div id="org8581a20" class="figure">
<p><img src="figs/marble_y_frf.png" alt="marble_y_frf.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Response to a force applied on the marble in the Y direction</p>
</div>
<div id="org8506d1b" class="figure">
<div id="orgdea2e62" class="figure">
<p><img src="figs/hexa_y_frf.png" alt="hexa_y_frf.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Response to a force applied on the hexa in the Y direction</p>
@@ -645,29 +690,42 @@ frf_marble_z = <span class="org-type">-</span><span class="org-highlight-numbers
</div>
</div>
<div id="outline-container-org0696fe4" class="outline-3">
<h3 id="org0696fe4"><span class="section-number-3">4.5</span> Z-direction FRF</h3>
<div id="outline-container-org491a242" class="outline-3">
<h3 id="org491a242"><span class="section-number-3">4.5</span> Z-direction FRF</h3>
<div class="outline-text-3" id="text-4-5">
<div id="orgb151cf9" class="figure">
<div id="org525b297" class="figure">
<p><img src="figs/marble_z_frf.png" alt="marble_z_frf.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Response to a force applied on the marble in the Z direction</p>
</div>
<div id="orgfa78f3b" class="figure">
<div id="orgf376c05" class="figure">
<p><img src="figs/hexa_z_frf.png" alt="hexa_z_frf.png" />
</p>
<p><span class="figure-number">Figure 8: </span>Response to a force applied on the hexa in the Z direction</p>
</div>
</div>
</div>
</div>
<div id="outline-container-orgf03bfb4" class="outline-2">
<h2 id="orgf03bfb4"><span class="section-number-2">5</span> Results</h2>
<div class="outline-text-2" id="text-5">
<div class="important">
<ul class="org-ul">
<li>Resonances have been identified at 45Hz and 75Hz</li>
<li>However, the quality of the measurements are bad at low frequency</li>
<li>New measurements should be done with Geophones</li>
</ul>
</div>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Thomas Dehaeze</p>
<p class="date">Created: 2019-05-10 ven. 09:46</p>
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-05-14 mar. 23:06</p>
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div>
</body>

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@@ -30,6 +30,18 @@
:END:
* Experimental conditions
| *Date* | 2017-11-17 |
| *Sensors* | Accelerometers |
| *Excitation* | Instrumented Hammer |
| *Location* | Laboratory |
Dynamics of the station is evaluated using instrumented hammer and accelerometers fixed on each stage.
*Goal*:
- Obtain a first estimation of resonance frequencies
- Measurement made in a metrology lab
- The granite is not glued to the floor
- The Y-Translation stage is powered and in closed-loop
@@ -303,3 +315,9 @@ The FRF data are scaled with the sensitivity of the accelerometer and integrated
#+CAPTION: Response to a force applied on the hexa in the Z direction
#+RESULTS: fig:hexa_z_frf
[[file:figs/hexa_z_frf.png]]
* Results
#+begin_important
- Resonances have been identified at 45Hz and 75Hz
- However, the quality of the measurements are bad at low frequency
- New measurements should be done with Geophones
#+end_important