Update main page with summary of each experiment
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#+name: fig:accelerometers
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#+caption: Accelerometers position
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#+attr_latex: :width 0.5\linewidth
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file:./figs/accelerometers.png
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[[file:./figs/accelerometers.png]]
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#+name: fig:instrumented_hammer
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#+caption: Instrumented Hammer used
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#+attr_latex: :width 0.5\linewidth
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file:./figs/instrumented_hammer.png
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[[file:./figs/instrumented_hammer.png]]
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* Measurements procedure
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*3-axis Accelerometers* (specifications table [[tab:accelerometer]]) are glued on (see figure [[fig:accelerometers]]):
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2019-03-15 ven. 11:43 -->
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<!-- 2019-03-20 mer. 15:17 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<meta name="viewport" content="width=device-width, initial-scale=1" />
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<title>Spindle Analysis</title>
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@ -275,55 +275,56 @@ for the JavaScript code in this tag.
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#orgaf5a3de">1. Data Processing</a>
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<li><a href="#org4ef1ca3">1. Notes</a></li>
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<li><a href="#orge92ef42">2. Data Processing</a>
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<ul>
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<li><a href="#orgb389472">1.1. Load Measurement Data</a></li>
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<li><a href="#org4cdb38a">1.2. Convert Signals from [deg] to [sec]</a></li>
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<li><a href="#org17acbda">1.3. Convert Signals</a></li>
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<li><a href="#orgfae3e65">1.4. Ts and Fs for both measurements</a></li>
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<li><a href="#org24626f9">1.5. Find Noise of the ADC [m/sqrt(Hz)]</a></li>
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<li><a href="#orgf990dd1">1.6. Save all the data under spindle struct</a></li>
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<li><a href="#org0742ac2">1.7. Compute Asynchronous data</a></li>
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<li><a href="#orgbf2f91a">2.1. Load Measurement Data</a></li>
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<li><a href="#orge799cbd">2.2. Convert Signals from [deg] to [sec]</a></li>
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<li><a href="#orge0e840d">2.3. Convert Signals</a></li>
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<li><a href="#orgb79c23f">2.4. Ts and Fs for both measurements</a></li>
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<li><a href="#org545b4dc">2.5. Find Noise of the ADC [m/sqrt(Hz)]</a></li>
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<li><a href="#orgb7c25b7">2.6. Save all the data under spindle struct</a></li>
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<li><a href="#org707a6a0">2.7. Compute Asynchronous data</a></li>
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</ul>
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</li>
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<li><a href="#org3948780">2. Time Domain Data</a>
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<li><a href="#orga9ae55f">3. Time Domain Data</a>
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<ul>
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<li><a href="#org94d6b6d">2.1. Plot X-Y-Z position with respect to Time - 1rpm</a></li>
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<li><a href="#orgdd75f7b">2.2. Plot X-Y-Z position with respect to Time - 60rpm</a></li>
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<li><a href="#org55370af">2.3. Plot Synchronous and Asynchronous - 1rpm</a></li>
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<li><a href="#org89c4661">2.4. Plot Synchronous and Asynchronous - 60rpm</a></li>
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<li><a href="#org47c70ce">2.5. Plot X against Y</a></li>
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<li><a href="#org7e8515b">2.6. Plot X against Y - Asynchronous</a></li>
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<li><a href="#orga3598c8">3.1. Plot X-Y-Z position with respect to Time - 1rpm</a></li>
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<li><a href="#orgb1d7825">3.2. Plot X-Y-Z position with respect to Time - 60rpm</a></li>
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<li><a href="#org487e41f">3.3. Plot Synchronous and Asynchronous - 1rpm</a></li>
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<li><a href="#org5310667">3.4. Plot Synchronous and Asynchronous - 60rpm</a></li>
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<li><a href="#org037b157">3.5. Plot X against Y</a></li>
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<li><a href="#org067dc56">3.6. Plot X against Y - Asynchronous</a></li>
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</ul>
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</li>
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<li><a href="#org0214429">3. Model of the spindle</a>
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<li><a href="#org590c4a3">4. Model of the spindle</a>
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<ul>
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<li><a href="#orga979610">3.1. Parameters</a></li>
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<li><a href="#orga305bda">3.2. Compute Mass and Stiffness Matrices</a></li>
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<li><a href="#orgb83a70b">3.3. Compute resonance frequencies</a></li>
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<li><a href="#orgf4d7d56">3.4. From model<sub>damping</sub> compute the Damping Matrix</a></li>
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<li><a href="#org7594849">3.5. Define inputs, outputs and state names</a></li>
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<li><a href="#orgab8df0c">3.6. Define A, B and C matrices</a></li>
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<li><a href="#org733eed7">3.7. Generate the State Space Model</a></li>
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<li><a href="#orgfdcbcde">3.8. Bode Plot</a></li>
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<li><a href="#orgb7ea4e3">4.1. Parameters</a></li>
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<li><a href="#orge4e720c">4.2. Compute Mass and Stiffness Matrices</a></li>
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<li><a href="#org5d5795f">4.3. Compute resonance frequencies</a></li>
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<li><a href="#org2f89d7b">4.4. From model<sub>damping</sub> compute the Damping Matrix</a></li>
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<li><a href="#org31812e9">4.5. Define inputs, outputs and state names</a></li>
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<li><a href="#org931a108">4.6. Define A, B and C matrices</a></li>
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<li><a href="#org6246054">4.7. Generate the State Space Model</a></li>
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<li><a href="#orgfed5d4b">4.8. Bode Plot</a></li>
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</ul>
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</li>
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<li><a href="#orgb89b365">4. Power Spectral Density</a>
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<li><a href="#org90551c6">5. Power Spectral Density</a>
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<ul>
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<li><a href="#org332e4c7">4.1. Compute the PSD</a></li>
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<li><a href="#org00bd73b">4.2. Plot the computed PSD</a></li>
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<li><a href="#org2ebf22d">4.3. Load the model of the spindle</a></li>
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<li><a href="#org75457ec">4.4. Plot the PSD of the Force using the model</a></li>
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<li><a href="#org439a1fe">4.5. Estimated Shape of the PSD of the force</a></li>
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<li><a href="#org1b142b0">4.6. PSD in [N]</a></li>
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<li><a href="#orgf3b9073">4.7. PSD in [m]</a></li>
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<li><a href="#org4c86acf">4.8. Compute the resulting RMS value [m]</a></li>
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<li><a href="#org49836af">4.9. Compute the resulting RMS value [m]</a></li>
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<li><a href="#org659372f">5.1. Compute the PSD</a></li>
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<li><a href="#org3690c18">5.2. Plot the computed PSD</a></li>
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<li><a href="#org0a6959c">5.3. Load the model of the spindle</a></li>
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<li><a href="#orgb977795">5.4. Plot the PSD of the Force using the model</a></li>
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<li><a href="#orgbd81578">5.5. Estimated Shape of the PSD of the force</a></li>
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<li><a href="#orgebea7be">5.6. PSD in [N]</a></li>
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<li><a href="#org4818470">5.7. PSD in [m]</a></li>
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<li><a href="#org408aad1">5.8. Compute the resulting RMS value [m]</a></li>
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<li><a href="#org97cda8b">5.9. Compute the resulting RMS value [m]</a></li>
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</ul>
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</li>
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<li><a href="#orge970472">5. Functions</a>
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<li><a href="#orgb0ca16b">6. Functions</a>
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<ul>
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<li><a href="#org8e2edc2">5.1. getAsynchronousError</a></li>
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<li><a href="#org14006e0">6.1. getAsynchronousError</a></li>
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</ul>
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</li>
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</ul>
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@ -334,13 +335,29 @@ for the JavaScript code in this tag.
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<a href="../index.html">Back to main page</a>.
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</p>
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<div id="outline-container-orgaf5a3de" class="outline-2">
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<h2 id="orgaf5a3de"><span class="section-number-2">1</span> Data Processing</h2>
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<p>
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The report made by the PEL is accessible <a href="documents/Spindle_report_test.pdf">here</a>.
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</p>
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<div id="outline-container-org4ef1ca3" class="outline-2">
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<h2 id="org4ef1ca3"><span class="section-number-2">1</span> Notes</h2>
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<div class="outline-text-2" id="text-1">
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<div id="org4241ebb" class="figure">
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<p><img src="./figs/setup_spindle.png" alt="setup_spindle.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Measurement setup at the PEL lab</p>
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</div>
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<div id="outline-container-orgb389472" class="outline-3">
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<h3 id="orgb389472"><span class="section-number-3">1.1</span> Load Measurement Data</h3>
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<div class="outline-text-3" id="text-1-1">
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</div>
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</div>
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<div id="outline-container-orge92ef42" class="outline-2">
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<h2 id="orge92ef42"><span class="section-number-2">2</span> Data Processing</h2>
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<div class="outline-text-2" id="text-2">
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</div>
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<div id="outline-container-orgbf2f91a" class="outline-3">
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<h3 id="orgbf2f91a"><span class="section-number-3">2.1</span> Load Measurement Data</h3>
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<div class="outline-text-3" id="text-2-1">
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<div class="org-src-container">
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<pre class="src src-matlab">spindle_1rpm_table = readtable<span style="color: #DCDCCC;">(</span>'<span style="color: #7CB8BB;">./</span>data<span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">10turns_1rpm_icepap</span>.txt'<span style="color: #DCDCCC;">)</span>;
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spindle_60rpm_table = readtable<span style="color: #DCDCCC;">(</span>'<span style="color: #7CB8BB;">./</span>data<span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">10turns_60rpm_IcepapFIR</span>.txt'<span style="color: #DCDCCC;">)</span>;
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@ -360,9 +377,9 @@ spindle_60rpm = table2array<span style="color: #DCDCCC;">(</span>spindle_60rpm_t
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</div>
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</div>
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<div id="outline-container-org4cdb38a" class="outline-3">
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<h3 id="org4cdb38a"><span class="section-number-3">1.2</span> Convert Signals from [deg] to [sec]</h3>
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<div class="outline-text-3" id="text-1-2">
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<div id="outline-container-orge799cbd" class="outline-3">
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<h3 id="orge799cbd"><span class="section-number-3">2.2</span> Convert Signals from [deg] to [sec]</h3>
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<div class="outline-text-3" id="text-2-2">
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<div class="org-src-container">
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<pre class="src src-matlab">speed_1rpm = <span style="color: #BFEBBF;">360</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">60</span>; <span style="color: #7F9F7F;">% [deg/sec]</span>
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spindle_1rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;">:</span>, <span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span> = spindle_1rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;">:</span>, <span style="color: #BFEBBF;">2</span><span style="color: #DCDCCC;">)</span><span style="color: #7CB8BB;">/</span>speed_1rpm; <span style="color: #7F9F7F;">% From position [deg] to time [s]</span>
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@ -374,9 +391,9 @@ spindle_60rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;"
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</div>
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</div>
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<div id="outline-container-org17acbda" class="outline-3">
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<h3 id="org17acbda"><span class="section-number-3">1.3</span> Convert Signals</h3>
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<div class="outline-text-3" id="text-1-3">
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<div id="outline-container-orge0e840d" class="outline-3">
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<h3 id="orge0e840d"><span class="section-number-3">2.3</span> Convert Signals</h3>
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<div class="outline-text-3" id="text-2-3">
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<div class="org-src-container">
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<pre class="src src-matlab">% scaling = <span style="color: #BFEBBF;">1</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">80000</span>; % <span style="color: #BFEBBF;">80</span> mV<span style="color: #7CB8BB;">/</span>um
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scaling = <span style="color: #BFEBBF;">1e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">6</span>; <span style="color: #7F9F7F;">% [um] to [m]</span>
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@ -391,9 +408,9 @@ spindle_60rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;"
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</div>
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</div>
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<div id="outline-container-orgfae3e65" class="outline-3">
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<h3 id="orgfae3e65"><span class="section-number-3">1.4</span> Ts and Fs for both measurements</h3>
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<div class="outline-text-3" id="text-1-4">
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<div id="outline-container-orgb79c23f" class="outline-3">
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<h3 id="orgb79c23f"><span class="section-number-3">2.4</span> Ts and Fs for both measurements</h3>
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<div class="outline-text-3" id="text-2-4">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts_1rpm = spindle_1rpm<span style="color: #DCDCCC;">(</span>end, <span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span><span style="color: #7CB8BB;">/</span><span style="color: #DCDCCC;">(</span>length<span style="color: #BFEBBF;">(</span>spindle_1rpm<span style="color: #D0BF8F;">(</span><span style="color: #7CB8BB;">:</span>, <span style="color: #BFEBBF;">1</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span>;
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Fs_1rpm = <span style="color: #BFEBBF;">1</span><span style="color: #7CB8BB;">/</span>Ts_1rpm;
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@ -405,9 +422,9 @@ Fs_60rpm = <span style="color: #BFEBBF;">1</span><span style="color: #7CB8BB;">/
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</div>
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</div>
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<div id="outline-container-org24626f9" class="outline-3">
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<h3 id="org24626f9"><span class="section-number-3">1.5</span> Find Noise of the ADC [m/sqrt(Hz)]</h3>
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<div class="outline-text-3" id="text-1-5">
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<div id="outline-container-org545b4dc" class="outline-3">
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<h3 id="org545b4dc"><span class="section-number-3">2.5</span> Find Noise of the ADC [m/sqrt(Hz)]</h3>
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<div class="outline-text-3" id="text-2-5">
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<div class="org-src-container">
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<pre class="src src-matlab">data = spindle_1rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;">:</span>, <span style="color: #BFEBBF;">5</span><span style="color: #DCDCCC;">)</span>;
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dV_1rpm = min<span style="color: #DCDCCC;">(</span>abs<span style="color: #BFEBBF;">(</span>data<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">1</span><span style="color: #D0BF8F;">)</span> <span style="color: #7CB8BB;">-</span> data<span style="color: #D0BF8F;">(</span>data <span style="color: #7CB8BB;">~=</span> data<span style="color: #93E0E3;">(</span><span style="color: #BFEBBF;">1</span><span style="color: #93E0E3;">)</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
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@ -421,9 +438,9 @@ noise_60rpm = dV_60rpm<span style="color: #7CB8BB;">/</span>sqrt<span style="col
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</div>
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</div>
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<div id="outline-container-orgf990dd1" class="outline-3">
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<h3 id="orgf990dd1"><span class="section-number-3">1.6</span> Save all the data under spindle struct</h3>
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<div class="outline-text-3" id="text-1-6">
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<div id="outline-container-orgb7c25b7" class="outline-3">
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<h3 id="orgb7c25b7"><span class="section-number-3">2.6</span> Save all the data under spindle struct</h3>
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<div class="outline-text-3" id="text-2-6">
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<div class="org-src-container">
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<pre class="src src-matlab">spindle.rpm1.time = spindle_1rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;">:</span>, <span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span>;
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spindle.rpm1.deg = spindle_1rpm<span style="color: #DCDCCC;">(</span><span style="color: #7CB8BB;">:</span>, <span style="color: #BFEBBF;">2</span><span style="color: #DCDCCC;">)</span>;
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@ -447,9 +464,9 @@ spindle.rpm60.adcn = noise_60rpm;
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</div>
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</div>
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<div id="outline-container-org0742ac2" class="outline-3">
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<h3 id="org0742ac2"><span class="section-number-3">1.7</span> Compute Asynchronous data</h3>
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<div class="outline-text-3" id="text-1-7">
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<div id="outline-container-org707a6a0" class="outline-3">
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<h3 id="org707a6a0"><span class="section-number-3">2.7</span> Compute Asynchronous data</h3>
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<div class="outline-text-3" id="text-2-7">
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<div class="org-src-container">
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<pre class="src src-matlab"><span style="color: #F0DFAF; font-weight: bold;">for</span> <span style="color: #DFAF8F;">direction</span> = <span style="color: #DCDCCC;">{</span><span style="color: #CC9393;">'x'</span><span style="color: #CC9393;">, 'y', 'z'</span><span style="color: #DCDCCC;">}</span>
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spindle.rpm1.<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</span>direction<span style="color: #D0BF8F;">{</span><span style="color: #BFEBBF;">1</span><span style="color: #D0BF8F;">}</span>, <span style="color: #CC9393;">'async'</span><span style="color: #BFEBBF;">]</span><span style="color: #DCDCCC;">)</span> = getAsynchronousError<span style="color: #DCDCCC;">(</span>spindle.rpm1.<span style="color: #BFEBBF;">(</span>direction<span style="color: #D0BF8F;">{</span><span style="color: #BFEBBF;">1</span><span style="color: #D0BF8F;">}</span><span style="color: #BFEBBF;">)</span>, <span style="color: #BFEBBF;">10</span><span style="color: #DCDCCC;">)</span>;
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@ -461,13 +478,13 @@ spindle.rpm60.adcn = noise_60rpm;
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</div>
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</div>
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<div id="outline-container-org3948780" class="outline-2">
|
||||
<h2 id="org3948780"><span class="section-number-2">2</span> Time Domain Data</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<div id="outline-container-orga9ae55f" class="outline-2">
|
||||
<h2 id="orga9ae55f"><span class="section-number-2">3</span> Time Domain Data</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
</div>
|
||||
<div id="outline-container-org94d6b6d" class="outline-3">
|
||||
<h3 id="org94d6b6d"><span class="section-number-3">2.1</span> Plot X-Y-Z position with respect to Time - 1rpm</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<div id="outline-container-orga3598c8" class="outline-3">
|
||||
<h3 id="orga3598c8"><span class="section-number-3">3.1</span> Plot X-Y-Z position with respect to Time - 1rpm</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
hold on;
|
||||
@ -481,19 +498,19 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">{</spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org3eccf09" class="figure">
|
||||
<div id="org4532134" class="figure">
|
||||
<p><img src="figs/spindle_xyz_1rpm.png" alt="spindle_xyz_1rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Raw time domain translation - 1rpm</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Raw time domain translation - 1rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgdd75f7b" class="outline-3">
|
||||
<h3 id="orgdd75f7b"><span class="section-number-3">2.2</span> Plot X-Y-Z position with respect to Time - 60rpm</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<div id="outline-container-orgb1d7825" class="outline-3">
|
||||
<h3 id="orgb1d7825"><span class="section-number-3">3.2</span> Plot X-Y-Z position with respect to Time - 60rpm</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<p>
|
||||
The measurements for the spindle turning at 60rpm are shown figure <a href="#org16e49d2">2</a>.
|
||||
The measurements for the spindle turning at 60rpm are shown figure <a href="#org624ade7">3</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -509,17 +526,17 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">{</spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org16e49d2" class="figure">
|
||||
<div id="org624ade7" class="figure">
|
||||
<p><img src="figs/spindle_xyz_60rpm.png" alt="spindle_xyz_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Raw time domain translation - 60rpm</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Raw time domain translation - 60rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org55370af" class="outline-3">
|
||||
<h3 id="org55370af"><span class="section-number-3">2.3</span> Plot Synchronous and Asynchronous - 1rpm</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<div id="outline-container-org487e41f" class="outline-3">
|
||||
<h3 id="org487e41f"><span class="section-number-3">3.3</span> Plot Synchronous and Asynchronous - 1rpm</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
hold on;
|
||||
@ -532,19 +549,19 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">{</spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgad717b8" class="figure">
|
||||
<div id="orgaccc4b0" class="figure">
|
||||
<p><img src="figs/spindle_1rpm_sync_async.png" alt="spindle_1rpm_sync_async.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Comparison of the synchronous and asynchronous displacements - 1rpm</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Comparison of the synchronous and asynchronous displacements - 1rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org89c4661" class="outline-3">
|
||||
<h3 id="org89c4661"><span class="section-number-3">2.4</span> Plot Synchronous and Asynchronous - 60rpm</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<div id="outline-container-org5310667" class="outline-3">
|
||||
<h3 id="org5310667"><span class="section-number-3">3.4</span> Plot Synchronous and Asynchronous - 60rpm</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<p>
|
||||
The data is split into its Synchronous and Asynchronous part (figure <a href="#org028e267">4</a>). We then use the Asynchronous part for the analysis in the following sections as we suppose that we can deal with the synchronous part with feedforward control.
|
||||
The data is split into its Synchronous and Asynchronous part (figure <a href="#orgdc342a6">5</a>). We then use the Asynchronous part for the analysis in the following sections as we suppose that we can deal with the synchronous part with feedforward control.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -559,17 +576,17 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">{</spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org028e267" class="figure">
|
||||
<div id="orgdc342a6" class="figure">
|
||||
<p><img src="figs/spindle_60rpm_sync_async.png" alt="spindle_60rpm_sync_async.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Comparison of the synchronous and asynchronous displacements - 60rpm</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Comparison of the synchronous and asynchronous displacements - 60rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org47c70ce" class="outline-3">
|
||||
<h3 id="org47c70ce"><span class="section-number-3">2.5</span> Plot X against Y</h3>
|
||||
<div class="outline-text-3" id="text-2-5">
|
||||
<div id="outline-container-org037b157" class="outline-3">
|
||||
<h3 id="org037b157"><span class="section-number-3">3.5</span> Plot X against Y</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
hold on;
|
||||
@ -582,17 +599,17 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">{</spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org90914c3" class="figure">
|
||||
<div id="org6fbaabf" class="figure">
|
||||
<p><img src="figs/spindle_xy_1_60rpm.png" alt="spindle_xy_1_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Synchronous x-y displacement</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Synchronous x-y displacement</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7e8515b" class="outline-3">
|
||||
<h3 id="org7e8515b"><span class="section-number-3">2.6</span> Plot X against Y - Asynchronous</h3>
|
||||
<div class="outline-text-3" id="text-2-6">
|
||||
<div id="outline-container-org067dc56" class="outline-3">
|
||||
<h3 id="org067dc56"><span class="section-number-3">3.6</span> Plot X against Y - Asynchronous</h3>
|
||||
<div class="outline-text-3" id="text-3-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
hold on;
|
||||
@ -605,20 +622,20 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">{</spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgaf85b90" class="figure">
|
||||
<div id="org2cad174" class="figure">
|
||||
<p><img src="figs/spindle_xy_1_60_rpm_async.png" alt="spindle_xy_1_60_rpm_async.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Asynchronous x-y displacement</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Asynchronous x-y displacement</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0214429" class="outline-2">
|
||||
<h2 id="org0214429"><span class="section-number-2">3</span> Model of the spindle</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<div id="outline-container-org590c4a3" class="outline-2">
|
||||
<h2 id="org590c4a3"><span class="section-number-2">4</span> Model of the spindle</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
The model of the spindle used is shown figure <a href="#orgea3aa70">7</a>.
|
||||
The model of the spindle used is shown figure <a href="#org5077262">8</a>.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@ -626,16 +643,16 @@ The model of the spindle used is shown figure <a href="#orgea3aa70">7</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="orgea3aa70" class="figure">
|
||||
<div id="org5077262" class="figure">
|
||||
<p><img src="./figs/uniaxial-model-spindle.png" alt="uniaxial-model-spindle.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Model of the Spindle</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Model of the Spindle</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga979610" class="outline-3">
|
||||
<h3 id="orga979610"><span class="section-number-3">3.1</span> Parameters</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<div id="outline-container-orgb7ea4e3" class="outline-3">
|
||||
<h3 id="orgb7ea4e3"><span class="section-number-3">4.1</span> Parameters</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">mg = <span style="color: #BFEBBF;">3000</span>; <span style="color: #7F9F7F;">% Mass of granite [kg]</span>
|
||||
ms = <span style="color: #BFEBBF;">50</span>; <span style="color: #7F9F7F;">% Mass of Spindle [kg]</span>
|
||||
@ -647,9 +664,9 @@ ks = <span style="color: #BFEBBF;">5e7</span>; <span style="color: #7F9F7F;">% S
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga305bda" class="outline-3">
|
||||
<h3 id="orga305bda"><span class="section-number-3">3.2</span> Compute Mass and Stiffness Matrices</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
<div id="outline-container-orge4e720c" class="outline-3">
|
||||
<h3 id="orge4e720c"><span class="section-number-3">4.2</span> Compute Mass and Stiffness Matrices</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Mm = diag<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</span>ms, mg<span style="color: #BFEBBF;">]</span><span style="color: #DCDCCC;">)</span>;
|
||||
Km = diag<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</span>ks, ks<span style="color: #7CB8BB;">+</span>kg<span style="color: #BFEBBF;">]</span><span style="color: #DCDCCC;">)</span> <span style="color: #7CB8BB;">-</span> diag<span style="color: #DCDCCC;">(</span>ks, <span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span> <span style="color: #7CB8BB;">-</span> diag<span style="color: #DCDCCC;">(</span>ks, <span style="color: #BFEBBF;">1</span><span style="color: #DCDCCC;">)</span>;
|
||||
@ -658,9 +675,9 @@ Km = diag<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb83a70b" class="outline-3">
|
||||
<h3 id="orgb83a70b"><span class="section-number-3">3.3</span> Compute resonance frequencies</h3>
|
||||
<div class="outline-text-3" id="text-3-3">
|
||||
<div id="outline-container-org5d5795f" class="outline-3">
|
||||
<h3 id="org5d5795f"><span class="section-number-3">4.3</span> Compute resonance frequencies</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">A = <span style="color: #DCDCCC;">[</span>zeros<span style="color: #BFEBBF;">(</span>size<span style="color: #D0BF8F;">(</span>Mm<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> eye<span style="color: #BFEBBF;">(</span>size<span style="color: #D0BF8F;">(</span>Mm<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> ; <span style="color: #7CB8BB;">-</span>Mm<span style="color: #7CB8BB;">\</span>Km zeros<span style="color: #BFEBBF;">(</span>size<span style="color: #D0BF8F;">(</span>Mm<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">]</span>;
|
||||
eigA = imag<span style="color: #DCDCCC;">(</span>eigs<span style="color: #BFEBBF;">(</span>A<span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">2</span><span style="color: #7CB8BB;">/</span><span style="color: #BFEBBF;">pi</span>;
|
||||
@ -671,9 +688,9 @@ eigA = eigA<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">1
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf4d7d56" class="outline-3">
|
||||
<h3 id="orgf4d7d56"><span class="section-number-3">3.4</span> From model<sub>damping</sub> compute the Damping Matrix</h3>
|
||||
<div class="outline-text-3" id="text-3-4">
|
||||
<div id="outline-container-org2f89d7b" class="outline-3">
|
||||
<h3 id="org2f89d7b"><span class="section-number-3">4.4</span> From model<sub>damping</sub> compute the Damping Matrix</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">modal_damping = <span style="color: #BFEBBF;">1e</span><span style="color: #7CB8BB;">-</span><span style="color: #BFEBBF;">5</span>;
|
||||
|
||||
@ -685,9 +702,9 @@ Cm = ab<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">1</sp
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7594849" class="outline-3">
|
||||
<h3 id="org7594849"><span class="section-number-3">3.5</span> Define inputs, outputs and state names</h3>
|
||||
<div class="outline-text-3" id="text-3-5">
|
||||
<div id="outline-container-org31812e9" class="outline-3">
|
||||
<h3 id="org31812e9"><span class="section-number-3">4.5</span> Define inputs, outputs and state names</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">StateName = <span style="color: #DCDCCC;">{</span><span style="text-decoration: underline;">...</span>
|
||||
<span style="color: #CC9393;">'xs'</span>, <span style="text-decoration: underline;">...</span> <span style="color: #7F9F7F;">% Displacement of Spindle [m]</span>
|
||||
@ -711,9 +728,9 @@ OutputUnit = <span style="color: #DCDCCC;">{</span><span style="color: #CC9393;"
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgab8df0c" class="outline-3">
|
||||
<h3 id="orgab8df0c"><span class="section-number-3">3.6</span> Define A, B and C matrices</h3>
|
||||
<div class="outline-text-3" id="text-3-6">
|
||||
<div id="outline-container-org931a108" class="outline-3">
|
||||
<h3 id="org931a108"><span class="section-number-3">4.6</span> Define A, B and C matrices</h3>
|
||||
<div class="outline-text-3" id="text-4-6">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7F9F7F;">% A Matrix</span>
|
||||
A = <span style="color: #DCDCCC;">[</span>zeros<span style="color: #BFEBBF;">(</span>size<span style="color: #D0BF8F;">(</span>Mm<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> eye<span style="color: #BFEBBF;">(</span>size<span style="color: #D0BF8F;">(</span>Mm<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span> ; <span style="text-decoration: underline;">...</span>
|
||||
@ -737,9 +754,9 @@ D = zeros<span style="color: #DCDCCC;">(</span>length<span style="color: #BFEBBF
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org733eed7" class="outline-3">
|
||||
<h3 id="org733eed7"><span class="section-number-3">3.7</span> Generate the State Space Model</h3>
|
||||
<div class="outline-text-3" id="text-3-7">
|
||||
<div id="outline-container-org6246054" class="outline-3">
|
||||
<h3 id="org6246054"><span class="section-number-3">4.7</span> Generate the State Space Model</h3>
|
||||
<div class="outline-text-3" id="text-4-7">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">sys = ss<span style="color: #DCDCCC;">(</span>A, B, C, D<span style="color: #DCDCCC;">)</span>;
|
||||
sys.StateName = StateName;
|
||||
@ -755,11 +772,11 @@ sys.OutputUnit = OutputUnit;
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgfdcbcde" class="outline-3">
|
||||
<h3 id="orgfdcbcde"><span class="section-number-3">3.8</span> Bode Plot</h3>
|
||||
<div class="outline-text-3" id="text-3-8">
|
||||
<div id="outline-container-orgfed5d4b" class="outline-3">
|
||||
<h3 id="orgfed5d4b"><span class="section-number-3">4.8</span> Bode Plot</h3>
|
||||
<div class="outline-text-3" id="text-4-8">
|
||||
<p>
|
||||
The transfer function from a disturbance force \(f\) to the measured displacement \(d\) is shown figure <a href="#org1fee24e">8</a>.
|
||||
The transfer function from a disturbance force \(f\) to the measured displacement \(d\) is shown figure <a href="#org2a58760">9</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -773,22 +790,22 @@ xlabel<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Frequ
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org1fee24e" class="figure">
|
||||
<div id="org2a58760" class="figure">
|
||||
<p><img src="figs/spindle_f_to_d.png" alt="spindle_f_to_d.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Bode plot of the transfer function from \(f\) to \(d\)</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Bode plot of the transfer function from \(f\) to \(d\)</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb89b365" class="outline-2">
|
||||
<h2 id="orgb89b365"><span class="section-number-2">4</span> Power Spectral Density</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<div id="outline-container-org90551c6" class="outline-2">
|
||||
<h2 id="org90551c6"><span class="section-number-2">5</span> Power Spectral Density</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
</div>
|
||||
<div id="outline-container-org332e4c7" class="outline-3">
|
||||
<h3 id="org332e4c7"><span class="section-number-3">4.1</span> Compute the PSD</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div id="outline-container-org659372f" class="outline-3">
|
||||
<h3 id="org659372f"><span class="section-number-3">5.1</span> Compute the PSD</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">n_av = <span style="color: #BFEBBF;">4</span>; <span style="color: #7F9F7F;">% Number of average</span>
|
||||
|
||||
@ -804,11 +821,11 @@ xlabel<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Frequ
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org00bd73b" class="outline-3">
|
||||
<h3 id="org00bd73b"><span class="section-number-3">4.2</span> Plot the computed PSD</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<div id="outline-container-org3690c18" class="outline-3">
|
||||
<h3 id="org3690c18"><span class="section-number-3">5.2</span> Plot the computed PSD</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<p>
|
||||
The Amplitude Spectral Densities of the displacement of the spindle for the \(x\), \(y\) and \(z\) directions are shown figure <a href="#orgd03ce0d">10</a>. They correspond to the Asynchronous part shown figure <a href="#org028e267">4</a>.
|
||||
The Amplitude Spectral Densities of the displacement of the spindle for the \(x\), \(y\) and \(z\) directions are shown figure <a href="#org94523dd">11</a>. They correspond to the Asynchronous part shown figure <a href="#orgdc342a6">5</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -826,10 +843,10 @@ xlim<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div id="orge0d49e3" class="figure">
|
||||
<div id="orgd766415" class="figure">
|
||||
<p><img src="figs/spindle_psd_xyz_1rpm.png" alt="spindle_psd_xyz_1rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 9: </span>Power spectral density of the Asynchronous displacement - 1rpm</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Power spectral density of the Asynchronous displacement - 1rpm</p>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -847,17 +864,17 @@ xlim<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div id="orgd03ce0d" class="figure">
|
||||
<div id="org94523dd" class="figure">
|
||||
<p><img src="figs/spindle_psd_xyz_60rpm.png" alt="spindle_psd_xyz_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Power spectral density of the Asynchronous displacement - 60rpm</p>
|
||||
<p><span class="figure-number">Figure 11: </span>Power spectral density of the Asynchronous displacement - 60rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2ebf22d" class="outline-3">
|
||||
<h3 id="org2ebf22d"><span class="section-number-3">4.3</span> Load the model of the spindle</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div id="outline-container-org0a6959c" class="outline-3">
|
||||
<h3 id="org0a6959c"><span class="section-number-3">5.3</span> Load the model of the spindle</h3>
|
||||
<div class="outline-text-3" id="text-5-3">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">load<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'./mat/spindle_model.mat', 'sys'</span><span style="color: #DCDCCC;">)</span>;
|
||||
Tfd = abs<span style="color: #DCDCCC;">(</span>squeeze<span style="color: #BFEBBF;">(</span>freqresp<span style="color: #D0BF8F;">(</span>sys<span style="color: #93E0E3;">(</span><span style="color: #CC9393;">'d', 'f'</span><span style="color: #93E0E3;">)</span><span style="color: #CC9393;">, f_60rpm, 'Hz'</span><span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span><span style="color: #DCDCCC;">)</span>;
|
||||
@ -866,9 +883,9 @@ Tfd = abs<span style="color: #DCDCCC;">(</span>squeeze<span style="color: #BFEBB
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org75457ec" class="outline-3">
|
||||
<h3 id="org75457ec"><span class="section-number-3">4.4</span> Plot the PSD of the Force using the model</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
<div id="outline-container-orgb977795" class="outline-3">
|
||||
<h3 id="orgb977795"><span class="section-number-3">5.4</span> Plot the PSD of the Force using the model</h3>
|
||||
<div class="outline-text-3" id="text-5-4">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
plot<span style="color: #DCDCCC;">(</span>f_60rpm, <span style="color: #BFEBBF;">(</span>pxx_60rpm<span style="color: #7CB8BB;">.^</span>.<span style="color: #BFEBBF;">5</span><span style="color: #BFEBBF;">)</span><span style="color: #7CB8BB;">./</span>Tfd, <span style="color: #CC9393;">'DisplayName', '$P_</span><span style="color: #BFEBBF;">{</span><span style="color: #CC9393;">xx</span><span style="color: #BFEBBF;">}</span><span style="color: #CC9393;">$'</span><span style="color: #DCDCCC;">)</span>;
|
||||
@ -878,17 +895,17 @@ xlim<span style="color: #DCDCCC;">(</span><span style="color: #BFEBBF;">[</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div id="org4bf2d10" class="figure">
|
||||
<div id="orgfe4f821" class="figure">
|
||||
<p><img src="figs/spindle_psd_f_60rpm.png" alt="spindle_psd_f_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>Power spectral density of the force - 60rpm</p>
|
||||
<p><span class="figure-number">Figure 12: </span>Power spectral density of the force - 60rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org439a1fe" class="outline-3">
|
||||
<h3 id="org439a1fe"><span class="section-number-3">4.5</span> Estimated Shape of the PSD of the force</h3>
|
||||
<div class="outline-text-3" id="text-4-5">
|
||||
<div id="outline-container-orgbd81578" class="outline-3">
|
||||
<h3 id="orgbd81578"><span class="section-number-3">5.5</span> Estimated Shape of the PSD of the force</h3>
|
||||
<div class="outline-text-3" id="text-5-5">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">s = tf<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'s'</span><span style="color: #DCDCCC;">)</span>;
|
||||
|
||||
@ -907,15 +924,15 @@ TWf = abs<span style="color: #DCDCCC;">(</span>squeeze<span style="color: #BFEBB
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1b142b0" class="outline-3">
|
||||
<h3 id="org1b142b0"><span class="section-number-3">4.6</span> PSD in [N]</h3>
|
||||
<div class="outline-text-3" id="text-4-6">
|
||||
<div id="outline-container-orgebea7be" class="outline-3">
|
||||
<h3 id="orgebea7be"><span class="section-number-3">5.6</span> PSD in [N]</h3>
|
||||
<div class="outline-text-3" id="text-5-6">
|
||||
<p>
|
||||
Above \(200Hz\), the Amplitude Spectral Density seems dominated by noise coming from the electronics (charge amplifier, ADC, …). So we don't know what is the frequency content of the force above that frequency. However, we assume that \(P_{xx}\) is decreasing with \(1/f\) as it seems so be the case below \(100Hz\) (figure <a href="#orgd03ce0d">10</a>).
|
||||
Above \(200Hz\), the Amplitude Spectral Density seems dominated by noise coming from the electronics (charge amplifier, ADC, …). So we don't know what is the frequency content of the force above that frequency. However, we assume that \(P_{xx}\) is decreasing with \(1/f\) as it seems so be the case below \(100Hz\) (figure <a href="#org94523dd">11</a>).
|
||||
</p>
|
||||
|
||||
<p>
|
||||
We then fit the PSD of the displacement with a transfer function (figure <a href="#orgb39ba01">13</a>).
|
||||
We then fit the PSD of the displacement with a transfer function (figure <a href="#org54db7f7">14</a>).
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -931,17 +948,17 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Locat
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div id="org0071f07" class="figure">
|
||||
<div id="org6eac4af" class="figure">
|
||||
<p><img src="figs/spindle_psd_f_comp_60rpm.png" alt="spindle_psd_f_comp_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 12: </span>Power spectral density of the force - 60rpm</p>
|
||||
<p><span class="figure-number">Figure 13: </span>Power spectral density of the force - 60rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgf3b9073" class="outline-3">
|
||||
<h3 id="orgf3b9073"><span class="section-number-3">4.7</span> PSD in [m]</h3>
|
||||
<div class="outline-text-3" id="text-4-7">
|
||||
<div id="outline-container-org4818470" class="outline-3">
|
||||
<h3 id="org4818470"><span class="section-number-3">5.7</span> PSD in [m]</h3>
|
||||
<div class="outline-text-3" id="text-5-7">
|
||||
<p>
|
||||
To obtain the PSD of the force \(f\) that induce such displacement, we use the following formula:
|
||||
\[ \sqrt{PSD(d)} = |T_{d/f}| \sqrt{PSD(f)} \]
|
||||
@ -953,7 +970,7 @@ And so we have:
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The obtain Power Spectral Density of the force is displayed figure <a href="#org0071f07">12</a>.
|
||||
The obtain Power Spectral Density of the force is displayed figure <a href="#org6eac4af">13</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -969,17 +986,17 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Locat
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgb39ba01" class="figure">
|
||||
<div id="org54db7f7" class="figure">
|
||||
<p><img src="figs/spindle_psd_d_comp_60rpm.png" alt="spindle_psd_d_comp_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 13: </span>Comparison of the power spectral density of the measured displacement and of the model</p>
|
||||
<p><span class="figure-number">Figure 14: </span>Comparison of the power spectral density of the measured displacement and of the model</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4c86acf" class="outline-3">
|
||||
<h3 id="org4c86acf"><span class="section-number-3">4.8</span> Compute the resulting RMS value [m]</h3>
|
||||
<div class="outline-text-3" id="text-4-8">
|
||||
<div id="outline-container-org408aad1" class="outline-3">
|
||||
<h3 id="org408aad1"><span class="section-number-3">5.8</span> Compute the resulting RMS value [m]</h3>
|
||||
<div class="outline-text-3" id="text-5-8">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
hold on;
|
||||
@ -994,17 +1011,17 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Locat
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org3078522" class="figure">
|
||||
<div id="orgf1eaaa3" class="figure">
|
||||
<p><img src="figs/spindle_cps_d_comp_60rpm.png" alt="spindle_cps_d_comp_60rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 14: </span>Cumulative Power Spectrum - 60rpm</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Cumulative Power Spectrum - 60rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org49836af" class="outline-3">
|
||||
<h3 id="org49836af"><span class="section-number-3">4.9</span> Compute the resulting RMS value [m]</h3>
|
||||
<div class="outline-text-3" id="text-4-9">
|
||||
<div id="outline-container-org97cda8b" class="outline-3">
|
||||
<h3 id="org97cda8b"><span class="section-number-3">5.9</span> Compute the resulting RMS value [m]</h3>
|
||||
<div class="outline-text-3" id="text-5-9">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #7CB8BB;">figure</span>;
|
||||
hold on;
|
||||
@ -1019,22 +1036,22 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Locat
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org5f0ce5d" class="figure">
|
||||
<div id="org4fdbcb3" class="figure">
|
||||
<p><img src="figs/spindle_cps_d_comp_1rpm.png" alt="spindle_cps_d_comp_1rpm.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Cumulative Power Spectrum - 1rpm</p>
|
||||
<p><span class="figure-number">Figure 16: </span>Cumulative Power Spectrum - 1rpm</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge970472" class="outline-2">
|
||||
<h2 id="orge970472"><span class="section-number-2">5</span> Functions</h2>
|
||||
<div class="outline-text-2" id="text-5">
|
||||
<div id="outline-container-orgb0ca16b" class="outline-2">
|
||||
<h2 id="orgb0ca16b"><span class="section-number-2">6</span> Functions</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
</div>
|
||||
<div id="outline-container-org8e2edc2" class="outline-3">
|
||||
<h3 id="org8e2edc2"><span class="section-number-3">5.1</span> getAsynchronousError</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div id="outline-container-org14006e0" class="outline-3">
|
||||
<h3 id="org14006e0"><span class="section-number-3">6.1</span> getAsynchronousError</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #F0DFAF; font-weight: bold;">function</span> <span style="color: #DCDCCC;">[</span><span style="color: #DFAF8F;">Wxdec</span><span style="color: #DCDCCC;">]</span> = <span style="color: #93E0E3;">getAsynchronousError</span><span style="color: #DCDCCC;">(</span><span style="color: #DFAF8F;">data</span>, <span style="color: #DFAF8F;">NbTurn</span><span style="color: #DCDCCC;">)</span>
|
||||
<span style="color: #7F9F7F; font-weight: bold; text-decoration: overline;">%%</span>
|
||||
@ -1073,7 +1090,7 @@ legend<span style="color: #DCDCCC;">(</span><span style="color: #CC9393;">'Locat
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-03-15 ven. 11:43</p>
|
||||
<p class="date">Created: 2019-03-20 mer. 15:17</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
|
||||
@ -25,6 +25,11 @@
|
||||
|
||||
The report made by the PEL is accessible [[file:documents/Spindle_report_test.pdf][here]].
|
||||
|
||||
* Notes
|
||||
#+name: fig:setup_spindle
|
||||
#+caption: Measurement setup at the PEL lab
|
||||
[[file:./figs/setup_spindle.png]]
|
||||
|
||||
* Data Processing
|
||||
#+begin_src matlab :results none :exports none
|
||||
<<matlab-init>>
|
||||
|
||||
478
index.html
478
index.html
@ -3,7 +3,7 @@
|
||||
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||
<head>
|
||||
<!-- 2019-03-15 ven. 16:34 -->
|
||||
<!-- 2019-03-20 mer. 15:20 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1" />
|
||||
<title>Measurement of the ID31 Micro-Station</title>
|
||||
@ -249,21 +249,475 @@ for the JavaScript code in this tag.
|
||||
<body>
|
||||
<div id="content">
|
||||
<h1 class="title">Measurement of the ID31 Micro-Station</h1>
|
||||
|
||||
<ul class="org-ul">
|
||||
<li><a href="2017-11-17 - Marc/index.html">Dynamical Measurement - Accelerometers</a></li>
|
||||
<li><a href="2018-01-12 - Marc/index.html">Dynamical Measurement - Geophones</a></li>
|
||||
<li><a href="2018-10-12 - Marc/index.html">Dynamical Measurement - Geophones</a></li>
|
||||
<li><a href="2018-10-15 - Marc/index.html">Noise Measurements</a></li>
|
||||
<li><a href="Static/index.html">Static Measurements</a></li>
|
||||
<li><a href="Ground Motion/index.html">Ground Motion Measurements</a></li>
|
||||
<li><a href="Spindle/index.html">Spindle Measurements</a></li>
|
||||
<li><a href="actuators-sensors/index.html">Actuators and Sensors</a></li>
|
||||
<div id="table-of-contents">
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#org6cfc943">1. Measurements of the dynamics of the station</a>
|
||||
<ul>
|
||||
<li><a href="#orge701320">1.1. Measurement 1</a></li>
|
||||
<li><a href="#org0aa014a">1.2. Measurement 2</a></li>
|
||||
<li><a href="#orgc919f50">1.3. Measurement 3</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgcc50077">2. Measurements of perturbations</a>
|
||||
<ul>
|
||||
<li><a href="#org361950d">2.1. Noise coming from the control loop of each stage</a></li>
|
||||
<li><a href="#orge980293">2.2. Static guiding error estimation</a></li>
|
||||
<li><a href="#orge36b968">2.3. Ground motion measurements</a></li>
|
||||
<li><a href="#org4b8430a">2.4. Spindle Measurements</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#orgb0ab8ae">3. Ressources</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org6cfc943" class="outline-2">
|
||||
<h2 id="org6cfc943"><span class="section-number-2">1</span> Measurements of the dynamics of the station</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
</div>
|
||||
<div id="outline-container-orge701320" class="outline-3">
|
||||
<h3 id="orge701320"><span class="section-number-3">1.1</span> Measurement 1</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<p>
|
||||
<a href="2017-11-17 - Marc/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0e68ec7" class="outline-4">
|
||||
<h4 id="org0e68ec7">Notes</h4>
|
||||
<div class="outline-text-4" id="text-org0e68ec7">
|
||||
<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>
|
||||
Dynamics of the station is evaluated using instrumented hammer and accelerometers fixed on each stage.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org66ede15" class="outline-4">
|
||||
<h4 id="org66ede15">Goal</h4>
|
||||
<div class="outline-text-4" id="text-org66ede15">
|
||||
<ul class="org-ul">
|
||||
<li>Obtain a first estimation of resonance frequencies</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org92c3b28" class="outline-4">
|
||||
<h4 id="org92c3b28">Results</h4>
|
||||
<div class="outline-text-4" id="text-org92c3b28">
|
||||
<p>
|
||||
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.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0aa014a" class="outline-3">
|
||||
<h3 id="org0aa014a"><span class="section-number-3">1.2</span> Measurement 2</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
<p>
|
||||
<a href="2018-01-12 - Marc/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org9788024" class="outline-4">
|
||||
<h4 id="org9788024">Notes</h4>
|
||||
<div class="outline-text-4" id="text-org9788024">
|
||||
<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">2018-01-12</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Sensors</b></td>
|
||||
<td class="org-left">Geophones</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>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Notes</b></td>
|
||||
<td class="org-left">Unglued Granite</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org42ddc37" class="outline-4">
|
||||
<h4 id="org42ddc37">Goal</h4>
|
||||
<div class="outline-text-4" id="text-org42ddc37">
|
||||
<p>
|
||||
Obtain better coherence at low frequency.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org51738ec" class="outline-4">
|
||||
<h4 id="org51738ec">Results</h4>
|
||||
<div class="outline-text-4" id="text-org51738ec">
|
||||
<p>
|
||||
Resonances at 42Hz, 70Hz and 125Hz have been identified.
|
||||
The coherence is much better than when using accelerometers.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc919f50" class="outline-3">
|
||||
<h3 id="orgc919f50"><span class="section-number-3">1.3</span> Measurement 3</h3>
|
||||
<div class="outline-text-3" id="text-1-3">
|
||||
<p>
|
||||
<a href="2018-10-12 - Marc/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcfad1ec" class="outline-4">
|
||||
<h4 id="orgcfad1ec">Notes</h4>
|
||||
<div class="outline-text-4" id="text-orgcfad1ec">
|
||||
<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">2018-10-12</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Sensors</b></td>
|
||||
<td class="org-left">Geophones</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">Experimental Hutch</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb164f26" class="outline-4">
|
||||
<h4 id="orgb164f26">Goal</h4>
|
||||
<div class="outline-text-4" id="text-orgb164f26">
|
||||
<p>
|
||||
The station is now installed on the experimental hutch with a glued granite (final location).
|
||||
The station is identified again.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org36d9dac" class="outline-4">
|
||||
<h4 id="org36d9dac">Results</h4>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcc50077" class="outline-2">
|
||||
<h2 id="orgcc50077"><span class="section-number-2">2</span> Measurements of perturbations</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
</div>
|
||||
<div id="outline-container-org361950d" class="outline-3">
|
||||
<h3 id="org361950d"><span class="section-number-3">2.1</span> Noise coming from the control loop of each stage</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<p>
|
||||
<a href="2018-10-15 - Marc/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org84fe95c" class="outline-4">
|
||||
<h4 id="org84fe95c">Notes</h4>
|
||||
<div class="outline-text-4" id="text-org84fe95c">
|
||||
<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">2018-10-15</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Sensors</b></td>
|
||||
<td class="org-left">Geophones</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Location</b></td>
|
||||
<td class="org-left">Experimental Hutch</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgd2c9cc0" class="outline-4">
|
||||
<h4 id="orgd2c9cc0">Goal</h4>
|
||||
<div class="outline-text-4" id="text-orgd2c9cc0">
|
||||
<p>
|
||||
The objective is to estimate how much perturbation is injected in the system by the control systems of each stages of the micro station.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
Geophones are located on the structure.
|
||||
Each stage is turned on and off.
|
||||
The signals of the geophones are then compared when the stage is on and off.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org2d2e023" class="outline-4">
|
||||
<h4 id="org2d2e023">Results</h4>
|
||||
<div class="outline-text-4" id="text-org2d2e023">
|
||||
<ul class="org-ul">
|
||||
<li>The translation stage seems to have effect on the tilt stage at 20Hz.</li>
|
||||
<li>The Tilt stage and the Hexapod control systems have no effect on the motion of the other stages.</li>
|
||||
<li>The spindle stage control system seems to induce a motion of the Hexapod on the Z direction around 20Hz.</li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge980293" class="outline-3">
|
||||
<h3 id="orge980293"><span class="section-number-3">2.2</span> Static guiding error estimation</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<p>
|
||||
<a href="Static/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org315d127" class="outline-4">
|
||||
<h4 id="org315d127">Notes</h4>
|
||||
<div class="outline-text-4" id="text-org315d127">
|
||||
<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">2019-01-09</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Sensors</b></td>
|
||||
<td class="org-left">Interferometer</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Location</b></td>
|
||||
<td class="org-left">Experimental Hutch</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
|
||||
<p>
|
||||
Each stage is statically moved of all its stroke on after the other.
|
||||
A metrology element is located at the sample position and its motion is measured in translations and rotations.
|
||||
For each small displacement, the stage is stopped and the motion of the sample is recorded and averaged.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc6d7758" class="outline-4">
|
||||
<h4 id="orgc6d7758">Goal</h4>
|
||||
<div class="outline-text-4" id="text-orgc6d7758">
|
||||
<p>
|
||||
The goal is to estimate the guiding errors of each stage.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org96cddfc" class="outline-4">
|
||||
<h4 id="org96cddfc">Results</h4>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge36b968" class="outline-3">
|
||||
<h3 id="orge36b968"><span class="section-number-3">2.3</span> Ground motion measurements</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<p>
|
||||
<a href="Ground Motion/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org72d83c7" class="outline-4">
|
||||
<h4 id="org72d83c7">Notes</h4>
|
||||
<div class="outline-text-4" id="text-org72d83c7">
|
||||
<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">2014-10</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Sensors</b></td>
|
||||
<td class="org-left">Geophone</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Location</b></td>
|
||||
<td class="org-left">ID31 Floor</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org8e77733" class="outline-4">
|
||||
<h4 id="org8e77733">Goal</h4>
|
||||
<div class="outline-text-4" id="text-org8e77733">
|
||||
<p>
|
||||
The objective is to obtain the Power Spectral Density of the ground motion at the ID31 floor.
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org762ad60" class="outline-4">
|
||||
<h4 id="org762ad60">Results</h4>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4b8430a" class="outline-3">
|
||||
<h3 id="org4b8430a"><span class="section-number-3">2.4</span> Spindle Measurements</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<p>
|
||||
<a href="Spindle/index.html">Link to the analysis</a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org33418cf" class="outline-4">
|
||||
<h4 id="org33418cf">Notes</h4>
|
||||
<div class="outline-text-4" id="text-org33418cf">
|
||||
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
|
||||
|
||||
<colgroup>
|
||||
<col class="org-left" />
|
||||
|
||||
<col class="org-right" />
|
||||
</colgroup>
|
||||
<tbody>
|
||||
<tr>
|
||||
<td class="org-left"><b>Date</b></td>
|
||||
<td class="org-right">2017-04-25</td>
|
||||
</tr>
|
||||
|
||||
<tr>
|
||||
<td class="org-left"><b>Location</b></td>
|
||||
<td class="org-right">PEL Lab</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgbd90070" class="outline-4">
|
||||
<h4 id="orgbd90070">Goal</h4>
|
||||
<div class="outline-text-4" id="text-orgbd90070">
|
||||
<p>
|
||||
The goal is to estimate all the error motions induced by the Spindle
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgff9b253" class="outline-4">
|
||||
<h4 id="orgff9b253">Results</h4>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgb0ab8ae" class="outline-2">
|
||||
<h2 id="orgb0ab8ae"><span class="section-number-2">3</span> Ressources</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a href="actuators-sensors/index.html">Actuators and Sensors</a>
|
||||
</p>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-03-15 ven. 16:34</p>
|
||||
<p class="date">Created: 2019-03-20 mer. 15:20</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
|
||||
128
index.org
128
index.org
@ -2,6 +2,9 @@
|
||||
:drawer:
|
||||
#+STARTUP: overview
|
||||
|
||||
#+OPTIONS: toc:2
|
||||
#+OPTIONS: num:2
|
||||
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <script src="js/jquery.min.js"></script>
|
||||
@ -21,11 +24,120 @@
|
||||
#+PROPERTY: header-args:matlab+ :output-dir figs
|
||||
:end:
|
||||
|
||||
- [[file:2017-11-17%20-%20Marc/index.org][Dynamical Measurement - Accelerometers]]
|
||||
- [[file:2018-01-12%20-%20Marc/index.org][Dynamical Measurement - Geophones]]
|
||||
- [[file:2018-10-12%20-%20Marc/index.org][Dynamical Measurement - Geophones]]
|
||||
- [[file:2018-10-15%20-%20Marc/index.org][Noise Measurements]]
|
||||
- [[file:Static/index.org][Static Measurements]]
|
||||
- [[file:Ground%20Motion/index.org][Ground Motion Measurements]]
|
||||
- [[file:Spindle/index.org][Spindle Measurements]]
|
||||
- [[file:actuators-sensors/index.org][Actuators and Sensors]]
|
||||
* Measurements of the dynamics of the station
|
||||
** Measurement 1
|
||||
[[file:2017-11-17%20-%20Marc/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *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
|
||||
|
||||
*** Results
|
||||
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.
|
||||
|
||||
** Measurement 2
|
||||
[[file:2018-01-12%20-%20Marc/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *Date* | 2018-01-12 |
|
||||
| *Sensors* | Geophones |
|
||||
| *Excitation* | Instrumented Hammer |
|
||||
| *Location* | Laboratory |
|
||||
| *Notes* | Unglued Granite |
|
||||
|
||||
*** Goal
|
||||
Obtain better coherence at low frequency.
|
||||
|
||||
*** Results
|
||||
Resonances at 42Hz, 70Hz and 125Hz have been identified.
|
||||
The coherence is much better than when using accelerometers.
|
||||
|
||||
** Measurement 3
|
||||
[[file:2018-10-12%20-%20Marc/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *Date* | 2018-10-12 |
|
||||
| *Sensors* | Geophones |
|
||||
| *Excitation* | Instrumented Hammer |
|
||||
| *Location* | Experimental Hutch |
|
||||
|
||||
*** Goal
|
||||
The station is now installed on the experimental hutch with a glued granite (final location).
|
||||
The station is identified again.
|
||||
|
||||
*** Results
|
||||
|
||||
* Measurements of perturbations
|
||||
** Noise coming from the control loop of each stage
|
||||
[[file:2018-10-15%20-%20Marc/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *Date* | 2018-10-15 |
|
||||
| *Sensors* | Geophones |
|
||||
| *Location* | Experimental Hutch |
|
||||
|
||||
*** Goal
|
||||
The objective is to estimate how much perturbation is injected in the system by the control systems of each stages of the micro station.
|
||||
|
||||
Geophones are located on the structure.
|
||||
Each stage is turned on and off.
|
||||
The signals of the geophones are then compared when the stage is on and off.
|
||||
|
||||
*** Results
|
||||
- The translation stage seems to have effect on the tilt stage at 20Hz.
|
||||
- The Tilt stage and the Hexapod control systems have no effect on the motion of the other stages.
|
||||
- The spindle stage control system seems to induce a motion of the Hexapod on the Z direction around 20Hz.
|
||||
|
||||
** Static guiding error estimation
|
||||
[[file:Static/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *Date* | 2019-01-09 |
|
||||
| *Sensors* | Interferometer |
|
||||
| *Location* | Experimental Hutch |
|
||||
|
||||
Each stage is statically moved of all its stroke on after the other.
|
||||
A metrology element is located at the sample position and its motion is measured in translations and rotations.
|
||||
For each small displacement, the stage is stopped and the motion of the sample is recorded and averaged.
|
||||
|
||||
*** Goal
|
||||
The goal is to estimate the guiding errors of each stage.
|
||||
|
||||
*** Results
|
||||
|
||||
** Ground motion measurements
|
||||
[[file:Ground%20Motion/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *Date* | 2014-10 |
|
||||
| *Sensors* | Geophone |
|
||||
| *Location* | ID31 Floor |
|
||||
|
||||
*** Goal
|
||||
The objective is to obtain the Power Spectral Density of the ground motion at the ID31 floor.
|
||||
|
||||
*** Results
|
||||
|
||||
** Spindle Measurements
|
||||
[[file:Spindle/index.org][Link to the analysis]]
|
||||
|
||||
*** Notes
|
||||
| *Date* | 2017-04-25 |
|
||||
| *Location* | PEL Lab |
|
||||
|
||||
*** Goal
|
||||
The goal is to estimate all the error motions induced by the Spindle
|
||||
|
||||
*** Results
|
||||
|
||||
* Ressources
|
||||
[[file:actuators-sensors/index.org][Actuators and Sensors]]
|
||||
|
||||
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Reference in New Issue
Block a user