From 401a6da21b882910cf7bd2057f6ca89d875107b7 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 2 Apr 2019 10:39:37 +0200 Subject: [PATCH] Integration of geophone to have the displacement --- 2018-10-15 - Marc/figs/meas2_disp.png | Bin 0 -> 57637 bytes 2018-10-15 - Marc/figs/meas3_disp.png | Bin 0 -> 69633 bytes 2018-10-15 - Marc/figs/meas4.png | Bin 54474 -> 56510 bytes .../figs/meas4_hexa_z_psd_int.png | Bin 0 -> 82063 bytes 2018-10-15 - Marc/figs/meas4_int.png | Bin 0 -> 76588 bytes 2018-10-15 - Marc/index.html | Bin 64212 -> 89248 bytes 2018-10-15 - Marc/index.org | 228 ++++++++++++++++-- 7 files changed, 206 insertions(+), 22 deletions(-) create mode 100644 2018-10-15 - Marc/figs/meas2_disp.png create mode 100644 2018-10-15 - Marc/figs/meas3_disp.png create mode 100644 2018-10-15 - Marc/figs/meas4_hexa_z_psd_int.png create mode 100644 2018-10-15 - Marc/figs/meas4_int.png diff --git a/2018-10-15 - Marc/figs/meas2_disp.png b/2018-10-15 - Marc/figs/meas2_disp.png new file mode 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z-#(+e)qh;sP4E3St$w?hSA2(i-#(+i%j(xB5r;}_d$mogC}njxtKY4Y{<@+*XT3r- zuVJYZ@b5DRN=C=a=%re9Dm^D#63I?Fwd9I(nnk~-&hrcBl*-wdnUgZ-6h27zP8>#$ z=u#Iwg!4>3gkzqkOCs@VI*)M%a1$KVaH<2~IL3uB^Jttr(YRWzRi|2dZD{U{s}C5* zwsz8fg#`++-|TX46L+f|5nwOeDb$M>4%7{{1r^)94tE`#oamPJx73D{-e+*c&!rh+ z($mN;uA;RKI^tO&4R88VO3}THLS$F)O~-nO*5O@RA-c&4-)VsP@DHQWX&oTxU4Y&% ztZQz7QwqTMMDI7E0^TIO-)TJyv>q*oN^1y7FK@g$(Vte-4Q3%m!m5}N#7cCKl`)%9 z8r(f?(7N_#>L8C-6MG|gtx1Fz^9?OgZgNlD3B54dX7{dH%70%*FVOC4Qt$gA_dA*Q zw<7m~lfFJem6mzf6>~z*d|OfK%_2|t%~7wch|4EJp~I*0yBMded`5uo%!gx_GNH^e zowMHGHYfO{gI?MxhC<-Z{m*NJT#tp{7$B^a1ZKLa;M24j4Hc(;=kK?K0X|| zF%J3zmw$%ak<@~T2F45Xyt2EG_aYMRZ)5Pyt!krHZEg|1YOJ}w-B$T#OqEl27@!(d zj>@jdE> +#+end_src + +#+LABEL: fig:meas2_disp +#+CAPTION: Time domain - measurement 2 +#+RESULTS: fig:meas2_disp +[[file:figs/meas2_disp.png]] + We compute the PSD of each track and we plot them (figures [[fig:meas2_ry_z_psd]], [[fig:meas2_ry_tilt_psd]] and [[fig:meas2_ty_y_psd]] ). #+begin_src matlab :exports code :results silent [pxx211, f21] = pwelch(meas{2}.Track1(1:ceil(326/dt)), psd_window, [], [], Fs); @@ -557,9 +621,9 @@ The time domain result is shown figure [[fig:meas3]]. #+begin_src matlab :exports results :results silent figure; hold on; - plot(t3(ceil(380/dt):ceil(420/dt)), (1/276.8).*meas{3}.Track1(ceil(380/dt):ceil(420/dt))); - plot(t3(ceil(380/dt):ceil(420/dt)), (1/276.8).*meas{3}.Track2(ceil(380/dt):ceil(420/dt))); - plot(t3(ceil(380/dt):ceil(420/dt)), (1/276.8).*meas{3}.Track3(ceil(380/dt):ceil(420/dt))); + plot(t3(ceil(380/dt):ceil(420/dt)), meas{3}.Track1(ceil(380/dt):ceil(420/dt))); + plot(t3(ceil(380/dt):ceil(420/dt)), meas{3}.Track2(ceil(380/dt):ceil(420/dt))); + plot(t3(ceil(380/dt):ceil(420/dt)), meas{3}.Track3(ceil(380/dt):ceil(420/dt))); hold off; xlabel('Time [s]'); ylabel('Velocity [m/s]'); legend({meas{3}.Track1_Name, meas{3}.Track2_Name, meas{3}.Track3_Name}, 'Location', 'northeast') @@ -576,6 +640,29 @@ The time domain result is shown figure [[fig:meas3]]. #+RESULTS: fig:meas3 [[file:figs/meas3.png]] +#+begin_src matlab :exports none :results silent + figure; + hold on; + plot(t3, cumtrapz(t3, meas{3}.Track1)); + plot(t3, cumtrapz(t3, meas{3}.Track2)); + plot(t3, cumtrapz(t3, meas{3}.Track3)); + hold off; + xlim([350, 450]); + xlabel('Time [s]'); ylabel('Displacement [m]'); + legend({meas{3}.Track1_Name, meas{3}.Track2_Name, meas{3}.Track3_Name}, 'Location', 'northeast') +#+end_src + +#+NAME: fig:meas3_disp +#+HEADER: :tangle no :exports results :results raw :noweb yes +#+begin_src matlab :var filepath="figs/meas3_disp.pdf" :var figsize="wide-noral" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+LABEL: fig:meas3_disp +#+CAPTION: Time domain - measurement 3 +#+RESULTS: fig:meas3_disp +[[file:figs/meas3_disp.png]] + We then compute the PSD of each track before and after turning off the hexapod and plot the results in the figures [[fig:meas3_hexa_z_psd]], [[fig:meas3_ry_z_psd]] and [[fig:meas3_ty_y_psd]]. #+begin_src matlab :exports code :results silent [pxx311, f31] = pwelch(meas{3}.Track1(1:ceil(400/dt)), psd_window, [], [], Fs); @@ -685,10 +772,11 @@ The slip ring is turned on at 300s, then the spindle is turned on at 620s (table #+begin_src matlab :exports results :results silent figure; hold on; - plot(t4, (1/276.8).*meas{4}.Track1); - plot(t4, (1/276.8).*meas{4}.Track2); - plot(t4, (1/276.8).*meas{4}.Track3); + plot(t4, meas{4}.Track1); + plot(t4, meas{4}.Track2); + plot(t4, meas{4}.Track3); hold off; + xlim([t4(1), t4(end)]); xlabel('Time [s]'); ylabel('Velocity [m/s]'); legend({meas{4}.Track1_Name, meas{4}.Track2_Name, meas{4}.Track3_Name}, 'Location', 'southwest') #+end_src @@ -704,6 +792,41 @@ The slip ring is turned on at 300s, then the spindle is turned on at 620s (table #+RESULTS: fig:meas4 [[file:figs/meas4.png]] +#+begin_src matlab :exports none :results silent + figure; + subaxis(1, 2, 1); + hold on; + plot(t4, cumtrapz(t4, meas{4}.Track1)); + plot(t4, cumtrapz(t4, meas{4}.Track2)); + plot(t4, cumtrapz(t4, meas{4}.Track3)); + hold off; + xlim([250, 350]); + xlabel('Time [s]'); ylabel('Displacement [m]'); + legend({meas{4}.Track1_Name, meas{4}.Track2_Name, meas{4}.Track3_Name}, 'Location', 'northwest') + + subaxis(1, 2, 2); + hold on; + plot(t4, cumtrapz(t4, meas{4}.Track1)); + plot(t4, cumtrapz(t4, meas{4}.Track2)); + plot(t4, cumtrapz(t4, meas{4}.Track3)); + hold off; + xlim([600, 650]); + xlabel('Time [s]'); ylabel('Displacement [m]'); +#+end_src + +If we integrate this signal, we obtain Figure [[fig:meas4_int]]. + +#+NAME: fig:meas4_int +#+HEADER: :tangle no :exports results :results raw :noweb yes +#+begin_src matlab :var filepath="figs/meas4_int.pdf" :var figsize="full-normal" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+LABEL: fig:meas4_int +#+CAPTION: Time domain - measurement 4 +#+RESULTS: fig:meas4_int +[[file:figs/meas4_int.png]] + The PSD of each track are computed using the code below. #+begin_src matlab :exports none :results silent [pxx411, f41] = pwelch(meas{4}.Track1(1:ceil(280/dt)), psd_window, [], [], Fs); @@ -717,6 +840,22 @@ The PSD of each track are computed using the code below. [pxx431, ~] = pwelch(meas{4}.Track3(1:ceil(280/dt)), psd_window, [], [], Fs); [pxx432, ~] = pwelch(meas{4}.Track3(ceil(280/dt):ceil(600/dt)), psd_window, [], [], Fs); [pxx433, ~] = pwelch(meas{4}.Track3(ceil(640/dt):end), psd_window, [], [], Fs); + + f41 = f41(2:end); + f42 = f42(2:end); + f43 = f43(2:end); + + pxx411 = pxx411(2:end); + pxx412 = pxx412(2:end); + pxx413 = pxx413(2:end); + + pxx421 = pxx421(2:end); + pxx422 = pxx422(2:end); + pxx423 = pxx423(2:end); + + pxx431 = pxx431(2:end); + pxx432 = pxx432(2:end); + pxx433 = pxx433(2:end); #+end_src #+begin_src matlab :exports none :results silent @@ -745,6 +884,51 @@ The PSD of each track are computed using the code below. #+RESULTS: fig:meas4_hexa_z_psd [[file:figs/meas4_hexa_z_psd.png]] +We plot the PSD of the displacement. +#+begin_src matlab :exports none :results silent + figure; + hold on; + plot(f41, sqrt(pxx411)./abs(squeeze(freqresp(L4C_G, f41, 'Hz')))./(2*pi*f41)); + plot(f42, sqrt(pxx412)./abs(squeeze(freqresp(L4C_G, f42, 'Hz')))./(2*pi*f42)); + plot(f43, sqrt(pxx413)./abs(squeeze(freqresp(L4C_G, f43, 'Hz')))./(2*pi*f43)); + xlim([fmin, fmax]); + xticks([1, 10, 100]); + set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('PSD [$m/\sqrt{Hz}$]'); + title(sprintf('%s', meas{4}.Track1_Name)); + legend({'0-280', '320-600', '640-end'}, 'Location', 'southwest'); + hold off; +#+end_src + +#+NAME: fig:meas4_hexa_z_psd_int +#+HEADER: :tangle no :exports results :results raw :noweb yes +#+begin_src matlab :var filepath="figs/meas4_hexa_z_psd_int.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+LABEL: fig:meas4_hexa_z_psd_int +#+CAPTION: PSD_INT of the Z velocity of the Hexapod - measurement 4 +#+RESULTS: fig:meas4_hexa_z_psd_int +[[file:figs/meas4_hexa_z_psd_int.png]] + +And we compute the Cumulative amplitude spectrum. +#+begin_src matlab :exports none :results silent + figure; + hold on; + plot(f41, sqrt(cumsum(pxx431./abs(squeeze(freqresp(L4C_G, f41, 'Hz'))).^2./(2*pi*f41).*(f41 - [0; f41(1:end-1)])))); + plot(f42, sqrt(cumsum(pxx432./abs(squeeze(freqresp(L4C_G, f42, 'Hz'))).^2./(2*pi*f42).*(f42 - [0; f42(1:end-1)])))); + plot(f43, sqrt(cumsum(pxx433./abs(squeeze(freqresp(L4C_G, f43, 'Hz'))).^2./(2*pi*f43).*(f43 - [0; f43(1:end-1)])))); + xlim([fmin, fmax]); + xticks([1, 10, 100]); + set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('CAS [$m$ rms]'); + title(sprintf('%s', meas{4}.Track1_Name)); + legend({'0-280', '320-600', '640-end'}, 'Location', 'southwest'); + hold off; +#+end_src + + + #+begin_src matlab :exports none :results silent figure; hold on; @@ -818,10 +1002,10 @@ The time domain signals are shown on figure [[fig:meas5]]. #+begin_src matlab :exports results :results silent figure; hold on; - plot(t5, (1/276.8).*meas{5}.Track1); - plot(t5, (1/276.8).*meas{5}.Track2); - plot(t5, (1/276.8).*meas{5}.Track3); - plot(t5, (1/276.8).*meas{5}.Track4); + plot(t5, meas{5}.Track1); + plot(t5, meas{5}.Track2); + plot(t5, meas{5}.Track3); + plot(t5, meas{5}.Track4); hold off; xlabel('Time [s]'); ylabel('Velocity [m/s]'); legend({meas{5}.Track1_Name, meas{5}.Track2_Name, meas{5}.Track3_Name, meas{5}.Track4_Name}, 'Location', 'northeast')