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Thomas Dehaeze
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@@ -4,7 +4,7 @@
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-04-23 jeu. 15:28 -->
<!-- 2020-04-27 lun. 10:18 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Effect on the control system of each stages on the vibration of the station</title>
<meta name="generator" content="Org mode" />
@@ -28,76 +28,77 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org31edd78">1. Effect of all the control systems on the Sample vibrations</a>
<li><a href="#org51d7a3e">1. Effect of all the control systems on the Sample vibrations</a>
<ul>
<li><a href="#org1d47683">1.1. Experimental Setup</a></li>
<li><a href="#orgfcb7154">1.2. Load data</a></li>
<li><a href="#orgbe65805">1.3. Analysis - Time Domain</a></li>
<li><a href="#orgdace4d9">1.4. Analysis - Frequency Domain</a>
<li><a href="#org053d9fe">1.1. Experimental Setup</a></li>
<li><a href="#orgcb36bc1">1.2. Load data</a></li>
<li><a href="#org5895a96">1.3. Analysis - Time Domain</a></li>
<li><a href="#org390bba0">1.4. Analysis - Frequency Domain</a>
<ul>
<li><a href="#orga76176e">1.4.1. Vibrations at the sample location</a></li>
<li><a href="#org8d92602">1.4.2. Vibrations on the marble</a></li>
<li><a href="#org3a4a488">1.4.1. Vibrations at the sample location</a></li>
<li><a href="#org49d7279">1.4.2. Vibrations on the marble</a></li>
</ul>
</li>
<li><a href="#org6f49679">1.5. Conclusion</a></li>
<li><a href="#org9b2f5fd">1.5. Conclusion</a></li>
</ul>
</li>
<li><a href="#org27d5063">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a>
<li><a href="#org4eafed3">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a>
<ul>
<li><a href="#org5e1d6ca">2.1. Experimental Setup</a></li>
<li><a href="#orgdbc788c">2.2. Load data</a></li>
<li><a href="#orgcaa00c9">2.3. Voltage to Velocity</a></li>
<li><a href="#org6392409">2.4. Analysis - Time Domain</a></li>
<li><a href="#org4e22262">2.5. Analysis - Frequency Domain</a>
<li><a href="#org4addbe8">2.1. Experimental Setup</a></li>
<li><a href="#orgb60aa2f">2.2. Load data</a></li>
<li><a href="#org68831ee">2.3. Voltage to Velocity</a></li>
<li><a href="#orgbbb370a">2.4. Analysis - Time Domain</a></li>
<li><a href="#orgd436876">2.5. Analysis - Frequency Domain</a>
<ul>
<li><a href="#org88ffac6">2.5.1. Vibrations at the sample location</a></li>
<li><a href="#org5eddb65">2.5.2. Vibrations on the marble</a></li>
<li><a href="#org2e1f962">2.5.1. Vibrations at the sample location</a></li>
<li><a href="#org8f33a44">2.5.2. Vibrations on the marble</a></li>
</ul>
</li>
<li><a href="#org60b1ca9">2.6. Conclusion</a></li>
<li><a href="#org381e6c2">2.6. Conclusion</a></li>
</ul>
</li>
<li><a href="#orgd7c39d5">3. Effect of the Symetrie Driver</a>
<li><a href="#orgce5eef9">3. Effect of the Symetrie Driver</a>
<ul>
<li><a href="#org757e668">3.1. Experimental Setup</a></li>
<li><a href="#org92c9e9b">3.2. Load data</a></li>
<li><a href="#orgb405d4d">3.3. Analysis - Time Domain</a></li>
<li><a href="#org486b9fb">3.4. Analysis - Frequency Domain</a>
<li><a href="#org6e62fbe">3.1. Experimental Setup</a></li>
<li><a href="#orgd0c4704">3.2. Load data</a></li>
<li><a href="#org30686ba">3.3. Analysis - Time Domain</a></li>
<li><a href="#orgd922ea4">3.4. Analysis - Frequency Domain</a>
<ul>
<li><a href="#orgd488281">3.4.1. Vibrations at the sample location</a></li>
<li><a href="#orgd49e7c3">3.4.1. Vibrations at the sample location</a></li>
</ul>
</li>
<li><a href="#org680fcdb">3.5. Conclusion</a></li>
<li><a href="#org031a084">3.5. Conclusion</a></li>
</ul>
</li>
</ul>
</div>
</div>
<p>
This file is organized as follow:
</p>
<ul class="org-ul">
<li>Section <a href="#orgc00965d">1</a>:
<li>Section <a href="#org3b0d32c">1</a>:
<ul class="org-ul">
<li>One geophone on the marble and one at the sample location</li>
<li>Each stage is turned on one by one</li>
</ul></li>
<li>Section <a href="#org06034f4">2</a>:
<li>Section <a href="#org757823f">2</a>:
<ul class="org-ul">
<li>One geophone on the marble and one at the sample location</li>
<li>Each stage is turned on one at a time</li>
</ul></li>
<li>Section <a href="#org9b94d23">3</a>:
<li>Section <a href="#orgd9c378b">3</a>:
<ul class="org-ul">
<li>We check if the Symetrie driver induces some vibrations when placed on the marble</li>
</ul></li>
</ul>
<div id="outline-container-org31edd78" class="outline-2">
<h2 id="org31edd78"><span class="section-number-2">1</span> Effect of all the control systems on the Sample vibrations</h2>
<div id="outline-container-org51d7a3e" class="outline-2">
<h2 id="org51d7a3e"><span class="section-number-2">1</span> Effect of all the control systems on the Sample vibrations</h2>
<div class="outline-text-2" id="text-1">
<p>
<a id="orgc00965d"></a>
<a id="org3b0d32c"></a>
</p>
<div class="note">
<p>
@@ -107,8 +108,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_cont
</div>
</div>
<div id="outline-container-org1d47683" class="outline-3">
<h3 id="org1d47683"><span class="section-number-3">1.1</span> Experimental Setup</h3>
<div id="outline-container-org053d9fe" class="outline-3">
<h3 id="org053d9fe"><span class="section-number-3">1.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-1-1">
<p>
We here measure the signals of two L22 geophones:
@@ -136,7 +137,7 @@ First, all the control systems are turned ON, then, they are turned one by one.
Each measurement are done during 50s.
</p>
<table id="org109e9c5" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="org8234ce1" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup>
@@ -256,8 +257,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div>
</div>
<div id="outline-container-orgfcb7154" class="outline-3">
<h3 id="orgfcb7154"><span class="section-number-3">1.2</span> Load data</h3>
<div id="outline-container-orgcb36bc1" class="outline-3">
<h3 id="orgcb36bc1"><span class="section-number-3">1.2</span> Load data</h3>
<div class="outline-text-3" id="text-1-2">
<p>
We load the data of the z axis of two geophones.
@@ -274,15 +275,15 @@ d8 = load('mat/data_008.mat', 'data'); d8 = d8.data;
</div>
</div>
<div id="outline-container-orgbe65805" class="outline-3">
<h3 id="orgbe65805"><span class="section-number-3">1.3</span> Analysis - Time Domain</h3>
<div id="outline-container-org5895a96" class="outline-3">
<h3 id="org5895a96"><span class="section-number-3">1.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-1-3">
<p>
First, we can look at the time domain data and compare all the measurements:
</p>
<ul class="org-ul">
<li>comparison for the geophone at the sample location (figure <a href="#org1e12b9d">1</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#orga090daf">2</a>)</li>
<li>comparison for the geophone at the sample location (figure <a href="#org2c7f590">1</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org51a2672">2</a>)</li>
</ul>
<div class="org-src-container">
@@ -302,7 +303,7 @@ legend('Location', 'bestoutside');
</div>
<div id="org1e12b9d" class="figure">
<div id="org2c7f590" class="figure">
<p><img src="figs/time_domain_sample.png" alt="time_domain_sample.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
@@ -325,7 +326,7 @@ legend('Location', 'bestoutside');
</div>
<div id="orga090daf" class="figure">
<div id="org51a2672" class="figure">
<p><img src="figs/time_domain_marble.png" alt="time_domain_marble.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p>
@@ -333,8 +334,8 @@ legend('Location', 'bestoutside');
</div>
</div>
<div id="outline-container-orgdace4d9" class="outline-3">
<h3 id="orgdace4d9"><span class="section-number-3">1.4</span> Analysis - Frequency Domain</h3>
<div id="outline-container-org390bba0" class="outline-3">
<h3 id="org390bba0"><span class="section-number-3">1.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-1-4">
<div class="org-src-container">
<pre class="src src-matlab">dt = d3(2, 3) - d3(1, 3);
@@ -345,8 +346,8 @@ win = hanning(ceil(10*Fs));
</div>
</div>
<div id="outline-container-orga76176e" class="outline-4">
<h4 id="orga76176e"><span class="section-number-4">1.4.1</span> Vibrations at the sample location</h4>
<div id="outline-container-org3a4a488" class="outline-4">
<h4 id="org3a4a488"><span class="section-number-4">1.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-1-4-1">
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@@ -362,7 +363,7 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
</div>
<p>
And we compare all the signals (figures <a href="#orgc7cf107">3</a> and <a href="#org2cc793f">4</a>).
And we compare all the signals (figures <a href="#org939f58a">3</a> and <a href="#orgf26e845">4</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab">figure;
@@ -383,14 +384,14 @@ legend('Location', 'southwest');
</div>
<div id="orgc7cf107" class="figure">
<div id="org939f58a" class="figure">
<p><img src="figs/psd_sample_comp.png" alt="psd_sample_comp.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
</div>
<div id="org2cc793f" class="figure">
<div id="orgf26e845" class="figure">
<p><img src="figs/psd_sample_comp_high_freq.png" alt="psd_sample_comp_high_freq.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
@@ -398,8 +399,8 @@ legend('Location', 'southwest');
</div>
</div>
<div id="outline-container-org8d92602" class="outline-4">
<h4 id="org8d92602"><span class="section-number-4">1.4.2</span> Vibrations on the marble</h4>
<div id="outline-container-org49d7279" class="outline-4">
<h4 id="org49d7279"><span class="section-number-4">1.4.2</span> Vibrations on the marble</h4>
<div class="outline-text-4" id="text-1-4-2">
<p>
Now we plot the same curves for the geophone located on the marble.
@@ -415,7 +416,7 @@ Now we plot the same curves for the geophone located on the marble.
</div>
<p>
And we compare the Amplitude Spectral Densities (figures <a href="#org60f624e">5</a> and <a href="#org9480bcc">6</a>)
And we compare the Amplitude Spectral Densities (figures <a href="#org3fd93c6">5</a> and <a href="#org2185be4">6</a>)
</p>
<div class="org-src-container">
<pre class="src src-matlab">figure;
@@ -436,14 +437,14 @@ legend('Location', 'northeast');
</div>
<div id="org60f624e" class="figure">
<div id="org3fd93c6" class="figure">
<p><img src="figs/psd_marble_comp.png" alt="psd_marble_comp.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
</div>
<div id="org9480bcc" class="figure">
<div id="org2185be4" class="figure">
<p><img src="figs/psd_marble_comp_high_freq.png" alt="psd_marble_comp_high_freq.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
@@ -452,8 +453,8 @@ legend('Location', 'northeast');
</div>
</div>
<div id="outline-container-org6f49679" class="outline-3">
<h3 id="org6f49679"><span class="section-number-3">1.5</span> Conclusion</h3>
<div id="outline-container-org9b2f5fd" class="outline-3">
<h3 id="org9b2f5fd"><span class="section-number-3">1.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-1-5">
<div class="important">
<ul class="org-ul">
@@ -467,11 +468,11 @@ legend('Location', 'northeast');
</div>
</div>
<div id="outline-container-org27d5063" class="outline-2">
<h2 id="org27d5063"><span class="section-number-2">2</span> Effect of all the control systems on the Sample vibrations - One stage at a time</h2>
<div id="outline-container-org4eafed3" class="outline-2">
<h2 id="org4eafed3"><span class="section-number-2">2</span> Effect of all the control systems on the Sample vibrations - One stage at a time</h2>
<div class="outline-text-2" id="text-2">
<p>
<a id="org06034f4"></a>
<a id="org757823f"></a>
</p>
<div class="note">
<p>
@@ -481,8 +482,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_cont
</div>
</div>
<div id="outline-container-org5e1d6ca" class="outline-3">
<h3 id="org5e1d6ca"><span class="section-number-3">2.1</span> Experimental Setup</h3>
<div id="outline-container-org4addbe8" class="outline-3">
<h3 id="org4addbe8"><span class="section-number-3">2.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-2-1">
<p>
We here measure the signals of two geophones:
@@ -505,7 +506,7 @@ Each measurement are done during 100s.
</p>
<p>
The settings of the voltage amplifier are shown on figure <a href="#org8b2d864">7</a>:
The settings of the voltage amplifier are shown on figure <a href="#orgeb410b4">7</a>:
</p>
<ul class="org-ul">
<li>gain of 60dB</li>
@@ -517,7 +518,7 @@ The settings of the voltage amplifier are shown on figure <a href="#org8b2d864">
A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier.
</p>
<table id="org71b8a99" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<table id="orgb3e54be" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup>
@@ -636,7 +637,7 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</table>
<div id="org8b2d864" class="figure">
<div id="orgeb410b4" class="figure">
<p><img src="./img/IMG_20190507_101459.jpg" alt="IMG_20190507_101459.jpg" width="500px" />
</p>
<p><span class="figure-number">Figure 7: </span>Voltage amplifier settings for the measurement</p>
@@ -644,8 +645,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div>
</div>
<div id="outline-container-orgdbc788c" class="outline-3">
<h3 id="orgdbc788c"><span class="section-number-3">2.2</span> Load data</h3>
<div id="outline-container-orgb60aa2f" class="outline-3">
<h3 id="orgb60aa2f"><span class="section-number-3">2.2</span> Load data</h3>
<div class="outline-text-3" id="text-2-2">
<p>
We load the data of the z axis of two geophones.
@@ -662,8 +663,8 @@ d_he = load('mat/data_018.mat', 'data'); d_he = d_he.data;
</div>
</div>
<div id="outline-container-orgcaa00c9" class="outline-3">
<h3 id="orgcaa00c9"><span class="section-number-3">2.3</span> Voltage to Velocity</h3>
<div id="outline-container-org68831ee" class="outline-3">
<h3 id="org68831ee"><span class="section-number-3">2.3</span> Voltage to Velocity</h3>
<div class="outline-text-3" id="text-2-3">
<p>
We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/Cloud/thesis/meas/srcindex.html">here</a>).
@@ -690,82 +691,34 @@ d_he(:, 2) = voltageToVelocityL22(d_he(:, 2), d_he(:, 3), gain);
</div>
</div>
<div id="outline-container-org6392409" class="outline-3">
<h3 id="org6392409"><span class="section-number-3">2.4</span> Analysis - Time Domain</h3>
<div id="outline-container-orgbbb370a" class="outline-3">
<h3 id="orgbbb370a"><span class="section-number-3">2.4</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-2-4">
<p>
First, we can look at the time domain data and compare all the measurements:
</p>
<ul class="org-ul">
<li>comparison for the geophone at the sample location (figure <a href="#org6b5b92c">8</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org90b0f48">9</a>)</li>
<li>relative displacement of the sample with respect to the marble (figure <a href="#org90b0f48">9</a>)</li>
<li>comparison for the geophone at the sample location (figure <a href="#org03fb45e">8</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#orgc177b3a">9</a>)</li>
<li>relative displacement of the sample with respect to the marble (figure <a href="#orgc177b3a">9</a>)</li>
</ul>
<div class="org-src-container">
<pre class="src src-matlab">figure;
hold on;
plot(d_of(:, 3), d_of(:, 2), 'DisplayName', 'All OFF');
plot(d_ty(:, 3), d_ty(:, 2), 'DisplayName', 'Ty ON');
plot(d_ry(:, 3), d_ry(:, 2), 'DisplayName', 'Ry ON');
plot(d_sr(:, 3), d_sr(:, 2), 'DisplayName', 'S-R ON');
plot(d_rz(:, 3), d_rz(:, 2), 'DisplayName', 'Rz ON');
plot(d_he(:, 3), d_he(:, 2), 'DisplayName', 'Hexa ON');
hold off;
xlabel('Time [s]'); ylabel('Velocity [m/s]');
xlim([0, 50]);
legend('Location', 'bestoutside');
</pre>
</div>
<div id="org6b5b92c" class="figure">
<div id="org03fb45e" class="figure">
<p><img src="figs/time_domain_sample_lpf.png" alt="time_domain_sample_lpf.png" />
</p>
<p><span class="figure-number">Figure 8: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab">figure;
hold on;
plot(d_of(:, 3), d_of(:, 1), 'DisplayName', 'All OFF');
plot(d_ty(:, 3), d_ty(:, 1), 'DisplayName', 'Ty ON');
plot(d_ry(:, 3), d_ry(:, 1), 'DisplayName', 'Ry ON');
plot(d_sr(:, 3), d_sr(:, 1), 'DisplayName', 'S-R ON');
plot(d_rz(:, 3), d_rz(:, 1), 'DisplayName', 'Rz ON');
plot(d_he(:, 3), d_he(:, 1), 'DisplayName', 'Hexa ON');
hold off;
xlabel('Time [s]'); ylabel('Velocity [m/s]');
xlim([0, 50]);
legend('Location', 'bestoutside');
</pre>
</div>
<div id="org90b0f48" class="figure">
<div id="orgc177b3a" class="figure">
<p><img src="figs/time_domain_marble_lpf.png" alt="time_domain_marble_lpf.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab">figure;
hold on;
plot(d_of(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_of(:, 2)-d_of(:, 1), d_of(:, 3)), 'DisplayName', 'All OFF');
plot(d_ty(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_ty(:, 2)-d_ty(:, 1), d_ty(:, 3)), 'DisplayName', 'Ty ON');
plot(d_ry(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_ry(:, 2)-d_ry(:, 1), d_ry(:, 3)), 'DisplayName', 'Ry ON');
plot(d_sr(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_sr(:, 2)-d_sr(:, 1), d_sr(:, 3)), 'DisplayName', 'S-R ON');
plot(d_rz(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_rz(:, 2)-d_rz(:, 1), d_rz(:, 3)), 'DisplayName', 'Rz ON');
plot(d_he(:, 3), 1e6*lsim(1/(1+s/(2*pi*0.5)), d_he(:, 2)-d_he(:, 1), d_he(:, 3)), 'DisplayName', 'Hexa ON');
hold off;
xlabel('Time [s]'); ylabel('Relative Displacement [$\mu m$]');
xlim([0, 50]);
legend('Location', 'bestoutside');
</pre>
</div>
<div id="org5d1a458" class="figure">
<div id="orgb57231f" class="figure">
<p><img src="figs/time_domain_relative_disp.png" alt="time_domain_relative_disp.png" />
</p>
<p><span class="figure-number">Figure 10: </span>Relative displacement of the sample with respect to the marble</p>
@@ -773,8 +726,8 @@ legend('Location', 'bestoutside');
</div>
</div>
<div id="outline-container-org4e22262" class="outline-3">
<h3 id="org4e22262"><span class="section-number-3">2.5</span> Analysis - Frequency Domain</h3>
<div id="outline-container-orgd436876" class="outline-3">
<h3 id="orgd436876"><span class="section-number-3">2.5</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-2-5">
<div class="org-src-container">
<pre class="src src-matlab">dt = d_of(2, 3) - d_of(1, 3);
@@ -785,8 +738,8 @@ win = hanning(ceil(10*Fs));
</div>
</div>
<div id="outline-container-org88ffac6" class="outline-4">
<h4 id="org88ffac6"><span class="section-number-4">2.5.1</span> Vibrations at the sample location</h4>
<div id="outline-container-org2e1f962" class="outline-4">
<h4 id="org2e1f962"><span class="section-number-4">2.5.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-2-5-1">
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@@ -802,7 +755,7 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
</div>
<p>
And we compare all the signals (figures <a href="#org184f693">11</a> and <a href="#orgc76db7e">12</a>).
And we compare all the signals (figures <a href="#orgb661144">11</a> and <a href="#orgd36a2b1">12</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab">figure;
@@ -823,7 +776,7 @@ legend('Location', 'southwest');
</div>
<div id="org184f693" class="figure">
<div id="orgb661144" class="figure">
<p><img src="figs/psd_sample_comp_lpf.png" alt="psd_sample_comp_lpf.png" />
</p>
<p><span class="figure-number">Figure 11: </span>Amplitude Spectral Density of the sample velocity</p>
@@ -831,7 +784,7 @@ legend('Location', 'southwest');
<div id="orgc76db7e" class="figure">
<div id="orgd36a2b1" class="figure">
<p><img src="figs/psd_sample_comp_high_freq_lpf.png" alt="psd_sample_comp_high_freq_lpf.png" />
</p>
<p><span class="figure-number">Figure 12: </span>Amplitude Spectral Density of the sample velocity (zoom at high frequencies)</p>
@@ -839,52 +792,22 @@ legend('Location', 'southwest');
</div>
</div>
<div id="outline-container-org5eddb65" class="outline-4">
<h4 id="org5eddb65"><span class="section-number-4">2.5.2</span> Vibrations on the marble</h4>
<div id="outline-container-org8f33a44" class="outline-4">
<h4 id="org8f33a44"><span class="section-number-4">2.5.2</span> Vibrations on the marble</h4>
<div class="outline-text-4" id="text-2-5-2">
<p>
Now we plot the same curves for the geophone located on the marble.
And we compare the Amplitude Spectral Densities (figures <a href="#org57f110f">13</a> and <a href="#orgcbf8e87">14</a>)
</p>
<div class="org-src-container">
<pre class="src src-matlab">[px_of, f] = pwelch(d_of(:, 1), win, [], [], Fs);
[px_ty, ~] = pwelch(d_ty(:, 1), win, [], [], Fs);
[px_ry, ~] = pwelch(d_ry(:, 1), win, [], [], Fs);
[px_sr, ~] = pwelch(d_sr(:, 1), win, [], [], Fs);
[px_rz, ~] = pwelch(d_rz(:, 1), win, [], [], Fs);
[px_he, ~] = pwelch(d_he(:, 1), win, [], [], Fs);
</pre>
</div>
<p>
And we compare the Amplitude Spectral Densities (figures <a href="#org8c00376">13</a> and <a href="#org1008de7">14</a>)
</p>
<div class="org-src-container">
<pre class="src src-matlab">figure;
hold on;
plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
plot(f, sqrt(px_ty), 'DisplayName', 'Ty ON');
plot(f, sqrt(px_ry), 'DisplayName', 'Ry ON');
plot(f, sqrt(px_sr), 'DisplayName', 'S-R ON');
plot(f, sqrt(px_rz), 'DisplayName', 'Rz ON');
plot(f, sqrt(px_he), 'DisplayName', 'Hexa ON');
hold off;
set(gca, 'xscale', 'log');
set(gca, 'yscale', 'log');
xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{m/s}{\sqrt{Hz}}\right]$')
xlim([0.1, 500]);
legend('Location', 'northeast');
</pre>
</div>
<div id="org8c00376" class="figure">
<div id="org57f110f" class="figure">
<p><img src="figs/psd_marble_comp_lpf.png" alt="psd_marble_comp_lpf.png" />
</p>
<p><span class="figure-number">Figure 13: </span>Amplitude Spectral Density of the marble velocity</p>
</div>
<div id="org1008de7" class="figure">
<div id="orgcbf8e87" class="figure">
<p><img src="figs/psd_marble_lpf_high_freq.png" alt="psd_marble_lpf_high_freq.png" />
</p>
<p><span class="figure-number">Figure 14: </span>Amplitude Spectral Density of the marble velocity (zoom at high frequencies)</p>
@@ -893,8 +816,8 @@ legend('Location', 'northeast');
</div>
</div>
<div id="outline-container-org60b1ca9" class="outline-3">
<h3 id="org60b1ca9"><span class="section-number-3">2.6</span> Conclusion</h3>
<div id="outline-container-org381e6c2" class="outline-3">
<h3 id="org381e6c2"><span class="section-number-3">2.6</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-6">
<div class="important">
<ul class="org-ul">
@@ -907,11 +830,11 @@ legend('Location', 'northeast');
</div>
</div>
<div id="outline-container-orgd7c39d5" class="outline-2">
<h2 id="orgd7c39d5"><span class="section-number-2">3</span> Effect of the Symetrie Driver</h2>
<div id="outline-container-orgce5eef9" class="outline-2">
<h2 id="orgce5eef9"><span class="section-number-2">3</span> Effect of the Symetrie Driver</h2>
<div class="outline-text-2" id="text-3">
<p>
<a id="org9b94d23"></a>
<a id="orgd9c378b"></a>
</p>
<div class="note">
<p>
@@ -921,8 +844,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_syme
</div>
</div>
<div id="outline-container-org757e668" class="outline-3">
<h3 id="org757e668"><span class="section-number-3">3.1</span> Experimental Setup</h3>
<div id="outline-container-org6e62fbe" class="outline-3">
<h3 id="org6e62fbe"><span class="section-number-3">3.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-3-1">
<p>
We here measure the signals of two geophones:
@@ -1002,8 +925,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div>
</div>
<div id="outline-container-org92c9e9b" class="outline-3">
<h3 id="org92c9e9b"><span class="section-number-3">3.2</span> Load data</h3>
<div id="outline-container-orgd0c4704" class="outline-3">
<h3 id="orgd0c4704"><span class="section-number-3">3.2</span> Load data</h3>
<div class="outline-text-3" id="text-3-2">
<p>
We load the data of the z axis of two geophones.
@@ -1016,8 +939,8 @@ d_19 = load('mat/data_019.mat', 'data'); d_19 = d_19.data;
</div>
</div>
<div id="outline-container-orgb405d4d" class="outline-3">
<h3 id="orgb405d4d"><span class="section-number-3">3.3</span> Analysis - Time Domain</h3>
<div id="outline-container-org30686ba" class="outline-3">
<h3 id="org30686ba"><span class="section-number-3">3.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-3-3">
<div class="org-src-container">
<pre class="src src-matlab">figure;
@@ -1032,7 +955,7 @@ legend('Location', 'bestoutside');
</div>
<div id="org33aab52" class="figure">
<div id="orgd0329f8" class="figure">
<p><img src="figs/time_domain_hexa_driver.png" alt="time_domain_hexa_driver.png" />
</p>
<p><span class="figure-number">Figure 15: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
@@ -1040,8 +963,8 @@ legend('Location', 'bestoutside');
</div>
</div>
<div id="outline-container-org486b9fb" class="outline-3">
<h3 id="org486b9fb"><span class="section-number-3">3.4</span> Analysis - Frequency Domain</h3>
<div id="outline-container-orgd922ea4" class="outline-3">
<h3 id="orgd922ea4"><span class="section-number-3">3.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-3-4">
<div class="org-src-container">
<pre class="src src-matlab">dt = d_18(2, 3) - d_18(1, 3);
@@ -1052,8 +975,8 @@ win = hanning(ceil(10*Fs));
</div>
</div>
<div id="outline-container-orgd488281" class="outline-4">
<h4 id="orgd488281"><span class="section-number-4">3.4.1</span> Vibrations at the sample location</h4>
<div id="outline-container-orgd49e7c3" class="outline-4">
<h4 id="orgd49e7c3"><span class="section-number-4">3.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-3-4-1">
<p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@@ -1079,14 +1002,14 @@ legend('Location', 'southwest');
</div>
<div id="org23ad3aa" class="figure">
<div id="org474aa6e" class="figure">
<p><img src="figs/psd_hexa_driver.png" alt="psd_hexa_driver.png" />
</p>
<p><span class="figure-number">Figure 16: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
</div>
<div id="org0b027ce" class="figure">
<div id="org01ebad8" class="figure">
<p><img src="figs/psd_hexa_driver_high_freq.png" alt="psd_hexa_driver_high_freq.png" />
</p>
<p><span class="figure-number">Figure 17: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
@@ -1095,8 +1018,8 @@ legend('Location', 'southwest');
</div>
</div>
<div id="outline-container-org680fcdb" class="outline-3">
<h3 id="org680fcdb"><span class="section-number-3">3.5</span> Conclusion</h3>
<div id="outline-container-org031a084" class="outline-3">
<h3 id="org031a084"><span class="section-number-3">3.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-5">
<div class="important">
<p>
@@ -1110,7 +1033,7 @@ Even tough the Hexapod&rsquo;s driver vibrates quite a lot, it does not generate
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-04-23 jeu. 15:28</p>
<p class="date">Created: 2020-04-27 lun. 10:18</p>
</div>
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