diff --git a/index.org b/index.org index 271c64f..3047628 100644 --- a/index.org +++ b/index.org @@ -73,6 +73,9 @@ The station is identified again. #+end_important * Measurements of perturbations +- [[file:slip-ring-spindle-vibrations/index.org][Measurement of the vibrations induced by the rotation of the slip-ring and spindle]] +- Measurement of the electrical noise induced by the slip-ring + ** Noise coming from the control loop of each stage [[file:2018-10-15%20-%20Marc/index.org][Link to the analysis]] @@ -135,12 +138,11 @@ The goal is to estimate all the error motions induced by the Spindle *** Results -* Ressources -- [[file:actuators-sensors/index.org][Actuators and Sensors]] -- [[file:equipment/equipment.org][Equipment used for the measurements]] - * Other measurements - [[file:huddle-test-geophones/index.org][Huddle Test - Geophones]] - [[file:disturbance-measurement/index.org][Disturbance Measurement]] - [[file:slip-ring-test/index.org][Slip Ring - Noise measurement]] - [[file:static-measurements/index.org][Control System Measurement]] +* Ressources +- [[file:actuators-sensors/index.org][Actuators and Sensors]] +- [[file:equipment/equipment.org][Equipment used for the measurements]] diff --git a/slip-ring-test/figs/comp_with_without_lpf.png b/slip-ring-electrical-noise/figs/comp_with_without_lpf.png similarity index 100% rename from slip-ring-test/figs/comp_with_without_lpf.png rename to slip-ring-electrical-noise/figs/comp_with_without_lpf.png diff --git a/slip-ring-test/figs/psd_noise.png b/slip-ring-electrical-noise/figs/psd_noise.png similarity index 100% rename from slip-ring-test/figs/psd_noise.png rename to slip-ring-electrical-noise/figs/psd_noise.png diff --git a/slip-ring-test/figs/random_signal.png b/slip-ring-electrical-noise/figs/random_signal.png similarity index 100% rename from slip-ring-test/figs/random_signal.png rename to slip-ring-electrical-noise/figs/random_signal.png diff --git a/slip-ring-test/figs/slipring_asd.png 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index 100% rename from slip-ring-test/img/VID_20190503_161401.gif rename to slip-ring-electrical-noise/img/VID_20190503_161401.gif diff --git a/slip-ring-test/img/VID_20190503_161420.gif b/slip-ring-electrical-noise/img/VID_20190503_161420.gif similarity index 100% rename from slip-ring-test/img/VID_20190503_161420.gif rename to slip-ring-electrical-noise/img/VID_20190503_161420.gif diff --git a/slip-ring-test/img/nohup.out b/slip-ring-electrical-noise/img/nohup.out similarity index 100% rename from slip-ring-test/img/nohup.out rename to slip-ring-electrical-noise/img/nohup.out diff --git a/slip-ring-test/index.html b/slip-ring-electrical-noise/index.html similarity index 100% rename from slip-ring-test/index.html rename to slip-ring-electrical-noise/index.html diff --git a/slip-ring-test/index.org b/slip-ring-electrical-noise/index.org similarity index 99% rename from slip-ring-test/index.org rename to slip-ring-electrical-noise/index.org index 299e12f..c30eac4 100644 --- a/slip-ring-test/index.org +++ b/slip-ring-electrical-noise/index.org @@ -289,6 +289,7 @@ We now look at the difference between the signal directly measured by the ADC an - Should the measurement be redone using voltage amplifiers? - Use higher rotation speed and measure for longer periods (to have multiple revolutions) ? #+end_note + * Measure of the noise induced by the Slip-Ring :PROPERTIES: :header-args:matlab+: :tangle matlab/meas_slip_ring.m diff --git a/slip-ring-test/mat/data_001.mat b/slip-ring-electrical-noise/mat/data_001.mat similarity index 100% rename from slip-ring-test/mat/data_001.mat rename to slip-ring-electrical-noise/mat/data_001.mat diff --git a/slip-ring-test/mat/data_002.mat b/slip-ring-electrical-noise/mat/data_002.mat similarity index 100% rename from slip-ring-test/mat/data_002.mat rename to slip-ring-electrical-noise/mat/data_002.mat diff --git a/slip-ring-test/mat/data_007.mat b/slip-ring-electrical-noise/mat/data_007.mat similarity index 100% rename from slip-ring-test/mat/data_007.mat rename to slip-ring-electrical-noise/mat/data_007.mat diff --git a/slip-ring-test/mat/data_008.mat b/slip-ring-electrical-noise/mat/data_008.mat similarity index 100% rename from slip-ring-test/mat/data_008.mat rename to slip-ring-electrical-noise/mat/data_008.mat diff --git a/slip-ring-test/mat/data_009.mat b/slip-ring-electrical-noise/mat/data_009.mat similarity index 100% rename from slip-ring-test/mat/data_009.mat rename to slip-ring-electrical-noise/mat/data_009.mat diff --git a/slip-ring-test/mat/data_010.mat b/slip-ring-electrical-noise/mat/data_010.mat similarity index 100% rename from slip-ring-test/mat/data_010.mat rename to slip-ring-electrical-noise/mat/data_010.mat diff --git a/slip-ring-test/mat/data_011.mat b/slip-ring-electrical-noise/mat/data_011.mat similarity index 100% rename from slip-ring-test/mat/data_011.mat rename to slip-ring-electrical-noise/mat/data_011.mat diff --git a/slip-ring-test/mat/data_014.mat 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rename from slip-ring-test/mat/data_023.mat rename to slip-ring-electrical-noise/mat/data_023.mat diff --git a/slip-ring-test/matlab/meas_effect_sr.m b/slip-ring-electrical-noise/matlab/meas_effect_sr.m similarity index 100% rename from slip-ring-test/matlab/meas_effect_sr.m rename to slip-ring-electrical-noise/matlab/meas_effect_sr.m diff --git a/slip-ring-test/matlab/meas_slip_ring.m b/slip-ring-electrical-noise/matlab/meas_slip_ring.m similarity index 100% rename from slip-ring-test/matlab/meas_slip_ring.m rename to slip-ring-electrical-noise/matlab/meas_slip_ring.m diff --git a/slip-ring-test/matlab/meas_slip_ring_geophone.m b/slip-ring-electrical-noise/matlab/meas_slip_ring_geophone.m similarity index 100% rename from slip-ring-test/matlab/meas_slip_ring_geophone.m rename to slip-ring-electrical-noise/matlab/meas_slip_ring_geophone.m diff --git a/slip-ring-test/matlab/meas_sr_geophone.m b/slip-ring-electrical-noise/matlab/meas_sr_geophone.m similarity index 100% rename from slip-ring-test/matlab/meas_sr_geophone.m rename to slip-ring-electrical-noise/matlab/meas_sr_geophone.m diff --git a/slip-ring-test/readme.org b/slip-ring-electrical-noise/readme.org similarity index 99% rename from slip-ring-test/readme.org rename to slip-ring-electrical-noise/readme.org index 3167de2..10b5fb9 100644 --- a/slip-ring-test/readme.org +++ b/slip-ring-electrical-noise/readme.org @@ -88,4 +88,3 @@ Measurements: - meas21: Slip-Ring ON - meas22: Slip-Ring ON and omega=6rpm - meas23: Slip-Ring ON and omega=60rpm - diff --git a/slip-ring-spindle-vibrations/figs/slip_ring_spindle_marble_time.png b/slip-ring-spindle-vibrations/figs/slip_ring_spindle_marble_time.png new file mode 100644 index 0000000..a6296e0 Binary files /dev/null and b/slip-ring-spindle-vibrations/figs/slip_ring_spindle_marble_time.png differ diff --git a/slip-ring-spindle-vibrations/figs/slip_ring_spindle_sample_time.png b/slip-ring-spindle-vibrations/figs/slip_ring_spindle_sample_time.png new file mode 100644 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b/slip-ring-spindle-vibrations/img/VID_20190510_155655.gif new file mode 100644 index 0000000..7b8f17d Binary files /dev/null and b/slip-ring-spindle-vibrations/img/VID_20190510_155655.gif differ diff --git a/slip-ring-spindle-vibrations/img/VID_20190510_155655.mp4 b/slip-ring-spindle-vibrations/img/VID_20190510_155655.mp4 new file mode 100644 index 0000000..d9e8d37 Binary files /dev/null and b/slip-ring-spindle-vibrations/img/VID_20190510_155655.mp4 differ diff --git a/slip-ring-spindle-vibrations/index.html b/slip-ring-spindle-vibrations/index.html new file mode 100644 index 0000000..a245111 Binary files /dev/null and b/slip-ring-spindle-vibrations/index.html differ diff --git a/slip-ring-spindle-vibrations/index.org b/slip-ring-spindle-vibrations/index.org new file mode 100644 index 0000000..388918a --- /dev/null +++ b/slip-ring-spindle-vibrations/index.org @@ -0,0 +1,205 @@ +#+TITLE: Vibrations induced by the Slip-Ring and the Spindle +#+SETUPFILE: ../config.org + +* Experimental Setup +All the stages are OFF. + +Two geophone are use: +- One on the marble (corresponding to the first column in the data) +- One at the sample location (corresponding to the second column in the data) + +Two voltage amplifiers are used, their setup is: +- gain of 60dB +- AC/DC switch on AC +- Low pass filter at 1kHz + +A first order low pass filter is also added at the input of the voltage amplifiers. + +*Goal*: +- Identify the vibrations induced by the rotation of the Slip-Ring and Spindle + +Three measurements are done: +- =mat/data_024.mat=: All the stages are OFF +- =mat/data_025.mat=: The slip-ring is ON and rotates at 6rpm. The spindle is OFF +- =mat/data_026.mat=: The slip-ring and spindle are both ON. They are both turning at 6rpm + +A movie showing the experiment is shown on figure [[fig:exp_sl_sp_gif]]. + +#+name: fig:exp_sl_sp_gif +#+attr_html: :width 300px +#+caption: Movie of the experiment, rotation speed is 6rpm +[[file:./img/VID_20190510_155655.gif]] + +* Data Analysis + :PROPERTIES: + :header-args:matlab+: :tangle matlab/spindle_slip_ring_vibrations.m + :header-args:matlab+: :comments org :mkdirp yes + :END: + <> + +#+begin_src bash :exports none :results none + if [ matlab/spindle_slip_ring_vibrations.m -nt data/spindle_slip_ring_vibrations.zip ]; then + cp matlab/spindle_slip_ring_vibrations.m spindle_slip_ring_vibrations.m; + zip data/spindle_slip_ring_vibrations \ + mat/data_024.mat \ + mat/data_025.mat \ + mat/data_026.mat \ + spindle_slip_ring_vibrations.m + rm spindle_slip_ring_vibrations.m; + fi +#+end_src + +#+begin_note + All the files (data and Matlab scripts) are accessible [[file:data/spindle_slip_ring_vibrations.zip][here]]. +#+end_note + +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) +<> +#+end_src + +#+begin_src matlab :exports none :results silent :noweb yes +<> +#+end_src + +** Load data +#+begin_src matlab + of = load('mat/data_024.mat', 'data'); of = of.data; + sr = load('mat/data_025.mat', 'data'); sr = sr.data; + sp = load('mat/data_026.mat', 'data'); sp = sp.data; +#+end_src + +** Time domain plots +#+begin_src matlab + figure; + hold on; + plot(sp(:, 3), sp(:, 1), 'DisplayName', 'Spindle - 6rpm'); + plot(sr(:, 3), sr(:, 1), 'DisplayName', 'Slip-Ring - 6rpm'); + plot(of(:, 3), of(:, 1), 'DisplayName', 'OFF'); + hold off; + xlabel('Time [s]'); ylabel('Voltage [V]'); + xlim([0, 100]); ylim([-10 10]); + legend('Location', 'northeast'); +#+end_src + +#+NAME: fig:slip_ring_spindle_marble_time +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/slip_ring_spindle_marble_time.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:slip_ring_spindle_marble_time +#+CAPTION: Measurement of the geophone located on the marble - Time domain +#+RESULTS: fig:slip_ring_spindle_marble_time +[[file:figs/slip_ring_spindle_marble_time.png]] + +#+begin_src matlab + figure; + hold on; + plot(sp(:, 3), sp(:, 2), 'DisplayName', 'Spindle and Slip-Ring'); + plot(sr(:, 3), sr(:, 2), 'DisplayName', 'Only Slip-Ring'); + plot(of(:, 3), of(:, 2), 'DisplayName', 'OFF'); + hold off; + xlabel('Time [s]'); ylabel('Voltage [V]'); + xlim([0, 100]); ylim([-10 10]); + legend('Location', 'northeast'); +#+end_src + +#+NAME: fig:slip_ring_spindle_sample_time +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/slip_ring_spindle_sample_time.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:slip_ring_spindle_sample_time +#+CAPTION: Measurement of the geophone at the sample location - Time domain +#+RESULTS: fig:slip_ring_spindle_sample_time +[[file:figs/slip_ring_spindle_sample_time.png]] + +** Frequency Domain +We first compute some parameters that will be used for the PSD computation. +#+begin_src matlab :results none + dt = of(2, 3)-of(1, 3); + + Fs = 1/dt; % [Hz] + + win = hanning(ceil(10*Fs)); +#+end_src + +Then we compute the Power Spectral Density using =pwelch= function. + +First for the geophone located on the marble +#+begin_src matlab + [pxof_m, f] = pwelch(of(:, 1), win, [], [], Fs); + [pxsr_m, ~] = pwelch(sr(:, 1), win, [], [], Fs); + [pxsp_m, ~] = pwelch(sp(:, 1), win, [], [], Fs); +#+end_src + +And for the geophone located at the sample position. +#+begin_src matlab + [pxof_s, f] = pwelch(of(:, 2), win, [], [], Fs); + [pxsr_s, ~] = pwelch(sr(:, 2), win, [], [], Fs); + [pxsp_s, ~] = pwelch(sp(:, 2), win, [], [], Fs); +#+end_src + +And we plot the ASD of the measured signals: +- figure [[fig:sr_sp_psd_marble_compare]] for the geophone located on the marble +- figure [[fig:sr_sp_psd_sample_compare]] for the geophone at the sample position + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(pxsp_m), 'DisplayName', 'Spindle - 6rpm'); + plot(f, sqrt(pxsr_m), 'DisplayName', 'Slip-Ring - 6rpm'); + plot(f, sqrt(pxof_m), 'DisplayName', 'OFF'); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('ASD of the measured Voltage $\left[\frac{V}{\sqrt{Hz}}\right]$') + legend('Location', 'southwest'); + xlim([0.1, 500]); +#+end_src + +#+NAME: fig:sr_sp_psd_marble_compare +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/sr_sp_psd_marble_compare.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:sr_sp_psd_marble_compare +#+CAPTION: Comparison of the ASD of the measured voltage from the Geophone on the marble +#+RESULTS: fig:sr_sp_psd_marble_compare +[[file:figs/sr_sp_psd_marble_compare.png]] + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(pxsp_s), 'DisplayName', 'Spindle - 6rpm'); + plot(f, sqrt(pxsr_s), 'DisplayName', 'Slip-Ring - 6rpm'); + plot(f, sqrt(pxof_s), 'DisplayName', 'OFF'); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('ASD of the measured Voltage $\left[\frac{V}{\sqrt{Hz}}\right]$') + legend('Location', 'southwest'); + xlim([0.1, 500]); +#+end_src + +#+NAME: fig:sr_sp_psd_sample_compare +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/sr_sp_psd_sample_compare.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:sr_sp_psd_sample_compare +#+CAPTION: Comparison of the ASD of the measured voltage from the Geophone at the sample location +#+RESULTS: fig:sr_sp_psd_sample_compare +[[file:figs/sr_sp_psd_sample_compare.png]] + +** Conclusion +#+begin_important + The slip-ring rotation induces almost no vibrations on the marble, and only a little vibrations on the sample above 100Hz. + + The spindle rotation induces a lot of vibrations of the sample as well as on the granite. + There is a huge peak at 24Hz on the sample vibration but not on the granite vibration. +#+end_important diff --git a/disturbance-measurement/mat/data_024.mat b/slip-ring-spindle-vibrations/mat/data_024.mat similarity index 100% rename from disturbance-measurement/mat/data_024.mat rename to slip-ring-spindle-vibrations/mat/data_024.mat diff --git a/disturbance-measurement/mat/data_025.mat b/slip-ring-spindle-vibrations/mat/data_025.mat similarity index 100% rename from disturbance-measurement/mat/data_025.mat rename to slip-ring-spindle-vibrations/mat/data_025.mat diff --git a/disturbance-measurement/mat/data_026.mat b/slip-ring-spindle-vibrations/mat/data_026.mat similarity index 100% rename from disturbance-measurement/mat/data_026.mat rename to slip-ring-spindle-vibrations/mat/data_026.mat diff --git a/slip-ring-spindle-vibrations/matlab/spindle_slip_ring_vibrations.m b/slip-ring-spindle-vibrations/matlab/spindle_slip_ring_vibrations.m new file mode 100644 index 0000000..3aa4d7e --- /dev/null +++ b/slip-ring-spindle-vibrations/matlab/spindle_slip_ring_vibrations.m @@ -0,0 +1,107 @@ +%% Clear Workspace and Close figures +clear; close all; clc; + +%% Intialize Laplace variable +s = zpk('s'); + +% Load data + +of = load('mat/data_024.mat', 'data'); of = of.data; +sr = load('mat/data_025.mat', 'data'); sr = sr.data; +sp = load('mat/data_026.mat', 'data'); sp = sp.data; + +% Time domain plots + +figure; +hold on; +plot(sp(:, 3), sp(:, 1), 'DisplayName', 'Spindle - 6rpm'); +plot(sr(:, 3), sr(:, 1), 'DisplayName', 'Slip-Ring - 6rpm'); +plot(of(:, 3), of(:, 1), 'DisplayName', 'OFF'); +hold off; +xlabel('Time [s]'); ylabel('Voltage [V]'); +xlim([0, 100]); ylim([-10 10]); +legend('Location', 'northeast'); + + + +% #+NAME: fig:slip_ring_spindle_marble_time +% #+CAPTION: Measurement of the geophone located on the marble - Time domain +% #+RESULTS: fig:slip_ring_spindle_marble_time +% [[file:figs/slip_ring_spindle_marble_time.png]] + + +figure; +hold on; +plot(sp(:, 3), sp(:, 2), 'DisplayName', 'Spindle and Slip-Ring'); +plot(sr(:, 3), sr(:, 2), 'DisplayName', 'Only Slip-Ring'); +plot(of(:, 3), of(:, 2), 'DisplayName', 'OFF'); +hold off; +xlabel('Time [s]'); ylabel('Voltage [V]'); +xlim([0, 100]); ylim([-10 10]); +legend('Location', 'northeast'); + +% Frequency Domain +% We first compute some parameters that will be used for the PSD computation. + +dt = of(2, 3)-of(1, 3); + +Fs = 1/dt; % [Hz] + +win = hanning(ceil(10*Fs)); + + + +% Then we compute the Power Spectral Density using =pwelch= function. + +% First for the geophone located on the marble + +[pxof_m, f] = pwelch(of(:, 1), win, [], [], Fs); +[pxsr_m, ~] = pwelch(sr(:, 1), win, [], [], Fs); +[pxsp_m, ~] = pwelch(sp(:, 1), win, [], [], Fs); + + + +% And for the geophone located at the sample position. + +[pxof_s, f] = pwelch(of(:, 2), win, [], [], Fs); +[pxsr_s, ~] = pwelch(sr(:, 2), win, [], [], Fs); +[pxsp_s, ~] = pwelch(sp(:, 2), win, [], [], Fs); + + + +% And we plot the ASD of the measured signals: +% - figure [[fig:sr_sp_psd_marble_compare]] for the geophone located on the marble +% - figure [[fig:sr_sp_psd_sample_compare]] for the geophone at the sample position + + +figure; +hold on; +plot(f, sqrt(pxsp_m), 'DisplayName', 'Spindle - 6rpm'); +plot(f, sqrt(pxsr_m), 'DisplayName', 'Slip-Ring - 6rpm'); +plot(f, sqrt(pxof_m), 'DisplayName', 'OFF'); +hold off; +set(gca, 'xscale', 'log'); +set(gca, 'yscale', 'log'); +xlabel('Frequency [Hz]'); ylabel('ASD of the measured Voltage $\left[\frac{V}{\sqrt{Hz}}\right]$') +legend('Location', 'southwest'); +xlim([0.1, 500]); + + + +% #+NAME: fig:sr_sp_psd_marble_compare +% #+CAPTION: Comparison of the ASD of the measured voltage from the Geophone on the marble +% #+RESULTS: fig:sr_sp_psd_marble_compare +% [[file:figs/sr_sp_psd_marble_compare.png]] + + +figure; +hold on; +plot(f, sqrt(pxsp_s), 'DisplayName', 'Spindle - 6rpm'); +plot(f, sqrt(pxsr_s), 'DisplayName', 'Slip-Ring - 6rpm'); +plot(f, sqrt(pxof_s), 'DisplayName', 'OFF'); +hold off; +set(gca, 'xscale', 'log'); +set(gca, 'yscale', 'log'); +xlabel('Frequency [Hz]'); ylabel('ASD of the measured Voltage $\left[\frac{V}{\sqrt{Hz}}\right]$') +legend('Location', 'southwest'); +xlim([0.1, 500]);