From 8aae9e9e989ee518892ebf4b5e394a7fa9666a89 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 2 May 2019 09:50:01 +0200 Subject: [PATCH] Add slip-ring analysis --- Library/figs/.gitignore | 3 + Library/figs/slipring_asd.png | Bin 0 -> 113175 bytes Library/figs/slipring_time.png | Bin 0 -> 62969 bytes Library/index.org | 299 +++++++++++++++++++++++++++++++++ 4 files changed, 302 insertions(+) create mode 100644 Library/figs/.gitignore create mode 100644 Library/figs/slipring_asd.png create mode 100644 Library/figs/slipring_time.png create mode 100644 Library/index.org diff --git a/Library/figs/.gitignore b/Library/figs/.gitignore new file mode 100644 index 0000000..366b623 --- /dev/null +++ b/Library/figs/.gitignore @@ -0,0 +1,3 @@ +*.svg +*.pdf +*.tex \ No newline at end of file diff --git a/Library/figs/slipring_asd.png b/Library/figs/slipring_asd.png new file mode 100644 index 0000000000000000000000000000000000000000..7a00984c54c0a7969dbe79c0591af8cecbba5e76 GIT binary patch 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+ tyOff = load('mat/data_002.mat', 't', 'x1', 'x2'); +#+end_src + +** Analysis +#+begin_src matlab :results none + dt = tyOn.t(2)-tyOn.t(1); + Fs = 1/dt; +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(tyOn.t, tyOn.x1); + plot(tyOn.t, tyOn.x2); + hold off; + legend({'x1 - ON', 'x2 - ON'}); +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(tyOff.t, tyOff.x1); + plot(tyOff.t, tyOff.x2); + hold off; + legend({'x1 - OFF', 'x2 - OFF'}); +#+end_src + +#+begin_src matlab :results none + Fs = 1/dt; + win = hanning(ceil(10*Fs)); +#+end_src + +#+begin_src matlab :results none + [pxOn1, f] = pwelch(tyOn.x1, win, [], [], Fs); + [pxOn2, ~] = pwelch(tyOn.x2, win, [], [], Fs); + + [pxOff1, ~] = pwelch(tyOff.x1, win, [], [], Fs); + [pxOff2, ~] = pwelch(tyOff.x2, win, [], [], Fs); +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(pxOn1)); + plot(f, sqrt(pxOn2)); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]') + % xlim([2, 500]); +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(pxOn1)); + plot(f, sqrt(pxOff1)); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]') + % xlim([2, 500]); +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(pxOn2)); + plot(f, sqrt(pxOff2)); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]') + % xlim([2, 500]); +#+end_src + +#+begin_src matlab :results none + [T_off, ~] = tfestimate(tyOff.x1, tyOff.x2, win, [], [], Fs); + [coh_off, ~] = mscohere(tyOff.x1, tyOff.x2, win, [], [], Fs); + + [T_on, ~] = tfestimate(tyOn.x1, tyOn.x2, win, [], [], Fs); + [coh_on, ~] = mscohere(tyOn.x1, tyOn.x2, win, [], [], Fs); +#+end_src + +#+begin_src matlab :results none :exports none + figure; + hold on; + plot(f, coh_on); + plot(f, coh_off); + hold off; + set(gca, 'xscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('Coherence'); + ylim([0,1]); xlim([1, 500]); +#+end_src + +#+begin_src matlab :results none :exports none + figure; + ax1 = subplot(2, 1, 1); + hold on; + plot(f, abs(T_on)); + plot(f, abs(T_off)); + hold off; + set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); + set(gca, 'XTickLabel',[]); + ylabel('Magnitude'); + + ax2 = subplot(2, 1, 2); + hold on; + plot(f, mod(180+180/pi*phase(T_on), 360)-180); + plot(f, mod(180+180/pi*phase(T_off), 360)-180); + hold off; + set(gca, 'xscale', 'log'); + ylim([-180, 180]); + yticks([-180, -90, 0, 90, 180]); + xlabel('Frequency [Hz]'); ylabel('Phase'); + + linkaxes([ax1,ax2],'x'); + xlim([1, 500]); +#+end_src +* Effect of the Slip-Ring on the signal +** Experimental Setup +Two measurements are made where the control of all the stages are OFF. + +One geophone is located on the marble while the other is located at the sample location. + +The two measurements are: +| Measurement File | Description | +|------------------+------------------------------------------------------------------| +| =meas_008.mat= | Signal from the top geophone does not goes through the Slip-ring | +| =meas_009.mat= | Signal goes through the Slip-ring | + +Each of the measurement =mat= file contains one =data= array with 3 columns: +| Column number | Description | +|---------------+-------------------| +| 1 | Geophone - Marble | +| 2 | Geophone - Sample | +| 3 | Time | + +** Matlab Init :noexport:ignore: +#+begin_src matlab :exports none :results silent :noweb yes + <> +#+end_src + +** Load data +We load the data of the z axis of two geophones. +#+begin_src matlab :results none + data8 = load('mat/data_008.mat', 'data'); + data9 = load('mat/data_009.mat', 'data'); +#+end_src + +** Analysis - Time Domain +#+begin_src matlab :results none + figure; + hold on; + plot(data9.data(:, 3), data9.data(:, 2), 'DisplayName', 'Slip-Ring'); + plot(data8.data(:, 3), data8.data(:, 2), 'DisplayName', 'Wire'); + hold off; + xlabel('Time [s]'); ylabel('Voltage [V]'); + xlim([0, 50]); + legend(); +#+end_src + +#+NAME: fig:slipring_time +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/slipring_time.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:slipring_time +#+CAPTION: Effect of the Slip-Ring on the measured signal - Time domain +#+RESULTS: fig:slipring_time +[[file:figs/slipring_time.png]] + +** Analysis - Frequency Domain +#+begin_src matlab :results none + dt = data8.data(2, 3) - data8.data(1, 3); + + Fs = 1/dt; + win = hanning(ceil(1*Fs)); +#+end_src + +#+begin_src matlab :results none + [pxx8, f] = pwelch(data8.data(:, 2), win, [], [], Fs); + [pxx9, ~] = pwelch(data9.data(:, 2), win, [], [], Fs); +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(pxx9), 'DisplayName', 'Slip-Ring'); + plot(f, sqrt(pxx8), 'DisplayName', 'Wire'); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('ASD [V/sqrt(Hz)]') + xlim([1, 500]); + legend('Location', 'southwest'); +#+end_src + +#+NAME: fig:slipring_asd +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/slipring_asd.pdf" :var figsize="wide-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:slipring_asd +#+CAPTION: Effect of the Slip-Ring on the measured signal - Frequency domain +#+RESULTS: fig:slipring_asd +[[file:figs/slipring_asd.png]] + +** Conclusion +*Remaining questions to answer*: +- Why is there a sharp peak at 300Hz? +- Why the use of the Slip-Ring does induce a noise? +- Can the capacitive/inductive properties of the wires in the Slip-ring does not play well with the geophone? (resonant RLC circuit) + +* Measurement when signal from top geophone does not go trought the slip-ring + +| Ty | Ry | Slip Ring | Spindle | Hexapod | Meas. file | +|------+------+-----------+---------+---------+----------------| +| *ON* | *ON* | *ON* | *ON* | *ON* | =meas_003.mat= | +| OFF | *ON* | *ON* | *ON* | *ON* | =meas_004.mat= | +| OFF | OFF | *ON* | *ON* | *ON* | =meas_005.mat= | +| OFF | OFF | OFF | *ON* | *ON* | =meas_006.mat= | +| OFF | OFF | OFF | OFF | *ON* | =meas_007.mat= | +| OFF | OFF | OFF | OFF | OFF | =meas_008.mat= |