Add picture of the experimental setup
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2018-10-15 - Marc/figs/setup_picture.png
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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. 11:59 -->
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<!-- 2019-03-15 ven. 16:46 -->
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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>Measurement Analysis</title>
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@ -253,13 +253,14 @@ 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="#org1a2744e">1. Importation of the data</a></li>
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<li><a href="#org79ec650">2. Variables for analysis</a></li>
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<li><a href="#org84b20d7">3. Measurement 1 - Effect of Ty stage</a></li>
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<li><a href="#org9ba4e50">4. Measurement 2 - Effect of Ry stage</a></li>
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<li><a href="#org123fdd7">5. Measurement 3 - Effect of the Hexapod</a></li>
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<li><a href="#org0b58213">6. Measurement 4 - Effect of the Splip-Ring and Spindle</a></li>
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<li><a href="#org70a338a">7. Measurement 5 - Transmission from ground to marble</a></li>
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<li><a href="#org77cefe9">1. Measurement Description</a></li>
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<li><a href="#org9f4b317">2. Importation of the data</a></li>
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<li><a href="#org3defd95">3. Variables for analysis</a></li>
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<li><a href="#orgdb61c3a">4. Measurement 1 - Effect of Ty stage</a></li>
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<li><a href="#orgaed21d3">5. Measurement 2 - Effect of Ry stage</a></li>
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<li><a href="#org70fba3b">6. Measurement 3 - Effect of the Hexapod</a></li>
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<li><a href="#org9d0ea22">7. Measurement 4 - Effect of the Splip-Ring and Spindle</a></li>
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<li><a href="#org80c9209">8. Measurement 5 - Transmission from ground to marble</a></li>
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</ul>
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</div>
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</div>
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@ -268,9 +269,36 @@ 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-org1a2744e" class="outline-2">
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<h2 id="org1a2744e"><span class="section-number-2">1</span> Importation of the data</h2>
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<div id="outline-container-org77cefe9" class="outline-2">
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<h2 id="org77cefe9"><span class="section-number-2">1</span> Measurement Description</h2>
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<div class="outline-text-2" id="text-1">
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<div id="org5681d9d" class="figure">
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<p><img src="./figs/setup_picture.png" alt="setup_picture.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Picture of the setup for the measurement</p>
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</div>
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<p>
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Sensors:
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</p>
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<ul class="org-ul">
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<li>3 L-4C (<a href="../actuators-sensors/index.html#MissingReference">Documentation</a>) <a href="file:///home/tdehaeze/MEGA/These/Measurements/actuators-sensors/index.html#MissingReference">table</a></li>
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</ul>
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<p>
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Each motor are turn off and then on.
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</p>
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<p>
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The goal is to see what noise is injected in the system due to the regulation loop of each stage.
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</p>
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</div>
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</div>
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<div id="outline-container-org9f4b317" class="outline-2">
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<h2 id="org9f4b317"><span class="section-number-2">2</span> Importation of the data</h2>
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<div class="outline-text-2" id="text-2">
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<p>
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First, load all the measurement files:
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</p>
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@ -294,10 +322,10 @@ meas<span style="color: #DCDCCC;">{</span><span style="color: #BFEBBF;">4</span>
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</div>
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<p>
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For the measurements 1 to 4, the measurement channels are shown table <a href="#orga7a5bf7">1</a>.
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For the measurements 1 to 4, the measurement channels are shown table <a href="#orgd93730c">1</a>.
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</p>
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<table id="orga7a5bf7" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<table id="orgd93730c" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 1:</span> Channels for measurements 1 to 4</caption>
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<colgroup>
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@ -350,9 +378,9 @@ For the measurements 1 to 4, the measurement channels are shown table <a href="#
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<p>
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For the measurement 5, the channels are shown table <a href="#org576542d">2</a>.
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For the measurement 5, the channels are shown table <a href="#org5758635">2</a>.
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</p>
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<table id="org576542d" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<table id="org5758635" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 2:</span> Channels for measurement 5</caption>
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<colgroup>
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@ -412,9 +440,9 @@ meas<span style="color: #DCDCCC;">{</span><span style="color: #BFEBBF;">2</span>
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</div>
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</div>
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<div id="outline-container-org79ec650" class="outline-2">
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<h2 id="org79ec650"><span class="section-number-2">2</span> Variables for analysis</h2>
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<div class="outline-text-2" id="text-2">
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<div id="outline-container-org3defd95" class="outline-2">
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<h2 id="org3defd95"><span class="section-number-2">3</span> Variables for analysis</h2>
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<div class="outline-text-2" id="text-3">
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<p>
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We define the sampling frequency and the time vectors for the plots.
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</p>
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@ -449,14 +477,14 @@ Then we define the windows that will be used to average the results.
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</div>
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</div>
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<div id="outline-container-org84b20d7" class="outline-2">
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<h2 id="org84b20d7"><span class="section-number-2">3</span> Measurement 1 - Effect of Ty stage</h2>
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<div class="outline-text-2" id="text-3">
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<div id="outline-container-orgdb61c3a" class="outline-2">
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<h2 id="orgdb61c3a"><span class="section-number-2">4</span> Measurement 1 - Effect of Ty stage</h2>
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<div class="outline-text-2" id="text-4">
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<p>
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The configuration for this measurement is shown table <a href="#org905815b">3</a>.
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The configuration for this measurement is shown table <a href="#org1660151">3</a>.
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</p>
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<table id="org905815b" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<table id="org1660151" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 3:</span> Stages configuration - Measurement 1</caption>
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<colgroup>
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@ -483,7 +511,7 @@ The configuration for this measurement is shown table <a href="#org905815b">3</a
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</table>
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<p>
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We then plot the measurements in time domain (figure <a href="#orgf1afb1a">1</a>).
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We then plot the measurements in time domain (figure <a href="#org1bae9b4">2</a>).
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</p>
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<div class="important">
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@ -495,10 +523,10 @@ How can we explain that?
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</div>
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<div id="orgf1afb1a" class="figure">
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<div id="org1bae9b4" class="figure">
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<p><img src="figs/meas1.png" alt="meas1.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Time domain - measurement 1</p>
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<p><span class="figure-number">Figure 2: </span>Time domain - measurement 1</p>
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</div>
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<p>
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@ -511,13 +539,13 @@ xdisp = cumtrapz<span style="color: #DCDCCC;">(</span>tdisp, meas<span style="co
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</div>
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<p>
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Then we plot the position with respect to time (figure <a href="#orga89ebb5">2</a>).
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Then we plot the position with respect to time (figure <a href="#org8cf5d4c">3</a>).
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</p>
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<div id="orga89ebb5" class="figure">
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<div id="org8cf5d4c" class="figure">
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<p><img src="figs/meas1_disp.png" alt="meas1_disp.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span>Y displacement of the Ty stage</p>
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<p><span class="figure-number">Figure 3: </span>Y displacement of the Ty stage</p>
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</div>
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<p>
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@ -536,28 +564,28 @@ We when compute the power spectral density of each measurement before and after
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</div>
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<p>
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We finally plot the power spectral density of each track (figures <a href="#orgf8883d8">3</a>, <a href="#org9dce054">4</a>, <a href="#org651add4">5</a>).
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We finally plot the power spectral density of each track (figures <a href="#org0c5575c">4</a>, <a href="#orgb46f4f5">5</a>, <a href="#org1e537d2">6</a>).
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</p>
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<div id="orgf8883d8" class="figure">
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<div id="org0c5575c" class="figure">
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<p><img src="figs/meas1_ry_z_psd.png" alt="meas1_ry_z_psd.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>PSD of the Z velocity of Ry stage - measurement 1</p>
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<p><span class="figure-number">Figure 4: </span>PSD of the Z velocity of Ry stage - measurement 1</p>
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</div>
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<div id="org9dce054" class="figure">
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<div id="orgb46f4f5" class="figure">
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<p><img src="figs/meas1_ry_tilt_psd.png" alt="meas1_ry_tilt_psd.png" />
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</p>
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<p><span class="figure-number">Figure 4: </span>PSD of the Rotation of Ry Stage - measurement 1</p>
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<p><span class="figure-number">Figure 5: </span>PSD of the Rotation of Ry Stage - measurement 1</p>
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</div>
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<div id="org651add4" class="figure">
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<div id="org1e537d2" class="figure">
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<p><img src="figs/meas1_ty_y_psd.png" alt="meas1_ty_y_psd.png" />
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</p>
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<p><span class="figure-number">Figure 5: </span>PSD of the Ty velocity in the Y direction - measurement 1</p>
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<p><span class="figure-number">Figure 6: </span>PSD of the Ty velocity in the Y direction - measurement 1</p>
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</div>
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<div class="important">
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@ -578,14 +606,14 @@ It does not seems to have any effect on the Z motion of the tilt stage.
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</div>
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</div>
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<div id="outline-container-org9ba4e50" class="outline-2">
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<h2 id="org9ba4e50"><span class="section-number-2">4</span> Measurement 2 - Effect of Ry stage</h2>
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<div class="outline-text-2" id="text-4">
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<div id="outline-container-orgaed21d3" class="outline-2">
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<h2 id="orgaed21d3"><span class="section-number-2">5</span> Measurement 2 - Effect of Ry stage</h2>
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<div class="outline-text-2" id="text-5">
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<p>
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The tilt stage is turned ON at around 326 seconds (table <a href="#org916f3f7">4</a>).
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The tilt stage is turned ON at around 326 seconds (table <a href="#orgee97535">4</a>).
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</p>
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<table id="org916f3f7" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<table id="orgee97535" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 4:</span> Stages configuration - Measurement 2</caption>
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<colgroup>
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@ -612,18 +640,18 @@ The tilt stage is turned ON at around 326 seconds (table <a href="#org916f3f7">4
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</table>
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<p>
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We plot the time domain (figure <a href="#org8d9968c">6</a>) and we don't observe anything special in the time domain.
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We plot the time domain (figure <a href="#org943e97d">7</a>) and we don't observe anything special in the time domain.
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</p>
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<div id="org8d9968c" class="figure">
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<div id="org943e97d" class="figure">
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<p><img src="figs/meas2.png" alt="meas2.png" />
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</p>
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<p><span class="figure-number">Figure 6: </span>Time domain - measurement 2</p>
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<p><span class="figure-number">Figure 7: </span>Time domain - measurement 2</p>
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</div>
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<p>
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We compute the PSD of each track and we plot them (figures <a href="#orgf01ccf1">7</a>, <a href="#orgfdc2ea0">8</a> and <a href="#org825fa92">9</a> ).
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We compute the PSD of each track and we plot them (figures <a href="#orged7cb6c">8</a>, <a href="#org98e7915">9</a> and <a href="#org225fd06">10</a> ).
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab"><span style="color: #DCDCCC;">[</span>pxx211, f211<span style="color: #DCDCCC;">]</span> = pwelch<span style="color: #DCDCCC;">(</span>meas<span style="color: #BFEBBF;">{</span><span style="color: #BFEBBF;">2</span><span style="color: #BFEBBF;">}</span>.Track1<span style="color: #BFEBBF;">(</span><span style="color: #BFEBBF;">1</span><span style="color: #7CB8BB;">:</span>ceil<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">326</span><span style="color: #7CB8BB;">/</span>dt<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span>, psd_window, <span style="color: #BFEBBF;">[]</span>, <span style="color: #BFEBBF;">[]</span>, Fs<span style="color: #DCDCCC;">)</span>;
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@ -638,24 +666,24 @@ We compute the PSD of each track and we plot them (figures <a href="#orgf01ccf1"
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</div>
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<div id="orgf01ccf1" class="figure">
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<div id="orged7cb6c" class="figure">
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<p><img src="figs/meas2_ry_z_psd.png" alt="meas2_ry_z_psd.png" />
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</p>
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<p><span class="figure-number">Figure 7: </span>PSD of the Z velocity of Ry Stage - measurement 2</p>
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<p><span class="figure-number">Figure 8: </span>PSD of the Z velocity of Ry Stage - measurement 2</p>
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</div>
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<div id="orgfdc2ea0" class="figure">
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<div id="org98e7915" class="figure">
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<p><img src="figs/meas2_ry_tilt_psd.png" alt="meas2_ry_tilt_psd.png" />
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</p>
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<p><span class="figure-number">Figure 8: </span>PSD of the Rotation motion of Ry Stage - measurement 2</p>
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<p><span class="figure-number">Figure 9: </span>PSD of the Rotation motion of Ry Stage - measurement 2</p>
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</div>
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<div id="org825fa92" class="figure">
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<div id="org225fd06" class="figure">
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<p><img src="figs/meas2_ty_y_psd.png" alt="meas2_ty_y_psd.png" />
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</p>
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<p><span class="figure-number">Figure 9: </span>PSD of the Ty velocity in the Y direction - measurement 2</p>
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<p><span class="figure-number">Figure 10: </span>PSD of the Ty velocity in the Y direction - measurement 2</p>
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</div>
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<div class="important">
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@ -667,14 +695,14 @@ We observe no noticeable difference when the Tilt-stage is turned ON expect a sm
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</div>
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</div>
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<div id="outline-container-org123fdd7" class="outline-2">
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<h2 id="org123fdd7"><span class="section-number-2">5</span> Measurement 3 - Effect of the Hexapod</h2>
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<div class="outline-text-2" id="text-5">
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||||
<div id="outline-container-org70fba3b" class="outline-2">
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||||
<h2 id="org70fba3b"><span class="section-number-2">6</span> Measurement 3 - Effect of the Hexapod</h2>
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<div class="outline-text-2" id="text-6">
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||||
<p>
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The hexapod is turned off after 406 seconds (table <a href="#org6f52408">5</a>).
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||||
The hexapod is turned off after 406 seconds (table <a href="#org6a7c5e2">5</a>).
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</p>
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<table id="org6f52408" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<table id="org6a7c5e2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
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<caption class="t-above"><span class="table-number">Table 5:</span> Stages configuration - Measurement 3</caption>
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<colgroup>
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@ -707,18 +735,18 @@ The hexapod is turned off after 406 seconds (table <a href="#org6f52408">5</a>).
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</table>
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<p>
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The time domain result is shown figure <a href="#org585352e">10</a>.
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||||
The time domain result is shown figure <a href="#orgd89f632">11</a>.
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</p>
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<div id="org585352e" class="figure">
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<div id="orgd89f632" class="figure">
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<p><img src="figs/meas3.png" alt="meas3.png" />
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</p>
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<p><span class="figure-number">Figure 10: </span>Time domain - measurement 3</p>
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<p><span class="figure-number">Figure 11: </span>Time domain - measurement 3</p>
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</div>
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<p>
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We then compute the PSD of each track before and after turning off the hexapod and plot the results in the figures <a href="#orgba8422f">11</a>, <a href="#org7768dd2">12</a> and <a href="#org385e7f1">13</a>.
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We then compute the PSD of each track before and after turning off the hexapod and plot the results in the figures <a href="#orge69c923">12</a>, <a href="#orga7bda42">13</a> and <a href="#org8b479d2">14</a>.
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</p>
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<div class="org-src-container">
|
||||
<pre class="src src-matlab"><span style="color: #DCDCCC;">[</span>pxx311, f311<span style="color: #DCDCCC;">]</span> = pwelch<span style="color: #DCDCCC;">(</span>meas<span style="color: #BFEBBF;">{</span><span style="color: #BFEBBF;">3</span><span style="color: #BFEBBF;">}</span>.Track1<span style="color: #BFEBBF;">(</span><span style="color: #BFEBBF;">1</span><span style="color: #7CB8BB;">:</span>ceil<span style="color: #D0BF8F;">(</span><span style="color: #BFEBBF;">400</span><span style="color: #7CB8BB;">/</span>dt<span style="color: #D0BF8F;">)</span><span style="color: #BFEBBF;">)</span>, psd_window, <span style="color: #BFEBBF;">[]</span>, <span style="color: #BFEBBF;">[]</span>, Fs<span style="color: #DCDCCC;">)</span>;
|
||||
@ -733,29 +761,29 @@ We then compute the PSD of each track before and after turning off the hexapod a
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgba8422f" class="figure">
|
||||
<div id="orge69c923" class="figure">
|
||||
<p><img src="figs/meas3_hexa_z_psd.png" alt="meas3_hexa_z_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>PSD of the Z velocity of the Hexapod - measurement 3</p>
|
||||
<p><span class="figure-number">Figure 12: </span>PSD of the Z velocity of the Hexapod - measurement 3</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org7768dd2" class="figure">
|
||||
<div id="orga7bda42" class="figure">
|
||||
<p><img src="figs/meas3_ry_z_psd.png" alt="meas3_ry_z_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 12: </span>PSD of the Z velocity of the Ry stage - measurement 3</p>
|
||||
<p><span class="figure-number">Figure 13: </span>PSD of the Z velocity of the Ry stage - measurement 3</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org385e7f1" class="figure">
|
||||
<div id="org8b479d2" class="figure">
|
||||
<p><img src="figs/meas3_ty_y_psd.png" alt="meas3_ty_y_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 13: </span>PSD of the Ty velocity in the Y direction - measurement 3</p>
|
||||
<p><span class="figure-number">Figure 14: </span>PSD of the Ty velocity in the Y direction - measurement 3</p>
|
||||
</div>
|
||||
|
||||
<div class="important">
|
||||
<p>
|
||||
Turning ON induces some motion on the hexapod in the z direction (figure <a href="#orgba8422f">11</a>), on the tilt stage in the z direction (figure <a href="#org7768dd2">12</a>) and on the y motion of the Ty stage (figure <a href="#org385e7f1">13</a>):
|
||||
Turning ON induces some motion on the hexapod in the z direction (figure <a href="#orge69c923">12</a>), on the tilt stage in the z direction (figure <a href="#orga7bda42">13</a>) and on the y motion of the Ty stage (figure <a href="#org8b479d2">14</a>):
|
||||
</p>
|
||||
<ul class="org-ul">
|
||||
<li>at 17Hz</li>
|
||||
@ -766,14 +794,14 @@ Turning ON induces some motion on the hexapod in the z direction (figure <a href
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org0b58213" class="outline-2">
|
||||
<h2 id="org0b58213"><span class="section-number-2">6</span> Measurement 4 - Effect of the Splip-Ring and Spindle</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<div id="outline-container-org9d0ea22" class="outline-2">
|
||||
<h2 id="org9d0ea22"><span class="section-number-2">7</span> Measurement 4 - Effect of the Splip-Ring and Spindle</h2>
|
||||
<div class="outline-text-2" id="text-7">
|
||||
<p>
|
||||
The slip ring is turned on at 300s, then the spindle is turned on at 620s (table <a href="#org7344257">6</a>). The time domain signals are shown figure <a href="#org8c8292e">14</a>.
|
||||
The slip ring is turned on at 300s, then the spindle is turned on at 620s (table <a href="#org0a0a7e8">6</a>). The time domain signals are shown figure <a href="#org31e7fd0">15</a>.
|
||||
</p>
|
||||
|
||||
<table id="org7344257" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<table id="org0a0a7e8" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||
<caption class="t-above"><span class="table-number">Table 6:</span> Stages configuration - Measurement 4</caption>
|
||||
|
||||
<colgroup>
|
||||
@ -818,42 +846,42 @@ The slip ring is turned on at 300s, then the spindle is turned on at 620s (table
|
||||
</table>
|
||||
|
||||
|
||||
<div id="org8c8292e" class="figure">
|
||||
<div id="org31e7fd0" class="figure">
|
||||
<p><img src="figs/meas4.png" alt="meas4.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 14: </span>Time domain - measurement 4</p>
|
||||
<p><span class="figure-number">Figure 15: </span>Time domain - measurement 4</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
The PSD of each track are computed using the code below.
|
||||
</p>
|
||||
|
||||
<div id="org265d66f" class="figure">
|
||||
<div id="org0404dd0" class="figure">
|
||||
<p><img src="figs/meas4_hexa_z_psd.png" alt="meas4_hexa_z_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 15: </span>PSD of the Z velocity of the Hexapod - measurement 4</p>
|
||||
<p><span class="figure-number">Figure 16: </span>PSD of the Z velocity of the Hexapod - measurement 4</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org89ecdee" class="figure">
|
||||
<div id="org45aa86c" class="figure">
|
||||
<p><img src="figs/meas4_ry_z_psd.png" alt="meas4_ry_z_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 16: </span>PSD of the Ry rotation in the Y direction - measurement 4</p>
|
||||
<p><span class="figure-number">Figure 17: </span>PSD of the Ry rotation in the Y direction - measurement 4</p>
|
||||
</div>
|
||||
|
||||
|
||||
|
||||
<div id="org24d8e57" class="figure">
|
||||
<div id="org2f4d69a" class="figure">
|
||||
<p><img src="figs/meas4_ty_y_psd.png" alt="meas4_ty_y_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 17: </span>PSD of the Ty velocity in the Y direction - measurement 4</p>
|
||||
<p><span class="figure-number">Figure 18: </span>PSD of the Ty velocity in the Y direction - measurement 4</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div class="important">
|
||||
<p>
|
||||
Turning ON the splipring seems to not add motions on the stages measured.
|
||||
It even seems to lower the motion of the Ty stage (figure <a href="#org24d8e57">17</a>): does that make any sense?
|
||||
It even seems to lower the motion of the Ty stage (figure <a href="#org2f4d69a">18</a>): does that make any sense?
|
||||
</p>
|
||||
|
||||
<p>
|
||||
@ -869,26 +897,26 @@ Turning ON the spindle induces motions:
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org70a338a" class="outline-2">
|
||||
<h2 id="org70a338a"><span class="section-number-2">7</span> Measurement 5 - Transmission from ground to marble</h2>
|
||||
<div class="outline-text-2" id="text-7">
|
||||
<div id="outline-container-org80c9209" class="outline-2">
|
||||
<h2 id="org80c9209"><span class="section-number-2">8</span> Measurement 5 - Transmission from ground to marble</h2>
|
||||
<div class="outline-text-2" id="text-8">
|
||||
<p>
|
||||
This measurement just consists of measurement of Y-Z motion of the ground and the marble.
|
||||
</p>
|
||||
|
||||
<p>
|
||||
The time domain signals are shown on figure <a href="#org62c9c2a">18</a>.
|
||||
The time domain signals are shown on figure <a href="#orgdac3588">19</a>.
|
||||
</p>
|
||||
|
||||
|
||||
<div id="org62c9c2a" class="figure">
|
||||
<div id="orgdac3588" class="figure">
|
||||
<p><img src="figs/meas5.png" alt="meas5.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 18: </span>Time domain - measurement 5</p>
|
||||
<p><span class="figure-number">Figure 19: </span>Time domain - measurement 5</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
We compute the PSD of each track and we plot the PSD of the Z motion for the ground and marble on figure <a href="#org832e5a9">19</a> and for the Y motion on figure <a href="#orgf586a7a">20</a>.
|
||||
We compute the PSD of each track and we plot the PSD of the Z motion for the ground and marble on figure <a href="#orga4d8654">20</a> and for the Y motion on figure <a href="#orgcf2a406">21</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -900,22 +928,22 @@ We compute the PSD of each track and we plot the PSD of the Z motion for the gro
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org832e5a9" class="figure">
|
||||
<div id="orga4d8654" class="figure">
|
||||
<p><img src="figs/meas5_z_psd.png" alt="meas5_z_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 19: </span>PSD of the ground and marble in the Z direction</p>
|
||||
<p><span class="figure-number">Figure 20: </span>PSD of the ground and marble in the Z direction</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgf586a7a" class="figure">
|
||||
<div id="orgcf2a406" class="figure">
|
||||
<p><img src="figs/meas5_y_psd.png" alt="meas5_y_psd.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 20: </span>PSD of the ground and marble in the Y direction</p>
|
||||
<p><span class="figure-number">Figure 21: </span>PSD of the ground and marble in the Y direction</p>
|
||||
</div>
|
||||
|
||||
<p>
|
||||
Then, instead of looking at the Power Spectral Density, we can try to estimate the transfer function from a ground motion to the motion of the marble.
|
||||
The transfer functions are shown on figure <a href="#org1d4ceb0">21</a> and the coherence on figure <a href="#org6f0c279">22</a>.
|
||||
The transfer functions are shown on figure <a href="#org4a54f35">22</a> and the coherence on figure <a href="#orge7213d2">23</a>.
|
||||
</p>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -925,10 +953,10 @@ The transfer functions are shown on figure <a href="#org1d4ceb0">21</a> and the
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org1d4ceb0" class="figure">
|
||||
<div id="org4a54f35" class="figure">
|
||||
<p><img src="figs/meas5_tf.png" alt="meas5_tf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 21: </span>Transfer function estimation - measurement 5</p>
|
||||
<p><span class="figure-number">Figure 22: </span>Transfer function estimation - measurement 5</p>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
@ -938,10 +966,10 @@ The transfer functions are shown on figure <a href="#org1d4ceb0">21</a> and the
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org6f0c279" class="figure">
|
||||
<div id="orge7213d2" class="figure">
|
||||
<p><img src="figs/meas5_coh.png" alt="meas5_coh.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 22: </span>Coherence - measurement 5</p>
|
||||
<p><span class="figure-number">Figure 23: </span>Coherence - measurement 5</p>
|
||||
</div>
|
||||
|
||||
<div class="important">
|
||||
@ -956,7 +984,7 @@ But the coherence is not good above 20Hz, so it is difficult to estimate resonan
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Thomas Dehaeze</p>
|
||||
<p class="date">Created: 2019-03-15 ven. 11:59</p>
|
||||
<p class="date">Created: 2019-03-15 ven. 16:46</p>
|
||||
<p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
|
||||
</div>
|
||||
</body>
|
||||
|
||||
@ -23,6 +23,20 @@
|
||||
|
||||
[[../index.org][Back to main page]].
|
||||
|
||||
* Measurement Description
|
||||
|
||||
#+name: fig:setup_picture
|
||||
#+caption: Picture of the setup for the measurement
|
||||
#+attr_latex: :scale 1
|
||||
[[file:./figs/setup_picture.png]]
|
||||
|
||||
Sensors:
|
||||
- 3 L-4C ([[file:../actuators-sensors/index.org::*L-4C][Documentation]]) [[file:~/MEGA/These/Measurements/actuators-sensors/index.org::tab:L4C][table]]
|
||||
|
||||
Each motor are turn off and then on.
|
||||
|
||||
The goal is to see what noise is injected in the system due to the regulation loop of each stage.
|
||||
|
||||
* Importation of the data
|
||||
#+begin_src matlab :exports none :results silent
|
||||
<<matlab-init>>
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user