diff --git a/2018-10-15 - Marc/figs/setup_picture.png b/2018-10-15 - Marc/figs/setup_picture.png new file mode 100644 index 0000000..6e97678 Binary files /dev/null and b/2018-10-15 - Marc/figs/setup_picture.png differ diff --git a/2018-10-15 - Marc/index.html b/2018-10-15 - Marc/index.html index a89c8bc..0aec146 100644 --- a/2018-10-15 - Marc/index.html +++ b/2018-10-15 - Marc/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Measurement Analysis @@ -253,13 +253,14 @@ for the JavaScript code in this tag.

Table of Contents

@@ -268,9 +269,36 @@ for the JavaScript code in this tag. Back to main page.

-
-

1 Importation of the data

+
+

1 Measurement Description

+ +
+

setup_picture.png +

+

Figure 1: Picture of the setup for the measurement

+
+ +

+Sensors: +

+ + +

+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. +

+
+
+ +
+

2 Importation of the data

+

First, load all the measurement files:

@@ -294,10 +322,10 @@ meas{4

-For the measurements 1 to 4, the measurement channels are shown table 1. +For the measurements 1 to 4, the measurement channels are shown table 1.

- +
@@ -350,9 +378,9 @@ For the measurements 1 to 4, the measurement channels are shown table 2. +For the measurement 5, the channels are shown table 2.

-
Table 1: Channels for measurements 1 to 4
+
@@ -412,9 +440,9 @@ meas{2 -
-

2 Variables for analysis

-
+
+

3 Variables for analysis

+

We define the sampling frequency and the time vectors for the plots.

@@ -449,14 +477,14 @@ Then we define the windows that will be used to average the results.
-
-

3 Measurement 1 - Effect of Ty stage

-
+
+

4 Measurement 1 - Effect of Ty stage

+

-The configuration for this measurement is shown table 3. +The configuration for this measurement is shown table 3.

-
Table 2: Channels for measurement 5
+
@@ -483,7 +511,7 @@ The configuration for this measurement is shown table 3

-We then plot the measurements in time domain (figure 1). +We then plot the measurements in time domain (figure 2).

@@ -495,10 +523,10 @@ How can we explain that?
-
+

meas1.png

-

Figure 1: Time domain - measurement 1

+

Figure 2: Time domain - measurement 1

@@ -511,13 +539,13 @@ xdisp = cumtrapz(tdisp, meas2). +Then we plot the position with respect to time (figure 3).

-
+

meas1_disp.png

-

Figure 2: Y displacement of the Ty stage

+

Figure 3: Y displacement of the Ty stage

@@ -536,28 +564,28 @@ We when compute the power spectral density of each measurement before and after

-We finally plot the power spectral density of each track (figures 3, 4, 5). +We finally plot the power spectral density of each track (figures 4, 5, 6).

-
+

meas1_ry_z_psd.png

-

Figure 3: PSD of the Z velocity of Ry stage - measurement 1

+

Figure 4: PSD of the Z velocity of Ry stage - measurement 1

-
+

meas1_ry_tilt_psd.png

-

Figure 4: PSD of the Rotation of Ry Stage - measurement 1

+

Figure 5: PSD of the Rotation of Ry Stage - measurement 1

-
+

meas1_ty_y_psd.png

-

Figure 5: PSD of the Ty velocity in the Y direction - measurement 1

+

Figure 6: PSD of the Ty velocity in the Y direction - measurement 1

@@ -578,14 +606,14 @@ It does not seems to have any effect on the Z motion of the tilt stage.
-
-

4 Measurement 2 - Effect of Ry stage

-
+
+

5 Measurement 2 - Effect of Ry stage

+

-The tilt stage is turned ON at around 326 seconds (table 4). +The tilt stage is turned ON at around 326 seconds (table 4).

-
Table 3: Stages configuration - Measurement 1
+
@@ -612,18 +640,18 @@ The tilt stage is turned ON at around 326 seconds (table 4
Table 4: Stages configuration - Measurement 2

-We plot the time domain (figure 6) and we don't observe anything special in the time domain. +We plot the time domain (figure 7) and we don't observe anything special in the time domain.

-
+

meas2.png

-

Figure 6: Time domain - measurement 2

+

Figure 7: Time domain - measurement 2

-We compute the PSD of each track and we plot them (figures 7, 8 and 9 ). +We compute the PSD of each track and we plot them (figures 8, 9 and 10 ). 

[pxx211, f211] = pwelch(meas{2}.Track1(1:ceil(326/dt)),   psd_window, [], [], Fs);
@@ -638,24 +666,24 @@ We compute the PSD of each track and we plot them (figures 
 
 
-

+

 
meas2_ry_z_psd.png
 

-
Figure 7: PSD of the Z velocity of Ry Stage - measurement 2

+
Figure 8: PSD of the Z velocity of Ry Stage - measurement 2

 

 
 
-

+

 
meas2_ry_tilt_psd.png
 

-
Figure 8: PSD of the Rotation motion of Ry Stage - measurement 2

+
Figure 9: PSD of the Rotation motion of Ry Stage - measurement 2

 

 
 
-

+

 
meas2_ty_y_psd.png
 

-
Figure 9: PSD of the Ty velocity in the Y direction - measurement 2

+
Figure 10: PSD of the Ty velocity in the Y direction - measurement 2

 

 
 

@@ -667,14 +695,14 @@ We observe no noticeable difference when the Tilt-stage is turned ON expect a sm
 

 

 
-

-
5 Measurement 3 - Effect of the Hexapod

-

+

+
6 Measurement 3 - Effect of the Hexapod

+

 

-The hexapod is turned off after 406 seconds (table 5).
+The hexapod is turned off after 406 seconds (table 5).
 

 
-
+
@@ -707,18 +735,18 @@ The hexapod is turned off after 406 seconds (table 5).
 

 Table 5: Stages configuration - Measurement 3
 
 


 
 

-The time domain result is shown figure 10.
+The time domain result is shown figure 11.
 

 
 
-

+

 
meas3.png
 

-
Figure 10: Time domain - measurement 3

+
Figure 11: Time domain - measurement 3

 

 
 

-We then compute the PSD of each track before and after turning off the hexapod and plot the results in the figures 11, 12 and 13.
+We then compute the PSD of each track before and after turning off the hexapod and plot the results in the figures 12, 13 and 14.
 

 

 
[pxx311, f311] = pwelch(meas{3}.Track1(1:ceil(400/dt)),   psd_window, [], [], Fs);
@@ -733,29 +761,29 @@ We then compute the PSD of each track before and after turning off the hexapod a
 

 
 
-

+

 
meas3_hexa_z_psd.png
 

-
Figure 11: PSD of the Z velocity of the Hexapod - measurement 3

+
Figure 12: PSD of the Z velocity of the Hexapod - measurement 3

 

 
 
-

+

 
meas3_ry_z_psd.png
 

-
Figure 12: PSD of the Z velocity of the Ry stage - measurement 3

+
Figure 13: PSD of the Z velocity of the Ry stage - measurement 3

 

 
 
-

+

 
meas3_ty_y_psd.png
 

-
Figure 13: PSD of the Ty velocity in the Y direction - measurement 3

+
Figure 14: PSD of the Ty velocity in the Y direction - measurement 3

 

 
 

 

-Turning ON induces some motion on the hexapod in the z direction (figure 11), on the tilt stage in the z direction (figure 12) and on the y motion of the Ty stage (figure 13):
+Turning ON induces some motion on the hexapod in the z direction (figure 12), on the tilt stage in the z direction (figure 13) and on the y motion of the Ty stage (figure 14):
 

 
    
 
  • at 17Hz
    • 
@@ -766,14 +794,14 @@ Turning ON induces some motion on the hexapod in the z direction (figure 
 

 
-

-
6 Measurement 4 - Effect of the Splip-Ring and Spindle

-

+

+
7 Measurement 4 - Effect of the Splip-Ring and Spindle

+

 

-The slip ring is turned on at 300s, then the spindle is turned on at 620s (table 6). The time domain signals are shown figure 14.
+The slip ring is turned on at 300s, then the spindle is turned on at 620s (table 6). The time domain signals are shown figure 15.
 

 
-
+
@@ -818,42 +846,42 @@ The slip ring is turned on at 300s, then the spindle is turned on at 620s (table
 

 Table 6: Stages configuration - Measurement 4
 
 


 
 
-

+

 
meas4.png
 

-
Figure 14: Time domain - measurement 4

+
Figure 15: Time domain - measurement 4

 

 
 

 The PSD of each track are computed using the code below.
 

 
-

+

 
meas4_hexa_z_psd.png
 

-
Figure 15: PSD of the Z velocity of the Hexapod - measurement 4

+
Figure 16: PSD of the Z velocity of the Hexapod - measurement 4

 

 
 
-

+

 
meas4_ry_z_psd.png
 

-
Figure 16: PSD of the Ry rotation in the Y direction - measurement 4

+
Figure 17: PSD of the Ry rotation in the Y direction - measurement 4

 

 
 
 
-

+

 
meas4_ty_y_psd.png
 

-
Figure 17: PSD of the Ty velocity in the Y direction - measurement 4

+
Figure 18: PSD of the Ty velocity in the Y direction - measurement 4

 

 
 
 

 

 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 17): does that make any sense?
+It even seems to lower the motion of the Ty stage (figure 18): does that make any sense?
 

 
 

@@ -869,26 +897,26 @@ Turning ON the spindle induces motions:
 

 

 
-

-
7 Measurement 5 - Transmission from ground to marble

-

+

+
8 Measurement 5 - Transmission from ground to marble

+

 

 This measurement just consists of measurement of Y-Z motion of the ground and the marble.
 

 
 

-The time domain signals are shown on figure 18.
+The time domain signals are shown on figure 19.
 

 
 
-

+

 
meas5.png
 

-
Figure 18: Time domain - measurement 5

+
Figure 19: Time domain - measurement 5

 

 
 

-We compute the PSD of each track and we plot the PSD of the Z motion for the ground and marble on figure 19 and for the Y motion on figure 20.
+We compute the PSD of each track and we plot the PSD of the Z motion for the ground and marble on figure 20 and for the Y motion on figure 21.
 

 
 

@@ -900,22 +928,22 @@ We compute the PSD of each track and we plot the PSD of the Z motion for the gro
 

 
 
-

+

 
meas5_z_psd.png
 

-
Figure 19: PSD of the ground and marble in the Z direction

+
Figure 20: PSD of the ground and marble in the Z direction

 

 
 
-

+

 
meas5_y_psd.png
 

-
Figure 20: PSD of the ground and marble in the Y direction

+
Figure 21: PSD of the ground and marble in the Y direction

 

 
 

 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 21 and the coherence on figure 22.
+The transfer functions are shown on figure 22 and the coherence on figure 23.
 

 
 

@@ -925,10 +953,10 @@ The transfer functions are shown on figure 21 and the
 

 
 
-

+

 
meas5_tf.png
 

-
Figure 21: Transfer function estimation - measurement 5

+
Figure 22: Transfer function estimation - measurement 5

 

 
 

@@ -938,10 +966,10 @@ The transfer functions are shown on figure 21 and the
 

 
 
-

+

 
meas5_coh.png
 

-
Figure 22: Coherence - measurement 5

+
Figure 23: Coherence - measurement 5

 

 
 

@@ -956,7 +984,7 @@ But the coherence is not good above 20Hz, so it is difficult to estimate resonan
 

 

 
Author: Thomas Dehaeze

-
Created: 2019-03-15 ven. 11:59

+
Created: 2019-03-15 ven. 16:46

 
Validate

 

 
diff --git a/2018-10-15 - Marc/index.org b/2018-10-15 - Marc/index.org
index 11cd9ad..8fa8225 100644
--- a/2018-10-15 - Marc/index.org	
+++ b/2018-10-15 - Marc/index.org	
@@ -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
   <>