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Thomas Dehaeze 2019-03-15 17:13:50 +01:00
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2019-03-15 ven. 11:59 --> <!-- 2019-03-15 ven. 16:46 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1" /> <meta name="viewport" content="width=device-width, initial-scale=1" />
<title>Measurement Analysis</title> <title>Measurement Analysis</title>
@ -253,13 +253,14 @@ for the JavaScript code in this tag.
<h2>Table of Contents</h2> <h2>Table of Contents</h2>
<div id="text-table-of-contents"> <div id="text-table-of-contents">
<ul> <ul>
<li><a href="#org1a2744e">1. Importation of the data</a></li> <li><a href="#org77cefe9">1. Measurement Description</a></li>
<li><a href="#org79ec650">2. Variables for analysis</a></li> <li><a href="#org9f4b317">2. Importation of the data</a></li>
<li><a href="#org84b20d7">3. Measurement 1 - Effect of Ty stage</a></li> <li><a href="#org3defd95">3. Variables for analysis</a></li>
<li><a href="#org9ba4e50">4. Measurement 2 - Effect of Ry stage</a></li> <li><a href="#orgdb61c3a">4. Measurement 1 - Effect of Ty stage</a></li>
<li><a href="#org123fdd7">5. Measurement 3 - Effect of the Hexapod</a></li> <li><a href="#orgaed21d3">5. Measurement 2 - Effect of Ry stage</a></li>
<li><a href="#org0b58213">6. Measurement 4 - Effect of the Splip-Ring and Spindle</a></li> <li><a href="#org70fba3b">6. Measurement 3 - Effect of the Hexapod</a></li>
<li><a href="#org70a338a">7. Measurement 5 - Transmission from ground to marble</a></li> <li><a href="#org9d0ea22">7. Measurement 4 - Effect of the Splip-Ring and Spindle</a></li>
<li><a href="#org80c9209">8. Measurement 5 - Transmission from ground to marble</a></li>
</ul> </ul>
</div> </div>
</div> </div>
@ -268,9 +269,36 @@ for the JavaScript code in this tag.
<a href="../index.html">Back to main page</a>. <a href="../index.html">Back to main page</a>.
</p> </p>
<div id="outline-container-org1a2744e" class="outline-2"> <div id="outline-container-org77cefe9" class="outline-2">
<h2 id="org1a2744e"><span class="section-number-2">1</span> Importation of the data</h2> <h2 id="org77cefe9"><span class="section-number-2">1</span> Measurement Description</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
<div id="org5681d9d" class="figure">
<p><img src="./figs/setup_picture.png" alt="setup_picture.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Picture of the setup for the measurement</p>
</div>
<p>
Sensors:
</p>
<ul class="org-ul">
<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>
</ul>
<p>
Each motor are turn off and then on.
</p>
<p>
The goal is to see what noise is injected in the system due to the regulation loop of each stage.
</p>
</div>
</div>
<div id="outline-container-org9f4b317" class="outline-2">
<h2 id="org9f4b317"><span class="section-number-2">2</span> Importation of the data</h2>
<div class="outline-text-2" id="text-2">
<p> <p>
First, load all the measurement files: First, load all the measurement files:
</p> </p>
@ -294,10 +322,10 @@ meas<span style="color: #DCDCCC;">{</span><span style="color: #BFEBBF;">4</span>
</div> </div>
<p> <p>
For the measurements 1 to 4, the measurement channels are shown table <a href="#orga7a5bf7">1</a>. For the measurements 1 to 4, the measurement channels are shown table <a href="#orgd93730c">1</a>.
</p> </p>
<table id="orga7a5bf7" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="orgd93730c" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Channels for measurements 1 to 4</caption> <caption class="t-above"><span class="table-number">Table 1:</span> Channels for measurements 1 to 4</caption>
<colgroup> <colgroup>
@ -350,9 +378,9 @@ For the measurements 1 to 4, the measurement channels are shown table <a href="#
<p> <p>
For the measurement 5, the channels are shown table <a href="#org576542d">2</a>. For the measurement 5, the channels are shown table <a href="#org5758635">2</a>.
</p> </p>
<table id="org576542d" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="org5758635" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Channels for measurement 5</caption> <caption class="t-above"><span class="table-number">Table 2:</span> Channels for measurement 5</caption>
<colgroup> <colgroup>
@ -412,9 +440,9 @@ meas<span style="color: #DCDCCC;">{</span><span style="color: #BFEBBF;">2</span>
</div> </div>
</div> </div>
<div id="outline-container-org79ec650" class="outline-2"> <div id="outline-container-org3defd95" class="outline-2">
<h2 id="org79ec650"><span class="section-number-2">2</span> Variables for analysis</h2> <h2 id="org3defd95"><span class="section-number-2">3</span> Variables for analysis</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-3">
<p> <p>
We define the sampling frequency and the time vectors for the plots. We define the sampling frequency and the time vectors for the plots.
</p> </p>
@ -449,14 +477,14 @@ Then we define the windows that will be used to average the results.
</div> </div>
</div> </div>
<div id="outline-container-org84b20d7" class="outline-2"> <div id="outline-container-orgdb61c3a" class="outline-2">
<h2 id="org84b20d7"><span class="section-number-2">3</span> Measurement 1 - Effect of Ty stage</h2> <h2 id="orgdb61c3a"><span class="section-number-2">4</span> Measurement 1 - Effect of Ty stage</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-4">
<p> <p>
The configuration for this measurement is shown table <a href="#org905815b">3</a>. The configuration for this measurement is shown table <a href="#org1660151">3</a>.
</p> </p>
<table id="org905815b" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="org1660151" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 3:</span> Stages configuration - Measurement 1</caption> <caption class="t-above"><span class="table-number">Table 3:</span> Stages configuration - Measurement 1</caption>
<colgroup> <colgroup>
@ -483,7 +511,7 @@ The configuration for this measurement is shown table <a href="#org905815b">3</a
</table> </table>
<p> <p>
We then plot the measurements in time domain (figure <a href="#orgf1afb1a">1</a>). We then plot the measurements in time domain (figure <a href="#org1bae9b4">2</a>).
</p> </p>
<div class="important"> <div class="important">
@ -495,10 +523,10 @@ How can we explain that?
</div> </div>
<div id="orgf1afb1a" class="figure"> <div id="org1bae9b4" class="figure">
<p><img src="figs/meas1.png" alt="meas1.png" /> <p><img src="figs/meas1.png" alt="meas1.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Time domain - measurement 1</p> <p><span class="figure-number">Figure 2: </span>Time domain - measurement 1</p>
</div> </div>
<p> <p>
@ -511,13 +539,13 @@ xdisp = cumtrapz<span style="color: #DCDCCC;">(</span>tdisp, meas<span style="co
</div> </div>
<p> <p>
Then we plot the position with respect to time (figure <a href="#orga89ebb5">2</a>). Then we plot the position with respect to time (figure <a href="#org8cf5d4c">3</a>).
</p> </p>
<div id="orga89ebb5" class="figure"> <div id="org8cf5d4c" class="figure">
<p><img src="figs/meas1_disp.png" alt="meas1_disp.png" /> <p><img src="figs/meas1_disp.png" alt="meas1_disp.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Y displacement of the Ty stage</p> <p><span class="figure-number">Figure 3: </span>Y displacement of the Ty stage</p>
</div> </div>
<p> <p>
@ -536,28 +564,28 @@ We when compute the power spectral density of each measurement before and after
</div> </div>
<p> <p>
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>). 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>).
</p> </p>
<div id="orgf8883d8" class="figure"> <div id="org0c5575c" class="figure">
<p><img src="figs/meas1_ry_z_psd.png" alt="meas1_ry_z_psd.png" /> <p><img src="figs/meas1_ry_z_psd.png" alt="meas1_ry_z_psd.png" />
</p> </p>
<p><span class="figure-number">Figure 3: </span>PSD of the Z velocity of Ry stage - measurement 1</p> <p><span class="figure-number">Figure 4: </span>PSD of the Z velocity of Ry stage - measurement 1</p>
</div> </div>
<div id="org9dce054" class="figure"> <div id="orgb46f4f5" class="figure">
<p><img src="figs/meas1_ry_tilt_psd.png" alt="meas1_ry_tilt_psd.png" /> <p><img src="figs/meas1_ry_tilt_psd.png" alt="meas1_ry_tilt_psd.png" />
</p> </p>
<p><span class="figure-number">Figure 4: </span>PSD of the Rotation of Ry Stage - measurement 1</p> <p><span class="figure-number">Figure 5: </span>PSD of the Rotation of Ry Stage - measurement 1</p>
</div> </div>
<div id="org651add4" class="figure"> <div id="org1e537d2" class="figure">
<p><img src="figs/meas1_ty_y_psd.png" alt="meas1_ty_y_psd.png" /> <p><img src="figs/meas1_ty_y_psd.png" alt="meas1_ty_y_psd.png" />
</p> </p>
<p><span class="figure-number">Figure 5: </span>PSD of the Ty velocity in the Y direction - measurement 1</p> <p><span class="figure-number">Figure 6: </span>PSD of the Ty velocity in the Y direction - measurement 1</p>
</div> </div>
<div class="important"> <div class="important">
@ -578,14 +606,14 @@ It does not seems to have any effect on the Z motion of the tilt stage.
</div> </div>
</div> </div>
<div id="outline-container-org9ba4e50" class="outline-2"> <div id="outline-container-orgaed21d3" class="outline-2">
<h2 id="org9ba4e50"><span class="section-number-2">4</span> Measurement 2 - Effect of Ry stage</h2> <h2 id="orgaed21d3"><span class="section-number-2">5</span> Measurement 2 - Effect of Ry stage</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-5">
<p> <p>
The tilt stage is turned ON at around 326 seconds (table <a href="#org916f3f7">4</a>). The tilt stage is turned ON at around 326 seconds (table <a href="#orgee97535">4</a>).
</p> </p>
<table id="org916f3f7" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="orgee97535" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 4:</span> Stages configuration - Measurement 2</caption> <caption class="t-above"><span class="table-number">Table 4:</span> Stages configuration - Measurement 2</caption>
<colgroup> <colgroup>
@ -612,18 +640,18 @@ The tilt stage is turned ON at around 326 seconds (table <a href="#org916f3f7">4
</table> </table>
<p> <p>
We plot the time domain (figure <a href="#org8d9968c">6</a>) and we don't observe anything special in the time domain. We plot the time domain (figure <a href="#org943e97d">7</a>) and we don't observe anything special in the time domain.
</p> </p>
<div id="org8d9968c" class="figure"> <div id="org943e97d" class="figure">
<p><img src="figs/meas2.png" alt="meas2.png" /> <p><img src="figs/meas2.png" alt="meas2.png" />
</p> </p>
<p><span class="figure-number">Figure 6: </span>Time domain - measurement 2</p> <p><span class="figure-number">Figure 7: </span>Time domain - measurement 2</p>
</div> </div>
<p> <p>
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> ). 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> ).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<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>; <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>;
@ -638,24 +666,24 @@ We compute the PSD of each track and we plot them (figures <a href="#orgf01ccf1"
</div> </div>
<div id="orgf01ccf1" class="figure"> <div id="orged7cb6c" class="figure">
<p><img src="figs/meas2_ry_z_psd.png" alt="meas2_ry_z_psd.png" /> <p><img src="figs/meas2_ry_z_psd.png" alt="meas2_ry_z_psd.png" />
</p> </p>
<p><span class="figure-number">Figure 7: </span>PSD of the Z velocity of Ry Stage - measurement 2</p> <p><span class="figure-number">Figure 8: </span>PSD of the Z velocity of Ry Stage - measurement 2</p>
</div> </div>
<div id="orgfdc2ea0" class="figure"> <div id="org98e7915" class="figure">
<p><img src="figs/meas2_ry_tilt_psd.png" alt="meas2_ry_tilt_psd.png" /> <p><img src="figs/meas2_ry_tilt_psd.png" alt="meas2_ry_tilt_psd.png" />
</p> </p>
<p><span class="figure-number">Figure 8: </span>PSD of the Rotation motion of Ry Stage - measurement 2</p> <p><span class="figure-number">Figure 9: </span>PSD of the Rotation motion of Ry Stage - measurement 2</p>
</div> </div>
<div id="org825fa92" class="figure"> <div id="org225fd06" class="figure">
<p><img src="figs/meas2_ty_y_psd.png" alt="meas2_ty_y_psd.png" /> <p><img src="figs/meas2_ty_y_psd.png" alt="meas2_ty_y_psd.png" />
</p> </p>
<p><span class="figure-number">Figure 9: </span>PSD of the Ty velocity in the Y direction - measurement 2</p> <p><span class="figure-number">Figure 10: </span>PSD of the Ty velocity in the Y direction - measurement 2</p>
</div> </div>
<div class="important"> <div class="important">
@ -667,14 +695,14 @@ We observe no noticeable difference when the Tilt-stage is turned ON expect a sm
</div> </div>
</div> </div>
<div id="outline-container-org123fdd7" class="outline-2"> <div id="outline-container-org70fba3b" class="outline-2">
<h2 id="org123fdd7"><span class="section-number-2">5</span> Measurement 3 - Effect of the Hexapod</h2> <h2 id="org70fba3b"><span class="section-number-2">6</span> Measurement 3 - Effect of the Hexapod</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-6">
<p> <p>
The hexapod is turned off after 406 seconds (table <a href="#org6f52408">5</a>). The hexapod is turned off after 406 seconds (table <a href="#org6a7c5e2">5</a>).
</p> </p>
<table id="org6f52408" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="org6a7c5e2" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 5:</span> Stages configuration - Measurement 3</caption> <caption class="t-above"><span class="table-number">Table 5:</span> Stages configuration - Measurement 3</caption>
<colgroup> <colgroup>
@ -707,18 +735,18 @@ The hexapod is turned off after 406 seconds (table <a href="#org6f52408">5</a>).
</table> </table>
<p> <p>
The time domain result is shown figure <a href="#org585352e">10</a>. The time domain result is shown figure <a href="#orgd89f632">11</a>.
</p> </p>
<div id="org585352e" class="figure"> <div id="orgd89f632" class="figure">
<p><img src="figs/meas3.png" alt="meas3.png" /> <p><img src="figs/meas3.png" alt="meas3.png" />
</p> </p>
<p><span class="figure-number">Figure 10: </span>Time domain - measurement 3</p> <p><span class="figure-number">Figure 11: </span>Time domain - measurement 3</p>
</div> </div>
<p> <p>
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>. 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>.
</p> </p>
<div class="org-src-container"> <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>; <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>
<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><img src="figs/meas3_hexa_z_psd.png" alt="meas3_hexa_z_psd.png" />
</p> </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>
<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><img src="figs/meas3_ry_z_psd.png" alt="meas3_ry_z_psd.png" />
</p> </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>
<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><img src="figs/meas3_ty_y_psd.png" alt="meas3_ty_y_psd.png" />
</p> </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>
<div class="important"> <div class="important">
<p> <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> </p>
<ul class="org-ul"> <ul class="org-ul">
<li>at 17Hz</li> <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> </div>
<div id="outline-container-org0b58213" class="outline-2"> <div id="outline-container-org9d0ea22" class="outline-2">
<h2 id="org0b58213"><span class="section-number-2">6</span> Measurement 4 - Effect of the Splip-Ring and Spindle</h2> <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-6"> <div class="outline-text-2" id="text-7">
<p> <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> </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> <caption class="t-above"><span class="table-number">Table 6:</span> Stages configuration - Measurement 4</caption>
<colgroup> <colgroup>
@ -818,42 +846,42 @@ The slip ring is turned on at 300s, then the spindle is turned on at 620s (table
</table> </table>
<div id="org8c8292e" class="figure"> <div id="org31e7fd0" class="figure">
<p><img src="figs/meas4.png" alt="meas4.png" /> <p><img src="figs/meas4.png" alt="meas4.png" />
</p> </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> </div>
<p> <p>
The PSD of each track are computed using the code below. The PSD of each track are computed using the code below.
</p> </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><img src="figs/meas4_hexa_z_psd.png" alt="meas4_hexa_z_psd.png" />
</p> </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>
<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><img src="figs/meas4_ry_z_psd.png" alt="meas4_ry_z_psd.png" />
</p> </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>
<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><img src="figs/meas4_ty_y_psd.png" alt="meas4_ty_y_psd.png" />
</p> </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>
<div class="important"> <div class="important">
<p> <p>
Turning ON the splipring seems to not add motions on the stages measured. 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>
<p> <p>
@ -869,26 +897,26 @@ Turning ON the spindle induces motions:
</div> </div>
</div> </div>
<div id="outline-container-org70a338a" class="outline-2"> <div id="outline-container-org80c9209" class="outline-2">
<h2 id="org70a338a"><span class="section-number-2">7</span> Measurement 5 - Transmission from ground to marble</h2> <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-7"> <div class="outline-text-2" id="text-8">
<p> <p>
This measurement just consists of measurement of Y-Z motion of the ground and the marble. This measurement just consists of measurement of Y-Z motion of the ground and the marble.
</p> </p>
<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> </p>
<div id="org62c9c2a" class="figure"> <div id="orgdac3588" class="figure">
<p><img src="figs/meas5.png" alt="meas5.png" /> <p><img src="figs/meas5.png" alt="meas5.png" />
</p> </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> </div>
<p> <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> </p>
<div class="org-src-container"> <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>
<div id="org832e5a9" class="figure"> <div id="orga4d8654" class="figure">
<p><img src="figs/meas5_z_psd.png" alt="meas5_z_psd.png" /> <p><img src="figs/meas5_z_psd.png" alt="meas5_z_psd.png" />
</p> </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>
<div id="orgf586a7a" class="figure"> <div id="orgcf2a406" class="figure">
<p><img src="figs/meas5_y_psd.png" alt="meas5_y_psd.png" /> <p><img src="figs/meas5_y_psd.png" alt="meas5_y_psd.png" />
</p> </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> </div>
<p> <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. 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> </p>
<div class="org-src-container"> <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>
<div id="org1d4ceb0" class="figure"> <div id="org4a54f35" class="figure">
<p><img src="figs/meas5_tf.png" alt="meas5_tf.png" /> <p><img src="figs/meas5_tf.png" alt="meas5_tf.png" />
</p> </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>
<div class="org-src-container"> <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>
<div id="org6f0c279" class="figure"> <div id="orge7213d2" class="figure">
<p><img src="figs/meas5_coh.png" alt="meas5_coh.png" /> <p><img src="figs/meas5_coh.png" alt="meas5_coh.png" />
</p> </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>
<div class="important"> <div class="important">
@ -956,7 +984,7 @@ But the coherence is not good above 20Hz, so it is difficult to estimate resonan
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Thomas Dehaeze</p> <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> <p class="validation"><a href="http://validator.w3.org/check?uri=referer">Validate</a></p>
</div> </div>
</body> </body>

14
2018-10-15 - Marc/index.org
View File

@ -23,6 +23,20 @@
[[../index.org][Back to main page]]. [[../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 * Importation of the data
#+begin_src matlab :exports none :results silent #+begin_src matlab :exports none :results silent
<<matlab-init>> <<matlab-init>>