Renamed folder

disturbance-control-system/matlab/effect_control_all.m

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+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+d3 = load('mat/data_003.mat', 'data'); d3 = d3.data;
+d4 = load('mat/data_004.mat', 'data'); d4 = d4.data;
+d5 = load('mat/data_005.mat', 'data'); d5 = d5.data;
+d6 = load('mat/data_006.mat', 'data'); d6 = d6.data;
+d7 = load('mat/data_007.mat', 'data'); d7 = d7.data;
+d8 = load('mat/data_008.mat', 'data'); d8 = d8.data;
+
+% Analysis - Time Domain
+% First, we can look at the time domain data and compare all the measurements:
+% - comparison for the geophone at the sample location (figure [[fig:time_domain_sample]])
+% - comparison for the geophone on the granite (figure [[fig:time_domain_marble]])
+
+
+figure;
+hold on;
+plot(d3(:, 3), d3(:, 2), 'DisplayName', 'All ON');
+plot(d4(:, 3), d4(:, 2), 'DisplayName', 'Ty OFF');
+plot(d5(:, 3), d5(:, 2), 'DisplayName', 'Ry OFF');
+plot(d6(:, 3), d6(:, 2), 'DisplayName', 'S-R OFF');
+plot(d7(:, 3), d7(:, 2), 'DisplayName', 'Rz OFF');
+plot(d8(:, 3), d8(:, 2), 'DisplayName', 'Hexa OFF');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+
+
+% #+NAME: fig:time_domain_sample
+% #+CAPTION: Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location
+% #+RESULTS: fig:time_domain_sample
+% [[file:figs/time_domain_sample.png]]
+
+
+
+figure;
+hold on;
+plot(d3(:, 3), d3(:, 1), 'DisplayName', 'All ON');
+plot(d4(:, 3), d4(:, 1), 'DisplayName', 'Ty OFF');
+plot(d5(:, 3), d5(:, 1), 'DisplayName', 'Ry OFF');
+plot(d6(:, 3), d6(:, 1), 'DisplayName', 'S-R OFF');
+plot(d7(:, 3), d7(:, 1), 'DisplayName', 'Rz OFF');
+plot(d8(:, 3), d8(:, 1), 'DisplayName', 'Hexa OFF');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+% Analysis - Frequency Domain
+
+dt = d3(2, 3) - d3(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(10*Fs));
+
+% Vibrations at the sample location
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[px3, f] = pwelch(d3(:, 2), win, [], [], Fs);
+[px4, ~] = pwelch(d4(:, 2), win, [], [], Fs);
+[px5, ~] = pwelch(d5(:, 2), win, [], [], Fs);
+[px6, ~] = pwelch(d6(:, 2), win, [], [], Fs);
+[px7, ~] = pwelch(d7(:, 2), win, [], [], Fs);
+[px8, ~] = pwelch(d8(:, 2), win, [], [], Fs);
+
+
+
+% And we compare all the signals (figures [[fig:psd_sample_comp]] and [[fig:psd_sample_comp_high_freq]]).
+
+figure;
+hold on;
+plot(f, sqrt(px3), 'DisplayName', 'All ON');
+plot(f, sqrt(px4), 'DisplayName', 'Ty OFF');
+plot(f, sqrt(px5), 'DisplayName', 'Ry OFF');
+plot(f, sqrt(px6), 'DisplayName', 'S-R OFF');
+plot(f, sqrt(px7), 'DisplayName', 'Rz OFF');
+plot(f, sqrt(px8), 'DisplayName', 'Hexa OFF');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'southwest');
+
+% Vibrations on the marble
+% Now we plot the same curves for the geophone located on the marble.
+
+[px3, f] = pwelch(d3(:, 1), win, [], [], Fs);
+[px4, ~] = pwelch(d4(:, 1), win, [], [], Fs);
+[px5, ~] = pwelch(d5(:, 1), win, [], [], Fs);
+[px6, ~] = pwelch(d6(:, 1), win, [], [], Fs);
+[px7, ~] = pwelch(d7(:, 1), win, [], [], Fs);
+[px8, ~] = pwelch(d8(:, 1), win, [], [], Fs);
+
+
+
+% And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_comp_high_freq]])
+
+figure;
+hold on;
+plot(f, sqrt(px3), 'DisplayName', 'All ON');
+plot(f, sqrt(px4), 'DisplayName', 'Ty OFF');
+plot(f, sqrt(px5), 'DisplayName', 'Ry OFF');
+plot(f, sqrt(px6), 'DisplayName', 'S-R OFF');
+plot(f, sqrt(px7), 'DisplayName', 'Rz OFF');
+plot(f, sqrt(px8), 'DisplayName', 'Hexa OFF');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'northeast');
+
+% Effect of the control system on the transmissibility from ground to sample
+% As the feedback loops change the dynamics of the system, we should see differences on the transfer function from marble velocity to sample velocity when turning off the control systems (figure [[fig:trans_comp]]).
+
+
+dt = d3(2, 3) - d3(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(1*Fs));
+
+
+
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[T3, f] = tfestimate(d3(:, 1), d3(:, 2), win, [], [], Fs);
+[T4, ~] = tfestimate(d4(:, 1), d4(:, 2), win, [], [], Fs);
+[T5, ~] = tfestimate(d5(:, 1), d5(:, 2), win, [], [], Fs);
+[T6, ~] = tfestimate(d6(:, 1), d6(:, 2), win, [], [], Fs);
+[T7, ~] = tfestimate(d7(:, 1), d7(:, 2), win, [], [], Fs);
+[T8, ~] = tfestimate(d8(:, 1), d8(:, 2), win, [], [], Fs);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(T3), 'DisplayName', 'All ON');
+plot(f, abs(T4), 'DisplayName', 'Ty OFF');
+plot(f, abs(T5), 'DisplayName', 'Ry OFF');
+plot(f, abs(T6), 'DisplayName', 'S-R OFF');
+plot(f, abs(T7), 'DisplayName', 'Rz OFF');
+plot(f, abs(T8), 'DisplayName', 'Hexa OFF');
+hold off;
+set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+set(gca, 'XTickLabel',[]);
+ylabel('Magnitude');
+legend('Location', 'northwest');
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, mod(180+180/pi*phase(T3), 360)-180);
+plot(f, mod(180+180/pi*phase(T4), 360)-180);
+plot(f, mod(180+180/pi*phase(T5), 360)-180);
+plot(f, mod(180+180/pi*phase(T6), 360)-180);
+plot(f, mod(180+180/pi*phase(T7), 360)-180);
+plot(f, mod(180+180/pi*phase(T8), 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]);

disturbance-control-system/matlab/effect_control_one.m

@@ -0,0 +1,121 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+d_of = load('mat/data_013.mat', 'data'); d_of = d_of.data;
+d_ty = load('mat/data_014.mat', 'data'); d_ty = d_ty.data;
+d_ry = load('mat/data_015.mat', 'data'); d_ry = d_ry.data;
+d_sr = load('mat/data_016.mat', 'data'); d_sr = d_sr.data;
+d_rz = load('mat/data_017.mat', 'data'); d_rz = d_rz.data;
+d_he = load('mat/data_018.mat', 'data'); d_he = d_he.data;
+
+% Analysis - Time Domain
+% First, we can look at the time domain data and compare all the measurements:
+% - comparison for the geophone at the sample location (figure [[fig:time_domain_sample_lpf]])
+% - comparison for the geophone on the granite (figure [[fig:time_domain_marble_lpf]])
+
+
+figure;
+hold on;
+plot(d_of(:, 3), d_of(:, 2), 'DisplayName', 'All OFF';
+plot(d_ty(:, 3), d_ty(:, 2), 'DisplayName', 'Ty ON');
+plot(d_ry(:, 3), d_ry(:, 2), 'DisplayName', 'Ry ON');
+plot(d_sr(:, 3), d_sr(:, 2), 'DisplayName', 'S-R ON');
+plot(d_rz(:, 3), d_rz(:, 2), 'DisplayName', 'Rz ON');
+plot(d_he(:, 3), d_he(:, 2), 'DisplayName', 'Hexa ON');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+
+
+% #+NAME: fig:time_domain_sample_lpf
+% #+CAPTION: Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location
+% #+RESULTS: fig:time_domain_sample_lpf
+% [[file:figs/time_domain_sample_lpf.png]]
+
+
+
+figure;
+hold on;
+plot(d_of(:, 3), d_of(:, 1), 'DisplayName', 'All OFF');
+plot(d_ty(:, 3), d_ty(:, 1), 'DisplayName', 'Ty ON');
+plot(d_ry(:, 3), d_ry(:, 1), 'DisplayName', 'Ry ON');
+plot(d_sr(:, 3), d_sr(:, 1), 'DisplayName', 'S-R ON');
+plot(d_rz(:, 3), d_rz(:, 1), 'DisplayName', 'Rz ON');
+plot(d_he(:, 3), d_he(:, 1), 'DisplayName', 'Hexa ON');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+% Analysis - Frequency Domain
+
+dt = d_of(2, 3) - d_of(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(10*Fs));
+
+% Vibrations at the sample location
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[px_of, f] = pwelch(d_of(:, 2), win, [], [], Fs);
+[px_ty, ~] = pwelch(d_ty(:, 2), win, [], [], Fs);
+[px_ry, ~] = pwelch(d_ry(:, 2), win, [], [], Fs);
+[px_sr, ~] = pwelch(d_sr(:, 2), win, [], [], Fs);
+[px_rz, ~] = pwelch(d_rz(:, 2), win, [], [], Fs);
+[px_he, ~] = pwelch(d_he(:, 2), win, [], [], Fs);
+
+
+
+% And we compare all the signals (figures [[fig:psd_sample_comp_lpf]] and [[fig:psd_sample_comp_high_freq_lpf]]).
+
+figure;
+hold on;
+plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
+plot(f, sqrt(px_ty), 'DisplayName', 'Ty ON');
+plot(f, sqrt(px_ry), 'DisplayName', 'Ry ON');
+plot(f, sqrt(px_sr), 'DisplayName', 'S-R ON');
+plot(f, sqrt(px_rz), 'DisplayName', 'Rz ON');
+plot(f, sqrt(px_he), 'DisplayName', 'Hexa ON');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'southwest');
+
+% Vibrations on the marble
+% Now we plot the same curves for the geophone located on the marble.
+
+[px_of, f] = pwelch(d_of(:, 1), win, [], [], Fs);
+[px_ty, ~] = pwelch(d_ty(:, 1), win, [], [], Fs);
+[px_ry, ~] = pwelch(d_ry(:, 1), win, [], [], Fs);
+[px_sr, ~] = pwelch(d_sr(:, 1), win, [], [], Fs);
+[px_rz, ~] = pwelch(d_rz(:, 1), win, [], [], Fs);
+[px_he, ~] = pwelch(d_he(:, 1), win, [], [], Fs);
+
+
+
+% And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_comp_lpf_high_freq]])
+
+figure;
+hold on;
+plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
+plot(f, sqrt(px_ty), 'DisplayName', 'Ty ON');
+plot(f, sqrt(px_ry), 'DisplayName', 'Ry ON');
+plot(f, sqrt(px_sr), 'DisplayName', 'S-R ON');
+plot(f, sqrt(px_rz), 'DisplayName', 'Rz ON');
+plot(f, sqrt(px_he), 'DisplayName', 'Hexa ON');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'northeast');

disturbance-control-system/matlab/effect_symetrie_driver.m

@@ -0,0 +1,46 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+d_18 = load('mat/data_018.mat', 'data'); d_18 = d_18.data;
+d_19 = load('mat/data_019.mat', 'data'); d_19 = d_19.data;
+
+% Analysis - Time Domain
+
+figure;
+hold on;
+plot(d_19(:, 3), d_19(:, 1), 'DisplayName', 'Driver - Ground');
+plot(d_18(:, 3), d_18(:, 1), 'DisplayName', 'Driver - Granite');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+xlim([0, 50]);
+legend('Location', 'bestoutside');
+
+% Analysis - Frequency Domain
+
+dt = d_18(2, 3) - d_18(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(10*Fs));
+
+% Vibrations at the sample location
+% First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
+
+[px_18, f] = pwelch(d_18(:, 1), win, [], [], Fs);
+[px_19, ~] = pwelch(d_19(:, 1), win, [], [], Fs);
+
+figure;
+hold on;
+plot(f, sqrt(px_19), 'DisplayName', 'Driver - Ground');
+plot(f, sqrt(px_18), 'DisplayName', 'Driver - Granite');
+hold off;
+set(gca, 'xscale', 'log');
+set(gca, 'yscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
+xlim([0.1, 500]);
+legend('Location', 'southwest');

disturbance-control-system/matlab/tf_stages_geophone.m

@@ -0,0 +1,124 @@
+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+% Load data
+% We load the data of the z axis of two geophones.
+
+m_ty  = load('mat/data_010.mat', 'data'); m_ty  = m_ty.data;
+m_ry  = load('mat/data_011.mat', 'data'); m_ry  = m_ry.data;
+ty_ry = load('mat/data_012.mat', 'data'); ty_ry = ty_ry.data;
+
+% Analysis - Time Domain
+% First, we can look at the time domain data.
+
+
+figure;
+hold on;
+plot(m_ty(:, 3), m_ty(:, 1), 'DisplayName', 'Marble');
+plot(m_ty(:, 3), m_ty(:, 2), 'DisplayName', 'Ty');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+legend('Location', 'northeast');
+xlim([0, 500]);
+
+
+
+% #+NAME: fig:time_domain_m_ty
+% #+CAPTION: Time domain - Marble and translation stage
+% #+RESULTS: fig:time_domain_m_ty
+% [[file:figs/time_domain_m_ty.png]]
+
+
+
+figure;
+hold on;
+plot(m_ry(:, 3), m_ry(:, 1), 'DisplayName', 'Marble');
+plot(m_ry(:, 3), m_ry(:, 2), 'DisplayName', 'Ty');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+legend('Location', 'northeast');
+xlim([0, 500]);
+
+
+
+% #+NAME: fig:time_domain_m_ry
+% #+CAPTION: Time domain - Marble and tilt stage
+% #+RESULTS: fig:time_domain_m_ry
+% [[file:figs/time_domain_m_ry.png]]
+
+
+figure;
+hold on;
+plot(ty_ry(:, 3), ty_ry(:, 1), 'DisplayName', 'Ty');
+plot(ty_ry(:, 3), ty_ry(:, 2), 'DisplayName', 'Ry');
+hold off;
+xlabel('Time [s]'); ylabel('Voltage [V]');
+legend('Location', 'northeast');
+xlim([0, 500]);
+
+% Analysis - Frequency Domain
+
+dt = m_ty(2, 3) - m_ty(1, 3);
+
+Fs = 1/dt;
+win = hanning(ceil(1*Fs));
+
+
+
+% First, we compute the transfer function estimate between the two geophones for the 3 experiments (figure [[fig:compare_tf_geophones]]). We also plot their coherence (figure [[fig:coherence_two_geophones]]).
+
+[T_m_ty,  f] = tfestimate(m_ty(:, 1),  m_ty(:, 2),  win, [], [], Fs);
+[T_m_ry,  ~] = tfestimate(m_ry(:, 1),  m_ry(:, 2),  win, [], [], Fs);
+[T_ty_ry, ~] = tfestimate(ty_ry(:, 1), ty_ry(:, 2), win, [], [], Fs);
+
+figure;
+ax1 = subplot(2, 1, 1);
+hold on;
+plot(f, abs(T_m_ty),  'DisplayName', 'Marble - Ty');
+plot(f, abs(T_m_ry),  'DisplayName', 'Marble - Ry');
+plot(f, abs(T_ty_ry), 'DisplayName', 'Ty - Ry');
+hold off;
+set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+set(gca, 'XTickLabel',[]);
+ylabel('Magnitude');
+legend('Location', 'northwest');
+
+ax2 = subplot(2, 1, 2);
+hold on;
+plot(f, mod(180+180/pi*phase(T_m_ty),  360)-180);
+plot(f, mod(180+180/pi*phase(T_m_ry),  360)-180);
+plot(f, mod(180+180/pi*phase(T_ty_ry), 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([10, 500]);
+
+
+
+% #+NAME: fig:compare_tf_geophones
+% #+CAPTION: Transfer function from the first geophone to the second geophone for the three experiments
+% #+RESULTS: fig:compare_tf_geophones
+% [[file:figs/compare_tf_geophones.png]]
+
+
+
+[coh_m_ty,  f] = mscohere(m_ty(:, 1),  m_ty(:, 2),  win, [], [], Fs);
+[coh_m_ry,  ~] = mscohere(m_ry(:, 1),  m_ry(:, 2),  win, [], [], Fs);
+[coh_ty_ry, ~] = mscohere(ty_ry(:, 1), ty_ry(:, 2), win, [], [], Fs);
+
+figure;
+hold on;
+plot(f, coh_m_ty,  'DisplayName', 'Marble - Ty');
+plot(f, coh_m_ry,  'DisplayName', 'Marble - Ry');
+plot(f, coh_ty_ry, 'DisplayName', 'Ty - Ry');
+hold off;
+set(gca, 'xscale', 'log');
+xlabel('Frequency [Hz]'); ylabel('Coherence');
+ylim([0, 1]); xlim([1, 500]);

disturbance-control-system/readme.org

@@ -0,0 +1,70 @@
+#+TITLE: List of measurements
+
+* Effect of control of each stage
+
+| Ty on  | data_001 |
+| Ty off | data_002 |
+
+One geophone is on the marble, the other at the sample location.
+The signal from the top geophone goes through the slip-ring
+
+* 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= |
+
+Meas009: everything off with signal goes through the slip-ring
+
+* Measurement from one stage to the other
+** From Marble to Ty
+=meas_010.mat=
+Everything off, one geophone on the marble, one geophone on the Ty (measure on Z direction)
+
+Channels:
+| 1 | Ground |
+| 2 | Ty     |
+| 3 | Time   |
+
+** From Marble to Ry
+=meas_011.mat=
+Everything off, one geophone on the marble, one geophone on the Ry (measure on Z direction)
+
+Channels:
+| 1 | Ground |
+| 2 | Ry     |
+| 3 | Time   |
+
+** From Ty to Ry
+=meas_012.mat=
+Everything off, one geophone on the Ty, one geophone on the Ry (measure on Z direction)
+
+Channels:
+| 1 | Ty   |
+| 2 | Ry   |
+| 3 | Time |
+
+* New measurements 07/05
+
+Low pass Filters at 1kHz are added before the voltage amplifiers
+
+The voltage amplifiers are: 60db, DC(!) and 1kHz
+
+Channel 1: marble motion
+Channel 2: Sample motion
+
+- All OFF =meas_013.mat=
+- Ty ON   =meas_014.mat=
+- Ry ON   =meas_015.mat=
+- SR ON   =meas_016.mat=
+- Rz ON   =meas_017.mat=
+- Hexa ON =meas_018.mat=
+
+* Test without the Hexapod Driver on the granite
+
+- Hexa ON with on the ground meas_019.mat