From a382cc195286bdeaa6b3e6963881cf1177774d53 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Fri, 17 May 2019 09:50:53 +0200 Subject: [PATCH] Update analysis of slip-ring noise --- index.org | 6 +- .../figs/diff_sr_direct.png | Bin 0 -> 76081 bytes .../figs/diff_sr_direct_psd.png | Bin 0 -> 139535 bytes .../figs/diff_sr_direct_zoom.png | Bin 0 -> 99166 bytes .../figs/sr_lpf_1khz_geophone_time_off.png | Bin 42275 -> 100434 bytes .../figs/sr_lpf_1khz_geophone_time_on.png | Bin 45224 -> 98782 bytes slip-ring-electrical-noise/index.org | 121 ++++++++++++++++-- 7 files changed, 113 insertions(+), 14 deletions(-) create mode 100644 slip-ring-electrical-noise/figs/diff_sr_direct.png create mode 100644 slip-ring-electrical-noise/figs/diff_sr_direct_psd.png create mode 100644 slip-ring-electrical-noise/figs/diff_sr_direct_zoom.png diff --git a/index.org b/index.org index 0623a8d..fed8698 100644 --- a/index.org +++ b/index.org @@ -36,10 +36,14 @@ Control loop influence: - [[file:2018-10-15%20-%20Marc/index.org][Perturbation due to the control loop of each stage]] - [[file:disturbance-control-system/index.org][Disturbance induced by the control system of each stage]] +* Measurement Noise +Noise coming from the Slip-Ring: +- [[file:slip-ring-electrical-noise/index.org][Slip Ring - Noise measurement when using geophones] +- [[file:slip-ring-noise-turning/index.org][Slip Ring - Noise measurement when turning] + * Other - [[file:huddle-test-geophones/index.org][Huddle Test - Geophones]] - [[file:instrumentation/index.org][Measurement on the instrumentation]] -- [[file:slip-ring-electrical-noise/index.org][Slip Ring - Noise measurement]] - [[file:actuators-sensors/index.org][Actuators and Sensors]] - [[file:equipment/index.org][Equipment used for the measurements]] - [[file:src/index.org][Matlab functions used for the data analysis]] diff --git a/slip-ring-electrical-noise/figs/diff_sr_direct.png b/slip-ring-electrical-noise/figs/diff_sr_direct.png new file 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-615,23 +615,45 @@ We load the data of the z axis of two geophones. sr_lpf_1khz_on = load('mat/data_036.mat', 'data'); sr_lpf_1khz_on = sr_lpf_1khz_on.data; #+end_src +*** Pre-processing +There is a sign difference between the signal going directly to the ADC and the signal going through the slip-ring. We add a minus sign on the signal going through the slip-ring. + +We also subtract the mean value as the voltage amplifiers were on the DC option. + +#+begin_src matlab + sr_lpf_1khz_of(:, 1) = sr_lpf_1khz_of(:, 1)-mean(sr_lpf_1khz_of(:, 1)); + sr_lpf_1khz_of(:, 2) = -(sr_lpf_1khz_of(:, 2)-mean(sr_lpf_1khz_of(:, 2))); + + sr_lpf_1khz_on(:, 1) = sr_lpf_1khz_on(:, 1)-mean(sr_lpf_1khz_on(:, 1)); + sr_lpf_1khz_on(:, 2) = -(sr_lpf_1khz_on(:, 2)-mean(sr_lpf_1khz_on(:, 2))); +#+end_src + *** Time Domain We compare the signal when the Slip-Ring is OFF (figure [[fig:sr_lpf_1khz_geophone_time_off]]) and when it is ON (figure [[fig:sr_lpf_1khz_geophone_time_on]]). -#+begin_src matlab :results none :exports none +#+begin_src matlab :exports none figure; + subplot(1, 2, 1) hold on; - plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 1)-mean(sr_lpf_1khz_of(:, 1)), 'DisplayName', 'Direct'); - plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 2)-mean(sr_lpf_1khz_of(:, 2)), 'DisplayName', 'Slip-Ring'); + plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 1), 'DisplayName', 'Direct'); + plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 2), 'DisplayName', 'Slip-Ring'); hold off; xlim([0, 100]); ylim([-1, 1]); legend('Location', 'northeast'); xlabel('Time [s]'); ylabel('Voltage [V]'); + subplot(1, 2, 2) + hold on; + plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 1), 'DisplayName', 'Direct'); + plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 2), 'DisplayName', 'Slip-Ring'); + hold off; + xlim([0, 1]); ylim([-1, 1]); + legend('Location', 'northeast'); + xlabel('Time [s]'); ylabel('Voltage [V]'); #+end_src #+NAME: fig:sr_lpf_1khz_geophone_time_off #+HEADER: :tangle no :exports results :results value raw replace :noweb yes -#+begin_src matlab :var filepath="figs/sr_lpf_1khz_geophone_time_off.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") +#+begin_src matlab :var filepath="figs/sr_lpf_1khz_geophone_time_off.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") <> #+end_src @@ -640,20 +662,29 @@ We compare the signal when the Slip-Ring is OFF (figure [[fig:sr_lpf_1khz_geopho #+RESULTS: fig:sr_lpf_1khz_geophone_time_off [[file:figs/sr_lpf_1khz_geophone_time_off.png]] -#+begin_src matlab :results none :exports none +#+begin_src matlab :exports none figure; + subplot(1, 2, 1); hold on; - plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 1)-mean(sr_lpf_1khz_on(:, 1)), 'DisplayName', 'Direct'); - plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 2)-mean(sr_lpf_1khz_on(:, 2)), 'DisplayName', 'Slip-Ring'); + plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 1), 'DisplayName', 'Direct'); + plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 2), 'DisplayName', 'Slip-Ring'); hold off; xlim([0, 100]); ylim([-1, 1]); legend('Location', 'northeast'); xlabel('Time [s]'); ylabel('Voltage [V]'); + subplot(1, 2, 2); + hold on; + plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 1), 'DisplayName', 'Direct'); + plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 2), 'DisplayName', 'Slip-Ring'); + hold off; + xlim([0, 1]); ylim([-1, 1]); + legend('Location', 'northeast'); + xlabel('Time [s]'); ylabel('Voltage [V]'); #+end_src #+NAME: fig:sr_lpf_1khz_geophone_time_on #+HEADER: :tangle no :exports results :results value raw replace :noweb yes -#+begin_src matlab :var filepath="figs/sr_lpf_1khz_geophone_time_on.pdf" :var figsize="wide-normal" :post pdf2svg(file=*this*, ext="png") +#+begin_src matlab :var filepath="figs/sr_lpf_1khz_geophone_time_on.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") <> #+end_src @@ -664,7 +695,7 @@ We compare the signal when the Slip-Ring is OFF (figure [[fig:sr_lpf_1khz_geopho *** Frequency Domain We first compute some parameters that will be used for the PSD computation. -#+begin_src matlab :results none +#+begin_src matlab dt = sr_lpf_1khz_of(2, 3)-sr_lpf_1khz_of(1, 3); Fs = 1/dt; % [Hz] @@ -673,7 +704,7 @@ We first compute some parameters that will be used for the PSD computation. #+end_src Then we compute the Power Spectral Density using =pwelch= function. -#+begin_src matlab :results none +#+begin_src matlab % Direct measure [pxdi_lpf_1khz_of, f] = pwelch(sr_lpf_1khz_of(:, 1), win, [], [], Fs); [pxdi_lpf_1khz_on, ~] = pwelch(sr_lpf_1khz_on(:, 1), win, [], [], Fs); @@ -685,7 +716,7 @@ Then we compute the Power Spectral Density using =pwelch= function. Finally, we compare the Amplitude Spectral Density of the signals (figure [[fig:sr_lpf_1khz_geophone_asd]]); -#+begin_src matlab :results none +#+begin_src matlab figure; hold on; plot(f, sqrt(pxdi_lpf_1khz_of), 'DisplayName', 'Direct - OFF'); @@ -693,7 +724,7 @@ Finally, we compare the Amplitude Spectral Density of the signals (figure [[fig: plot(f, sqrt(pxdi_lpf_1khz_on), 'DisplayName', 'Direct - ON'); plot(f, sqrt(pxsr_lpf_1khz_on), 'DisplayName', 'Slip-Ring - ON'); hold off; - xlim([0.1, 500]); + xlim([1, 500]); set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); xlabel('Frequency [Hz]'); ylabel('ASD of the measured Voltage $\left[\frac{V}{\sqrt{Hz}}\right]$') legend('Location', 'southwest'); @@ -710,8 +741,72 @@ Finally, we compare the Amplitude Spectral Density of the signals (figure [[fig: #+RESULTS: fig:sr_lpf_1khz_geophone_asd [[file:figs/sr_lpf_1khz_geophone_asd.png]] +*** Difference between the direct signal and the signal going through the slip-ring +We subtract the signal coming from the direct wire to the signal going through the slip-ring when the slip-ring is ON and when it is OFF (figure [[fig:diff_sr_direct]]). + +#+begin_src matlab :exports none + figure; + subplot(1, 2, 1); + hold on; + plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 1)-sr_lpf_1khz_of(:, 2)); + plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 1)-sr_lpf_1khz_on(:, 2)); + hold off; + xlim([0, 100]); ylim([-0.3, 0.3]); + xlabel('Time [s]'); ylabel('Voltage [V]'); + + subplot(1, 2, 2); + hold on; + plot(sr_lpf_1khz_of(:, 3), sr_lpf_1khz_of(:, 1)-sr_lpf_1khz_of(:, 2), 'DisplayName', 'OFF'); + plot(sr_lpf_1khz_on(:, 3), sr_lpf_1khz_on(:, 1)-sr_lpf_1khz_on(:, 2), 'DisplayName', 'ON'); + hold off; + xlim([0, 0.1]); ylim([-0.3, 0.3]); + legend('Location', 'northeast'); + xlabel('Time [s]'); ylabel('Voltage [V]'); +#+end_src + +#+NAME: fig:diff_sr_direct +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/diff_sr_direct.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:diff_sr_direct +#+CAPTION: Difference between the signal going directly to the ADC and the signal going through the slip-ring before the ADC +#+RESULTS: fig:diff_sr_direct +[[file:figs/diff_sr_direct.png]] + +Then we compute the Power Spectral Density using =pwelch= function (figure [[fig:diff_sr_direct_psd]]). +#+begin_src matlab + % Direct measure + [px_diff_lpf_1khz_of, f] = pwelch(sr_lpf_1khz_of(:, 1)-sr_lpf_1khz_of(:, 2), win, [], [], Fs); + [px_diff_lpf_1khz_on, ~] = pwelch(sr_lpf_1khz_on(:, 1)-sr_lpf_1khz_on(:, 2), win, [], [], Fs); +#+end_src + +#+begin_src matlab :exports none + figure; + hold on; + plot(f, sqrt(px_diff_lpf_1khz_of), 'DisplayName', 'OFF'); + plot(f, sqrt(px_diff_lpf_1khz_on), 'DisplayName', 'ON'); + hold off; + xlim([1, 500]); + set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('ASD of the measured Voltage $\left[\frac{V}{\sqrt{Hz}}\right]$') + legend('Location', 'southwest'); +#+end_src + +#+NAME: fig:diff_sr_direct_psd +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/diff_sr_direct_psd.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:diff_sr_direct_psd +#+CAPTION: Amplitude Spectral Density of the difference between the signal going directly to the ADC and the signal going through the slip-ring before the ADC +#+RESULTS: fig:diff_sr_direct_psd +[[file:figs/diff_sr_direct_psd.png]] + *** Conclusion #+begin_important - Using the LPF, we don't see any additional noise coming from the slip-ring when it is turned ON - - We here observe a signal at $50Hz$ and its harmonics + - The signal going through the slip-ring only differs from the direct signal by some 50Hz and its harmonics #+end_important

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