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Thomas Dehaeze 2019-07-05 11:40:22 +02:00
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2017-11-17 - Marc/scripts/data.org
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@ -1,8 +1,9 @@
#+TITLE: Measurements made by Marc Lessourd on the 17th of November 2017 - Matlab #+TITLE: Measurements made by Marc Lessourd on the 17th of November 2017 - Matlab
:drawer: :DRAWER:
#+LATEX_CLASS: cleanreport #+LATEX_CLASS: cleanreport
#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak, minted] #+LaTeX_CLASS_OPTIONS: [tocnp, secbreak, minted]
#+STARTUP: overview #+STARTUP: overview
#+PROPERTY: header-args:matlab :session *MATLAB* #+PROPERTY: header-args:matlab :session *MATLAB*
#+PROPERTY: header-args:matlab+ :comments org #+PROPERTY: header-args:matlab+ :comments org
#+PROPERTY: header-args:matlab+ :exports both #+PROPERTY: header-args:matlab+ :exports both
@ -78,17 +79,17 @@ Measurement is in V?
channel = 12; channel = 12;
figure; figure;
ax1 = subaxis(3,1,1); ax1 = subplot(3,1,1);
plot(freq_frf, abs(frf_hexa_y(:, channel))) plot(freq_frf, abs(frf_hexa_y(:, channel)))
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log'); set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
ax2 = subaxis(3,1,2); ax2 = subplot(3,1,2);
plot(freq_frf, mod(180/pi*phase(frf_hexa_y(:, channel))+180, 360)-180) plot(freq_frf, mod(180/pi*phase(frf_hexa_y(:, channel))+180, 360)-180)
set(gca, 'Xscale', 'log'); set(gca, 'Xscale', 'log');
ylim([-180 180]); ylim([-180 180]);
yticks([-180:90:180]); yticks([-180:90:180]);
ax3 = subaxis(3,1,3); ax3 = subplot(3,1,3);
plot(freq_frf, coh_hexa_y(:, channel)) plot(freq_frf, coh_hexa_y(:, channel))
set(gca, 'Xscale', 'log'); set(gca, 'Xscale', 'log');
@ -99,10 +100,10 @@ Measurement is in V?
#+begin_src matlab :exports none :results none #+begin_src matlab :exports none :results none
figure; figure;
ax1 = subaxis(2,1,1); ax1 = subplot(2,1,1);
plot(freq_frf, abs(frf_marble_z(:, 4))) plot(freq_frf, abs(frf_marble_z(:, 4)))
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log') set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log')
ax2 = subaxis(2,1,2); ax2 = subplot(2,1,2);
plot(freq_frf, mod(180/pi*phase(frf_marble_z(:, 4))+180, 360)-180) plot(freq_frf, mod(180/pi*phase(frf_marble_z(:, 4))+180, 360)-180)
linkaxes([ax1,ax2],'x'); linkaxes([ax1,ax2],'x');
ylim([-180 180]); ylim([-180 180]);

251
disturbance-control-system/index.html
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@ -3,7 +3,7 @@
"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>
<!-- 2019-05-17 ven. 10:40 --> <!-- 2019-07-05 ven. 11:40 -->
<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>Effect on the control system of each stages on the vibration of the station</title> <title>Effect on the control system of each stages on the vibration of the station</title>
@ -258,46 +258,47 @@ 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="#orga4a36da">1. Effect of all the control systems on the Sample vibrations</a> <li><a href="#org9ffe8f0">1. Effect of all the control systems on the Sample vibrations</a>
<ul> <ul>
<li><a href="#org112de2c">1.1. Experimental Setup</a></li> <li><a href="#org79bfa68">1.1. Experimental Setup</a></li>
<li><a href="#org544eed6">1.2. Load data</a></li> <li><a href="#orgcb952c6">1.2. Load data</a></li>
<li><a href="#org0e43e73">1.3. Analysis - Time Domain</a></li> <li><a href="#orgcec3e92">1.3. Analysis - Time Domain</a></li>
<li><a href="#org608c1ca">1.4. Analysis - Frequency Domain</a> <li><a href="#org5a79fd8">1.4. Analysis - Frequency Domain</a>
<ul> <ul>
<li><a href="#orgd88ef09">1.4.1. Vibrations at the sample location</a></li> <li><a href="#orgedc56c4">1.4.1. Vibrations at the sample location</a></li>
<li><a href="#orgac51e85">1.4.2. Vibrations on the marble</a></li> <li><a href="#org08e0490">1.4.2. Vibrations on the marble</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org32639df">1.5. Conclusion</a></li> <li><a href="#org7cc59aa">1.5. Conclusion</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org1b7e339">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a> <li><a href="#orge853f8b">2. Effect of all the control systems on the Sample vibrations - One stage at a time</a>
<ul> <ul>
<li><a href="#org2ce1110">2.1. Experimental Setup</a></li> <li><a href="#org2276a2a">2.1. Experimental Setup</a></li>
<li><a href="#orgd3b1acb">2.2. Load data</a></li> <li><a href="#org83a3cff">2.2. Load data</a></li>
<li><a href="#orgc93b66c">2.3. Voltage to Velocity</a></li> <li><a href="#orgc348ea7">2.3. Voltage to Velocity</a></li>
<li><a href="#org484ddf0">2.4. Analysis - Time Domain</a></li> <li><a href="#org0e1d280">2.4. Analysis - Time Domain</a></li>
<li><a href="#orgdc28818">2.5. Analysis - Frequency Domain</a> <li><a href="#orgc5f8ef2">2.5. Analysis - Frequency Domain</a>
<ul> <ul>
<li><a href="#org0b21a2a">2.5.1. Vibrations at the sample location</a></li> <li><a href="#orga294397">2.5.1. Vibrations at the sample location</a></li>
<li><a href="#org99943a5">2.5.2. Vibrations on the marble</a></li> <li><a href="#org40b535e">2.5.2. Vibrations on the marble</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orga2778aa">2.6. Conclusion</a></li> <li><a href="#org862a78a">2.6. Cumulative Amplitude Spectrum</a></li>
<li><a href="#org8fb0a20">2.7. Conclusion</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgf76ae8c">3. Effect of the Symetrie Driver</a> <li><a href="#orgb2a0fcb">3. Effect of the Symetrie Driver</a>
<ul> <ul>
<li><a href="#org11e22fa">3.1. Experimental Setup</a></li> <li><a href="#org9c4ac91">3.1. Experimental Setup</a></li>
<li><a href="#org1837038">3.2. Load data</a></li> <li><a href="#orgbde1c58">3.2. Load data</a></li>
<li><a href="#orge2bd074">3.3. Analysis - Time Domain</a></li> <li><a href="#org2e18ce1">3.3. Analysis - Time Domain</a></li>
<li><a href="#org1903625">3.4. Analysis - Frequency Domain</a> <li><a href="#org546d833">3.4. Analysis - Frequency Domain</a>
<ul> <ul>
<li><a href="#orgb1f3c6c">3.4.1. Vibrations at the sample location</a></li> <li><a href="#org80ff9ad">3.4.1. Vibrations at the sample location</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgbb3e3c0">3.5. Conclusion</a></li> <li><a href="#org8c74f9b">3.5. Conclusion</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@ -309,27 +310,27 @@ for the JavaScript code in this tag.
This file is organized as follow: This file is organized as follow:
</p> </p>
<ul class="org-ul"> <ul class="org-ul">
<li>Section <a href="#orgd3ccbfb">1</a>: <li>Section <a href="#orge9eacae">1</a>:
<ul class="org-ul"> <ul class="org-ul">
<li>One geophone on the marble and one at the sample location</li> <li>One geophone on the marble and one at the sample location</li>
<li>Each stage is turned on one by one</li> <li>Each stage is turned on one by one</li>
</ul></li> </ul></li>
<li>Section <a href="#orgf536384">2</a>: <li>Section <a href="#org57eb170">2</a>:
<ul class="org-ul"> <ul class="org-ul">
<li>One geophone on the marble and one at the sample location</li> <li>One geophone on the marble and one at the sample location</li>
<li>Each stage is turned on one at a time</li> <li>Each stage is turned on one at a time</li>
</ul></li> </ul></li>
<li>Section <a href="#orgbb23a6a">3</a>: <li>Section <a href="#org309a80c">3</a>:
<ul class="org-ul"> <ul class="org-ul">
<li>We check if the Symetrie driver induces some vibrations when placed on the marble</li> <li>We check if the Symetrie driver induces some vibrations when placed on the marble</li>
</ul></li> </ul></li>
</ul> </ul>
<div id="outline-container-orga4a36da" class="outline-2"> <div id="outline-container-org9ffe8f0" class="outline-2">
<h2 id="orga4a36da"><span class="section-number-2">1</span> Effect of all the control systems on the Sample vibrations</h2> <h2 id="org9ffe8f0"><span class="section-number-2">1</span> Effect of all the control systems on the Sample vibrations</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
<p> <p>
<a id="orgd3ccbfb"></a> <a id="orge9eacae"></a>
</p> </p>
<div class="note"> <div class="note">
<p> <p>
@ -339,8 +340,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_cont
</div> </div>
</div> </div>
<div id="outline-container-org112de2c" class="outline-3"> <div id="outline-container-org79bfa68" class="outline-3">
<h3 id="org112de2c"><span class="section-number-3">1.1</span> Experimental Setup</h3> <h3 id="org79bfa68"><span class="section-number-3">1.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<p> <p>
We here measure the signals of two L22 geophones: We here measure the signals of two L22 geophones:
@ -368,7 +369,7 @@ First, all the control systems are turned ON, then, they are turned one by one.
Each measurement are done during 50s. Each measurement are done during 50s.
</p> </p>
<table id="orgfb3379b" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="org1d64ff0" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 1:</span> Summary of the measurements and the states of the control systems</caption> <caption class="t-above"><span class="table-number">Table 1:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup> <colgroup>
@ -488,8 +489,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div> </div>
</div> </div>
<div id="outline-container-org544eed6" class="outline-3"> <div id="outline-container-orgcb952c6" class="outline-3">
<h3 id="org544eed6"><span class="section-number-3">1.2</span> Load data</h3> <h3 id="orgcb952c6"><span class="section-number-3">1.2</span> Load data</h3>
<div class="outline-text-3" id="text-1-2"> <div class="outline-text-3" id="text-1-2">
<p> <p>
We load the data of the z axis of two geophones. We load the data of the z axis of two geophones.
@ -506,15 +507,15 @@ d8 = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-s
</div> </div>
</div> </div>
<div id="outline-container-org0e43e73" class="outline-3"> <div id="outline-container-orgcec3e92" class="outline-3">
<h3 id="org0e43e73"><span class="section-number-3">1.3</span> Analysis - Time Domain</h3> <h3 id="orgcec3e92"><span class="section-number-3">1.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-1-3"> <div class="outline-text-3" id="text-1-3">
<p> <p>
First, we can look at the time domain data and compare all the measurements: First, we can look at the time domain data and compare all the measurements:
</p> </p>
<ul class="org-ul"> <ul class="org-ul">
<li>comparison for the geophone at the sample location (figure <a href="#org9d0687f">1</a>)</li> <li>comparison for the geophone at the sample location (figure <a href="#orgec9a617">1</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org2241d7c">2</a>)</li> <li>comparison for the geophone on the granite (figure <a href="#orgd0e8baf">2</a>)</li>
</ul> </ul>
<div class="org-src-container"> <div class="org-src-container">
@ -534,7 +535,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org9d0687f" class="figure"> <div id="orgec9a617" class="figure">
<p><img src="figs/time_domain_sample.png" alt="time_domain_sample.png" /> <p><img src="figs/time_domain_sample.png" alt="time_domain_sample.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p> <p><span class="figure-number">Figure 1: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
@ -557,7 +558,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org2241d7c" class="figure"> <div id="orgd0e8baf" class="figure">
<p><img src="figs/time_domain_marble.png" alt="time_domain_marble.png" /> <p><img src="figs/time_domain_marble.png" alt="time_domain_marble.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p> <p><span class="figure-number">Figure 2: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p>
@ -565,8 +566,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-org608c1ca" class="outline-3"> <div id="outline-container-org5a79fd8" class="outline-3">
<h3 id="org608c1ca"><span class="section-number-3">1.4</span> Analysis - Frequency Domain</h3> <h3 id="org5a79fd8"><span class="section-number-3">1.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-1-4"> <div class="outline-text-3" id="text-1-4">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">dt = d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>; <pre class="src src-matlab">dt = d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d3<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
@ -577,8 +578,8 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
</div> </div>
</div> </div>
<div id="outline-container-orgd88ef09" class="outline-4"> <div id="outline-container-orgedc56c4" class="outline-4">
<h4 id="orgd88ef09"><span class="section-number-4">1.4.1</span> Vibrations at the sample location</h4> <h4 id="orgedc56c4"><span class="section-number-4">1.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-1-4-1"> <div class="outline-text-4" id="text-1-4-1">
<p> <p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location. First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@ -594,7 +595,7 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
</div> </div>
<p> <p>
And we compare all the signals (figures <a href="#org4e15d4a">3</a> and <a href="#org17050df">4</a>). And we compare all the signals (figures <a href="#orgb70f7d7">3</a> and <a href="#org56cecb4">4</a>).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>; <pre class="src src-matlab"><span class="org-type">figure</span>;
@ -616,7 +617,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org4e15d4a" class="figure"> <div id="orgb70f7d7" class="figure">
<p><img src="figs/psd_sample_comp.png" alt="psd_sample_comp.png" /> <p><img src="figs/psd_sample_comp.png" alt="psd_sample_comp.png" />
</p> </p>
<p><span class="figure-number">Figure 3: </span>Amplitude Spectral Density of the signal coming from the top geophone</p> <p><span class="figure-number">Figure 3: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
@ -624,7 +625,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="org17050df" class="figure"> <div id="org56cecb4" class="figure">
<p><img src="figs/psd_sample_comp_high_freq.png" alt="psd_sample_comp_high_freq.png" /> <p><img src="figs/psd_sample_comp_high_freq.png" alt="psd_sample_comp_high_freq.png" />
</p> </p>
<p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p> <p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
@ -632,8 +633,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-orgac51e85" class="outline-4"> <div id="outline-container-org08e0490" class="outline-4">
<h4 id="orgac51e85"><span class="section-number-4">1.4.2</span> Vibrations on the marble</h4> <h4 id="org08e0490"><span class="section-number-4">1.4.2</span> Vibrations on the marble</h4>
<div class="outline-text-4" id="text-1-4-2"> <div class="outline-text-4" id="text-1-4-2">
<p> <p>
Now we plot the same curves for the geophone located on the marble. Now we plot the same curves for the geophone located on the marble.
@ -649,7 +650,7 @@ Now we plot the same curves for the geophone located on the marble.
</div> </div>
<p> <p>
And we compare the Amplitude Spectral Densities (figures <a href="#org66e8748">5</a> and <a href="#orge872d6b">6</a>) And we compare the Amplitude Spectral Densities (figures <a href="#orgc26c476">5</a> and <a href="#orgb669a94">6</a>)
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>; <pre class="src src-matlab"><span class="org-type">figure</span>;
@ -671,7 +672,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org66e8748" class="figure"> <div id="orgc26c476" class="figure">
<p><img src="figs/psd_marble_comp.png" alt="psd_marble_comp.png" /> <p><img src="figs/psd_marble_comp.png" alt="psd_marble_comp.png" />
</p> </p>
<p><span class="figure-number">Figure 5: </span>Amplitude Spectral Density of the signal coming from the top geophone</p> <p><span class="figure-number">Figure 5: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
@ -679,7 +680,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orge872d6b" class="figure"> <div id="orgb669a94" class="figure">
<p><img src="figs/psd_marble_comp_high_freq.png" alt="psd_marble_comp_high_freq.png" /> <p><img src="figs/psd_marble_comp_high_freq.png" alt="psd_marble_comp_high_freq.png" />
</p> </p>
<p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p> <p><span class="figure-number">Figure 6: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
@ -688,12 +689,14 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-org32639df" class="outline-3"> <div id="outline-container-org7cc59aa" class="outline-3">
<h3 id="org32639df"><span class="section-number-3">1.5</span> Conclusion</h3> <h3 id="org7cc59aa"><span class="section-number-3">1.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-1-5"> <div class="outline-text-3" id="text-1-5">
<div class="important"> <div class="important">
<ul class="org-ul"> <ul class="org-ul">
<li>The control system of the Ty stage induces a lot of vibrations of the marble</li> <li>The control system of the Ty stage induces a lot of vibrations of the marble above 100Hz</li>
<li>The hexapod control system add vibrations of the sample only above 200Hz</li>
<li>When the Slip-Ring is ON, white noise appears at high frequencies. This is studied <a href="../slip-ring-electrical-noise/index.html">here</a></li>
</ul> </ul>
</div> </div>
@ -701,11 +704,11 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-org1b7e339" class="outline-2"> <div id="outline-container-orge853f8b" class="outline-2">
<h2 id="org1b7e339"><span class="section-number-2">2</span> Effect of all the control systems on the Sample vibrations - One stage at a time</h2> <h2 id="orge853f8b"><span class="section-number-2">2</span> Effect of all the control systems on the Sample vibrations - One stage at a time</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
<p> <p>
<a id="orgf536384"></a> <a id="org57eb170"></a>
</p> </p>
<div class="note"> <div class="note">
<p> <p>
@ -715,8 +718,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_cont
</div> </div>
</div> </div>
<div id="outline-container-org2ce1110" class="outline-3"> <div id="outline-container-org2276a2a" class="outline-3">
<h3 id="org2ce1110"><span class="section-number-3">2.1</span> Experimental Setup</h3> <h3 id="org2276a2a"><span class="section-number-3">2.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-2-1"> <div class="outline-text-3" id="text-2-1">
<p> <p>
We here measure the signals of two geophones: We here measure the signals of two geophones:
@ -739,7 +742,7 @@ Each measurement are done during 100s.
</p> </p>
<p> <p>
The settings of the voltage amplifier are shown on figure <a href="#orgdaac4d3">7</a>: The settings of the voltage amplifier are shown on figure <a href="#orgc3308f8">7</a>:
</p> </p>
<ul class="org-ul"> <ul class="org-ul">
<li>gain of 60dB</li> <li>gain of 60dB</li>
@ -751,7 +754,7 @@ The settings of the voltage amplifier are shown on figure <a href="#orgdaac4d3">
A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier. A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier.
</p> </p>
<table id="org400e399" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides"> <table id="org0f3ca14" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<caption class="t-above"><span class="table-number">Table 2:</span> Summary of the measurements and the states of the control systems</caption> <caption class="t-above"><span class="table-number">Table 2:</span> Summary of the measurements and the states of the control systems</caption>
<colgroup> <colgroup>
@ -870,7 +873,7 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</table> </table>
<div id="orgdaac4d3" class="figure"> <div id="orgc3308f8" class="figure">
<p><img src="./img/IMG_20190507_101459.jpg" alt="IMG_20190507_101459.jpg" width="500px" /> <p><img src="./img/IMG_20190507_101459.jpg" alt="IMG_20190507_101459.jpg" width="500px" />
</p> </p>
<p><span class="figure-number">Figure 7: </span>Voltage amplifier settings for the measurement</p> <p><span class="figure-number">Figure 7: </span>Voltage amplifier settings for the measurement</p>
@ -878,8 +881,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div> </div>
</div> </div>
<div id="outline-container-orgd3b1acb" class="outline-3"> <div id="outline-container-org83a3cff" class="outline-3">
<h3 id="orgd3b1acb"><span class="section-number-3">2.2</span> Load data</h3> <h3 id="org83a3cff"><span class="section-number-3">2.2</span> Load data</h3>
<div class="outline-text-3" id="text-2-2"> <div class="outline-text-3" id="text-2-2">
<p> <p>
We load the data of the z axis of two geophones. We load the data of the z axis of two geophones.
@ -896,8 +899,8 @@ d_he = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org
</div> </div>
</div> </div>
<div id="outline-container-orgc93b66c" class="outline-3"> <div id="outline-container-orgc348ea7" class="outline-3">
<h3 id="orgc93b66c"><span class="section-number-3">2.3</span> Voltage to Velocity</h3> <h3 id="orgc348ea7"><span class="section-number-3">2.3</span> Voltage to Velocity</h3>
<div class="outline-text-3" id="text-2-3"> <div class="outline-text-3" id="text-2-3">
<p> <p>
We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/MEGA/These/meas/src/index.html">here</a>). We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/MEGA/These/meas/src/index.html">here</a>).
@ -924,16 +927,16 @@ d_he<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">
</div> </div>
</div> </div>
<div id="outline-container-org484ddf0" class="outline-3"> <div id="outline-container-org0e1d280" class="outline-3">
<h3 id="org484ddf0"><span class="section-number-3">2.4</span> Analysis - Time Domain</h3> <h3 id="org0e1d280"><span class="section-number-3">2.4</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-2-4"> <div class="outline-text-3" id="text-2-4">
<p> <p>
First, we can look at the time domain data and compare all the measurements: First, we can look at the time domain data and compare all the measurements:
</p> </p>
<ul class="org-ul"> <ul class="org-ul">
<li>comparison for the geophone at the sample location (figure <a href="#org1e830e0">8</a>)</li> <li>comparison for the geophone at the sample location (figure <a href="#org5d8e2d0">8</a>)</li>
<li>comparison for the geophone on the granite (figure <a href="#org60ee9ec">9</a>)</li> <li>comparison for the geophone on the granite (figure <a href="#orgb228058">9</a>)</li>
<li>relative displacement of the sample with respect to the marble (figure <a href="#org60ee9ec">9</a>)</li> <li>relative displacement of the sample with respect to the marble (figure <a href="#orgb228058">9</a>)</li>
</ul> </ul>
<div class="org-src-container"> <div class="org-src-container">
@ -953,7 +956,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org1e830e0" class="figure"> <div id="org5d8e2d0" class="figure">
<p><img src="figs/time_domain_sample_lpf.png" alt="time_domain_sample_lpf.png" /> <p><img src="figs/time_domain_sample_lpf.png" alt="time_domain_sample_lpf.png" />
</p> </p>
<p><span class="figure-number">Figure 8: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p> <p><span class="figure-number">Figure 8: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
@ -977,7 +980,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org60ee9ec" class="figure"> <div id="orgb228058" class="figure">
<p><img src="figs/time_domain_marble_lpf.png" alt="time_domain_marble_lpf.png" /> <p><img src="figs/time_domain_marble_lpf.png" alt="time_domain_marble_lpf.png" />
</p> </p>
<p><span class="figure-number">Figure 9: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p> <p><span class="figure-number">Figure 9: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone on the marble</p>
@ -1000,7 +1003,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org3220e1a" class="figure"> <div id="orgf76aa8b" class="figure">
<p><img src="figs/time_domain_relative_disp.png" alt="time_domain_relative_disp.png" /> <p><img src="figs/time_domain_relative_disp.png" alt="time_domain_relative_disp.png" />
</p> </p>
<p><span class="figure-number">Figure 10: </span>Relative displacement of the sample with respect to the marble</p> <p><span class="figure-number">Figure 10: </span>Relative displacement of the sample with respect to the marble</p>
@ -1008,8 +1011,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-orgdc28818" class="outline-3"> <div id="outline-container-orgc5f8ef2" class="outline-3">
<h3 id="orgdc28818"><span class="section-number-3">2.5</span> Analysis - Frequency Domain</h3> <h3 id="orgc5f8ef2"><span class="section-number-3">2.5</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-2-5"> <div class="outline-text-3" id="text-2-5">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">dt = d_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>; <pre class="src src-matlab">dt = d_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
@ -1020,8 +1023,8 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
</div> </div>
</div> </div>
<div id="outline-container-org0b21a2a" class="outline-4"> <div id="outline-container-orga294397" class="outline-4">
<h4 id="org0b21a2a"><span class="section-number-4">2.5.1</span> Vibrations at the sample location</h4> <h4 id="orga294397"><span class="section-number-4">2.5.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-2-5-1"> <div class="outline-text-4" id="text-2-5-1">
<p> <p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location. First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@ -1037,7 +1040,7 @@ First, we compute the Power Spectral Density of the signals coming from the Geop
</div> </div>
<p> <p>
And we compare all the signals (figures <a href="#org41d7152">11</a> and <a href="#orgdc87af3">12</a>). And we compare all the signals (figures <a href="#orgb3edabe">11</a> and <a href="#org857ae26">12</a>).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>; <pre class="src src-matlab"><span class="org-type">figure</span>;
@ -1058,7 +1061,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org41d7152" class="figure"> <div id="orgb3edabe" class="figure">
<p><img src="figs/psd_sample_comp_lpf.png" alt="psd_sample_comp_lpf.png" /> <p><img src="figs/psd_sample_comp_lpf.png" alt="psd_sample_comp_lpf.png" />
</p> </p>
<p><span class="figure-number">Figure 11: </span>Amplitude Spectral Density of the sample velocity</p> <p><span class="figure-number">Figure 11: </span>Amplitude Spectral Density of the sample velocity</p>
@ -1066,7 +1069,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orgdc87af3" class="figure"> <div id="org857ae26" class="figure">
<p><img src="figs/psd_sample_comp_high_freq_lpf.png" alt="psd_sample_comp_high_freq_lpf.png" /> <p><img src="figs/psd_sample_comp_high_freq_lpf.png" alt="psd_sample_comp_high_freq_lpf.png" />
</p> </p>
<p><span class="figure-number">Figure 12: </span>Amplitude Spectral Density of the sample velocity (zoom at high frequencies)</p> <p><span class="figure-number">Figure 12: </span>Amplitude Spectral Density of the sample velocity (zoom at high frequencies)</p>
@ -1074,8 +1077,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-org99943a5" class="outline-4"> <div id="outline-container-org40b535e" class="outline-4">
<h4 id="org99943a5"><span class="section-number-4">2.5.2</span> Vibrations on the marble</h4> <h4 id="org40b535e"><span class="section-number-4">2.5.2</span> Vibrations on the marble</h4>
<div class="outline-text-4" id="text-2-5-2"> <div class="outline-text-4" id="text-2-5-2">
<p> <p>
Now we plot the same curves for the geophone located on the marble. Now we plot the same curves for the geophone located on the marble.
@ -1091,7 +1094,7 @@ Now we plot the same curves for the geophone located on the marble.
</div> </div>
<p> <p>
And we compare the Amplitude Spectral Densities (figures <a href="#orge453472">13</a> and <a href="#orgcaf65b1">14</a>) And we compare the Amplitude Spectral Densities (figures <a href="#org3d040f7">13</a> and <a href="#org2d255b1">14</a>)
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>; <pre class="src src-matlab"><span class="org-type">figure</span>;
@ -1112,7 +1115,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="orge453472" class="figure"> <div id="org3d040f7" class="figure">
<p><img src="figs/psd_marble_comp_lpf.png" alt="psd_marble_comp_lpf.png" /> <p><img src="figs/psd_marble_comp_lpf.png" alt="psd_marble_comp_lpf.png" />
</p> </p>
<p><span class="figure-number">Figure 13: </span>Amplitude Spectral Density of the marble velocity</p> <p><span class="figure-number">Figure 13: </span>Amplitude Spectral Density of the marble velocity</p>
@ -1120,7 +1123,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="orgcaf65b1" class="figure"> <div id="org2d255b1" class="figure">
<p><img src="figs/psd_marble_comp_lpf_high_freq.png" alt="psd_marble_comp_lpf_high_freq.png" /> <p><img src="figs/psd_marble_comp_lpf_high_freq.png" alt="psd_marble_comp_lpf_high_freq.png" />
</p> </p>
<p><span class="figure-number">Figure 14: </span>Amplitude Spectral Density of the marble velocity (zoom at high frequencies)</p> <p><span class="figure-number">Figure 14: </span>Amplitude Spectral Density of the marble velocity (zoom at high frequencies)</p>
@ -1129,9 +1132,37 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-orga2778aa" class="outline-3"> <div id="outline-container-org862a78a" class="outline-3">
<h3 id="orga2778aa"><span class="section-number-3">2.6</span> Conclusion</h3> <h3 id="org862a78a"><span class="section-number-3">2.6</span> Cumulative Amplitude Spectrum</h3>
<div class="outline-text-3" id="text-2-6"> <div class="outline-text-3" id="text-2-6">
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-2">)</span>, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>cumsum<span class="org-rainbow-delimiters-depth-3">(</span>px_of<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>f<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-5">)</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.*</span><span class="org-rainbow-delimiters-depth-3">(</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">-</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'All OFF'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-2">)</span>, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>cumsum<span class="org-rainbow-delimiters-depth-3">(</span>px_ty<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>f<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-5">)</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.*</span><span class="org-rainbow-delimiters-depth-3">(</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">-</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ty ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-2">)</span>, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>cumsum<span class="org-rainbow-delimiters-depth-3">(</span>px_ry<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>f<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-5">)</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.*</span><span class="org-rainbow-delimiters-depth-3">(</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">-</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Ry ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-2">)</span>, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>cumsum<span class="org-rainbow-delimiters-depth-3">(</span>px_sr<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>f<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-5">)</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.*</span><span class="org-rainbow-delimiters-depth-3">(</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">-</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'S-R ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-2">)</span>, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>cumsum<span class="org-rainbow-delimiters-depth-3">(</span>px_rz<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>f<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-5">)</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.*</span><span class="org-rainbow-delimiters-depth-3">(</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">-</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Rz ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
plot<span class="org-rainbow-delimiters-depth-1">(</span>f<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-2">)</span>, sqrt<span class="org-rainbow-delimiters-depth-2">(</span>cumsum<span class="org-rainbow-delimiters-depth-3">(</span>px_he<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">./</span><span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>f<span class="org-rainbow-delimiters-depth-5">(</span><span class="org-highlight-numbers-number">2</span><span class="org-type">:</span>end<span class="org-rainbow-delimiters-depth-5">)</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">.^</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-type">.*</span><span class="org-rainbow-delimiters-depth-3">(</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-type">-</span>f<span class="org-rainbow-delimiters-depth-4">(</span><span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-4">)</span><span class="org-rainbow-delimiters-depth-3">)</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-string">'DisplayName', 'Hexa ON'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
hold off;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'xscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
<span class="org-type">set</span><span class="org-rainbow-delimiters-depth-1">(</span><span class="org-variable-name">gca</span>, <span class="org-string">'yscale', 'log'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Frequency </span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">[</span></span><span class="org-string">Hz</span><span class="org-string"><span class="org-rainbow-delimiters-depth-2">]</span></span><span class="org-string">'</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">)</span></span><span class="org-string">; ylabel</span><span class="org-string"><span class="org-rainbow-delimiters-depth-1">(</span></span><span class="org-string">'</span>Amplitude Spectral Density $<span class="org-type">\</span>left<span class="org-rainbow-delimiters-depth-2">[</span><span class="org-type">\</span>frac<span class="org-rainbow-delimiters-depth-3">{</span>m<span class="org-rainbow-delimiters-depth-3">}{</span><span class="org-type">\</span>sqrt<span class="org-rainbow-delimiters-depth-4">{</span>Hz<span class="org-rainbow-delimiters-depth-4">}</span><span class="org-rainbow-delimiters-depth-3">}</span><span class="org-type">\</span>right<span class="org-rainbow-delimiters-depth-2">]</span>$'<span class="org-rainbow-delimiters-depth-1">)</span>
xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbow-delimiters-depth-2">[</span><span class="org-highlight-numbers-number">0</span>.<span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">500</span><span class="org-rainbow-delimiters-depth-2">]</span><span class="org-rainbow-delimiters-depth-1">)</span>;
legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'Location', 'northeast'</span><span class="org-rainbow-delimiters-depth-1">)</span>;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">
</pre>
</div>
</div>
</div>
<div id="outline-container-org8fb0a20" class="outline-3">
<h3 id="org8fb0a20"><span class="section-number-3">2.7</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-7">
<div class="important"> <div class="important">
<ul class="org-ul"> <ul class="org-ul">
<li>The Ty stage induces vibrations of the marble and at the sample location above 100Hz</li> <li>The Ty stage induces vibrations of the marble and at the sample location above 100Hz</li>
@ -1143,11 +1174,11 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-orgf76ae8c" class="outline-2"> <div id="outline-container-orgb2a0fcb" class="outline-2">
<h2 id="orgf76ae8c"><span class="section-number-2">3</span> Effect of the Symetrie Driver</h2> <h2 id="orgb2a0fcb"><span class="section-number-2">3</span> Effect of the Symetrie Driver</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
<p> <p>
<a id="orgbb23a6a"></a> <a id="org309a80c"></a>
</p> </p>
<div class="note"> <div class="note">
<p> <p>
@ -1157,8 +1188,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/effect_syme
</div> </div>
</div> </div>
<div id="outline-container-org11e22fa" class="outline-3"> <div id="outline-container-org9c4ac91" class="outline-3">
<h3 id="org11e22fa"><span class="section-number-3">3.1</span> Experimental Setup</h3> <h3 id="org9c4ac91"><span class="section-number-3">3.1</span> Experimental Setup</h3>
<div class="outline-text-3" id="text-3-1"> <div class="outline-text-3" id="text-3-1">
<p> <p>
We here measure the signals of two geophones: We here measure the signals of two geophones:
@ -1238,8 +1269,8 @@ Each of the <code>mat</code> file contains one array <code>data</code> with 3 co
</div> </div>
</div> </div>
<div id="outline-container-org1837038" class="outline-3"> <div id="outline-container-orgbde1c58" class="outline-3">
<h3 id="org1837038"><span class="section-number-3">3.2</span> Load data</h3> <h3 id="orgbde1c58"><span class="section-number-3">3.2</span> Load data</h3>
<div class="outline-text-3" id="text-3-2"> <div class="outline-text-3" id="text-3-2">
<p> <p>
We load the data of the z axis of two geophones. We load the data of the z axis of two geophones.
@ -1252,8 +1283,8 @@ d_19 = load<span class="org-rainbow-delimiters-depth-1">(</span>'mat<span class=
</div> </div>
</div> </div>
<div id="outline-container-orge2bd074" class="outline-3"> <div id="outline-container-org2e18ce1" class="outline-3">
<h3 id="orge2bd074"><span class="section-number-3">3.3</span> Analysis - Time Domain</h3> <h3 id="org2e18ce1"><span class="section-number-3">3.3</span> Analysis - Time Domain</h3>
<div class="outline-text-3" id="text-3-3"> <div class="outline-text-3" id="text-3-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>; <pre class="src src-matlab"><span class="org-type">figure</span>;
@ -1268,7 +1299,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org50d06bc" class="figure"> <div id="orgd50a979" class="figure">
<p><img src="figs/time_domain_hexa_driver.png" alt="time_domain_hexa_driver.png" /> <p><img src="figs/time_domain_hexa_driver.png" alt="time_domain_hexa_driver.png" />
</p> </p>
<p><span class="figure-number">Figure 15: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p> <p><span class="figure-number">Figure 15: </span>Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location</p>
@ -1276,8 +1307,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-org1903625" class="outline-3"> <div id="outline-container-org546d833" class="outline-3">
<h3 id="org1903625"><span class="section-number-3">3.4</span> Analysis - Frequency Domain</h3> <h3 id="org546d833"><span class="section-number-3">3.4</span> Analysis - Frequency Domain</h3>
<div class="outline-text-3" id="text-3-4"> <div class="outline-text-3" id="text-3-4">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">dt = d_18<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d_18<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>; <pre class="src src-matlab">dt = d_18<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">2</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span> <span class="org-type">-</span> d_18<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-highlight-numbers-number">1</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-1">)</span>;
@ -1288,8 +1319,8 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
</div> </div>
</div> </div>
<div id="outline-container-orgb1f3c6c" class="outline-4"> <div id="outline-container-org80ff9ad" class="outline-4">
<h4 id="orgb1f3c6c"><span class="section-number-4">3.4.1</span> Vibrations at the sample location</h4> <h4 id="org80ff9ad"><span class="section-number-4">3.4.1</span> Vibrations at the sample location</h4>
<div class="outline-text-4" id="text-3-4-1"> <div class="outline-text-4" id="text-3-4-1">
<p> <p>
First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location. First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
@ -1315,7 +1346,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org95f15b9" class="figure"> <div id="orgababd33" class="figure">
<p><img src="figs/psd_hexa_driver.png" alt="psd_hexa_driver.png" /> <p><img src="figs/psd_hexa_driver.png" alt="psd_hexa_driver.png" />
</p> </p>
<p><span class="figure-number">Figure 16: </span>Amplitude Spectral Density of the signal coming from the top geophone</p> <p><span class="figure-number">Figure 16: </span>Amplitude Spectral Density of the signal coming from the top geophone</p>
@ -1323,7 +1354,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
<div id="org246e09e" class="figure"> <div id="orgc6a9465" class="figure">
<p><img src="figs/psd_hexa_driver_high_freq.png" alt="psd_hexa_driver_high_freq.png" /> <p><img src="figs/psd_hexa_driver_high_freq.png" alt="psd_hexa_driver_high_freq.png" />
</p> </p>
<p><span class="figure-number">Figure 17: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p> <p><span class="figure-number">Figure 17: </span>Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)</p>
@ -1332,8 +1363,8 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-orgbb3e3c0" class="outline-3"> <div id="outline-container-org8c74f9b" class="outline-3">
<h3 id="orgbb3e3c0"><span class="section-number-3">3.5</span> Conclusion</h3> <h3 id="org8c74f9b"><span class="section-number-3">3.5</span> Conclusion</h3>
<div class="outline-text-3" id="text-3-5"> <div class="outline-text-3" id="text-3-5">
<div class="important"> <div class="important">
<p> <p>
@ -1347,7 +1378,7 @@ Even tough the Hexapod's driver vibrates quite a lot, it does not generate signi
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-05-17 ven. 10:40</p> <p class="date">Created: 2019-07-05 ven. 11:40</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>

26
disturbance-control-system/index.org
View File

@ -568,7 +568,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp_lpf]] and [[fig:ps
*** Vibrations on the marble *** Vibrations on the marble
Now we plot the same curves for the geophone located on the marble. Now we plot the same curves for the geophone located on the marble.
#+begin_src matlab :results none #+begin_src matlab
[px_of, f] = pwelch(d_of(:, 1), win, [], [], Fs); [px_of, f] = pwelch(d_of(:, 1), win, [], [], Fs);
[px_ty, ~] = pwelch(d_ty(:, 1), win, [], [], Fs); [px_ty, ~] = pwelch(d_ty(:, 1), win, [], [], Fs);
[px_ry, ~] = pwelch(d_ry(:, 1), win, [], [], Fs); [px_ry, ~] = pwelch(d_ry(:, 1), win, [], [], Fs);
@ -578,7 +578,7 @@ Now we plot the same curves for the geophone located on the marble.
#+end_src #+end_src
And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_comp_lpf_high_freq]]) And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_comp_lpf_high_freq]])
#+begin_src matlab :results none #+begin_src matlab
figure; figure;
hold on; hold on;
plot(f, sqrt(px_of), 'DisplayName', 'All OFF'); plot(f, sqrt(px_of), 'DisplayName', 'All OFF');
@ -623,6 +623,28 @@ And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_l
#+RESULTS: fig:psd_marble_comp_lpf_high_freq #+RESULTS: fig:psd_marble_comp_lpf_high_freq
[[file:figs/psd_marble_comp_lpf_high_freq.png]] [[file:figs/psd_marble_comp_lpf_high_freq.png]]
** Cumulative Amplitude Spectrum
#+begin_src matlab
figure;
hold on;
plot(f(2:end), sqrt(cumsum(px_of(2:end)./(2*pi*f(2:end)).^2).*(f(2)-f(1))), 'DisplayName', 'All OFF');
plot(f(2:end), sqrt(cumsum(px_ty(2:end)./(2*pi*f(2:end)).^2).*(f(2)-f(1))), 'DisplayName', 'Ty ON');
plot(f(2:end), sqrt(cumsum(px_ry(2:end)./(2*pi*f(2:end)).^2).*(f(2)-f(1))), 'DisplayName', 'Ry ON');
plot(f(2:end), sqrt(cumsum(px_sr(2:end)./(2*pi*f(2:end)).^2).*(f(2)-f(1))), 'DisplayName', 'S-R ON');
plot(f(2:end), sqrt(cumsum(px_rz(2:end)./(2*pi*f(2:end)).^2).*(f(2)-f(1))), 'DisplayName', 'Rz ON');
plot(f(2:end), sqrt(cumsum(px_he(2:end)./(2*pi*f(2:end)).^2).*(f(2)-f(1))), 'DisplayName', 'Hexa ON');
hold off;
set(gca, 'xscale', 'log');
set(gca, 'yscale', 'log');
xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{m}{\sqrt{Hz}}\right]$')
xlim([0.1, 500]);
legend('Location', 'northeast');
#+end_src
#+begin_src matlab
#+end_src
** Conclusion ** Conclusion
#+begin_important #+begin_important
- The Ty stage induces vibrations of the marble and at the sample location above 100Hz - The Ty stage induces vibrations of the marble and at the sample location above 100Hz

138
disturbance-ty/index.html
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@ -3,7 +3,7 @@
"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>
<!-- 2019-05-15 mer. 16:35 --> <!-- 2019-06-19 mer. 11:12 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Vibrations induced by the translation stage motion</title> <title>Vibrations induced by the translation stage motion</title>
@ -258,29 +258,29 @@ 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="#org15ec826">1. Measurement description</a></li> <li><a href="#org39f8fb3">1. Measurement description</a></li>
<li><a href="#orgb847946">2. Measurement Analysis</a> <li><a href="#org9c1c4dc">2. Measurement Analysis</a>
<ul> <ul>
<li><a href="#org7fc6c17">2.1. Load data</a></li> <li><a href="#org83beca6">2.1. Load data</a></li>
<li><a href="#orga70e282">2.2. Voltage to Velocity</a></li> <li><a href="#org6739365">2.2. Voltage to Velocity</a></li>
<li><a href="#org4e85d3b">2.3. Time domain plots</a></li> <li><a href="#org0e76d60">2.3. Time domain plots</a></li>
<li><a href="#org121abe7">2.4. Frequency Domain analysis</a></li> <li><a href="#orgae02709">2.4. Frequency Domain analysis</a></li>
<li><a href="#org9bb2e68">2.5. Transfer function from marble motion in the East direction to sample motion in the East direction</a></li> <li><a href="#org86d8525">2.5. Transfer function from marble motion in the East direction to sample motion in the East direction</a></li>
<li><a href="#org3557c4c">2.6. Position of the translation stage and Current</a> <li><a href="#orgfdf507c">2.6. Position of the translation stage and Current</a>
<ul> <ul>
<li><a href="#orgda3ab01">2.6.1. Data pre-processing</a></li> <li><a href="#orgc57aee0">2.6.1. Data pre-processing</a></li>
<li><a href="#orgc12f6b8">2.6.2. Time domain data</a></li> <li><a href="#orgb39f0c9">2.6.2. Time domain data</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgd2aa958">2.7. Conclusion</a></li> <li><a href="#org7881c9d">2.7. Conclusion</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
</div> </div>
</div> </div>
<div id="outline-container-org15ec826" class="outline-2"> <div id="outline-container-org39f8fb3" class="outline-2">
<h2 id="org15ec826"><span class="section-number-2">1</span> Measurement description</h2> <h2 id="org39f8fb3"><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">
<p> <p>
<b>Setup</b>: <b>Setup</b>:
@ -310,7 +310,7 @@ The scans are done with the ELMO software.
</p> </p>
<p> <p>
The North of the Geophones corresponds to the +Y direction and the East of the Geophones to the +X direction (see figure <a href="#org045a67d">1</a>). The North of the Geophones corresponds to the +Y direction and the East of the Geophones to the +X direction (see figure <a href="#orgf0c462e">1</a>).
</p> </p>
<p> <p>
@ -394,7 +394,7 @@ Each of the measurement <code>mat</code> file contains one <code>data</code> arr
</table> </table>
<div id="org045a67d" class="figure"> <div id="orgf0c462e" class="figure">
<p><img src="./img/IMG_20190513_163032.jpg" alt="IMG_20190513_163032.jpg" width="500px" /> <p><img src="./img/IMG_20190513_163032.jpg" alt="IMG_20190513_163032.jpg" width="500px" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Picture of the experimental setup</p> <p><span class="figure-number">Figure 1: </span>Picture of the experimental setup</p>
@ -402,11 +402,11 @@ Each of the measurement <code>mat</code> file contains one <code>data</code> arr
</div> </div>
</div> </div>
<div id="outline-container-orgb847946" class="outline-2"> <div id="outline-container-org9c1c4dc" class="outline-2">
<h2 id="orgb847946"><span class="section-number-2">2</span> Measurement Analysis</h2> <h2 id="org9c1c4dc"><span class="section-number-2">2</span> Measurement Analysis</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
<p> <p>
<a id="orgb039411"></a> <a id="orgd482cbe"></a>
</p> </p>
<div class="note"> <div class="note">
<p> <p>
@ -416,8 +416,8 @@ All the files (data and Matlab scripts) are accessible <a href="data/disturbance
</div> </div>
</div> </div>
<div id="outline-container-org7fc6c17" class="outline-3"> <div id="outline-container-org83beca6" class="outline-3">
<h3 id="org7fc6c17"><span class="section-number-3">2.1</span> Load data</h3> <h3 id="org83beca6"><span class="section-number-3">2.1</span> Load data</h3>
<div class="outline-text-3" id="text-2-1"> <div class="outline-text-3" id="text-2-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">z_ty = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_040.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; z_ty = z_ty.data; <pre class="src src-matlab">z_ty = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-string">'mat/data_040.mat', 'data'</span><span class="org-rainbow-delimiters-depth-1">)</span>; z_ty = z_ty.data;
@ -428,35 +428,37 @@ e_of = load<span class="org-rainbow-delimiters-depth-1">(</span><span class="org
</div> </div>
</div> </div>
<div id="outline-container-orga70e282" class="outline-3"> <div id="outline-container-org6739365" class="outline-3">
<h3 id="orga70e282"><span class="section-number-3">2.2</span> Voltage to Velocity</h3> <h3 id="org6739365"><span class="section-number-3">2.2</span> Voltage to Velocity</h3>
<div class="outline-text-3" id="text-2-2"> <div class="outline-text-3" id="text-2-2">
<p> <p>
We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/MEGA/These/meas/src/index.html">here</a>). We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/MEGA/These/meas/src/index.html">here</a>).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>; <pre class="src src-matlab">gain = <span class="org-highlight-numbers-number">40</span>; <span class="org-comment">% [dB]</span>
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>;
z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>; z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>; e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, <span class="org-highlight-numbers-number">40</span><span class="org-rainbow-delimiters-depth-1">)</span>; e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">1</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
z_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, z_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_ty<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_ty<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
e_of<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-1">)</span> = voltageToVelocityL22<span class="org-rainbow-delimiters-depth-1">(</span>e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">2</span><span class="org-rainbow-delimiters-depth-2">)</span>, e_of<span class="org-rainbow-delimiters-depth-2">(</span><span class="org-type">:</span>, <span class="org-highlight-numbers-number">3</span><span class="org-rainbow-delimiters-depth-2">)</span>, gain<span class="org-rainbow-delimiters-depth-1">)</span>;
</pre> </pre>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org4e85d3b" class="outline-3"> <div id="outline-container-org0e76d60" class="outline-3">
<h3 id="org4e85d3b"><span class="section-number-3">2.3</span> Time domain plots</h3> <h3 id="org0e76d60"><span class="section-number-3">2.3</span> Time domain plots</h3>
<div class="outline-text-3" id="text-2-3"> <div class="outline-text-3" id="text-2-3">
<p> <p>
We plot the measured velocity of the marble and sample in the vertical direction (figure <a href="#org9602ab5">2</a>) and in the X direction (figure <a href="#orgcc783df">3</a>). We plot the measured velocity of the marble and sample in the vertical direction (figure <a href="#org34814fe">2</a>) and in the X direction (figure <a href="#org8e9b7b5">3</a>).
</p> </p>
<p> <p>
We also integrate the relative velocity to obtain the relative displacement (figure <a href="#org00d44bf">4</a> in the X direction and figure <a href="#org8cb0d85">5</a> in the Z direction). We also integrate the relative velocity to obtain the relative displacement (figure <a href="#orgd86ada1">4</a> in the X direction and figure <a href="#org3e96a6b">5</a> in the Z direction).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
@ -472,7 +474,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org9602ab5" class="figure"> <div id="org34814fe" class="figure">
<p><img src="figs/ty_z_time.png" alt="ty_z_time.png" /> <p><img src="figs/ty_z_time.png" alt="ty_z_time.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Z velocity of the sample and marble when scanning with the translation stage</p> <p><span class="figure-number">Figure 2: </span>Z velocity of the sample and marble when scanning with the translation stage</p>
@ -491,7 +493,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="orgcc783df" class="figure"> <div id="org8e9b7b5" class="figure">
<p><img src="figs/ty_e_time.png" alt="ty_e_time.png" /> <p><img src="figs/ty_e_time.png" alt="ty_e_time.png" />
</p> </p>
<p><span class="figure-number">Figure 3: </span>Velocity of the sample and marble in the east direction when scanning with the translation stage</p> <p><span class="figure-number">Figure 3: </span>Velocity of the sample and marble in the east direction when scanning with the translation stage</p>
@ -506,7 +508,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
<div id="org00d44bf" class="figure"> <div id="orgd86ada1" class="figure">
<p><img src="figs/x_relative_disp.png" alt="x_relative_disp.png" /> <p><img src="figs/x_relative_disp.png" alt="x_relative_disp.png" />
</p> </p>
<p><span class="figure-number">Figure 4: </span>X relative displacement of the sample with respect to the marble</p> <p><span class="figure-number">Figure 4: </span>X relative displacement of the sample with respect to the marble</p>
@ -521,7 +523,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
<div id="org8cb0d85" class="figure"> <div id="org3e96a6b" class="figure">
<p><img src="figs/z_relative_disp.png" alt="z_relative_disp.png" /> <p><img src="figs/z_relative_disp.png" alt="z_relative_disp.png" />
</p> </p>
<p><span class="figure-number">Figure 5: </span>Z relative disp of the sample with respect to the marble</p> <p><span class="figure-number">Figure 5: </span>Z relative disp of the sample with respect to the marble</p>
@ -529,8 +531,8 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
</div> </div>
<div id="outline-container-org121abe7" class="outline-3"> <div id="outline-container-orgae02709" class="outline-3">
<h3 id="org121abe7"><span class="section-number-3">2.4</span> Frequency Domain analysis</h3> <h3 id="orgae02709"><span class="section-number-3">2.4</span> Frequency Domain analysis</h3>
<div class="outline-text-3" id="text-2-4"> <div class="outline-text-3" id="text-2-4">
<p> <p>
We get the typical ground velocity to compare with the velocities measured. We get the typical ground velocity to compare with the velocities measured.
@ -590,10 +592,10 @@ And finally for the relative velocity between the sample and the marble.
And we plot the ASD of the measured velocities: And we plot the ASD of the measured velocities:
</p> </p>
<ul class="org-ul"> <ul class="org-ul">
<li>figure <a href="#org72aa28e">6</a> compares the marble velocity in the east direction when scanning and when Ty is OFF</li> <li>figure <a href="#org94d27c9">6</a> compares the marble velocity in the east direction when scanning and when Ty is OFF</li>
<li>figure <a href="#orgd1eabc6">7</a> compares the sample velocity in the east direction when scanning and when Ty is OFF</li> <li>figure <a href="#orgb11f07e">7</a> compares the sample velocity in the east direction when scanning and when Ty is OFF</li>
<li>figure <a href="#org22a9555">8</a> shows the marble and sample velocities in the Z direction when scanning with the translation stage</li> <li>figure <a href="#orgaefec33">8</a> shows the marble and sample velocities in the Z direction when scanning with the translation stage</li>
<li>figure <a href="#org3c552b8">9</a> shows the relative velocity of the sample with respect to the granite in the X direction when the translation stage is OFF and when it is scanning at 1Hz</li> <li>figure <a href="#org0099071">9</a> shows the relative velocity of the sample with respect to the granite in the X direction when the translation stage is OFF and when it is scanning at 1Hz</li>
</ul> </ul>
<div class="org-src-container"> <div class="org-src-container">
@ -612,7 +614,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
<div id="org72aa28e" class="figure"> <div id="org94d27c9" class="figure">
<p><img src="figs/asd_east_marble.png" alt="asd_east_marble.png" /> <p><img src="figs/asd_east_marble.png" alt="asd_east_marble.png" />
</p> </p>
<p><span class="figure-number">Figure 6: </span>Amplitude spectral density of the measured velocities corresponding to the geophone in the east direction located on the marble when the translation stage is OFF and when it is scanning at 1Hz</p> <p><span class="figure-number">Figure 6: </span>Amplitude spectral density of the measured velocities corresponding to the geophone in the east direction located on the marble when the translation stage is OFF and when it is scanning at 1Hz</p>
@ -635,7 +637,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
<div id="orgd1eabc6" class="figure"> <div id="orgb11f07e" class="figure">
<p><img src="figs/asd_east_sample.png" alt="asd_east_sample.png" /> <p><img src="figs/asd_east_sample.png" alt="asd_east_sample.png" />
</p> </p>
<p><span class="figure-number">Figure 7: </span>Amplitude spectral density of the measured velocities corresponding to the geophone in the east direction located at the sample location when the translation stage is OFF and when it is scanning at 1Hz</p> <p><span class="figure-number">Figure 7: </span>Amplitude spectral density of the measured velocities corresponding to the geophone in the east direction located at the sample location when the translation stage is OFF and when it is scanning at 1Hz</p>
@ -658,7 +660,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
<div id="org22a9555" class="figure"> <div id="orgaefec33" class="figure">
<p><img src="figs/asd_z_direction.png" alt="asd_z_direction.png" /> <p><img src="figs/asd_z_direction.png" alt="asd_z_direction.png" />
</p> </p>
<p><span class="figure-number">Figure 8: </span>Amplitude spectral density of the measure velocity corresponding to the geophone in the vertical direction located on the granite and at the sample location when the translation stage is scanning at 1Hz</p> <p><span class="figure-number">Figure 8: </span>Amplitude spectral density of the measure velocity corresponding to the geophone in the vertical direction located on the granite and at the sample location when the translation stage is scanning at 1Hz</p>
@ -680,7 +682,7 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
<div id="org3c552b8" class="figure"> <div id="org0099071" class="figure">
<p><img src="figs/asd_e_relative.png" alt="asd_e_relative.png" /> <p><img src="figs/asd_e_relative.png" alt="asd_e_relative.png" />
</p> </p>
<p><span class="figure-number">Figure 9: </span>Amplitude spectral density of the measured relative velocity in the X direction</p> <p><span class="figure-number">Figure 9: </span>Amplitude spectral density of the measured relative velocity in the X direction</p>
@ -688,15 +690,15 @@ xlim<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-rainbo
</div> </div>
</div> </div>
<div id="outline-container-org9bb2e68" class="outline-3"> <div id="outline-container-org86d8525" class="outline-3">
<h3 id="org9bb2e68"><span class="section-number-3">2.5</span> Transfer function from marble motion in the East direction to sample motion in the East direction</h3> <h3 id="org86d8525"><span class="section-number-3">2.5</span> Transfer function from marble motion in the East direction to sample motion in the East direction</h3>
<div class="outline-text-3" id="text-2-5"> <div class="outline-text-3" id="text-2-5">
<p> <p>
Let's compute the transfer function for the marble velocity in the east direction to the sample velocity in the east direction. Let's compute the transfer function for the marble velocity in the east direction to the sample velocity in the east direction.
</p> </p>
<p> <p>
We first plot the time domain motions when every stage is off (figure <a href="#org52fbb44">10</a>). We first plot the time domain motions when every stage is off (figure <a href="#orgb0f7dd4">10</a>).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
@ -712,7 +714,7 @@ legend<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org52fbb44" class="figure"> <div id="orgb0f7dd4" class="figure">
<p><img src="figs/east_marble_sample.png" alt="east_marble_sample.png" /> <p><img src="figs/east_marble_sample.png" alt="east_marble_sample.png" />
</p> </p>
<p><span class="figure-number">Figure 10: </span>Velocity in the east direction of the marble and sample when all the stages are OFF</p> <p><span class="figure-number">Figure 10: </span>Velocity in the east direction of the marble and sample when all the stages are OFF</p>
@ -733,10 +735,10 @@ win = hanning<span class="org-rainbow-delimiters-depth-1">(</span>ceil<span clas
<p> <p>
The result is shown on figure <a href="#org2cef692">11</a>. The result is shown on figure <a href="#orgc32127e">11</a>.
</p> </p>
<div id="org2cef692" class="figure"> <div id="orgc32127e" class="figure">
<p><img src="figs/tf_east_marble_sample.png" alt="tf_east_marble_sample.png" /> <p><img src="figs/tf_east_marble_sample.png" alt="tf_east_marble_sample.png" />
</p> </p>
<p><span class="figure-number">Figure 11: </span>Estimation of the transfer function from marble velocity in the east direction to sample velocity in the east direction</p> <p><span class="figure-number">Figure 11: </span>Estimation of the transfer function from marble velocity in the east direction to sample velocity in the east direction</p>
@ -744,16 +746,16 @@ The result is shown on figure <a href="#org2cef692">11</a>.
</div> </div>
</div> </div>
<div id="outline-container-org3557c4c" class="outline-3"> <div id="outline-container-orgfdf507c" class="outline-3">
<h3 id="org3557c4c"><span class="section-number-3">2.6</span> Position of the translation stage and Current</h3> <h3 id="orgfdf507c"><span class="section-number-3">2.6</span> Position of the translation stage and Current</h3>
<div class="outline-text-3" id="text-2-6"> <div class="outline-text-3" id="text-2-6">
<p> <p>
The position of the translation and current flowing in its actuator are measured using the elmo software and saved as an csv file. The position of the translation and current flowing in its actuator are measured using the elmo software and saved as an csv file.
</p> </p>
</div> </div>
<div id="outline-container-orgda3ab01" class="outline-4"> <div id="outline-container-orgc57aee0" class="outline-4">
<h4 id="orgda3ab01"><span class="section-number-4">2.6.1</span> Data pre-processing</h4> <h4 id="orgc57aee0"><span class="section-number-4">2.6.1</span> Data pre-processing</h4>
<div class="outline-text-4" id="text-2-6-1"> <div class="outline-text-4" id="text-2-6-1">
<p> <p>
Let's look at at the start of the csv file. Let's look at at the start of the csv file.
@ -776,13 +778,13 @@ We then load this <code>cvs</code> file starting at line 29.
</div> </div>
</div> </div>
<div id="outline-container-orgc12f6b8" class="outline-4"> <div id="outline-container-orgb39f0c9" class="outline-4">
<h4 id="orgc12f6b8"><span class="section-number-4">2.6.2</span> Time domain data</h4> <h4 id="orgb39f0c9"><span class="section-number-4">2.6.2</span> Time domain data</h4>
<div class="outline-text-4" id="text-2-6-2"> <div class="outline-text-4" id="text-2-6-2">
<p> <p>
We plot the position of the translation stage measured by the encoders. We plot the position of the translation stage measured by the encoders.
There is 200000 encoder count for each mm, we then divide by 200000 to obtain mm. There is 200000 encoder count for each mm, we then divide by 200000 to obtain mm.
The result is shown on figure <a href="#org1e26376">12</a>. The result is shown on figure <a href="#org3c042ab">12</a>.
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
@ -796,21 +798,21 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org1e26376" class="figure"> <div id="org3c042ab" class="figure">
<p><img src="figs/ty_position_time.png" alt="ty_position_time.png" /> <p><img src="figs/ty_position_time.png" alt="ty_position_time.png" />
</p> </p>
<p><span class="figure-number">Figure 12: </span>Y position of the translation stage measured by the encoders</p> <p><span class="figure-number">Figure 12: </span>Y position of the translation stage measured by the encoders</p>
</div> </div>
<div id="orgbbcae78" class="figure"> <div id="orgac4a46b" class="figure">
<p><img src="figs/ty_position_time_zoom.png" alt="ty_position_time_zoom.png" /> <p><img src="figs/ty_position_time_zoom.png" alt="ty_position_time_zoom.png" />
</p> </p>
<p><span class="figure-number">Figure 13: </span>Y position of the translation stage measured by the encoders - Zoom</p> <p><span class="figure-number">Figure 13: </span>Y position of the translation stage measured by the encoders - Zoom</p>
</div> </div>
<p> <p>
We also plot the current as function of the time on figure <a href="#org12f65b1">14</a>. We also plot the current as function of the time on figure <a href="#orgc686f17">14</a>.
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
@ -824,14 +826,14 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="org12f65b1" class="figure"> <div id="orgc686f17" class="figure">
<p><img src="figs/current_time.png" alt="current_time.png" /> <p><img src="figs/current_time.png" alt="current_time.png" />
</p> </p>
<p><span class="figure-number">Figure 14: </span>Current going through the actuator of the translation stage</p> <p><span class="figure-number">Figure 14: </span>Current going through the actuator of the translation stage</p>
</div> </div>
<div id="orgc92d4f4" class="figure"> <div id="org3b181bb" class="figure">
<p><img src="figs/current_time_zoom.png" alt="current_time_zoom.png" /> <p><img src="figs/current_time_zoom.png" alt="current_time_zoom.png" />
</p> </p>
<p><span class="figure-number">Figure 15: </span>Current going through the actuator of the translation stage - Zoom</p> <p><span class="figure-number">Figure 15: </span>Current going through the actuator of the translation stage - Zoom</p>
@ -840,8 +842,8 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
</div> </div>
<div id="outline-container-orgd2aa958" class="outline-3"> <div id="outline-container-org7881c9d" class="outline-3">
<h3 id="orgd2aa958"><span class="section-number-3">2.7</span> Conclusion</h3> <h3 id="org7881c9d"><span class="section-number-3">2.7</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-7"> <div class="outline-text-3" id="text-2-7">
<div class="important"> <div class="important">
<ul class="org-ul"> <ul class="org-ul">
@ -856,7 +858,7 @@ xlabel<span class="org-rainbow-delimiters-depth-1">(</span><span class="org-stri
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2019-05-15 mer. 16:35</p> <p class="date">Created: 2019-06-19 mer. 11:12</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>

72
static-spindle/spindle_measurements.m
View File

@ -1,72 +0,0 @@
%%
clear; close all; clc;
%% Load Measurement Data
spindle_1rpm_table = readtable('../../Measurements/Spindle/10turns_1rpm_icepap.txt');
spindle_60rpm_table = readtable('../../Measurements/Spindle/10turns_60rpm_IcepapFIR.txt');
disp(spindle_1rpm_table(1, :));
spindle_1rpm = table2array(spindle_1rpm_table);
spindle_60rpm = table2array(spindle_60rpm_table);
%% Convert Signals from [deg] to [sec]
speed_1rpm = 360/60; % [deg/sec]
spindle_1rpm(:, 1) = spindle_1rpm(:, 2)/speed_1rpm; % From position [deg] to time [s]
speed_60rpm = 360/1; % [deg/sec]
spindle_60rpm(:, 1) = spindle_60rpm(:, 2)/speed_60rpm; % From position [deg] to time [s]
%% Convert Signals
% scaling = 1/80000; % 80 mV/um
scaling = 1e-6; % [um] to [m]
spindle_1rpm(:, 3:end) = scaling*spindle_1rpm(:, 3:end); % [V] to [m]
spindle_1rpm(:, 3:end) = spindle_1rpm(:, 3:end)-mean(spindle_1rpm(:, 3:end)); % Remove mean
spindle_60rpm(:, 3:end) = scaling*spindle_60rpm(:, 3:end); % [V] to [m]
spindle_60rpm(:, 3:end) = spindle_60rpm(:, 3:end)-mean(spindle_60rpm(:, 3:end)); % Remove mean
%% Ts and Fs for both measurements
Ts_1rpm = spindle_1rpm(end, 1)/(length(spindle_1rpm(:, 1))-1);
Fs_1rpm = 1/Ts_1rpm;
Ts_60rpm = spindle_60rpm(end, 1)/(length(spindle_60rpm(:, 1))-1);
Fs_60rpm = 1/Ts_60rpm;
%% Find Noise of the ADC [m/sqrt(Hz)]
data = spindle_1rpm(:, 5);
dV_1rpm = min(abs(data(1) - data(data ~= data(1))));
noise_1rpm = dV_1rpm/sqrt(12*Fs_1rpm/2);
data = spindle_60rpm(:, 5);
dV_60rpm = min(abs(data(50) - data(data ~= data(50))));
noise_60rpm = dV_60rpm/sqrt(12*Fs_60rpm/2);
%% Save all the data under spindle struct
spindle.rpm1.time = spindle_1rpm(:, 1);
spindle.rpm1.deg = spindle_1rpm(:, 2);
spindle.rpm1.Ts = Ts_1rpm;
spindle.rpm1.Fs = 1/Ts_1rpm;
spindle.rpm1.x = spindle_1rpm(:, 3);
spindle.rpm1.y = spindle_1rpm(:, 4);
spindle.rpm1.z = spindle_1rpm(:, 5);
spindle.rpm1.adcn = noise_1rpm;
spindle.rpm60.time = spindle_60rpm(:, 1);
spindle.rpm60.deg = spindle_60rpm(:, 2);
spindle.rpm60.Ts = Ts_60rpm;
spindle.rpm60.Fs = 1/Ts_60rpm;
spindle.rpm60.x = spindle_60rpm(:, 3);
spindle.rpm60.y = spindle_60rpm(:, 4);
spindle.rpm60.z = spindle_60rpm(:, 5);
spindle.rpm60.adcn = noise_60rpm;
%% Compute Asynchronous data
for direction = {'x', 'y', 'z'}
spindle.rpm1.([direction{1}, 'async']) = getAsynchronousError(spindle.rpm1.(direction{1}), 10);
spindle.rpm60.([direction{1}, 'async']) = getAsynchronousError(spindle.rpm60.(direction{1}), 10);
end
%% Save data
save('./mat/spindle_data.mat', 'spindle');