Add images

Library/measure_effect_Ty.m

@@ -40,17 +40,13 @@ data = SimulinkRealTime.utils.getFileScopeData('data/data_001.dat').data;
 %%
 n = 012;
 
-if isfile(['mat/data_', num2str(n, '%03d'), '.mat'])
+while isfile(['mat/data_', num2str(n, '%03d'), '.mat'])
      disp('File exists.');
-else
+     if input(['Are you sure you want to override the file ', 'mat/data_', ...
-     save(['mat/data_', num2str(n, '%03d'), '.mat'], 'data');
+            num2str(n, '%03d'), '.mat', ' ? [Y/n]']) == 'Y'
+         break;
+     end
+     n = input('What should be the measurement number?');
 end
 
-%%
+save(['mat/data_', num2str(n, '%03d'), '.mat'], 'data');
-% figure;
-% hold on;
-% plot(t, x1);
-% plot(t, x2);
-% hold off
-% xlabel('Time [s]');
-% ylabel('Voltage [V]');

Library/readme.org

@@ -1,8 +1,7 @@
-Contains usefull scripts and simulink files for the SpeedGoat.
+#+TITLE: List of measurements
-
-Signal of top hexapod goes through Slip-Ring
 
 * Effect of control of each stage
+
 | Ty on  | data_001 |
 | Ty off | data_002 |
 
@@ -10,35 +9,44 @@ One geophone is on the marble, the other at the sample location.
 The signal from the top geophone goes through the slip-ring
 
 * Measurement when signal from top geophone does not go trought the slip-ring
-| Ty | Ry | Slip Ring | Spindle | Hexapod | Meas. |
+
-| X  | X  | X         | X       | X       | 003   |
+| Ty   | Ry   | Slip Ring | Spindle | Hexapod | Meas. file     |
-|    | X  | X         | X       | X       | 004   |
+|------+------+-----------+---------+---------+----------------|
-|    |    | X         | X       | X       | 005   |
+| *ON* | *ON* | *ON*      | *ON*    | *ON*    | =meas_003.mat= |
-|    |    |           | X       | X       | 006   |
+| OFF  | *ON* | *ON*      | *ON*    | *ON*    | =meas_004.mat= |
-|    |    |           |         | X       | 007   |
+| OFF  | OFF  | *ON*      | *ON*    | *ON*    | =meas_005.mat= |
-|    |    |           |         |         | 008   |
+| OFF  | OFF  | OFF       | *ON*    | *ON*    | =meas_006.mat= |
+| OFF  | OFF  | OFF       | OFF     | *ON*    | =meas_007.mat= |
+| OFF  | OFF  | OFF       | OFF     | OFF     | =meas_008.mat= |
 
 Meas009: everything off with signal goes through the slip-ring
 
 * Measurement from one stage to the other
-** Meas010
+** From Marble to Ty
-Meas010: everything off, one geophone on the marble, one geophone on the Ty (measure on Z direction)
+=meas_010.mat=
+Everything off, one geophone on the marble, one geophone on the Ty (measure on Z direction)
 => Can be used to determine the vertical stiffness between the Granite and the Ty stage
-| 1 |      |
-| 2 |      |
-| 3 | Time |
 
-** Meas011
-Meas011: everything off, one geophone on the marble, one geophone on the Ry (measure on Z direction)
-=> Can be used to determine the vertical stiffness of the Ry Stage (by taking into account the Ty stiffness)
 Channels:
-| 1 |      |
+| 1 | Ground |
-| 2 |      |
+| 2 | Ty     |
 | 3 | Time   |
 
-** Meas012
+** From Marble to Ry
-Meas012: everything off, one geophone on the Ty, one geophone on the Ry (measure on Z direction)
+=meas_011.mat=
+Everything off, one geophone on the marble, one geophone on the Ry (measure on Z direction)
+=> Can be used to determine the vertical stiffness of the Ry Stage (by taking into account the Ty stiffness)
+
+Channels:
+| 1 | Ground |
+| 2 | Ry     |
+| 3 | Time   |
+
+** From Ty to Ry
+=meas_012.mat=
+Everything off, one geophone on the Ty, one geophone on the Ry (measure on Z direction)
 => Can be used to determine the vertical stiffness of the Ry stage
+
 Channels:
 | 1 | Ty   |
 | 2 | Ry   |

disturbance-measurement/analysis.m

@@ -1,14 +0,0 @@
-data1 = load('mat/data_001.mat', 't', 'x1', 'x2');
-data2 = load('mat/data_002.mat', 't', 'x1', 'x2');
-
-figure;
-hold on;
-plot(data1.t, data1.x1);
-plot(data2.t, data2.x1);
-hold off;
-
-figure;
-hold on;
-plot(data1.t, data1.x2);
-plot(data2.t, data2.x2);
-hold off;

disturbance-measurement/index.org

@@ -0,0 +1,122 @@
+#+TITLE:Measurement of the sample vibrations when rotating the Spindle
+:DRAWER:
+#+STARTUP: overview
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/zenburn.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="../js/bootstrap.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="../js/jquery.stickytableheaders.min.js"></script>
+#+HTML_HEAD: <script type="text/javascript" src="../js/readtheorg.js"></script>
+
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :results output
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :output-dir figs
+:END:
+
+* Signal Processing
+** Matlab Init                                              :noexport:ignore:
+#+begin_src matlab :exports none :results silent :noweb yes
+  <<matlab-init>>
+#+end_src
+
+** Load Data
+Measurement =data_001.mat= corresponds to a measurement where the spindle is not turning and =data_002.mat= where the spindle is turning at 1rpm.
+=x1= is the signal coming from the geophone located on the marble and =x2= is the signal from the geophone located on the sample station.
+
+#+begin_src matlab :results none
+  data1 = load('mat/data_001.mat', 't', 'x1', 'x2');
+  data2 = load('mat/data_002.mat', 't', 'x1', 'x2');
+#+end_src
+
+** Pre-processing
+#+begin_src matlab :results none
+  imax = min([length(data1.t), length(data2.t)]);
+
+  data1.t  = data1.t(1:imax);
+  data1.x1 = data1.x1(1:imax);
+  data1.x2 = data1.x2(1:imax);
+
+  data2.t  = data2.t(1:imax);
+  data2.x1 = data2.x1(1:imax);
+  data2.x2 = data2.x2(1:imax);
+#+end_src
+
+** Time domain Data
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(data1.t, data1.x1);
+  plot(data2.t, data2.x1);
+  hold off;
+#+end_src
+
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(data1.t, data1.x2);
+  plot(data2.t, data2.x2)
+  hold off;
+#+end_src
+
+** ASD and Frequency domain data
+#+begin_src matlab :results none
+  dt = data1.t(2) - data1.t(1);
+  Fs = 1/dt;
+  windows_psd = hanning(ceil(10/dt));
+#+end_src
+
+#+begin_src matlab :results none
+  [pxx1m, f] = pwelch(data1.x1, windows_psd, [], [], Fs);
+  [pxx1h, ~] = pwelch(data1.x2, windows_psd, [], [], Fs);
+
+  [pxx2m, ~] = pwelch(data2.x1, windows_psd, [], [], Fs);
+  [pxx2h, ~] = pwelch(data2.x2, windows_psd, [], [], Fs);
+#+end_src
+
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(f, sqrt(pxx1m));
+  plot(f, sqrt(pxx2m));
+  hold off;
+  set(gca, 'xscale', 'log');
+  set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]')
+#+end_src
+
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(f, sqrt(pxx1h));
+  plot(f, sqrt(pxx2h));
+  hold off;
+  set(gca, 'xscale', 'log');
+  set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]')
+#+end_src
+
+
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(f, sqrt(pxx2m));
+  plot(f, sqrt(pxx2h));
+  hold off;
+  set(gca, 'xscale', 'log');
+  set(gca, 'yscale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]')
+#+end_src
+
+#+begin_src matlab :results none
+  figure;
+  hold on;
+  plot(f, cumtrapz(f, pxx1m))
+  plot(f, cumtrapz(f, pxx2m))
+  set(gca, 'XScale', 'log');
+  xlabel('Frequency [Hz]'); ylabel('CAS [m]')
+#+end_src

disturbance-measurement/readme.org

@@ -1,8 +1,12 @@
+#+TITLE:Measurement of the sample vibrations when rotating the Spindle
+
 Measurement:
 - one geophone on the marble
 - one geophone at the sample position
 
 Every stage is powered on.
 
+| Data file    | Description                |
+|--------------+----------------------------|
 | data_001.mat | nothing is turning         |
 | data_002.mat | spindle is turning at 1rpm |

huddle-test-geophones/index.org

@@ -1,4 +1,4 @@
-#+TITLE:SpeedGoat
+#+TITLE:Huddle Test of the L22 Geophones
 :DRAWER:
 #+STARTUP: overview
 
@@ -303,7 +303,7 @@ Each sensor has noise $N$ and $M$.
 [[file:figs/huddle-test.png]]
 
 We here assume that each sensor has the same magnitude of instrumental noise ($N = M$).
-We also assume that $H_1 = H_2 = 1$.
+We also assume that $S_1 = S_2 = 1$.
 
 We then obtain:
 #+NAME: eq:coh_bis