Complete measurement analysis of 07/05
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static-measurements/figs/psd_effect_ty.png
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static-measurements/figs/psd_hexa_driver.png
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static-measurements/figs/psd_hexa_driver_high_freq.png
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static-measurements/figs/time_domain_effect_ty.png
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static-measurements/figs/time_domain_hexa_driver.png
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@ -108,7 +108,7 @@ We then compute the Power Spectral Density of the two signals and we compare the
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('ASD [V/sqrt(Hz)]')
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xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
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xlim([1, 500]);
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legend('Location', 'southwest');
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#+end_src
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@ -271,7 +271,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp]] and [[fig:psd_sa
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('ASD [V/sqrt(Hz)]')
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xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
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xlim([0.1, 500]);
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legend('Location', 'southwest');
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#+end_src
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@ -283,7 +283,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp]] and [[fig:psd_sa
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#+end_src
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#+NAME: fig:psd_sample_comp
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#+CAPTION: PSD of the signal coming from the top geophone
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone
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#+RESULTS: fig:psd_sample_comp
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[[file:figs/psd_sample_comp.png]]
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@ -299,7 +299,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp]] and [[fig:psd_sa
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#+end_src
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#+NAME: fig:psd_sample_comp_high_freq
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#+CAPTION: PSD of the signal coming from the top geophone (zoom at high frequencies)
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)
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#+RESULTS: fig:psd_sample_comp_high_freq
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[[file:figs/psd_sample_comp_high_freq.png]]
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@ -314,7 +314,7 @@ Now we plot the same curves for the geophone located on the marble.
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[px8, ~] = pwelch(d8(:, 1), win, [], [], Fs);
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#+end_src
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And we compare the ASD (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_comp_high_freq]])
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And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_comp_high_freq]])
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#+begin_src matlab :results none
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figure;
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hold on;
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@ -327,7 +327,7 @@ And we compare the ASD (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_com
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('ASD [V/sqrt(Hz)]')
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xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
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xlim([0.1, 500]);
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legend('Location', 'northeast');
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#+end_src
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@ -339,7 +339,7 @@ And we compare the ASD (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_com
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#+end_src
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#+NAME: fig:psd_marble_comp
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#+CAPTION: PSD of the signal coming from the top geophone
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone
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#+RESULTS: fig:psd_marble_comp
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[[file:figs/psd_marble_comp.png]]
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@ -356,7 +356,7 @@ And we compare the ASD (figures [[fig:psd_marble_comp]] and [[fig:psd_marble_com
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#+end_src
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#+NAME: fig:psd_marble_comp_high_freq
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#+CAPTION: PSD of the signal coming from the top geophone (zoom at high frequencies)
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)
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#+RESULTS: fig:psd_marble_comp_high_freq
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[[file:figs/psd_marble_comp_high_freq.png]]
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** Effect of the control system on the transmissibility from ground to sample
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@ -576,7 +576,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp_lpf]] and [[fig:ps
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('ASD [V/sqrt(Hz)]')
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xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
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xlim([0.1, 500]);
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legend('Location', 'southwest');
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#+end_src
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@ -588,7 +588,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp_lpf]] and [[fig:ps
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#+end_src
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#+NAME: fig:psd_sample_comp_lpf
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#+CAPTION: PSD of the signal coming from the top geophone
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone
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#+RESULTS: fig:psd_sample_comp_lpf
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[[file:figs/psd_sample_comp_lpf.png]]
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@ -604,7 +604,7 @@ And we compare all the signals (figures [[fig:psd_sample_comp_lpf]] and [[fig:ps
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#+end_src
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#+NAME: fig:psd_sample_comp_high_freq_lpf
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#+CAPTION: PSD of the signal coming from the top geophone (zoom at high frequencies)
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)
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#+RESULTS: fig:psd_sample_comp_high_freq_lpf
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[[file:figs/psd_sample_comp_high_freq_lpf.png]]
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@ -619,7 +619,7 @@ Now we plot the same curves for the geophone located on the marble.
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[px_he, ~] = pwelch(d_he(:, 1), win, [], [], Fs);
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#+end_src
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And we compare the ASD (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_comp_lpf_high_freq]])
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And we compare the Amplitude Spectral Densities (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble_comp_lpf_high_freq]])
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#+begin_src matlab :results none
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figure;
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hold on;
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@ -632,7 +632,7 @@ And we compare the ASD (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('ASD [V/sqrt(Hz)]')
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xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
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xlim([0.1, 500]);
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legend('Location', 'northeast');
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#+end_src
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@ -644,7 +644,7 @@ And we compare the ASD (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble
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#+end_src
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#+NAME: fig:psd_marble_comp_lpf
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#+CAPTION: PSD of the signal coming from the top geophone
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#+CAPTION: Amplitude Spectral Density of the signal coming from geophone located on the marble
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#+RESULTS: fig:psd_marble_comp_lpf
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[[file:figs/psd_marble_comp_lpf.png]]
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@ -661,14 +661,141 @@ And we compare the ASD (figures [[fig:psd_marble_comp_lpf]] and [[fig:psd_marble
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#+end_src
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#+NAME: fig:psd_marble_comp_lpf_high_freq
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#+CAPTION: PSD of the signal coming from the top geophone (zoom at high frequencies)
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#+CAPTION: Amplitude Spectral Density of the signal coming from the geophone located on the marble (zoom at high frequencies)
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#+RESULTS: fig:psd_marble_comp_lpf_high_freq
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[[file:figs/psd_marble_comp_lpf_high_freq.png]]
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** TODO Conclusion
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** Conclusion
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#+begin_important
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- The Ty stage induces vibrations of the marble and at the sample location above 100Hz
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- The hexapod stage induces vibrations at the sample position above 220Hz
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#+end_note
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* Effect of the Symetrie Driver
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** Experimental Setup
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We here measure the signals of two geophones:
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- One is located on top of the Sample platform
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- One is located on the marble
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The signal from the top geophone does go trought the slip-ring.
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All the control systems are turned OFF except the Hexapod one.
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Each measurement are done during 100s.
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The settings of the voltage amplifier are:
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- DC
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- 60dB
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- 1kHz
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A first order low pass filter with a cut-off frequency of 1kHz is added before the voltage amplifier.
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The measurements are:
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- =meas_018.mat=: Hexapod's driver on the granite
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- =meas_019.mat=: Hexapod's driver on the ground
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Each of the =mat= file contains one array =data= with 3 columns:
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| Column number | Description |
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|---------------+-------------------|
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| 1 | Geophone - Marble |
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| 2 | Geophone - Sample |
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| 3 | Time |
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :exports none :results silent :noweb yes
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<<matlab-init>>
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#+end_src
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** Load data
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We load the data of the z axis of two geophones.
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#+begin_src matlab :results none
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d_18 = load('mat/data_018.mat', 'data'); d_18 = d_18.data;
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d_19 = load('mat/data_019.mat', 'data'); d_19 = d_19.data;
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#+end_src
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** Analysis - Time Domain
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#+begin_src matlab :results none
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figure;
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hold on;
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plot(d_19(:, 3), d_19(:, 1), 'DisplayName', 'Driver - Ground');
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plot(d_18(:, 3), d_18(:, 1), 'DisplayName', 'Driver - Granite');
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hold off;
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xlabel('Time [s]'); ylabel('Voltage [V]');
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xlim([0, 50]);
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legend('Location', 'bestoutside');
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#+end_src
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#+NAME: fig:time_domain_hexa_driver
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#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
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#+begin_src matlab :var filepath="figs/time_domain_hexa_driver.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:time_domain_hexa_driver
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#+CAPTION: Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location
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#+RESULTS: fig:time_domain_hexa_driver
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[[file:figs/time_domain_hexa_driver.png]]
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** Analysis - Frequency Domain
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#+begin_src matlab :results none
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dt = d_18(2, 3) - d_18(1, 3);
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Fs = 1/dt;
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win = hanning(ceil(10*Fs));
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#+end_src
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*** Vibrations at the sample location
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First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location.
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#+begin_src matlab :results none
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[px_18, f] = pwelch(d_18(:, 1), win, [], [], Fs);
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[px_19, ~] = pwelch(d_19(:, 1), win, [], [], Fs);
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#+end_src
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#+begin_src matlab :results none
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figure;
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hold on;
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plot(f, sqrt(px_19), 'DisplayName', 'Driver - Ground');
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plot(f, sqrt(px_18), 'DisplayName', 'Driver - Granite');
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
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xlim([0.1, 500]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:psd_hexa_driver
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#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
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#+begin_src matlab :var filepath="figs/psd_hexa_driver.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:psd_hexa_driver
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone
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#+RESULTS: fig:psd_hexa_driver
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[[file:figs/psd_hexa_driver.png]]
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#+begin_src matlab :results none :tangle no :exports none
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xlim([80, 500]);
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#+end_src
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#+NAME: fig:psd_hexa_driver_high_freq
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#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
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#+begin_src matlab :var filepath="figs/psd_hexa_driver_high_freq.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:psd_hexa_driver_high_freq
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#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies)
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#+RESULTS: fig:psd_hexa_driver_high_freq
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[[file:figs/psd_hexa_driver_high_freq.png]]
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** Conclusion
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#+begin_important
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Even tough the Hexapod's driver vibrates quite a lot, it does not generate significant vibrations of the granite when either placed on the granite or on the ground.
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#+end_important
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* Transfer function from one stage to the other
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** Experimental Setup
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For all the measurements in this section:
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@ -909,6 +1036,9 @@ First, we compute the transfer function estimate between the two geophones for t
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[[file:figs/coherence_two_geophones.png]]
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** Conclusion
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#+begin_important
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These measurements are not relevant.
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#+end_important
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* Effect of the Ty Control System on the vibration of the Sample :noexport:ignore:
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** Experimental Setup
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@ -956,23 +1086,36 @@ We load the data of the z axis of two geophones.
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#+begin_src matlab :results none
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figure;
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subplot(1, 2, 1);
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hold on;
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plot(tyOn.t, tyOn.x1);
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plot(tyOn.t, tyOn.x2);
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plot(tyOn.t, tyOn.x1, 'DisplayName', 'Ty ON - Marble');
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plot(tyOff.t, tyOff.x1, 'DisplayName', 'Ty OFF - Marble');
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hold off;
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legend({'x1 - ON', 'x2 - ON'});
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legend();
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xlabel('Time [s]'); ylabel('Voltage [V]');
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xlim([0, 50]);
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subplot(1, 2, 2);
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hold on;
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plot(tyOn.t, tyOn.x2, 'DisplayName', 'Ty ON - Sample');
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plot(tyOff.t, tyOff.x2, 'DisplayName', 'Ty OFF - Sample');
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hold off;
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legend();
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xlabel('Time [s]'); ylabel('Voltage [V]');
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xlim([0, 50]);
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#+end_src
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#+begin_src matlab :results none
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figure;
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hold on;
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plot(tyOff.t, tyOff.x1);
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plot(tyOff.t, tyOff.x2);
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hold off;
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legend({'x1 - OFF', 'x2 - OFF'});
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#+NAME: fig:time_domain_effect_ty
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#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
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#+begin_src matlab :var filepath="figs/time_domain_effect_ty.pdf" :var figsize="full-normal" :post pdf2svg(file=*this*, ext="png")
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<<plt-matlab>>
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#+end_src
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#+NAME: fig:time_domain_effect_ty
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#+CAPTION: Effect of the Ty control system on the vibrations of the marble and sample
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#+RESULTS: fig:time_domain_effect_ty
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[[file:figs/time_domain_effect_ty.png]]
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** Analysis - Frequency Domain
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#+begin_src matlab :results none
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Fs = 1/dt;
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@ -989,80 +1132,36 @@ We load the data of the z axis of two geophones.
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#+begin_src matlab :results none
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figure;
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subplot(1, 2, 1);
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hold on;
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plot(f, sqrt(pxOn1));
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plot(f, sqrt(pxOn2));
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]')
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% xlim([2, 500]);
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#+end_src
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#+begin_src matlab :results none
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figure;
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hold on;
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plot(f, sqrt(pxOn1));
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plot(f, sqrt(pxOff1));
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]')
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% xlim([2, 500]);
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#+end_src
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#+begin_src matlab :results none
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figure;
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hold on;
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plot(f, sqrt(pxOn2));
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plot(f, sqrt(pxOff2));
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hold off;
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set(gca, 'xscale', 'log');
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set(gca, 'yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]')
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% xlim([2, 500]);
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#+end_src
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#+begin_src matlab :results none
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[T_off, ~] = tfestimate(tyOff.x1, tyOff.x2, win, [], [], Fs);
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[coh_off, ~] = mscohere(tyOff.x1, tyOff.x2, win, [], [], Fs);
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[T_on, ~] = tfestimate(tyOn.x1, tyOn.x2, win, [], [], Fs);
|
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[coh_on, ~] = mscohere(tyOn.x1, tyOn.x2, win, [], [], Fs);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, coh_on);
|
||||
plot(f, coh_off);
|
||||
hold off;
|
||||
set(gca, 'xscale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Coherence');
|
||||
ylim([0,1]); xlim([1, 500]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :results none :exports none
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(T_on));
|
||||
plot(f, abs(T_off));
|
||||
plot(f, sqrt(pxOn1), 'DisplayName', 'Ty ON - Marble');
|
||||
plot(f, sqrt(pxOff1), 'DisplayName', 'Ty OFF - Marble');
|
||||
hold off;
|
||||
legend();
|
||||
set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
|
||||
set(gca, 'XTickLabel',[]);
|
||||
ylabel('Magnitude');
|
||||
xlim([0.1, 500]); ylim([1e-4, 1]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
subplot(1, 2, 2);
|
||||
hold on;
|
||||
plot(f, mod(180+180/pi*phase(T_on), 360)-180);
|
||||
plot(f, mod(180+180/pi*phase(T_off), 360)-180);
|
||||
plot(f, sqrt(pxOn2), 'DisplayName', 'Ty ON - Sample');
|
||||
plot(f, sqrt(pxOff2), 'DisplayName', 'Ty OFF - Sample');
|
||||
hold off;
|
||||
set(gca, 'xscale', 'log');
|
||||
ylim([-180, 180]);
|
||||
yticks([-180, -90, 0, 90, 180]);
|
||||
xlabel('Frequency [Hz]'); ylabel('Phase');
|
||||
|
||||
linkaxes([ax1,ax2],'x');
|
||||
xlim([1, 500]);
|
||||
legend();
|
||||
set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$')
|
||||
xlim([0.1, 500]); ylim([1e-4, 1]);
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:psd_effect_ty
|
||||
#+HEADER: :tangle no :exports results :results value raw replace :noweb yes
|
||||
#+begin_src matlab :var filepath="figs/psd_effect_ty.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png")
|
||||
<<plt-matlab>>
|
||||
#+end_src
|
||||
|
||||
#+NAME: fig:psd_effect_ty
|
||||
#+CAPTION: Amplitude Spectral Density - Effect of the Ty control system
|
||||
#+RESULTS: fig:psd_effect_ty
|
||||
[[file:figs/psd_effect_ty.png]]
|
||||
|
||||
** Conclusion
|
||||
|
Loading…
Reference in New Issue
Block a user