From da4d3e9ae4ea1d3ebd28d10210436ea7a716052a Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Thu, 9 May 2019 09:13:10 +0200 Subject: [PATCH] Complete measurement analysis of 07/05 --- static-measurements/figs/psd_effect_ty.png | Bin 0 -> 129302 bytes static-measurements/figs/psd_hexa_driver.png | Bin 0 -> 150806 bytes .../figs/psd_hexa_driver_high_freq.png | Bin 0 -> 183770 bytes .../figs/time_domain_effect_ty.png | Bin 0 -> 72604 bytes .../figs/time_domain_hexa_driver.png | Bin 0 -> 50618 bytes static-measurements/index.html | Bin 105266 -> 154127 bytes static-measurements/index.org | 291 ++++++++++++------ 7 files changed, 195 insertions(+), 96 deletions(-) create mode 100644 static-measurements/figs/psd_effect_ty.png create mode 100644 static-measurements/figs/psd_hexa_driver.png create mode 100644 static-measurements/figs/psd_hexa_driver_high_freq.png create mode 100644 static-measurements/figs/time_domain_effect_ty.png create mode 100644 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zKFD)W)7ta@WgjyOdLggi^q;RIK#pjA^2Or?Rfr;N@7_{VeGq8vYt}e&D){lDbl<)= zT9NAo*bE)=P_-SIx*O}ZojzGzk^5m)AnP~msrK)Ny-;^tFGUL(`yfYN{`=Zlt5&Zd z*B|X6{S!CUBhED1Aq}2nEtQQe&%B^YIZOOsN7u9}%*#NPjbiL3<$!gOOaC(s^BM7k zmK88g@Mz_AIFml|&T8$)y`>-M;Wr^dGEzO)Ei)g&CWnXRHR+`H9)LFT?!L1B==K#=@fL+T}9|dlJ2r5mU8Bq zHkDwAPJRW)kfcA+QgwxUZ()NJN=B+Byl3s=@^yh7x__A~e&(lMvI1 zKE?~3Q_x3WJqOp*(KE0BN#DFwMPd5!8Hg1Y>EN{Dj{t@J=n{vviraD$xw-dh5GKwVJX2E=B)BPp0d2GJ2T|>SX+P;gw@2I1o ztfBfzmOXRSN?#}_!>ZWCg7Kxy8J|8o0Cr)DBN$bDuX4Oa6&Hy=(MfN8P#Iy^?RiicLvs0N e^CxA2%ZY<> +#+end_src + +** Load data +We load the data of the z axis of two geophones. +#+begin_src matlab :results none + d_18 = load('mat/data_018.mat', 'data'); d_18 = d_18.data; + d_19 = load('mat/data_019.mat', 'data'); d_19 = d_19.data; +#+end_src + +** Analysis - Time Domain +#+begin_src matlab :results none + figure; + hold on; + plot(d_19(:, 3), d_19(:, 1), 'DisplayName', 'Driver - Ground'); + plot(d_18(:, 3), d_18(:, 1), 'DisplayName', 'Driver - Granite'); + hold off; + xlabel('Time [s]'); ylabel('Voltage [V]'); + xlim([0, 50]); + legend('Location', 'bestoutside'); +#+end_src + +#+NAME: fig:time_domain_hexa_driver +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/time_domain_hexa_driver.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:time_domain_hexa_driver +#+CAPTION: Comparison of the time domain data when turning off the control system of the stages - Geophone at the sample location +#+RESULTS: fig:time_domain_hexa_driver +[[file:figs/time_domain_hexa_driver.png]] + +** Analysis - Frequency Domain +#+begin_src matlab :results none + dt = d_18(2, 3) - d_18(1, 3); + + Fs = 1/dt; + win = hanning(ceil(10*Fs)); +#+end_src + +*** Vibrations at the sample location +First, we compute the Power Spectral Density of the signals coming from the Geophone located at the sample location. +#+begin_src matlab :results none + [px_18, f] = pwelch(d_18(:, 1), win, [], [], Fs); + [px_19, ~] = pwelch(d_19(:, 1), win, [], [], Fs); +#+end_src + +#+begin_src matlab :results none + figure; + hold on; + plot(f, sqrt(px_19), 'DisplayName', 'Driver - Ground'); + plot(f, sqrt(px_18), 'DisplayName', 'Driver - Granite'); + hold off; + set(gca, 'xscale', 'log'); + set(gca, 'yscale', 'log'); + xlabel('Frequency [Hz]'); ylabel('Amplitude Spectral Density $\left[\frac{V}{\sqrt{Hz}}\right]$') + xlim([0.1, 500]); + legend('Location', 'southwest'); +#+end_src + +#+NAME: fig:psd_hexa_driver +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/psd_hexa_driver.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:psd_hexa_driver +#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone +#+RESULTS: fig:psd_hexa_driver +[[file:figs/psd_hexa_driver.png]] + + +#+begin_src matlab :results none :tangle no :exports none + xlim([80, 500]); +#+end_src + +#+NAME: fig:psd_hexa_driver_high_freq +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/psd_hexa_driver_high_freq.pdf" :var figsize="full-tall" :post pdf2svg(file=*this*, ext="png") + <> +#+end_src + +#+NAME: fig:psd_hexa_driver_high_freq +#+CAPTION: Amplitude Spectral Density of the signal coming from the top geophone (zoom at high frequencies) +#+RESULTS: fig:psd_hexa_driver_high_freq +[[file:figs/psd_hexa_driver_high_freq.png]] + +** Conclusion +#+begin_important + 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. +#+end_important + * Transfer function from one stage to the other ** Experimental Setup For all the measurements in this section: @@ -909,6 +1036,9 @@ First, we compute the transfer function estimate between the two geophones for t [[file:figs/coherence_two_geophones.png]] ** Conclusion +#+begin_important + These measurements are not relevant. +#+end_important * Effect of the Ty Control System on the vibration of the Sample :noexport:ignore: ** Experimental Setup @@ -956,23 +1086,36 @@ We load the data of the z axis of two geophones. #+begin_src matlab :results none figure; + subplot(1, 2, 1); hold on; - plot(tyOn.t, tyOn.x1); - plot(tyOn.t, tyOn.x2); + plot(tyOn.t, tyOn.x1, 'DisplayName', 'Ty ON - Marble'); + plot(tyOff.t, tyOff.x1, 'DisplayName', 'Ty OFF - Marble'); hold off; - legend({'x1 - ON', 'x2 - ON'}); + legend(); + xlabel('Time [s]'); ylabel('Voltage [V]'); + xlim([0, 50]); + + subplot(1, 2, 2); + hold on; + plot(tyOn.t, tyOn.x2, 'DisplayName', 'Ty ON - Sample'); + plot(tyOff.t, tyOff.x2, 'DisplayName', 'Ty OFF - Sample'); + hold off; + legend(); + xlabel('Time [s]'); ylabel('Voltage [V]'); xlim([0, 50]); #+end_src -#+begin_src matlab :results none - figure; - hold on; - plot(tyOff.t, tyOff.x1); - plot(tyOff.t, tyOff.x2); - hold off; - legend({'x1 - OFF', 'x2 - OFF'}); +#+NAME: fig:time_domain_effect_ty +#+HEADER: :tangle no :exports results :results value raw replace :noweb yes +#+begin_src matlab :var filepath="figs/time_domain_effect_ty.pdf" :var figsize="full-normal" :post pdf2svg(file=*this*, ext="png") + <> #+end_src +#+NAME: fig:time_domain_effect_ty +#+CAPTION: Effect of the Ty control system on the vibrations of the marble and sample +#+RESULTS: fig:time_domain_effect_ty +[[file:figs/time_domain_effect_ty.png]] + ** Analysis - Frequency Domain #+begin_src matlab :results none Fs = 1/dt; @@ -989,80 +1132,36 @@ We load the data of the z axis of two geophones. #+begin_src matlab :results none figure; + subplot(1, 2, 1); hold on; - plot(f, sqrt(pxOn1)); - plot(f, sqrt(pxOn2)); - hold off; - set(gca, 'xscale', 'log'); - set(gca, 'yscale', 'log'); - xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]') - % xlim([2, 500]); -#+end_src - -#+begin_src matlab :results none - figure; - hold on; - plot(f, sqrt(pxOn1)); - plot(f, sqrt(pxOff1)); - hold off; - set(gca, 'xscale', 'log'); - set(gca, 'yscale', 'log'); - xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]') - % xlim([2, 500]); -#+end_src - -#+begin_src matlab :results none - figure; - hold on; - plot(f, sqrt(pxOn2)); - plot(f, sqrt(pxOff2)); - hold off; - set(gca, 'xscale', 'log'); - set(gca, 'yscale', 'log'); - xlabel('Frequency [Hz]'); ylabel('PSD [m/s/sqrt(Hz)]') - % xlim([2, 500]); -#+end_src - -#+begin_src matlab :results none - [T_off, ~] = tfestimate(tyOff.x1, tyOff.x2, win, [], [], Fs); - [coh_off, ~] = mscohere(tyOff.x1, tyOff.x2, win, [], [], Fs); - - [T_on, ~] = tfestimate(tyOn.x1, tyOn.x2, win, [], [], Fs); - [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") + <> +#+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