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<title>Vibrations induced by simultaneous scans of the translation stage and of the slip-ring</title>
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<h1 class="title">Vibrations induced by simultaneous scans of the translation stage and of the slip-ring</h1>
<div id="table-of-contents">
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#org5be3e39">1. Measurement description</a></li>
<li><a href="#orgedd4b9f">2. Data Analysis</a>
<ul>
<li><a href="#org5c43df8">2.1. Load data</a></li>
<li><a href="#org64ca923">2.2. Voltage to Velocity</a></li>
<li><a href="#org28e12e9">2.3. Time domain plots</a></li>
<li><a href="#org2072860">2.4. Frequency Domain</a></li>
<li><a href="#org556cfcd">2.5. Ty motion and current</a>
<ul>
<li><a href="#orga6f989f">2.5.1. Data pre-processing</a></li>
<li><a href="#orgf4ca54c">2.5.2. Time domain data</a></li>
</ul>
</li>
<li><a href="#org7e6aef2">2.6. Conclusion</a></li>
</ul>
</li>
</ul>
</div>
</div>
<div id="outline-container-org5be3e39" class="outline-2">
<h2 id="org5be3e39"><span class="section-number-2">1</span> Measurement description</h2>
<div class="outline-text-2" id="text-1">
<p>
<b>Setup</b>:
All the stages are OFF except the translation stage and the Slip-Ring.
</p>
<p>
Each of the signal is amplified by voltage amplifiers with the following settings:
</p>
<ul class="org-ul">
<li>Gain: 40dB</li>
<li>AC/DC option: AC</li>
<li>Low pass filter: 1kHz</li>
</ul>
<p>
The slip-ring is rotating at 60rpm. At the same time, scans with the translation stage are done at 1Hz with an amplitude of 600000cnt (= 3mm).
</p>
<p>
Two geophones are used to measure the motion in the vertical direction of the marble and of the sample.
</p>
<p>
<b>Goal</b>:
</p>
<ul class="org-ul">
<li>The goal is to estimate the vibrations induced by the simultaneous scans of the spindle (here the slip-ring is used as the spindle is not fully functional yet) and of the translation stage</li>
</ul>
<p>
<b>Measurements</b>:
</p>
<p>
Three measurements are done:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-left" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-left">Measurement File</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-left"><code>mat/data_050.mat</code></td>
<td class="org-left">Slip-Ring at 1Hz, Ty OFF</td>
</tr>
<tr>
<td class="org-left"><code>mat/data_051.mat</code></td>
<td class="org-left">Slip-Ring at 1Hz, Ty ON (The current and cnt error of Ty is also registered)</td>
</tr>
<tr>
<td class="org-left"><code>mat/data_052.mat</code></td>
<td class="org-left">Slip-Ring at 1Hz, Ty 1Hz 600000cnt</td>
</tr>
</tbody>
</table>
<p>
Each of the measurement <code>mat</code> file contains one <code>data</code> array with 3 columns:
</p>
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
<colgroup>
<col class="org-right" />
<col class="org-left" />
</colgroup>
<thead>
<tr>
<th scope="col" class="org-right">Column number</th>
<th scope="col" class="org-left">Description</th>
</tr>
</thead>
<tbody>
<tr>
<td class="org-right">1</td>
<td class="org-left">Geophone on the marble</td>
</tr>
<tr>
<td class="org-right">2</td>
<td class="org-left">Geophone at the sample location</td>
</tr>
<tr>
<td class="org-right">3</td>
<td class="org-left">Time</td>
</tr>
</tbody>
</table>
</div>
</div>
<div id="outline-container-orgedd4b9f" class="outline-2">
<h2 id="orgedd4b9f"><span class="section-number-2">2</span> Data Analysis</h2>
<div class="outline-text-2" id="text-2">
<p>
<a id="orgf5774c2"></a>
</p>
<div class="note" id="org87cd5df">
<p>
All the files (data and Matlab scripts) are accessible <a href="data/disturbance_ty_sr.zip">here</a>.
</p>
</div>
</div>
<div id="outline-container-org5c43df8" class="outline-3">
<h3 id="org5c43df8"><span class="section-number-3">2.1</span> Load data</h3>
<div class="outline-text-3" id="text-2-1">
<div class="org-src-container">
<pre class="src src-matlab">ty_of = load(<span class="org-string">'mat/data_050.mat'</span>, <span class="org-string">'data'</span>); ty_of = ty_of.data;
ty_on = load(<span class="org-string">'mat/data_051.mat'</span>, <span class="org-string">'data'</span>); ty_on = ty_on.data;
ty_1h = load(<span class="org-string">'mat/data_052.mat'</span>, <span class="org-string">'data'</span>); ty_1h = ty_1h.data;
</pre>
</div>
</div>
</div>
<div id="outline-container-org64ca923" class="outline-3">
<h3 id="org64ca923"><span class="section-number-3">2.2</span> Voltage to Velocity</h3>
<div class="outline-text-3" id="text-2-2">
<p>
We convert the measured voltage to velocity using the function <code>voltageToVelocityL22</code> (accessible <a href="file:///home/thomas/Cloud/These/meas/src/index.html">here</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab">gain = 40; <span class="org-comment">% [dB]</span>
ty_of(<span class="org-type">:</span>, 1) = voltageToVelocityL22(ty_of(<span class="org-type">:</span>, 1), ty_of(<span class="org-type">:</span>, 3), gain);
ty_on(<span class="org-type">:</span>, 1) = voltageToVelocityL22(ty_on(<span class="org-type">:</span>, 1), ty_on(<span class="org-type">:</span>, 3), gain);
ty_1h(<span class="org-type">:</span>, 1) = voltageToVelocityL22(ty_1h(<span class="org-type">:</span>, 1), ty_1h(<span class="org-type">:</span>, 3), gain);
ty_of(<span class="org-type">:</span>, 2) = voltageToVelocityL22(ty_of(<span class="org-type">:</span>, 2), ty_of(<span class="org-type">:</span>, 3), gain);
ty_on(<span class="org-type">:</span>, 2) = voltageToVelocityL22(ty_on(<span class="org-type">:</span>, 2), ty_on(<span class="org-type">:</span>, 3), gain);
ty_1h(<span class="org-type">:</span>, 2) = voltageToVelocityL22(ty_1h(<span class="org-type">:</span>, 2), ty_1h(<span class="org-type">:</span>, 3), gain);
</pre>
</div>
</div>
</div>
<div id="outline-container-org28e12e9" class="outline-3">
<h3 id="org28e12e9"><span class="section-number-3">2.3</span> Time domain plots</h3>
<div class="outline-text-3" id="text-2-3">
<p>
We plot the measured velocity of the marble (figure <a href="#orgd7a043f">1</a>), sample (figure <a href="#orgd957b15">2</a>) and the relative velocity of the sample with respect to the marble (figure <a href="#org0571475">3</a>).
</p>
<p>
We also integrate the relative velocity to obtain the relative displacement (figure <a href="#orgca7d76b">4</a>).
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(ty_1h(<span class="org-type">:</span>, 3), ty_1h(<span class="org-type">:</span>, 1), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Marble - Ty 1Hz'</span>);
plot(ty_on(<span class="org-type">:</span>, 3), ty_on(<span class="org-type">:</span>, 1), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Marble - Ty ON'</span>);
plot(ty_of(<span class="org-type">:</span>, 3), ty_of(<span class="org-type">:</span>, 1), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Marble - Ty OFF'</span>);
hold off;
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Velocity [m/s]'</span>);
xlim([0, 2]);
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
</pre>
</div>
<div id="orgd7a043f" class="figure">
<p><img src="figs/ty_marble_time.png" alt="ty_marble_time.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Velocity of the marble in the vertical direction</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(ty_1h(<span class="org-type">:</span>, 3), ty_1h(<span class="org-type">:</span>, 2), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Sample - Ty - 1Hz'</span>);
plot(ty_on(<span class="org-type">:</span>, 3), ty_on(<span class="org-type">:</span>, 2), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Sample - Ty - ON'</span>);
plot(ty_of(<span class="org-type">:</span>, 3), ty_of(<span class="org-type">:</span>, 2), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Sample - Ty - OFF'</span>);
hold off;
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Velocity [m/s]'</span>);
xlim([0, 2]);
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
</pre>
</div>
<div id="orgd957b15" class="figure">
<p><img src="figs/ty_sample_time.png" alt="ty_sample_time.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Velocity of the sample in the vertical direction</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(ty_1h(<span class="org-type">:</span>, 3), ty_1h(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_1h(<span class="org-type">:</span>, 1), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative Velocity - Ty - 1Hz'</span>);
plot(ty_on(<span class="org-type">:</span>, 3), ty_on(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_on(<span class="org-type">:</span>, 1), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative Velocity - Ty - ON'</span>);
plot(ty_of(<span class="org-type">:</span>, 3), ty_of(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_of(<span class="org-type">:</span>, 1), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative Velocity - Ty - OFF'</span>);
hold off;
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Velocity [m/s]'</span>);
xlim([0, 2]);
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
</pre>
</div>
<div id="org0571475" class="figure">
<p><img src="figs/ty_relative_time.png" alt="ty_relative_time.png" />
</p>
<p><span class="figure-number">Figure 3: </span>Relative velocity of the sample with respect to the marble</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(ty_1h(<span class="org-type">:</span>, 3), lsim(1<span class="org-type">/</span>s, ty_1h(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_1h(<span class="org-type">:</span>, 1), ty_1h(<span class="org-type">:</span>, 3)), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative Displacement- Ty - 1Hz'</span>);
plot(ty_on(<span class="org-type">:</span>, 3), lsim(1<span class="org-type">/</span>s, ty_on(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_on(<span class="org-type">:</span>, 1), ty_on(<span class="org-type">:</span>, 3)), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative Displacement- Ty - ON'</span>);
plot(ty_of(<span class="org-type">:</span>, 3), lsim(1<span class="org-type">/</span>s, ty_of(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_of(<span class="org-type">:</span>, 1), ty_of(<span class="org-type">:</span>, 3)), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative Displacement- Ty - OFF'</span>);
hold off;
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Displacement [m]'</span>);
xlim([0, 2]);
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
</pre>
</div>
<div id="orgca7d76b" class="figure">
<p><img src="figs/ty_relative_disp_time.png" alt="ty_relative_disp_time.png" />
</p>
<p><span class="figure-number">Figure 4: </span>Relative Displacement of the sample with respect to the marble</p>
</div>
</div>
</div>
<div id="outline-container-org2072860" class="outline-3">
<h3 id="org2072860"><span class="section-number-3">2.4</span> Frequency Domain</h3>
<div class="outline-text-3" id="text-2-4">
<p>
We first compute some parameters that will be used for the PSD computation.
</p>
<div class="org-src-container">
<pre class="src src-matlab">dt = ty_of(2, 3)<span class="org-type">-</span>ty_of(1, 3);
Fs = 1<span class="org-type">/</span>dt; <span class="org-comment">% [Hz]</span>
win = hanning(ceil(10<span class="org-type">*</span>Fs));
</pre>
</div>
<p>
Then we compute the Power Spectral Density using <code>pwelch</code> function.
</p>
<p>
First for the geophone located on the marble
</p>
<div class="org-src-container">
<pre class="src src-matlab">[pxof_m, f] = pwelch(ty_of(<span class="org-type">:</span>, 1), win, [], [], Fs);
[pxon_m, <span class="org-type">~</span>] = pwelch(ty_on(<span class="org-type">:</span>, 1), win, [], [], Fs);
[px1h_m, <span class="org-type">~</span>] = pwelch(ty_1h(<span class="org-type">:</span>, 1), win, [], [], Fs);
</pre>
</div>
<p>
And for the geophone located at the sample position.
</p>
<div class="org-src-container">
<pre class="src src-matlab">[pxof_s, f] = pwelch(ty_of(<span class="org-type">:</span>, 2), win, [], [], Fs);
[pxon_s, <span class="org-type">~</span>] = pwelch(ty_on(<span class="org-type">:</span>, 2), win, [], [], Fs);
[px1h_s, <span class="org-type">~</span>] = pwelch(ty_1h(<span class="org-type">:</span>, 2), win, [], [], Fs);
</pre>
</div>
<p>
Finally, for the relative velocity.
</p>
<div class="org-src-container">
<pre class="src src-matlab">[pxof_r, f] = pwelch(ty_of(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_of(<span class="org-type">:</span>, 1), win, [], [], Fs);
[pxon_r, <span class="org-type">~</span>] = pwelch(ty_on(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_on(<span class="org-type">:</span>, 1), win, [], [], Fs);
[px1h_r, <span class="org-type">~</span>] = pwelch(ty_1h(<span class="org-type">:</span>, 2)<span class="org-type">-</span>ty_1h(<span class="org-type">:</span>, 1), win, [], [], Fs);
</pre>
</div>
<p>
And we plot the ASD of the measured velocities:
</p>
<ul class="org-ul">
<li>figure <a href="#org177c365">5</a> for the geophone located on the marble</li>
<li>figure <a href="#org7f50f38">6</a> for the geophone at the sample position</li>
<li>figure <a href="#org5c98070">7</a> for the relative velocity</li>
</ul>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(f, sqrt(px1h_m), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Marble - Ty 1Hz'</span>);
plot(f, sqrt(pxon_m), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Marble - Ty ON'</span>);
plot(f, sqrt(pxof_m), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Marble - Ty OFF'</span>);
hold off;
<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'xscale'</span>, <span class="org-string">'log'</span>);
<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'yscale'</span>, <span class="org-string">'log'</span>);
xlabel(<span class="org-string">'Frequency [Hz]'</span>); ylabel(<span class="org-string">'ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$'</span>)
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
xlim([1, 500]);
</pre>
</div>
<div id="org177c365" class="figure">
<p><img src="figs/psd_marble_compare.png" alt="psd_marble_compare.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Comparison of the ASD of the measured velocities from the Geophone on the marble</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(f, sqrt(px1h_s), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Sample - Ty 1Hz'</span>);
plot(f, sqrt(pxon_s), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Sample - Ty ON'</span>);
plot(f, sqrt(pxof_s), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Sample - Ty OFF'</span>);
hold off;
<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'xscale'</span>, <span class="org-string">'log'</span>);
<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'yscale'</span>, <span class="org-string">'log'</span>);
xlabel(<span class="org-string">'Frequency [Hz]'</span>); ylabel(<span class="org-string">'ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$'</span>)
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
xlim([1, 500]);
</pre>
</div>
<div id="org7f50f38" class="figure">
<p><img src="figs/psd_sample_compare.png" alt="psd_sample_compare.png" />
</p>
<p><span class="figure-number">Figure 6: </span>Comparison of the ASD of the measured velocities from the Geophone at the sample location</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
hold on;
plot(f, sqrt(px1h_r), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative - Ty 1Hz'</span>);
plot(f, sqrt(pxon_r), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative - Ty ON'</span>);
plot(f, sqrt(pxof_r), <span class="org-string">'DisplayName'</span>, <span class="org-string">'Relative - Ty OFF'</span>);
hold off;
<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'xscale'</span>, <span class="org-string">'log'</span>);
<span class="org-type">set</span>(<span class="org-variable-name">gca</span>, <span class="org-string">'yscale'</span>, <span class="org-string">'log'</span>);
xlabel(<span class="org-string">'Frequency [Hz]'</span>); ylabel(<span class="org-string">'ASD of the measured velocity $\left[\frac{m/s}{\sqrt{Hz}}\right]$'</span>)
legend(<span class="org-string">'Location'</span>, <span class="org-string">'southwest'</span>);
xlim([1, 500]);
</pre>
</div>
<div id="org5c98070" class="figure">
<p><img src="figs/psd_relative_compare.png" alt="psd_relative_compare.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Comparison of the ASD of the relative velocity</p>
</div>
</div>
</div>
<div id="outline-container-org556cfcd" class="outline-3">
<h3 id="org556cfcd"><span class="section-number-3">2.5</span> Ty motion and current</h3>
<div class="outline-text-3" id="text-2-5">
<p>
The position of the translation stage and current flowing in its actuator are measured using the elmo software and saved as an csv file.
</p>
</div>
<div id="outline-container-orga6f989f" class="outline-4">
<h4 id="orga6f989f"><span class="section-number-4">2.5.1</span> Data pre-processing</h4>
<div class="outline-text-4" id="text-2-5-1">
<p>
Let&rsquo;s look at at the start of the csv file.
</p>
<div class="org-src-container">
<pre class="src src-bash">sed -n 1,30p mat/Ty-when-Rz-1Hz-and-Ty-1Hz.csv | nl -ba -
</pre>
</div>
<pre class="example" id="org149992b">
1 Elmo txt chart ver 2.0
2
3 [File Properties]
4 Creation Time,2019-05-13 05:33:43
5 Last Updated,2019-05-13 05:33:43
6 Resolution,0.001
7 Sampling Time,5E-05
8 Recording Time,5.461
9
10 [Chart Properties]
11 No.,Name,X Linear,X No.
12 1,Chart #1,True,0
13 2,Chart #2,True,0
14
15 [Chart Data]
16 Display No.,X No.,Y No.,X Unit,Y Unit,Color,Style,Width
17 1,1,2,sec,N/A,ff0000ff,Solid,TwoPoint
18 2,1,3,sec,N/A,ff0000ff,Solid,TwoPoint
19 2,1,4,sec,N/A,ff007f00,Solid,TwoPoint
20
21 [Signal Names]
22 1,Time (sec)
23 2,Position [cnt]
24 3,Current Command [A]
25 4,Total Current Command [A]
26
27 [Signals Data Group 1]
28 1,2,3,4,
29 0,-141044,-0.537239575086517,-0.537239575086517,
30 0.001,-143127,-0.530803752974691,-0.530803752974691,
</pre>
<p>
The real data starts at line 29.
We then load this <code>cvs</code> file starting at line 29.
</p>
<div class="org-src-container">
<pre class="src src-matlab">tye_on = csvread(<span class="org-string">"mat/Ty-when-Rz-1Hz.csv"</span>, 29, 0);
tye_1h = csvread(<span class="org-string">"mat/Ty-when-Rz-1Hz-and-Ty-1Hz.csv"</span>, 29, 0);
</pre>
</div>
</div>
</div>
<div id="outline-container-orgf4ca54c" class="outline-4">
<h4 id="orgf4ca54c"><span class="section-number-4">2.5.2</span> Time domain data</h4>
<div class="outline-text-4" id="text-2-5-2">
<p>
We plot the position of the translation stage measured by the encoders.
</p>
<p>
There is 200000 encoder count for each mm, we then divide by 200000 to obtain mm.
</p>
<p>
The result is shown on figure <a href="#org10136ca">8</a>.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
subplot(1, 2, 1);
plot(tye_on(<span class="org-type">:</span>, 1), (tye_on(<span class="org-type">:</span>, 2)<span class="org-type">-</span>mean(tye_on(<span class="org-type">:</span>, 2)))<span class="org-type">/</span>200000);
xlim([0, 5]);
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Position [mm]'</span>);
legend({<span class="org-string">'Ty - ON'</span>}, <span class="org-string">'Location'</span>, <span class="org-string">'northeast'</span>);
subplot(1, 2, 2);
plot(tye_1h(<span class="org-type">:</span>, 1), (tye_1h(<span class="org-type">:</span>, 2)<span class="org-type">-</span>mean(tye_1h(<span class="org-type">:</span>, 2)))<span class="org-type">/</span>200000);
xlim([0, 5]);
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Position [mm]'</span>);
legend({<span class="org-string">'Ty - 1Hz'</span>}, <span class="org-string">'Location'</span>, <span class="org-string">'northeast'</span>);
</pre>
</div>
<div id="org10136ca" class="figure">
<p><img src="figs/ty_position_time.png" alt="ty_position_time.png" />
</p>
<p><span class="figure-number">Figure 8: </span>Y position of the translation stage measured by the encoders</p>
</div>
<p>
We also plot the current as function of the time on figure <a href="#org553205c">9</a>.
</p>
<div class="org-src-container">
<pre class="src src-matlab"><span class="org-type">figure</span>;
subplot(1, 2, 1);
plot(tye_on(<span class="org-type">:</span>, 1), tye_on(<span class="org-type">:</span>, 3)<span class="org-type">-</span>mean(tye_on(<span class="org-type">:</span>, 3)));
xlim([0, 5]);
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Current [A]'</span>);
legend({<span class="org-string">'Ty - ON'</span>}, <span class="org-string">'Location'</span>, <span class="org-string">'northeast'</span>);
subplot(1, 2, 2);
plot(tye_1h(<span class="org-type">:</span>, 1), tye_1h(<span class="org-type">:</span>, 3)<span class="org-type">-</span>mean(tye_1h(<span class="org-type">:</span>, 3)));
xlim([0, 5]);
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Current [A]'</span>);
legend({<span class="org-string">'Ty - 1Hz'</span>}, <span class="org-string">'Location'</span>, <span class="org-string">'northeast'</span>);
</pre>
</div>
<div id="org553205c" class="figure">
<p><img src="figs/ty_current_time.png" alt="ty_current_time.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Current going through the actuator of the translation stage</p>
</div>
</div>
</div>
</div>
<div id="outline-container-org7e6aef2" class="outline-3">
<h3 id="org7e6aef2"><span class="section-number-3">2.6</span> Conclusion</h3>
<div class="outline-text-3" id="text-2-6">
<div class="important" id="org6da1178">
<ul class="org-ul">
<li></li>
</ul>
</div>
</div>
</div>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-11-12 jeu. 10:27</p>
</div>
</body>
</html>