339 lines
12 KiB
Org Mode
339 lines
12 KiB
Org Mode
#+TITLE: Measurements
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:drawer:
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#+STARTUP: overview
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/htmlize.css"/>
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="../css/readtheorg.css"/>
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#+HTML_HEAD: <script src="../js/jquery.min.js"></script>
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#+HTML_HEAD: <script src="../js/bootstrap.min.js"></script>
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#+HTML_HEAD: <script src="../js/jquery.stickytableheaders.min.js"></script>
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#+HTML_HEAD: <script src="../js/readtheorg.js"></script>
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#+LATEX_CLASS: cleanreport
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#+LaTeX_CLASS_OPTIONS: [tocnp, secbreak, minted]
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:matlab+ :output-dir figs
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:end:
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[[../index.org][Back to main page]].
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* Experimental conditions
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- The granite is not glued to the floor
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- FS = 512Hz
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- Made by Marc Lesourd on the 12 of January 2018
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* Measurements procedure
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*Geophones*
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L-28LB geophones (table [[tab:L-28LB]]) are placed on
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- Marle
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- Tilt Stage
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- Top of Hexapod
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#+NAME: tab:L-28LB
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#+CAPTION: L-28LB Geophone characteristics
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| Natural Frequency [Hz] | 4.5 |
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| Weight [g] | 140 |
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| Sensitivity [V/(m/s)] | 31.3 |
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The structure is excited using an *instrumented hammer* with impacts on
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- Marble X-Y-Z
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- Hexapod X-Y-Z
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* Measurement Channels
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#+NAME: tab:meas_channels
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#+CAPTION: Description of each measurement channel
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| Ch. nb | Element | Location | Direction |
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|--------+----------+----------------+-----------|
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| 1 | Hammer | variable | |
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|--------+----------+----------------+-----------|
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| 2 | Geophone | Marble | X-Y-Z |
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| 3 | Geophone | Tilt stage | X-Y-Z |
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| 4 | Geophone | Top of Hexapod | X-Y-Z |
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* Experiments
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#+NAME: tab:experiments
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#+CAPTION: Description of the location of direction of the excitation for each measurement
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| Meas. nb | Location | Direction |
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|----------+----------+-----------|
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| 1 | Marble | X |
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| 2 | Hexapod | X |
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|----------+----------+-----------|
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| 3 | Marble | Y |
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| 4 | Hexapod | Y |
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|----------+----------+-----------|
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| 5 | Marble | Z |
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| 6 | Hexapod | Z |
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* Data Analysis
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** Loading and pre-processing of the data
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#+begin_src matlab :exports none :results silent
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<<matlab-init>>
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#+end_src
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The Geophone sensitivity is defined below:
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#+begin_src matlab :results none
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w0 = 4.5*2*pi; % [rad/s]
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ksi = 0.38;
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G0 = 31.3; % [V/(m/s)]
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G = G0*(s/w0)^2/((s/w0)^2 + 2*ksi*(s/w0) + 1); % [V/(m/s)]
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#+end_src
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We then:
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- load the data
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- add a minus sign when needed
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- integrate the signal to have displacement instead of velocity
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- scaled with the sensitivity of the Geophone
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#+begin_src matlab :exports code :results none
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load('./raw_data/freq_frf.mat') % freq_frf
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w = j*2*pi*freq_frf; % j.omega in [rad/s]
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scaling = squeeze(freqresp(G, 2*pi*freq_frf))/G0;
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load('./raw_data/frf_marble_x.mat') % ReIm1
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frf_marble_x = zeros(size(ReIm1, 1), 3);
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frf_marble_x(:, 1) = -ReIm1(:, 2)./w./scaling; % marble_x
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frf_marble_x(:, 2) = -ReIm1(:, 3)./w./scaling; % tilt_x
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frf_marble_x(:, 3) = -ReIm1(:, 4)./w./scaling; % hexa_x
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load('./raw_data/frf_hexa_x.mat') % ReIm2
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frf_hexa_x = zeros(size(ReIm2, 1), 3);
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frf_hexa_x(:, 1) = -ReIm2(:, 2)./w./scaling; % marble_x
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frf_hexa_x(:, 2) = -ReIm2(:, 3)./w./scaling; % tilt_x
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frf_hexa_x(:, 3) = -ReIm2(:, 4)./w./scaling; % hexa_x
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load('./raw_data/frf_marble_y.mat') % ReIm3
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frf_marble_y = zeros(size(ReIm3, 1), 3);
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frf_marble_y(:, 1) = -ReIm3(:, 2)./w./scaling; % marble_y
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frf_marble_y(:, 2) = -ReIm3(:, 3)./w./scaling; % tilt_y
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frf_marble_y(:, 3) = -ReIm3(:, 4)./w./scaling; % hexa_y
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load('./raw_data/frf_hexa_y.mat') % ReIm4
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frf_hexa_y = zeros(size(ReIm4, 1), 3);
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frf_hexa_y(:, 1) = ReIm4(:, 2)./w./scaling; % marble_y
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frf_hexa_y(:, 2) = ReIm4(:, 3)./w./scaling; % tilt_y
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frf_hexa_y(:, 3) = ReIm4(:, 4)./w./scaling; % hexa_y
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load('./raw_data/frf_marble_z.mat') % ReIm5
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frf_marble_z = zeros(size(ReIm5, 1), 3);
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frf_marble_z(:, 1) = ReIm5(:, 2)./w./scaling; % marble_z
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frf_marble_z(:, 2) = ReIm5(:, 3)./w./scaling; % tilt_z
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frf_marble_z(:, 3) = ReIm5(:, 4)./w./scaling; % hexa_z
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load('./raw_data/frf_hexa_z.mat') % ReIm6
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frf_hexa_z = zeros(size(ReIm6, 1), 3);
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frf_hexa_z(:, 1) = ReIm6(:, 2)./w./scaling; % marble_z
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frf_hexa_z(:, 2) = ReIm6(:, 3)./w./scaling; % tilt_z
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frf_hexa_z(:, 3) = ReIm6(:, 4)./w./scaling; % hexa_z
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#+end_src
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#+begin_src matlab :exports code :results none
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load('./raw_data/coher_marble_x.mat') % coh1
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coh_marble_x = zeros(size(coh1, 1), 3);
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coh_marble_x(:, 1) = coh1(:, 2); % marble_x
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coh_marble_x(:, 2) = coh1(:, 3); % tilt_x
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coh_marble_x(:, 3) = coh1(:, 4); % hexa_x
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load('./raw_data/coher_hexa_x.mat') % coh2
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coh_hexa_x = zeros(size(coh2, 1), 3);
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coh_hexa_x(:, 1) = coh2(:, 2); % marble_x
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coh_hexa_x(:, 2) = coh2(:, 3); % tilt_x
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coh_hexa_x(:, 3) = coh2(:, 4); % hexa_x
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load('./raw_data/coher_marble_y.mat') % coh3
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coh_marble_y = zeros(size(coh3, 1), 3);
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coh_marble_y(:, 1) = coh3(:, 2); % marble_y
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coh_marble_y(:, 2) = coh3(:, 3); % tilt_y
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coh_marble_y(:, 3) = coh3(:, 4); % hexa_y
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load('./raw_data/coher_hexa_y.mat') % coh4
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coh_hexa_y = zeros(size(coh4, 1), 3);
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coh_hexa_y(:, 1) = coh4(:, 2); % marble_y
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coh_hexa_y(:, 2) = coh4(:, 3); % tilt_y
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coh_hexa_y(:, 3) = coh4(:, 4); % hexa_y
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load('./raw_data/coher_marble_z.mat') % coh5
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coh_marble_z = zeros(size(coh5, 1), 3);
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coh_marble_z(:, 1) = coh5(:, 2); % marble_z
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coh_marble_z(:, 2) = coh5(:, 3); % tilt_z
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coh_marble_z(:, 3) = coh5(:, 4); % hexa_z
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load('./raw_data/coher_hexa_z.mat') % coh6
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coh_hexa_z = zeros(size(coh6, 1), 3);
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coh_hexa_z(:, 1) = coh6(:, 2); % marble_z
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coh_hexa_z(:, 2) = coh6(:, 3); % tilt_z
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coh_hexa_z(:, 3) = coh6(:, 4); % hexa_z
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#+end_src
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Finally, we save the processed data.
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#+begin_src matlab :results none
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save('./data/id31_microstation_2018_01_12_frf.mat', ...
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'frf_marble_x', ...
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'frf_marble_y', ...
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'frf_marble_z', ...
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'frf_hexa_x', ...
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'frf_hexa_y', ...
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'frf_hexa_z');
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save('./data/id31_microstation_2018_01_12_frf.mat', ...
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'coh_marble_x', ...
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'coh_marble_y', ...
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'coh_marble_z', ...
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'coh_hexa_x', ...
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'coh_hexa_y', ...
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'coh_hexa_z');
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#+end_src
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** X-direction FRF
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#+begin_src matlab :exports none :results none
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figure;
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hold on;
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plot(freq_frf, abs(frf_marble_x(:, 1)), 'DisplayName', 'Marble - X');
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plot(freq_frf, abs(frf_marble_x(:, 2)), 'DisplayName', 'Ry - X');
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plot(freq_frf, abs(frf_marble_x(:, 3)), 'DisplayName', 'Hexa - X');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Displacement/Force [m/N]');
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xlim([5, 200]); xticks([5, 10, 20, 50, 100, 200]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:marble_x_frf
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#+HEADER: :tangle no :exports results :results raw :noweb yes
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#+begin_src matlab :var filepath="figs/marble_x_frf.pdf" :var figsize="wide-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:marble_x_frf
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#+CAPTION: Response to a force applied on the marble in the X direction
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#+RESULTS: fig:marble_x_frf
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[[file:figs/marble_x_frf.png]]
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#+begin_src matlab :exports none :results none
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figure;
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hold on;
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plot(freq_frf, abs(frf_hexa_x(:, 1)), 'DisplayName', 'Marble - X');
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plot(freq_frf, abs(frf_hexa_x(:, 2)), 'DisplayName', 'Ry - X');
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plot(freq_frf, abs(frf_hexa_x(:, 3)), 'DisplayName', 'Hexa - X');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Displacement/Force [m/N]');
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xlim([5, 200]); xticks([5, 10, 20, 50, 100, 200]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:hexa_x_frf
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#+HEADER: :tangle no :exports results :results raw :noweb yes
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#+begin_src matlab :var filepath="figs/hexa_x_frf.pdf" :var figsize="wide-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:hexa_x_frf
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#+CAPTION: Response to a force applied on the hexa in the X direction
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#+RESULTS: fig:hexa_x_frf
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[[file:figs/hexa_x_frf.png]]
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** Y-direction FRF
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#+begin_src matlab :exports none :results none
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figure;
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hold on;
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plot(freq_frf, abs(frf_marble_y(:, 1)), 'DisplayName', 'Marble - Y');
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plot(freq_frf, abs(frf_marble_y(:, 2)), 'DisplayName', 'Ry - Y');
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plot(freq_frf, abs(frf_marble_y(:, 3)), 'DisplayName', 'Hexa - Y');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Displacement/Force [m/N]');
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xlim([5, 200]); xticks([5, 10, 20, 50, 100, 200]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:marble_y_frf
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#+HEADER: :tangle no :exports results :results raw :noweb yes
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#+begin_src matlab :var filepath="figs/marble_y_frf.pdf" :var figsize="wide-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:marble_y_frf
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#+CAPTION: Response to a force applied on the marble in the Y direction
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#+RESULTS: fig:marble_y_frf
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[[file:figs/marble_y_frf.png]]
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#+begin_src matlab :exports none :results none
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figure;
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hold on;
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plot(freq_frf, abs(frf_hexa_y(:, 1)), 'DisplayName', 'Marble - Y');
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plot(freq_frf, abs(frf_hexa_y(:, 2)), 'DisplayName', 'Ry - Y');
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plot(freq_frf, abs(frf_hexa_y(:, 3)), 'DisplayName', 'Hexa - Y');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Displacement/Force [m/N]');
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xlim([5, 200]); xticks([5, 10, 20, 50, 100, 200]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:hexa_y_frf
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#+HEADER: :tangle no :exports results :results raw :noweb yes
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#+begin_src matlab :var filepath="figs/hexa_y_frf.pdf" :var figsize="wide-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:hexa_y_frf
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#+CAPTION: Response to a force applied on the hexa in the Y direction
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#+RESULTS: fig:hexa_y_frf
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[[file:figs/hexa_y_frf.png]]
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** Z-direction FRF
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#+begin_src matlab :exports none :results none
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figure;
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hold on;
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plot(freq_frf, abs(frf_marble_z(:, 1)), 'DisplayName', 'Marble - Z');
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plot(freq_frf, abs(frf_marble_z(:, 2)), 'DisplayName', 'Ry - Z');
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plot(freq_frf, abs(frf_marble_z(:, 3)), 'DisplayName', 'Hexa - Z');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Displacement/Force [m/N]');
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xlim([5, 200]); xticks([5, 10, 20, 50, 100, 200]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:marble_z_frf
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#+HEADER: :tangle no :exports results :results raw :noweb yes
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#+begin_src matlab :var filepath="figs/marble_z_frf.pdf" :var figsize="wide-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:marble_z_frf
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#+CAPTION: Response to a force applied on the marble in the Z direction
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#+RESULTS: fig:marble_z_frf
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[[file:figs/marble_z_frf.png]]
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#+begin_src matlab :exports none :results none
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figure;
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hold on;
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plot(freq_frf, abs(frf_hexa_z(:, 1)), 'DisplayName', 'Marble - Z');
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plot(freq_frf, abs(frf_hexa_z(:, 2)), 'DisplayName', 'Ry - Z');
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plot(freq_frf, abs(frf_hexa_z(:, 3)), 'DisplayName', 'Hexa - Z');
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hold off;
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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xlabel('Frequency [Hz]'); ylabel('Displacement/Force [m/N]');
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xlim([5, 200]); xticks([5, 10, 20, 50, 100, 200]);
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legend('Location', 'southwest');
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#+end_src
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#+NAME: fig:hexa_z_frf
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#+HEADER: :tangle no :exports results :results raw :noweb yes
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#+begin_src matlab :var filepath="figs/hexa_z_frf.pdf" :var figsize="wide-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:hexa_z_frf
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#+CAPTION: Response to a force applied on the hexa in the Z direction
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#+RESULTS: fig:hexa_z_frf
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[[file:figs/hexa_z_frf.png]]
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