Add detailed outline

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Thomas Dehaeze 2024-11-08 16:15:12 +01:00
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mat/
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ltximg/
slprj/
matlab/slprj/

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#+END_SRC
* Notes :noexport:
** Notes
Prefix is =instrumentation=
Compilation of the following reports:
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org][test-bench-PD200]] and [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-piezo-amplifiers/index.org][test-bench-piezo-amplifiers]] (but less useful)
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-vionic/test-bench-vionic.org][test-bench-vionic]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-attocube/test-bench-attocube.org][test-bench-attocube]]
- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/noise_budgeting.org][file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/noise_budgeting.org]] for the maximum allowed noise of the relative motion sensors
- [ ] DAC, ADC, Control system
- [ ] Reading of the force sensor: ADC + [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-force-sensor/test-bench-force-sensor.org][test-bench-force-sensor]]
Electrical characteristics of the APA force sensor
** TODO [#C] Noise budgeting to have specifications
Simplified model (uniaxial?)
From maximum induced vibration, and estimated bandwidth (S and T), estimate the maximum:
- Actuator noise (i.e DAC + voltage amplifier)
- force sensor noise (i.e. ADC) + encoder noise?
- external metrology noise? (not very relevant, maybe this should be assumed, similar to Attocube noise [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-attocube/test-bench-attocube.org][test-bench-attocube]])
=> *Specifications*
And specifications in terms of bandwidth, voltage ranges, etc...
** TODO [#C] Find instrumentation that meet such specification
How to read force sensor, etc...
** TODO [#C] Characterization of received instruments and compare with specifications
Test benches to characterize instruments
- [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org][test-bench-PD200]]
- [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-force-sensor/test-bench-force-sensor.org][test-bench-force-sensor]]
** TODO [#C] Perform rigorous noise budgeting
Sources:
- ADC: measured
- PD200: measured
- Encoder: measured
- ADC (force sensors): measured
- Ground motion: estimated
By taking into account all those sources, we should be able to do a noise budgeting and compare with the obtain measurements.
We need the following transfer functions:
- from ground motion (x,y,z) to strut motion (1 to 6) => Simscape
- from DAC voltage to strut motion => identified FRF
- from PD200 voltage to strut motion => identified FRF
- from ADC noise to strut motion => identified FRF + Controller (closed-loop)
* Introduction :ignore:
The goal is to show that each element in the system has been properly chosen based on certain requirements.
In order to determine the maximum noise of each instrumentation, a dynamic error budgeting is performed in Section ref:sec:instrumentation_dynamic_error_budgeting.
The required instrumentation are then selected based on obtained noise specifications and other requirements summarized in Section ref:sec:instrumentation_choice.
The received instrumentation are characterized in Section ref:sec:instrumentation_characterization.
#+name: tab:instrumentation_section_matlab_code
#+caption: Report sections and corresponding Matlab files
#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
@ -119,33 +168,84 @@ The goal is to show that each element in the system has been properly chosen bas
| Section ref:sec:instrumentation_ | =instrumentation_1_.m= |
* Digital to Analog converters
* Dynamic Error Budgeting
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_1_.m
:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_1_dynamic_error_budgeting.m
:END:
<<sec:instrumentation_dac>>
<<sec:instrumentation_dynamic_error_budgeting>>
** Introduction :ignore:
** Matlab Init :noexport:ignore:
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
<<matlab-dir>>
#+end_src
*Goal*: get maximum noise of instrumentation
#+begin_src matlab :exports none :results silent :noweb yes
<<matlab-init>>
#+end_src
*Procedure*:
- Get closed-loop transfer functions from noises to positioning error
Need the multi-body model with controllers
- Suppose a maximum error ASD.
Suppose flat ASD, bandwidth of ~200Hz, maximum RMS of ~10nmRMS => x nm/sqrt(Hz)
- Deduce the maximum ASD of the noise sources
#+begin_src matlab :tangle no :noweb yes
<<m-init-path>>
#+end_src
Have a look at his report: [[file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/noise_budgeting.org][file:~/Cloud/work-projects/ID31-NASS/matlab/nass-simscape/org/noise_budgeting.org]]
#+begin_src matlab :eval no :noweb yes
<<m-init-path-tangle>>
#+end_src
** Estimation of the online metrology noise
#+begin_src matlab :noweb yes
<<m-init-other>>
#+end_src
[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-attocube/test-bench-attocube.org][test-bench-attocube]]
** Closed-Loop transfer functions
** Estimation of maximum instrumentation noise
- Output the maximum instrumentation noise ASD in =.mat= files (that will be used to compare with the obtained instrumentations)
* Choice of Instrumentation
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_2_choice.m
:END:
<<sec:instrumentation_choice>>
** Introduction :ignore:
In previous section: noise characteristics.
In this section, other characteristics (range, bandwidth, etc...)
ADC, DAC, Voltage amplifier, Encoder
*Model of each instrument* (transfer function + noise source).
In this section, also tell which instrumentation has been bought.
** Piezoelectric Voltage Amplifier
Capacitance of the piezoelectric actuator
** ADC
Talk about input impedance, ...
Add resistor, reading of the force sensor: ADC + [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-force-sensor/test-bench-force-sensor.org][test-bench-force-sensor]]
* Characterization of Instrumentation
:PROPERTIES:
:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_3_characterization.m
:END:
<<sec:instrumentation_characterization>>
** Introduction :ignore:
For each element, make a table with the specifications, and the measured performances for comparison.
** Analog to Digital Converters
[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org::*Quantization Noise of the ADC][Quantization Noise of the ADC]]
** Digital to Analog Converters
[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org::*16bits DAC noise measurement][16bits DAC noise measurement]]
** Piezoelectric Voltage Amplifier
[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org][test-bench-PD200]]
** Linear Encoders
[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-vionic/test-bench-vionic.org][test-bench-vionic]]
* Conclusion
<<sec:instrumentation_conclusion>>