Add detailed outline
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mat/
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figures/
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ltximg/
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slprj/
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matlab/slprj/
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@ -96,20 +96,69 @@
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#+END_SRC
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* Notes :noexport:
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** Notes
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Prefix is =instrumentation=
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Compilation of the following reports:
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- [ ] [[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)
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-vionic/test-bench-vionic.org][test-bench-vionic]]
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- [ ] [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-attocube/test-bench-attocube.org][test-bench-attocube]]
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- [ ] [[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
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- [ ] DAC, ADC, Control system
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- [ ] 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]]
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Electrical characteristics of the APA force sensor
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** TODO [#C] Noise budgeting to have specifications
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Simplified model (uniaxial?)
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From maximum induced vibration, and estimated bandwidth (S and T), estimate the maximum:
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- Actuator noise (i.e DAC + voltage amplifier)
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- force sensor noise (i.e. ADC) + encoder noise?
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- 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]])
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=> *Specifications*
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And specifications in terms of bandwidth, voltage ranges, etc...
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** TODO [#C] Find instrumentation that meet such specification
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How to read force sensor, etc...
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** TODO [#C] Characterization of received instruments and compare with specifications
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Test benches to characterize instruments
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- [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org][test-bench-PD200]]
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- [[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-force-sensor/test-bench-force-sensor.org][test-bench-force-sensor]]
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** TODO [#C] Perform rigorous noise budgeting
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Sources:
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- ADC: measured
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- PD200: measured
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- Encoder: measured
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- ADC (force sensors): measured
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- Ground motion: estimated
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By taking into account all those sources, we should be able to do a noise budgeting and compare with the obtain measurements.
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We need the following transfer functions:
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- from ground motion (x,y,z) to strut motion (1 to 6) => Simscape
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- from DAC voltage to strut motion => identified FRF
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- from PD200 voltage to strut motion => identified FRF
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- from ADC noise to strut motion => identified FRF + Controller (closed-loop)
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* Introduction :ignore:
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The goal is to show that each element in the system has been properly chosen based on certain requirements.
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In order to determine the maximum noise of each instrumentation, a dynamic error budgeting is performed in Section ref:sec:instrumentation_dynamic_error_budgeting.
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The required instrumentation are then selected based on obtained noise specifications and other requirements summarized in Section ref:sec:instrumentation_choice.
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The received instrumentation are characterized in Section ref:sec:instrumentation_characterization.
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#+name: tab:instrumentation_section_matlab_code
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#+caption: Report sections and corresponding Matlab files
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#+attr_latex: :environment tabularx :width 0.6\linewidth :align lX
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@ -119,33 +168,84 @@ The goal is to show that each element in the system has been properly chosen bas
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| Section ref:sec:instrumentation_ | =instrumentation_1_.m= |
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* Digital to Analog converters
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* Dynamic Error Budgeting
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_1_.m
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:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_1_dynamic_error_budgeting.m
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:END:
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<<sec:instrumentation_dac>>
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<<sec:instrumentation_dynamic_error_budgeting>>
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** Introduction :ignore:
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** Matlab Init :noexport:ignore:
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#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
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<<matlab-dir>>
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#+end_src
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*Goal*: get maximum noise of instrumentation
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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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*Procedure*:
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- Get closed-loop transfer functions from noises to positioning error
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Need the multi-body model with controllers
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- Suppose a maximum error ASD.
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Suppose flat ASD, bandwidth of ~200Hz, maximum RMS of ~10nmRMS => x nm/sqrt(Hz)
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- Deduce the maximum ASD of the noise sources
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#+begin_src matlab :tangle no :noweb yes
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<<m-init-path>>
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#+end_src
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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]]
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#+begin_src matlab :eval no :noweb yes
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<<m-init-path-tangle>>
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#+end_src
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** Estimation of the online metrology noise
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#+begin_src matlab :noweb yes
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<<m-init-other>>
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#+end_src
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[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-attocube/test-bench-attocube.org][test-bench-attocube]]
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** Closed-Loop transfer functions
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** Estimation of maximum instrumentation noise
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- Output the maximum instrumentation noise ASD in =.mat= files (that will be used to compare with the obtained instrumentations)
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* Choice of Instrumentation
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_2_choice.m
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:END:
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<<sec:instrumentation_choice>>
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** Introduction :ignore:
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In previous section: noise characteristics.
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In this section, other characteristics (range, bandwidth, etc...)
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ADC, DAC, Voltage amplifier, Encoder
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*Model of each instrument* (transfer function + noise source).
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In this section, also tell which instrumentation has been bought.
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** Piezoelectric Voltage Amplifier
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Capacitance of the piezoelectric actuator
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** ADC
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Talk about input impedance, ...
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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]]
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* Characterization of Instrumentation
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:PROPERTIES:
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:HEADER-ARGS:matlab+: :tangle matlab/instrumentation_3_characterization.m
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:END:
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<<sec:instrumentation_characterization>>
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** Introduction :ignore:
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For each element, make a table with the specifications, and the measured performances for comparison.
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** Analog to Digital Converters
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[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org::*Quantization Noise of the ADC][Quantization Noise of the ADC]]
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** Digital to Analog Converters
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[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org::*16bits DAC noise measurement][16bits DAC noise measurement]]
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** Piezoelectric Voltage Amplifier
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[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-PD200/test-bench-pd200.org][test-bench-PD200]]
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** Linear Encoders
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[[file:~/Cloud/work-projects/ID31-NASS/matlab/test-bench-vionic/test-bench-vionic.org][test-bench-vionic]]
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* Conclusion
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<<sec:instrumentation_conclusion>>
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