diff --git a/figs/test_struts_bench_schematic.pdf b/figs/test_struts_bench_schematic.pdf
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diff --git a/figs/test_struts_bench_schematic.png b/figs/test_struts_bench_schematic.png
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diff --git a/figs/test_struts_bench_schematic.svg b/figs/test_struts_bench_schematic.svg
new file mode 100644
index 0000000..d8dd1ca
--- /dev/null
+++ b/figs/test_struts_bench_schematic.svg
@@ -0,0 +1,3696 @@
+
+
diff --git a/figs/test_struts_simscape_model.pdf b/figs/test_struts_simscape_model.pdf
index f1d1cdb..d917f8b 100644
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diff --git a/figs/test_struts_simscape_model.png b/figs/test_struts_simscape_model.png
index c48fe5f..6b30696 100644
Binary files a/figs/test_struts_simscape_model.png and b/figs/test_struts_simscape_model.png differ
diff --git a/test-bench-struts.org b/test-bench-struts.org
index 872dfcf..56194e7 100644
--- a/test-bench-struts.org
+++ b/test-bench-struts.org
@@ -468,30 +468,24 @@ It is shown that:
:END:
<>
** Introduction :ignore:
-The bench is shown in Figure ref:fig:test_struts_bench_leg_overview.
-Measurements are performed either when no encoder is fixed to the strut (Figure ref:fig:test_struts_bench_leg_front) or when one encoder is fixed to the strut (Figure ref:fig:test_struts_bench_leg_coder).
+
+The bench is shown in Figure ref:fig:test_struts_bench_leg.
#+name: fig:test_struts_bench_leg
-#+caption: Experimental setup to measured the dynamics of the struts.
+#+caption: Experimental setup used to measured the dynamics of the struts.
#+attr_latex: :options [htbp]
#+begin_figure
-#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_overview}Overview}
-#+attr_latex: :options {0.35\textwidth}
+#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_overview}Overview Picture}
+#+attr_latex: :options {0.32\textwidth}
#+begin_subfigure
-#+attr_latex: :width 0.9\linewidth
+#+attr_latex: :height 214px
[[file:figs/test_struts_bench_leg_overview.jpg]]
#+end_subfigure
-#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
-#+attr_latex: :options {0.31\textwidth}
+#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_schematic}Schematic}
+#+attr_latex: :options {0.68\textwidth}
#+begin_subfigure
-#+attr_latex: :width 0.9\linewidth
-[[file:figs/test_struts_bench_leg_front.jpg]]
-#+end_subfigure
-#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
-#+attr_latex: :options {0.31\textwidth}
-#+begin_subfigure
-#+attr_latex: :width 0.9\linewidth
-[[file:figs/test_struts_bench_leg_coder.jpg]]
+#+attr_latex: :scale 1
+[[file:figs/test_struts_bench_schematic.png]]
#+end_subfigure
#+end_figure
@@ -571,6 +565,26 @@ iff_with_enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)]; % Combine the FRF
enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)]; % Combine the FRF
#+end_src
+Measurements are performed either when no encoder is fixed to the strut (Figure ref:fig:test_struts_bench_leg_front) or when one encoder is fixed to the strut (Figure ref:fig:test_struts_bench_leg_coder).
+
+#+name: fig:test_struts_bench_leg_with_without_enc
+#+caption: Struts fixed to the test bench with clamped flexible joints. The coder can be fixed to the struts (\subref{fig:test_struts_bench_leg_coder}) or removed (\subref{fig:test_struts_bench_leg_front})
+#+attr_latex: :options [htbp]
+#+begin_figure
+#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
+#+attr_latex: :options {0.5\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 6cm
+[[file:figs/test_struts_bench_leg_coder.jpg]]
+#+end_subfigure
+#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
+#+attr_latex: :options {0.5\textwidth}
+#+begin_subfigure
+#+attr_latex: :height 6cm
+[[file:figs/test_struts_bench_leg_front.jpg]]
+#+end_subfigure
+#+end_figure
+
Figure ref:fig:test_struts_effect_encoder_int
Same goes for the transfer function from excitation voltage $u$ to the axial motion of the strut $d_a$ as measured by the interferometer ().
@@ -928,7 +942,7 @@ save('./matlab/mat/meas_struts_frf.mat', 'f', 'enc_frf', 'int_frf', 'iff_frf', '
save('./mat/meas_struts_frf.mat', 'f', 'enc_frf', 'int_frf', 'iff_frf', 'strut_nums');
#+end_src
-* Simscape Model
+* Strut Model
:PROPERTIES:
:header-args:matlab+: :tangle matlab/test_struts_3_simscape_model.m
:END:
@@ -939,7 +953,7 @@ However, now the full strut is put instead of only the APA (see Figure ref:fig:t
#+name: fig:test_struts_simscape_model
#+caption: Screenshot of the Simscape model of the strut fixed to the bench
-#+attr_latex: :width 0.7\linewidth
+#+attr_latex: :width 0.5\linewidth
[[file:figs/test_struts_simscape_model.png]]
This Simscape model is used to:
diff --git a/test-bench-struts.pdf b/test-bench-struts.pdf
index 6912cf3..d9cd55d 100644
Binary files a/test-bench-struts.pdf and b/test-bench-struts.pdf differ
diff --git a/test-bench-struts.tex b/test-bench-struts.tex
index 3d12bd1..3902718 100644
--- a/test-bench-struts.tex
+++ b/test-bench-struts.tex
@@ -1,4 +1,4 @@
-% Created 2024-03-27 Wed 17:52
+% Created 2024-03-27 Wed 22:22
% Intended LaTeX compiler: pdflatex
\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
@@ -276,29 +276,22 @@ Z-Torsion & 400Hz & 381Hz & 398Hz\\
\end{table}
\chapter{Dynamical measurements}
\label{sec:test_struts_dynamical_meas}
-The bench is shown in Figure \ref{fig:test_struts_bench_leg_overview}.
-Measurements are performed either when no encoder is fixed to the strut (Figure \ref{fig:test_struts_bench_leg_front}) or when one encoder is fixed to the strut (Figure \ref{fig:test_struts_bench_leg_coder}).
+The bench is shown in Figure \ref{fig:test_struts_bench_leg}.
\begin{figure}[htbp]
-\begin{subfigure}{0.35\textwidth}
+\begin{subfigure}{0.32\textwidth}
\begin{center}
-\includegraphics[scale=1,width=0.9\linewidth]{figs/test_struts_bench_leg_overview.jpg}
+\includegraphics[scale=1,height=214px]{figs/test_struts_bench_leg_overview.jpg}
\end{center}
-\subcaption{\label{fig:test_struts_bench_leg_overview}Overview}
+\subcaption{\label{fig:test_struts_bench_leg_overview}Overview Picture}
\end{subfigure}
-\begin{subfigure}{0.31\textwidth}
+\begin{subfigure}{0.68\textwidth}
\begin{center}
-\includegraphics[scale=1,width=0.9\linewidth]{figs/test_struts_bench_leg_front.jpg}
+\includegraphics[scale=1,scale=1]{figs/test_struts_bench_schematic.png}
\end{center}
-\subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
+\subcaption{\label{fig:test_struts_bench_schematic}Schematic}
\end{subfigure}
-\begin{subfigure}{0.31\textwidth}
-\begin{center}
-\includegraphics[scale=1,width=0.9\linewidth]{figs/test_struts_bench_leg_coder.jpg}
-\end{center}
-\subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
-\end{subfigure}
-\caption{\label{fig:test_struts_bench_leg}Experimental setup to measured the dynamics of the struts.}
+\caption{\label{fig:test_struts_bench_leg}Experimental setup used to measured the dynamics of the struts.}
\end{figure}
First, the effect of the encoder on the measured dynamics is studied in Section \ref{ssec:test_struts_effect_encoder}.
@@ -307,6 +300,24 @@ Finally, all the measured struts are compared in terms of dynamics in Section \r
\section{Effect of the Encoder on the measured dynamics}
\label{ssec:test_struts_effect_encoder}
+Measurements are performed either when no encoder is fixed to the strut (Figure \ref{fig:test_struts_bench_leg_front}) or when one encoder is fixed to the strut (Figure \ref{fig:test_struts_bench_leg_coder}).
+
+\begin{figure}[htbp]
+\begin{subfigure}{0.5\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=6cm]{figs/test_struts_bench_leg_coder.jpg}
+\end{center}
+\subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
+\end{subfigure}
+\begin{subfigure}{0.5\textwidth}
+\begin{center}
+\includegraphics[scale=1,height=6cm]{figs/test_struts_bench_leg_front.jpg}
+\end{center}
+\subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
+\end{subfigure}
+\caption{\label{fig:test_struts_bench_leg_with_without_enc}Struts fixed to the test bench with clamped flexible joints. The coder can be fixed to the struts (\subref{fig:test_struts_bench_leg_coder}) or removed (\subref{fig:test_struts_bench_leg_front})}
+\end{figure}
+
Figure \ref{fig:test_struts_effect_encoder_int}
Same goes for the transfer function from excitation voltage \(u\) to the axial motion of the strut \(d_a\) as measured by the interferometer ().
@@ -389,13 +400,13 @@ All of this will be studied in Section \ref{sec:test_struts_simscape} using the
All the struts are giving very consistent behavior from the excitation voltage \(u\) to the force sensor generated voltage \(V_s\) and to the interferometer measured displacement \(d_a\).
However, the dynamics from \(u\) to the encoder measurement \(d_e\) is much more complex and variable from one strut to the other most likely due to poor alignment of the APA with respect to the flexible joints.
\end{important}
-\chapter{Simscape Model}
+\chapter{Strut Model}
\label{sec:test_struts_simscape}
However, now the full strut is put instead of only the APA (see Figure \ref{fig:test_struts_simscape_model}).
\begin{figure}[htbp]
\centering
-\includegraphics[scale=1,width=0.7\linewidth]{figs/test_struts_simscape_model.png}
+\includegraphics[scale=1,width=0.5\linewidth]{figs/test_struts_simscape_model.png}
\caption{\label{fig:test_struts_simscape_model}Screenshot of the Simscape model of the strut fixed to the bench}
\end{figure}