From 2ce3d047032f680af89d021415ae4af74dfbe9e8 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Wed, 27 Mar 2024 22:23:14 +0100 Subject: [PATCH] Add schematic of the test bench with signals --- figs/test_struts_bench_schematic.pdf | Bin 0 -> 27384 bytes figs/test_struts_bench_schematic.png | Bin 0 -> 149776 bytes figs/test_struts_bench_schematic.svg | 3696 ++++++++++++++++++++++++++ figs/test_struts_simscape_model.pdf | Bin 37856 -> 34933 bytes figs/test_struts_simscape_model.png | Bin 28192 -> 27207 bytes test-bench-struts.org | 50 +- test-bench-struts.pdf | Bin 10842293 -> 10853258 bytes test-bench-struts.tex | 47 +- 8 files changed, 3757 insertions(+), 36 deletions(-) create mode 100644 figs/test_struts_bench_schematic.pdf create mode 100644 figs/test_struts_bench_schematic.png create mode 100644 figs/test_struts_bench_schematic.svg diff --git a/figs/test_struts_bench_schematic.pdf b/figs/test_struts_bench_schematic.pdf new file mode 100644 index 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: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 6912cf335518f3cbc35134574aa6c690c899dffd..d9cd55d40ea7e6aab68d58583be3e2ec70ae54eb 100644 GIT binary patch delta 150967 zcmYh?b8sJF+c50LMq^uzZQHhO+Z$VrZ8b*Y#%5zTwv)!{`@8S=dB5lTqbPd+g^3E1+-fooI>C7Ll999v}u z%4{x`%;Nf`kC%MRnd|!Vdd?}_)%`)4gD?MHW^m*B@r<2aLj3km?+&K<62OL~Woi5F zuxJvvIfe1Uxk-(2gYmu7%gPicO>cc(Ol}Y_uGo^nxoD@)RS;@%$5xEb=0_0#p<0ov 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zHZqp{I^7RZGD*CEV>18_8&JmA@Y))4O149~P z62&tS@dllZ_qdBg5#1>nA_O>TH>p%{U1iZo`=opfL%^NZz$aPBY*{MT#+#Izu2Nc6 zfDX;~p=MN~VhC~ExKgGGo}0KdK0`X9+@s=5fi>FI%{5(*Lxug1%RB_dxrncO)|^el zlH%`h#8q7F6?*|Zs!{=kE(K;)P1i=U%z|ZFLWbWf5~3d?H${)@_)|tcRW){9j>axM z5zBfr{za|=*kB^v)%kI^+Yi|4&&_>j%n#Uhy2Idlq~T5ccrIJCY|liLCZE&uY~_wI z|7LsdX`E;{R>{l8I7D zVu~gPc8Be^x!Y{4-Bst*t`ds&Y;L)p6tg^O;mfP0%WGiBvl7U2;L3AcPKzwldt!eb znKkOXcIM40T`NpHdTK8{#XwUOD>q1yWC}3=iU{izM?u>PLc~i5`ri2D!*C~q z)pFWV*r4EeR{YlUB7ClKWj9Isv-w^*aW&bVn)8O!yAJT}&s5Wl U!pE50d>s7z=yY^4YO?762gP|tq5uE@ 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}