Add schematic of the test bench with signals

test-bench-struts.org

@@ -468,30 +468,24 @@ It is shown that:
 :END:
 <<sec:test_struts_dynamical_meas>>
 ** 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: :caption \subcaption{\label{fig:test_struts_bench_leg_overview}Overview Picture}
-#+attr_latex: :options {0.35\textwidth}
+#+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: :caption \subcaption{\label{fig:test_struts_bench_schematic}Schematic}
-#+attr_latex: :options {0.31\textwidth}
+#+attr_latex: :options {0.68\textwidth}
 #+begin_subfigure
-#+attr_latex: :width 0.9\linewidth
+#+attr_latex: :scale 1
-[[file:figs/test_struts_bench_leg_front.jpg]]
+[[file:figs/test_struts_bench_schematic.png]]
-#+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]]
 #+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:

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}.
+The bench is shown in Figure \ref{fig:test_struts_bench_leg}.
-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}{0.35\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}
+\caption{\label{fig:test_struts_bench_leg}Experimental setup used to measured the dynamics of the struts.}
-\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.}
 \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}