Add schematic of the test bench with signals
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figs/test_struts_bench_schematic.pdf
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@ -468,30 +468,24 @@ It is shown that:
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:END:
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<<sec:test_struts_dynamical_meas>>
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** Introduction :ignore:
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The bench is shown in Figure ref:fig:test_struts_bench_leg_overview.
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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).
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The bench is shown in Figure ref:fig:test_struts_bench_leg.
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#+name: fig:test_struts_bench_leg
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#+caption: Experimental setup to measured the dynamics of the struts.
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#+caption: Experimental setup used to measured the dynamics of the struts.
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#+attr_latex: :options [htbp]
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#+begin_figure
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_overview}Overview}
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#+attr_latex: :options {0.35\textwidth}
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_overview}Overview Picture}
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#+attr_latex: :options {0.32\textwidth}
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#+begin_subfigure
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#+attr_latex: :width 0.9\linewidth
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#+attr_latex: :height 214px
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[[file:figs/test_struts_bench_leg_overview.jpg]]
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#+end_subfigure
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
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#+attr_latex: :options {0.31\textwidth}
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_schematic}Schematic}
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#+attr_latex: :options {0.68\textwidth}
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#+begin_subfigure
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#+attr_latex: :width 0.9\linewidth
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[[file:figs/test_struts_bench_leg_front.jpg]]
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#+end_subfigure
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
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#+attr_latex: :options {0.31\textwidth}
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#+begin_subfigure
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#+attr_latex: :width 0.9\linewidth
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[[file:figs/test_struts_bench_leg_coder.jpg]]
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#+attr_latex: :scale 1
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[[file:figs/test_struts_bench_schematic.png]]
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#+end_subfigure
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#+end_figure
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@ -571,6 +565,26 @@ iff_with_enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)]; % Combine the FRF
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enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)]; % Combine the FRF
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#+end_src
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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).
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#+name: fig:test_struts_bench_leg_with_without_enc
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#+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})
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#+attr_latex: :options [htbp]
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#+begin_figure
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
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#+attr_latex: :options {0.5\textwidth}
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#+begin_subfigure
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#+attr_latex: :height 6cm
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[[file:figs/test_struts_bench_leg_coder.jpg]]
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#+end_subfigure
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#+attr_latex: :caption \subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
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#+attr_latex: :options {0.5\textwidth}
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#+begin_subfigure
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#+attr_latex: :height 6cm
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[[file:figs/test_struts_bench_leg_front.jpg]]
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#+end_subfigure
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#+end_figure
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Figure ref:fig:test_struts_effect_encoder_int
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Same goes for the transfer function from excitation voltage $u$ to the axial motion of the strut $d_a$ as measured by the interferometer ().
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@ -928,7 +942,7 @@ save('./matlab/mat/meas_struts_frf.mat', 'f', 'enc_frf', 'int_frf', 'iff_frf', '
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save('./mat/meas_struts_frf.mat', 'f', 'enc_frf', 'int_frf', 'iff_frf', 'strut_nums');
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#+end_src
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* Simscape Model
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* Strut Model
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/test_struts_3_simscape_model.m
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:END:
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@ -939,7 +953,7 @@ However, now the full strut is put instead of only the APA (see Figure ref:fig:t
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#+name: fig:test_struts_simscape_model
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#+caption: Screenshot of the Simscape model of the strut fixed to the bench
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#+attr_latex: :width 0.7\linewidth
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#+attr_latex: :width 0.5\linewidth
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[[file:figs/test_struts_simscape_model.png]]
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This Simscape model is used to:
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@ -1,4 +1,4 @@
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% Created 2024-03-27 Wed 17:52
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% Created 2024-03-27 Wed 22:22
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% Intended LaTeX compiler: pdflatex
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\documentclass[a4paper, 10pt, DIV=12, parskip=full, bibliography=totoc]{scrreprt}
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@ -276,29 +276,22 @@ Z-Torsion & 400Hz & 381Hz & 398Hz\\
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\end{table}
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\chapter{Dynamical measurements}
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\label{sec:test_struts_dynamical_meas}
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The bench is shown in Figure \ref{fig:test_struts_bench_leg_overview}.
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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}).
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The bench is shown in Figure \ref{fig:test_struts_bench_leg}.
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\begin{figure}[htbp]
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\begin{subfigure}{0.35\textwidth}
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\begin{subfigure}{0.32\textwidth}
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\begin{center}
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\includegraphics[scale=1,width=0.9\linewidth]{figs/test_struts_bench_leg_overview.jpg}
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\includegraphics[scale=1,height=214px]{figs/test_struts_bench_leg_overview.jpg}
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\end{center}
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\subcaption{\label{fig:test_struts_bench_leg_overview}Overview}
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\subcaption{\label{fig:test_struts_bench_leg_overview}Overview Picture}
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\end{subfigure}
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\begin{subfigure}{0.31\textwidth}
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\begin{subfigure}{0.68\textwidth}
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\begin{center}
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\includegraphics[scale=1,width=0.9\linewidth]{figs/test_struts_bench_leg_front.jpg}
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\includegraphics[scale=1,scale=1]{figs/test_struts_bench_schematic.png}
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\end{center}
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\subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
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\subcaption{\label{fig:test_struts_bench_schematic}Schematic}
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\end{subfigure}
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\begin{subfigure}{0.31\textwidth}
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\begin{center}
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\includegraphics[scale=1,width=0.9\linewidth]{figs/test_struts_bench_leg_coder.jpg}
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\end{center}
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\subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
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\end{subfigure}
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\caption{\label{fig:test_struts_bench_leg}Experimental setup to measured the dynamics of the struts.}
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\caption{\label{fig:test_struts_bench_leg}Experimental setup used to measured the dynamics of the struts.}
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\end{figure}
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First, the effect of the encoder on the measured dynamics is studied in Section \ref{ssec:test_struts_effect_encoder}.
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@ -307,6 +300,24 @@ Finally, all the measured struts are compared in terms of dynamics in Section \r
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\section{Effect of the Encoder on the measured dynamics}
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\label{ssec:test_struts_effect_encoder}
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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}).
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\begin{figure}[htbp]
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\begin{subfigure}{0.5\textwidth}
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\begin{center}
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\includegraphics[scale=1,height=6cm]{figs/test_struts_bench_leg_coder.jpg}
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\end{center}
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\subcaption{\label{fig:test_struts_bench_leg_coder}Strut with encoder}
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\end{subfigure}
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\begin{subfigure}{0.5\textwidth}
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\begin{center}
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\includegraphics[scale=1,height=6cm]{figs/test_struts_bench_leg_front.jpg}
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\end{center}
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\subcaption{\label{fig:test_struts_bench_leg_front}Strut without encoder}
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\end{subfigure}
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\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})}
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\end{figure}
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Figure \ref{fig:test_struts_effect_encoder_int}
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Same goes for the transfer function from excitation voltage \(u\) to the axial motion of the strut \(d_a\) as measured by the interferometer ().
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@ -389,13 +400,13 @@ All of this will be studied in Section \ref{sec:test_struts_simscape} using the
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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 \(d_a\).
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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.
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\end{important}
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\chapter{Simscape Model}
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\chapter{Strut Model}
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\label{sec:test_struts_simscape}
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However, now the full strut is put instead of only the APA (see Figure \ref{fig:test_struts_simscape_model}).
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\begin{figure}[htbp]
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\centering
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\includegraphics[scale=1,width=0.7\linewidth]{figs/test_struts_simscape_model.png}
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\includegraphics[scale=1,width=0.5\linewidth]{figs/test_struts_simscape_model.png}
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\caption{\label{fig:test_struts_simscape_model}Screenshot of the Simscape model of the strut fixed to the bench}
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\end{figure}
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