Finish exporting all the matlab figures

matlab/test_struts_1_flexible_modes.m

@@ -11,8 +11,8 @@ addpath('./src/'); % Path for functions
 %% Colors for the figures
 colors = colororder;
 
-% Without Encoder
-% When the encoder is not fixed to the strut, the obtained FRF are shown in Figure ref:fig:test_struts_spur_res_frf.
+% Measured results
+% The obtained frequency response functions are shown in Figure ref:fig:test_struts_spur_res_frf.
 
 
 %% Load Data (without the encoder)
@@ -20,6 +20,11 @@ bending_X = load('strut_spur_res_x_bending.mat');
 bending_Y = load('strut_spur_res_y_bending.mat');
 torsion_Z = load('strut_spur_res_z_torsion.mat');
 
+%% Load Data (with the encoder)
+bending_X_enc = load('strut_spur_res_x_bending_enc.mat');
+bending_Y_enc = load('strut_spur_res_y_bending_enc.mat');
+torsion_Z_enc = load('strut_spur_res_z_torsion_enc.mat');
+
 %% Plot the responses (without the encoder)
 figure;
 hold on;
@@ -30,23 +35,15 @@ plot(bending_Y.FFT1_AvSpc_1_RMS_X_Val, bending_Y.FFT1_AvSpc_1_RMS_Y_Val, ...
 plot(torsion_Z.FFT1_AvSpc_1_RMS_X_Val, torsion_Z.FFT1_AvSpc_1_RMS_Y_Val, ...
      'DisplayName', 'Z-torsion');
 text(226, 1.5e-4,{'226Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
-text(337, 6e-5,{'337Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
+text(310, 6e-5,{'337Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
 text(398, 1.5e-4,{'398Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','center')
 hold off;
 set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
 xlabel('Frequency [Hz]'); ylabel('Amplitude');
 xlim([50, 8e2]); ylim([5e-7, 3e-4])
-legend('location', 'northwest');
+legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);
 
-% With Encoder
-% Then, one encoder is fixed to the strut and the FRF are measured again and shown in Figure ref:fig:test_struts_spur_res_frf_enc.
-
-%% Load Data (with the encoder)
-bending_X_enc = load('strut_spur_res_x_bending_enc.mat');
-bending_Y_enc = load('strut_spur_res_y_bending_enc.mat');
-torsion_Z_enc = load('strut_spur_res_z_torsion_enc.mat');
-
-%% Plot the responses  (with the encoder)
+%% Plot the responses (with the encoder)
 figure;
 hold on;
 plot(bending_X_enc.FFT1_AvSpc_1_RMS_X_Val, bending_X_enc.FFT1_AvSpc_1_RMS_Y_Val, ...
@@ -61,5 +58,5 @@ text(381, 1e-4,{'381Hz'}, 'VerticalAlignment', 'bottom','HorizontalAlignment','c
 hold off;
 set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
 xlabel('Frequency [Hz]'); ylabel('Amplitude');
-xlim([50, 8e2]); ylim([5e-7, 2e-4])
-legend('location', 'northwest');
+xlim([50, 8e2]); ylim([5e-7, 3e-4])
+legend('location', 'southwest', 'FontSize', 8, 'NumColumns', 1);

matlab/test_struts_2_dynamical_meas.m

@@ -12,6 +12,8 @@ addpath('./src/'); % Path for functions
 colors = colororder;
 
 % Effect of the Encoder on the measured dynamics
+% <<ssec:test_struts_effect_encoder>>
+
 
 %% Parameters for Frequency Analysis
 Ts = 1e-4; % Sampling Time [s]
@@ -61,18 +63,18 @@ enc_frf = [frf_sweep(i_lf); frf_noise_hf(i_hf)]; % Combine the FRF
 
 
 
+% 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 ().
 
-% #+begin_important
-% The transfer function from the excitation voltage $u$ to the generated voltage $V_s$ by the sensor stack is not influence by the fixation of the encoder.
+% The transfer function from the excitation voltage $u$ to the generated voltage $V_s$ by the sensor stack is not influence by the fixation of the encoder (Figure ref:fig:test_struts_effect_encoder_iff).
 % This means that the IFF control strategy should be as effective whether or not the encoders are fixed to the struts.
-% #+end_important
 
 
 %% Plot the FRF from u to da with and without the encoder
 figure;
 tiledlayout(3, 1, 'TileSpacing', 'Compact', 'Padding', 'None');
 
-ax1 = nexttile([2,1]);
+ax1 = nexttile([]);
 hold on;
 plot(f, abs(int_with_enc_frf), '-', 'DisplayName', 'With encoder');
 plot(f, abs(int_frf),          '-', 'DisplayName', 'Without encoder');
@@ -81,7 +83,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude $d_a/u$ [m/V]'); set(gca, 'XTickLabel',[]);
 hold off;
 ylim([1e-7, 1e-3]);
-legend('location', 'northeast')
+legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
 
 ax2 = nexttile;
 hold on;
@@ -108,7 +110,7 @@ hold off;
 set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
 ylabel('Amplitude $V_s/u$ [V/V]'); set(gca, 'XTickLabel',[]);
 hold off;
-legend('location', 'northeast', 'FontSize', 8);
+legend('location', 'northeast', 'FontSize', 8, 'NumColumns', 1);
 ylim([1e-2, 1e2]);
 
 ax2 = nexttile;
@@ -125,6 +127,21 @@ linkaxes([ax1,ax2],'x');
 xlim([10, 2e3]);
 
 % Comparison of the encoder and interferometer
+% <<ssec:test_struts_comp_enc_int>>
+
+% The dynamics as measured by the encoder and by the interferometers are compared in Figure ref:fig:test_struts_comp_enc_int.
+
+% The dynamics from the excitation voltage $u$ to the measured displacement by the encoder $d_e$ presents much more complicated behavior than the transfer function to the displacement as measured by the Interferometer (compared in Figure ref:fig:test_struts_comp_enc_int).
+% It will be further investigated why the two dynamics as so different and what are causing all these resonances.
+
+% As shown in Figure ref:fig:test_struts_comp_enc_int, we can clearly see three spurious resonances at 197Hz, 290Hz and 376Hz.
+% These resonances correspond to parasitic resonances of the strut itself that was estimated using a finite element model of the strut (Figure ref:fig:test_struts_mode_shapes):
+% - Mode in X-bending at 189Hz
+% - Mode in Y-bending at 285Hz
+% - Mode in Z-torsion at 400Hz
+
+% The good news is that these resonances are not seen on the interferometer (they are therefore not impacting the axial motion of the strut).
+% But these resonances are making the use of encoder fixed to the strut difficult.
 
 
 figure;
@@ -159,7 +176,7 @@ linkaxes([ax1,ax2],'x');
 xlim([10, 2e3]);
 
 % Comparison of all the Struts
-% <<ssec:test_struts_meas_all_struts>>
+% <<ssec:test_struts_comp_all_struts>>
 
 
 %% Numbers of the measured legs
@@ -275,6 +292,7 @@ xlim([10, 2e3]);
 
 % #+name: fig:test_struts_comp_plants
 % #+caption: Comparison of the measured plants
+% #+attr_latex: :options [htbp]
 % #+begin_figure
 % #+attr_latex: :caption \subcaption{\label{fig:test_struts_comp_interf_plants}$u$ to $d_a$}
 % #+attr_latex: :options {0.49\textwidth}
@@ -290,6 +308,12 @@ xlim([10, 2e3]);
 % #+end_subfigure
 % #+end_figure
 
+% There is a very large variability of the dynamics as measured by the encoder as shown in Figure ref:fig:test_struts_comp_enc_plants.
+% Even-though the same peaks are seen for all of the struts (95Hz, 200Hz, 300Hz, 400Hz), the amplitude of the peaks are not the same.
+% Moreover, the location or even the presence of complex conjugate zeros is changing from one strut to the other.
+
+% All of this will be studied in Section ref:sec:test_struts_simscape using the Simscape model.
+
 
 %% Bode plot of the FRF from u to de
 figure;