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<title>Test Bench APA95ML</title>
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2020-07-20 11:27:55 +02:00
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<a accesskey="h" href="../index.html"> UP </a>
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Test Bench APA95ML</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#org5904e1c">1. Setup</a>
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<ul>
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<li><a href="#org9cb828d">1.1. Parameters</a></li>
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<li><a href="#org55efde3">1.2. Filter White Noise</a></li>
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</ul>
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</li>
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<li><a href="#org8af571a">2. Run Experiment and Save Data</a>
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<ul>
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<li><a href="#orgc26f768">2.1. Load Data</a></li>
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<li><a href="#org184b70d">2.2. Save Data</a></li>
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</ul>
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</li>
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<li><a href="#orga844fc8">3. Huddle Test</a>
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<ul>
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<li><a href="#org7873825">3.1. Time Domain Data</a></li>
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<li><a href="#org4799d62">3.2. PSD of Measurement Noise</a></li>
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</ul>
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</li>
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<li><a href="#orgf667003">4. Transfer Function Estimation with m=5kg</a>
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<ul>
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<li><a href="#org1c0e9d1">4.1. Time Domain Data</a></li>
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<li><a href="#org303f615">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#orgeb52c9a">4.3. Compute TF estimate and Coherence</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<div id="org2e20e62" class="figure">
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<p><img src="figs/setup_picture.png" alt="setup_picture.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Picture of the Setup</p>
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</div>
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<div id="org5723466" class="figure">
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<p><img src="figs/setup_zoom.png" alt="setup_zoom.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span>Zoom on the APA</p>
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</div>
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<div id="outline-container-org5904e1c" class="outline-2">
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<h2 id="org5904e1c"><span class="section-number-2">1</span> Setup</h2>
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<div class="outline-text-2" id="text-1">
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</div>
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<div id="outline-container-org9cb828d" class="outline-3">
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<h3 id="org9cb828d"><span class="section-number-3">1.1</span> Parameters</h3>
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<div class="outline-text-3" id="text-1-1">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = 1e-4;
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</pre>
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</div>
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</div>
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<div id="outline-container-org55efde3" class="outline-3">
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<h3 id="org55efde3"><span class="section-number-3">1.2</span> Filter White Noise</h3>
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<div class="outline-text-3" id="text-1-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Glpf = 1/(1 + s/2/pi/500);
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Gz = c2d(Glpf, Ts, 'tustin');
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</pre>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-org8af571a" class="outline-2">
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<h2 id="org8af571a"><span class="section-number-2">2</span> Run Experiment and Save Data</h2>
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<div class="outline-text-2" id="text-2">
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</div>
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2020-07-20 13:22:45 +02:00
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<div id="outline-container-orgc26f768" class="outline-3">
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<h3 id="orgc26f768"><span class="section-number-3">2.1</span> Load Data</h3>
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<div class="outline-text-3" id="text-2-1">
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<div class="org-src-container">
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<pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-org184b70d" class="outline-3">
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<h3 id="org184b70d"><span class="section-number-3">2.2</span> Save Data</h3>
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<div class="outline-text-3" id="text-2-2">
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<div class="org-src-container">
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<pre class="src src-matlab">u = data(:, 1); % Input Voltage [V]
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y = data(:, 2); % Output Displacement [m]
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t = data(:, 3); % Time [s]
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');
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</pre>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-orga844fc8" class="outline-2">
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<h2 id="orga844fc8"><span class="section-number-2">3</span> Huddle Test</h2>
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<div class="outline-text-2" id="text-3">
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</div>
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<div id="outline-container-org7873825" class="outline-3">
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<h3 id="org7873825"><span class="section-number-3">3.1</span> Time Domain Data</h3>
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<div class="outline-text-3" id="text-3-1">
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2020-07-20 13:22:45 +02:00
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<div id="orge1a69cc" class="figure">
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<p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>Measurement of the Mass displacement during Huddle Test</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org4799d62" class="outline-3">
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<h3 id="org4799d62"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3>
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<div class="outline-text-3" id="text-3-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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win = hanning(ceil(1*Fs));
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
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</pre>
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</div>
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<div id="org251d419" class="figure">
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<p><img src="figs/huddle_test_pdf.png" alt="huddle_test_pdf.png" />
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</p>
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<p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the Displacement during Huddle Test</p>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-orgf667003" class="outline-2">
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<h2 id="orgf667003"><span class="section-number-2">4</span> Transfer Function Estimation with m=5kg</h2>
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<div class="outline-text-2" id="text-4">
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</div>
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<div id="outline-container-org1c0e9d1" class="outline-3">
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<h3 id="org1c0e9d1"><span class="section-number-3">4.1</span> Time Domain Data</h3>
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<div class="outline-text-3" id="text-4-1">
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<div id="org6773b72" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_time_domain.png" alt="apa95ml_5kg_10V_time_domain.png" />
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</p>
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<p><span class="figure-number">Figure 5: </span>Time domain signals during the test</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org303f615" class="outline-3">
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<h3 id="org303f615"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3>
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<div class="outline-text-3" id="text-4-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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win = hanning(ceil(1*Fs));
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
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[pht, ~] = pwelch(ht.y, win, [], [], Fs);
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</pre>
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</div>
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<div id="org001b938" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_pdf_comp_huddle.png" alt="apa95ml_5kg_10V_pdf_comp_huddle.png" />
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</p>
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<p><span class="figure-number">Figure 6: </span>Comparison of the ASD for the identification test and the huddle test</p>
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<div id="outline-container-orgeb52c9a" class="outline-3">
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<h3 id="orgeb52c9a"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
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<div class="outline-text-3" id="text-4-3">
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<div class="org-src-container">
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<pre class="src src-matlab">win = hann(ceil(1/Ts));
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[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
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[co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts);
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</pre>
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<div id="orgbfd3d36" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_coh.png" alt="apa95ml_5kg_10V_coh.png" />
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</p>
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2020-07-20 13:17:34 +02:00
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<p><span class="figure-number">Figure 7: </span>Coherence</p>
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2020-07-20 11:27:55 +02:00
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</div>
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2020-07-20 13:22:45 +02:00
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<div id="orgbd7052e" class="figure">
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2020-07-20 11:27:55 +02:00
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<p><img src="figs/apa95ml_5kg_10V_tf.png" alt="apa95ml_5kg_10V_tf.png" />
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</p>
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2020-07-20 13:17:34 +02:00
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<p><span class="figure-number">Figure 8: </span>Estimation of the transfer function from input voltage to displacement</p>
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2020-07-20 11:27:55 +02:00
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</div>
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2020-07-17 11:56:08 +02:00
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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2020-07-20 13:22:45 +02:00
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<p class="date">Created: 2020-07-20 lun. 13:22</p>
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2020-07-17 11:56:08 +02:00
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