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<title>Test Bench APA95ML</title>
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2020-07-17 11:56:08 +02:00
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2020-07-20 11:27:55 +02:00
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<div id="org-div-home-and-up">
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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="#org9f7598b">1. Setup</a>
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<ul>
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<li><a href="#org7edfb65">1.1. Parameters</a></li>
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<li><a href="#orgdac636f">1.2. Filter White Noise</a></li>
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</ul>
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</li>
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<li><a href="#org756b658">2. Run Experiment and Save Data</a>
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<ul>
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<li><a href="#org14764c7">2.1. Load Data</a></li>
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<li><a href="#org1b77b38">2.2. Save Data</a></li>
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</ul>
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</li>
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<li><a href="#org28cccdb">3. Huddle Test</a>
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<ul>
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<li><a href="#org305cdf5">3.1. Time Domain Data</a></li>
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<li><a href="#orga153e30">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="#orgfa9bec6">4. Transfer Function Estimation using the DAC as the driver</a>
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<ul>
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<li><a href="#org99e40a8">4.1. Time Domain Data</a></li>
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<li><a href="#org45d7543">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#org5dbdfb4">4.3. Compute TF estimate and Coherence</a></li>
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<li><a href="#org3e7c447">4.4. Comparison with the FEM model</a></li>
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</ul>
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</li>
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<li><a href="#org000ddf1">5. Transfer Function Estimation using the PI Amplifier</a>
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<ul>
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<li><a href="#org110d884">5.1. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#org0df7f2a">5.2. Compute TF estimate and Coherence</a></li>
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<li><a href="#org0580b12">5.3. Comparison with the FEM model</a></li>
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</ul>
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</li>
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<li><a href="#orgeedd2b2">6. Transfer function of the PI Amplifier</a>
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<ul>
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<li><a href="#org337f0dd">6.1. 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="orge2005b9" 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="org6bde75b" 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-org9f7598b" class="outline-2">
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<h2 id="org9f7598b"><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-org7edfb65" class="outline-3">
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<h3 id="org7edfb65"><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-orgdac636f" class="outline-3">
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<h3 id="orgdac636f"><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-org756b658" class="outline-2">
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<h2 id="org756b658"><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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<div id="outline-container-org14764c7" class="outline-3">
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<h3 id="org14764c7"><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-org1b77b38" class="outline-3">
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<h3 id="org1b77b38"><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-org28cccdb" class="outline-2">
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<h2 id="org28cccdb"><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-org305cdf5" class="outline-3">
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<h3 id="org305cdf5"><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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<div id="org36d78b8" 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-orga153e30" class="outline-3">
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<h3 id="orga153e30"><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="org7a9dd6a" 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-orgfa9bec6" class="outline-2">
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<h2 id="orgfa9bec6"><span class="section-number-2">4</span> Transfer Function Estimation using the DAC as the driver</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-org99e40a8" class="outline-3">
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<h3 id="org99e40a8"><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="org3c8d797" 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 id="outline-container-org45d7543" class="outline-3">
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<h3 id="org45d7543"><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="org15f2486" 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>
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2020-07-24 13:16:28 +02:00
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|
|
<div id="outline-container-org5dbdfb4" class="outline-3">
|
|
|
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|
<h3 id="org5dbdfb4"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
|
2020-07-20 11:27:55 +02:00
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|
|
<div class="outline-text-3" id="text-4-3">
|
2020-07-23 09:43:42 +02:00
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<div class="org-src-container">
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|
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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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|
</pre>
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</div>
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2020-07-17 11:56:08 +02:00
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<div class="org-src-container">
|
2020-07-20 11:27:55 +02:00
|
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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);
|
2020-07-17 11:56:08 +02:00
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|
|
</pre>
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</div>
|
2020-07-20 11:27:55 +02:00
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2020-07-24 13:16:28 +02:00
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<div id="org22a86fd" class="figure">
|
2020-07-20 11:27:55 +02:00
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<p><img src="figs/apa95ml_5kg_10V_coh.png" alt="apa95ml_5kg_10V_coh.png" />
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</p>
|
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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2020-07-24 13:16:28 +02:00
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<div id="org70b1269" class="figure">
|
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>
|
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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</div>
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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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2020-07-20 13:29:36 +02:00
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2020-07-24 13:16:28 +02:00
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<div id="outline-container-org3e7c447" class="outline-3">
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|
<h3 id="org3e7c447"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
|
2020-07-20 13:29:36 +02:00
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|
<div class="outline-text-3" id="text-4-4">
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<div class="org-src-container">
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<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
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</pre>
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</div>
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|
2020-07-24 13:16:28 +02:00
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<div id="org1d338bc" class="figure">
|
2020-07-20 13:29:36 +02:00
|
|
|
<p><img src="figs/apa95ml_5kg_comp_fem.png" alt="apa95ml_5kg_comp_fem.png" />
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</p>
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|
<p><span class="figure-number">Figure 9: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
|
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|
</div>
|
2020-07-24 11:34:18 +02:00
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|
</div>
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</div>
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<div class="outline-text-2" id="text-4">
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|
<div class="important">
|
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|
<p>
|
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|
The problem comes from the fact that the piezo is driven directly by the DAC that cannot deliver enought current.
|
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|
In the next section, a current amplifier is used.
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|
</p>
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|
2020-07-20 13:29:36 +02:00
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</div>
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</div>
|
2020-07-17 11:56:08 +02:00
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</div>
|
2020-07-23 09:43:42 +02:00
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|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="outline-container-org000ddf1" class="outline-2">
|
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|
|
|
<h2 id="org000ddf1"><span class="section-number-2">5</span> Transfer Function Estimation using the PI Amplifier</h2>
|
2020-07-23 09:43:42 +02:00
|
|
|
<div class="outline-text-2" id="text-5">
|
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|
</div>
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="outline-container-org110d884" class="outline-3">
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|
<h3 id="org110d884"><span class="section-number-3">5.1</span> Comparison of the PSD with Huddle Test</h3>
|
2020-07-23 09:43:42 +02:00
|
|
|
<div class="outline-text-3" id="text-5-1">
|
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|
<div class="org-src-container">
|
|
|
|
|
<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
|
|
|
|
|
Fs = 1/Ts;
|
2020-07-24 13:16:28 +02:00
|
|
|
|
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|
win = hanning(ceil(1*Fs));
|
2020-07-24 11:34:18 +02:00
|
|
|
</pre>
|
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|
|
</div>
|
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|
2020-07-24 13:16:28 +02:00
|
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|
<div class="org-src-container">
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|
|
|
|
<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
|
|
|
|
|
[pht, ~] = pwelch(ht.y, win, [], [], Fs);
|
|
|
|
|
</pre>
|
|
|
|
|
</div>
|
2020-07-24 11:34:18 +02:00
|
|
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|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="org4f7b784" class="figure">
|
|
|
|
|
<p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
|
2020-07-24 11:34:18 +02:00
|
|
|
</p>
|
2020-07-24 13:16:28 +02:00
|
|
|
<p><span class="figure-number">Figure 10: </span>Comparison of the ASD for the identification test and the huddle test</p>
|
|
|
|
|
</div>
|
|
|
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|
</div>
|
|
|
|
|
</div>
|
2020-07-24 11:34:18 +02:00
|
|
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|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="outline-container-org0df7f2a" class="outline-3">
|
|
|
|
|
<h3 id="org0df7f2a"><span class="section-number-3">5.2</span> Compute TF estimate and Coherence</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-5-2">
|
2020-07-24 11:34:18 +02:00
|
|
|
<div class="org-src-container">
|
2020-07-24 13:16:28 +02:00
|
|
|
<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
|
|
|
|
|
Fs = 1/Ts;
|
|
|
|
|
</pre>
|
|
|
|
|
</div>
|
2020-07-24 11:34:18 +02:00
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<div class="org-src-container">
|
|
|
|
|
<pre class="src src-matlab">win = hann(ceil(1/Ts));
|
|
|
|
|
|
|
|
|
|
[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
|
|
|
|
|
[tf_um , ~] = tfestimate(um, -y, win, [], [], 1/Ts);
|
|
|
|
|
[co_est, ~] = mscohere( um, -y, win, [], [], 1/Ts);
|
2020-07-24 11:34:18 +02:00
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="org99498ae" class="figure">
|
|
|
|
|
<p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
|
2020-07-24 11:34:18 +02:00
|
|
|
</p>
|
2020-07-24 13:16:28 +02:00
|
|
|
<p><span class="figure-number">Figure 11: </span>Coherence</p>
|
2020-07-24 11:34:18 +02:00
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="org554203c" class="figure">
|
|
|
|
|
<p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
|
2020-07-24 11:34:18 +02:00
|
|
|
</p>
|
2020-07-24 13:16:28 +02:00
|
|
|
<p><span class="figure-number">Figure 12: </span>Estimation of the transfer function from input voltage to displacement</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
2020-07-24 11:34:18 +02:00
|
|
|
</div>
|
2020-07-24 13:06:02 +02:00
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="outline-container-org0580b12" class="outline-3">
|
|
|
|
|
<h3 id="org0580b12"><span class="section-number-3">5.3</span> Comparison with the FEM model</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-5-3">
|
2020-07-24 13:06:02 +02:00
|
|
|
<div class="org-src-container">
|
2020-07-24 13:16:28 +02:00
|
|
|
<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
|
2020-07-24 13:06:02 +02:00
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
|
|
|
|
|
<div id="org001e611" class="figure">
|
|
|
|
|
<p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 13: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
|
2020-07-24 11:34:18 +02:00
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
2020-07-24 13:16:28 +02:00
|
|
|
</div>
|
|
|
|
|
<div id="outline-container-orgeedd2b2" class="outline-2">
|
|
|
|
|
<h2 id="orgeedd2b2"><span class="section-number-2">6</span> Transfer function of the PI Amplifier</h2>
|
2020-07-24 11:34:18 +02:00
|
|
|
<div class="outline-text-2" id="text-6">
|
|
|
|
|
</div>
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="outline-container-org337f0dd" class="outline-3">
|
|
|
|
|
<h3 id="org337f0dd"><span class="section-number-3">6.1</span> Compute TF estimate and Coherence</h3>
|
2020-07-24 11:34:18 +02:00
|
|
|
<div class="outline-text-3" id="text-6-1">
|
|
|
|
|
<div class="org-src-container">
|
|
|
|
|
<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
|
|
|
|
|
Fs = 1/Ts;
|
2020-07-23 09:43:42 +02:00
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<p>
|
|
|
|
|
The coherence and the transfer function are estimate from the voltage input of the PI amplifier to its voltage inputs.
|
|
|
|
|
</p>
|
2020-07-23 09:43:42 +02:00
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<p>
|
|
|
|
|
The coherence is very good as expected (Figure <a href="#orgd06642a">14</a>).
|
2020-07-23 09:43:42 +02:00
|
|
|
</p>
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<p>
|
|
|
|
|
The transfer function show a low pass filter behavior with a lot of phase drop (Figure <a href="#orgcc39578">15</a>).
|
|
|
|
|
</p>
|
2020-07-23 09:43:42 +02:00
|
|
|
|
|
|
|
|
<div class="org-src-container">
|
|
|
|
|
<pre class="src src-matlab">win = hann(ceil(10/Ts));
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
[tf_est, f] = tfestimate(u, um, win, [], [], 1/Ts);
|
|
|
|
|
[co_est, ~] = mscohere( u, um, win, [], [], 1/Ts);
|
2020-07-23 09:43:42 +02:00
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="orgd06642a" class="figure">
|
|
|
|
|
<p><img src="figs/PI_E505_coh.png" alt="PI_E505_coh.png" />
|
2020-07-23 09:43:42 +02:00
|
|
|
</p>
|
2020-07-24 13:16:28 +02:00
|
|
|
<p><span class="figure-number">Figure 14: </span>Coherence</p>
|
2020-07-23 09:43:42 +02:00
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<div id="orgcc39578" class="figure">
|
|
|
|
|
<p><img src="figs/PI_E505_tf.png" alt="PI_E505_tf.png" />
|
2020-07-23 09:43:42 +02:00
|
|
|
</p>
|
2020-07-24 13:16:28 +02:00
|
|
|
<p><span class="figure-number">Figure 15: </span>Estimation of the transfer function from input voltage to displacement</p>
|
2020-07-23 09:43:42 +02:00
|
|
|
</div>
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<p>
|
|
|
|
|
The delay can be estimated as follow:
|
|
|
|
|
</p>
|
2020-07-23 09:43:42 +02:00
|
|
|
<div class="org-src-container">
|
2020-07-24 13:16:28 +02:00
|
|
|
<pre class="src src-matlab">finddelay(u, um)*Ts
|
2020-07-23 09:43:42 +02:00
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
|
|
|
|
2020-07-24 13:16:28 +02:00
|
|
|
<pre class="example">
|
|
|
|
|
0.0004
|
|
|
|
|
</pre>
|
2020-07-23 09:43:42 +02:00
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
2020-07-17 11:56:08 +02:00
|
|
|
</div>
|
|
|
|
|
<div id="postamble" class="status">
|
|
|
|
|
<p class="author">Author: Dehaeze Thomas</p>
|
2020-07-24 13:16:28 +02:00
|
|
|
<p class="date">Created: 2020-07-24 ven. 13:16</p>
|
2020-07-17 11:56:08 +02:00
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</div>
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</body>
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</html>
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