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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="#org6d01a62">1. Setup</a>
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<ul>
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<li><a href="#org7f6c52e">1.1. Parameters</a></li>
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<li><a href="#orgf78bcf3">1.2. Filter White Noise</a></li>
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</ul>
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</li>
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<li><a href="#org3920c8f">2. Run Experiment and Save Data</a>
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<ul>
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<li><a href="#org48afa54">2.1. Load Data</a></li>
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<li><a href="#org6dd5e8b">2.2. Save Data</a></li>
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</ul>
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</li>
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<li><a href="#orgb856102">3. Huddle Test</a>
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<ul>
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<li><a href="#orgbdccf6c">3.1. Time Domain Data</a></li>
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<li><a href="#org555147e">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="#orgb67c277">4. Transfer Function Estimation with \(m=5kg\)</a>
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<ul>
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<li><a href="#org3f71fa1">4.1. Time Domain Data</a></li>
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<li><a href="#org8e6db12">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#org4ac16d4">4.3. Compute TF estimate and Coherence</a></li>
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<li><a href="#org6938b52">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="#org98add36">5. PI Amplifier</a>
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<ul>
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<li><a href="#org68ab283">5.1. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#orga8db91a">5.2. Compute TF estimate and Coherence</a></li>
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<li><a href="#org7272539">5.3. Comparison with the FEM model</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="orgfe6ddf9" 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="orgde5ae22" 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-org6d01a62" class="outline-2">
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<h2 id="org6d01a62"><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-org7f6c52e" class="outline-3">
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<h3 id="org7f6c52e"><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-orgf78bcf3" class="outline-3">
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<h3 id="orgf78bcf3"><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-org3920c8f" class="outline-2">
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<h2 id="org3920c8f"><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-org48afa54" class="outline-3">
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<h3 id="org48afa54"><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-org6dd5e8b" class="outline-3">
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<h3 id="org6dd5e8b"><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-orgb856102" class="outline-2">
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<h2 id="orgb856102"><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-orgbdccf6c" class="outline-3">
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<h3 id="orgbdccf6c"><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="orgfef1212" 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-org555147e" class="outline-3">
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<h3 id="org555147e"><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="orgd17271b" 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-orgb67c277" class="outline-2">
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<h2 id="orgb67c277"><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-org3f71fa1" class="outline-3">
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<h3 id="org3f71fa1"><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="orga603410" 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-org8e6db12" class="outline-3">
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<h3 id="org8e6db12"><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="orgf16dfcd" 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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2020-07-23 09:43:42 +02:00
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<div id="outline-container-org4ac16d4" class="outline-3">
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<h3 id="org4ac16d4"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
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2020-07-20 11:27:55 +02:00
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<div class="outline-text-3" id="text-4-3">
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2020-07-23 09:43:42 +02:00
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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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</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">
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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);
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2020-07-17 11:56:08 +02:00
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</pre>
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</div>
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2020-07-20 11:27:55 +02:00
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2020-07-23 09:43:42 +02:00
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<div id="org93041d8" 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_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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2020-07-23 09:43:42 +02:00
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<div id="orgf2a7b3e" 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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</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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2020-07-23 09:43:42 +02:00
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<div id="outline-container-org6938b52" class="outline-3">
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<h3 id="org6938b52"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
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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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2020-07-23 09:43:42 +02:00
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<div id="orgfcc57fa" class="figure">
|
2020-07-20 13:29:36 +02:00
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<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>
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</div>
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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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2020-07-23 09:43:42 +02:00
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<div id="outline-container-org98add36" class="outline-2">
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<h2 id="org98add36"><span class="section-number-2">5</span> PI Amplifier</h2>
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<div class="outline-text-2" id="text-5">
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</div>
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<div id="outline-container-org68ab283" class="outline-3">
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<h3 id="org68ab283"><span class="section-number-3">5.1</span> Comparison of the PSD with Huddle Test</h3>
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<div class="outline-text-3" id="text-5-1">
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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="org5dff36b" class="figure">
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|
<p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
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</p>
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<p><span class="figure-number">Figure 10: </span>Comparison of the ASD for the identification test and the 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-orga8db91a" class="outline-3">
|
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|
|
|
<h3 id="orga8db91a"><span class="section-number-3">5.2</span> Compute TF estimate and Coherence</h3>
|
|
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|
|
<div class="outline-text-3" id="text-5-2">
|
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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;
|
|
|
|
|
</pre>
|
|
|
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|
</div>
|
|
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|
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|
<div class="org-src-container">
|
|
|
|
|
<pre class="src src-matlab">win = hann(ceil(10/Ts));
|
|
|
|
|
|
|
|
|
|
[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
|
|
|
|
|
[co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts);
|
|
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
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|
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|
|
|
|
|
|
|
|
<div id="org6e49e56" class="figure">
|
|
|
|
|
<p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 11: </span>Coherence</p>
|
|
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|
</div>
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
<div id="org34f3b6c" class="figure">
|
|
|
|
|
<p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
|
|
|
|
|
</p>
|
|
|
|
|
<p><span class="figure-number">Figure 12: </span>Estimation of the transfer function from input voltage to displacement</p>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
|
|
|
|
|
<div id="outline-container-org7272539" class="outline-3">
|
|
|
|
|
<h3 id="org7272539"><span class="section-number-3">5.3</span> Comparison with the FEM model</h3>
|
|
|
|
|
<div class="outline-text-3" id="text-5-3">
|
|
|
|
|
<div class="org-src-container">
|
|
|
|
|
<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
|
|
|
|
|
</pre>
|
|
|
|
|
</div>
|
|
|
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|
|
|
|
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|
|
|
|
<div id="orga88c7dc" 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>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
|
|
|
</div>
|
|
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</div>
|
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>
|
2020-07-23 09:43:42 +02:00
|
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<p class="date">Created: 2020-07-23 jeu. 09:33</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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