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Add Picture of the setup

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Thomas Dehaeze 2020-07-20 13:17:34 +02:00
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en"> <html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head> <head>
<!-- 2020-07-20 lun. 12:55 --> <!-- 2020-07-20 lun. 13:17 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" /> <meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Test Bench APA95ML</title> <title>Test Bench APA95ML</title>
<meta name="generator" content="Org mode" /> <meta name="generator" content="Org mode" />
@ -27,42 +27,56 @@
<h2>Table of Contents</h2> <h2>Table of Contents</h2>
<div id="text-table-of-contents"> <div id="text-table-of-contents">
<ul> <ul>
<li><a href="#orgf886336">1. Setup</a> <li><a href="#orgdca5c97">1. Setup</a>
<ul> <ul>
<li><a href="#org4d0938c">1.1. Parameters</a></li> <li><a href="#org0d12d9d">1.1. Parameters</a></li>
<li><a href="#org5dc2068">1.2. Filter White Noise</a></li> <li><a href="#org15a3975">1.2. Filter White Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgae4a850">2. Run Experiment and Save Data</a> <li><a href="#org4392a0d">2. Run Experiment and Save Data</a>
<ul> <ul>
<li><a href="#orgfdce6bd">2.1. Load Data</a></li> <li><a href="#orge9621ee">2.1. Load Data</a></li>
<li><a href="#org0b77024">2.2. Save Data</a></li> <li><a href="#org1da78b3">2.2. Save Data</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org4678fdc">3. Huddle Test</a> <li><a href="#orgf5ba24e">3. Huddle Test</a>
<ul> <ul>
<li><a href="#orgd662251">3.1. Time Domain Data</a></li> <li><a href="#org36326ca">3.1. Time Domain Data</a></li>
<li><a href="#org1be666b">3.2. PSD of Measurement Noise</a></li> <li><a href="#orge6edd66">3.2. PSD of Measurement Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org0b23bd2">4. Transfer Function Estimation with m=5kg</a> <li><a href="#org788fd72">4. Transfer Function Estimation with m=5kg</a>
<ul> <ul>
<li><a href="#org8baeeef">4.1. Time Domain Data</a></li> <li><a href="#org47e2de6">4.1. Time Domain Data</a></li>
<li><a href="#orgad9532c">4.2. Comparison of the PSD with Huddle Test</a></li> <li><a href="#org6544479">4.2. Comparison of the PSD with Huddle Test</a></li>
<li><a href="#orgb660877">4.3. Compute TF estimate and Coherence</a></li> <li><a href="#orgc4644a8">4.3. Compute TF estimate and Coherence</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
</div> </div>
</div> </div>
<div id="outline-container-orgf886336" class="outline-2">
<h2 id="orgf886336"><span class="section-number-2">1</span> Setup</h2> <div id="org8e3aae2" class="figure">
<p><img src="figs/setup_picture.png" alt="setup_picture.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Picture of the Setup</p>
</div>
<div id="org9f02ad0" class="figure">
<p><img src="figs/setup_zoom.png" alt="setup_zoom.png" />
</p>
<p><span class="figure-number">Figure 2: </span>Zoom on the APA</p>
</div>
<div id="outline-container-orgdca5c97" class="outline-2">
<h2 id="orgdca5c97"><span class="section-number-2">1</span> Setup</h2>
<div class="outline-text-2" id="text-1"> <div class="outline-text-2" id="text-1">
</div> </div>
<div id="outline-container-org4d0938c" class="outline-3"> <div id="outline-container-org0d12d9d" class="outline-3">
<h3 id="org4d0938c"><span class="section-number-3">1.1</span> Parameters</h3> <h3 id="org0d12d9d"><span class="section-number-3">1.1</span> Parameters</h3>
<div class="outline-text-3" id="text-1-1"> <div class="outline-text-3" id="text-1-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Ts = 1e-4; <pre class="src src-matlab">Ts = 1e-4;
@ -71,8 +85,8 @@
</div> </div>
</div> </div>
<div id="outline-container-org5dc2068" class="outline-3"> <div id="outline-container-org15a3975" class="outline-3">
<h3 id="org5dc2068"><span class="section-number-3">1.2</span> Filter White Noise</h3> <h3 id="org15a3975"><span class="section-number-3">1.2</span> Filter White Noise</h3>
<div class="outline-text-3" id="text-1-2"> <div class="outline-text-3" id="text-1-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Glpf = 1/(1 + s/2/pi/500); <pre class="src src-matlab">Glpf = 1/(1 + s/2/pi/500);
@ -84,13 +98,13 @@ Gz = c2d(Glpf, Ts, 'tustin');
</div> </div>
</div> </div>
<div id="outline-container-orgae4a850" class="outline-2"> <div id="outline-container-org4392a0d" class="outline-2">
<h2 id="orgae4a850"><span class="section-number-2">2</span> Run Experiment and Save Data</h2> <h2 id="org4392a0d"><span class="section-number-2">2</span> Run Experiment and Save Data</h2>
<div class="outline-text-2" id="text-2"> <div class="outline-text-2" id="text-2">
</div> </div>
<div id="outline-container-orgfdce6bd" class="outline-3"> <div id="outline-container-orge9621ee" class="outline-3">
<h3 id="orgfdce6bd"><span class="section-number-3">2.1</span> Load Data</h3> <h3 id="orge9621ee"><span class="section-number-3">2.1</span> Load Data</h3>
<div class="outline-text-3" id="text-2-1"> <div class="outline-text-3" id="text-2-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data; <pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
@ -99,8 +113,8 @@ Gz = c2d(Glpf, Ts, 'tustin');
</div> </div>
</div> </div>
<div id="outline-container-org0b77024" class="outline-3"> <div id="outline-container-org1da78b3" class="outline-3">
<h3 id="org0b77024"><span class="section-number-3">2.2</span> Save Data</h3> <h3 id="org1da78b3"><span class="section-number-3">2.2</span> Save Data</h3>
<div class="outline-text-3" id="text-2-2"> <div class="outline-text-3" id="text-2-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">u = data(:, 1); % Input Voltage [V] <pre class="src src-matlab">u = data(:, 1); % Input Voltage [V]
@ -117,25 +131,25 @@ t = data(:, 3); % Time [s]
</div> </div>
</div> </div>
<div id="outline-container-org4678fdc" class="outline-2"> <div id="outline-container-orgf5ba24e" class="outline-2">
<h2 id="org4678fdc"><span class="section-number-2">3</span> Huddle Test</h2> <h2 id="orgf5ba24e"><span class="section-number-2">3</span> Huddle Test</h2>
<div class="outline-text-2" id="text-3"> <div class="outline-text-2" id="text-3">
</div> </div>
<div id="outline-container-orgd662251" class="outline-3"> <div id="outline-container-org36326ca" class="outline-3">
<h3 id="orgd662251"><span class="section-number-3">3.1</span> Time Domain Data</h3> <h3 id="org36326ca"><span class="section-number-3">3.1</span> Time Domain Data</h3>
<div class="outline-text-3" id="text-3-1"> <div class="outline-text-3" id="text-3-1">
<div id="orga653939" class="figure"> <div id="org513762b" class="figure">
<p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" /> <p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Measurement of the Mass displacement during Huddle Test</p> <p><span class="figure-number">Figure 3: </span>Measurement of the Mass displacement during Huddle Test</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org1be666b" class="outline-3"> <div id="outline-container-orge6edd66" class="outline-3">
<h3 id="org1be666b"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3> <h3 id="orge6edd66"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3>
<div class="outline-text-3" id="text-3-2"> <div class="outline-text-3" id="text-3-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Ts = t(end)/(length(t)-1); <pre class="src src-matlab">Ts = t(end)/(length(t)-1);
@ -151,34 +165,34 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="org3a520de" class="figure"> <div id="orgc707f3e" class="figure">
<p><img src="figs/huddle_test_pdf.png" alt="huddle_test_pdf.png" /> <p><img src="figs/huddle_test_pdf.png" alt="huddle_test_pdf.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Amplitude Spectral Density of the Displacement during Huddle Test</p> <p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the Displacement during Huddle Test</p>
</div> </div>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org0b23bd2" class="outline-2"> <div id="outline-container-org788fd72" class="outline-2">
<h2 id="org0b23bd2"><span class="section-number-2">4</span> Transfer Function Estimation with m=5kg</h2> <h2 id="org788fd72"><span class="section-number-2">4</span> Transfer Function Estimation with m=5kg</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
</div> </div>
<div id="outline-container-org8baeeef" class="outline-3"> <div id="outline-container-org47e2de6" class="outline-3">
<h3 id="org8baeeef"><span class="section-number-3">4.1</span> Time Domain Data</h3> <h3 id="org47e2de6"><span class="section-number-3">4.1</span> Time Domain Data</h3>
<div class="outline-text-3" id="text-4-1"> <div class="outline-text-3" id="text-4-1">
<div id="orgfa0d826" class="figure"> <div id="orgf20885a" class="figure">
<p><img src="figs/apa95ml_5kg_10V_time_domain.png" alt="apa95ml_5kg_10V_time_domain.png" /> <p><img src="figs/apa95ml_5kg_10V_time_domain.png" alt="apa95ml_5kg_10V_time_domain.png" />
</p> </p>
<p><span class="figure-number">Figure 3: </span>Time domain signals during the test</p> <p><span class="figure-number">Figure 5: </span>Time domain signals during the test</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-orgad9532c" class="outline-3"> <div id="outline-container-org6544479" class="outline-3">
<h3 id="orgad9532c"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3> <h3 id="org6544479"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3>
<div class="outline-text-3" id="text-4-2"> <div class="outline-text-3" id="text-4-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Ts = t(end)/(length(t)-1); <pre class="src src-matlab">Ts = t(end)/(length(t)-1);
@ -195,16 +209,16 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="orgdea2c15" class="figure"> <div id="org2052faa" class="figure">
<p><img src="figs/apa95ml_5kg_10V_pdf_comp_huddle.png" alt="apa95ml_5kg_10V_pdf_comp_huddle.png" /> <p><img src="figs/apa95ml_5kg_10V_pdf_comp_huddle.png" alt="apa95ml_5kg_10V_pdf_comp_huddle.png" />
</p> </p>
<p><span class="figure-number">Figure 4: </span>Comparison of the ASD for the identification test and the huddle test</p> <p><span class="figure-number">Figure 6: </span>Comparison of the ASD for the identification test and the huddle test</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-orgb660877" class="outline-3"> <div id="outline-container-orgc4644a8" class="outline-3">
<h3 id="orgb660877"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3> <h3 id="orgc4644a8"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
<div class="outline-text-3" id="text-4-3"> <div class="outline-text-3" id="text-4-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">win = hann(ceil(1/Ts)); <pre class="src src-matlab">win = hann(ceil(1/Ts));
@ -215,17 +229,22 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="org55f2164" class="figure"> <div id="orgb885b51" class="figure">
<p><img src="figs/apa95ml_5kg_10V_coh.png" alt="apa95ml_5kg_10V_coh.png" /> <p><img src="figs/apa95ml_5kg_10V_coh.png" alt="apa95ml_5kg_10V_coh.png" />
</p> </p>
<p><span class="figure-number">Figure 5: </span>Coherence</p> <p><span class="figure-number">Figure 7: </span>Coherence</p>
</div> </div>
<div id="orgee8b7dc" class="figure"> <div id="org1871e4a" class="figure">
<p><img src="figs/apa95ml_5kg_10V_tf.png" alt="apa95ml_5kg_10V_tf.png" /> <p><img src="figs/apa95ml_5kg_10V_tf.png" alt="apa95ml_5kg_10V_tf.png" />
</p> </p>
<p><span class="figure-number">Figure 6: </span>Estimation of the transfer function from input voltage to displacement</p> <p><span class="figure-number">Figure 8: </span>Estimation of the transfer function from input voltage to displacement</p>
</div>
<div class="org-src-container">
<pre class="src src-matlab">Glpf = 1/(1 + s/2/pi/500);
</pre>
</div> </div>
</div> </div>
</div> </div>
@ -233,7 +252,7 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="postamble" class="status"> <div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p> <p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-07-20 lun. 12:55</p> <p class="date">Created: 2020-07-20 lun. 13:17</p>
</div> </div>
</body> </body>
</html> </html>

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@ -41,6 +41,16 @@
#+PROPERTY: header-args:latex+ :output-dir figs #+PROPERTY: header-args:latex+ :output-dir figs
:END: :END:
* Introduction :ignore:
#+name: fig:setup_picture
#+caption: Picture of the Setup
[[file:figs/setup_picture.png]]
#+name: fig:setup_zoom
#+caption: Zoom on the APA
[[file:figs/setup_zoom.png]]
* Setup * Setup
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/setup_experiment.m :header-args:matlab+: :tangle matlab/setup_experiment.m
@ -280,3 +290,29 @@
#+caption: Estimation of the transfer function from input voltage to displacement #+caption: Estimation of the transfer function from input voltage to displacement
#+RESULTS: #+RESULTS:
[[file:figs/apa95ml_5kg_10V_tf.png]] [[file:figs/apa95ml_5kg_10V_tf.png]]
#+begin_src matlab
Glpf = 1/(1 + s/2/pi/500);
#+end_src
#+begin_src matlab :exports none
figure;
ax1 = subplot(2, 1, 1);
hold on;
plot(f, abs(tf_est./squeeze(freqresp(Glpf, f, 'Hz'))), 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
ylabel('Amplitude'); xlabel('Frequency [Hz]');
hold off;
ax2 = subplot(2, 1, 2);
hold on;
plot(f, 180/pi*(angle(tf_est./squeeze(freqresp(Glpf, f, 'Hz')))), 'k-')
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
ylabel('Phase'); xlabel('Frequency [Hz]');
hold off;
ylim([-180, 180]);
yticks([-180, -90, 0, 90, 180]);
linkaxes([ax1,ax2], 'x');
xlim([10, 5e3]);
#+end_src