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Thomas Dehaeze 2020-11-12 09:18:40 +01:00
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49
css/custom.css Normal file
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@ -0,0 +1,49 @@
.figure p{
text-align: center;
}
.figure img{
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display: block;
margin: auto;
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table {
margin-left: auto;
margin-right: auto;
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.org-src-container > pre.src:before {
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position: absolute;
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font-size: 80%;
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overflow: visible;
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.org-src-container > pre > code.src:before {
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.org-src-container > pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
.org-src-container > pre.src-elisp:before { content: 'Emacs Lisp'; }
.org-src-container > pre.src-sh:before { content: 'shell'; }
.org-src-container > pre.src-bash:before { content: 'bash'; }
.org-src-container > pre.src-org:before { content: 'Org mode'; }
.org-src-container > pre.src-python:before { content: 'Python'; }
.org-src-container > pre.src-matlab:before { content: 'Matlab'; }

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@ -513,7 +513,7 @@ legend{
padding:0; padding:0;
white-space:normal} white-space:normal}
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@ -576,7 +576,7 @@ a .fa,a #content .admonition-title,#content a .admonition-title{
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margin-bottom:24px; margin-bottom:24px;
@ -596,32 +596,45 @@ a .fa,a #content .admonition-title,#content a .admonition-title{
#content .danger,#content .error{ #content .danger,#content .error{
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.wy-alert.wy-alert-warning,#content .wy-alert-warning.note,#content .attention,#content .caution,#content .wy-alert-warning.danger,#content .wy-alert-warning.error,#content .wy-alert-warning.hint,#content .wy-alert-warning.important,#content .wy-alert-warning.tip,#content .warning,#content .wy-alert-warning.seealso,#content .admonitiontodo{ .wy-alert.wy-alert-warning,#content .wy-alert-warning.note,#content .attention,#content .caution,#content .wy-alert-warning.danger,#content .wy-alert-warning.error,#content .wy-alert-warning.summary,#content .wy-alert-warning.hint,#content .wy-alert-warning.important,#content .wy-alert-warning.tip,#content .warning,#content .wy-alert-warning.seealso,#content .admonitiontodo{
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#content .admonition-title.tip,#content .admonition-title.important,#content .admonition-title.hint{ #content .admonition-title.tip,#content .admonition-title.important,#content .admonition-title.summary,#content .admonition-title.hint{
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#content .important,#content .tip,#content .hint{ #content .important,#content .tip,#content .summary,#content .hint{
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background:#6ab0de} background:#6ab0de}
@ -938,7 +951,7 @@ footer p{
font-style:italic; font-style:italic;
} }
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#content .admonition-title:before{ #content .admonition-title:before{

315
index.html
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@ -3,17 +3,16 @@
"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>
<!-- 2020-11-03 mar. 10:11 --> <!-- 2020-11-12 jeu. 09:18 -->
<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" />
<meta name="author" content="Dehaeze Thomas" /> <meta name="author" content="Dehaeze Thomas" />
<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/> <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/> <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
<link rel="stylesheet" type="text/css" href="./css/zenburn.css"/> <link rel="stylesheet" type="text/css" href="./css/custom.css"/>
<script type="text/javascript" src="./js/jquery.min.js"></script> <script type="text/javascript" src="./js/jquery.min.js"></script>
<script type="text/javascript" src="./js/bootstrap.min.js"></script> <script type="text/javascript" src="./js/bootstrap.min.js"></script>
<script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
<script type="text/javascript" src="./js/readtheorg.js"></script> <script type="text/javascript" src="./js/readtheorg.js"></script>
</head> </head>
<body> <body>
@ -27,50 +26,42 @@
<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="#orgdcc1f5c">1. Setup</a> <li><a href="#orge1ce8ff">1. Setup</a>
<ul> <ul>
<li><a href="#orgf7defdc">1.1. Parameters</a></li> <li><a href="#org4f8d088">1.1. Parameters</a></li>
<li><a href="#org6e2beab">1.2. Filter White Noise</a></li> <li><a href="#org92bcdf4">1.2. Filter White Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org6fb223c">2. Run Experiment and Save Data</a> <li><a href="#org17a026f">2. Run Experiment and Save Data</a>
<ul> <ul>
<li><a href="#orge108931">2.1. Load Data</a></li> <li><a href="#org1b14494">2.1. Load Data</a></li>
<li><a href="#org4c370ec">2.2. Save Data</a></li> <li><a href="#org59026b4">2.2. Save Data</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org78464fb">3. Huddle Test</a> <li><a href="#org1758121">3. Huddle Test</a>
<ul> <ul>
<li><a href="#org1d3dde0">3.1. Time Domain Data</a></li> <li><a href="#org7fcc745">3.1. Time Domain Data</a></li>
<li><a href="#org01c740a">3.2. PSD of Measurement Noise</a></li> <li><a href="#org67ec115">3.2. PSD of Measurement Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgf4b384a">4. Transfer Function Estimation using the DAC as the driver</a> <li><a href="#org3be6abe">4. Transfer Function Estimation using the PI Amplifier</a>
<ul> <ul>
<li><a href="#orgc3e175d">4.1. Time Domain Data</a></li> <li><a href="#orgd263f64">4.1. Load Data</a></li>
<li><a href="#orge6e7a4a">4.2. Comparison of the PSD with Huddle Test</a></li> <li><a href="#orga450ffc">4.2. Comparison of the PSD with Huddle Test</a></li>
<li><a href="#org4fe238a">4.3. Compute TF estimate and Coherence</a></li> <li><a href="#orgc964fb2">4.3. Compute TF estimate and Coherence</a></li>
<li><a href="#orgdfa1999">4.4. Comparison with the FEM model</a></li> <li><a href="#orge2ba96a">4.4. Comparison with the FEM model</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org3a522d2">5. Transfer Function Estimation using the PI Amplifier</a> <li><a href="#org1988c0d">5. Transfer function from force actuator to force sensor</a>
<ul> <ul>
<li><a href="#org37ebc58">5.1. Load Data</a></li> <li><a href="#org037188e">5.1. System Identification</a></li>
<li><a href="#org96481d0">5.2. Comparison of the PSD with Huddle Test</a></li> <li><a href="#org0a38226">5.2. Integral Force Feedback</a></li>
<li><a href="#org0d0f5af">5.3. Compute TF estimate and Coherence</a></li>
<li><a href="#org3e6bc68">5.4. Comparison with the FEM model</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org97bbea0">6. Transfer function from force actuator to force sensor</a> <li><a href="#org5df0163">6. IFF Tests</a>
<ul> <ul>
<li><a href="#org89a469b">6.1. System Identification</a></li> <li><a href="#org26f64e8">6.1. First tests with few gains</a></li>
<li><a href="#org5101bab">6.2. Integral Force Feedback</a></li> <li><a href="#orgda4dc48">6.2. Second test with many Gains</a></li>
</ul>
</li>
<li><a href="#orgea75537">7. IFF Tests</a>
<ul>
<li><a href="#orgd2939f8">7.1. First tests with few gains</a></li>
<li><a href="#org7987703">7.2. Second test with many Gains</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@ -78,26 +69,26 @@
</div> </div>
<div id="orgf074020" class="figure"> <div id="orgf655a68" class="figure">
<p><img src="figs/setup_picture.png" alt="setup_picture.png" /> <p><img src="figs/setup_picture.png" alt="setup_picture.png" />
</p> </p>
<p><span class="figure-number">Figure 1: </span>Picture of the Setup</p> <p><span class="figure-number">Figure 1: </span>Picture of the Setup</p>
</div> </div>
<div id="org3fc88d7" class="figure"> <div id="org9083f49" class="figure">
<p><img src="figs/setup_zoom.png" alt="setup_zoom.png" /> <p><img src="figs/setup_zoom.png" alt="setup_zoom.png" />
</p> </p>
<p><span class="figure-number">Figure 2: </span>Zoom on the APA</p> <p><span class="figure-number">Figure 2: </span>Zoom on the APA</p>
</div> </div>
<div id="outline-container-orgdcc1f5c" class="outline-2"> <div id="outline-container-orge1ce8ff" class="outline-2">
<h2 id="orgdcc1f5c"><span class="section-number-2">1</span> Setup</h2> <h2 id="orge1ce8ff"><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-orgf7defdc" class="outline-3"> <div id="outline-container-org4f8d088" class="outline-3">
<h3 id="orgf7defdc"><span class="section-number-3">1.1</span> Parameters</h3> <h3 id="org4f8d088"><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<span class="org-type">-</span>4; <pre class="src src-matlab">Ts = 1e<span class="org-type">-</span>4;
@ -106,8 +97,8 @@
</div> </div>
</div> </div>
<div id="outline-container-org6e2beab" class="outline-3"> <div id="outline-container-org92bcdf4" class="outline-3">
<h3 id="org6e2beab"><span class="section-number-3">1.2</span> Filter White Noise</h3> <h3 id="org92bcdf4"><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<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>500); <pre class="src src-matlab">Glpf = 1<span class="org-type">/</span>(1 <span class="org-type">+</span> s<span class="org-type">/</span>2<span class="org-type">/</span><span class="org-constant">pi</span><span class="org-type">/</span>500);
@ -119,13 +110,13 @@ Gz = c2d(Glpf, Ts, <span class="org-string">'tustin'</span>);
</div> </div>
</div> </div>
<div id="outline-container-org6fb223c" class="outline-2"> <div id="outline-container-org17a026f" class="outline-2">
<h2 id="org6fb223c"><span class="section-number-2">2</span> Run Experiment and Save Data</h2> <h2 id="org17a026f"><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-orge108931" class="outline-3"> <div id="outline-container-org1b14494" class="outline-3">
<h3 id="orge108931"><span class="section-number-3">2.1</span> Load Data</h3> <h3 id="org1b14494"><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(<span class="org-string">'data/apa95ml.dat'</span>).data; <pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData(<span class="org-string">'data/apa95ml.dat'</span>).data;
@ -134,8 +125,8 @@ Gz = c2d(Glpf, Ts, <span class="org-string">'tustin'</span>);
</div> </div>
</div> </div>
<div id="outline-container-org4c370ec" class="outline-3"> <div id="outline-container-org59026b4" class="outline-3">
<h3 id="org4c370ec"><span class="section-number-3">2.2</span> Save Data</h3> <h3 id="org59026b4"><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(<span class="org-type">:</span>, 1); <span class="org-comment">% Input Voltage [V]</span> <pre class="src src-matlab">u = data(<span class="org-type">:</span>, 1); <span class="org-comment">% Input Voltage [V]</span>
@ -152,16 +143,16 @@ t = data(<span class="org-type">:</span>, 3); <span class="org-comment">% Time [
</div> </div>
</div> </div>
<div id="outline-container-org78464fb" class="outline-2"> <div id="outline-container-org1758121" class="outline-2">
<h2 id="org78464fb"><span class="section-number-2">3</span> Huddle Test</h2> <h2 id="org1758121"><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-org1d3dde0" class="outline-3"> <div id="outline-container-org7fcc745" class="outline-3">
<h3 id="org1d3dde0"><span class="section-number-3">3.1</span> Time Domain Data</h3> <h3 id="org7fcc745"><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="orgc626b0d" class="figure"> <div id="orge79b739" 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 3: </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>
@ -169,8 +160,8 @@ t = data(<span class="org-type">:</span>, 3); <span class="org-comment">% Time [
</div> </div>
</div> </div>
<div id="outline-container-org01c740a" class="outline-3"> <div id="outline-container-org67ec115" class="outline-3">
<h3 id="org01c740a"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3> <h3 id="org67ec115"><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)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1); <pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
@ -186,7 +177,7 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
</div> </div>
<div id="orgca5cf6e" class="figure"> <div id="org8f41c21" 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 4: </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>
@ -195,123 +186,13 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
</div> </div>
</div> </div>
<div id="outline-container-orgf4b384a" class="outline-2"> <div id="outline-container-org3be6abe" class="outline-2">
<h2 id="orgf4b384a"><span class="section-number-2">4</span> Transfer Function Estimation using the DAC as the driver</h2> <h2 id="org3be6abe"><span class="section-number-2">4</span> Transfer Function Estimation using the PI Amplifier</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
<div class="important" id="org6ea9dc1">
<p>
Results presented in this sections are wrong as the ADC cannot deliver enought current to the piezoelectric actuator.
</p>
</div> </div>
</div> <div id="outline-container-orgd263f64" class="outline-3">
<h3 id="orgd263f64"><span class="section-number-3">4.1</span> Load Data</h3>
<div id="outline-container-orgc3e175d" class="outline-3">
<h3 id="orgc3e175d"><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="org45e7018" class="figure">
<p><img src="figs/apa95ml_5kg_10V_time_domain.png" alt="apa95ml_5kg_10V_time_domain.png" />
</p>
<p><span class="figure-number">Figure 5: </span>Time domain signals during the test</p>
</div>
</div>
</div>
<div id="outline-container-orge6e7a4a" class="outline-3">
<h3 id="orge6e7a4a"><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="org-src-container">
<pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
Fs = 1<span class="org-type">/</span>Ts;
win = hanning(ceil(1<span class="org-type">*</span>Fs));
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
[pht, <span class="org-type">~</span>] = pwelch(ht.y, win, [], [], Fs);
</pre>
</div>
<div id="org2f464a0" class="figure">
<p><img src="figs/apa95ml_5kg_10V_pdf_comp_huddle.png" alt="apa95ml_5kg_10V_pdf_comp_huddle.png" />
</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 id="outline-container-org4fe238a" class="outline-3">
<h3 id="org4fe238a"><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="org-src-container">
<pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
Fs = 1<span class="org-type">/</span>Ts;
</pre>
</div>
<div class="org-src-container">
<pre class="src src-matlab">win = hann(ceil(1<span class="org-type">/</span>Ts));
[tf_est, f] = tfestimate(u, <span class="org-type">-</span>y, win, [], [], 1<span class="org-type">/</span>Ts);
[co_est, <span class="org-type">~</span>] = mscohere( u, <span class="org-type">-</span>y, win, [], [], 1<span class="org-type">/</span>Ts);
</pre>
</div>
<div id="org81de8a0" class="figure">
<p><img src="figs/apa95ml_5kg_10V_coh.png" alt="apa95ml_5kg_10V_coh.png" />
</p>
<p><span class="figure-number">Figure 7: </span>Coherence</p>
</div>
<div id="org297b2fb" class="figure">
<p><img src="figs/apa95ml_5kg_10V_tf.png" alt="apa95ml_5kg_10V_tf.png" />
</p>
<p><span class="figure-number">Figure 8: </span>Estimation of the transfer function from input voltage to displacement</p>
</div>
</div>
</div>
<div id="outline-container-orgdfa1999" class="outline-3">
<h3 id="orgdfa1999"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
<div class="outline-text-3" id="text-4-4">
<div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'mat/fem_model_5kg.mat'</span>, <span class="org-string">'Ghm'</span>);
</pre>
</div>
<div id="org4247213" class="figure">
<p><img src="figs/apa95ml_5kg_comp_fem.png" alt="apa95ml_5kg_comp_fem.png" />
</p>
<p><span class="figure-number">Figure 9: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
</div>
</div>
</div>
<div class="outline-text-2" id="text-4">
<div class="important" id="orgf487d60">
<p>
The problem comes from the fact that the piezo is driven directly by the DAC that cannot deliver enought current.
In the next section, a current amplifier is used.
</p>
</div>
</div>
</div>
<div id="outline-container-org3a522d2" class="outline-2">
<h2 id="org3a522d2"><span class="section-number-2">5</span> Transfer Function Estimation using the PI Amplifier</h2>
<div class="outline-text-2" id="text-5">
</div>
<div id="outline-container-org37ebc58" class="outline-3">
<h3 id="org37ebc58"><span class="section-number-3">5.1</span> Load Data</h3>
<div class="outline-text-3" id="text-5-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">ht = load(<span class="org-string">'./mat/huddle_test.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>); <pre class="src src-matlab">ht = load(<span class="org-string">'./mat/huddle_test.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>);
load(<span class="org-string">'./mat/apa95ml_5kg_Amp_E505.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'um'</span>, <span class="org-string">'y'</span>); load(<span class="org-string">'./mat/apa95ml_5kg_Amp_E505.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'um'</span>, <span class="org-string">'y'</span>);
@ -330,9 +211,9 @@ ht.y = ht.y <span class="org-type">-</span> mean(ht.y);
</div> </div>
</div> </div>
<div id="outline-container-org96481d0" class="outline-3"> <div id="outline-container-orga450ffc" class="outline-3">
<h3 id="org96481d0"><span class="section-number-3">5.2</span> Comparison of the PSD with Huddle Test</h3> <h3 id="orga450ffc"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3>
<div class="outline-text-3" id="text-5-2"> <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)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1); <pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
Fs = 1<span class="org-type">/</span>Ts; Fs = 1<span class="org-type">/</span>Ts;
@ -348,17 +229,17 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
</div> </div>
<div id="orgdd13db1" class="figure"> <div id="orge6cd415" class="figure">
<p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" /> <p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
</p> </p>
<p><span class="figure-number">Figure 10: </span>Comparison of the ASD for the identification test and the huddle test</p> <p><span class="figure-number">Figure 5: </span>Comparison of the ASD for the identification test and the huddle test</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org0d0f5af" class="outline-3"> <div id="outline-container-orgc964fb2" class="outline-3">
<h3 id="org0d0f5af"><span class="section-number-3">5.3</span> Compute TF estimate and Coherence</h3> <h3 id="orgc964fb2"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
<div class="outline-text-3" id="text-5-3"> <div class="outline-text-3" id="text-4-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1); <pre class="src src-matlab">Ts = t(end)<span class="org-type">/</span>(length(t)<span class="org-type">-</span>1);
Fs = 1<span class="org-type">/</span>Ts; Fs = 1<span class="org-type">/</span>Ts;
@ -375,42 +256,42 @@ Fs = 1<span class="org-type">/</span>Ts;
</div> </div>
<div id="orga4ba98f" class="figure"> <div id="orgc5081fd" class="figure">
<p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" /> <p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
</p> </p>
<p><span class="figure-number">Figure 11: </span>Coherence</p> <p><span class="figure-number">Figure 6: </span>Coherence</p>
</div> </div>
<div id="org565db50" class="figure"> <div id="orgef956d1" class="figure">
<p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" /> <p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
</p> </p>
<p><span class="figure-number">Figure 12: </span>Estimation of the transfer function from input voltage to displacement</p> <p><span class="figure-number">Figure 7: </span>Estimation of the transfer function from input voltage to displacement</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org3e6bc68" class="outline-3"> <div id="outline-container-orge2ba96a" class="outline-3">
<h3 id="org3e6bc68"><span class="section-number-3">5.4</span> Comparison with the FEM model</h3> <h3 id="orge2ba96a"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
<div class="outline-text-3" id="text-5-4"> <div class="outline-text-3" id="text-4-4">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'mat/fem_model_5kg.mat'</span>, <span class="org-string">'G'</span>); <pre class="src src-matlab">load(<span class="org-string">'mat/fem_model_5kg.mat'</span>, <span class="org-string">'G'</span>);
</pre> </pre>
</div> </div>
<div id="org9580a6b" class="figure"> <div id="org5df5018" class="figure">
<p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" /> <p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" />
</p> </p>
<p><span class="figure-number">Figure 13: </span>Comparison of the identified transfer function and the one estimated from the FE model</p> <p><span class="figure-number">Figure 8: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
</div> </div>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org97bbea0" class="outline-2"> <div id="outline-container-org1988c0d" class="outline-2">
<h2 id="org97bbea0"><span class="section-number-2">6</span> Transfer function from force actuator to force sensor</h2> <h2 id="org1988c0d"><span class="section-number-2">5</span> Transfer function from force actuator to force sensor</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-5">
<p> <p>
Two measurements are performed: Two measurements are performed:
</p> </p>
@ -456,7 +337,7 @@ Gfem_a_ss = exp(<span class="org-type">-</span>s<span class="org-type">/</span>1
</pre> </pre>
</div> </div>
<p> <p>
The transfer function from input voltage to output voltage are computed and shown in Figure <a href="#org23238ab">14</a>. The transfer function from input voltage to output voltage are computed and shown in Figure <a href="#orge6ce288">9</a>.
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">Ts = a_ss.t(end)<span class="org-type">/</span>(length(a_ss.t)<span class="org-type">-</span>1); <pre class="src src-matlab">Ts = a_ss.t(end)<span class="org-type">/</span>(length(a_ss.t)<span class="org-type">-</span>1);
@ -473,16 +354,16 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
</div> </div>
<div id="org23238ab" class="figure"> <div id="orge6ce288" class="figure">
<p><img src="figs/bode_plot_force_sensor_voltage_comp_fem.png" alt="bode_plot_force_sensor_voltage_comp_fem.png" /> <p><img src="figs/bode_plot_force_sensor_voltage_comp_fem.png" alt="bode_plot_force_sensor_voltage_comp_fem.png" />
</p> </p>
<p><span class="figure-number">Figure 14: </span>Comparison of the identified dynamics from voltage output to voltage input and the FEM</p> <p><span class="figure-number">Figure 9: </span>Comparison of the identified dynamics from voltage output to voltage input and the FEM</p>
</div> </div>
</div> </div>
<div id="outline-container-org89a469b" class="outline-3"> <div id="outline-container-org037188e" class="outline-3">
<h3 id="org89a469b"><span class="section-number-3">6.1</span> System Identification</h3> <h3 id="org037188e"><span class="section-number-3">5.1</span> System Identification</h3>
<div class="outline-text-3" id="text-6-1"> <div class="outline-text-3" id="text-5-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">w_z = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>111; <span class="org-comment">% Zeros frequency [rad/s]</span> <pre class="src src-matlab">w_z = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>111; <span class="org-comment">% Zeros frequency [rad/s]</span>
w_p = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>255; <span class="org-comment">% Pole frequency [rad/s]</span> w_p = 2<span class="org-type">*</span><span class="org-constant">pi</span><span class="org-type">*</span>255; <span class="org-comment">% Pole frequency [rad/s]</span>
@ -495,35 +376,35 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
</div> </div>
<div id="org506d2b4" class="figure"> <div id="orged1dc40" class="figure">
<p><img src="figs/iff_plant_identification_apa95ml.png" alt="iff_plant_identification_apa95ml.png" /> <p><img src="figs/iff_plant_identification_apa95ml.png" alt="iff_plant_identification_apa95ml.png" />
</p> </p>
<p><span class="figure-number">Figure 15: </span>Identification of the IFF plant</p> <p><span class="figure-number">Figure 10: </span>Identification of the IFF plant</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org5101bab" class="outline-3"> <div id="outline-container-org0a38226" class="outline-3">
<h3 id="org5101bab"><span class="section-number-3">6.2</span> Integral Force Feedback</h3> <h3 id="org0a38226"><span class="section-number-3">5.2</span> Integral Force Feedback</h3>
<div class="outline-text-3" id="text-6-2"> <div class="outline-text-3" id="text-5-2">
<div id="orga196955" class="figure"> <div id="org86c0c5b" class="figure">
<p><img src="figs/root_locus_iff_apa95ml_identification.png" alt="root_locus_iff_apa95ml_identification.png" /> <p><img src="figs/root_locus_iff_apa95ml_identification.png" alt="root_locus_iff_apa95ml_identification.png" />
</p> </p>
<p><span class="figure-number">Figure 16: </span>Root Locus for IFF</p> <p><span class="figure-number">Figure 11: </span>Root Locus for IFF</p>
</div> </div>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-orgea75537" class="outline-2"> <div id="outline-container-org5df0163" class="outline-2">
<h2 id="orgea75537"><span class="section-number-2">7</span> IFF Tests</h2> <h2 id="org5df0163"><span class="section-number-2">6</span> IFF Tests</h2>
<div class="outline-text-2" id="text-7"> <div class="outline-text-2" id="text-6">
</div> </div>
<div id="outline-container-orgd2939f8" class="outline-3"> <div id="outline-container-org26f64e8" class="outline-3">
<h3 id="orgd2939f8"><span class="section-number-3">7.1</span> First tests with few gains</h3> <h3 id="org26f64e8"><span class="section-number-3">6.1</span> First tests with few gains</h3>
<div class="outline-text-3" id="text-7-1"> <div class="outline-text-3" id="text-6-1">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">iff_g10 = load(<span class="org-string">'./mat/apa95ml_iff_g10_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>); <pre class="src src-matlab">iff_g10 = load(<span class="org-string">'./mat/apa95ml_iff_g10_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
iff_g100 = load(<span class="org-string">'./mat/apa95ml_iff_g100_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>); iff_g100 = load(<span class="org-string">'./mat/apa95ml_iff_g100_res.mat'</span>, <span class="org-string">'u'</span>, <span class="org-string">'t'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
@ -547,25 +428,25 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
</div> </div>
<div id="org6ca73df" class="figure"> <div id="org01c9bde" class="figure">
<p><img src="figs/iff_first_test_coherence.png" alt="iff_first_test_coherence.png" /> <p><img src="figs/iff_first_test_coherence.png" alt="iff_first_test_coherence.png" />
</p> </p>
<p><span class="figure-number">Figure 17: </span>Coherence</p> <p><span class="figure-number">Figure 12: </span>Coherence</p>
</div> </div>
<div id="orgb430e51" class="figure"> <div id="orgdcd9122" class="figure">
<p><img src="figs/iff_first_test_bode_plot.png" alt="iff_first_test_bode_plot.png" /> <p><img src="figs/iff_first_test_bode_plot.png" alt="iff_first_test_bode_plot.png" />
</p> </p>
<p><span class="figure-number">Figure 18: </span>Bode plot for different values of IFF gain</p> <p><span class="figure-number">Figure 13: </span>Bode plot for different values of IFF gain</p>
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-org7987703" class="outline-3"> <div id="outline-container-orgda4dc48" class="outline-3">
<h3 id="org7987703"><span class="section-number-3">7.2</span> Second test with many Gains</h3> <h3 id="orgda4dc48"><span class="section-number-3">6.2</span> Second test with many Gains</h3>
<div class="outline-text-3" id="text-7-2"> <div class="outline-text-3" id="text-6-2">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">load(<span class="org-string">'./mat/apa95ml_iff_test.mat'</span>, <span class="org-string">'results'</span>); <pre class="src src-matlab">load(<span class="org-string">'./mat/apa95ml_iff_test.mat'</span>, <span class="org-string">'results'</span>);
</pre> </pre>
@ -593,7 +474,7 @@ g_iff = [0, 1, 5, 10, 50, 100];
</div> </div>
<div id="orgb6055a9" class="figure"> <div id="org52a1b9d" class="figure">
<p><img src="figs/iff_results_bode_plots.png" alt="iff_results_bode_plots.png" /> <p><img src="figs/iff_results_bode_plots.png" alt="iff_results_bode_plots.png" />
</p> </p>
</div> </div>
@ -615,13 +496,13 @@ f_end = 500; <span class="org-comment">% [Hz]</span>
</div> </div>
<div id="orgf5bb2b0" class="figure"> <div id="orga4ab0d0" class="figure">
<p><img src="figs/iff_results_bode_plots_identification.png" alt="iff_results_bode_plots_identification.png" /> <p><img src="figs/iff_results_bode_plots_identification.png" alt="iff_results_bode_plots_identification.png" />
</p> </p>
</div> </div>
<div id="org4ef9435" class="figure"> <div id="org9a011df" class="figure">
<p><img src="figs/iff_results_root_locus.png" alt="iff_results_root_locus.png" /> <p><img src="figs/iff_results_root_locus.png" alt="iff_results_root_locus.png" />
</p> </p>
</div> </div>
@ -631,7 +512,7 @@ f_end = 500; <span class="org-comment">% [Hz]</span>
</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: 2020-11-03 mar. 10:11</p> <p class="date">Created: 2020-11-12 jeu. 09:18</p>
</div> </div>
</body> </body>
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@ -11,10 +11,9 @@
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/> #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/> #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/zenburn.css"/> #+HTML_HEAD: <link rel="stylesheet" type="text/css" href="./css/custom.css"/>
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script> #+HTML_HEAD: <script type="text/javascript" src="./js/jquery.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script> #+HTML_HEAD: <script type="text/javascript" src="./js/bootstrap.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="./js/jquery.stickytableheaders.min.js"></script>
#+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script> #+HTML_HEAD: <script type="text/javascript" src="./js/readtheorg.js"></script>
#+HTML_MATHJAX: align: center tagside: right font: TeX #+HTML_MATHJAX: align: center tagside: right font: TeX
@ -160,7 +159,7 @@
#+RESULTS: #+RESULTS:
[[file:figs/huddle_test_pdf.png]] [[file:figs/huddle_test_pdf.png]]
* Transfer Function Estimation using the DAC as the driver * Transfer Function Estimation using the DAC as the driver :noexport:
:PROPERTIES: :PROPERTIES:
:header-args:matlab+: :tangle matlab/tf_estimation.m :header-args:matlab+: :tangle matlab/tf_estimation.m
:header-args:matlab+: :comments org :mkdirp yes :header-args:matlab+: :comments org :mkdirp yes

1
js/jquery.stickytableheaders.min.js vendored
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@ -1 +0,0 @@
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2
js/readtheorg.js
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@ -9,6 +9,8 @@ $(function() {
$('.hint').before("<p class='admonition-title hint'>Hint</p>"); $('.hint').before("<p class='admonition-title hint'>Hint</p>");
$('.error').before("<p class='admonition-title error'>Error</p>"); $('.error').before("<p class='admonition-title error'>Error</p>");
$('.danger').before("<p class='admonition-title danger'>Danger</p>"); $('.danger').before("<p class='admonition-title danger'>Danger</p>");
$('.question').before("<p class='admonition-title question'>Question</p>");
$('.summary').before("<p class='admonition-title hint'>Summary</p>");
}); });
$( document ).ready(function() { $( document ).ready(function() {