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new file mode 100644 index 0000000..58f87c3 Binary files /dev/null and b/figs/apa95ml_5kg_10V_time_domain.pdf differ diff --git a/figs/apa95ml_5kg_10V_time_domain.png b/figs/apa95ml_5kg_10V_time_domain.png new file mode 100644 index 0000000..d3060c9 Binary files /dev/null and b/figs/apa95ml_5kg_10V_time_domain.png differ diff --git a/figs/huddle_test_pdf.pdf b/figs/huddle_test_pdf.pdf new file mode 100644 index 0000000..0ef9fc1 Binary files /dev/null and b/figs/huddle_test_pdf.pdf differ diff --git a/figs/huddle_test_pdf.png b/figs/huddle_test_pdf.png new file mode 100644 index 0000000..7b0fb87 Binary files /dev/null and b/figs/huddle_test_pdf.png differ diff --git a/figs/huddle_test_time_domain.pdf b/figs/huddle_test_time_domain.pdf new file mode 100644 index 0000000..f4ff0ff Binary files /dev/null and b/figs/huddle_test_time_domain.pdf differ diff --git a/figs/huddle_test_time_domain.png b/figs/huddle_test_time_domain.png new file mode 100644 index 0000000..1805184 Binary files /dev/null and b/figs/huddle_test_time_domain.png differ diff --git a/index.html b/index.html index c28e3b1..8ac4d05 100644 --- a/index.html +++ b/index.html @@ -3,18 +3,18 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Test Bench APA - - - - - - - + + + + + + +

-
-

1 Parameters

+
+

1 Setup

+
+ +
+

1.1 Parameters

+
Ts = 1e-4;
 
@@ -48,9 +71,9 @@
-
-

2 Filter White Noise

-
+
+

1.2 Filter White Noise

+
Glpf = 1/(1 + s/2/pi/500);
 
@@ -59,95 +82,158 @@ Gz = c2d(Glpf, Ts, 'tustin');
 
+
-
-

3 Load Data

+
+

2 Run Experiment and Save Data

+
+
+ +
+

2.1 Load Data

+
+
+
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
+
+
+
+
+ +
+

2.2 Save Data

+
+
+
u = data(:, 1); % Input Voltage [V]
+y = data(:, 2); % Output Displacement [m]
+t = data(:, 3); % Time [s]
+
+
+ +
+
save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');
+
+
+
+
+
+ +
+

3 Huddle Test

-
-
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml_5kg.dat').data;
-
+
+ +
+

3.1 Time Domain Data

+
+ +
+

huddle_test_time_domain.png +

+

Figure 1: Measurement of the Mass displacement during Huddle Test

-
-

4 Time Domain Data

+
+

3.2 PSD of Measurement Noise

+
+
+
Ts = t(end)/(length(t)-1);
+Fs = 1/Ts;
+
+win = hanning(ceil(1*Fs));
+
+
+ +
+
[pxx, f] = pwelch(y, win, [], [], Fs);
+
+
+ + +
+

huddle_test_pdf.png +

+

Figure 2: Amplitude Spectral Density of the Displacement during Huddle Test

+
+
+
+
+ +
+

4 Transfer Function Estimation with m=5kg

+
+ +
+

4.1 Time Domain Data

+
+ +
+

apa95ml_5kg_10V_time_domain.png +

+

Figure 3: Time domain signals during the test

+
+
+
+ +
+

4.2 Comparison of the PSD with Huddle Test

+
-
figure;
+
Ts = t(end)/(length(t)-1);
+Fs = 1/Ts;
 
-subplot(1,2,1);
-plot(data(:, 3), data(:, 1))
-ylabel('Input Voltage [V]'); xlabel('Time [s]');
-
-
-subplot(1,2,2);
-plot(data(:, 3), data(:, 2))
-ylabel('Output Displacement [m]'); xlabel('Time [s]');
+win = hanning(ceil(1*Fs));
 
+ +
+
[pxx, f] = pwelch(y, win, [], [], Fs);
+[pht, ~] = pwelch(ht.y, win, [], [], Fs);
+
+
+ + +
+

apa95ml_5kg_10V_pdf_comp_huddle.png +

+

Figure 4: Comparison of the ASD for the identification test and the huddle test

+
-
-

5 Compute TF estimate and Coherence

-
+
+

4.3 Compute TF estimate and Coherence

+
win = hann(ceil(1/Ts));
 
-[tf_est, f] = tfestimate(data(:, 1), -data(:, 2), win, [], [], 1/Ts);
-[co_est, ~] = mscohere(  data(:, 1), -data(:, 2), win, [], [], 1/Ts);
+[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
+[co_est, ~] = mscohere(  u, -y, win, [], [], 1/Ts);
 
-
+ + +
+

apa95ml_5kg_10V_coh.png +

+

Figure 5: Coherence

-
-

6 Coherence

-
-
-
figure;
 
-hold on;
-plot(f, co_est, 'k-')
-set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
-ylabel('Coherence'); xlabel('Frequency [Hz]');
-hold off;
-
+
+

apa95ml_5kg_10V_tf.png +

+

Figure 6: Estimation of the transfer function from input voltage to displacement

- -
-

7 Transfer Function

-
-
-
figure;
-ax1 = subplot(2, 1, 1);
-hold on;
-plot(f, abs(tf_est), '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), 'k-')
-set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
-ylabel('Phase'); xlabel('Frequency [Hz]');
-legend();
-hold off;
-
-linkaxes([ax1,ax2], 'x');
-xlim([10, 5000]);
-
-
-

Author: Dehaeze Thomas

-

Created: 2020-07-17 ven. 11:55

+

Created: 2020-07-20 lun. 11:27

diff --git a/index.org b/index.org index 203209d..683268d 100644 --- a/index.org +++ b/index.org @@ -9,13 +9,13 @@ #+HTML_LINK_HOME: ../index.html #+HTML_LINK_UP: ../index.html -#+HTML_HEAD: -#+HTML_HEAD: -#+HTML_HEAD: -#+HTML_HEAD: -#+HTML_HEAD: -#+HTML_HEAD: -#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: +#+HTML_HEAD: #+HTML_MATHJAX: align: center tagside: right font: TeX @@ -41,15 +41,6 @@ #+PROPERTY: header-args:latex+ :output-dir figs :END: -* Matlab Init :noexport:ignore: -#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) - <> -#+end_src - -#+begin_src matlab :exports none :results silent :noweb yes - <> -#+end_src - * Setup :PROPERTIES: :header-args:matlab+: :tangle matlab/setup_experiment.m @@ -96,18 +87,36 @@ :header-args:matlab+: :comments org :mkdirp yes :END: -** Load Data +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) + <> +#+end_src + +#+begin_src matlab :exports none :results silent :noweb yes + <> +#+end_src + +** Load Data :noexport: #+begin_src matlab load('./mat/huddle_test.mat', 't', 'u', 'y'); #+end_src ** Time Domain Data -#+begin_src matlab +#+begin_src matlab :exports none figure; plot(t, y) ylabel('Output Displacement [m]'); xlabel('Time [s]'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/huddle_test_time_domain.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:huddle_test_time_domain +#+caption: Measurement of the Mass displacement during Huddle Test +#+RESULTS: +[[file:figs/huddle_test_time_domain.png]] + ** PSD of Measurement Noise #+begin_src matlab Ts = t(end)/(length(t)-1); @@ -120,27 +129,46 @@ [pxx, f] = pwelch(y, win, [], [], Fs); #+end_src -#+begin_src matlab +#+begin_src matlab :exports none figure; plot(f, sqrt(pxx)); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]'); + xlim([1, Fs/2]); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/huddle_test_pdf.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:huddle_test_pdf +#+caption: Amplitude Spectral Density of the Displacement during Huddle Test +#+RESULTS: +[[file:figs/huddle_test_pdf.png]] + * Transfer Function Estimation with m=5kg :PROPERTIES: :header-args:matlab+: :tangle matlab/tf_estimation.m :header-args:matlab+: :comments org :mkdirp yes :END: -** Load Data +** Matlab Init :noexport:ignore: +#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name) + <> +#+end_src + +#+begin_src matlab :exports none :results silent :noweb yes + <> +#+end_src + +** Load Data :noexport: #+begin_src matlab ht = load('./mat/huddle_test.mat', 't', 'u', 'y'); - load('./mat/apa95ml_5kg.mat', 't', 'u', 'y'); + load('./mat/apa95ml_5kg_10V.mat', 't', 'u', 'y'); #+end_src ** Time Domain Data -#+begin_src matlab +#+begin_src matlab :exports none figure; subplot(1,2,1); @@ -153,6 +181,15 @@ ylabel('Output Displacement [m]'); xlabel('Time [s]'); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_10V_time_domain.pdf', 'width', 'full', 'height', 'tall'); +#+end_src + +#+name: fig:apa95ml_5kg_10V_time_domain +#+caption: Time domain signals during the test +#+RESULTS: +[[file:figs/apa95ml_5kg_10V_time_domain.png]] + ** Comparison of the PSD with Huddle Test #+begin_src matlab Ts = t(end)/(length(t)-1); @@ -166,7 +203,7 @@ [pht, ~] = pwelch(ht.y, win, [], [], Fs); #+end_src -#+begin_src matlab +#+begin_src matlab :exports none figure; hold on; plot(f, sqrt(pxx), 'DisplayName', '5kg'); @@ -174,19 +211,28 @@ hold off; set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]'); - legend('locaation', 'norteast'); + legend('location', 'northeast'); + xlim([1, Fs/2]); #+end_src +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_10V_pdf_comp_huddle.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:apa95ml_5kg_10V_pdf_comp_huddle +#+caption: Comparison of the ASD for the identification test and the huddle test +#+RESULTS: +[[file:figs/apa95ml_5kg_10V_pdf_comp_huddle.png]] + ** Compute TF estimate and Coherence #+begin_src matlab win = hann(ceil(1/Ts)); - [tf_est, f] = tfestimate(data(:, 1), -data(:, 2), win, [], [], 1/Ts); - [co_est, ~] = mscohere( data(:, 1), -data(:, 2), win, [], [], 1/Ts); + [tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts); + [co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts); #+end_src -** Coherence -#+begin_src matlab +#+begin_src matlab :exports none figure; hold on; @@ -194,10 +240,19 @@ set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin'); ylabel('Coherence'); xlabel('Frequency [Hz]'); hold off; + xlim([10, 5e3]); #+end_src -** Transfer Function -#+begin_src matlab +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_10V_coh.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:apa95ml_5kg_10V_coh +#+caption: Coherence +#+RESULTS: +[[file:figs/apa95ml_5kg_10V_coh.png]] + +#+begin_src matlab :exports none figure; ax1 = subplot(2, 1, 1); hold on; @@ -211,9 +266,17 @@ plot(f, 180/pi*angle(tf_est), 'k-') set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin'); ylabel('Phase'); xlabel('Frequency [Hz]'); - legend(); hold off; linkaxes([ax1,ax2], 'x'); - xlim([10, 5000]); + xlim([10, 5e3]); #+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_10V_tf.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:apa95ml_5kg_10V_tf +#+caption: Estimation of the transfer function from input voltage to displacement +#+RESULTS: +[[file:figs/apa95ml_5kg_10V_tf.png]]