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+trailer +<< + /Root 169 0 R + /Info 1 0 R + /ID [ ] + /Size 170 +>> +startxref +197501 +%%EOF diff --git a/figs/apa95ml_5kg_PI_pdf_comp_huddle.png b/figs/apa95ml_5kg_PI_pdf_comp_huddle.png new file mode 100644 index 0000000..4dd3d2d Binary files /dev/null and b/figs/apa95ml_5kg_PI_pdf_comp_huddle.png differ diff --git a/figs/apa95ml_5kg_PI_tf.pdf b/figs/apa95ml_5kg_PI_tf.pdf new file mode 100644 index 0000000..94ddad9 Binary files /dev/null and b/figs/apa95ml_5kg_PI_tf.pdf differ diff --git a/figs/apa95ml_5kg_PI_tf.png b/figs/apa95ml_5kg_PI_tf.png new file mode 100644 index 0000000..1476271 Binary files /dev/null and b/figs/apa95ml_5kg_PI_tf.png differ diff --git a/figs/apa95ml_5kg_pi_comp_fem.pdf b/figs/apa95ml_5kg_pi_comp_fem.pdf new file mode 100644 index 0000000..73cfd12 Binary files /dev/null and b/figs/apa95ml_5kg_pi_comp_fem.pdf differ diff --git a/figs/apa95ml_5kg_pi_comp_fem.png b/figs/apa95ml_5kg_pi_comp_fem.png new file mode 100644 index 0000000..ed17f6c Binary files /dev/null and b/figs/apa95ml_5kg_pi_comp_fem.png differ diff --git a/index.html b/index.html index a8fe6ea..b01409a 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Test Bench APA95ML @@ -35,30 +35,37 @@

Table of Contents

-
+

setup_picture.png

Figure 1: Picture of the Setup

-
+

setup_zoom.png

Figure 2: Zoom on the APA

-
-

1 Setup

+
+

1 Setup

-
-

1.1 Parameters

+
+

1.1 Parameters

Ts = 1e-4;
@@ -94,8 +101,8 @@
 
-
-

1.2 Filter White Noise

+
+

1.2 Filter White Noise

Glpf = 1/(1 + s/2/pi/500);
@@ -107,13 +114,13 @@ Gz = c2d(Glpf, Ts, 'tustin');
 
-
-

2 Run Experiment and Save Data

+
+

2 Run Experiment and Save Data

-
-

2.1 Load Data

+
+

2.1 Load Data

data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
@@ -122,8 +129,8 @@ Gz = c2d(Glpf, Ts, 'tustin');
 
-
-

2.2 Save Data

+
+

2.2 Save Data

u = data(:, 1); % Input Voltage [V]
@@ -140,16 +147,16 @@ t = data(:, 3); % Time [s]
 
-
-

3 Huddle Test

+
+

3 Huddle Test

-
-

3.1 Time Domain Data

+
+

3.1 Time Domain Data

-
+

huddle_test_time_domain.png

Figure 3: Measurement of the Mass displacement during Huddle Test

@@ -157,8 +164,8 @@ t = data(:, 3); % Time [s]
-
-

3.2 PSD of Measurement Noise

+
+

3.2 PSD of Measurement Noise

Ts = t(end)/(length(t)-1);
@@ -174,7 +181,7 @@ win = hanning(ceil(1*Fs));
 
-
+

huddle_test_pdf.png

Figure 4: Amplitude Spectral Density of the Displacement during Huddle Test

@@ -183,16 +190,16 @@ win = hanning(ceil(1*Fs));
-
-

4 Transfer Function Estimation with \(m=5kg\)

+
+

4 Transfer Function Estimation with \(m=5kg\)

-
-

4.1 Time Domain Data

+
+

4.1 Time Domain Data

-
+

apa95ml_5kg_10V_time_domain.png

Figure 5: Time domain signals during the test

@@ -200,8 +207,8 @@ win = hanning(ceil(1*Fs));
-
-

4.2 Comparison of the PSD with Huddle Test

+
+

4.2 Comparison of the PSD with Huddle Test

Ts = t(end)/(length(t)-1);
@@ -218,7 +225,7 @@ win = hanning(ceil(1*Fs));
 
-
+

apa95ml_5kg_10V_pdf_comp_huddle.png

Figure 6: Comparison of the ASD for the identification test and the huddle test

@@ -226,9 +233,15 @@ win = hanning(ceil(1*Fs));
-
-

4.3 Compute TF estimate and Coherence

+
+

4.3 Compute TF estimate and Coherence

+
+
Ts = t(end)/(length(t)-1);
+Fs = 1/Ts;
+
+
+
win = hann(ceil(1/Ts));
 
@@ -238,14 +251,14 @@ win = hanning(ceil(1*Fs));
 
-
+

apa95ml_5kg_10V_coh.png

Figure 7: Coherence

-
+

apa95ml_5kg_10V_tf.png

Figure 8: Estimation of the transfer function from input voltage to displacement

@@ -253,8 +266,8 @@ win = hanning(ceil(1*Fs));
-
-

4.4 Comparison with the FEM model

+
+

4.4 Comparison with the FEM model

load('mat/fem_model_5kg.mat', 'Ghm');
@@ -262,7 +275,7 @@ win = hanning(ceil(1*Fs));
 
-
+

apa95ml_5kg_comp_fem.png

Figure 9: Comparison of the identified transfer function and the one estimated from the FE model

@@ -270,10 +283,91 @@ win = hanning(ceil(1*Fs));
+ +
+

5 PI Amplifier

+
+
+
+

5.1 Comparison of the PSD with Huddle Test

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

apa95ml_5kg_PI_pdf_comp_huddle.png +

+

Figure 10: Comparison of the ASD for the identification test and the huddle test

+
+
+
+ +
+

5.2 Compute TF estimate and Coherence

+
+
+
Ts = t(end)/(length(t)-1);
+Fs = 1/Ts;
+
+
+ +
+
win = hann(ceil(10/Ts));
+
+[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
+[co_est, ~] = mscohere(  u, -y, win, [], [], 1/Ts);
+
+
+ + +
+

apa95ml_5kg_PI_coh.png +

+

Figure 11: Coherence

+
+ + +
+

apa95ml_5kg_PI_tf.png +

+

Figure 12: Estimation of the transfer function from input voltage to displacement

+
+
+
+ +
+

5.3 Comparison with the FEM model

+
+
+
load('mat/fem_model_5kg.mat', 'Ghm');
+
+
+ + +
+

apa95ml_5kg_pi_comp_fem.png +

+

Figure 13: Comparison of the identified transfer function and the one estimated from the FE model

+
+
+
+

Author: Dehaeze Thomas

-

Created: 2020-07-20 lun. 13:29

+

Created: 2020-07-23 jeu. 09:33

diff --git a/index.org b/index.org index 991c82e..bccfcef 100644 --- a/index.org +++ b/index.org @@ -235,6 +235,11 @@ [[file:figs/apa95ml_5kg_10V_pdf_comp_huddle.png]] ** Compute TF estimate and Coherence +#+begin_src matlab + Ts = t(end)/(length(t)-1); + Fs = 1/Ts; +#+end_src + #+begin_src matlab win = hann(ceil(1/Ts)); @@ -327,3 +332,160 @@ #+caption: Comparison of the identified transfer function and the one estimated from the FE model #+RESULTS: [[file:figs/apa95ml_5kg_comp_fem.png]] + +** Conclusion :ignore: +#+begin_important +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. +#+end_important + +* PI Amplifier +** 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_Amp_E505.mat', 't', 'u', 'y'); +#+end_src + +** Comparison of the PSD with Huddle Test +#+begin_src matlab + Ts = t(end)/(length(t)-1); + Fs = 1/Ts; + + win = hanning(ceil(1*Fs)); +#+end_src + +#+begin_src matlab + [pxx, f] = pwelch(y, win, [], [], Fs); + [pht, ~] = pwelch(ht.y, win, [], [], Fs); +#+end_src + +#+begin_src matlab :exports none + figure; + hold on; + plot(f, sqrt(pxx), 'DisplayName', '5kg'); + plot(f, sqrt(pht), 'DisplayName', 'Huddle Test'); + hold off; + set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); + xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]'); + legend('location', 'northeast'); + xlim([1, Fs/2]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_PI_pdf_comp_huddle.pdf', 'width', 'wide', 'height', 'tall'); +#+end_src + +#+name: fig:apa95ml_5kg_PI_pdf_comp_huddle +#+caption: Comparison of the ASD for the identification test and the huddle test +#+RESULTS: +[[file:figs/apa95ml_5kg_PI_pdf_comp_huddle.png]] + +** Compute TF estimate and Coherence +#+begin_src matlab + Ts = t(end)/(length(t)-1); + Fs = 1/Ts; +#+end_src + +#+begin_src matlab + win = hann(ceil(10/Ts)); + + [tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts); + [co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts); +#+end_src + +#+begin_src matlab :exports none + figure; + + hold on; + plot(f, co_est, 'k-') + set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin'); + ylabel('Coherence'); xlabel('Frequency [Hz]'); + hold off; + xlim([10, 5e3]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_PI_coh.pdf', 'width', 'wide', 'height', 'normal'); +#+end_src + +#+name: fig:apa95ml_5kg_PI_coh +#+caption: Coherence +#+RESULTS: +[[file:figs/apa95ml_5kg_PI_coh.png]] + +#+begin_src matlab :exports none + 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]'); + hold off; + + linkaxes([ax1,ax2], 'x'); + xlim([10, 5e3]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_PI_tf.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:apa95ml_5kg_PI_tf +#+caption: Estimation of the transfer function from input voltage to displacement +#+RESULTS: +[[file:figs/apa95ml_5kg_PI_tf.png]] + +** Comparison with the FEM model +#+begin_src matlab + load('mat/fem_model_5kg.mat', 'Ghm'); +#+end_src + +#+begin_src matlab :exports none + freqs = logspace(0, 4, 1000); + figure; + ax1 = subplot(2, 1, 1); + hold on; + plot(f, 1/10*170/1400*abs(tf_est), 'DisplayName', 'Identification') + plot(freqs, abs(squeeze(freqresp(Ghm, freqs, 'Hz'))), 'DisplayName', 'FEM') + set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log'); + ylabel('Amplitude'); xlabel('Frequency [Hz]'); + legend('location', 'northeast') + hold off; + + ax2 = subplot(2, 1, 2); + hold on; + plot(f, 180/pi*angle(tf_est)) + plot(freqs, 180/pi*angle(squeeze(freqresp(Ghm, freqs, 'Hz')))) + set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin'); + ylabel('Phase'); xlabel('Frequency [Hz]'); + hold off; + ylim([-180, 180]); + + linkaxes([ax1,ax2], 'x'); + xlim([10, 5e3]); +#+end_src + +#+begin_src matlab :tangle no :exports results :results file replace + exportFig('figs/apa95ml_5kg_pi_comp_fem.pdf', 'width', 'full', 'height', 'full'); +#+end_src + +#+name: fig:apa95ml_5kg_pi_comp_fem +#+caption: Comparison of the identified transfer function and the one estimated from the FE model +#+RESULTS: +[[file:figs/apa95ml_5kg_pi_comp_fem.png]] diff --git a/mat/fem_model_5kg.mat b/mat/fem_model_5kg.mat index 281b5b6..8d6d744 100644 Binary files a/mat/fem_model_5kg.mat and b/mat/fem_model_5kg.mat differ