Add Comparison with the FEM
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figs/apa95ml_5kg_comp_fem.pdf
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figs/apa95ml_5kg_comp_fem.png
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-07-20 lun. 13:22 -->
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<!-- 2020-07-20 lun. 13:29 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Test Bench APA95ML</title>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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<script>MathJax = {
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<body>
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<div id="org-div-home-and-up">
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@ -27,29 +35,30 @@
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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="#org5904e1c">1. Setup</a>
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<li><a href="#orge11c5dc">1. Setup</a>
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<ul>
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<li><a href="#org9cb828d">1.1. Parameters</a></li>
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<li><a href="#org55efde3">1.2. Filter White Noise</a></li>
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<li><a href="#org6653e08">1.1. Parameters</a></li>
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<li><a href="#orge01c6e9">1.2. Filter White Noise</a></li>
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</ul>
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</li>
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<li><a href="#org8af571a">2. Run Experiment and Save Data</a>
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<li><a href="#org26dcd8d">2. Run Experiment and Save Data</a>
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<ul>
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<li><a href="#orgc26f768">2.1. Load Data</a></li>
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<li><a href="#org184b70d">2.2. Save Data</a></li>
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<li><a href="#orgc671538">2.1. Load Data</a></li>
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<li><a href="#orge426d6c">2.2. Save Data</a></li>
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</ul>
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</li>
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<li><a href="#orga844fc8">3. Huddle Test</a>
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<li><a href="#org29fccbc">3. Huddle Test</a>
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<ul>
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<li><a href="#org7873825">3.1. Time Domain Data</a></li>
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<li><a href="#org4799d62">3.2. PSD of Measurement Noise</a></li>
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<li><a href="#org1a509f0">3.1. Time Domain Data</a></li>
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<li><a href="#org99da013">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="#orgf667003">4. Transfer Function Estimation with m=5kg</a>
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<li><a href="#orgfa5e8ee">4. Transfer Function Estimation with \(m=5kg\)</a>
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<ul>
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<li><a href="#org1c0e9d1">4.1. Time Domain Data</a></li>
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<li><a href="#org303f615">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#orgeb52c9a">4.3. Compute TF estimate and Coherence</a></li>
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<li><a href="#orgf861073">4.1. Time Domain Data</a></li>
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<li><a href="#org65d8a9f">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#orgc82a6e8">4.3. Compute TF estimate and Coherence</a></li>
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<li><a href="#org4b0a791">4.4. 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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@ -57,26 +66,26 @@
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</div>
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<div id="org2e20e62" class="figure">
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<div id="org63ea785" 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="org5723466" class="figure">
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<div id="org285264c" 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-org5904e1c" class="outline-2">
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<h2 id="org5904e1c"><span class="section-number-2">1</span> Setup</h2>
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<div id="outline-container-orge11c5dc" class="outline-2">
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<h2 id="orge11c5dc"><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-org9cb828d" class="outline-3">
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<h3 id="org9cb828d"><span class="section-number-3">1.1</span> Parameters</h3>
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<div id="outline-container-org6653e08" class="outline-3">
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<h3 id="org6653e08"><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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@ -85,8 +94,8 @@
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</div>
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</div>
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<div id="outline-container-org55efde3" class="outline-3">
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<h3 id="org55efde3"><span class="section-number-3">1.2</span> Filter White Noise</h3>
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<div id="outline-container-orge01c6e9" class="outline-3">
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<h3 id="orge01c6e9"><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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@ -98,13 +107,13 @@ Gz = c2d(Glpf, Ts, 'tustin');
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</div>
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</div>
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<div id="outline-container-org8af571a" class="outline-2">
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<h2 id="org8af571a"><span class="section-number-2">2</span> Run Experiment and Save Data</h2>
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<div id="outline-container-org26dcd8d" class="outline-2">
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<h2 id="org26dcd8d"><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-orgc26f768" class="outline-3">
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<h3 id="orgc26f768"><span class="section-number-3">2.1</span> Load Data</h3>
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<div id="outline-container-orgc671538" class="outline-3">
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<h3 id="orgc671538"><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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@ -113,8 +122,8 @@ Gz = c2d(Glpf, Ts, 'tustin');
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</div>
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</div>
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<div id="outline-container-org184b70d" class="outline-3">
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<h3 id="org184b70d"><span class="section-number-3">2.2</span> Save Data</h3>
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<div id="outline-container-orge426d6c" class="outline-3">
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<h3 id="orge426d6c"><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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@ -131,16 +140,16 @@ t = data(:, 3); % Time [s]
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</div>
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</div>
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<div id="outline-container-orga844fc8" class="outline-2">
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<h2 id="orga844fc8"><span class="section-number-2">3</span> Huddle Test</h2>
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<div id="outline-container-org29fccbc" class="outline-2">
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<h2 id="org29fccbc"><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-org7873825" class="outline-3">
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<h3 id="org7873825"><span class="section-number-3">3.1</span> Time Domain Data</h3>
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<div id="outline-container-org1a509f0" class="outline-3">
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<h3 id="org1a509f0"><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="orge1a69cc" class="figure">
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<div id="orgf1f51e5" 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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@ -148,8 +157,8 @@ t = data(:, 3); % Time [s]
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</div>
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</div>
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<div id="outline-container-org4799d62" class="outline-3">
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<h3 id="org4799d62"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3>
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<div id="outline-container-org99da013" class="outline-3">
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<h3 id="org99da013"><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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@ -165,7 +174,7 @@ win = hanning(ceil(1*Fs));
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</div>
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<div id="org251d419" class="figure">
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<div id="orgc5a6acc" 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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@ -174,16 +183,16 @@ win = hanning(ceil(1*Fs));
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</div>
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</div>
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<div id="outline-container-orgf667003" class="outline-2">
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<h2 id="orgf667003"><span class="section-number-2">4</span> Transfer Function Estimation with m=5kg</h2>
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<div id="outline-container-orgfa5e8ee" class="outline-2">
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<h2 id="orgfa5e8ee"><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-org1c0e9d1" class="outline-3">
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<h3 id="org1c0e9d1"><span class="section-number-3">4.1</span> Time Domain Data</h3>
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<div id="outline-container-orgf861073" class="outline-3">
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<h3 id="orgf861073"><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="org6773b72" class="figure">
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<div id="orga6ff075" 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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@ -191,8 +200,8 @@ win = hanning(ceil(1*Fs));
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</div>
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</div>
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<div id="outline-container-org303f615" class="outline-3">
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<h3 id="org303f615"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3>
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<div id="outline-container-org65d8a9f" class="outline-3">
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<h3 id="org65d8a9f"><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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@ -209,7 +218,7 @@ win = hanning(ceil(1*Fs));
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</div>
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<div id="org001b938" class="figure">
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<div id="org63805be" 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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@ -217,8 +226,8 @@ win = hanning(ceil(1*Fs));
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</div>
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</div>
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<div id="outline-container-orgeb52c9a" class="outline-3">
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<h3 id="orgeb52c9a"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
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<div id="outline-container-orgc82a6e8" class="outline-3">
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<h3 id="orgc82a6e8"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
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<div class="outline-text-3" id="text-4-3">
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<div class="org-src-container">
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<pre class="src src-matlab">win = hann(ceil(1/Ts));
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@ -229,25 +238,42 @@ win = hanning(ceil(1*Fs));
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</div>
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<div id="orgbfd3d36" class="figure">
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<div id="orgf57d3dd" class="figure">
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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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<p><span class="figure-number">Figure 7: </span>Coherence</p>
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</div>
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<div id="orgbd7052e" class="figure">
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<div id="org3409282" class="figure">
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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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<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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</div>
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</div>
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<div id="outline-container-org4b0a791" class="outline-3">
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<h3 id="org4b0a791"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
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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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<div id="org7509557" class="figure">
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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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</div>
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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>
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<p class="date">Created: 2020-07-20 lun. 13:22</p>
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<p class="date">Created: 2020-07-20 lun. 13:29</p>
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</div>
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</body>
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</html>
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#+RESULTS:
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[[file:figs/huddle_test_pdf.png]]
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* Transfer Function Estimation with m=5kg
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* Transfer Function Estimation with $m=5kg$
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:PROPERTIES:
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:header-args:matlab+: :tangle matlab/tf_estimation.m
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:header-args:matlab+: :comments org :mkdirp yes
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@ -290,3 +290,40 @@
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#+caption: Estimation of the transfer function from input voltage to displacement
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#+RESULTS:
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[[file:figs/apa95ml_5kg_10V_tf.png]]
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** Comparison with the FEM model
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#+begin_src matlab
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load('mat/fem_model_5kg.mat', 'Ghm');
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#+end_src
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#+begin_src matlab :exports none
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figure;
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ax1 = subplot(2, 1, 1);
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hold on;
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plot(f, abs(tf_est), 'DisplayName', 'Identification')
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plot(f, abs(squeeze(freqresp(Ghm, f, 'Hz'))), 'DisplayName', 'FEM')
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
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ylabel('Amplitude'); xlabel('Frequency [Hz]');
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legend('location', 'northeast')
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hold off;
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ax2 = subplot(2, 1, 2);
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hold on;
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plot(f, 180/pi*angle(tf_est))
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plot(f, 180/pi*angle(squeeze(freqresp(Ghm, f, 'Hz'))))
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set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
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ylabel('Phase'); xlabel('Frequency [Hz]');
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hold off;
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linkaxes([ax1,ax2], 'x');
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xlim([10, 5e3]);
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#+end_src
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#+begin_src matlab :tangle no :exports results :results file replace
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exportFig('figs/apa95ml_5kg_comp_fem.pdf', 'width', 'full', 'height', 'full');
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#+end_src
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#+name: fig:apa95ml_5kg_comp_fem
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#+caption: Comparison of the identified transfer function and the one estimated from the FE model
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#+RESULTS:
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[[file:figs/apa95ml_5kg_comp_fem.png]]
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BIN
mat/fem_model_5kg.mat
Normal file
BIN
mat/fem_model_5kg.mat
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