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Thomas Dehaeze 2020-07-20 13:22:45 +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. 13:17 --> <!-- 2020-07-20 lun. 13:22 -->
<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" />
@ -27,29 +27,29 @@
<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="#orgdca5c97">1. Setup</a> <li><a href="#org5904e1c">1. Setup</a>
<ul> <ul>
<li><a href="#org0d12d9d">1.1. Parameters</a></li> <li><a href="#org9cb828d">1.1. Parameters</a></li>
<li><a href="#org15a3975">1.2. Filter White Noise</a></li> <li><a href="#org55efde3">1.2. Filter White Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org4392a0d">2. Run Experiment and Save Data</a> <li><a href="#org8af571a">2. Run Experiment and Save Data</a>
<ul> <ul>
<li><a href="#orge9621ee">2.1. Load Data</a></li> <li><a href="#orgc26f768">2.1. Load Data</a></li>
<li><a href="#org1da78b3">2.2. Save Data</a></li> <li><a href="#org184b70d">2.2. Save Data</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgf5ba24e">3. Huddle Test</a> <li><a href="#orga844fc8">3. Huddle Test</a>
<ul> <ul>
<li><a href="#org36326ca">3.1. Time Domain Data</a></li> <li><a href="#org7873825">3.1. Time Domain Data</a></li>
<li><a href="#orge6edd66">3.2. PSD of Measurement Noise</a></li> <li><a href="#org4799d62">3.2. PSD of Measurement Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org788fd72">4. Transfer Function Estimation with m=5kg</a> <li><a href="#orgf667003">4. Transfer Function Estimation with m=5kg</a>
<ul> <ul>
<li><a href="#org47e2de6">4.1. Time Domain Data</a></li> <li><a href="#org1c0e9d1">4.1. Time Domain Data</a></li>
<li><a href="#org6544479">4.2. Comparison of the PSD with Huddle Test</a></li> <li><a href="#org303f615">4.2. Comparison of the PSD with Huddle Test</a></li>
<li><a href="#orgc4644a8">4.3. Compute TF estimate and Coherence</a></li> <li><a href="#orgeb52c9a">4.3. Compute TF estimate and Coherence</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@ -57,26 +57,26 @@
</div> </div>
<div id="org8e3aae2" class="figure"> <div id="org2e20e62" 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="org9f02ad0" class="figure"> <div id="org5723466" 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-orgdca5c97" class="outline-2"> <div id="outline-container-org5904e1c" class="outline-2">
<h2 id="orgdca5c97"><span class="section-number-2">1</span> Setup</h2> <h2 id="org5904e1c"><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-org0d12d9d" class="outline-3"> <div id="outline-container-org9cb828d" class="outline-3">
<h3 id="org0d12d9d"><span class="section-number-3">1.1</span> Parameters</h3> <h3 id="org9cb828d"><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;
@ -85,8 +85,8 @@
</div> </div>
</div> </div>
<div id="outline-container-org15a3975" class="outline-3"> <div id="outline-container-org55efde3" class="outline-3">
<h3 id="org15a3975"><span class="section-number-3">1.2</span> Filter White Noise</h3> <h3 id="org55efde3"><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);
@ -98,13 +98,13 @@ Gz = c2d(Glpf, Ts, 'tustin');
</div> </div>
</div> </div>
<div id="outline-container-org4392a0d" class="outline-2"> <div id="outline-container-org8af571a" class="outline-2">
<h2 id="org4392a0d"><span class="section-number-2">2</span> Run Experiment and Save Data</h2> <h2 id="org8af571a"><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-orge9621ee" class="outline-3"> <div id="outline-container-orgc26f768" class="outline-3">
<h3 id="orge9621ee"><span class="section-number-3">2.1</span> Load Data</h3> <h3 id="orgc26f768"><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;
@ -113,8 +113,8 @@ Gz = c2d(Glpf, Ts, 'tustin');
</div> </div>
</div> </div>
<div id="outline-container-org1da78b3" class="outline-3"> <div id="outline-container-org184b70d" class="outline-3">
<h3 id="org1da78b3"><span class="section-number-3">2.2</span> Save Data</h3> <h3 id="org184b70d"><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]
@ -131,16 +131,16 @@ t = data(:, 3); % Time [s]
</div> </div>
</div> </div>
<div id="outline-container-orgf5ba24e" class="outline-2"> <div id="outline-container-orga844fc8" class="outline-2">
<h2 id="orgf5ba24e"><span class="section-number-2">3</span> Huddle Test</h2> <h2 id="orga844fc8"><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-org36326ca" class="outline-3"> <div id="outline-container-org7873825" class="outline-3">
<h3 id="org36326ca"><span class="section-number-3">3.1</span> Time Domain Data</h3> <h3 id="org7873825"><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="org513762b" class="figure"> <div id="orge1a69cc" 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>
@ -148,8 +148,8 @@ t = data(:, 3); % Time [s]
</div> </div>
</div> </div>
<div id="outline-container-orge6edd66" class="outline-3"> <div id="outline-container-org4799d62" class="outline-3">
<h3 id="orge6edd66"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3> <h3 id="org4799d62"><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);
@ -165,7 +165,7 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="orgc707f3e" class="figure"> <div id="org251d419" 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>
@ -174,16 +174,16 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-org788fd72" class="outline-2"> <div id="outline-container-orgf667003" class="outline-2">
<h2 id="org788fd72"><span class="section-number-2">4</span> Transfer Function Estimation with m=5kg</h2> <h2 id="orgf667003"><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-org47e2de6" class="outline-3"> <div id="outline-container-org1c0e9d1" class="outline-3">
<h3 id="org47e2de6"><span class="section-number-3">4.1</span> Time Domain Data</h3> <h3 id="org1c0e9d1"><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="orgf20885a" class="figure"> <div id="org6773b72" 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 5: </span>Time domain signals during the test</p> <p><span class="figure-number">Figure 5: </span>Time domain signals during the test</p>
@ -191,8 +191,8 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-org6544479" class="outline-3"> <div id="outline-container-org303f615" class="outline-3">
<h3 id="org6544479"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3> <h3 id="org303f615"><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);
@ -209,7 +209,7 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="org2052faa" class="figure"> <div id="org001b938" 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 6: </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>
@ -217,8 +217,8 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-orgc4644a8" class="outline-3"> <div id="outline-container-orgeb52c9a" class="outline-3">
<h3 id="orgc4644a8"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3> <h3 id="orgeb52c9a"><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));
@ -229,30 +229,25 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="orgb885b51" class="figure"> <div id="orgbfd3d36" 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 7: </span>Coherence</p> <p><span class="figure-number">Figure 7: </span>Coherence</p>
</div> </div>
<div id="org1871e4a" class="figure"> <div id="orgbd7052e" 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 8: </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>
<div class="org-src-container">
<pre class="src src-matlab">Glpf = 1/(1 + s/2/pi/500);
</pre>
</div>
</div> </div>
</div> </div>
</div> </div>
</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. 13:17</p> <p class="date">Created: 2020-07-20 lun. 13:22</p>
</div> </div>
</body> </body>
</html> </html>

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@ -290,29 +290,3 @@
#+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