Remove CSS/JS => use the one on the server
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tdehaeze committed
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@@ -1,49 +0,0 @@
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.figure p{
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text-align: center;
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}
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.figure img{
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max-width:100%;
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display: block;
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margin: auto;
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}
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table {
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margin-left: auto;
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margin-right: auto;
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}
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.org-src-container > pre.src:before {
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display: inline;
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position: absolute;
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color: #808080;
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background-color: white;
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top: -10px;
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left: 10px;
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padding: 0px 4px;
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border: 1px solid #d0d0d0;
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font-size: 80%;
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}
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.org-src-container > pre {
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margin-top: 1.5em;
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position: relative;
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overflow: visible;
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}
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.org-src-container > pre > code.src:before {
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display: inline;
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position: absolute;
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color: #808080;
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background-color: white;
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top: -10px;
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left: 10px;
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padding: 0px 4px;
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border: 1px solid #d0d0d0;
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font-size: 80%;
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}
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.org-src-container > pre.src-emacs-lisp:before { content: 'Emacs Lisp'; }
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.org-src-container > pre.src-elisp:before { content: 'Emacs Lisp'; }
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.org-src-container > pre.src-sh:before { content: 'shell'; }
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.org-src-container > pre.src-bash:before { content: 'bash'; }
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.org-src-container > pre.src-org:before { content: 'Org mode'; }
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.org-src-container > pre.src-python:before { content: 'Python'; }
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.org-src-container > pre.src-matlab:before { content: 'Matlab'; }
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-145
@@ -1,145 +0,0 @@
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.org-comment-delimiter { /* font-lock-comment-delimiter-face */ color: #999988; font-style: italic; }
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.org-completions-annotations { /* completions-annotations */ font-style: italic; }
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.org-completions-common-part { /* completions-common-part */ color: #000000; background-color: #ffffff; }
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.org-diff-header { /* diff-header */ background-color: #cccccc; }
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.org-dired-perm-write { /* dired-perm-write */ color: #b22222; }
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.org-dired-symlink { /* dired-symlink */ color: #a020f0; }
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.org-dired-warning { /* dired-warning */ color: #ff0000; font-weight: bold; }
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.org-doc { /* font-lock-doc-face */ color: #8b2252; }
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.org-escape-glyph { /* escape-glyph */ color: #a52a2a; }
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.org-file-name-shadow { /* file-name-shadow */ color: #7f7f7f; }
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.org-flyspell-duplicate { /* flyspell-duplicate */ color: #cdad00; font-weight: bold; text-decoration: underline; }
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.org-flyspell-incorrect { /* flyspell-incorrect */ color: #ff4500; font-weight: bold; text-decoration: underline; }
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.org-fringe { /* fringe */ background-color: #f2f2f2; }
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.org-function-name { /* font-lock-function-name-face */ color: teal; }
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.org-header-line { /* header-line */ color: #333333; background-color: #e5e5e5; }
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.org-help-argument-name { /* help-argument-name */ font-style: italic; }
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.org-highlight { /* highlight */ background-color: #b4eeb4; }
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.org-holiday { /* holiday */ background-color: #ffc0cb; }
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.org-isearch { /* isearch */ color: #b0e2ff; background-color: #cd00cd; }
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.org-isearch-fail { /* isearch-fail */ background-color: #ffc1c1; }
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.org-italic { /* italic */ font-style: italic; }
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.org-keyword { /* font-lock-keyword-face */ color: #0086b3; }
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.org-lazy-highlight { /* lazy-highlight */ background-color: #afeeee; }
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.org-link { /* link */ color: #0000ff; text-decoration: underline; }
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.org-link-visited { /* link-visited */ color: #8b008b; text-decoration: underline; }
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.org-log-edit-header { /* log-edit-header */ color: #a020f0; }
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.org-log-edit-summary { /* log-edit-summary */ color: #0000ff; }
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.org-log-edit-unknown-header { /* log-edit-unknown-header */ color: #b22222; }
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.org-match { /* match */ background-color: #ffff00; }
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.org-next-error { /* next-error */ background-color: #eedc82; }
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.org-nobreak-space { /* nobreak-space */ color: #a52a2a; text-decoration: underline; }
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.org-org-archived { /* org-archived */ color: #7f7f7f; }
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.org-org-block { /* org-block */ color: #7f7f7f; }
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.org-org-block-begin-line { /* org-block-begin-line */ color: #b22222; }
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.org-org-block-end-line { /* org-block-end-line */ color: #b22222; }
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.org-org-checkbox { /* org-checkbox */ font-weight: bold; }
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.org-org-checkbox-statistics-done { /* org-checkbox-statistics-done */ color: #228b22; font-weight: bold; }
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.org-org-checkbox-statistics-todo { /* org-checkbox-statistics-todo */ color: #ff0000; font-weight: bold; }
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.org-org-clock-overlay { /* org-clock-overlay */ background-color: #ffff00; }
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.org-org-code { /* org-code */ color: #7f7f7f; }
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.org-org-column { /* org-column */ background-color: #e5e5e5; }
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.org-org-column-title { /* org-column-title */ background-color: #e5e5e5; font-weight: bold; text-decoration: underline; }
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.org-org-date { /* org-date */ color: #a020f0; text-decoration: underline; }
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.org-org-document-info { /* org-document-info */ color: #191970; }
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.org-org-document-info-keyword { /* org-document-info-keyword */ color: #7f7f7f; }
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.org-org-document-title { /* org-document-title */ color: #191970; font-size: 144%; font-weight: bold; }
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.org-org-done { /* org-done */ color: #228b22; font-weight: bold; }
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.org-org-drawer { /* org-drawer */ color: #0000ff; }
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.org-org-ellipsis { /* org-ellipsis */ color: #b8860b; text-decoration: underline; }
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.org-org-footnote { /* org-footnote */ color: #a020f0; text-decoration: underline; }
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.org-org-formula { /* org-formula */ color: #b22222; }
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.org-org-headline-done { /* org-headline-done */ color: #bc8f8f; }
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.org-org-hide { /* org-hide */ color: #ffffff; }
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.org-org-latex-and-export-specials { /* org-latex-and-export-specials */ color: #8b4513; }
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.org-org-level-1 { /* org-level-1 */ color: #0000ff; }
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.org-org-level-2 { /* org-level-2 */ color: #a0522d; }
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.org-org-level-3 { /* org-level-3 */ color: #a020f0; }
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.org-org-level-4 { /* org-level-4 */ color: #b22222; }
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.org-org-level-5 { /* org-level-5 */ color: #228b22; }
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.org-org-level-6 { /* org-level-6 */ color: #008b8b; }
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.org-org-level-7 { /* org-level-7 */ color: #7a378b; }
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.org-org-level-8 { /* org-level-8 */ color: #8b2252; }
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.org-org-link { /* org-link */ color: #0000ff; text-decoration: underline; }
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.org-org-meta-line { /* org-meta-line */ color: #b22222; }
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.org-org-mode-line-clock { /* org-mode-line-clock */ color: #000000; background-color: #bfbfbf; }
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.org-org-mode-line-clock-overrun { /* org-mode-line-clock-overrun */ color: #000000; background-color: #ff0000; }
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.org-org-quote { /* org-quote */ color: #7f7f7f; }
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.org-org-scheduled { /* org-scheduled */ color: #006400; }
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.org-org-scheduled-previously { /* org-scheduled-previously */ color: #b22222; }
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.org-org-scheduled-today { /* org-scheduled-today */ color: #006400; }
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.org-org-sexp-date { /* org-sexp-date */ color: #a020f0; }
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.org-org-special-keyword { /* org-special-keyword */ color: #a020f0; }
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.org-org-table { /* org-table */ color: #0000ff; }
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.org-org-tag { /* org-tag */ font-weight: bold; }
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.org-org-target { /* org-target */ text-decoration: underline; }
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.org-org-time-grid { /* org-time-grid */ color: #b8860b; }
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.org-org-todo { /* org-todo */ color: #ff0000; font-weight: bold; }
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.org-org-upcoming-deadline { /* org-upcoming-deadline */ color: #b22222; }
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.org-org-verbatim { /* org-verbatim */ color: #7f7f7f; }
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.org-org-verse { /* org-verse */ color: #7f7f7f; }
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.org-org-warning { /* org-warning */ color: #ff0000; font-weight: bold; }
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.org-outline-1 { /* outline-1 */ color: #0000ff; }
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.org-outline-2 { /* outline-2 */ color: #a0522d; }
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.org-outline-3 { /* outline-3 */ color: #a020f0; }
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.org-outline-4 { /* outline-4 */ color: #b22222; }
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.org-outline-5 { /* outline-5 */ color: #228b22; }
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.org-query-replace { /* query-replace */ color: #b0e2ff; background-color: #cd00cd; }
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.org-regexp-grouping-construct { /* font-lock-regexp-grouping-construct */ font-weight: bold; }
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.org-region { /* region */ background-color: #eedc82; }
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.org-secondary-selection { /* secondary-selection */ background-color: #ffff00; }
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.org-shadow { /* shadow */ color: #7f7f7f; }
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.org-show-paren-match { /* show-paren-match */ background-color: #40e0d0; }
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.org-string { /* font-lock-string-face */ color: #dd1144; }
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.org-tool-bar { /* tool-bar */ color: #000000; background-color: #bfbfbf; }
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.org-tooltip { /* tooltip */ color: #000000; background-color: #ffffe0; }
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.org-trailing-whitespace { /* trailing-whitespace */ background-color: #ff0000; }
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.org-type { /* font-lock-type-face */ color: #228b22; }
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.org-underline { /* underline */ text-decoration: underline; }
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||||
.org-variable-name { /* font-lock-variable-name-face */ color: teal; }
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.org-warning { /* font-lock-warning-face */ color: #ff0000; font-weight: bold; }
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.org-widget-button { /* widget-button */ font-weight: bold; }
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.org-widget-button-pressed { /* widget-button-pressed */ color: #ff0000; }
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.org-widget-documentation { /* widget-documentation */ color: #006400; }
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.org-widget-field { /* widget-field */ background-color: #d9d9d9; }
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.org-widget-inactive { /* widget-inactive */ color: #7f7f7f; }
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.org-widget-single-line-field { /* widget-single-line-field */ background-color: #d9d9d9; }
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@@ -3,17 +3,17 @@
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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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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<!-- 2020-11-12 jeu. 09:18 -->
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<!-- 2020-11-12 jeu. 09:29 -->
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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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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<link rel="stylesheet" type="text/css" href="./css/htmlize.css"/>
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<link rel="stylesheet" type="text/css" href="./css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="./css/custom.css"/>
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<script type="text/javascript" src="./js/jquery.min.js"></script>
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<script type="text/javascript" src="./js/bootstrap.min.js"></script>
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<script type="text/javascript" src="./js/readtheorg.js"></script>
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<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/htmlize.css"/>
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||||
<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/readtheorg.css"/>
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<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/custom.css"/>
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||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/jquery.min.js"></script>
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||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/bootstrap.min.js"></script>
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||||
<script type="text/javascript" src="https://research.tdehaeze.xyz/js/readtheorg.js"></script>
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</head>
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<body>
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<div id="org-div-home-and-up">
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@@ -26,42 +26,30 @@
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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="#orge1ce8ff">1. Setup</a>
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<li><a href="#org90a334e">1. Huddle Test</a>
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||||
<ul>
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||||
<li><a href="#org4f8d088">1.1. Parameters</a></li>
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||||
<li><a href="#org92bcdf4">1.2. Filter White Noise</a></li>
|
||||
<li><a href="#org285da21">1.1. Time Domain Data</a></li>
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||||
<li><a href="#org5e1c721">1.2. PSD of Measurement Noise</a></li>
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</ul>
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||||
</li>
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<li><a href="#org17a026f">2. Run Experiment and Save Data</a>
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<li><a href="#orgd37467e">2. Identification of the dynamics from actuator to displacement</a>
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<ul>
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||||
<li><a href="#org1b14494">2.1. Load Data</a></li>
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||||
<li><a href="#org59026b4">2.2. Save Data</a></li>
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||||
<li><a href="#org9434b07">2.1. Load Data</a></li>
|
||||
<li><a href="#org1eba886">2.2. Comparison of the PSD with Huddle Test</a></li>
|
||||
<li><a href="#orgcfe0cb7">2.3. Compute TF estimate and Coherence</a></li>
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||||
<li><a href="#org1cdc3bc">2.4. Comparison with the FEM model</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li><a href="#org1758121">3. Huddle Test</a>
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||||
<li><a href="#orgcce11f7">3. Identification of the dynamics from actuator to force sensor</a>
|
||||
<ul>
|
||||
<li><a href="#org7fcc745">3.1. Time Domain Data</a></li>
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||||
<li><a href="#org67ec115">3.2. PSD of Measurement Noise</a></li>
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||||
<li><a href="#org48d4bd0">3.1. System Identification</a></li>
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||||
<li><a href="#orge58d929">3.2. Integral Force Feedback</a></li>
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||||
</ul>
|
||||
</li>
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||||
<li><a href="#org3be6abe">4. Transfer Function Estimation using the PI Amplifier</a>
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||||
<li><a href="#orgfe5bc71">4. Integral Force Feedback</a>
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||||
<ul>
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||||
<li><a href="#orgd263f64">4.1. Load Data</a></li>
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||||
<li><a href="#orga450ffc">4.2. Comparison of the PSD with Huddle Test</a></li>
|
||||
<li><a href="#orgc964fb2">4.3. Compute TF estimate and Coherence</a></li>
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||||
<li><a href="#orge2ba96a">4.4. Comparison with the FEM model</a></li>
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||||
</ul>
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||||
</li>
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||||
<li><a href="#org1988c0d">5. Transfer function from force actuator to force sensor</a>
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||||
<ul>
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||||
<li><a href="#org037188e">5.1. System Identification</a></li>
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||||
<li><a href="#org0a38226">5.2. Integral Force Feedback</a></li>
|
||||
</ul>
|
||||
</li>
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||||
<li><a href="#org5df0163">6. IFF Tests</a>
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||||
<ul>
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||||
<li><a href="#org26f64e8">6.1. First tests with few gains</a></li>
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||||
<li><a href="#orgda4dc48">6.2. Second test with many Gains</a></li>
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||||
<li><a href="#orgd854491">4.1. First tests with few gains</a></li>
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||||
<li><a href="#org899fef5">4.2. Second test with many Gains</a></li>
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||||
</ul>
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||||
</li>
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||||
</ul>
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||||
@@ -69,90 +57,31 @@
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</div>
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<div id="orgf655a68" class="figure">
|
||||
<div id="org392f56d" class="figure">
|
||||
<p><img src="figs/setup_picture.png" alt="setup_picture.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 1: </span>Picture of the Setup</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org9083f49" class="figure">
|
||||
<div id="org6970f6d" class="figure">
|
||||
<p><img src="figs/setup_zoom.png" alt="setup_zoom.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 2: </span>Zoom on the APA</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge1ce8ff" class="outline-2">
|
||||
<h2 id="orge1ce8ff"><span class="section-number-2">1</span> Setup</h2>
|
||||
<div id="outline-container-org90a334e" class="outline-2">
|
||||
<h2 id="org90a334e"><span class="section-number-2">1</span> Huddle Test</h2>
|
||||
<div class="outline-text-2" id="text-1">
|
||||
<p>
|
||||
<a id="orga0e8ba1"></a>
|
||||
</p>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org4f8d088" class="outline-3">
|
||||
<h3 id="org4f8d088"><span class="section-number-3">1.1</span> Parameters</h3>
|
||||
<div id="outline-container-org285da21" class="outline-3">
|
||||
<h3 id="org285da21"><span class="section-number-3">1.1</span> Time Domain Data</h3>
|
||||
<div class="outline-text-3" id="text-1-1">
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">Ts = 1e<span class="org-type">-</span>4;
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org92bcdf4" class="outline-3">
|
||||
<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="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);
|
||||
|
||||
Gz = c2d(Glpf, Ts, <span class="org-string">'tustin'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org17a026f" class="outline-2">
|
||||
<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>
|
||||
|
||||
<div id="outline-container-org1b14494" class="outline-3">
|
||||
<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="org-src-container">
|
||||
<pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData(<span class="org-string">'data/apa95ml.dat'</span>).data;
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org59026b4" class="outline-3">
|
||||
<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="org-src-container">
|
||||
<pre class="src src-matlab">u = data(<span class="org-type">:</span>, 1); <span class="org-comment">% Input Voltage [V]</span>
|
||||
y = data(<span class="org-type">:</span>, 2); <span class="org-comment">% Output Displacement [m]</span>
|
||||
t = data(<span class="org-type">:</span>, 3); <span class="org-comment">% Time [s]</span>
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">save(<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>, <span class="org-string">'Glpf'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1758121" class="outline-2">
|
||||
<h2 id="org1758121"><span class="section-number-2">3</span> Huddle Test</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org7fcc745" class="outline-3">
|
||||
<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 id="orge79b739" class="figure">
|
||||
<div id="orgde9f524" class="figure">
|
||||
<p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 3: </span>Measurement of the Mass displacement during Huddle Test</p>
|
||||
@@ -160,9 +89,9 @@ t = data(<span class="org-type">:</span>, 3); <span class="org-comment">% Time [
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org67ec115" class="outline-3">
|
||||
<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 id="outline-container-org5e1c721" class="outline-3">
|
||||
<h3 id="org5e1c721"><span class="section-number-3">1.2</span> PSD of Measurement Noise</h3>
|
||||
<div class="outline-text-3" id="text-1-2">
|
||||
<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;
|
||||
@@ -177,7 +106,7 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org8f41c21" class="figure">
|
||||
<div id="org71c1833" class="figure">
|
||||
<p><img src="figs/huddle_test_pdf.png" alt="huddle_test_pdf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the Displacement during Huddle Test</p>
|
||||
@@ -186,16 +115,19 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org3be6abe" class="outline-2">
|
||||
<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 id="outline-container-orgd37467e" class="outline-2">
|
||||
<h2 id="orgd37467e"><span class="section-number-2">2</span> Identification of the dynamics from actuator to displacement</h2>
|
||||
<div class="outline-text-2" id="text-2">
|
||||
<p>
|
||||
<a id="org7bb414b"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-orgd263f64" class="outline-3">
|
||||
<h3 id="orgd263f64"><span class="section-number-3">4.1</span> Load Data</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<div id="outline-container-org9434b07" class="outline-3">
|
||||
<h3 id="org9434b07"><span class="section-number-3">2.1</span> Load Data</h3>
|
||||
<div class="outline-text-3" id="text-2-1">
|
||||
<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>);
|
||||
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>);
|
||||
<pre class="src src-matlab">ht = load(<span class="org-string">'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">'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>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -211,9 +143,9 @@ ht.y = ht.y <span class="org-type">-</span> mean(ht.y);
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orga450ffc" class="outline-3">
|
||||
<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-4-2">
|
||||
<div id="outline-container-org1eba886" class="outline-3">
|
||||
<h3 id="org1eba886"><span class="section-number-3">2.2</span> Comparison of the PSD with Huddle Test</h3>
|
||||
<div class="outline-text-3" id="text-2-2">
|
||||
<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;
|
||||
@@ -229,7 +161,7 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orge6cd415" class="figure">
|
||||
<div id="orgd9832c1" class="figure">
|
||||
<p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 5: </span>Comparison of the ASD for the identification test and the huddle test</p>
|
||||
@@ -237,9 +169,9 @@ win = hanning(ceil(1<span class="org-type">*</span>Fs));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgc964fb2" class="outline-3">
|
||||
<h3 id="orgc964fb2"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
|
||||
<div class="outline-text-3" id="text-4-3">
|
||||
<div id="outline-container-orgcfe0cb7" class="outline-3">
|
||||
<h3 id="orgcfe0cb7"><span class="section-number-3">2.3</span> Compute TF estimate and Coherence</h3>
|
||||
<div class="outline-text-3" id="text-2-3">
|
||||
<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;
|
||||
@@ -256,14 +188,14 @@ Fs = 1<span class="org-type">/</span>Ts;
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgc5081fd" class="figure">
|
||||
<div id="orgcd90594" class="figure">
|
||||
<p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 6: </span>Coherence</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orgef956d1" class="figure">
|
||||
<div id="org55f5177" class="figure">
|
||||
<p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 7: </span>Estimation of the transfer function from input voltage to displacement</p>
|
||||
@@ -271,16 +203,16 @@ Fs = 1<span class="org-type">/</span>Ts;
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orge2ba96a" class="outline-3">
|
||||
<h3 id="orge2ba96a"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
|
||||
<div class="outline-text-3" id="text-4-4">
|
||||
<div id="outline-container-org1cdc3bc" class="outline-3">
|
||||
<h3 id="org1cdc3bc"><span class="section-number-3">2.4</span> Comparison with the FEM model</h3>
|
||||
<div class="outline-text-3" id="text-2-4">
|
||||
<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">'G'</span>);
|
||||
<pre class="src src-matlab">load(<span class="org-string">'fem_model_5kg.mat'</span>, <span class="org-string">'G'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org5df5018" class="figure">
|
||||
<div id="org7e7ad3c" class="figure">
|
||||
<p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 8: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
|
||||
@@ -289,9 +221,12 @@ Fs = 1<span class="org-type">/</span>Ts;
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org1988c0d" class="outline-2">
|
||||
<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-5">
|
||||
<div id="outline-container-orgcce11f7" class="outline-2">
|
||||
<h2 id="orgcce11f7"><span class="section-number-2">3</span> Identification of the dynamics from actuator to force sensor</h2>
|
||||
<div class="outline-text-2" id="text-3">
|
||||
<p>
|
||||
<a id="org7d9ec69"></a>
|
||||
</p>
|
||||
<p>
|
||||
Two measurements are performed:
|
||||
</p>
|
||||
@@ -307,9 +242,9 @@ The obtained dynamics from force actuator to force sensor are compare with the F
|
||||
The data are loaded:
|
||||
</p>
|
||||
<div class="org-src-container">
|
||||
<pre class="src src-matlab">a_ss = load(<span class="org-string">'mat/apa95ml_5kg_1a_2s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
|
||||
aa_s = load(<span class="org-string">'mat/apa95ml_5kg_2a_1s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
|
||||
load(<span class="org-string">'mat/G_force_sensor_5kg.mat'</span>, <span class="org-string">'G'</span>);
|
||||
<pre class="src src-matlab">a_ss = load(<span class="org-string">'apa95ml_5kg_1a_2s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
|
||||
aa_s = load(<span class="org-string">'apa95ml_5kg_2a_1s.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'u'</span>, <span class="org-string">'y'</span>, <span class="org-string">'v'</span>);
|
||||
load(<span class="org-string">'G_force_sensor_5kg.mat'</span>, <span class="org-string">'G'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
<p>
|
||||
@@ -337,7 +272,7 @@ Gfem_a_ss = exp(<span class="org-type">-</span>s<span class="org-type">/</span>1
|
||||
</pre>
|
||||
</div>
|
||||
<p>
|
||||
The transfer function from input voltage to output voltage are computed and shown in Figure <a href="#orge6ce288">9</a>.
|
||||
The transfer function from input voltage to output voltage are computed and shown in Figure <a href="#org93e238f">9</a>.
|
||||
</p>
|
||||
<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);
|
||||
@@ -354,16 +289,15 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orge6ce288" class="figure">
|
||||
<div id="org93e238f" class="figure">
|
||||
<p><img src="figs/bode_plot_force_sensor_voltage_comp_fem.png" alt="bode_plot_force_sensor_voltage_comp_fem.png" />
|
||||
</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 id="outline-container-org037188e" class="outline-3">
|
||||
<h3 id="org037188e"><span class="section-number-3">5.1</span> System Identification</h3>
|
||||
<div class="outline-text-3" id="text-5-1">
|
||||
<div id="outline-container-org48d4bd0" class="outline-3">
|
||||
<h3 id="org48d4bd0"><span class="section-number-3">3.1</span> System Identification</h3>
|
||||
<div class="outline-text-3" id="text-3-1">
|
||||
<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>
|
||||
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>
|
||||
@@ -376,7 +310,7 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orged1dc40" class="figure">
|
||||
<div id="orga3e3e7b" class="figure">
|
||||
<p><img src="figs/iff_plant_identification_apa95ml.png" alt="iff_plant_identification_apa95ml.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 10: </span>Identification of the IFF plant</p>
|
||||
@@ -385,11 +319,11 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
|
||||
</div>
|
||||
|
||||
|
||||
<div id="outline-container-org0a38226" class="outline-3">
|
||||
<h3 id="org0a38226"><span class="section-number-3">5.2</span> Integral Force Feedback</h3>
|
||||
<div class="outline-text-3" id="text-5-2">
|
||||
<div id="outline-container-orge58d929" class="outline-3">
|
||||
<h3 id="orge58d929"><span class="section-number-3">3.2</span> Integral Force Feedback</h3>
|
||||
<div class="outline-text-3" id="text-3-2">
|
||||
|
||||
<div id="org86c0c5b" class="figure">
|
||||
<div id="org55e0695" class="figure">
|
||||
<p><img src="figs/root_locus_iff_apa95ml_identification.png" alt="root_locus_iff_apa95ml_identification.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 11: </span>Root Locus for IFF</p>
|
||||
@@ -398,17 +332,20 @@ Gi = G_inf<span class="org-type">*</span>(s<span class="org-type">^</span>2 <spa
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-org5df0163" class="outline-2">
|
||||
<h2 id="org5df0163"><span class="section-number-2">6</span> IFF Tests</h2>
|
||||
<div class="outline-text-2" id="text-6">
|
||||
<div id="outline-container-orgfe5bc71" class="outline-2">
|
||||
<h2 id="orgfe5bc71"><span class="section-number-2">4</span> Integral Force Feedback</h2>
|
||||
<div class="outline-text-2" id="text-4">
|
||||
<p>
|
||||
<a id="org9e016b1"></a>
|
||||
</p>
|
||||
</div>
|
||||
<div id="outline-container-org26f64e8" class="outline-3">
|
||||
<h3 id="org26f64e8"><span class="section-number-3">6.1</span> First tests with few gains</h3>
|
||||
<div class="outline-text-3" id="text-6-1">
|
||||
<div id="outline-container-orgd854491" class="outline-3">
|
||||
<h3 id="orgd854491"><span class="section-number-3">4.1</span> First tests with few gains</h3>
|
||||
<div class="outline-text-3" id="text-4-1">
|
||||
<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>);
|
||||
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_of = load(<span class="org-string">'./mat/apa95ml_iff_off_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">'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">'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_of = load(<span class="org-string">'apa95ml_iff_off_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>
|
||||
</div>
|
||||
|
||||
@@ -428,7 +365,7 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org01c9bde" class="figure">
|
||||
<div id="org2c6892b" class="figure">
|
||||
<p><img src="figs/iff_first_test_coherence.png" alt="iff_first_test_coherence.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 12: </span>Coherence</p>
|
||||
@@ -436,7 +373,7 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
||||
|
||||
|
||||
|
||||
<div id="orgdcd9122" class="figure">
|
||||
<div id="org91fa41a" class="figure">
|
||||
<p><img src="figs/iff_first_test_bode_plot.png" alt="iff_first_test_bode_plot.png" />
|
||||
</p>
|
||||
<p><span class="figure-number">Figure 13: </span>Bode plot for different values of IFF gain</p>
|
||||
@@ -444,11 +381,11 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgda4dc48" class="outline-3">
|
||||
<h3 id="orgda4dc48"><span class="section-number-3">6.2</span> Second test with many Gains</h3>
|
||||
<div class="outline-text-3" id="text-6-2">
|
||||
<div id="outline-container-org899fef5" class="outline-3">
|
||||
<h3 id="org899fef5"><span class="section-number-3">4.2</span> Second test with many Gains</h3>
|
||||
<div class="outline-text-3" id="text-4-2">
|
||||
<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">'apa95ml_iff_test.mat'</span>, <span class="org-string">'results'</span>);
|
||||
</pre>
|
||||
</div>
|
||||
|
||||
@@ -474,7 +411,7 @@ g_iff = [0, 1, 5, 10, 50, 100];
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org52a1b9d" class="figure">
|
||||
<div id="orgcf10be1" class="figure">
|
||||
<p><img src="figs/iff_results_bode_plots.png" alt="iff_results_bode_plots.png" />
|
||||
</p>
|
||||
</div>
|
||||
@@ -496,13 +433,13 @@ f_end = 500; <span class="org-comment">% [Hz]</span>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="orga4ab0d0" class="figure">
|
||||
<div id="orgda781ba" class="figure">
|
||||
<p><img src="figs/iff_results_bode_plots_identification.png" alt="iff_results_bode_plots_identification.png" />
|
||||
</p>
|
||||
</div>
|
||||
|
||||
|
||||
<div id="org9a011df" class="figure">
|
||||
<div id="org473937a" class="figure">
|
||||
<p><img src="figs/iff_results_root_locus.png" alt="iff_results_root_locus.png" />
|
||||
</p>
|
||||
</div>
|
||||
@@ -512,7 +449,7 @@ f_end = 500; <span class="org-comment">% [Hz]</span>
|
||||
</div>
|
||||
<div id="postamble" class="status">
|
||||
<p class="author">Author: Dehaeze Thomas</p>
|
||||
<p class="date">Created: 2020-11-12 jeu. 09:18</p>
|
||||
<p class="date">Created: 2020-11-12 jeu. 09:29</p>
|
||||
</div>
|
||||
</body>
|
||||
</html>
|
||||
@@ -7,14 +7,14 @@
|
||||
#+AUTHOR: Dehaeze Thomas
|
||||
|
||||
#+HTML_LINK_HOME: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
#+HTML_LINK_UP: ../index.html
|
||||
|
||||
#+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/custom.css"/>
|
||||
#+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/readtheorg.js"></script>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/htmlize.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/readtheorg.css"/>
|
||||
#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/custom.css"/>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/jquery.min.js"></script>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/bootstrap.min.js"></script>
|
||||
#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/readtheorg.js"></script>
|
||||
|
||||
#+HTML_MATHJAX: align: center tagside: right font: TeX
|
||||
|
||||
@@ -28,16 +28,6 @@
|
||||
#+PROPERTY: header-args:matlab+ :mkdirp yes
|
||||
|
||||
#+PROPERTY: header-args:shell :eval no-export
|
||||
|
||||
#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
|
||||
#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
|
||||
#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
|
||||
#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
|
||||
#+PROPERTY: header-args:latex+ :results raw replace :buffer no
|
||||
#+PROPERTY: header-args:latex+ :eval no-export
|
||||
#+PROPERTY: header-args:latex+ :exports both
|
||||
#+PROPERTY: header-args:latex+ :mkdirp yes
|
||||
#+PROPERTY: header-args:latex+ :output-dir figs
|
||||
:END:
|
||||
|
||||
* Introduction :ignore:
|
||||
@@ -56,7 +46,7 @@
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
<<sec:huddle_test>>
|
||||
|
||||
** Introduction :ignore:
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
@@ -128,7 +118,13 @@
|
||||
#+RESULTS:
|
||||
[[file:figs/huddle_test_pdf.png]]
|
||||
|
||||
* Transfer Function Estimation using the PI Amplifier
|
||||
* Identification of the dynamics from actuator to displacement
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/motion_identification.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
<<sec:motion_identification>>
|
||||
** Introduction :ignore:
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
@@ -303,7 +299,12 @@
|
||||
#+RESULTS:
|
||||
[[file:figs/apa95ml_5kg_pi_comp_fem.png]]
|
||||
|
||||
* Transfer function from force actuator to force sensor
|
||||
* Identification of the dynamics from actuator to force sensor
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/force_sensor_identification.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
<<sec:force_sensor_identification>>
|
||||
** Introduction :ignore:
|
||||
Two measurements are performed:
|
||||
- Speedgoat DAC => Voltage Amplifier (x20) => 1 Piezo Stack => ... => 2 Stacks as Force Sensor (parallel) => Speedgoat ADC
|
||||
@@ -495,7 +496,13 @@ The transfer function from input voltage to output voltage are computed and show
|
||||
#+RESULTS:
|
||||
[[file:figs/root_locus_iff_apa95ml_identification.png]]
|
||||
|
||||
* IFF Tests
|
||||
* Integral Force Feedback
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/integral_force_feedback.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
<<sec:integral_force_feedback>>
|
||||
** Introduction :ignore:
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
|
||||
Vendored
-7
@@ -1,7 +0,0 @@
|
||||
/*!
|
||||
* Bootstrap v3.3.4 (http://getbootstrap.com)
|
||||
* Copyright 2011-2015 Twitter, Inc.
|
||||
* Licensed under MIT (https://github.com/twbs/bootstrap/blob/master/LICENSE)
|
||||
*/
|
||||
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c?c.replace(bc,""):null==c?"":c)}}}),n.extend({valHooks:{option:{get:function(a){var b=n.find.attr(a,"value");return null!=b?b:n.trim(n.text(a))}},select:{get:function(a){for(var b,c,d=a.options,e=a.selectedIndex,f="select-one"===a.type||0>e,g=f?null:[],h=f?e+1:d.length,i=0>e?h:f?e:0;h>i;i++)if(c=d[i],!(!c.selected&&i!==e||(k.optDisabled?c.disabled:null!==c.getAttribute("disabled"))||c.parentNode.disabled&&n.nodeName(c.parentNode,"optgroup"))){if(b=n(c).val(),f)return b;g.push(b)}return g},set:function(a,b){var c,d,e=a.options,f=n.makeArray(b),g=e.length;while(g--)d=e[g],(d.selected=n.inArray(d.value,f)>=0)&&(c=!0);return c||(a.selectedIndex=-1),f}}}}),n.each(["radio","checkbox"],function(){n.valHooks[this]={set:function(a,b){return n.isArray(b)?a.checked=n.inArray(n(a).val(),b)>=0:void 0}},k.checkOn||(n.valHooks[this].get=function(a){return null===a.getAttribute("value")?"on":a.value})}),n.each("blur focus focusin focusout load resize scroll unload click dblclick mousedown mouseup mousemove mouseover mouseout mouseenter mouseleave change select submit keydown keypress keyup error contextmenu".split(" "),function(a,b){n.fn[b]=function(a,c){return arguments.length>0?this.on(b,null,a,c):this.trigger(b)}}),n.fn.extend({hover:function(a,b){return this.mouseenter(a).mouseleave(b||Line truncated
|
||||
@@ -1,87 +0,0 @@
|
||||
$(function() {
|
||||
$('.note').before("<p class='admonition-title note'>Note</p>");
|
||||
$('.seealso').before("<p class='admonition-title seealso'>See also</p>");
|
||||
$('.warning').before("<p class='admonition-title warning'>Warning</p>");
|
||||
$('.caution').before("<p class='admonition-title caution'>Caution</p>");
|
||||
$('.attention').before("<p class='admonition-title attention'>Attention</p>");
|
||||
$('.tip').before("<p class='admonition-title tip'>Tip</p>");
|
||||
$('.important').before("<p class='admonition-title important'>Important</p>");
|
||||
$('.hint').before("<p class='admonition-title hint'>Hint</p>");
|
||||
$('.error').before("<p class='admonition-title error'>Error</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() {
|
||||
|
||||
// Shift nav in mobile when clicking the menu.
|
||||
$(document).on('click', "[data-toggle='wy-nav-top']", function() {
|
||||
$("[data-toggle='wy-nav-shift']").toggleClass("shift");
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||
});
|
||||
// Close menu when you click a link.
|
||||
$(document).on('click', ".wy-menu-vertical .current ul li a", function() {
|
||||
$("[data-toggle='wy-nav-shift']").removeClass("shift");
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift");
|
||||
});
|
||||
$(document).on('click', "[data-toggle='rst-current-version']", function() {
|
||||
$("[data-toggle='rst-versions']").toggleClass("shift-up");
|
||||
});
|
||||
// Make tables responsive
|
||||
$("table.docutils:not(.field-list)").wrap("<div class='wy-table-responsive'></div>");
|
||||
});
|
||||
|
||||
$( document ).ready(function() {
|
||||
$('#text-table-of-contents ul').first().addClass('nav');
|
||||
// ScrollSpy also requires that we use
|
||||
// a Bootstrap nav component.
|
||||
$('body').scrollspy({target: '#text-table-of-contents'});
|
||||
|
||||
// add sticky table headers
|
||||
$('table').stickyTableHeaders();
|
||||
|
||||
// set the height of tableOfContents
|
||||
var $postamble = $('#postamble');
|
||||
var $tableOfContents = $('#table-of-contents');
|
||||
$tableOfContents.css({paddingBottom: $postamble.outerHeight()});
|
||||
|
||||
// add TOC button
|
||||
var toggleSidebar = $('<div id="toggle-sidebar"><a href="#table-of-contents"><h2>Table of Contents</h2></a></div>');
|
||||
$('#content').prepend(toggleSidebar);
|
||||
|
||||
// add close button when sidebar showed in mobile screen
|
||||
var closeBtn = $('<a class="close-sidebar" href="#">Close</a>');
|
||||
var tocTitle = $('#table-of-contents').find('h2');
|
||||
tocTitle.append(closeBtn);
|
||||
});
|
||||
|
||||
window.SphinxRtdTheme = (function (jquery) {
|
||||
var stickyNav = (function () {
|
||||
var navBar,
|
||||
win,
|
||||
stickyNavCssClass = 'stickynav',
|
||||
applyStickNav = function () {
|
||||
if (navBar.height() <= win.height()) {
|
||||
navBar.addClass(stickyNavCssClass);
|
||||
} else {
|
||||
navBar.removeClass(stickyNavCssClass);
|
||||
}
|
||||
},
|
||||
enable = function () {
|
||||
applyStickNav();
|
||||
win.on('resize', applyStickNav);
|
||||
},
|
||||
init = function () {
|
||||
navBar = jquery('nav.wy-nav-side:first');
|
||||
win = jquery(window);
|
||||
};
|
||||
jquery(init);
|
||||
return {
|
||||
enable : enable
|
||||
};
|
||||
}());
|
||||
return {
|
||||
StickyNav : stickyNav
|
||||
};
|
||||
}($));
|
||||
Reference in new issue
Block a user