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Thomas Dehaeze 2020-07-24 15:48:22 +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>
<!-- 2020-07-24 ven. 13:16 --> <!-- 2020-07-24 ven. 15:48 -->
<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" />
@ -27,42 +27,42 @@
<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="#org9f7598b">1. Setup</a> <li><a href="#orgde2ca90">1. Setup</a>
<ul> <ul>
<li><a href="#org7edfb65">1.1. Parameters</a></li> <li><a href="#orgc62d598">1.1. Parameters</a></li>
<li><a href="#orgdac636f">1.2. Filter White Noise</a></li> <li><a href="#org128d329">1.2. Filter White Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org756b658">2. Run Experiment and Save Data</a> <li><a href="#orga229608">2. Run Experiment and Save Data</a>
<ul> <ul>
<li><a href="#org14764c7">2.1. Load Data</a></li> <li><a href="#org117998a">2.1. Load Data</a></li>
<li><a href="#org1b77b38">2.2. Save Data</a></li> <li><a href="#org0aec1ce">2.2. Save Data</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org28cccdb">3. Huddle Test</a> <li><a href="#orge436fe5">3. Huddle Test</a>
<ul> <ul>
<li><a href="#org305cdf5">3.1. Time Domain Data</a></li> <li><a href="#orga50e600">3.1. Time Domain Data</a></li>
<li><a href="#orga153e30">3.2. PSD of Measurement Noise</a></li> <li><a href="#org6637acb">3.2. PSD of Measurement Noise</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgfa9bec6">4. Transfer Function Estimation using the DAC as the driver</a> <li><a href="#org1e70b14">4. Transfer Function Estimation using the DAC as the driver</a>
<ul> <ul>
<li><a href="#org99e40a8">4.1. Time Domain Data</a></li> <li><a href="#org627cdd4">4.1. Time Domain Data</a></li>
<li><a href="#org45d7543">4.2. Comparison of the PSD with Huddle Test</a></li> <li><a href="#orgb2e3ad4">4.2. Comparison of the PSD with Huddle Test</a></li>
<li><a href="#org5dbdfb4">4.3. Compute TF estimate and Coherence</a></li> <li><a href="#orgd81c13d">4.3. Compute TF estimate and Coherence</a></li>
<li><a href="#org3e7c447">4.4. Comparison with the FEM model</a></li> <li><a href="#org7b450ca">4.4. Comparison with the FEM model</a></li>
</ul> </ul>
</li> </li>
<li><a href="#org000ddf1">5. Transfer Function Estimation using the PI Amplifier</a> <li><a href="#orgf7b3cee">5. Transfer Function Estimation using the PI Amplifier</a>
<ul> <ul>
<li><a href="#org110d884">5.1. Comparison of the PSD with Huddle Test</a></li> <li><a href="#orgd96ab97">5.1. Comparison of the PSD with Huddle Test</a></li>
<li><a href="#org0df7f2a">5.2. Compute TF estimate and Coherence</a></li> <li><a href="#orgf49c967">5.2. Compute TF estimate and Coherence</a></li>
<li><a href="#org0580b12">5.3. Comparison with the FEM model</a></li> <li><a href="#orgeb00ff9">5.3. Comparison with the FEM model</a></li>
</ul> </ul>
</li> </li>
<li><a href="#orgeedd2b2">6. Transfer function of the PI Amplifier</a> <li><a href="#org0baf7a6">6. Transfer function of the PI Amplifier</a>
<ul> <ul>
<li><a href="#org337f0dd">6.1. Compute TF estimate and Coherence</a></li> <li><a href="#org94a6d47">6.1. Compute TF estimate and Coherence</a></li>
</ul> </ul>
</li> </li>
</ul> </ul>
@ -70,26 +70,26 @@
</div> </div>
<div id="orge2005b9" class="figure"> <div id="orgfac2673" 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="org6bde75b" class="figure"> <div id="orgd8fb946" 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-org9f7598b" class="outline-2"> <div id="outline-container-orgde2ca90" class="outline-2">
<h2 id="org9f7598b"><span class="section-number-2">1</span> Setup</h2> <h2 id="orgde2ca90"><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-org7edfb65" class="outline-3"> <div id="outline-container-orgc62d598" class="outline-3">
<h3 id="org7edfb65"><span class="section-number-3">1.1</span> Parameters</h3> <h3 id="orgc62d598"><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;
@ -98,8 +98,8 @@
</div> </div>
</div> </div>
<div id="outline-container-orgdac636f" class="outline-3"> <div id="outline-container-org128d329" class="outline-3">
<h3 id="orgdac636f"><span class="section-number-3">1.2</span> Filter White Noise</h3> <h3 id="org128d329"><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);
@ -111,13 +111,13 @@ Gz = c2d(Glpf, Ts, 'tustin');
</div> </div>
</div> </div>
<div id="outline-container-org756b658" class="outline-2"> <div id="outline-container-orga229608" class="outline-2">
<h2 id="org756b658"><span class="section-number-2">2</span> Run Experiment and Save Data</h2> <h2 id="orga229608"><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-org14764c7" class="outline-3"> <div id="outline-container-org117998a" class="outline-3">
<h3 id="org14764c7"><span class="section-number-3">2.1</span> Load Data</h3> <h3 id="org117998a"><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;
@ -126,8 +126,8 @@ Gz = c2d(Glpf, Ts, 'tustin');
</div> </div>
</div> </div>
<div id="outline-container-org1b77b38" class="outline-3"> <div id="outline-container-org0aec1ce" class="outline-3">
<h3 id="org1b77b38"><span class="section-number-3">2.2</span> Save Data</h3> <h3 id="org0aec1ce"><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]
@ -144,16 +144,16 @@ t = data(:, 3); % Time [s]
</div> </div>
</div> </div>
<div id="outline-container-org28cccdb" class="outline-2"> <div id="outline-container-orge436fe5" class="outline-2">
<h2 id="org28cccdb"><span class="section-number-2">3</span> Huddle Test</h2> <h2 id="orge436fe5"><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-org305cdf5" class="outline-3"> <div id="outline-container-orga50e600" class="outline-3">
<h3 id="org305cdf5"><span class="section-number-3">3.1</span> Time Domain Data</h3> <h3 id="orga50e600"><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="org36d78b8" class="figure"> <div id="org9f3cece" 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>
@ -161,8 +161,8 @@ t = data(:, 3); % Time [s]
</div> </div>
</div> </div>
<div id="outline-container-orga153e30" class="outline-3"> <div id="outline-container-org6637acb" class="outline-3">
<h3 id="orga153e30"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3> <h3 id="org6637acb"><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);
@ -173,12 +173,12 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs); <pre class="src src-matlab">[pxx, f] = pwelch(y(1000:end), win, [], [], Fs);
</pre> </pre>
</div> </div>
<div id="org7a9dd6a" class="figure"> <div id="org53e3466" 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>
@ -187,16 +187,16 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-orgfa9bec6" class="outline-2"> <div id="outline-container-org1e70b14" class="outline-2">
<h2 id="orgfa9bec6"><span class="section-number-2">4</span> Transfer Function Estimation using the DAC as the driver</h2> <h2 id="org1e70b14"><span class="section-number-2">4</span> Transfer Function Estimation using the DAC as the driver</h2>
<div class="outline-text-2" id="text-4"> <div class="outline-text-2" id="text-4">
</div> </div>
<div id="outline-container-org99e40a8" class="outline-3"> <div id="outline-container-org627cdd4" class="outline-3">
<h3 id="org99e40a8"><span class="section-number-3">4.1</span> Time Domain Data</h3> <h3 id="org627cdd4"><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="org3c8d797" class="figure"> <div id="orga0b06b8" 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>
@ -204,8 +204,8 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-org45d7543" class="outline-3"> <div id="outline-container-orgb2e3ad4" class="outline-3">
<h3 id="org45d7543"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3> <h3 id="orgb2e3ad4"><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);
@ -222,7 +222,7 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="org15f2486" class="figure"> <div id="org8170f8d" 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>
@ -230,8 +230,8 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-org5dbdfb4" class="outline-3"> <div id="outline-container-orgd81c13d" class="outline-3">
<h3 id="org5dbdfb4"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3> <h3 id="orgd81c13d"><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">Ts = t(end)/(length(t)-1); <pre class="src src-matlab">Ts = t(end)/(length(t)-1);
@ -248,14 +248,14 @@ Fs = 1/Ts;
</div> </div>
<div id="org22a86fd" class="figure"> <div id="orgb44ea20" 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="org70b1269" class="figure"> <div id="org0f7463c" 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>
@ -263,8 +263,8 @@ Fs = 1/Ts;
</div> </div>
</div> </div>
<div id="outline-container-org3e7c447" class="outline-3"> <div id="outline-container-org7b450ca" class="outline-3">
<h3 id="org3e7c447"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3> <h3 id="org7b450ca"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
<div class="outline-text-3" id="text-4-4"> <div class="outline-text-3" id="text-4-4">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm'); <pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
@ -272,7 +272,7 @@ Fs = 1/Ts;
</div> </div>
<div id="org1d338bc" class="figure"> <div id="orgbdfdc24" class="figure">
<p><img src="figs/apa95ml_5kg_comp_fem.png" alt="apa95ml_5kg_comp_fem.png" /> <p><img src="figs/apa95ml_5kg_comp_fem.png" alt="apa95ml_5kg_comp_fem.png" />
</p> </p>
<p><span class="figure-number">Figure 9: </span>Comparison of the identified transfer function and the one estimated from the FE model</p> <p><span class="figure-number">Figure 9: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
@ -291,12 +291,12 @@ In the next section, a current amplifier is used.
</div> </div>
</div> </div>
<div id="outline-container-org000ddf1" class="outline-2"> <div id="outline-container-orgf7b3cee" class="outline-2">
<h2 id="org000ddf1"><span class="section-number-2">5</span> Transfer Function Estimation using the PI Amplifier</h2> <h2 id="orgf7b3cee"><span class="section-number-2">5</span> Transfer Function Estimation using the PI Amplifier</h2>
<div class="outline-text-2" id="text-5"> <div class="outline-text-2" id="text-5">
</div> </div>
<div id="outline-container-org110d884" class="outline-3"> <div id="outline-container-orgd96ab97" class="outline-3">
<h3 id="org110d884"><span class="section-number-3">5.1</span> Comparison of the PSD with Huddle Test</h3> <h3 id="orgd96ab97"><span class="section-number-3">5.1</span> Comparison of the PSD with Huddle Test</h3>
<div class="outline-text-3" id="text-5-1"> <div class="outline-text-3" id="text-5-1">
<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);
@ -313,7 +313,7 @@ win = hanning(ceil(1*Fs));
</div> </div>
<div id="org4f7b784" class="figure"> <div id="orgbc7a9a7" class="figure">
<p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" /> <p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
</p> </p>
<p><span class="figure-number">Figure 10: </span>Comparison of the ASD for the identification test and the huddle test</p> <p><span class="figure-number">Figure 10: </span>Comparison of the ASD for the identification test and the huddle test</p>
@ -321,8 +321,8 @@ win = hanning(ceil(1*Fs));
</div> </div>
</div> </div>
<div id="outline-container-org0df7f2a" class="outline-3"> <div id="outline-container-orgf49c967" class="outline-3">
<h3 id="org0df7f2a"><span class="section-number-3">5.2</span> Compute TF estimate and Coherence</h3> <h3 id="orgf49c967"><span class="section-number-3">5.2</span> Compute TF estimate and Coherence</h3>
<div class="outline-text-3" id="text-5-2"> <div class="outline-text-3" id="text-5-2">
<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);
@ -340,14 +340,14 @@ Fs = 1/Ts;
</div> </div>
<div id="org99498ae" class="figure"> <div id="org883cf4f" class="figure">
<p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" /> <p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
</p> </p>
<p><span class="figure-number">Figure 11: </span>Coherence</p> <p><span class="figure-number">Figure 11: </span>Coherence</p>
</div> </div>
<div id="org554203c" class="figure"> <div id="orgefbbeeb" class="figure">
<p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" /> <p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
</p> </p>
<p><span class="figure-number">Figure 12: </span>Estimation of the transfer function from input voltage to displacement</p> <p><span class="figure-number">Figure 12: </span>Estimation of the transfer function from input voltage to displacement</p>
@ -355,8 +355,8 @@ Fs = 1/Ts;
</div> </div>
</div> </div>
<div id="outline-container-org0580b12" class="outline-3"> <div id="outline-container-orgeb00ff9" class="outline-3">
<h3 id="org0580b12"><span class="section-number-3">5.3</span> Comparison with the FEM model</h3> <h3 id="orgeb00ff9"><span class="section-number-3">5.3</span> Comparison with the FEM model</h3>
<div class="outline-text-3" id="text-5-3"> <div class="outline-text-3" id="text-5-3">
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm'); <pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
@ -364,7 +364,7 @@ Fs = 1/Ts;
</div> </div>
<div id="org001e611" class="figure"> <div id="orgfd1fd2d" class="figure">
<p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" /> <p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" />
</p> </p>
<p><span class="figure-number">Figure 13: </span>Comparison of the identified transfer function and the one estimated from the FE model</p> <p><span class="figure-number">Figure 13: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
@ -372,12 +372,12 @@ Fs = 1/Ts;
</div> </div>
</div> </div>
</div> </div>
<div id="outline-container-orgeedd2b2" class="outline-2"> <div id="outline-container-org0baf7a6" class="outline-2">
<h2 id="orgeedd2b2"><span class="section-number-2">6</span> Transfer function of the PI Amplifier</h2> <h2 id="org0baf7a6"><span class="section-number-2">6</span> Transfer function of the PI Amplifier</h2>
<div class="outline-text-2" id="text-6"> <div class="outline-text-2" id="text-6">
</div> </div>
<div id="outline-container-org337f0dd" class="outline-3"> <div id="outline-container-org94a6d47" class="outline-3">
<h3 id="org337f0dd"><span class="section-number-3">6.1</span> Compute TF estimate and Coherence</h3> <h3 id="org94a6d47"><span class="section-number-3">6.1</span> Compute TF estimate and Coherence</h3>
<div class="outline-text-3" id="text-6-1"> <div class="outline-text-3" id="text-6-1">
<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);
@ -390,11 +390,11 @@ The coherence and the transfer function are estimate from the voltage input of t
</p> </p>
<p> <p>
The coherence is very good as expected (Figure <a href="#orgd06642a">14</a>). The coherence is very good as expected (Figure <a href="#org12654c2">14</a>).
</p> </p>
<p> <p>
The transfer function show a low pass filter behavior with a lot of phase drop (Figure <a href="#orgcc39578">15</a>). The transfer function show a low pass filter behavior with a lot of phase drop (Figure <a href="#org23ba982">15</a>).
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
@ -406,37 +406,42 @@ The transfer function show a low pass filter behavior with a lot of phase drop (
</div> </div>
<div id="orgd06642a" class="figure"> <div id="org12654c2" class="figure">
<p><img src="figs/PI_E505_coh.png" alt="PI_E505_coh.png" /> <p><img src="figs/PI_E505_coh.png" alt="PI_E505_coh.png" />
</p> </p>
<p><span class="figure-number">Figure 14: </span>Coherence</p> <p><span class="figure-number">Figure 14: </span>Coherence</p>
</div> </div>
<div id="orgcc39578" class="figure"> <div id="org23ba982" class="figure">
<p><img src="figs/PI_E505_tf.png" alt="PI_E505_tf.png" /> <p><img src="figs/PI_E505_tf.png" alt="PI_E505_tf.png" />
</p> </p>
<p><span class="figure-number">Figure 15: </span>Estimation of the transfer function from input voltage to displacement</p> <p><span class="figure-number">Figure 15: </span>Estimation of the transfer function from input voltage to displacement</p>
</div> </div>
<p> <p>
The delay can be estimated as follow: The delay can be estimated as follow (in ms):
</p> </p>
<div class="org-src-container"> <div class="org-src-container">
<pre class="src src-matlab">finddelay(u, um)*Ts <pre class="src src-matlab">finddelay(u, um)*(1000*Ts)
</pre> </pre>
</div> </div>
<pre class="example"> <pre class="example">
0.0004 0.4
</pre> </pre>
<p>
This most probably corresponds to a FIR filter.
</p>
</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: 2020-07-24 ven. 13:16</p> <p class="date">Created: 2020-07-24 ven. 15:48</p>
</div> </div>
</body> </body>
</html> </html>

19
index.org
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@ -108,13 +108,17 @@
** Load Data :noexport: ** Load Data :noexport:
#+begin_src matlab #+begin_src matlab
load('./mat/huddle_test.mat', 't', 'u', 'y'); load('./mat/huddle_test.mat', 't', 'y');
#+end_src
#+begin_src matlab
y = y - mean(y(1000:end));
#+end_src #+end_src
** Time Domain Data ** Time Domain Data
#+begin_src matlab :exports none #+begin_src matlab :exports none
figure; figure;
plot(t, y) plot(t(1000:end), y(1000:end))
ylabel('Output Displacement [m]'); xlabel('Time [s]'); ylabel('Output Displacement [m]'); xlabel('Time [s]');
#+end_src #+end_src
@ -136,7 +140,7 @@
#+end_src #+end_src
#+begin_src matlab #+begin_src matlab
[pxx, f] = pwelch(y, win, [], [], Fs); [pxx, f] = pwelch(y(1000:end), win, [], [], Fs);
#+end_src #+end_src
#+begin_src matlab :exports none #+begin_src matlab :exports none
@ -385,7 +389,7 @@ In the next section, a current amplifier is used.
hold off; hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log'); set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]'); xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
legend('location', 'northeast'); legend('location', 'southwest');
xlim([1, Fs/2]); xlim([1, Fs/2]);
#+end_src #+end_src
@ -590,11 +594,12 @@ The transfer function show a low pass filter behavior with a lot of phase drop (
#+RESULTS: #+RESULTS:
[[file:figs/PI_E505_tf.png]] [[file:figs/PI_E505_tf.png]]
The delay can be estimated as follow: The delay can be estimated as follow (in ms):
#+begin_src matlab :results replace value #+begin_src matlab :results replace value
finddelay(u, um)*Ts finddelay(u, um)*(1000*Ts)
#+end_src #+end_src
#+RESULTS: #+RESULTS:
: 0.0004 : 0.4
This most probably corresponds to a FIR filter.