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c4584ed06e
| Author | SHA1 | Date | |
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 tdehaeze
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c4584ed06e | ||
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tdehaeze
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acae193de0 | ||
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tdehaeze
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9677b4d3c4 | ||
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tdehaeze
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f32ff33474 | ||
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tdehaeze
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7b5a3c521f |
No files matched your search
@@ -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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margin: auto;
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table {
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.org-src-container > pre > code.src:before {
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top: -10px;
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border: 1px solid #d0d0d0;
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-145
@@ -1,145 +0,0 @@
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|
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|
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|
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|
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|
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||||
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|
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|
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|
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||||
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||||
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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"/>
|
||||
<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>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<li><a href="#orge1ce8ff">1. Setup</a>
|
||||
<li><a href="#org90a334e">1. Huddle Test</a>
|
||||
<ul>
|
||||
<li><a href="#org4f8d088">1.1. Parameters</a></li>
|
||||
<li><a href="#org92bcdf4">1.2. Filter White Noise</a></li>
|
||||
<li><a href="#org285da21">1.1. Time Domain Data</a></li>
|
||||
<li><a href="#org5e1c721">1.2. PSD of Measurement Noise</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org17a026f">2. Run Experiment and Save Data</a>
|
||||
<li><a href="#orgd37467e">2. Identification of the dynamics from actuator to displacement</a>
|
||||
<ul>
|
||||
<li><a href="#org1b14494">2.1. Load Data</a></li>
|
||||
<li><a href="#org59026b4">2.2. Save Data</a></li>
|
||||
<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>
|
||||
<li><a href="#org1cdc3bc">2.4. Comparison with the FEM model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org1758121">3. Huddle Test</a>
|
||||
<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>
|
||||
<li><a href="#org67ec115">3.2. PSD of Measurement Noise</a></li>
|
||||
<li><a href="#org48d4bd0">3.1. System Identification</a></li>
|
||||
<li><a href="#orge58d929">3.2. Integral Force Feedback</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org3be6abe">4. Transfer Function Estimation using the PI Amplifier</a>
|
||||
<li><a href="#orgfe5bc71">4. Integral Force Feedback</a>
|
||||
<ul>
|
||||
<li><a href="#orgd263f64">4.1. Load Data</a></li>
|
||||
<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>
|
||||
<li><a href="#orge2ba96a">4.4. Comparison with the FEM model</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org1988c0d">5. Transfer function from force actuator to force sensor</a>
|
||||
<ul>
|
||||
<li><a href="#org037188e">5.1. System Identification</a></li>
|
||||
<li><a href="#org0a38226">5.2. Integral Force Feedback</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
<li><a href="#org5df0163">6. IFF Tests</a>
|
||||
<ul>
|
||||
<li><a href="#org26f64e8">6.1. First tests with few gains</a></li>
|
||||
<li><a href="#orgda4dc48">6.2. Second test with many Gains</a></li>
|
||||
<li><a href="#orgd854491">4.1. First tests with few gains</a></li>
|
||||
<li><a href="#org899fef5">4.2. Second test with many Gains</a></li>
|
||||
</ul>
|
||||
</li>
|
||||
</ul>
|
||||
@@ -69,90 +57,31 @@
|
||||
</div>
|
||||
|
||||
|
||||
<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>
|
||||
@@ -9,12 +9,12 @@
|
||||
#+HTML_LINK_HOME: ../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:
|
||||
@@ -50,52 +40,13 @@
|
||||
#+caption: Zoom on the APA
|
||||
[[file:figs/setup_zoom.png]]
|
||||
|
||||
* Setup
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/setup_experiment.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
|
||||
** Parameters
|
||||
#+begin_src matlab
|
||||
Ts = 1e-4;
|
||||
#+end_src
|
||||
|
||||
** Filter White Noise
|
||||
#+begin_src matlab
|
||||
Glpf = 1/(1 + s/2/pi/500);
|
||||
|
||||
Gz = c2d(Glpf, Ts, 'tustin');
|
||||
#+end_src
|
||||
|
||||
* Run Experiment and Save Data
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/run_experiment.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
|
||||
** Load Data
|
||||
#+begin_src matlab
|
||||
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
|
||||
#+end_src
|
||||
|
||||
** Save Data
|
||||
#+begin_src matlab
|
||||
u = data(:, 1); % Input Voltage [V]
|
||||
y = data(:, 2); % Output Displacement [m]
|
||||
t = data(:, 3); % Time [s]
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');
|
||||
#+end_src
|
||||
|
||||
* Huddle Test
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/huddle_test.m
|
||||
: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>>
|
||||
@@ -105,9 +56,17 @@
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
** Load Data :noexport:
|
||||
#+begin_src matlab
|
||||
load('./mat/huddle_test.mat', 't', 'y');
|
||||
load('huddle_test.mat', 't', 'y');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
@@ -159,17 +118,13 @@
|
||||
#+RESULTS:
|
||||
[[file:figs/huddle_test_pdf.png]]
|
||||
|
||||
* Transfer Function Estimation using the DAC as the driver :noexport:
|
||||
* Identification of the dynamics from actuator to displacement
|
||||
:PROPERTIES:
|
||||
:header-args:matlab+: :tangle matlab/tf_estimation.m
|
||||
:header-args:matlab+: :tangle matlab/motion_identification.m
|
||||
:header-args:matlab+: :comments org :mkdirp yes
|
||||
:END:
|
||||
|
||||
<<sec:motion_identification>>
|
||||
** Introduction :ignore:
|
||||
#+begin_important
|
||||
Results presented in this sections are wrong as the ADC cannot deliver enought current to the piezoelectric actuator.
|
||||
#+end_important
|
||||
|
||||
** 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>>
|
||||
@@ -179,188 +134,18 @@ Results presented in this sections are wrong as the ADC cannot deliver enought c
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
** Load Data :noexport:
|
||||
#+begin_src matlab
|
||||
ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
|
||||
load('./mat/apa95ml_5kg_10V.mat', 't', 'u', 'y');
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
** Time Domain Data
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
|
||||
subplot(1,2,1);
|
||||
plot(t, u)
|
||||
ylabel('Input Voltage [V]'); xlabel('Time [s]');
|
||||
|
||||
|
||||
subplot(1,2,2);
|
||||
plot(t, y)
|
||||
ylabel('Output Displacement [m]'); xlabel('Time [s]');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/apa95ml_5kg_10V_time_domain.pdf', 'width', 'full', 'height', 'tall');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:apa95ml_5kg_10V_time_domain
|
||||
#+caption: Time domain signals during the test
|
||||
#+RESULTS:
|
||||
[[file:figs/apa95ml_5kg_10V_time_domain.png]]
|
||||
|
||||
** Comparison of the PSD with Huddle Test
|
||||
#+begin_src matlab
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hanning(ceil(1*Fs));
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
[pxx, f] = pwelch(y, win, [], [], Fs);
|
||||
[pht, ~] = pwelch(ht.y, win, [], [], Fs);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, sqrt(pxx), 'DisplayName', '5kg');
|
||||
plot(f, sqrt(pht), 'DisplayName', 'Huddle Test');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
|
||||
legend('location', 'northeast');
|
||||
xlim([1, Fs/2]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/apa95ml_5kg_10V_pdf_comp_huddle.pdf', 'width', 'wide', 'height', 'tall');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:apa95ml_5kg_10V_pdf_comp_huddle
|
||||
#+caption: Comparison of the ASD for the identification test and the huddle test
|
||||
#+RESULTS:
|
||||
[[file:figs/apa95ml_5kg_10V_pdf_comp_huddle.png]]
|
||||
|
||||
** Compute TF estimate and Coherence
|
||||
#+begin_src matlab
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
win = hann(ceil(1/Ts));
|
||||
|
||||
[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
|
||||
[co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_est, 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
xlim([10, 5e3]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/apa95ml_5kg_10V_coh.pdf', 'width', 'wide', 'height', 'normal');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:apa95ml_5kg_10V_coh
|
||||
#+caption: Coherence
|
||||
#+RESULTS:
|
||||
[[file:figs/apa95ml_5kg_10V_coh.png]]
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_est), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5e3]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/apa95ml_5kg_10V_tf.pdf', 'width', 'full', 'height', 'full');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:apa95ml_5kg_10V_tf
|
||||
#+caption: Estimation of the transfer function from input voltage to displacement
|
||||
#+RESULTS:
|
||||
[[file:figs/apa95ml_5kg_10V_tf.png]]
|
||||
|
||||
** Comparison with the FEM model
|
||||
#+begin_src matlab
|
||||
load('mat/fem_model_5kg.mat', 'Ghm');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'DisplayName', 'Identification')
|
||||
plot(f, abs(squeeze(freqresp(Ghm, f, 'Hz'))), 'DisplayName', 'FEM')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); xlabel('Frequency [Hz]');
|
||||
legend('location', 'northeast')
|
||||
hold off;
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_est))
|
||||
plot(f, 180/pi*angle(squeeze(freqresp(Ghm, f, 'Hz'))))
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5e3]);
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no :exports results :results file replace
|
||||
exportFig('figs/apa95ml_5kg_comp_fem.pdf', 'width', 'full', 'height', 'full');
|
||||
#+end_src
|
||||
|
||||
#+name: fig:apa95ml_5kg_comp_fem
|
||||
#+caption: Comparison of the identified transfer function and the one estimated from the FE model
|
||||
#+RESULTS:
|
||||
[[file:figs/apa95ml_5kg_comp_fem.png]]
|
||||
|
||||
** Conclusion :ignore:
|
||||
#+begin_important
|
||||
The problem comes from the fact that the piezo is driven directly by the DAC that cannot deliver enought current.
|
||||
In the next section, a current amplifier is used.
|
||||
#+end_important
|
||||
|
||||
* Transfer Function Estimation using the PI Amplifier
|
||||
** Matlab Init :noexport:ignore:
|
||||
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||
<<matlab-dir>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none :results silent :noweb yes
|
||||
<<matlab-init>>
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
** Load Data
|
||||
#+begin_src matlab
|
||||
ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
|
||||
load('./mat/apa95ml_5kg_Amp_E505.mat', 't', 'u', 'um', 'y');
|
||||
ht = load('huddle_test.mat', 't', 'u', 'y');
|
||||
load('apa95ml_5kg_Amp_E505.mat', 't', 'u', 'um', 'y');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
@@ -476,7 +261,7 @@ In the next section, a current amplifier is used.
|
||||
|
||||
** Comparison with the FEM model
|
||||
#+begin_src matlab
|
||||
load('mat/fem_model_5kg.mat', 'G');
|
||||
load('fem_model_5kg.mat', 'G');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :exports none
|
||||
@@ -514,7 +299,12 @@ In the next section, a current amplifier is used.
|
||||
#+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
|
||||
@@ -531,12 +321,20 @@ The obtained dynamics from force actuator to force sensor are compare with the F
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
** Load Data :ignore:
|
||||
The data are loaded:
|
||||
#+begin_src matlab
|
||||
a_ss = load('mat/apa95ml_5kg_1a_2s.mat', 't', 'u', 'y', 'v');
|
||||
aa_s = load('mat/apa95ml_5kg_2a_1s.mat', 't', 'u', 'y', 'v');
|
||||
load('mat/G_force_sensor_5kg.mat', 'G');
|
||||
a_ss = load('apa95ml_5kg_1a_2s.mat', 't', 'u', 'y', 'v');
|
||||
aa_s = load('apa95ml_5kg_2a_1s.mat', 't', 'u', 'y', 'v');
|
||||
load('G_force_sensor_5kg.mat', 'G');
|
||||
#+end_src
|
||||
|
||||
** Adjust gain :ignore:
|
||||
@@ -698,7 +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>>
|
||||
@@ -708,11 +512,19 @@ The transfer function from input voltage to output voltage are computed and show
|
||||
<<matlab-init>>
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :tangle no
|
||||
addpath('./matlab/mat/');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab :eval no
|
||||
addpath('./mat/');
|
||||
#+end_src
|
||||
|
||||
** First tests with few gains
|
||||
#+begin_src matlab
|
||||
iff_g10 = load('./mat/apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_g100 = load('./mat/apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_of = load('./mat/apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_g10 = load('apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_g100 = load('apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_of = load('apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
@@ -789,7 +601,7 @@ The transfer function from input voltage to output voltage are computed and show
|
||||
|
||||
** Second test with many Gains
|
||||
#+begin_src matlab
|
||||
load('./mat/apa95ml_iff_test.mat', 'results');
|
||||
load('apa95ml_iff_test.mat', 'results');
|
||||
#+end_src
|
||||
|
||||
#+begin_src matlab
|
||||
|
||||
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)
|
||||
*/
|
||||
if("undefined"==typeof jQuery)throw new Error("Bootstrap's JavaScript requires jQuery");+function(a){"use strict";var b=a.fn.jquery.split(" ")[0].split(".");if(b[0]<2&&b[1]<9||1==b[0]&&9==b[1]&&b[2]<1)throw new Error("Bootstrap's JavaScript requires jQuery version 1.9.1 or higher")}(jQuery),+function(a){"use strict";function b(){var a=document.createElement("bootstrap"),b={WebkitTransition:"webkitTransitionEnd",MozTransition:"transitionend",OTransition:"oTransitionEnd otransitionend",transition:"transitionend"};for(var c in b)if(void 0!==a.style[c])return{end:b[c]};return!1}a.fn.emulateTransitionEnd=function(b){var c=!1,d=this;a(this).one("bsTransitionEnd",function(){c=!0});var e=function(){c||a(d).trigger(a.support.transition.end)};return setTimeout(e,b),this},a(function(){a.support.transition=b(),a.support.transition&&(a.event.special.bsTransitionEnd={bindType:a.support.transition.end,delegateType:a.support.transition.end,handle:function(b){return 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|
||||
Vendored
-4
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|
||||
/*! jQuery v2.1.3 | (c) 2005, 2014 jQuery Foundation, Inc. | jquery.org/license */
|
||||
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|
||||
return {
|
||||
StickyNav : stickyNav
|
||||
};
|
||||
}($));
|
||||
File renamed without changes.
@@ -1,23 +0,0 @@
|
||||
% Load Data
|
||||
|
||||
load('./mat/huddle_test.mat', 't', 'u', 'y');
|
||||
|
||||
% Time Domain Data
|
||||
|
||||
figure;
|
||||
plot(t, y)
|
||||
ylabel('Output Displacement [m]'); xlabel('Time [s]');
|
||||
|
||||
% PSD of Measurement Noise
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hanning(ceil(1*Fs));
|
||||
|
||||
[pxx, f] = pwelch(y, win, [], [], Fs);
|
||||
|
||||
figure;
|
||||
plot(f, sqrt(pxx));
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
|
||||
@@ -1,54 +0,0 @@
|
||||
%% Load Data
|
||||
iff_g10 = load('../mat/apa95ml_iff_g10_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_g100 = load('../mat/apa95ml_iff_g100_res.mat', 'u', 't', 'y', 'v');
|
||||
iff_of = load('../mat/apa95ml_iff_off_res.mat', 'u', 't', 'y', 'v');
|
||||
|
||||
%% Compute TF
|
||||
Ts = 1e-4;
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_iff_g10, f] = tfestimate(iff_g10.u, iff_g10.y, win, [], [], 1/Ts);
|
||||
[co_iff_g10, ~] = mscohere(iff_g10.u, iff_g10.y, win, [], [], 1/Ts);
|
||||
|
||||
[tf_iff_g100, f] = tfestimate(iff_g100.u, iff_g100.y, win, [], [], 1/Ts);
|
||||
[co_iff_g100, ~] = mscohere(iff_g100.u, iff_g100.y, win, [], [], 1/Ts);
|
||||
|
||||
[tf_iff_of, ~] = tfestimate(iff_of.u, iff_of.y, win, [], [], 1/Ts);
|
||||
[co_iff_of, ~] = mscohere(iff_of.u, iff_of.y, win, [], [], 1/Ts);
|
||||
|
||||
%% Coherence
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_iff_of, '-', 'DisplayName', 'g=0')
|
||||
plot(f, co_iff_g10, '-', 'DisplayName', 'g=10')
|
||||
plot(f, co_iff_g100, '-', 'DisplayName', 'g=100')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
legend();
|
||||
xlim([60, 600])
|
||||
|
||||
%% Compare Dynamics IFF ON/OFF
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(tf_iff_of), '-', 'DisplayName', 'g=0')
|
||||
plot(f, abs(tf_iff_g10), '-', 'DisplayName', 'g=10')
|
||||
plot(f, abs(tf_iff_g100), '-', 'DisplayName', 'g=100')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
legend();
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(-tf_iff_of), '-')
|
||||
plot(f, 180/pi*angle(-tf_iff_g10), '-')
|
||||
plot(f, 180/pi*angle(-tf_iff_g100), '-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([60, 600]);
|
||||
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
File renamed without changes.
@@ -1,112 +0,0 @@
|
||||
tg = slrt;
|
||||
|
||||
%%
|
||||
f = SimulinkRealTime.openFTP(tg);
|
||||
mget(f, 'apa95ml.dat', 'data');
|
||||
close(f);
|
||||
|
||||
%% Convert the Data
|
||||
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
|
||||
|
||||
u = data(:, 1); % Input Voltage [V]
|
||||
y = data(:, 2); % Output Displacement [m]
|
||||
v = data(:, 3); % Output Voltage (Force Sensor) [V]
|
||||
t = data(:, 4); % Time [s]
|
||||
|
||||
save('../mat/apa95ml_5kg_1a_2s.mat', 'u', 't', 'y', 'v');
|
||||
|
||||
%%
|
||||
figure;
|
||||
subplot(1,2,1);
|
||||
plot(t, u)
|
||||
subplot(1,2,2);
|
||||
plot(t, y)
|
||||
|
||||
%%
|
||||
load('../mat/apa95ml_5kg_10V.mat', 'u', 't', 'y');
|
||||
ht = load('../mat/huddle_test.mat', 'u', 't', 'y');
|
||||
u = u - mean(u);
|
||||
y = y - mean(y);
|
||||
|
||||
%%
|
||||
[pxx, f] = pwelch(y, win, [], [], 1/Ts);
|
||||
[pht, ~] = pwelch(ht.y, win, [], [], 1/Ts);
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, pxx);
|
||||
plot(f, pht);
|
||||
hold off;
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('PSD'); xlabel('Frequency [Hz]');
|
||||
|
||||
%%
|
||||
run setup;
|
||||
|
||||
win = hann(ceil(0.1/Ts));
|
||||
|
||||
[tf_est, f] = tfestimate(u, y, win, [], [], 1/Ts);
|
||||
[co_est, ~] = mscohere(u, y, win, [], [], 1/Ts);
|
||||
|
||||
%%
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_est, 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
%%
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified')
|
||||
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*unwrap(angle(-tf_est)), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5000]);
|
||||
|
||||
%%
|
||||
win = hann(ceil(10/Ts));
|
||||
|
||||
[tf_est, f] = tfestimate(u, v, win, [], [], 1/Ts);
|
||||
[co_est, ~] = mscohere(u, v, win, [], [], 1/Ts);
|
||||
|
||||
%%
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_est, 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
%%
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'k-', 'DisplayName', 'Identified')
|
||||
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*unwrap(angle(-tf_est)), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5000]);
|
||||
Executable → Regular
+4
-1
@@ -1,6 +1,9 @@
|
||||
s = tf('s');
|
||||
% Parameters
|
||||
|
||||
Ts = 1e-4;
|
||||
|
||||
% Filter White Noise
|
||||
|
||||
Glpf = 1/(1 + s/2/pi/500);
|
||||
|
||||
Gz = c2d(Glpf, Ts, 'tustin');
|
||||
@@ -1,9 +0,0 @@
|
||||
% Parameters
|
||||
|
||||
Ts = 1e-4;
|
||||
|
||||
% Filter White Noise
|
||||
|
||||
Glpf = 1/(1 + s/2/pi/500);
|
||||
|
||||
Gz = c2d(Glpf, Ts, 'tustin');
|
||||
@@ -1,54 +0,0 @@
|
||||
tg = slrt;
|
||||
|
||||
%% Gains to test
|
||||
g_iff = [0, 1, 5, 10, 50, 100];
|
||||
|
||||
results = {zeros(1, length(g_iff))};
|
||||
|
||||
if tg.Connected == "Yes"
|
||||
|
||||
stop(tg);
|
||||
%% Set Parameters for the Simulation
|
||||
% setparam(tg, 'Noise', 'Variance', 0);
|
||||
setparam(tg, 'Sine', 'Amplitude', 0);
|
||||
setparam(tg, 'DC_value', 'Value', 0);
|
||||
setparam(tg, 'Chirp_gain', 'Gain', 0.03);
|
||||
setparam(tg, 'iff_enable', 'Gain', 1);
|
||||
|
||||
if tg.Status == "stopped"
|
||||
|
||||
for i = 1:length(g_iff)
|
||||
setparam(tg, 'g_iff', 'Gain', g_iff(i));
|
||||
|
||||
fprintf('(%i/%i) - Testing for g_iff = %.1f', i, length(g_iff), g_iff(i));
|
||||
|
||||
start(tg);
|
||||
|
||||
pause(101);
|
||||
|
||||
stop(tg);
|
||||
|
||||
setparam(tg, 'g_iff', 'Gain', 0);
|
||||
|
||||
%%
|
||||
f = SimulinkRealTime.openFTP(tg);
|
||||
mget(f, 'apa95ml.dat', 'data');
|
||||
close(f);
|
||||
|
||||
%% Convert the Data
|
||||
data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
|
||||
|
||||
u = data(:, 1); % Input Voltage [V]
|
||||
y = data(:, 2); % Output Displacement [m]
|
||||
v = data(:, 3); % Output Voltage (Force Sensor) [V]
|
||||
t = data(:, 4); % Time [s]
|
||||
|
||||
results(i) = {struct('t', t, 'u', u, 'y', y, 'v', v)};
|
||||
end
|
||||
|
||||
end
|
||||
end
|
||||
|
||||
save('../mat/apa95ml_iff_test.mat', 'results');
|
||||
%% Best functions
|
||||
% viewTargetScreen(tg);
|
||||
@@ -1,74 +0,0 @@
|
||||
% Load Data
|
||||
|
||||
ht = load('./mat/huddle_test.mat', 't', 'u', 'y');
|
||||
load('./mat/apa95ml_5kg.mat', 't', 'u', 'y');
|
||||
|
||||
% Time Domain Data
|
||||
|
||||
figure;
|
||||
|
||||
subplot(1,2,1);
|
||||
plot(t, u)
|
||||
ylabel('Input Voltage [V]'); xlabel('Time [s]');
|
||||
|
||||
|
||||
subplot(1,2,2);
|
||||
plot(t, y)
|
||||
ylabel('Output Displacement [m]'); xlabel('Time [s]');
|
||||
|
||||
% Comparison of the PSD with Huddle Test
|
||||
|
||||
Ts = t(end)/(length(t)-1);
|
||||
Fs = 1/Ts;
|
||||
|
||||
win = hanning(ceil(1*Fs));
|
||||
|
||||
[pxx, f] = pwelch(y, win, [], [], Fs);
|
||||
[pht, ~] = pwelch(ht.y, win, [], [], Fs);
|
||||
|
||||
figure;
|
||||
hold on;
|
||||
plot(f, sqrt(pxx), 'DisplayName', '5kg');
|
||||
plot(f, sqrt(pht), 'DisplayName', 'Huddle Test');
|
||||
hold off;
|
||||
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
|
||||
xlabel('Frequency [Hz]'); ylabel('ASD [$m/\sqrt{Hz}$]');
|
||||
legend('locaation', 'norteast');
|
||||
|
||||
% Compute TF estimate and Coherence
|
||||
|
||||
win = hann(ceil(1/Ts));
|
||||
|
||||
[tf_est, f] = tfestimate(data(:, 1), -data(:, 2), win, [], [], 1/Ts);
|
||||
[co_est, ~] = mscohere( data(:, 1), -data(:, 2), win, [], [], 1/Ts);
|
||||
|
||||
% Coherence
|
||||
|
||||
figure;
|
||||
|
||||
hold on;
|
||||
plot(f, co_est, 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Coherence'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
% Transfer Function
|
||||
|
||||
figure;
|
||||
ax1 = subplot(2, 1, 1);
|
||||
hold on;
|
||||
plot(f, abs(tf_est), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'log');
|
||||
ylabel('Amplitude'); xlabel('Frequency [Hz]');
|
||||
hold off;
|
||||
|
||||
ax2 = subplot(2, 1, 2);
|
||||
hold on;
|
||||
plot(f, 180/pi*angle(tf_est), 'k-')
|
||||
set(gca, 'Xscale', 'log'); set(gca, 'Yscale', 'lin');
|
||||
ylabel('Phase'); xlabel('Frequency [Hz]');
|
||||
legend();
|
||||
hold off;
|
||||
|
||||
linkaxes([ax1,ax2], 'x');
|
||||
xlim([10, 5000]);
|
||||
Reference in new issue
Block a user