439 lines
14 KiB
HTML
439 lines
14 KiB
HTML
<?xml version="1.0" encoding="utf-8"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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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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<!-- 2020-07-24 ven. 11:34 -->
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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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<script>MathJax = {
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tex: {
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tags: 'ams',
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macros: {bm: ["\\boldsymbol{#1}",1],}
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};
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<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.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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<a accesskey="h" href="../index.html"> UP </a>
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Test Bench APA95ML</h1>
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<div id="table-of-contents">
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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="#orgfe82cc3">1. Setup</a>
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<ul>
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<li><a href="#org1c0f5ab">1.1. Parameters</a></li>
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<li><a href="#orgaa4583f">1.2. Filter White Noise</a></li>
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</ul>
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</li>
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<li><a href="#org14fbfb3">2. Run Experiment and Save Data</a>
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<ul>
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<li><a href="#orgad744cf">2.1. Load Data</a></li>
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<li><a href="#orgecaca8d">2.2. Save Data</a></li>
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</ul>
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</li>
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<li><a href="#org6882b50">3. Huddle Test</a>
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<ul>
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<li><a href="#orgb5af256">3.1. Time Domain Data</a></li>
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<li><a href="#org40d323a">3.2. PSD of Measurement Noise</a></li>
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</ul>
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</li>
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<li><a href="#orgbd5d691">4. Transfer Function Estimation with \(m=5kg\)</a>
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<ul>
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<li><a href="#org227c117">4.1. Time Domain Data</a></li>
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<li><a href="#org6113f77">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#orgd0a66e9">4.3. Compute TF estimate and Coherence</a></li>
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<li><a href="#org0a09881">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="#org67f151f">5. Transfer function of the PI Amplifier</a>
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<ul>
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<li><a href="#orgf5e228d">5.1. Compute TF estimate and Coherence</a></li>
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</ul>
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</li>
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<li><a href="#org1290d70">6. PI Amplifier</a>
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<ul>
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<li><a href="#orgd4ba330">6.1. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#org16df457">6.2. Compute TF estimate and Coherence</a></li>
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<li><a href="#orgb02981d">6.3. Comparison with the FEM model</a></li>
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</ul>
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</li>
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</ul>
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</div>
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</div>
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<div id="org06e99b8" class="figure">
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<p><img src="figs/setup_picture.png" alt="setup_picture.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Picture of the Setup</p>
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</div>
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<div id="orgdb17066" class="figure">
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<p><img src="figs/setup_zoom.png" alt="setup_zoom.png" />
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</p>
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<p><span class="figure-number">Figure 2: </span>Zoom on the APA</p>
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</div>
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<div id="outline-container-orgfe82cc3" class="outline-2">
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<h2 id="orgfe82cc3"><span class="section-number-2">1</span> Setup</h2>
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<div class="outline-text-2" id="text-1">
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</div>
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<div id="outline-container-org1c0f5ab" class="outline-3">
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<h3 id="org1c0f5ab"><span class="section-number-3">1.1</span> Parameters</h3>
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<div class="outline-text-3" id="text-1-1">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = 1e-4;
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-orgaa4583f" class="outline-3">
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<h3 id="orgaa4583f"><span class="section-number-3">1.2</span> Filter White Noise</h3>
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<div class="outline-text-3" id="text-1-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Glpf = 1/(1 + s/2/pi/500);
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Gz = c2d(Glpf, Ts, 'tustin');
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</pre>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-org14fbfb3" class="outline-2">
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<h2 id="org14fbfb3"><span class="section-number-2">2</span> Run Experiment and Save Data</h2>
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<div class="outline-text-2" id="text-2">
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</div>
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<div id="outline-container-orgad744cf" class="outline-3">
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<h3 id="orgad744cf"><span class="section-number-3">2.1</span> Load Data</h3>
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<div class="outline-text-3" id="text-2-1">
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<div class="org-src-container">
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<pre class="src src-matlab">data = SimulinkRealTime.utils.getFileScopeData('data/apa95ml.dat').data;
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</pre>
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</div>
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</div>
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</div>
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<div id="outline-container-orgecaca8d" class="outline-3">
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<h3 id="orgecaca8d"><span class="section-number-3">2.2</span> Save Data</h3>
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<div class="outline-text-3" id="text-2-2">
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<div class="org-src-container">
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<pre class="src src-matlab">u = data(:, 1); % Input Voltage [V]
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y = data(:, 2); % Output Displacement [m]
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t = data(:, 3); % Time [s]
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">save('./mat/huddle_test.mat', 't', 'u', 'y', 'Glpf');
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</pre>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-org6882b50" class="outline-2">
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<h2 id="org6882b50"><span class="section-number-2">3</span> Huddle Test</h2>
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<div class="outline-text-2" id="text-3">
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</div>
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<div id="outline-container-orgb5af256" class="outline-3">
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<h3 id="orgb5af256"><span class="section-number-3">3.1</span> Time Domain Data</h3>
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<div class="outline-text-3" id="text-3-1">
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<div id="orgbd7db15" class="figure">
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<p><img src="figs/huddle_test_time_domain.png" alt="huddle_test_time_domain.png" />
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</p>
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<p><span class="figure-number">Figure 3: </span>Measurement of the Mass displacement during Huddle Test</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org40d323a" class="outline-3">
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<h3 id="org40d323a"><span class="section-number-3">3.2</span> PSD of Measurement Noise</h3>
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<div class="outline-text-3" id="text-3-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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win = hanning(ceil(1*Fs));
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
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</pre>
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</div>
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<div id="orgd39e732" class="figure">
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<p><img src="figs/huddle_test_pdf.png" alt="huddle_test_pdf.png" />
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</p>
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<p><span class="figure-number">Figure 4: </span>Amplitude Spectral Density of the Displacement during Huddle Test</p>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-orgbd5d691" class="outline-2">
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<h2 id="orgbd5d691"><span class="section-number-2">4</span> Transfer Function Estimation with \(m=5kg\)</h2>
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<div class="outline-text-2" id="text-4">
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</div>
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<div id="outline-container-org227c117" class="outline-3">
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<h3 id="org227c117"><span class="section-number-3">4.1</span> Time Domain Data</h3>
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<div class="outline-text-3" id="text-4-1">
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<div id="org71839ef" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_time_domain.png" alt="apa95ml_5kg_10V_time_domain.png" />
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</p>
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<p><span class="figure-number">Figure 5: </span>Time domain signals during the test</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org6113f77" class="outline-3">
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<h3 id="org6113f77"><span class="section-number-3">4.2</span> Comparison of the PSD with Huddle Test</h3>
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<div class="outline-text-3" id="text-4-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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win = hanning(ceil(1*Fs));
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
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[pht, ~] = pwelch(ht.y, win, [], [], Fs);
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</pre>
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</div>
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<div id="orgb5f4391" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_pdf_comp_huddle.png" alt="apa95ml_5kg_10V_pdf_comp_huddle.png" />
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</p>
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<p><span class="figure-number">Figure 6: </span>Comparison of the ASD for the identification test and the huddle test</p>
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</div>
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</div>
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</div>
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<div id="outline-container-orgd0a66e9" class="outline-3">
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<h3 id="orgd0a66e9"><span class="section-number-3">4.3</span> Compute TF estimate and Coherence</h3>
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<div class="outline-text-3" id="text-4-3">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">win = hann(ceil(1/Ts));
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[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
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[co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts);
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</pre>
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</div>
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<div id="org24bac83" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_coh.png" alt="apa95ml_5kg_10V_coh.png" />
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</p>
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<p><span class="figure-number">Figure 7: </span>Coherence</p>
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</div>
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<div id="orgb21f9f8" class="figure">
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<p><img src="figs/apa95ml_5kg_10V_tf.png" alt="apa95ml_5kg_10V_tf.png" />
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</p>
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<p><span class="figure-number">Figure 8: </span>Estimation of the transfer function from input voltage to displacement</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org0a09881" class="outline-3">
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<h3 id="org0a09881"><span class="section-number-3">4.4</span> Comparison with the FEM model</h3>
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<div class="outline-text-3" id="text-4-4">
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<div class="org-src-container">
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<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
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</pre>
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</div>
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<div id="org780d0cb" class="figure">
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<p><img src="figs/apa95ml_5kg_comp_fem.png" alt="apa95ml_5kg_comp_fem.png" />
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</p>
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<p><span class="figure-number">Figure 9: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
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</div>
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</div>
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</div>
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<div class="outline-text-2" id="text-4">
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<div class="important">
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<p>
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The problem comes from the fact that the piezo is driven directly by the DAC that cannot deliver enought current.
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In the next section, a current amplifier is used.
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</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org67f151f" class="outline-2">
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<h2 id="org67f151f"><span class="section-number-2">5</span> Transfer function of the PI Amplifier</h2>
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<div class="outline-text-2" id="text-5">
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</div>
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<div id="outline-container-orgf5e228d" class="outline-3">
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<h3 id="orgf5e228d"><span class="section-number-3">5.1</span> Compute TF estimate and Coherence</h3>
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<div class="outline-text-3" id="text-5-1">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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</pre>
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</div>
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<p>
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The coherence and the transfer function are estimate from the voltage input of the PI amplifier to its voltage inputs.
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</p>
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<p>
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The coherence is very good as expected (Figure <a href="#orgf66ca3c">10</a>).
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</p>
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<p>
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The transfer function show a low pass filter behavior with a lot of phase drop (Figure <a href="#org0f454bc">11</a>).
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</p>
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<div class="org-src-container">
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<pre class="src src-matlab">win = hann(ceil(10/Ts));
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[tf_est, f] = tfestimate(u, um, win, [], [], 1/Ts);
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[co_est, ~] = mscohere( u, um, win, [], [], 1/Ts);
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</pre>
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</div>
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<div id="orgf66ca3c" class="figure">
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<p><img src="figs/PI_E505_coh.png" alt="PI_E505_coh.png" />
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</p>
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<p><span class="figure-number">Figure 10: </span>Coherence</p>
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</div>
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<div id="org0f454bc" class="figure">
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<p><img src="figs/PI_E505_tf.png" alt="PI_E505_tf.png" />
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</p>
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<p><span class="figure-number">Figure 11: </span>Estimation of the transfer function from input voltage to displacement</p>
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</div>
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</div>
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</div>
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</div>
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<div id="outline-container-org1290d70" class="outline-2">
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<h2 id="org1290d70"><span class="section-number-2">6</span> PI Amplifier</h2>
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<div class="outline-text-2" id="text-6">
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</div>
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<div id="outline-container-orgd4ba330" class="outline-3">
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<h3 id="orgd4ba330"><span class="section-number-3">6.1</span> Comparison of the PSD with Huddle Test</h3>
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<div class="outline-text-3" id="text-6-1">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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win = hanning(ceil(1*Fs));
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">[pxx, f] = pwelch(y, win, [], [], Fs);
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[pht, ~] = pwelch(ht.y, win, [], [], Fs);
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</pre>
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</div>
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<div id="orgee44531" class="figure">
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<p><img src="figs/apa95ml_5kg_PI_pdf_comp_huddle.png" alt="apa95ml_5kg_PI_pdf_comp_huddle.png" />
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</p>
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<p><span class="figure-number">Figure 12: </span>Comparison of the ASD for the identification test and the huddle test</p>
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</div>
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</div>
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</div>
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<div id="outline-container-org16df457" class="outline-3">
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<h3 id="org16df457"><span class="section-number-3">6.2</span> Compute TF estimate and Coherence</h3>
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<div class="outline-text-3" id="text-6-2">
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<div class="org-src-container">
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<pre class="src src-matlab">Ts = t(end)/(length(t)-1);
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Fs = 1/Ts;
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</pre>
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</div>
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<div class="org-src-container">
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<pre class="src src-matlab">win = hann(ceil(10/Ts));
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[tf_est, f] = tfestimate(u, -y, win, [], [], 1/Ts);
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[co_est, ~] = mscohere( u, -y, win, [], [], 1/Ts);
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</pre>
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</div>
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<div id="org1b63f2b" class="figure">
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<p><img src="figs/apa95ml_5kg_PI_coh.png" alt="apa95ml_5kg_PI_coh.png" />
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</p>
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<p><span class="figure-number">Figure 13: </span>Coherence</p>
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</div>
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<div id="orgd6c6bfa" class="figure">
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<p><img src="figs/apa95ml_5kg_PI_tf.png" alt="apa95ml_5kg_PI_tf.png" />
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</p>
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<p><span class="figure-number">Figure 14: </span>Estimation of the transfer function from input voltage to displacement</p>
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</div>
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</div>
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</div>
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<div id="outline-container-orgb02981d" class="outline-3">
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<h3 id="orgb02981d"><span class="section-number-3">6.3</span> Comparison with the FEM model</h3>
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<div class="outline-text-3" id="text-6-3">
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<div class="org-src-container">
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<pre class="src src-matlab">load('mat/fem_model_5kg.mat', 'Ghm');
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</pre>
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</div>
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<div id="org44c4863" class="figure">
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<p><img src="figs/apa95ml_5kg_pi_comp_fem.png" alt="apa95ml_5kg_pi_comp_fem.png" />
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</p>
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<p><span class="figure-number">Figure 15: </span>Comparison of the identified transfer function and the one estimated from the FE model</p>
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</div>
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</div>
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</div>
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</div>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-07-24 ven. 11:34</p>
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