280 lines
8.8 KiB
HTML
280 lines
8.8 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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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-07-20 lun. 13:29 -->
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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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<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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<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="#orge11c5dc">1. Setup</a>
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<ul>
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<li><a href="#org6653e08">1.1. Parameters</a></li>
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<li><a href="#orge01c6e9">1.2. Filter White Noise</a></li>
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</ul>
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</li>
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<li><a href="#org26dcd8d">2. Run Experiment and Save Data</a>
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<ul>
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<li><a href="#orgc671538">2.1. Load Data</a></li>
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<li><a href="#orge426d6c">2.2. Save Data</a></li>
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</ul>
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</li>
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<li><a href="#org29fccbc">3. Huddle Test</a>
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<ul>
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<li><a href="#org1a509f0">3.1. Time Domain Data</a></li>
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<li><a href="#org99da013">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="#orgfa5e8ee">4. Transfer Function Estimation with \(m=5kg\)</a>
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<ul>
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<li><a href="#orgf861073">4.1. Time Domain Data</a></li>
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<li><a href="#org65d8a9f">4.2. Comparison of the PSD with Huddle Test</a></li>
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<li><a href="#orgc82a6e8">4.3. Compute TF estimate and Coherence</a></li>
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<li><a href="#org4b0a791">4.4. 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="org63ea785" 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="org285264c" 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-orge11c5dc" class="outline-2">
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<h2 id="orge11c5dc"><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-org6653e08" class="outline-3">
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<h3 id="org6653e08"><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-orge01c6e9" class="outline-3">
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<h3 id="orge01c6e9"><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-org26dcd8d" class="outline-2">
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<h2 id="org26dcd8d"><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-orgc671538" class="outline-3">
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<h3 id="orgc671538"><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-orge426d6c" class="outline-3">
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<h3 id="orge426d6c"><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-org29fccbc" class="outline-2">
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<h2 id="org29fccbc"><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-org1a509f0" class="outline-3">
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<h3 id="org1a509f0"><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="orgf1f51e5" 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-org99da013" class="outline-3">
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<h3 id="org99da013"><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="orgc5a6acc" 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-orgfa5e8ee" class="outline-2">
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<h2 id="orgfa5e8ee"><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-orgf861073" class="outline-3">
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<h3 id="orgf861073"><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="orga6ff075" 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-org65d8a9f" class="outline-3">
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<h3 id="org65d8a9f"><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="org63805be" 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-orgc82a6e8" class="outline-3">
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<h3 id="orgc82a6e8"><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">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="orgf57d3dd" 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="org3409282" 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-org4b0a791" class="outline-3">
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<h3 id="org4b0a791"><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="org7509557" 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>
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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: 2020-07-20 lun. 13:29</p>
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</div>
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</body>
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</html>
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