tdehaeze/test-bench-apa300ml
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Better analysis of APA 1 measurements

Browse Source
This commit is contained in:
Thomas Dehaeze 2021-06-04 11:13:48 +02:00
parent f4dc9b16dc
commit e5107d64b6
59 changed files with 1582 additions and 1138 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

BIN
figs/IMG_20210601_134417.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.4 MiB

BIN
figs/IMG_20210601_134431.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 2.9 MiB

BIN
figs/IMG_20210601_134456.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.5 MiB

BIN
figs/IMG_20210601_134513.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.3 MiB

BIN
figs/IMG_20210602_162708.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.5 MiB

BIN
figs/IMG_20210602_162719.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.0 MiB

BIN
figs/IMG_20210602_162731.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.0 MiB

BIN
figs/IMG_20210602_165015.jpg Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 3.5 MiB

BIN
figs/apa300ML.pdf
View File

Binary file not shown.

BIN
figs/apa300ML.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 726 KiB

After

Width:  |  Height:  |  Size: 118 KiB

BIN
figs/apa_1_coh_dvf.pdf Normal file
View File

Binary file not shown.

BIN
figs/apa_1_coh_dvf.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 45 KiB

BIN
figs/apa_1_coh_iff.pdf Normal file
View File

Binary file not shown.

BIN
figs/apa_1_coh_iff.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 41 KiB

BIN
figs/apa_1_frf_dvf.pdf Normal file
View File

Binary file not shown.

BIN
figs/apa_1_frf_dvf.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 130 KiB

BIN
figs/apa_1_frf_iff.pdf Normal file
View File

Binary file not shown.

BIN
figs/apa_1_frf_iff.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 96 KiB

BIN
figs/apa_1_meas_stiffness.pdf Normal file
View File

Binary file not shown.

BIN
figs/apa_1_meas_stiffness.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 21 KiB

BIN
figs/apa_bench_exc_sweep.pdf Normal file
View File

Binary file not shown.

BIN
figs/apa_bench_exc_sweep.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 21 KiB

BIN
figs/apa_meas_k_time.pdf
View File

Binary file not shown.

BIN
figs/frf_dvf_plant_tf.pdf
View File

Binary file not shown.

BIN
figs/frf_dvf_plant_tf.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 141 KiB

After

Width:  |  Height:  |  Size: 142 KiB

BIN
figs/frf_dvf_zoom_res_plant_tf.pdf Normal file
View File

Binary file not shown.

BIN
figs/frf_dvf_zoom_res_plant_tf.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 152 KiB

BIN
figs/frf_iff_effect_R.pdf
View File

Binary file not shown.

BIN
figs/frf_iff_effect_R.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 98 KiB

After

Width:  |  Height:  |  Size: 81 KiB

BIN
figs/frf_meas_noise_excitation.pdf
View File

Binary file not shown.

BIN
figs/frf_meas_noise_excitation.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 82 KiB

After

Width:  |  Height:  |  Size: 82 KiB

BIN
figs/frf_meas_noise_hf_exc.pdf Normal file
View File

Binary file not shown.

BIN
figs/frf_meas_noise_hf_exc.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 70 KiB

BIN
figs/frf_meas_sweep_excitation.pdf
View File

Binary file not shown.

BIN
figs/frf_meas_sweep_excitation.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 70 KiB

After

Width:  |  Height:  |  Size: 71 KiB

BIN
figs/hyst_exc_signal_time.pdf
View File

Binary file not shown.

BIN
figs/hyst_results_multi_ampl.pdf
View File

Binary file not shown.

BIN
figs/picture_apa_bench.pdf Normal file
View File

Binary file not shown.

BIN
figs/picture_apa_bench.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 635 KiB

BIN
figs/picture_apa_bench_encoder.pdf Normal file
View File

Binary file not shown.

BIN
figs/picture_apa_bench_encoder.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 487 KiB

BIN
figs/picture_apa_bench_front.pdf Normal file
View File

Binary file not shown.

BIN
figs/picture_apa_bench_front.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 446 KiB

BIN
figs/picture_apa_bench_side.pdf Normal file
View File

Binary file not shown.

BIN
figs/picture_apa_bench_side.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 390 KiB

BIN
figs/test_bench_apa_alone.pdf
View File

Binary file not shown.

BIN
figs/test_bench_apa_alone.png
View File

Binary file not shown.
Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 54 KiB

After

Width:  |  Height:  |  Size: 54 KiB

242
figs/test_bench_apa_alone.svg
View File

@ -14,7 +14,7 @@
height="285.13144" height="285.13144"
viewBox="0 0 449.72563 285.13143" viewBox="0 0 449.72563 285.13143"
sodipodi:docname="test_bench_apa_alone.svg" sodipodi:docname="test_bench_apa_alone.svg"
inkscape:version="1.0.1 (3bc2e813f5, 2020-09-07)" inkscape:version="1.0.2 (e86c870879, 2021-01-15, custom)"
inkscape:export-filename="/home/thomas/Cloud/thesis/matlab/test-bench-apa/figs/test_bench_apa_schematic_iff.png" inkscape:export-filename="/home/thomas/Cloud/thesis/matlab/test-bench-apa/figs/test_bench_apa_schematic_iff.png"
inkscape:export-xdpi="252" inkscape:export-xdpi="252"
inkscape:export-ydpi="252"> inkscape:export-ydpi="252">
@ -2789,15 +2789,85 @@
style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1" style="fill:#000000;fill-opacity:1;fill-rule:evenodd;stroke:#000000;stroke-width:0.625;stroke-linejoin:round;stroke-opacity:1"
id="path1989-7" /> id="path1989-7" />
</marker> </marker>
<g
id="g1578">
<symbol
overflow="visible"
id="symbol4366">
<path
style="stroke:none;"
d=""
id="path794" />
</symbol>
<symbol
overflow="visible"
id="symbol6875">
<path
style="stroke:none;"
d="M 5.140625 -6.8125 C 5.140625 -6.8125 5.140625 -6.921875 5.015625 -6.921875 C 4.859375 -6.921875 3.921875 -6.828125 3.75 -6.8125 C 3.671875 -6.796875 3.609375 -6.75 3.609375 -6.625 C 3.609375 -6.5 3.703125 -6.5 3.84375 -6.5 C 4.328125 -6.5 4.34375 -6.4375 4.34375 -6.328125 L 4.3125 -6.125 L 3.71875 -3.765625 C 3.53125 -4.140625 3.25 -4.40625 2.796875 -4.40625 C 1.640625 -4.40625 0.40625 -2.9375 0.40625 -1.484375 C 0.40625 -0.546875 0.953125 0.109375 1.71875 0.109375 C 1.921875 0.109375 2.421875 0.0625 3.015625 -0.640625 C 3.09375 -0.21875 3.453125 0.109375 3.921875 0.109375 C 4.28125 0.109375 4.5 -0.125 4.671875 -0.4375 C 4.828125 -0.796875 4.96875 -1.40625 4.96875 -1.421875 C 4.96875 -1.53125 4.875 -1.53125 4.84375 -1.53125 C 4.75 -1.53125 4.734375 -1.484375 4.703125 -1.34375 C 4.53125 -0.703125 4.359375 -0.109375 3.953125 -0.109375 C 3.671875 -0.109375 3.65625 -0.375 3.65625 -0.5625 C 3.65625 -0.8125 3.671875 -0.875 3.703125 -1.046875 Z M 3.078125 -1.1875 C 3.015625 -1 3.015625 -0.984375 2.875 -0.8125 C 2.4375 -0.265625 2.03125 -0.109375 1.75 -0.109375 C 1.25 -0.109375 1.109375 -0.65625 1.109375 -1.046875 C 1.109375 -1.546875 1.421875 -2.765625 1.65625 -3.234375 C 1.96875 -3.8125 2.40625 -4.1875 2.8125 -4.1875 C 3.453125 -4.1875 3.59375 -3.375 3.59375 -3.3125 C 3.59375 -3.25 3.578125 -3.1875 3.5625 -3.140625 Z M 3.078125 -1.1875 "
id="path246" />
</symbol>
<symbol
overflow="visible"
id="symbol853">
<path
style="stroke:none;"
d=""
id="path3744" />
</symbol>
<symbol
overflow="visible"
id="symbol5886">
<path
style="stroke:none;"
d="M 2.9375 -2.65625 C 2.796875 -2.890625 2.5625 -3.078125 2.21875 -3.078125 C 1.328125 -3.078125 0.421875 -2.09375 0.421875 -1.09375 C 0.421875 -0.40625 0.875 0.0625 1.484375 0.0625 C 1.859375 0.0625 2.1875 -0.140625 2.46875 -0.421875 C 2.59375 0 3 0.0625 3.1875 0.0625 C 3.4375 0.0625 3.609375 -0.078125 3.734375 -0.296875 C 3.890625 -0.578125 3.984375 -0.96875 3.984375 -1 C 3.984375 -1.09375 3.890625 -1.09375 3.875 -1.09375 C 3.765625 -1.09375 3.765625 -1.0625 3.71875 -0.875 C 3.625 -0.53125 3.5 -0.125 3.203125 -0.125 C 3.03125 -0.125 2.96875 -0.28125 2.96875 -0.46875 C 2.96875 -0.578125 3.03125 -0.84375 3.078125 -1.015625 C 3.125 -1.203125 3.203125 -1.484375 3.234375 -1.640625 L 3.375 -2.171875 C 3.421875 -2.359375 3.5 -2.6875 3.5 -2.71875 C 3.5 -2.875 3.375 -2.9375 3.265625 -2.9375 C 3.140625 -2.9375 2.984375 -2.859375 2.9375 -2.65625 Z M 2.5 -0.875 C 2.453125 -0.671875 2.296875 -0.53125 2.140625 -0.40625 C 2.078125 -0.34375 1.796875 -0.125 1.5 -0.125 C 1.234375 -0.125 0.984375 -0.3125 0.984375 -0.796875 C 0.984375 -1.171875 1.1875 -1.9375 1.359375 -2.21875 C 1.671875 -2.78125 2.03125 -2.875 2.21875 -2.875 C 2.703125 -2.875 2.84375 -2.34375 2.84375 -2.265625 C 2.84375 -2.25 2.828125 -2.1875 2.828125 -2.171875 Z M 2.5 -0.875 "
id="path7025" />
</symbol>
</g>
<g
id="g8691">
<symbol
overflow="visible"
id="symbol7316">
<path
style="stroke:none;"
d=""
id="path8164" />
</symbol>
<symbol
overflow="visible"
id="symbol1830">
<path
style="stroke:none;"
d="M 5.140625 -6.8125 C 5.140625 -6.8125 5.140625 -6.921875 5.015625 -6.921875 C 4.859375 -6.921875 3.921875 -6.828125 3.75 -6.8125 C 3.671875 -6.796875 3.609375 -6.75 3.609375 -6.625 C 3.609375 -6.5 3.703125 -6.5 3.84375 -6.5 C 4.328125 -6.5 4.34375 -6.4375 4.34375 -6.328125 L 4.3125 -6.125 L 3.71875 -3.765625 C 3.53125 -4.140625 3.25 -4.40625 2.796875 -4.40625 C 1.640625 -4.40625 0.40625 -2.9375 0.40625 -1.484375 C 0.40625 -0.546875 0.953125 0.109375 1.71875 0.109375 C 1.921875 0.109375 2.421875 0.0625 3.015625 -0.640625 C 3.09375 -0.21875 3.453125 0.109375 3.921875 0.109375 C 4.28125 0.109375 4.5 -0.125 4.671875 -0.4375 C 4.828125 -0.796875 4.96875 -1.40625 4.96875 -1.421875 C 4.96875 -1.53125 4.875 -1.53125 4.84375 -1.53125 C 4.75 -1.53125 4.734375 -1.484375 4.703125 -1.34375 C 4.53125 -0.703125 4.359375 -0.109375 3.953125 -0.109375 C 3.671875 -0.109375 3.65625 -0.375 3.65625 -0.5625 C 3.65625 -0.8125 3.671875 -0.875 3.703125 -1.046875 Z M 3.078125 -1.1875 C 3.015625 -1 3.015625 -0.984375 2.875 -0.8125 C 2.4375 -0.265625 2.03125 -0.109375 1.75 -0.109375 C 1.25 -0.109375 1.109375 -0.65625 1.109375 -1.046875 C 1.109375 -1.546875 1.421875 -2.765625 1.65625 -3.234375 C 1.96875 -3.8125 2.40625 -4.1875 2.8125 -4.1875 C 3.453125 -4.1875 3.59375 -3.375 3.59375 -3.3125 C 3.59375 -3.25 3.578125 -3.1875 3.5625 -3.140625 Z M 3.078125 -1.1875 "
id="path2625" />
</symbol>
<symbol
overflow="visible"
id="symbol5762">
<path
style="stroke:none;"
d=""
id="path671" />
</symbol>
<symbol
overflow="visible"
id="symbol7594">
<path
style="stroke:none;"
d="M 1.5625 -1.59375 C 1.75 -1.59375 2.3125 -1.609375 2.6875 -1.734375 C 3.203125 -1.921875 3.296875 -2.25 3.296875 -2.453125 C 3.296875 -2.84375 2.90625 -3.078125 2.4375 -3.078125 C 1.59375 -3.078125 0.46875 -2.4375 0.46875 -1.234375 C 0.46875 -0.53125 0.90625 0.0625 1.71875 0.0625 C 2.90625 0.0625 3.453125 -0.625 3.453125 -0.71875 C 3.453125 -0.765625 3.390625 -0.84375 3.328125 -0.84375 C 3.296875 -0.84375 3.28125 -0.828125 3.21875 -0.765625 C 2.671875 -0.125 1.859375 -0.125 1.734375 -0.125 C 1.3125 -0.125 1.03125 -0.40625 1.03125 -0.96875 C 1.03125 -1.0625 1.03125 -1.203125 1.125 -1.59375 Z M 1.171875 -1.78125 C 1.46875 -2.796875 2.234375 -2.875 2.4375 -2.875 C 2.734375 -2.875 3 -2.71875 3 -2.453125 C 3 -1.78125 1.8125 -1.78125 1.515625 -1.78125 Z M 1.171875 -1.78125 "
id="path4748" />
</symbol>
</g>
</defs> </defs>
<sodipodi:namedview <sodipodi:namedview
inkscape:current-layer="layer1" inkscape:current-layer="layer1"
inkscape:window-maximized="1" inkscape:window-maximized="1"
inkscape:window-y="57" inkscape:window-y="57"
inkscape:window-x="12" inkscape:window-x="12"
inkscape:cy="121.90855" inkscape:cy="135.69779"
inkscape:cx="162.39813" inkscape:cx="157.65486"
inkscape:zoom="2" inkscape:zoom="2.8284271"
showgrid="false" showgrid="false"
id="namedview835" id="namedview835"
inkscape:window-height="1371" inkscape:window-height="1371"
@ -3046,66 +3116,62 @@
style="stroke-width:0.264583">DAC</tspan></text> style="stroke-width:0.264583">DAC</tspan></text>
</g> </g>
<g <g
id="g10577-8" inkscape:label=""
transform="translate(-34.986519,32.20742)"> transform="translate(-358.26663,139.27034)"
id="g2777">
<g <g
inkscape:label="" id="g6873">
transform="translate(-323.28011,107.06292)"
id="g2777">
<g <g
id="g6873"> style="fill:#000000;fill-opacity:1"
<g id="g6118">
style="fill:#000000;fill-opacity:1" <use
id="g6118"> xlink:href="#symbol1726"
<use x="300.965"
xlink:href="#symbol1726" y="93.917999"
x="300.965" id="use6749"
y="93.917999" width="100%"
id="use6749" height="100%" />
width="100%" </g>
height="100%" /> <g
</g> style="fill:#000000;fill-opacity:1"
<g id="g4781">
style="fill:#000000;fill-opacity:1" <use
id="g4781"> xlink:href="#symbol3791"
<use x="306.77701"
xlink:href="#symbol3791" y="95.412003"
x="306.77701" id="use1702"
y="95.412003" width="100%"
id="use1702" height="100%" />
width="100%"
height="100%" />
</g>
</g> </g>
</g> </g>
</g>
<g
inkscape:label=""
transform="translate(-359.2494,180.27239)"
id="g3692">
<g <g
inkscape:label="" id="g4069">
transform="translate(-283.10366,148.06497)"
id="g3692">
<g <g
id="g4069"> style="fill:#000000;fill-opacity:1"
<g id="g4739">
style="fill:#000000;fill-opacity:1" <use
id="g4739"> xlink:href="#symbol1532"
<use x="300.68399"
xlink:href="#symbol1532" y="93.917999"
x="300.68399" id="use5441"
y="93.917999" width="100%"
id="use5441" height="100%" />
width="100%" </g>
height="100%" /> <g
</g> style="fill:#000000;fill-opacity:1"
<g id="g2990">
style="fill:#000000;fill-opacity:1" <use
id="g2990"> xlink:href="#symbol9907"
<use x="306.496"
xlink:href="#symbol9907" y="95.412003"
x="306.496" id="use188"
y="95.412003" width="100%"
id="use188" height="100%" />
width="100%"
height="100%" />
</g>
</g> </g>
</g> </g>
</g> </g>
@ -3594,29 +3660,29 @@
inkscape:groupmode="layer"> inkscape:groupmode="layer">
<g <g
inkscape:label="" inkscape:label=""
transform="translate(-358.91773,-45.647674)" transform="translate(-149.90838,-34.486356)"
id="g4165"> id="g2793">
<g <g
id="g8992"> id="g6996">
<g <g
style="fill:#000000;fill-opacity:1" style="fill:#000000;fill-opacity:1"
id="g1909"> id="g6162">
<use <use
xlink:href="#symbol761" xlink:href="#symbol6875"
x="301.74899" x="91.925003"
y="93.917999" y="81.962997"
id="use8093" id="use6742"
width="100%" width="100%"
height="100%" /> height="100%" />
</g> </g>
<g <g
style="fill:#000000;fill-opacity:1" style="fill:#000000;fill-opacity:1"
id="g6049"> id="g8963">
<use <use
xlink:href="#symbol3062" xlink:href="#symbol5886"
x="306.93399" x="97.111"
y="95.412003" y="83.457001"
id="use1809" id="use8451"
width="100%" width="100%"
height="100%" /> height="100%" />
</g> </g>
@ -3624,21 +3690,31 @@
</g> </g>
<g <g
inkscape:label="" inkscape:label=""
transform="translate(-359.32752,181.1475)" transform="translate(-149.31989,222.97044)"
id="g9922" id="g3633">
style="display:inline">
<g <g
id="g6494"> id="g4091">
<g <g
id="g3047" style="fill:#000000;fill-opacity:1"
style="fill:#000000;fill-opacity:1"> id="g4732">
<use <use
height="100%" xlink:href="#symbol1830"
x="91.925003"
y="81.962997"
id="use4042"
width="100%" width="100%"
id="use3266" height="100%" />
y="93.917999" </g>
x="303.14801" <g
xlink:href="#symbol6002" /> style="fill:#000000;fill-opacity:1"
id="g4411">
<use
xlink:href="#symbol7594"
x="97.111"
y="83.457001"
id="use9666"
width="100%"
height="100%" />
</g> </g>
</g> </g>
</g> </g>
@ -3797,7 +3873,7 @@
sodipodi:nodetypes="cc" /> sodipodi:nodetypes="cc" />
<g <g
inkscape:label="" inkscape:label=""
transform="translate(-140.25214,217.85703)" transform="translate(-140.25214,183.18615)"
id="g4943"> id="g4943">
<g <g
id="g6591"> id="g6591">

Side by Side Swipe Overlay

Before

Width:  |  Height:  |  Size: 244 KiB

After

Width:  |  Height:  |  Size: 250 KiB

BIN
figs/test_bench_leg_coder.pdf Normal file
View File

Binary file not shown.

BIN
figs/test_bench_leg_coder.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 461 KiB

BIN
figs/test_bench_leg_front.pdf Normal file
View File

Binary file not shown.

BIN
figs/test_bench_leg_front.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 569 KiB

BIN
figs/test_bench_leg_overview.pdf Normal file
View File

Binary file not shown.

BIN
figs/test_bench_leg_overview.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 642 KiB

BIN
figs/test_bench_leg_side.pdf Normal file
View File

Binary file not shown.

BIN
figs/test_bench_leg_side.png Normal file
View File

Binary file not shown.
Side by Side

After

Width:  |  Height:  |  Size: 637 KiB

0
matlab/mat/frf_data_2_sweep_lf.mat → matlab/mat/frf_data_1_sweep_lf.mat
View File

0
matlab/mat/frf_data_2_sweep_lf_with_R.mat → matlab/mat/frf_data_1_sweep_lf_with_R.mat
View File

2478
test-bench-apa300ml.org
View File

File diff suppressed because it is too large Load Diff