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Analyze all APA measurements

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Thomas Dehaeze 2021-06-04 11:18:55 +02:00
parent e5107d64b6
commit fd98d01c5f
9 changed files with 12 additions and 7 deletions
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figs/apa_meas_k_time.pdf
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figs/frf_dvf_plant_coh.pdf
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test-bench-apa300ml.org
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@ -1863,7 +1863,7 @@ We get the frequency vector that will be the same for all the frequency domain a
#+end_src
*** FRF Identification - DVF
In this section, the dynamics from $V_a$ to $d_e$ is identified.
In this section, the dynamics from excitation voltage $V_a$ to encoder measured displacement $d_e$ is identified.
We compute the coherence for 2nd and 3rd identification:
#+begin_src matlab
@ -1931,7 +1931,6 @@ end
#+end_src
The obtained transfer functions are shown in Figure [[fig:frf_dvf_plant_tf]].
They are all superimposed except for the APA7.
#+begin_question
@ -1943,10 +1942,6 @@ The encoder seems fine (it measured the same as the Interferometer).
Maybe it could be due to the amplifier?
#+end_question
#+begin_question
Why is there a double resonance at around 94Hz?
#+end_question
#+begin_src matlab :exports none
figure;
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
@ -1991,6 +1986,15 @@ exportFig('figs/frf_dvf_plant_tf.pdf', 'width', 'wide', 'height', 'tall');
#+RESULTS:
[[file:figs/frf_dvf_plant_tf.png]]
A zoom on the main resonance is shown in Figure [[fig:frf_dvf_zoom_res_plant_tf]].
It is clear that expect for the APA 7, the response around the resonances are well matching for all the APA.
It is also clear that there is not a single resonance but two resonances, a first one at 95Hz and a second one at 105Hz.
#+begin_question
Why is there a double resonance at around 94Hz?
#+end_question
#+begin_src matlab :exports none
figure;
tiledlayout(3, 1, 'TileSpacing', 'None', 'Padding', 'None');
@ -2018,6 +2022,7 @@ set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
yticks(-360:90:360);
ylim([-10, 180]);
linkaxes([ax1,ax2],'x');
xlim([80, 120]);
@ -2128,7 +2133,7 @@ hold off;
set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
hold off;
yticks(-360:90:360);
yticks(-360:90:360); ylim([-180, 180]);
linkaxes([ax1,ax2],'x');
xlim([10, 2e3]);