Add test / doc / list of sections
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doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf
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|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<head>
|
||||||
<!-- 2020-11-10 mar. 13:00 -->
|
<!-- 2020-11-10 mar. 13:41 -->
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<title>Piezoelectric Force Sensor - Test Bench</title>
|
<title>Piezoelectric Force Sensor - Test Bench</title>
|
||||||
<meta name="generator" content="Org mode" />
|
<meta name="generator" content="Org mode" />
|
||||||
@ -34,17 +34,29 @@
|
|||||||
<h2>Table of Contents</h2>
|
<h2>Table of Contents</h2>
|
||||||
<div id="text-table-of-contents">
|
<div id="text-table-of-contents">
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#orgfa4ffe0">1. Change of Stiffness due to Sensors stack being open/closed circuit</a>
|
<li><a href="#orga887666">1. Change of Stiffness due to Sensors stack being open/closed circuit</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org664356d">1.1. Load Data</a></li>
|
<li><a href="#org632bb0b">1.1. Load Data</a></li>
|
||||||
<li><a href="#orgb329298">1.2. Transfer Functions</a></li>
|
<li><a href="#org06862e1">1.2. Transfer Functions</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
<li><a href="#orgcc12929">2. Generated Number of Charge / Voltage</a>
|
<li><a href="#orgd3fb351">2. Effect of a Resistor in Parallel with the Stack Sensor</a>
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org7a46587">2.1. Steps</a></li>
|
<li><a href="#orgf3e29cf">2.1. Excitation steps and measured generated voltage</a></li>
|
||||||
<li><a href="#org9938615">2.2. Add Parallel Resistor</a></li>
|
<li><a href="#org93b0595">2.2. Estimation of the voltage offset and discharge time constant</a></li>
|
||||||
<li><a href="#org3e71d2e">2.3. Sinus</a></li>
|
<li><a href="#orgc749ef4">2.3. Estimation of the ADC input impedance</a></li>
|
||||||
|
<li><a href="#org66bf743">2.4. Explanation of the Voltage offset</a></li>
|
||||||
|
<li><a href="#org3c86684">2.5. Effect of an additional Parallel Resistor</a></li>
|
||||||
|
<li><a href="#org4ae0b53">2.6. Obtained voltage offset and time constant with the added resistor</a></li>
|
||||||
|
</ul>
|
||||||
|
</li>
|
||||||
|
<li><a href="#org81c5db6">3. Generated Number of Charge / Voltage</a>
|
||||||
|
<ul>
|
||||||
|
<li><a href="#org55eecf7">3.1. Data Loading</a></li>
|
||||||
|
<li><a href="#org46592d5">3.2. Excitation signal and corresponding displacement</a></li>
|
||||||
|
<li><a href="#org6e6b1f7">3.3. Generated Voltage</a></li>
|
||||||
|
<li><a href="#org4ed9610">3.4. Generated Charge</a></li>
|
||||||
|
<li><a href="#org69bd84e">3.5. Generated Voltage/Charge as a function of the displacement</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</li>
|
</li>
|
||||||
</ul>
|
</ul>
|
||||||
@ -55,21 +67,61 @@
|
|||||||
In this document is studied how a piezoelectric stack can be used to measured the force.
|
In this document is studied how a piezoelectric stack can be used to measured the force.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
It is divided in the following sections:
|
||||||
|
</p>
|
||||||
<ul class="org-ul">
|
<ul class="org-ul">
|
||||||
<li>Section <a href="#org574ce5b">1</a>: the effect of the input impedance of the electronics connected to the force sensor stack on the stiffness of the stack is studied</li>
|
<li>Section <a href="#orgcbe0c6f">1</a>: the effect of the input impedance of the electronics connected to the force sensor stack on the stiffness of the stack is studied</li>
|
||||||
<li>Section <a href="#org3d96d6c">2</a>:</li>
|
<li>Section <a href="#org72d0a53">2</a>: the effect of a resistor in parallel with the sensor stack is studied</li>
|
||||||
|
<li>Section <a href="#org22b743e">3</a>: the voltage / number of charge generated by the sensor as a function of the displacement is measured</li>
|
||||||
</ul>
|
</ul>
|
||||||
|
|
||||||
<div id="outline-container-orgfa4ffe0" class="outline-2">
|
<div id="outline-container-orga887666" class="outline-2">
|
||||||
<h2 id="orgfa4ffe0"><span class="section-number-2">1</span> Change of Stiffness due to Sensors stack being open/closed circuit</h2>
|
<h2 id="orga887666"><span class="section-number-2">1</span> Change of Stiffness due to Sensors stack being open/closed circuit</h2>
|
||||||
<div class="outline-text-2" id="text-1">
|
<div class="outline-text-2" id="text-1">
|
||||||
<p>
|
<p>
|
||||||
<a id="org574ce5b"></a>
|
<a id="orgcbe0c6f"></a>
|
||||||
</p>
|
</p>
|
||||||
|
<p>
|
||||||
|
The experimental Setup is schematically represented in Figure <a href="#org27d7f75">1</a>.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
The dynamics from the voltage \(u\) used to drive the actuator stacks to the encoder displacement \(d_e\) is identified when the switch connected to the sensor stack is either open or closed.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
|
||||||
|
<div id="org27d7f75" class="figure">
|
||||||
|
<p><img src="figs/exp_setup_schematic.png" alt="exp_setup_schematic.png" />
|
||||||
|
</p>
|
||||||
|
<p><span class="figure-number">Figure 1: </span>Schematic of the Experiment</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org664356d" class="outline-3">
|
<p>
|
||||||
<h3 id="org664356d"><span class="section-number-3">1.1</span> Load Data</h3>
|
When the switch is opened, this correspond of having a measurement electronics with an high input impedance such as a <b>voltage</b> amplifier.
|
||||||
|
When the switch is closed, this correspond of having a measurement electronics with an small input impedance such as a <b>charge</b> amplifier.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
We wish here to see how the system dynamics is changing in the two extreme cases.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<div class="note" id="org4171ed0">
|
||||||
|
<p>
|
||||||
|
The equipment used in the test bench are:
|
||||||
|
</p>
|
||||||
|
<ul class="org-ul">
|
||||||
|
<li>Renishaw Resolution Encoder with 1nm resolution (<a href="doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf">doc</a>)</li>
|
||||||
|
<li>Cedrat Amplified Piezoelectric Actuator APA95ML (<a href="doc/APA95ML.pdf">doc</a>)</li>
|
||||||
|
<li>Voltage Amplifier LA75B (<a href="doc/LA75B.pdf">doc</a>)</li>
|
||||||
|
<li>Speedgoat IO131 with 16bits ADC and DAC (<a href="doc/IO130 IO131 OEM Datasheet.pdf">doc</a>)</li>
|
||||||
|
</ul>
|
||||||
|
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org632bb0b" class="outline-3">
|
||||||
|
<h3 id="org632bb0b"><span class="section-number-3">1.1</span> Load Data</h3>
|
||||||
<div class="outline-text-3" id="text-1-1">
|
<div class="outline-text-3" id="text-1-1">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">oc = load(<span class="org-string">'identification_open_circuit.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>);
|
<pre class="src src-matlab">oc = load(<span class="org-string">'identification_open_circuit.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>);
|
||||||
@ -79,8 +131,8 @@ sc = load(<span class="org-string">'identification_short_circuit.mat'</span>, <s
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgb329298" class="outline-3">
|
<div id="outline-container-org06862e1" class="outline-3">
|
||||||
<h3 id="orgb329298"><span class="section-number-3">1.2</span> Transfer Functions</h3>
|
<h3 id="org06862e1"><span class="section-number-3">1.2</span> Transfer Functions</h3>
|
||||||
<div class="outline-text-3" id="text-1-2">
|
<div class="outline-text-3" id="text-1-2">
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">Ts = 1e<span class="org-type">-</span>4; <span class="org-comment">% Sampling Time [s]</span>
|
<pre class="src src-matlab">Ts = 1e<span class="org-type">-</span>4; <span class="org-comment">% Sampling Time [s]</span>
|
||||||
@ -98,26 +150,26 @@ win = hann(ceil(10<span class="org-type">/</span>Ts));
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="org07156da" class="figure">
|
<div id="orgaafdea3" class="figure">
|
||||||
<p><img src="figs/stiffness_force_sensor_coherence.png" alt="stiffness_force_sensor_coherence.png" />
|
<p><img src="figs/stiffness_force_sensor_coherence.png" alt="stiffness_force_sensor_coherence.png" />
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
<div id="org4e249d7" class="figure">
|
<div id="orgc2be608" class="figure">
|
||||||
<p><img src="figs/stiffness_force_sensor_bode.png" alt="stiffness_force_sensor_bode.png" />
|
<p><img src="figs/stiffness_force_sensor_bode.png" alt="stiffness_force_sensor_bode.png" />
|
||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="org503058b" class="figure">
|
<div id="org59bf971" class="figure">
|
||||||
<p><img src="figs/stiffness_force_sensor_bode_zoom.png" alt="stiffness_force_sensor_bode_zoom.png" />
|
<p><img src="figs/stiffness_force_sensor_bode_zoom.png" alt="stiffness_force_sensor_bode_zoom.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 3: </span>Zoom on the change of resonance</p>
|
<p><span class="figure-number">Figure 4: </span>Zoom on the change of resonance</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div class="important" id="org93bdd08">
|
<div class="important" id="org2d5ecc1">
|
||||||
<p>
|
<p>
|
||||||
The change of resonance frequency / stiffness is very small and is not important here.
|
The change of resonance frequency / stiffness is very small and is not important here.
|
||||||
</p>
|
</p>
|
||||||
@ -127,46 +179,76 @@ The change of resonance frequency / stiffness is very small and is not important
|
|||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgcc12929" class="outline-2">
|
<div id="outline-container-orgd3fb351" class="outline-2">
|
||||||
<h2 id="orgcc12929"><span class="section-number-2">2</span> Generated Number of Charge / Voltage</h2>
|
<h2 id="orgd3fb351"><span class="section-number-2">2</span> Effect of a Resistor in Parallel with the Stack Sensor</h2>
|
||||||
<div class="outline-text-2" id="text-2">
|
<div class="outline-text-2" id="text-2">
|
||||||
<p>
|
<p>
|
||||||
<a id="org3d96d6c"></a>
|
<a id="org72d0a53"></a>
|
||||||
</p>
|
</p>
|
||||||
<p>
|
<p>
|
||||||
Two stacks are used as actuator (in parallel) and one stack is used as sensor.
|
The setup is shown in Figure <a href="#org21d0104">5</a> where two stacks are used as actuator (in parallel) and one stack is used as sensor.
|
||||||
|
The voltage amplifier used has a gain of 20 [V/V] (Cedrat LA75B).
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<p>
|
|
||||||
The amplifier gain is 20V/V (Cedrat LA75B).
|
<div id="org21d0104" class="figure">
|
||||||
|
<p><img src="figs/force_sensor_setup.png" alt="force_sensor_setup.png" />
|
||||||
</p>
|
</p>
|
||||||
|
<p><span class="figure-number">Figure 5: </span>Schematic of the setup</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-org7a46587" class="outline-3">
|
<div class="note" id="orgdd0ed7a">
|
||||||
<h3 id="org7a46587"><span class="section-number-3">2.1</span> Steps</h3>
|
<p>
|
||||||
|
The equipment used in the test bench are:
|
||||||
|
</p>
|
||||||
|
<ul class="org-ul">
|
||||||
|
<li>Renishaw Resolution Encoder with 1nm resolution (<a href="doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf">doc</a>)</li>
|
||||||
|
<li>Cedrat Amplified Piezoelectric Actuator APA95ML (<a href="doc/APA95ML.pdf">doc</a>)</li>
|
||||||
|
<li>Voltage Amplifier LA75B (<a href="doc/LA75B.pdf">doc</a>)</li>
|
||||||
|
<li>Speedgoat IO131 with 16bits ADC and DAC (<a href="doc/IO130 IO131 OEM Datasheet.pdf">doc</a>)</li>
|
||||||
|
</ul>
|
||||||
|
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-orgf3e29cf" class="outline-3">
|
||||||
|
<h3 id="orgf3e29cf"><span class="section-number-3">2.1</span> Excitation steps and measured generated voltage</h3>
|
||||||
<div class="outline-text-3" id="text-2-1">
|
<div class="outline-text-3" id="text-2-1">
|
||||||
|
<p>
|
||||||
|
The measured data is loaded.
|
||||||
|
</p>
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'force_sensor_steps.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>, <span class="org-string">'v'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'force_sensor_steps.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>, <span class="org-string">'v'</span>);
|
||||||
</pre>
|
</pre>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div class="org-src-container">
|
<p>
|
||||||
<pre class="src src-matlab"><span class="org-type">figure</span>;
|
The excitation signal (steps) and measured voltage across the sensor stack are shown in Figure <a href="#org8a7c66b">6</a>.
|
||||||
tiledlayout(2, 1, <span class="org-string">'TileSpacing'</span>, <span class="org-string">'None'</span>, <span class="org-string">'Padding'</span>, <span class="org-string">'None'</span>);
|
</p>
|
||||||
nexttile;
|
|
||||||
plot(t, v);
|
|
||||||
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Measured voltage [V]'</span>);
|
|
||||||
nexttile;
|
|
||||||
plot(t, u);
|
|
||||||
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Actuator Voltage [V]'</span>);
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
<div id="org8a7c66b" class="figure">
|
||||||
<div id="orgda3ef57" class="figure">
|
|
||||||
<p><img src="figs/force_sen_steps_time_domain.png" alt="force_sen_steps_time_domain.png" />
|
<p><img src="figs/force_sen_steps_time_domain.png" alt="force_sen_steps_time_domain.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 4: </span>Time domain signal during the 3 actuator voltage steps</p>
|
<p><span class="figure-number">Figure 6: </span>Time domain signal during the 3 actuator voltage steps</p>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org93b0595" class="outline-3">
|
||||||
|
<h3 id="org93b0595"><span class="section-number-3">2.2</span> Estimation of the voltage offset and discharge time constant</h3>
|
||||||
|
<div class="outline-text-3" id="text-2-2">
|
||||||
|
<p>
|
||||||
|
The measured voltage shows an exponential decay which indicates that the charge across the capacitor formed by the stack is discharging into a resistor.
|
||||||
|
This corresponds to an RC circuit with a time constant \(\tau = RC\).
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
In order to estimate the time domain, we fit the data with an exponential.
|
||||||
|
The fit function is:
|
||||||
|
</p>
|
||||||
|
<div class="org-src-container">
|
||||||
|
<pre class="src src-matlab">f = @(b,x) b(1)<span class="org-type">.*</span>exp(b(2)<span class="org-type">.*</span>x) <span class="org-type">+</span> b(3);
|
||||||
|
</pre>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
@ -179,14 +261,6 @@ Three steps are performed at the following time intervals:
|
|||||||
</pre>
|
</pre>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
|
||||||
Fit function:
|
|
||||||
</p>
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">f = @(b,x) b(1)<span class="org-type">.*</span>exp(b(2)<span class="org-type">.*</span>x) <span class="org-type">+</span> b(3);
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
We are interested by the <code>b(2)</code> term, which is the time constant of the exponential.
|
We are interested by the <code>b(2)</code> term, which is the time constant of the exponential.
|
||||||
</p>
|
</p>
|
||||||
@ -212,6 +286,10 @@ V0 = zeros(size(t_s, 1),1);
|
|||||||
</pre>
|
</pre>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
The obtained values are shown below.
|
||||||
|
</p>
|
||||||
|
|
||||||
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
<table border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||||
|
|
||||||
|
|
||||||
@ -243,7 +321,12 @@ V0 = zeros(size(t_s, 1),1);
|
|||||||
</tr>
|
</tr>
|
||||||
</tbody>
|
</tbody>
|
||||||
</table>
|
</table>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-orgc749ef4" class="outline-3">
|
||||||
|
<h3 id="orgc749ef4"><span class="section-number-3">2.3</span> Estimation of the ADC input impedance</h3>
|
||||||
|
<div class="outline-text-3" id="text-2-3">
|
||||||
<p>
|
<p>
|
||||||
With the capacitance being \(C = 4.4 \mu F\), the internal impedance of the Speedgoat ADC can be computed as follows:
|
With the capacitance being \(C = 4.4 \mu F\), the internal impedance of the Speedgoat ADC can be computed as follows:
|
||||||
</p>
|
</p>
|
||||||
@ -261,23 +344,30 @@ Rin = abs(mean(tau))<span class="org-type">/</span>Cp;
|
|||||||
<p>
|
<p>
|
||||||
The input impedance of the Speedgoat’s ADC should then be close to \(1.5\,M\Omega\) (specified at \(1\,M\Omega\)).
|
The input impedance of the Speedgoat’s ADC should then be close to \(1.5\,M\Omega\) (specified at \(1\,M\Omega\)).
|
||||||
</p>
|
</p>
|
||||||
|
</div>
|
||||||
<div class="important" id="org7c6e263">
|
|
||||||
<p>
|
|
||||||
How can we explain the voltage offset?
|
|
||||||
</p>
|
|
||||||
|
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org66bf743" class="outline-3">
|
||||||
|
<h3 id="org66bf743"><span class="section-number-3">2.4</span> Explanation of the Voltage offset</h3>
|
||||||
|
<div class="outline-text-3" id="text-2-4">
|
||||||
<p>
|
<p>
|
||||||
As shown in Figure <a href="#org1036a3b">5</a> (taken from (<a href="#citeproc_bib_item_1">Reza and Andrew 2006</a>)), an input voltage offset is due to the input bias current \(i_n\).
|
As shown in Figure <a href="#org8a7c66b">6</a>, the voltage across the Piezoelectric sensor stack shows a constant voltage offset.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
We can explain this offset by looking at the electrical model shown in Figure <a href="#orgc43b1a9">7</a> (taken from (<a href="#citeproc_bib_item_1">Reza and Andrew 2006</a>)).
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
The differential amplifier in the Speedgoat has some input bias current \(i_n\) that produces a voltage offset across its own internal resistance.
|
||||||
|
Note that the impedance of the piezoelectric stack is much larger that that at DC.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org1036a3b" class="figure">
|
<div id="orgc43b1a9" class="figure">
|
||||||
<p><img src="figs/force_sensor_model_electronics_without_R.png" alt="force_sensor_model_electronics_without_R.png" />
|
<p><img src="figs/force_sensor_model_electronics_without_R.png" alt="force_sensor_model_electronics_without_R.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 5: </span>Model of a piezoelectric transducer (left) and instrumentation amplifier (right)</p>
|
<p><span class="figure-number">Figure 7: </span>Model of a piezoelectric transducer (left) and instrumentation amplifier (right)</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
@ -291,10 +381,14 @@ The estimated input bias current is then:
|
|||||||
<pre class="example">
|
<pre class="example">
|
||||||
1.5119e-06
|
1.5119e-06
|
||||||
</pre>
|
</pre>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org3c86684" class="outline-3">
|
||||||
|
<h3 id="org3c86684"><span class="section-number-3">2.5</span> Effect of an additional Parallel Resistor</h3>
|
||||||
|
<div class="outline-text-3" id="text-2-5">
|
||||||
<p>
|
<p>
|
||||||
An additional resistor in parallel with \(R_{in}\) would have two effects:
|
Be looking at Figure <a href="#orgc43b1a9">7</a>, we can see that an additional resistor in parallel with \(R_{in}\) would have two effects:
|
||||||
</p>
|
</p>
|
||||||
<ul class="org-ul">
|
<ul class="org-ul">
|
||||||
<li>reduce the input voltage offset
|
<li>reduce the input voltage offset
|
||||||
@ -304,7 +398,6 @@ An additional resistor in parallel with \(R_{in}\) would have two effects:
|
|||||||
\[ R_a = \frac{R_i}{f_c C_p R_i - 1} \]</li>
|
\[ R_a = \frac{R_i}{f_c C_p R_i - 1} \]</li>
|
||||||
</ul>
|
</ul>
|
||||||
|
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
If we allow the high pass corner frequency to be equals to 3Hz:
|
If we allow the high pass corner frequency to be equals to 3Hz:
|
||||||
</p>
|
</p>
|
||||||
@ -335,45 +428,42 @@ With this parallel resistance value, the voltage offset would be:
|
|||||||
<p>
|
<p>
|
||||||
Which is much more acceptable.
|
Which is much more acceptable.
|
||||||
</p>
|
</p>
|
||||||
</div>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div id="outline-container-org9938615" class="outline-3">
|
|
||||||
<h3 id="org9938615"><span class="section-number-3">2.2</span> Add Parallel Resistor</h3>
|
|
||||||
<div class="outline-text-3" id="text-2-2">
|
|
||||||
<p>
|
<p>
|
||||||
A resistor \(R_p \approx 100\,k\Omega\) is added in parallel with the force sensor as shown in Figure <a href="#orgbf8a90f">6</a>.
|
A resistor \(R_p \approx 100\,k\Omega\) is then added in parallel with the force sensor as shown in Figure <a href="#org98410d2">8</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="orgbf8a90f" class="figure">
|
<div id="org98410d2" class="figure">
|
||||||
<p><img src="figs/force_sensor_model_electronics.png" alt="force_sensor_model_electronics.png" />
|
<p><img src="figs/force_sensor_model_electronics.png" alt="force_sensor_model_electronics.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 6: </span>Model of a piezoelectric transducer (left) and instrumentation amplifier (right) with the additional resistor \(R_p\)</p>
|
<p><span class="figure-number">Figure 8: </span>Model of a piezoelectric transducer (left) and instrumentation amplifier (right) with the additional resistor \(R_p\)</p>
|
||||||
</div>
|
</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org4ae0b53" class="outline-3">
|
||||||
|
<h3 id="org4ae0b53"><span class="section-number-3">2.6</span> Obtained voltage offset and time constant with the added resistor</h3>
|
||||||
|
<div class="outline-text-3" id="text-2-6">
|
||||||
|
<p>
|
||||||
|
After the resistor is added, the same steps response is performed.
|
||||||
|
</p>
|
||||||
|
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'force_sensor_steps_R_82k7.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>, <span class="org-string">'v'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'force_sensor_steps_R_82k7.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>, <span class="org-string">'v'</span>);
|
||||||
</pre>
|
</pre>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div class="org-src-container">
|
<p>
|
||||||
<pre class="src src-matlab"><span class="org-type">figure</span>;
|
The results are shown in Figure <a href="#org3c913c7">9</a>.
|
||||||
tiledlayout(2, 1, <span class="org-string">'TileSpacing'</span>, <span class="org-string">'None'</span>, <span class="org-string">'Padding'</span>, <span class="org-string">'None'</span>);
|
</p>
|
||||||
nexttile;
|
|
||||||
plot(t, v);
|
|
||||||
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Measured voltage [V]'</span>);
|
|
||||||
nexttile;
|
|
||||||
plot(t, u);
|
|
||||||
xlabel(<span class="org-string">'Time [s]'</span>); ylabel(<span class="org-string">'Actuator Voltage [V]'</span>);
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<div id="orgf9378d8" class="figure">
|
<div id="org3c913c7" class="figure">
|
||||||
<p><img src="figs/force_sen_steps_time_domain_par_R.png" alt="force_sen_steps_time_domain_par_R.png" />
|
<p><img src="figs/force_sen_steps_time_domain_par_R.png" alt="force_sen_steps_time_domain_par_R.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 7: </span>Time domain signal during the actuator voltage steps</p>
|
<p><span class="figure-number">Figure 9: </span>Time domain signal during the actuator voltage steps</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
@ -391,40 +481,7 @@ Three steps are performed at the following time intervals:
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
Fit function:
|
The time constant and voltage offset are again estimated using a fit function.
|
||||||
</p>
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">f = @(b,x) b(1)<span class="org-type">.*</span>exp(b(2)<span class="org-type">.*</span>x) <span class="org-type">+</span> b(3);
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<p>
|
|
||||||
We are interested by the <code>b(2)</code> term, which is the time constant of the exponential.
|
|
||||||
</p>
|
|
||||||
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab">tau = zeros(size(t_s, 1),1);
|
|
||||||
V0 = zeros(size(t_s, 1),1);
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<div class="org-src-container">
|
|
||||||
<pre class="src src-matlab"><span class="org-keyword">for</span> <span class="org-variable-name">t_i</span> = <span class="org-constant">1:size(t_s, 1)</span>
|
|
||||||
t_cur = t(t_s(t_i, 1) <span class="org-type"><</span> t <span class="org-type">&</span> t <span class="org-type"><</span> t_s(t_i, 2));
|
|
||||||
t_cur = t_cur <span class="org-type">-</span> t_cur(1);
|
|
||||||
y_cur = v(t_s(t_i, 1) <span class="org-type"><</span> t <span class="org-type">&</span> t <span class="org-type"><</span> t_s(t_i, 2));
|
|
||||||
|
|
||||||
nrmrsd = @(b) norm(y_cur <span class="org-type">-</span> f(b,t_cur)); <span class="org-comment">% Residual Norm Cost Function</span>
|
|
||||||
B0 = [0.5, <span class="org-type">-</span>0.2, 0.2]; <span class="org-comment">% Choose Appropriate Initial Estimates</span>
|
|
||||||
[B,rnrm] = fminsearch(nrmrsd, B0); <span class="org-comment">% Estimate Parameters ‘B’</span>
|
|
||||||
|
|
||||||
tau(t_i) = 1<span class="org-type">/</span>B(2);
|
|
||||||
V0(t_i) = B(3);
|
|
||||||
<span class="org-keyword">end</span>
|
|
||||||
</pre>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
<p>
|
|
||||||
And indeed, we obtain a much smaller offset voltage and a much faster time constant.
|
And indeed, we obtain a much smaller offset voltage and a much faster time constant.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
@ -513,10 +570,26 @@ This validates the model of the ADC and the effectiveness of the added resistor.
|
|||||||
</p>
|
</p>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org81c5db6" class="outline-2">
|
||||||
|
<h2 id="org81c5db6"><span class="section-number-2">3</span> Generated Number of Charge / Voltage</h2>
|
||||||
|
<div class="outline-text-2" id="text-3">
|
||||||
|
<p>
|
||||||
|
<a id="org22b743e"></a>
|
||||||
|
</p>
|
||||||
|
<p>
|
||||||
|
In this section, we wish to estimate the relation between the displacement performed by the stack actuator and the generated voltage/charge on the sensor stack.
|
||||||
|
</p>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org55eecf7" class="outline-3">
|
||||||
|
<h3 id="org55eecf7"><span class="section-number-3">3.1</span> Data Loading</h3>
|
||||||
|
<div class="outline-text-3" id="text-3-1">
|
||||||
|
<p>
|
||||||
|
The measured data is loaded and the first 25 seconds of data corresponding to transient data are removed.
|
||||||
|
</p>
|
||||||
|
|
||||||
<div id="outline-container-org3e71d2e" class="outline-3">
|
|
||||||
<h3 id="org3e71d2e"><span class="section-number-3">2.3</span> Sinus</h3>
|
|
||||||
<div class="outline-text-3" id="text-2-3">
|
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">load(<span class="org-string">'force_sensor_sin.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>, <span class="org-string">'v'</span>);
|
<pre class="src src-matlab">load(<span class="org-string">'force_sensor_sin.mat'</span>, <span class="org-string">'t'</span>, <span class="org-string">'encoder'</span>, <span class="org-string">'u'</span>, <span class="org-string">'v'</span>);
|
||||||
|
|
||||||
@ -526,20 +599,29 @@ encoder = encoder(t<span class="org-type">></span>25) <span class="org-type">
|
|||||||
t = t(t<span class="org-type">></span>25);
|
t = t(t<span class="org-type">></span>25);
|
||||||
</pre>
|
</pre>
|
||||||
</div>
|
</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org46592d5" class="outline-3">
|
||||||
|
<h3 id="org46592d5"><span class="section-number-3">3.2</span> Excitation signal and corresponding displacement</h3>
|
||||||
|
<div class="outline-text-3" id="text-3-2">
|
||||||
<p>
|
<p>
|
||||||
The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of 3V (Figure <a href="#org2ae5f53">8</a>).
|
The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of 3V (Figure <a href="#org4706469">10</a>).
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org2ae5f53" class="figure">
|
<div id="org4706469" class="figure">
|
||||||
<p><img src="figs/force_sensor_sin_u.png" alt="force_sensor_sin_u.png" />
|
<p><img src="figs/force_sensor_sin_u.png" alt="force_sensor_sin_u.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 8: </span>Driving Voltage</p>
|
<p><span class="figure-number">Figure 10: </span>Driving Voltage</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The full stroke as measured by the encoder is:
|
The corresponding displacement as measured by the encoder is shown in Figure <a href="#org1d38208">11</a>.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
The full stroke is:
|
||||||
</p>
|
</p>
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
<pre class="src src-matlab">max(encoder)<span class="org-type">-</span>min(encoder)
|
<pre class="src src-matlab">max(encoder)<span class="org-type">-</span>min(encoder)
|
||||||
@ -551,28 +633,34 @@ The full stroke as measured by the encoder is:
|
|||||||
</pre>
|
</pre>
|
||||||
|
|
||||||
|
|
||||||
<p>
|
|
||||||
Its signal is shown in Figure <a href="#org3458f57">9</a>.
|
|
||||||
</p>
|
|
||||||
|
|
||||||
|
<div id="org1d38208" class="figure">
|
||||||
<div id="org3458f57" class="figure">
|
|
||||||
<p><img src="figs/force_sensor_sin_encoder.png" alt="force_sensor_sin_encoder.png" />
|
<p><img src="figs/force_sensor_sin_encoder.png" alt="force_sensor_sin_encoder.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 9: </span>Encoder measurement</p>
|
<p><span class="figure-number">Figure 11: </span>Encoder measurement</p>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org6e6b1f7" class="outline-3">
|
||||||
|
<h3 id="org6e6b1f7"><span class="section-number-3">3.3</span> Generated Voltage</h3>
|
||||||
|
<div class="outline-text-3" id="text-3-3">
|
||||||
<p>
|
<p>
|
||||||
The generated voltage by the stack is shown in Figure
|
The generated voltage by the stack is shown in Figure <a href="#org267434e">12</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="orga69980e" class="figure">
|
<div id="org267434e" class="figure">
|
||||||
<p><img src="figs/force_sensor_sin_stack.png" alt="force_sensor_sin_stack.png" />
|
<p><img src="figs/force_sensor_sin_stack.png" alt="force_sensor_sin_stack.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 10: </span>Voltage measured on the stack used as a sensor</p>
|
<p><span class="figure-number">Figure 12: </span>Voltage measured on the stack used as a sensor</p>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org4ed9610" class="outline-3">
|
||||||
|
<h3 id="org4ed9610"><span class="section-number-3">3.4</span> Generated Charge</h3>
|
||||||
|
<div class="outline-text-3" id="text-3-4">
|
||||||
<p>
|
<p>
|
||||||
The capacitance of the stack is
|
The capacitance of the stack is
|
||||||
</p>
|
</p>
|
||||||
@ -582,18 +670,34 @@ The capacitance of the stack is
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The corresponding generated charge is then shown in Figure <a href="#orgeafdaf5">11</a>.
|
The voltage and charge across a capacitor are related through the following equation:
|
||||||
</p>
|
</p>
|
||||||
|
\begin{equation}
|
||||||
<div id="orgeafdaf5" class="figure">
|
U_C = \frac{Q}{C}
|
||||||
<p><img src="figs/force_sensor_sin_charge.png" alt="force_sensor_sin_charge.png" />
|
\end{equation}
|
||||||
|
<p>
|
||||||
|
where \(U_C\) is the voltage in Volts, \(Q\) the charge in Coulombs and \(C\) the capacitance in Farads.
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 11: </span>Generated Charge</p>
|
|
||||||
</div>
|
|
||||||
|
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The relation between the generated voltage and the measured displacement is almost linear as shown in Figure <a href="#org83e4a49">12</a>.
|
The corresponding generated charge is then shown in Figure <a href="#org0331333">13</a>.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
|
||||||
|
<div id="org0331333" class="figure">
|
||||||
|
<p><img src="figs/force_sensor_sin_charge.png" alt="force_sensor_sin_charge.png" />
|
||||||
|
</p>
|
||||||
|
<p><span class="figure-number">Figure 13: </span>Generated Charge</p>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<div id="outline-container-org69bd84e" class="outline-3">
|
||||||
|
<h3 id="org69bd84e"><span class="section-number-3">3.5</span> Generated Voltage/Charge as a function of the displacement</h3>
|
||||||
|
<div class="outline-text-3" id="text-3-5">
|
||||||
|
<p>
|
||||||
|
The relation between the generated voltage and the measured displacement is almost linear as shown in Figure <a href="#org6b7aee0">14</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
<div class="org-src-container">
|
<div class="org-src-container">
|
||||||
@ -602,10 +706,10 @@ The relation between the generated voltage and the measured displacement is almo
|
|||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
<div id="org83e4a49" class="figure">
|
<div id="org6b7aee0" class="figure">
|
||||||
<p><img src="figs/force_sensor_linear_relation.png" alt="force_sensor_linear_relation.png" />
|
<p><img src="figs/force_sensor_linear_relation.png" alt="force_sensor_linear_relation.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 12: </span>Almost linear relation between the relative displacement and the generated voltage</p>
|
<p><span class="figure-number">Figure 14: </span>Almost linear relation between the relative displacement and the generated voltage</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
@ -631,7 +735,7 @@ With a 16bits ADC, the resolution will then be equals to (in [nm]):
|
|||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<p class="author">Author: Dehaeze Thomas</p>
|
||||||
<p class="date">Created: 2020-11-10 mar. 13:00</p>
|
<p class="date">Created: 2020-11-10 mar. 13:41</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
156
index.org
156
index.org
@ -38,8 +38,10 @@
|
|||||||
* Introduction :ignore:
|
* Introduction :ignore:
|
||||||
In this document is studied how a piezoelectric stack can be used to measured the force.
|
In this document is studied how a piezoelectric stack can be used to measured the force.
|
||||||
|
|
||||||
|
It is divided in the following sections:
|
||||||
- Section [[sec:open_closed_circuit]]: the effect of the input impedance of the electronics connected to the force sensor stack on the stiffness of the stack is studied
|
- Section [[sec:open_closed_circuit]]: the effect of the input impedance of the electronics connected to the force sensor stack on the stiffness of the stack is studied
|
||||||
- Section [[sec:charge_voltage_estimation]]:
|
- Section [[sec:parallel_resistor]]: the effect of a resistor in parallel with the sensor stack is studied
|
||||||
|
- Section [[sec:charge_voltage_estimation]]: the voltage / number of charge generated by the sensor as a function of the displacement is measured
|
||||||
|
|
||||||
* Change of Stiffness due to Sensors stack being open/closed circuit
|
* Change of Stiffness due to Sensors stack being open/closed circuit
|
||||||
:PROPERTIES:
|
:PROPERTIES:
|
||||||
@ -48,6 +50,26 @@ In this document is studied how a piezoelectric stack can be used to measured th
|
|||||||
<<sec:open_closed_circuit>>
|
<<sec:open_closed_circuit>>
|
||||||
|
|
||||||
** Introduction :ignore:
|
** Introduction :ignore:
|
||||||
|
The experimental Setup is schematically represented in Figure [[fig:exp_setup_schematic]].
|
||||||
|
|
||||||
|
The dynamics from the voltage $u$ used to drive the actuator stacks to the encoder displacement $d_e$ is identified when the switch connected to the sensor stack is either open or closed.
|
||||||
|
|
||||||
|
#+name: fig:exp_setup_schematic
|
||||||
|
#+caption: Schematic of the Experiment
|
||||||
|
[[file:figs/exp_setup_schematic.png]]
|
||||||
|
|
||||||
|
When the switch is opened, this correspond of having a measurement electronics with an high input impedance such as a *voltage* amplifier.
|
||||||
|
When the switch is closed, this correspond of having a measurement electronics with an small input impedance such as a *charge* amplifier.
|
||||||
|
|
||||||
|
We wish here to see how the system dynamics is changing in the two extreme cases.
|
||||||
|
|
||||||
|
#+begin_note
|
||||||
|
The equipment used in the test bench are:
|
||||||
|
- Renishaw Resolution Encoder with 1nm resolution ([[file:doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf][doc]])
|
||||||
|
- Cedrat Amplified Piezoelectric Actuator APA95ML ([[file:doc/APA95ML.pdf][doc]])
|
||||||
|
- Voltage Amplifier LA75B ([[file:doc/LA75B.pdf][doc]])
|
||||||
|
- Speedgoat IO131 with 16bits ADC and DAC ([[file:doc/IO130 IO131 OEM Datasheet.pdf][doc]])
|
||||||
|
#+end_note
|
||||||
|
|
||||||
** Matlab Init :noexport: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)
|
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||||
@ -158,16 +180,27 @@ In this document is studied how a piezoelectric stack can be used to measured th
|
|||||||
The change of resonance frequency / stiffness is very small and is not important here.
|
The change of resonance frequency / stiffness is very small and is not important here.
|
||||||
#+end_important
|
#+end_important
|
||||||
|
|
||||||
* Generated Number of Charge / Voltage
|
* Effect of a Resistor in Parallel with the Stack Sensor
|
||||||
:PROPERTIES:
|
:PROPERTIES:
|
||||||
:header-args:matlab+: :tangle matlab/charge_voltage_estimation.m
|
:header-args:matlab+: :tangle matlab/parallel_resistor.m
|
||||||
:END:
|
:END:
|
||||||
<<sec:charge_voltage_estimation>>
|
<<sec:parallel_resistor>>
|
||||||
|
|
||||||
** Introduction :ignore:
|
** Introduction :ignore:
|
||||||
Two stacks are used as actuator (in parallel) and one stack is used as sensor.
|
The setup is shown in Figure [[fig:force_sensor_setup]] where two stacks are used as actuator (in parallel) and one stack is used as sensor.
|
||||||
|
The voltage amplifier used has a gain of 20 [V/V] (Cedrat LA75B).
|
||||||
|
|
||||||
The amplifier gain is 20V/V (Cedrat LA75B).
|
#+name: fig:force_sensor_setup
|
||||||
|
#+caption: Schematic of the setup
|
||||||
|
[[file:figs/force_sensor_setup.png]]
|
||||||
|
|
||||||
|
#+begin_note
|
||||||
|
The equipment used in the test bench are:
|
||||||
|
- Renishaw Resolution Encoder with 1nm resolution ([[file:doc/L-9517-9448-05-B_Data_sheet_RESOLUTE_BiSS_en.pdf][doc]])
|
||||||
|
- Cedrat Amplified Piezoelectric Actuator APA95ML ([[file:doc/APA95ML.pdf][doc]])
|
||||||
|
- Voltage Amplifier LA75B ([[file:doc/LA75B.pdf][doc]])
|
||||||
|
- Speedgoat IO131 with 16bits ADC and DAC ([[file:doc/IO130 IO131 OEM Datasheet.pdf][doc]])
|
||||||
|
#+end_note
|
||||||
|
|
||||||
** Matlab Init :noexport: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)
|
#+begin_src matlab :tangle no :exports none :results silent :noweb yes :var current_dir=(file-name-directory buffer-file-name)
|
||||||
@ -186,12 +219,14 @@ The amplifier gain is 20V/V (Cedrat LA75B).
|
|||||||
addpath('./mat/');
|
addpath('./mat/');
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
** Steps
|
** Excitation steps and measured generated voltage
|
||||||
|
The measured data is loaded.
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
load('force_sensor_steps.mat', 't', 'encoder', 'u', 'v');
|
load('force_sensor_steps.mat', 't', 'encoder', 'u', 'v');
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab
|
The excitation signal (steps) and measured voltage across the sensor stack are shown in Figure [[fig:force_sen_steps_time_domain]].
|
||||||
|
#+begin_src matlab :exports none
|
||||||
figure;
|
figure;
|
||||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
nexttile;
|
nexttile;
|
||||||
@ -211,6 +246,16 @@ The amplifier gain is 20V/V (Cedrat LA75B).
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
[[file:figs/force_sen_steps_time_domain.png]]
|
[[file:figs/force_sen_steps_time_domain.png]]
|
||||||
|
|
||||||
|
** Estimation of the voltage offset and discharge time constant
|
||||||
|
The measured voltage shows an exponential decay which indicates that the charge across the capacitor formed by the stack is discharging into a resistor.
|
||||||
|
This corresponds to an RC circuit with a time constant $\tau = RC$.
|
||||||
|
|
||||||
|
In order to estimate the time domain, we fit the data with an exponential.
|
||||||
|
The fit function is:
|
||||||
|
#+begin_src matlab
|
||||||
|
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
||||||
|
#+end_src
|
||||||
|
|
||||||
Three steps are performed at the following time intervals:
|
Three steps are performed at the following time intervals:
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
t_s = [ 2.5, 23;
|
t_s = [ 2.5, 23;
|
||||||
@ -218,11 +263,6 @@ Three steps are performed at the following time intervals:
|
|||||||
35.8, 50];
|
35.8, 50];
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
Fit function:
|
|
||||||
#+begin_src matlab
|
|
||||||
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
|
||||||
#+end_src
|
|
||||||
|
|
||||||
We are interested by the =b(2)= term, which is the time constant of the exponential.
|
We are interested by the =b(2)= term, which is the time constant of the exponential.
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
tau = zeros(size(t_s, 1),1);
|
tau = zeros(size(t_s, 1),1);
|
||||||
@ -244,6 +284,8 @@ We are interested by the =b(2)= term, which is the time constant of the exponent
|
|||||||
end
|
end
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
|
The obtained values are shown below.
|
||||||
|
|
||||||
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
|
#+begin_src matlab :exports results :results value table replace :tangle no :post addhdr(*this*)
|
||||||
data2orgtable([abs(tau), V0], {}, {'$tau$ [s]', '$V_0$ [V]'}, ' %.2f ');
|
data2orgtable([abs(tau), V0], {}, {'$tau$ [s]', '$V_0$ [V]'}, ' %.2f ');
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -255,6 +297,8 @@ We are interested by the =b(2)= term, which is the time constant of the exponent
|
|||||||
| 6.76 | 2.26 |
|
| 6.76 | 2.26 |
|
||||||
| 6.49 | 2.25 |
|
| 6.49 | 2.25 |
|
||||||
|
|
||||||
|
** Estimation of the ADC input impedance
|
||||||
|
|
||||||
With the capacitance being $C = 4.4 \mu F$, the internal impedance of the Speedgoat ADC can be computed as follows:
|
With the capacitance being $C = 4.4 \mu F$, the internal impedance of the Speedgoat ADC can be computed as follows:
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
Cp = 4.4e-6; % [F]
|
Cp = 4.4e-6; % [F]
|
||||||
@ -270,11 +314,13 @@ With the capacitance being $C = 4.4 \mu F$, the internal impedance of the Speedg
|
|||||||
|
|
||||||
The input impedance of the Speedgoat's ADC should then be close to $1.5\,M\Omega$ (specified at $1\,M\Omega$).
|
The input impedance of the Speedgoat's ADC should then be close to $1.5\,M\Omega$ (specified at $1\,M\Omega$).
|
||||||
|
|
||||||
#+begin_important
|
** Explanation of the Voltage offset
|
||||||
How can we explain the voltage offset?
|
As shown in Figure [[fig:force_sen_steps_time_domain]], the voltage across the Piezoelectric sensor stack shows a constant voltage offset.
|
||||||
#+end_important
|
|
||||||
|
|
||||||
As shown in Figure [[fig:force_sensor_model_electronics_without_R]] (taken from cite:reza06_piezoel_trans_vibrat_contr_dampin), an input voltage offset is due to the input bias current $i_n$.
|
We can explain this offset by looking at the electrical model shown in Figure [[fig:force_sensor_model_electronics_without_R]] (taken from cite:reza06_piezoel_trans_vibrat_contr_dampin).
|
||||||
|
|
||||||
|
The differential amplifier in the Speedgoat has some input bias current $i_n$ that produces a voltage offset across its own internal resistance.
|
||||||
|
Note that the impedance of the piezoelectric stack is much larger that that at DC.
|
||||||
|
|
||||||
#+name: fig:force_sensor_model_electronics_without_R
|
#+name: fig:force_sensor_model_electronics_without_R
|
||||||
#+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right)
|
#+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right)
|
||||||
@ -292,14 +338,14 @@ The estimated input bias current is then:
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
: 1.5119e-06
|
: 1.5119e-06
|
||||||
|
|
||||||
An additional resistor in parallel with $R_{in}$ would have two effects:
|
** Effect of an additional Parallel Resistor
|
||||||
|
Be looking at Figure [[fig:force_sensor_model_electronics_without_R]], we can see that an additional resistor in parallel with $R_{in}$ would have two effects:
|
||||||
- reduce the input voltage offset
|
- reduce the input voltage offset
|
||||||
\[ V_{off} = \frac{R_a R_{in}}{R_a + R_{in}} i_n \]
|
\[ V_{off} = \frac{R_a R_{in}}{R_a + R_{in}} i_n \]
|
||||||
- increase the high pass corner frequency $f_c$
|
- increase the high pass corner frequency $f_c$
|
||||||
\[ C_p \frac{R_{in}R_a}{R_{in} + R_a} = \tau_c = \frac{1}{f_c} \]
|
\[ C_p \frac{R_{in}R_a}{R_{in} + R_a} = \tau_c = \frac{1}{f_c} \]
|
||||||
\[ R_a = \frac{R_i}{f_c C_p R_i - 1} \]
|
\[ R_a = \frac{R_i}{f_c C_p R_i - 1} \]
|
||||||
|
|
||||||
|
|
||||||
If we allow the high pass corner frequency to be equals to 3Hz:
|
If we allow the high pass corner frequency to be equals to 3Hz:
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
fc = 3;
|
fc = 3;
|
||||||
@ -327,18 +373,23 @@ With this parallel resistance value, the voltage offset would be:
|
|||||||
|
|
||||||
Which is much more acceptable.
|
Which is much more acceptable.
|
||||||
|
|
||||||
** Add Parallel Resistor
|
|
||||||
A resistor $R_p \approx 100\,k\Omega$ is added in parallel with the force sensor as shown in Figure [[fig:force_sensor_model_electronics]].
|
A resistor $R_p \approx 100\,k\Omega$ is then added in parallel with the force sensor as shown in Figure [[fig:force_sensor_model_electronics]].
|
||||||
|
|
||||||
#+name: fig:force_sensor_model_electronics
|
#+name: fig:force_sensor_model_electronics
|
||||||
#+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right) with the additional resistor $R_p$
|
#+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right) with the additional resistor $R_p$
|
||||||
[[file:figs/force_sensor_model_electronics.png]]
|
[[file:figs/force_sensor_model_electronics.png]]
|
||||||
|
|
||||||
|
** Obtained voltage offset and time constant with the added resistor
|
||||||
|
After the resistor is added, the same steps response is performed.
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
load('force_sensor_steps_R_82k7.mat', 't', 'encoder', 'u', 'v');
|
load('force_sensor_steps_R_82k7.mat', 't', 'encoder', 'u', 'v');
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
#+begin_src matlab
|
The results are shown in Figure [[fig:force_sen_steps_time_domain_par_R]].
|
||||||
|
|
||||||
|
#+begin_src matlab :exports none
|
||||||
figure;
|
figure;
|
||||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
nexttile;
|
nexttile;
|
||||||
@ -369,19 +420,13 @@ Three steps are performed at the following time intervals:
|
|||||||
46.2, 49.5]
|
46.2, 49.5]
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
Fit function:
|
The time constant and voltage offset are again estimated using a fit function.
|
||||||
#+begin_src matlab
|
#+begin_src matlab :exports none
|
||||||
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
||||||
#+end_src
|
|
||||||
|
|
||||||
We are interested by the =b(2)= term, which is the time constant of the exponential.
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
tau = zeros(size(t_s, 1),1);
|
tau = zeros(size(t_s, 1),1);
|
||||||
V0 = zeros(size(t_s, 1),1);
|
V0 = zeros(size(t_s, 1),1);
|
||||||
#+end_src
|
|
||||||
|
|
||||||
#+begin_src matlab
|
|
||||||
for t_i = 1:size(t_s, 1)
|
for t_i = 1:size(t_s, 1)
|
||||||
t_cur = t(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
t_cur = t(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
||||||
t_cur = t_cur - t_cur(1);
|
t_cur = t_cur - t_cur(1);
|
||||||
@ -441,7 +486,35 @@ And we can verify that the bias current estimation stays the same:
|
|||||||
|
|
||||||
This validates the model of the ADC and the effectiveness of the added resistor.
|
This validates the model of the ADC and the effectiveness of the added resistor.
|
||||||
|
|
||||||
** Sinus
|
* Generated Number of Charge / Voltage
|
||||||
|
:PROPERTIES:
|
||||||
|
:header-args:matlab+: :tangle matlab/charge_voltage_estimation.m
|
||||||
|
:END:
|
||||||
|
<<sec:charge_voltage_estimation>>
|
||||||
|
|
||||||
|
** Introduction :ignore:
|
||||||
|
In this section, we wish to estimate the relation between the displacement performed by the stack actuator and the generated voltage/charge on the sensor stack.
|
||||||
|
|
||||||
|
** 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>>
|
||||||
|
#+end_src
|
||||||
|
|
||||||
|
#+begin_src matlab :tangle no
|
||||||
|
addpath('./matlab/mat/');
|
||||||
|
#+end_src
|
||||||
|
|
||||||
|
#+begin_src matlab :eval no
|
||||||
|
addpath('./mat/');
|
||||||
|
#+end_src
|
||||||
|
|
||||||
|
** Data Loading
|
||||||
|
The measured data is loaded and the first 25 seconds of data corresponding to transient data are removed.
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
load('force_sensor_sin.mat', 't', 'encoder', 'u', 'v');
|
load('force_sensor_sin.mat', 't', 'encoder', 'u', 'v');
|
||||||
|
|
||||||
@ -451,6 +524,7 @@ This validates the model of the ADC and the effectiveness of the added resistor.
|
|||||||
t = t(t>25);
|
t = t(t>25);
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
|
** Excitation signal and corresponding displacement
|
||||||
The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of 3V (Figure [[fig:force_sensor_sin_u]]).
|
The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of 3V (Figure [[fig:force_sensor_sin_u]]).
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
#+begin_src matlab :exports none
|
||||||
@ -468,7 +542,9 @@ The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
[[file:figs/force_sensor_sin_u.png]]
|
[[file:figs/force_sensor_sin_u.png]]
|
||||||
|
|
||||||
The full stroke as measured by the encoder is:
|
The corresponding displacement as measured by the encoder is shown in Figure [[fig:force_sensor_sin_encoder]].
|
||||||
|
|
||||||
|
The full stroke is:
|
||||||
#+begin_src matlab :results value replace
|
#+begin_src matlab :results value replace
|
||||||
max(encoder)-min(encoder)
|
max(encoder)-min(encoder)
|
||||||
#+end_src
|
#+end_src
|
||||||
@ -476,8 +552,6 @@ The full stroke as measured by the encoder is:
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
: 5.005e-05
|
: 5.005e-05
|
||||||
|
|
||||||
Its signal is shown in Figure [[fig:force_sensor_sin_encoder]].
|
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
#+begin_src matlab :exports none
|
||||||
figure;
|
figure;
|
||||||
plot(t, encoder)
|
plot(t, encoder)
|
||||||
@ -493,7 +567,8 @@ Its signal is shown in Figure [[fig:force_sensor_sin_encoder]].
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
[[file:figs/force_sensor_sin_encoder.png]]
|
[[file:figs/force_sensor_sin_encoder.png]]
|
||||||
|
|
||||||
The generated voltage by the stack is shown in Figure
|
** Generated Voltage
|
||||||
|
The generated voltage by the stack is shown in Figure [[fig:force_sensor_sin_stack]].
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
#+begin_src matlab :exports none
|
||||||
figure;
|
figure;
|
||||||
@ -510,12 +585,21 @@ The generated voltage by the stack is shown in Figure
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
[[file:figs/force_sensor_sin_stack.png]]
|
[[file:figs/force_sensor_sin_stack.png]]
|
||||||
|
|
||||||
|
** Generated Charge
|
||||||
The capacitance of the stack is
|
The capacitance of the stack is
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
Cp = 4.4e-6; % [F]
|
Cp = 4.4e-6; % [F]
|
||||||
#+end_src
|
#+end_src
|
||||||
|
|
||||||
|
The voltage and charge across a capacitor are related through the following equation:
|
||||||
|
\begin{equation}
|
||||||
|
U_C = \frac{Q}{C}
|
||||||
|
\end{equation}
|
||||||
|
where $U_C$ is the voltage in Volts, $Q$ the charge in Coulombs and $C$ the capacitance in Farads.
|
||||||
|
|
||||||
|
|
||||||
The corresponding generated charge is then shown in Figure [[fig:force_sensor_sin_charge]].
|
The corresponding generated charge is then shown in Figure [[fig:force_sensor_sin_charge]].
|
||||||
|
|
||||||
#+begin_src matlab :exports none
|
#+begin_src matlab :exports none
|
||||||
figure;
|
figure;
|
||||||
plot(t, 1e6*Cp*(v-mean(v)))
|
plot(t, 1e6*Cp*(v-mean(v)))
|
||||||
@ -531,7 +615,7 @@ The corresponding generated charge is then shown in Figure [[fig:force_sensor_si
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
[[file:figs/force_sensor_sin_charge.png]]
|
[[file:figs/force_sensor_sin_charge.png]]
|
||||||
|
|
||||||
|
** Generated Voltage/Charge as a function of the displacement
|
||||||
The relation between the generated voltage and the measured displacement is almost linear as shown in Figure [[fig:force_sensor_linear_relation]].
|
The relation between the generated voltage and the measured displacement is almost linear as shown in Figure [[fig:force_sensor_linear_relation]].
|
||||||
|
|
||||||
#+begin_src matlab
|
#+begin_src matlab
|
||||||
|
@ -6,224 +6,9 @@ s = zpk('s');
|
|||||||
|
|
||||||
addpath('./mat/');
|
addpath('./mat/');
|
||||||
|
|
||||||
% Steps
|
% Data Loading
|
||||||
|
% The measured data is loaded and the first 25 seconds of data corresponding to transient data are removed.
|
||||||
|
|
||||||
load('force_sensor_steps.mat', 't', 'encoder', 'u', 'v');
|
|
||||||
|
|
||||||
figure;
|
|
||||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
|
||||||
nexttile;
|
|
||||||
plot(t, v);
|
|
||||||
xlabel('Time [s]'); ylabel('Measured voltage [V]');
|
|
||||||
nexttile;
|
|
||||||
plot(t, u);
|
|
||||||
xlabel('Time [s]'); ylabel('Actuator Voltage [V]');
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+name: fig:force_sen_steps_time_domain
|
|
||||||
% #+caption: Time domain signal during the 3 actuator voltage steps
|
|
||||||
% #+RESULTS:
|
|
||||||
% [[file:figs/force_sen_steps_time_domain.png]]
|
|
||||||
|
|
||||||
% Three steps are performed at the following time intervals:
|
|
||||||
|
|
||||||
t_s = [ 2.5, 23;
|
|
||||||
23.8, 35;
|
|
||||||
35.8, 50];
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% Fit function:
|
|
||||||
|
|
||||||
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% We are interested by the =b(2)= term, which is the time constant of the exponential.
|
|
||||||
|
|
||||||
tau = zeros(size(t_s, 1),1);
|
|
||||||
V0 = zeros(size(t_s, 1),1);
|
|
||||||
|
|
||||||
for t_i = 1:size(t_s, 1)
|
|
||||||
t_cur = t(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
|
||||||
t_cur = t_cur - t_cur(1);
|
|
||||||
y_cur = v(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
|
||||||
|
|
||||||
nrmrsd = @(b) norm(y_cur - f(b,t_cur)); % Residual Norm Cost Function
|
|
||||||
B0 = [0.5, -0.15, 2.2]; % Choose Appropriate Initial Estimates
|
|
||||||
[B,rnrm] = fminsearch(nrmrsd, B0); % Estimate Parameters ‘B’
|
|
||||||
|
|
||||||
tau(t_i) = 1/B(2);
|
|
||||||
V0(t_i) = B(3);
|
|
||||||
end
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% | $tau$ [s] | $V_0$ [V] |
|
|
||||||
% |-----------+-----------|
|
|
||||||
% | 6.47 | 2.26 |
|
|
||||||
% | 6.76 | 2.26 |
|
|
||||||
% | 6.49 | 2.25 |
|
|
||||||
|
|
||||||
% With the capacitance being $C = 4.4 \mu F$, the internal impedance of the Speedgoat ADC can be computed as follows:
|
|
||||||
|
|
||||||
Cp = 4.4e-6; % [F]
|
|
||||||
Rin = abs(mean(tau))/Cp;
|
|
||||||
|
|
||||||
ans = Rin
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% : 1494100.0
|
|
||||||
|
|
||||||
% The input impedance of the Speedgoat's ADC should then be close to $1.5\,M\Omega$ (specified at $1\,M\Omega$).
|
|
||||||
|
|
||||||
% #+begin_important
|
|
||||||
% How can we explain the voltage offset?
|
|
||||||
% #+end_important
|
|
||||||
|
|
||||||
% As shown in Figure [[fig:force_sensor_model_electronics]] (taken from cite:reza06_piezoel_trans_vibrat_contr_dampin), an input voltage offset is due to the input bias current $i_n$.
|
|
||||||
|
|
||||||
% #+name: fig:force_sensor_model_electronics
|
|
||||||
% #+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right)
|
|
||||||
% [[file:figs/force_sensor_model_electronics.png]]
|
|
||||||
|
|
||||||
% The estimated input bias current is then:
|
|
||||||
|
|
||||||
in = mean(V0)/Rin;
|
|
||||||
|
|
||||||
ans = in
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% : 1.5119e-06
|
|
||||||
|
|
||||||
% An additional resistor in parallel with $R_{in}$ would have two effects:
|
|
||||||
% - reduce the input voltage offset
|
|
||||||
% \[ V_{off} = \frac{R_a R_{in}}{R_a + R_{in}} i_n \]
|
|
||||||
% - increase the high pass corner frequency $f_c$
|
|
||||||
% \[ C_p \frac{R_{in}R_a}{R_{in} + R_a} = \tau_c = \frac{1}{f_c} \]
|
|
||||||
% \[ R_a = \frac{R_i}{f_c C_p R_i - 1} \]
|
|
||||||
|
|
||||||
|
|
||||||
% If we allow the high pass corner frequency to be equals to 3Hz:
|
|
||||||
|
|
||||||
fc = 3;
|
|
||||||
Ra = Rin/(fc*Cp*Rin - 1);
|
|
||||||
|
|
||||||
ans = Ra
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% : 79804
|
|
||||||
|
|
||||||
% With this parallel resistance value, the voltage offset would be:
|
|
||||||
|
|
||||||
V_offset = Ra*Rin/(Ra + Rin) * in;
|
|
||||||
|
|
||||||
ans = V_offset
|
|
||||||
|
|
||||||
% Add Parallel Resistor
|
|
||||||
% A resistor $R_p \approx 100\,k\Omega$ is added in parallel with the force sensor as shown in Figure [[fig:force_sensor_model_electronics_without_R]].
|
|
||||||
|
|
||||||
% #+name: fig:force_sensor_model_electronics_without_R
|
|
||||||
% #+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right) with added resistor $R_p$
|
|
||||||
% [[file:figs/force_sensor_model_electronics_without_R.png]]
|
|
||||||
|
|
||||||
|
|
||||||
load('force_sensor_steps_R_82k7.mat', 't', 'encoder', 'u', 'v');
|
|
||||||
|
|
||||||
figure;
|
|
||||||
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
|
||||||
nexttile;
|
|
||||||
plot(t, v);
|
|
||||||
xlabel('Time [s]'); ylabel('Measured voltage [V]');
|
|
||||||
nexttile;
|
|
||||||
plot(t, u);
|
|
||||||
xlabel('Time [s]'); ylabel('Actuator Voltage [V]');
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+name: fig:force_sen_steps_time_domain_par_R
|
|
||||||
% #+caption: Time domain signal during the actuator voltage steps
|
|
||||||
% #+RESULTS:
|
|
||||||
% [[file:figs/force_sen_steps_time_domain_par_R.png]]
|
|
||||||
|
|
||||||
% Three steps are performed at the following time intervals:
|
|
||||||
|
|
||||||
t_s = [1.9, 6;
|
|
||||||
8.5, 13;
|
|
||||||
15.5, 21;
|
|
||||||
22.6, 26;
|
|
||||||
30.0, 36;
|
|
||||||
37.5, 41;
|
|
||||||
46.2, 49.5]
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% Fit function:
|
|
||||||
|
|
||||||
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% We are interested by the =b(2)= term, which is the time constant of the exponential.
|
|
||||||
|
|
||||||
|
|
||||||
tau = zeros(size(t_s, 1),1);
|
|
||||||
V0 = zeros(size(t_s, 1),1);
|
|
||||||
|
|
||||||
for t_i = 1:size(t_s, 1)
|
|
||||||
t_cur = t(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
|
||||||
t_cur = t_cur - t_cur(1);
|
|
||||||
y_cur = v(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
|
||||||
|
|
||||||
nrmrsd = @(b) norm(y_cur - f(b,t_cur)); % Residual Norm Cost Function
|
|
||||||
B0 = [0.5, -0.2, 0.2]; % Choose Appropriate Initial Estimates
|
|
||||||
[B,rnrm] = fminsearch(nrmrsd, B0); % Estimate Parameters ‘B’
|
|
||||||
|
|
||||||
tau(t_i) = 1/B(2);
|
|
||||||
V0(t_i) = B(3);
|
|
||||||
end
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% | $tau$ [s] | $V_0$ [V] |
|
|
||||||
% |-----------+-----------|
|
|
||||||
% | 0.43 | 0.15 |
|
|
||||||
% | 0.45 | 0.16 |
|
|
||||||
% | 0.43 | 0.15 |
|
|
||||||
% | 0.43 | 0.15 |
|
|
||||||
% | 0.45 | 0.15 |
|
|
||||||
% | 0.46 | 0.16 |
|
|
||||||
% | 0.48 | 0.16 |
|
|
||||||
|
|
||||||
% Knowing the capacitance value, we can estimate the value of the added resistor (neglecting the input impedance of $\approx 1\,M\Omega$):
|
|
||||||
|
|
||||||
|
|
||||||
Cp = 4.4e-6; % [F]
|
|
||||||
Rin = abs(mean(tau))/Cp;
|
|
||||||
|
|
||||||
ans = Rin
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
% #+RESULTS:
|
|
||||||
% : 101200.0
|
|
||||||
|
|
||||||
% And we can verify that the bias current estimation stays the same:
|
|
||||||
|
|
||||||
in = mean(V0)/Rin;
|
|
||||||
|
|
||||||
ans = in
|
|
||||||
|
|
||||||
% Sinus
|
|
||||||
|
|
||||||
load('force_sensor_sin.mat', 't', 'encoder', 'u', 'v');
|
load('force_sensor_sin.mat', 't', 'encoder', 'u', 'v');
|
||||||
|
|
||||||
@ -232,8 +17,7 @@ v = v(t>25);
|
|||||||
encoder = encoder(t>25) - mean(encoder(t>25));
|
encoder = encoder(t>25) - mean(encoder(t>25));
|
||||||
t = t(t>25);
|
t = t(t>25);
|
||||||
|
|
||||||
|
% Excitation signal and corresponding displacement
|
||||||
|
|
||||||
% The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of 3V (Figure [[fig:force_sensor_sin_u]]).
|
% The driving voltage is a sinus at 0.5Hz centered on 3V and with an amplitude of 3V (Figure [[fig:force_sensor_sin_u]]).
|
||||||
|
|
||||||
|
|
||||||
@ -248,7 +32,9 @@ xlabel('Time [s]'); ylabel('Control Voltage [V]');
|
|||||||
% #+RESULTS:
|
% #+RESULTS:
|
||||||
% [[file:figs/force_sensor_sin_u.png]]
|
% [[file:figs/force_sensor_sin_u.png]]
|
||||||
|
|
||||||
% The full stroke as measured by the encoder is:
|
% The corresponding displacement as measured by the encoder is shown in Figure [[fig:force_sensor_sin_encoder]].
|
||||||
|
|
||||||
|
% The full stroke is:
|
||||||
|
|
||||||
max(encoder)-min(encoder)
|
max(encoder)-min(encoder)
|
||||||
|
|
||||||
@ -257,54 +43,41 @@ max(encoder)-min(encoder)
|
|||||||
% #+RESULTS:
|
% #+RESULTS:
|
||||||
% : 5.005e-05
|
% : 5.005e-05
|
||||||
|
|
||||||
% Its signal is shown in Figure [[fig:force_sensor_sin_encoder]].
|
|
||||||
|
|
||||||
|
|
||||||
figure;
|
figure;
|
||||||
plot(t, encoder)
|
plot(t, encoder)
|
||||||
xlabel('Time [s]'); ylabel('Encoder [m]');
|
xlabel('Time [s]'); ylabel('Encoder [m]');
|
||||||
|
|
||||||
|
% Generated Voltage
|
||||||
|
% The generated voltage by the stack is shown in Figure [[fig:force_sensor_sin_stack]].
|
||||||
% #+name: fig:force_sensor_sin_encoder
|
|
||||||
% #+caption: Encoder measurement
|
|
||||||
% #+RESULTS:
|
|
||||||
% [[file:figs/force_sensor_sin_encoder.png]]
|
|
||||||
|
|
||||||
% The generated voltage by the stack is shown in Figure
|
|
||||||
|
|
||||||
|
|
||||||
figure;
|
figure;
|
||||||
plot(t, v)
|
plot(t, v)
|
||||||
xlabel('Time [s]'); ylabel('Force Sensor Output [V]');
|
xlabel('Time [s]'); ylabel('Force Sensor Output [V]');
|
||||||
|
|
||||||
|
% Generated Charge
|
||||||
|
|
||||||
% #+name: fig:force_sensor_sin_stack
|
|
||||||
% #+caption: Voltage measured on the stack used as a sensor
|
|
||||||
% #+RESULTS:
|
|
||||||
% [[file:figs/force_sensor_sin_stack.png]]
|
|
||||||
|
|
||||||
% The capacitance of the stack is
|
% The capacitance of the stack is
|
||||||
|
|
||||||
Cp = 4.4e-6; % [F]
|
Cp = 4.4e-6; % [F]
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% The voltage and charge across a capacitor are related through the following equation:
|
||||||
|
% \begin{equation}
|
||||||
|
% U_C = \frac{Q}{C}
|
||||||
|
% \end{equation}
|
||||||
|
% where $U_C$ is the voltage in Volts, $Q$ the charge in Coulombs and $C$ the capacitance in Farads.
|
||||||
|
|
||||||
|
|
||||||
% The corresponding generated charge is then shown in Figure [[fig:force_sensor_sin_charge]].
|
% The corresponding generated charge is then shown in Figure [[fig:force_sensor_sin_charge]].
|
||||||
|
|
||||||
|
|
||||||
figure;
|
figure;
|
||||||
plot(t, 1e6*Cp*(v-mean(v)))
|
plot(t, 1e6*Cp*(v-mean(v)))
|
||||||
xlabel('Time [s]'); ylabel('Generated Charge [$\mu C$]');
|
xlabel('Time [s]'); ylabel('Generated Charge [$\mu C$]');
|
||||||
|
|
||||||
|
% Generated Voltage/Charge as a function of the displacement
|
||||||
|
|
||||||
% #+name: fig:force_sensor_sin_charge
|
|
||||||
% #+caption: Generated Charge
|
|
||||||
% #+RESULTS:
|
|
||||||
% [[file:figs/force_sensor_sin_charge.png]]
|
|
||||||
|
|
||||||
|
|
||||||
% The relation between the generated voltage and the measured displacement is almost linear as shown in Figure [[fig:force_sensor_linear_relation]].
|
% The relation between the generated voltage and the measured displacement is almost linear as shown in Figure [[fig:force_sensor_linear_relation]].
|
||||||
|
|
||||||
|
|
||||||
|
206
matlab/parallel_resistor.m
Normal file
206
matlab/parallel_resistor.m
Normal file
@ -0,0 +1,206 @@
|
|||||||
|
%% Clear Workspace and Close figures
|
||||||
|
clear; close all; clc;
|
||||||
|
|
||||||
|
%% Intialize Laplace variable
|
||||||
|
s = zpk('s');
|
||||||
|
|
||||||
|
addpath('./mat/');
|
||||||
|
|
||||||
|
% Excitation steps and measured generated voltage
|
||||||
|
% The measured data is loaded.
|
||||||
|
|
||||||
|
load('force_sensor_steps.mat', 't', 'encoder', 'u', 'v');
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% The excitation signal (steps) and measured voltage across the sensor stack are shown in Figure [[fig:force_sen_steps_time_domain]].
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
nexttile;
|
||||||
|
plot(t, v);
|
||||||
|
xlabel('Time [s]'); ylabel('Measured voltage [V]');
|
||||||
|
nexttile;
|
||||||
|
plot(t, u);
|
||||||
|
xlabel('Time [s]'); ylabel('Actuator Voltage [V]');
|
||||||
|
|
||||||
|
% Estimation of the voltage offset and discharge time constant
|
||||||
|
% The measured voltage shows an exponential decay which indicates that the charge across the capacitor formed by the stack is discharging into a resistor.
|
||||||
|
% This corresponds to an RC circuit with a time constant $\tau = RC$.
|
||||||
|
|
||||||
|
% In order to estimate the time domain, we fit the data with an exponential.
|
||||||
|
% The fit function is:
|
||||||
|
|
||||||
|
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% Three steps are performed at the following time intervals:
|
||||||
|
|
||||||
|
t_s = [ 2.5, 23;
|
||||||
|
23.8, 35;
|
||||||
|
35.8, 50];
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% We are interested by the =b(2)= term, which is the time constant of the exponential.
|
||||||
|
|
||||||
|
tau = zeros(size(t_s, 1),1);
|
||||||
|
V0 = zeros(size(t_s, 1),1);
|
||||||
|
|
||||||
|
for t_i = 1:size(t_s, 1)
|
||||||
|
t_cur = t(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
||||||
|
t_cur = t_cur - t_cur(1);
|
||||||
|
y_cur = v(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
||||||
|
|
||||||
|
nrmrsd = @(b) norm(y_cur - f(b,t_cur)); % Residual Norm Cost Function
|
||||||
|
B0 = [0.5, -0.15, 2.2]; % Choose Appropriate Initial Estimates
|
||||||
|
[B,rnrm] = fminsearch(nrmrsd, B0); % Estimate Parameters ‘B’
|
||||||
|
|
||||||
|
tau(t_i) = 1/B(2);
|
||||||
|
V0(t_i) = B(3);
|
||||||
|
end
|
||||||
|
|
||||||
|
% Estimation of the ADC input impedance
|
||||||
|
|
||||||
|
% With the capacitance being $C = 4.4 \mu F$, the internal impedance of the Speedgoat ADC can be computed as follows:
|
||||||
|
|
||||||
|
Cp = 4.4e-6; % [F]
|
||||||
|
Rin = abs(mean(tau))/Cp;
|
||||||
|
|
||||||
|
ans = Rin
|
||||||
|
|
||||||
|
% Explanation of the Voltage offset
|
||||||
|
% As shown in Figure [[fig:force_sen_steps_time_domain]], the voltage across the Piezoelectric sensor stack shows a constant voltage offset.
|
||||||
|
|
||||||
|
% We can explain this offset by looking at the electrical model shown in Figure [[fig:force_sensor_model_electronics_without_R]] (taken from cite:reza06_piezoel_trans_vibrat_contr_dampin).
|
||||||
|
|
||||||
|
% The differential amplifier in the Speedgoat has some input bias current $i_n$ that produces a voltage offset across its own internal resistance.
|
||||||
|
% Note that the impedance of the piezoelectric stack is much larger that that at DC.
|
||||||
|
|
||||||
|
% #+name: fig:force_sensor_model_electronics_without_R
|
||||||
|
% #+caption: Model of a piezoelectric transducer (left) and instrumentation amplifier (right)
|
||||||
|
% [[file:figs/force_sensor_model_electronics_without_R.png]]
|
||||||
|
|
||||||
|
% The estimated input bias current is then:
|
||||||
|
|
||||||
|
in = mean(V0)/Rin;
|
||||||
|
|
||||||
|
ans = in
|
||||||
|
|
||||||
|
% Effect of an additional Parallel Resistor
|
||||||
|
% Be looking at Figure [[fig:force_sensor_model_electronics_without_R]], we can see that an additional resistor in parallel with $R_{in}$ would have two effects:
|
||||||
|
% - reduce the input voltage offset
|
||||||
|
% \[ V_{off} = \frac{R_a R_{in}}{R_a + R_{in}} i_n \]
|
||||||
|
% - increase the high pass corner frequency $f_c$
|
||||||
|
% \[ C_p \frac{R_{in}R_a}{R_{in} + R_a} = \tau_c = \frac{1}{f_c} \]
|
||||||
|
% \[ R_a = \frac{R_i}{f_c C_p R_i - 1} \]
|
||||||
|
|
||||||
|
% If we allow the high pass corner frequency to be equals to 3Hz:
|
||||||
|
|
||||||
|
fc = 3;
|
||||||
|
Ra = Rin/(fc*Cp*Rin - 1);
|
||||||
|
|
||||||
|
ans = Ra
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% #+RESULTS:
|
||||||
|
% : 79804
|
||||||
|
|
||||||
|
% With this parallel resistance value, the voltage offset would be:
|
||||||
|
|
||||||
|
V_offset = Ra*Rin/(Ra + Rin) * in;
|
||||||
|
|
||||||
|
ans = V_offset
|
||||||
|
|
||||||
|
% Obtained voltage offset and time constant with the added resistor
|
||||||
|
% After the resistor is added, the same steps response is performed.
|
||||||
|
|
||||||
|
|
||||||
|
load('force_sensor_steps_R_82k7.mat', 't', 'encoder', 'u', 'v');
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% The results are shown in Figure [[fig:force_sen_steps_time_domain_par_R]].
|
||||||
|
|
||||||
|
|
||||||
|
figure;
|
||||||
|
tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
|
||||||
|
nexttile;
|
||||||
|
plot(t, v);
|
||||||
|
xlabel('Time [s]'); ylabel('Measured voltage [V]');
|
||||||
|
nexttile;
|
||||||
|
plot(t, u);
|
||||||
|
xlabel('Time [s]'); ylabel('Actuator Voltage [V]');
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% #+name: fig:force_sen_steps_time_domain_par_R
|
||||||
|
% #+caption: Time domain signal during the actuator voltage steps
|
||||||
|
% #+RESULTS:
|
||||||
|
% [[file:figs/force_sen_steps_time_domain_par_R.png]]
|
||||||
|
|
||||||
|
% Three steps are performed at the following time intervals:
|
||||||
|
|
||||||
|
t_s = [1.9, 6;
|
||||||
|
8.5, 13;
|
||||||
|
15.5, 21;
|
||||||
|
22.6, 26;
|
||||||
|
30.0, 36;
|
||||||
|
37.5, 41;
|
||||||
|
46.2, 49.5]
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% The time constant and voltage offset are again estimated using a fit function.
|
||||||
|
|
||||||
|
f = @(b,x) b(1).*exp(b(2).*x) + b(3);
|
||||||
|
|
||||||
|
tau = zeros(size(t_s, 1),1);
|
||||||
|
V0 = zeros(size(t_s, 1),1);
|
||||||
|
|
||||||
|
for t_i = 1:size(t_s, 1)
|
||||||
|
t_cur = t(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
||||||
|
t_cur = t_cur - t_cur(1);
|
||||||
|
y_cur = v(t_s(t_i, 1) < t & t < t_s(t_i, 2));
|
||||||
|
|
||||||
|
nrmrsd = @(b) norm(y_cur - f(b,t_cur)); % Residual Norm Cost Function
|
||||||
|
B0 = [0.5, -0.2, 0.2]; % Choose Appropriate Initial Estimates
|
||||||
|
[B,rnrm] = fminsearch(nrmrsd, B0); % Estimate Parameters ‘B’
|
||||||
|
|
||||||
|
tau(t_i) = 1/B(2);
|
||||||
|
V0(t_i) = B(3);
|
||||||
|
end
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% #+RESULTS:
|
||||||
|
% | $tau$ [s] | $V_0$ [V] |
|
||||||
|
% |-----------+-----------|
|
||||||
|
% | 0.43 | 0.15 |
|
||||||
|
% | 0.45 | 0.16 |
|
||||||
|
% | 0.43 | 0.15 |
|
||||||
|
% | 0.43 | 0.15 |
|
||||||
|
% | 0.45 | 0.15 |
|
||||||
|
% | 0.46 | 0.16 |
|
||||||
|
% | 0.48 | 0.16 |
|
||||||
|
|
||||||
|
% Knowing the capacitance value, we can estimate the value of the added resistor (neglecting the input impedance of $\approx 1\,M\Omega$):
|
||||||
|
|
||||||
|
|
||||||
|
Cp = 4.4e-6; % [F]
|
||||||
|
Rin = abs(mean(tau))/Cp;
|
||||||
|
|
||||||
|
ans = Rin
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
% #+RESULTS:
|
||||||
|
% : 101200.0
|
||||||
|
|
||||||
|
% And we can verify that the bias current estimation stays the same:
|
||||||
|
|
||||||
|
in = mean(V0)/Rin;
|
||||||
|
|
||||||
|
ans = in
|
Loading…
Reference in New Issue
Block a user