diff --git a/test-bench-nano-hexapod.html b/test-bench-nano-hexapod.html index d2baaa1..722aca1 100644 --- a/test-bench-nano-hexapod.html +++ b/test-bench-nano-hexapod.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Nano-Hexapod - Test Bench @@ -22,15 +22,19 @@

Table of Contents

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This report is also available as a pdf.

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1 Test-Bench Description

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-
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Here are the documentation of the equipment used for this test bench:

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IMG_20210608_152917.jpg

Figure 1: Nano-Hexapod

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IMG_20210608_154722.jpg

Figure 2: Nano-Hexapod and the control electronics

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+

1 Encoders fixed to the Struts

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+
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1.1 Introduction

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2 Encoders fixed to the Struts

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2.1 Introduction

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- -
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2.2 Load Data

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+

1.2 Load Data

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meas_data_lf = {};
 
@@ -96,9 +95,9 @@ Here are the documentation of the equipment used for this test bench:
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2.3 Spectral Analysis - Setup

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1.3 Spectral Analysis - Setup

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% Sampling Time [s]
 Ts = (meas_data_lf{1}.t(end) - (meas_data_lf{1}.t(1)))/(length(meas_data_lf{1}.t)-1);
@@ -127,11 +126,11 @@ i_hf = f > 250; % Poi
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2.4 DVF Plant

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1.4 DVF Plant

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-First, let’s compute the coherence from the excitation voltage and the displacement as measured by the encoders (Figure 3). +First, let’s compute the coherence from the excitation voltage and the displacement as measured by the encoders (Figure 3).

@@ -148,14 +147,14 @@ coh_dvf_hf = zeros(length(f), 6, 6);
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enc_struts_dvf_coh.png

Figure 3: Obtained coherence for the DVF plant

-Then the 6x6 transfer function matrix is estimated (Figure 4). +Then the 6x6 transfer function matrix is estimated (Figure 4). 

%% DVF Plant
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enc_struts_dvf_frf.png

Figure 4: Measured FRF for the DVF plant

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2.5 IFF Plant

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1.5 IFF Plant

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-First, let’s compute the coherence from the excitation voltage and the displacement as measured by the encoders (Figure 5). +First, let’s compute the coherence from the excitation voltage and the displacement as measured by the encoders (Figure 5).

@@ -200,14 +199,14 @@ coh_iff_hf = zeros(length(f), 6, 6);
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enc_struts_iff_coh.png

Figure 5: Obtained coherence for the IFF plant

-Then the 6x6 transfer function matrix is estimated (Figure 6). +Then the 6x6 transfer function matrix is estimated (Figure 6). 

%% IFF Plant
@@ -222,7 +221,7 @@ G_iff_hf = zeros(length(f), 6, 6);
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enc_struts_iff_frf.png

Figure 6: Measured FRF for the IFF plant

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2.6 Jacobian

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1.6 Jacobian

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load('jacobian.mat', 'J');
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+
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1.6.1 DVF Plant

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G_dvf_J_lf = G_dvf_lf(i_lf, i, j)
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G_dvf_J_lf = permute(pagemtimes(inv(J), pagemtimes(permute(G_dvf_lf, [2 3 1]), inv(J'))), [3 1 2]);
+G_dvf_J_hf = permute(pagemtimes(inv(J), pagemtimes(permute(G_dvf_hf, [2 3 1]), inv(J'))), [3 1 2]);
+
+
-

-#+end_src

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1.6.2 IFF Plant

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G_iff_J_lf = permute(pagemtimes(inv(J), pagemtimes(permute(G_iff_lf, [2 3 1]), inv(J'))), [3 1 2]);
+G_iff_J_hf = permute(pagemtimes(inv(J), pagemtimes(permute(G_iff_hf, [2 3 1]), inv(J'))), [3 1 2]);
+
+
+

Author: Dehaeze Thomas

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Created: 2021-06-08 mar. 21:51

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Created: 2021-06-08 mar. 22:15