From 81808a93d405a52a5dc63771f87758b628b16be0 Mon Sep 17 00:00:00 2001 From: Thomas Dehaeze Date: Tue, 8 Jun 2021 22:15:02 +0200 Subject: [PATCH] Export to html --- test-bench-nano-hexapod.html | 114 +++++++++++++++++++---------------- 1 file changed, 63 insertions(+), 51 deletions(-) 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

@@ -40,10 +44,7 @@

This report is also available as a pdf.

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-

1 Test-Bench Description

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-
+

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

@@ -58,32 +59,30 @@ 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

+ +
+

1 Encoders fixed to the Struts

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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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- -
-

2.2 Load Data

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+
+

1.2 Load Data

+
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
@@ -170,7 +169,7 @@ G_dvf_hf = zeros(length(f), 6, 6);
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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);
-
+

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

@@ -230,28 +229,41 @@ G_iff_hf = zeros(length(f), 6, 6);
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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

-

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

+

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