Initial Commit

.gitignore

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+auto/
+*.tex
+*.bbl
+*.synctex.gz
+.auctex-auto/
+_minted*
+
+# Emacs
+auto/
+
+# Simulink Real Time
+*bio.m
+*pt.m
+*ref.m
+*ri.m
+*xcp.m
+*.mldatx
+*.slxc
+*.xml
+*_slrt_rtw/
+
+# data
+data/
+
+# Windows default autosave extension
+*.asv
+
+# OSX / *nix default autosave extension
+*.m~
+
+# Compiled MEX binaries (all platforms)
+*.mex*
+
+# Packaged app and toolbox files
+*.mlappinstall
+*.mltbx
+
+# Generated helpsearch folders
+helpsearch*/
+
+# Simulink code generation folders
+slprj/
+sccprj/
+
+# Matlab code generation folders
+codegen/
+
+# Simulink autosave extension
+*.autosave
+
+# Octave session info
+octave-workspace

index.html

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+test-bench-nano-hexapod.html

matlab/identif_analyze.m

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+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+addpath('./src/');
+
+% Test with one APA
+
+%% Load measurement data for APA number 1
+load(sprintf('mat/frf_data_%i_sweep_lf.mat', 2), 't', 'Va', 'Vs', 'de', 'da');
+
+% Compute transfer functions:
+
+Ts = (t(end) - t(1))/(length(t)-1);
+Fs = 1/Ts;
+
+win = hanning(ceil(1*Fs)); % Hannning Windows
+
+[G_dvf, f] = tfestimate(Va, de, win, [], [], 1/Ts);
+[G_d,   ~] = tfestimate(Va, da, win, [], [], 1/Ts);
+[G_iff, ~] = tfestimate(Va, Vs, win, [], [], 1/Ts);
+
+[coh_dvf, ~] = mscohere(Va, de, win, [], [], 1/Ts);
+[coh_d,   ~] = mscohere(Va, da, win, [], [], 1/Ts);
+[coh_iff, ~] = mscohere(Va, Vs, win, [], [], 1/Ts);
+
+%%
+figure;
+hold on;
+plot(f, coh_dvf);
+plot(f, coh_d);
+plot(f, coh_iff);
+hold off;
+set(gca, 'XScale', 'log');
+
+%%
+figure;
+tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
+
+ax1 = nexttile;
+hold on;
+plot(f, abs(G_dvf));
+plot(f, abs(G_d));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
+hold off;
+
+ax2 = nexttile;
+hold on;
+plot(f, 180/pi*angle(G_dvf));
+plot(f, 180/pi*angle(G_d));
+hold off;
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
+hold off;
+yticks(-360:90:360);
+
+linkaxes([ax1,ax2],'x');
+xlim([5, 5e3]);
+
+figure;
+tiledlayout(2, 1, 'TileSpacing', 'None', 'Padding', 'None');
+
+ax1 = nexttile;
+plot(f, abs(G_iff));
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'log');
+ylabel('Amplitude $V_{out}/V_{in}$ [V/V]'); set(gca, 'XTickLabel',[]);
+hold off;
+
+ax2 = nexttile;
+plot(f, 180/pi*angle(G_iff));
+set(gca, 'XScale', 'log'); set(gca, 'YScale', 'lin');
+xlabel('Frequency [Hz]'); ylabel('Phase [deg]');
+hold off;
+yticks(-360:90:360);
+
+linkaxes([ax1,ax2],'x');
+xlim([0.1, 10]);
+
+% Comparison of all APA
+
+%% Load all the measurements
+meas_data = {};
+for i = 1:7
+    meas_data(i) = {load(sprintf('mat/frf_data_%i.mat', i), 't', 'Va', 'Vs', 'de', 'da')};
+end

matlab/identif_save.m

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+% =frf_save.m= - Save Data
+% :PROPERTIES:
+% :header-args: :tangle matlab/frf_save.m
+% :END:
+
+% First, we get data from the Speedgoat:
+
+tg = slrt;
+
+f = SimulinkRealTime.openFTP(tg);
+mget(f, 'data/data.dat');
+close(f);
+
+
+
+% And we load the data on the Workspace:
+
+data = SimulinkRealTime.utils.getFileScopeData('data/data.dat').data;
+
+da = data(:, 1); % Excitation Voltage (input of PD200) [V]
+de = data(:, 2); % Measured voltage (force sensor) [V]
+Vs = data(:, 3); % Measurment displacement (encoder) [m]
+Va = data(:, 4); % Measurement displacement (attocube) [m]
+t  = data(:, end); % Time [s]
+
+
+
+% And we save this to a =mat= file:
+apa_number = 1;
+% leg_number = 4;
+
+save(sprintf('mat/frf_data_leg_coder_%i_noise.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+% save(sprintf('mat/frf_data_leg_coder_%i_sweep.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+% save(sprintf('mat/frf_data_leg_coder_%i_noise_hf.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');
+% save(sprintf('mat/frf_data_leg_coder_%i_add_mass_closed_circuit.mat', apa_number), 't', 'Va', 'Vs', 'de', 'da');

matlab/identif_setup.m

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+%% Clear Workspace and Close figures
+clear; close all; clc;
+
+%% Intialize Laplace variable
+s = zpk('s');
+
+addpath('./src/');
+
+%% Simulation configuration
+Fs   = 10e3; % Sampling Frequency [Hz]
+Ts   = 1/Fs; % Sampling Time [s]
+
+%% Data record configuration
+Trec_start = 5;  % Start time for Recording [s]
+Trec_dur   = 100; % Recording Duration [s]
+
+Tsim = 2*Trec_start + Trec_dur;  % Simulation Time [s]
+
+%% Shaped Noise
+V_noise = generateShapedNoise('Ts', 1/Fs, ...
+                              'V_mean', 3.25, ...
+                              't_start', Trec_start, ...
+                              'exc_duration', Trec_dur, ...
+                              'smooth_ends', true, ...
+                              'V_exc', 0.05/(1 + s/2/pi/10));
+
+%% Sweep Sine
+gc = 0.1;
+xi = 0.5;
+wn = 2*pi*94.3;
+
+% Notch filter at the resonance of the APA
+G_sweep = 0.2*(s^2 + 2*gc*xi*wn*s + wn^2)/(s^2 + 2*xi*wn*s + wn^2);
+
+V_sweep = generateSweepExc('Ts',      Ts, ...
+                           'f_start', 10, ...
+                           'f_end',   400, ...
+                           'V_mean',  3.25, ...
+                           't_start', Trec_start, ...
+                           'exc_duration', Trec_dur, ...
+                           'sweep_type',   'log', ...
+                           'V_exc', G_sweep*1/(1 + s/2/pi/500));
+
+%% High Frequency Shaped Noise
+[b,a] = cheby1(10, 2, 2*pi*[300 2e3], 'bandpass', 's');
+wL = 0.005*tf(b, a);
+
+V_noise_hf = generateShapedNoise('Ts', 1/Fs, ...
+                              'V_mean', 3.25, ...
+                              't_start', Trec_start, ...
+                              'exc_duration', Trec_dur, ...
+                              'smooth_ends', true, ...
+                              'V_exc', wL);
+
+%% Sinus excitation with increasing amplitude
+V_sin = generateSinIncreasingAmpl('Ts', 1/Fs, ...
+                                  'V_mean', 3.25, ...
+                                  'sin_ampls', [0.1, 0.2, 0.4, 1, 2, 4], ...
+                                  'sin_period', 1, ...
+                                  'sin_num', 5, ...
+                                  't_start', Trec_start, ...
+                                  'smooth_ends', true);
+
+%% Select the excitation signal
+V_exc = timeseries(V_noise(2,:), V_noise(1,:));
+
+%% Plot
+figure;
+tiledlayout(1, 2, 'TileSpacing', 'Normal', 'Padding', 'None');
+
+ax1 = nexttile;
+plot(V_exc(1,:), V_exc(2,:));
+xlabel('Time [s]'); ylabel('Amplitude [V]');
+
+ax2 = nexttile;
+win = hanning(floor(length(V_exc)/8));
+[pxx, f] = pwelch(V_exc(2,:), win, 0, [], Fs);
+plot(f, pxx)
+xlabel('Frequency [Hz]'); ylabel('Power Spectral Density [$V^2/Hz$]');
+set(gca, 'xscale', 'log'); set(gca, 'yscale', 'log');
+xlim([1, Fs/2]); ylim([1e-10, 1e0]);
+
+%% Save data that will be loaded in the Simulink file
+save('./frf_data.mat', 'Fs', 'Ts', 'Tsim', 'Trec_start', 'Trec_dur', 'V_exc');

test-bench-nano-hexapod.html

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+<?xml version="1.0" encoding="utf-8"?>
+<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
+"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
+<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
+<head>
+<!-- 2021-06-07 lun. 19:00 -->
+<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
+<title>Nano-Hexapod - Test Bench</title>
+<meta name="author" content="Dehaeze Thomas" />
+<meta name="generator" content="Org Mode" />
+<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+</head>
+<body>
+<div id="org-div-home-and-up">
+ <a accesskey="h" href="../index.html"> UP </a>
+ |
+ <a accesskey="H" href="../index.html"> HOME </a>
+</div><div id="content">
+<h1 class="title">Nano-Hexapod - Test Bench</h1>
+<div id="table-of-contents">
+<h2>Table of Contents</h2>
+<div id="text-table-of-contents">
+<ul>
+<li><a href="#orgc63308d">1. Test-Bench Description</a></li>
+</ul>
+</div>
+</div>
+<hr>
+<p>This report is also available as a <a href="./test-bench-nano-hexapod.pdf">pdf</a>.</p>
+<hr>
+
+<div id="outline-container-orgc63308d" class="outline-2">
+<h2 id="orgc63308d"><span class="section-number-2">1</span> Test-Bench Description</h2>
+<div class="outline-text-2" id="text-1">
+<div class="note" id="org060848e">
+<p>
+Here are the documentation of the equipment used for this test bench:
+</p>
+<ul class="org-ul">
+<li>Voltage Amplifier: PiezoDrive <a href="doc/PD200-V7-R1.pdf">PD200</a></li>
+<li>Amplified Piezoelectric Actuator: Cedrat <a href="doc/APA300ML.pdf">APA300ML</a></li>
+<li>DAC/ADC: Speedgoat <a href="doc/IO131-OEM-Datasheet.pdf">IO313</a></li>
+<li>Encoder: Renishaw <a href="doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf">Vionic</a> and used <a href="doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf">Ruler</a></li>
+<li>Interferometers: Attocube</li>
+</ul>
+
+</div>
+</div>
+</div>
+</div>
+<div id="postamble" class="status">
+<p class="author">Author: Dehaeze Thomas</p>
+<p class="date">Created: 2021-06-07 lun. 19:00</p>
+</div>
+</body>
+</html>

test-bench-nano-hexapod.org

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+#+TITLE: Nano-Hexapod - Test Bench
+:DRAWER:
+#+LANGUAGE: en
+#+EMAIL: dehaeze.thomas@gmail.com
+#+AUTHOR: Dehaeze Thomas
+
+#+HTML_LINK_HOME: ../index.html
+#+HTML_LINK_UP:   ../index.html
+
+#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
+#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
+
+#+BIND: org-latex-image-default-option "scale=1"
+#+BIND: org-latex-image-default-width ""
+
+#+LaTeX_CLASS: scrreprt
+#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
+#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
+
+#+PROPERTY: header-args:matlab  :session *MATLAB*
+#+PROPERTY: header-args:matlab+ :comments org
+#+PROPERTY: header-args:matlab+ :exports both
+#+PROPERTY: header-args:matlab+ :results none
+#+PROPERTY: header-args:matlab+ :eval no-export
+#+PROPERTY: header-args:matlab+ :noweb yes
+#+PROPERTY: header-args:matlab+ :mkdirp yes
+#+PROPERTY: header-args:matlab+ :output-dir figs
+
+#+PROPERTY: header-args:latex  :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
+#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
+#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
+#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
+#+PROPERTY: header-args:latex+ :results file raw replace
+#+PROPERTY: header-args:latex+ :buffer no
+#+PROPERTY: header-args:latex+ :tangle no
+#+PROPERTY: header-args:latex+ :eval no-export
+#+PROPERTY: header-args:latex+ :exports results
+#+PROPERTY: header-args:latex+ :mkdirp yes
+#+PROPERTY: header-args:latex+ :output-dir figs
+#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
+:END:
+
+#+begin_export html
+  <hr>
+  <p>This report is also available as a <a href="./test-bench-nano-hexapod.pdf">pdf</a>.</p>
+  <hr>
+#+end_export
+
+* Test-Bench Description
+
+#+begin_note
+Here are the documentation of the equipment used for this test bench:
+- Voltage Amplifier: PiezoDrive [[file:doc/PD200-V7-R1.pdf][PD200]]
+- Amplified Piezoelectric Actuator: Cedrat [[file:doc/APA300ML.pdf][APA300ML]]
+- DAC/ADC: Speedgoat [[file:doc/IO131-OEM-Datasheet.pdf][IO313]]
+- Encoder: Renishaw [[file:doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf][Vionic]] and used [[file:doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf][Ruler]]
+- Interferometers: Attocube
+#+end_note