87 lines
2.2 KiB
Mathematica
87 lines
2.2 KiB
Mathematica
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%% Clear Workspace and Close figures
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clear; close all; clc;
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%% Intialize Laplace variable
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s = zpk('s');
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addpath('./mat/');
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% Results :ignore:
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% Let's load the measurements.
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load('meas_probe_against_encoder.mat', 't', 'd', 'dp', 'F')
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%% Sampling time [s]
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Ts = (t(end) - t(1))/(length(t)-1);
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%% Remove first second
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t = t(ceil(1/Ts):end);
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d = -d(ceil(1/Ts):end);
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dp = -dp(ceil(1/Ts):end);
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F = F(ceil(1/Ts):end);
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% The time domain measured displacement by the probe and by the encoder is shown in Figure [[fig:comp_encoder_probe_time]].
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%% Time Domain plots
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figure;
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hold on;
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plot(t, d, 'DisplayName', 'Encoder');
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plot(t, dp, 'DisplayName', 'Probe');
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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% #+name: fig:comp_encoder_probe_time
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% #+caption: Time domain measurement
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% #+RESULTS:
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% [[file:figs/comp_encoder_probe_time.png]]
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% If we zoom, we see that there is some delay between the encoder and the probe (Figure [[fig:comp_encoder_probe_time_zoom]]).
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%% Zoom
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figure;
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hold on;
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plot(t, d, 'DisplayName', 'Encoder');
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plot(t, dp, 'DisplayName', 'Probe');
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hold off;
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xlabel('Time [s]'); ylabel('Displacement [m]');
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xlim([7.7, 7.9])
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% #+RESULTS:
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% : The time delay is approximately 15.8 [ms]
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% The measured mismatch between the encoder and the probe with and without compensating for the time delay are shown in Figure [[fig:comp_encoder_probe_mismatch]].
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figure;
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hold on;
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plot(t, d-dp, 'DisplayName', 'Raw Mismatch');
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plot(t(1:end-finddelay(d, dp)), d(1:end-finddelay(d, dp))-dp(finddelay(d, dp)+1:end), 'DisplayName', 'Removed Delay');
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hold off;
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xlabel('Time [s]'); ylabel('Measurement Missmatch [m]');
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% #+name: fig:comp_encoder_probe_mismatch
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% #+caption: Measurement mismatch, with and without delay compensation
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% #+RESULTS:
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% [[file:figs/comp_encoder_probe_mismatch.png]]
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% Finally, the displacement of the probe is shown as a function of the displacement of the encoder and a linear fit is made (Figure [[fig:comp_encoder_probe_linear_fit]]).
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figure;
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hold on;
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plot(1e3*d, 1e3*dp, 'DisplayName', 'Raw data');
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plot(1e3*d, 1e3*d*(d\dp), 'DisplayName', sprintf('Linear fit: $\\alpha = %.5f$', (d\dp)));
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hold on;
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xlabel('Encoder [mm]'); ylabel('Probe [mm]');
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legend('location', 'southeast')
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