84 lines
3.1 KiB
Org Mode
84 lines
3.1 KiB
Org Mode
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#+TITLE: Encoder Renishaw Vionic - Test Bench
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:DRAWER:
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#+LANGUAGE: en
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#+EMAIL: dehaeze.thomas@gmail.com
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#+AUTHOR: Dehaeze Thomas
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#+HTML_LINK_HOME: ../index.html
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#+HTML_LINK_UP: ../index.html
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#+HTML_HEAD: <link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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#+HTML_HEAD: <script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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#+BIND: org-latex-image-default-option "scale=1"
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#+BIND: org-latex-image-default-width ""
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#+LaTeX_CLASS: scrreprt
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#+LaTeX_CLASS_OPTIONS: [a4paper, 10pt, DIV=12, parskip=full]
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#+LaTeX_HEADER_EXTRA: \input{preamble.tex}
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#+PROPERTY: header-args:matlab :session *MATLAB*
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#+PROPERTY: header-args:matlab+ :comments org
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#+PROPERTY: header-args:matlab+ :exports both
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#+PROPERTY: header-args:matlab+ :results none
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#+PROPERTY: header-args:matlab+ :eval no-export
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#+PROPERTY: header-args:matlab+ :noweb yes
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#+PROPERTY: header-args:matlab+ :mkdirp yes
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#+PROPERTY: header-args:matlab+ :output-dir figs
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#+PROPERTY: header-args:latex :headers '("\\usepackage{tikz}" "\\usepackage{import}" "\\import{$HOME/Cloud/tikz/org/}{config.tex}")
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#+PROPERTY: header-args:latex+ :imagemagick t :fit yes
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#+PROPERTY: header-args:latex+ :iminoptions -scale 100% -density 150
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#+PROPERTY: header-args:latex+ :imoutoptions -quality 100
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#+PROPERTY: header-args:latex+ :results file raw replace
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#+PROPERTY: header-args:latex+ :buffer no
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#+PROPERTY: header-args:latex+ :tangle no
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#+PROPERTY: header-args:latex+ :eval no-export
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#+PROPERTY: header-args:latex+ :exports results
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#+PROPERTY: header-args:latex+ :mkdirp yes
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#+PROPERTY: header-args:latex+ :output-dir figs
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#+PROPERTY: header-args:latex+ :post pdf2svg(file=*this*, ext="png")
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:END:
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* Introduction :ignore:
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You can find below the document of:
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- [[file:doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf][Vionic Encoder]]
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- [[file:doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf][Linear Scale]]
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* Encoder Model
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The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$.
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Ideally, this dynamics is constant over a wide frequency band with very small phase drop.
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It is also characterized by its measurement noise $n$ that can be described by its Power Spectral Density (PSD).
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#+begin_src latex :file encoder-model-schematic.pdf
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\begin{tikzpicture}
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\node[block] (G) at (0,0){$G_m(s)$};
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\node[addb, left=0.8 of G] (add){};
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\draw[<-] (add.west) -- ++(-1.0, 0) node[above right]{$y$};
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\draw[->] (add.east) -- (G.west);
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\draw[->] (G.east) -- ++(1.0, 0) node[above left]{$y_m$};
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\draw[<-] (add.north) -- ++(0, 0.6) node[below right](n){$n$};
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\begin{scope}[on background layer]
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\node[fit={(add.west|-G.south) (n.north-|G.east)}, inner sep=8pt, draw, dashed, fill=black!20!white] (P) {};
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\node[below left] at (P.north east) {Encoder};
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\end{scope}
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\end{tikzpicture}
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#+end_src
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#+name: fig:encoder-model-schematic
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#+caption: Model of the Encoder
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#+RESULTS:
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[[file:figs/encoder-model-schematic.png]]
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* Test-Bench Description
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* Measurement procedure
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* Measurement Results
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