commit 300e5fc655295baed2a4f08ffea4358e8ff553fe Author: Thomas Dehaeze Date: Wed Dec 16 11:51:26 2020 +0100 Initial Commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..8394d13 --- /dev/null +++ b/.gitignore @@ -0,0 +1,52 @@ +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 diff --git a/doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf b/doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf new file mode 100644 index 0000000..13193ba Binary files /dev/null and b/doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf differ diff --git a/doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf b/doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf new file mode 100644 index 0000000..54891ee Binary files /dev/null and b/doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf differ diff --git a/encoder-model-schematic.pdf b/encoder-model-schematic.pdf new file mode 100644 index 0000000..9e2b448 Binary files /dev/null and b/encoder-model-schematic.pdf differ diff --git a/figs/encoder-model-schematic.pdf b/figs/encoder-model-schematic.pdf new file mode 100644 index 0000000..fde8f91 Binary files /dev/null and b/figs/encoder-model-schematic.pdf differ diff --git a/figs/encoder-model-schematic.png b/figs/encoder-model-schematic.png new file mode 100644 index 0000000..62b1899 Binary files /dev/null and b/figs/encoder-model-schematic.png differ diff --git a/figs/encoder-model-schematic.svg b/figs/encoder-model-schematic.svg new file mode 100644 index 0000000..037231f --- /dev/null +++ b/figs/encoder-model-schematic.svg @@ -0,0 +1,135 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/index.org b/index.org new file mode 100644 index 0000000..92954ca --- /dev/null +++ b/index.org @@ -0,0 +1,83 @@ +#+TITLE: Encoder Renishaw Vionic - 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: +#+HTML_HEAD: + +#+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: + +* Introduction :ignore: + +You can find below the document of: +- [[file:doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf][Vionic Encoder]] +- [[file:doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf][Linear Scale]] + +* Encoder Model +The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$. +Ideally, this dynamics is constant over a wide frequency band with very small phase drop. + +It is also characterized by its measurement noise $n$ that can be described by its Power Spectral Density (PSD). + +#+begin_src latex :file encoder-model-schematic.pdf + \begin{tikzpicture} + \node[block] (G) at (0,0){$G_m(s)$}; + \node[addb, left=0.8 of G] (add){}; + + \draw[<-] (add.west) -- ++(-1.0, 0) node[above right]{$y$}; + \draw[->] (add.east) -- (G.west); + \draw[->] (G.east) -- ++(1.0, 0) node[above left]{$y_m$}; + \draw[<-] (add.north) -- ++(0, 0.6) node[below right](n){$n$}; + + \begin{scope}[on background layer] + \node[fit={(add.west|-G.south) (n.north-|G.east)}, inner sep=8pt, draw, dashed, fill=black!20!white] (P) {}; + \node[below left] at (P.north east) {Encoder}; + \end{scope} + \end{tikzpicture} +#+end_src + +#+name: fig:encoder-model-schematic +#+caption: Model of the Encoder +#+RESULTS: +[[file:figs/encoder-model-schematic.png]] + +* Test-Bench Description + + +* Measurement procedure + + +* Measurement Results