diff --git a/figs/encoder_vionic.png b/figs/encoder_vionic.png new file mode 100644 index 0000000..2520bcc Binary files /dev/null and b/figs/encoder_vionic.png differ diff --git a/index.html b/index.html index 1e8e9e0..9e8fcfb 100644 --- a/index.html +++ b/index.html @@ -3,7 +3,7 @@ "http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd"> - + Encoder Renishaw Vionic - Test Bench @@ -30,15 +30,15 @@

Table of Contents

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+

You can find below the document of:

@@ -62,8 +62,15 @@ In particular, we would like to measure:
  • Linearity of the sensor
    • -
    -

    1 Encoder Model

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    +

    encoder_vionic.png +

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    Figure 1: Picture of the Vionic Encoder

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    + +
    +

    1 Encoder Model

    The Encoder is characterized by its dynamics \(G_m(s)\) from the “true” displacement \(y\) to measured displacement \(y_m\). @@ -75,18 +82,18 @@ It is also characterized by its measurement noise \(n\) that can be described by

    -The model of the encoder is shown in Figure 1. +The model of the encoder is shown in Figure 2.

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    +

    encoder-model-schematic.png

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    Figure 1: Model of the Encoder

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    Figure 2: Model of the Encoder

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    @@ -120,17 +127,17 @@ The model of the encoder is shown in Figure 1. -
    +

    vionic_expected_noise.png

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    Figure 2: Expected interpolation errors for the Vionic Encoder

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    Figure 3: Expected interpolation errors for the Vionic Encoder

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    -

    2 Test-Bench Description

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    +

    2 Test-Bench Description

    To measure the noise \(n\) of the encoder, one can rigidly fix the head and the ruler together such that no motion should be measured. @@ -144,7 +151,7 @@ An actuator should also be there so impose a displacement.

    -One idea is to use the test-bench shown in Figure 3. +One idea is to use the test-bench shown in Figure 4.

    @@ -157,37 +164,37 @@ As the interferometer has a very large bandwidth, we should be able to estimate

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    test_bench_encoder_calibration.png

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    Figure 3: Schematic of the test bench

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    Figure 4: Schematic of the test bench

    To measure the noise of the sensor, we can also simply measure the output signal when the relative motion between the encoder and the ruler is null. -This can be done by clamping the two as done in the mounting strut tool (Figure 4). +This can be done by clamping the two as done in the mounting strut tool (Figure 5).

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    test_bench_measure_noise.png

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    Figure 4: Mounting Strut test bench as a clamping method to measure the encoder noise.

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    Figure 5: Mounting Strut test bench as a clamping method to measure the encoder noise.

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    3 Measurement procedure

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    +

    3 Measurement procedure

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    4 Measurement Results

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    4 Measurement Results

    Author: Dehaeze Thomas

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    Created: 2020-12-17 jeu. 14:54

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    Created: 2021-01-04 lun. 11:44

    diff --git a/index.org b/index.org index 48c3e1a..80eb7b6 100644 --- a/index.org +++ b/index.org @@ -55,6 +55,10 @@ In particular, we would like to measure: - Bandwidth of the sensor - Linearity of the sensor +#+name: fig:encoder_vionic +#+caption: Picture of the Vionic Encoder +[[file:figs/encoder_vionic.png]] + * 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.
    Table 1: Characteristics of the Vionic Encoder