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Thomas Dehaeze 2020-12-16 14:07:07 +01:00
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64
index.html
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@ -3,7 +3,7 @@
"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
<head>
<!-- 2020-12-16 mer. 11:52 -->
<!-- 2020-12-16 mer. 14:07 -->
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
<title>Encoder Renishaw Vionic - Test Bench</title>
<meta name="generator" content="Org mode" />
@ -30,14 +30,15 @@
<h2>Table of Contents</h2>
<div id="text-table-of-contents">
<ul>
<li><a href="#orgc6d067f">1. Encoder Model</a></li>
<li><a href="#org0b88c21">2. Test-Bench Description</a></li>
<li><a href="#org4b5c31e">3. Measurement procedure</a></li>
<li><a href="#org2a53463">4. Measurement Results</a></li>
<li><a href="#org096db33">1. Encoder Model</a></li>
<li><a href="#orga6d0b8e">2. Test-Bench Description</a></li>
<li><a href="#orgfc138a6">3. Measurement procedure</a></li>
<li><a href="#orgcddc280">4. Measurement Results</a></li>
</ul>
</div>
</div>
<div class="note" id="org89964c6">
<p>
You can find below the document of:
</p>
@ -46,8 +47,23 @@ You can find below the document of:
<li><a href="doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf">Linear Scale</a></li>
</ul>
<div id="outline-container-orgc6d067f" class="outline-2">
<h2 id="orgc6d067f"><span class="section-number-2">1</span> Encoder Model</h2>
</div>
<p>
We would like to characterize the encoder measurement system.
</p>
<p>
In particular, we would like to measure:
</p>
<ul class="org-ul">
<li>Bandwidth/dynamics of the sensor</li>
<li>Power Spectral Density of the measurement noise</li>
<li>Linearity/resolution of the sensor</li>
</ul>
<div id="outline-container-org096db33" class="outline-2">
<h2 id="org096db33"><span class="section-number-2">1</span> Encoder Model</h2>
<div class="outline-text-2" id="text-1">
<p>
The Encoder is characterized by its dynamics \(G_m(s)\) from the &ldquo;true&rdquo; displacement \(y\) to measured displacement \(y_m\).
@ -58,8 +74,12 @@ Ideally, this dynamics is constant over a wide frequency band with very small ph
It is also characterized by its measurement noise \(n\) that can be described by its Power Spectral Density (PSD).
</p>
<p>
The model of the encoder is shown in Figure <a href="#org8c743b3">1</a>.
</p>
<div id="org4dcd6f3" class="figure">
<div id="org8c743b3" class="figure">
<p><img src="figs/encoder-model-schematic.png" alt="encoder-model-schematic.png" />
</p>
<p><span class="figure-number">Figure 1: </span>Model of the Encoder</p>
@ -67,23 +87,33 @@ It is also characterized by its measurement noise \(n\) that can be described by
</div>
</div>
<div id="outline-container-org0b88c21" class="outline-2">
<h2 id="org0b88c21"><span class="section-number-2">2</span> Test-Bench Description</h2>
<div id="outline-container-orga6d0b8e" class="outline-2">
<h2 id="orga6d0b8e"><span class="section-number-2">2</span> Test-Bench Description</h2>
<div class="outline-text-2" id="text-2">
<p>
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.
Then, the measured signal \(y_m\) corresponds to the noise \(n\).
</p>
<p>
In order to measure the linearity, we have to compare the measured displacement with a reference sensor with a known linearity.
An interferometer or capacitive sensor should work.
An actuator should also be there so impose a displacement.
</p>
</div>
</div>
<div id="outline-container-org4b5c31e" class="outline-2">
<h2 id="org4b5c31e"><span class="section-number-2">3</span> Measurement procedure</h2>
<div id="outline-container-orgfc138a6" class="outline-2">
<h2 id="orgfc138a6"><span class="section-number-2">3</span> Measurement procedure</h2>
</div>
<div id="outline-container-org2a53463" class="outline-2">
<h2 id="org2a53463"><span class="section-number-2">4</span> Measurement Results</h2>
<div id="outline-container-orgcddc280" class="outline-2">
<h2 id="orgcddc280"><span class="section-number-2">4</span> Measurement Results</h2>
</div>
</div>
<div id="postamble" class="status">
<p class="author">Author: Dehaeze Thomas</p>
<p class="date">Created: 2020-12-16 mer. 11:52</p>
<p class="date">Created: 2020-12-16 mer. 14:07</p>
</div>
</body>
</html>

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@ -42,9 +42,18 @@
* Introduction :ignore:
#+begin_note
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]]
#+end_note
We would like to characterize the encoder measurement system.
In particular, we would like to measure:
- Bandwidth/dynamics of the sensor
- Power Spectral Density of the measurement noise
- Linearity/resolution of the sensor
* Encoder Model
The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$.
@ -52,6 +61,8 @@ Ideally, this dynamics is constant over a wide frequency band with very small ph
It is also characterized by its measurement noise $n$ that can be described by its Power Spectral Density (PSD).
The model of the encoder is shown in Figure [[fig:encoder-model-schematic]].
#+begin_src latex :file encoder-model-schematic.pdf
\begin{tikzpicture}
\node[block] (G) at (0,0){$G_m(s)$};
@ -76,8 +87,13 @@ It is also characterized by its measurement noise $n$ that can be described by i
* 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.
Then, the measured signal $y_m$ corresponds to the noise $n$.
In order to measure the linearity, we have to compare the measured displacement with a reference sensor with a known linearity.
An interferometer or capacitive sensor should work.
An actuator should also be there so impose a displacement.
* Measurement procedure
* Measurement Results