Add some test benches
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figs/test_bench_encoder_calibration.pdf
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figs/test_bench_measure_noise.pdf
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|
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|
||||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
|
||||||
<head>
|
<head>
|
||||||
<!-- 2020-12-16 mer. 14:07 -->
|
<!-- 2020-12-17 jeu. 14:54 -->
|
||||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||||
<title>Encoder Renishaw Vionic - Test Bench</title>
|
<title>Encoder Renishaw Vionic - Test Bench</title>
|
||||||
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|
<meta name="generator" content="Org mode" />
|
||||||
@ -30,15 +30,15 @@
|
|||||||
<h2>Table of Contents</h2>
|
<h2>Table of Contents</h2>
|
||||||
<div id="text-table-of-contents">
|
<div id="text-table-of-contents">
|
||||||
<ul>
|
<ul>
|
||||||
<li><a href="#org096db33">1. Encoder Model</a></li>
|
<li><a href="#org52a1b18">1. Encoder Model</a></li>
|
||||||
<li><a href="#orga6d0b8e">2. Test-Bench Description</a></li>
|
<li><a href="#org79c9cb0">2. Test-Bench Description</a></li>
|
||||||
<li><a href="#orgfc138a6">3. Measurement procedure</a></li>
|
<li><a href="#org68a3dfb">3. Measurement procedure</a></li>
|
||||||
<li><a href="#orgcddc280">4. Measurement Results</a></li>
|
<li><a href="#orgf207a65">4. Measurement Results</a></li>
|
||||||
</ul>
|
</ul>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div class="note" id="org89964c6">
|
<div class="note" id="orgf5882b4">
|
||||||
<p>
|
<p>
|
||||||
You can find below the document of:
|
You can find below the document of:
|
||||||
</p>
|
</p>
|
||||||
@ -57,13 +57,13 @@ We would like to characterize the encoder measurement system.
|
|||||||
In particular, we would like to measure:
|
In particular, we would like to measure:
|
||||||
</p>
|
</p>
|
||||||
<ul class="org-ul">
|
<ul class="org-ul">
|
||||||
<li>Bandwidth/dynamics of the sensor</li>
|
|
||||||
<li>Power Spectral Density of the measurement noise</li>
|
<li>Power Spectral Density of the measurement noise</li>
|
||||||
<li>Linearity/resolution of the sensor</li>
|
<li>Bandwidth of the sensor</li>
|
||||||
|
<li>Linearity of the sensor</li>
|
||||||
</ul>
|
</ul>
|
||||||
|
|
||||||
<div id="outline-container-org096db33" class="outline-2">
|
<div id="outline-container-org52a1b18" class="outline-2">
|
||||||
<h2 id="org096db33"><span class="section-number-2">1</span> Encoder Model</h2>
|
<h2 id="org52a1b18"><span class="section-number-2">1</span> Encoder Model</h2>
|
||||||
<div class="outline-text-2" id="text-1">
|
<div class="outline-text-2" id="text-1">
|
||||||
<p>
|
<p>
|
||||||
The Encoder is characterized by its dynamics \(G_m(s)\) from the “true” displacement \(y\) to measured displacement \(y_m\).
|
The Encoder is characterized by its dynamics \(G_m(s)\) from the “true” displacement \(y\) to measured displacement \(y_m\).
|
||||||
@ -75,20 +75,62 @@ It is also characterized by its measurement noise \(n\) that can be described by
|
|||||||
</p>
|
</p>
|
||||||
|
|
||||||
<p>
|
<p>
|
||||||
The model of the encoder is shown in Figure <a href="#org8c743b3">1</a>.
|
The model of the encoder is shown in Figure <a href="#org131b7a7">1</a>.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
|
||||||
<div id="org8c743b3" class="figure">
|
<div id="org131b7a7" class="figure">
|
||||||
<p><img src="figs/encoder-model-schematic.png" alt="encoder-model-schematic.png" />
|
<p><img src="figs/encoder-model-schematic.png" alt="encoder-model-schematic.png" />
|
||||||
</p>
|
</p>
|
||||||
<p><span class="figure-number">Figure 1: </span>Model of the Encoder</p>
|
<p><span class="figure-number">Figure 1: </span>Model of the Encoder</p>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
|
|
||||||
|
<table id="org00cec14" border="2" cellspacing="0" cellpadding="6" rules="groups" frame="hsides">
|
||||||
|
<caption class="t-above"><span class="table-number">Table 1:</span> Characteristics of the Vionic Encoder</caption>
|
||||||
|
|
||||||
|
<colgroup>
|
||||||
|
<col class="org-left" />
|
||||||
|
|
||||||
|
<col class="org-left" />
|
||||||
|
</colgroup>
|
||||||
|
<thead>
|
||||||
|
<tr>
|
||||||
|
<th scope="col" class="org-left"><b>Characteristics</b></th>
|
||||||
|
<th scope="col" class="org-left"><b>Manual</b></th>
|
||||||
|
</tr>
|
||||||
|
</thead>
|
||||||
|
<tbody>
|
||||||
|
<tr>
|
||||||
|
<td class="org-left">Resolution</td>
|
||||||
|
<td class="org-left">2.5nm</td>
|
||||||
|
</tr>
|
||||||
|
|
||||||
|
<tr>
|
||||||
|
<td class="org-left">Sub-Divisional Error</td>
|
||||||
|
<td class="org-left">\(< \pm 15\,nm\)</td>
|
||||||
|
</tr>
|
||||||
|
|
||||||
|
<tr>
|
||||||
|
<td class="org-left">Bandwidth</td>
|
||||||
|
<td class="org-left">> 50 kHz</td>
|
||||||
|
</tr>
|
||||||
|
</tbody>
|
||||||
|
</table>
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
<div id="orgd22d423" class="figure">
|
||||||
|
<p><img src="./figs/vionic_expected_noise.png" alt="vionic_expected_noise.png" />
|
||||||
|
</p>
|
||||||
|
<p><span class="figure-number">Figure 2: </span>Expected interpolation errors for the Vionic Encoder</p>
|
||||||
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orga6d0b8e" class="outline-2">
|
|
||||||
<h2 id="orga6d0b8e"><span class="section-number-2">2</span> Test-Bench Description</h2>
|
<div id="outline-container-org79c9cb0" class="outline-2">
|
||||||
|
<h2 id="org79c9cb0"><span class="section-number-2">2</span> Test-Bench Description</h2>
|
||||||
<div class="outline-text-2" id="text-2">
|
<div class="outline-text-2" id="text-2">
|
||||||
<p>
|
<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.
|
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.
|
||||||
@ -97,23 +139,55 @@ 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.
|
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 interferometer or capacitive sensor should work fine.
|
||||||
An actuator should also be there so impose a displacement.
|
An actuator should also be there so impose a displacement.
|
||||||
</p>
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
One idea is to use the test-bench shown in Figure <a href="#org1bd058e">3</a>.
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
The APA300ML is used to excite the mass in a broad bandwidth.
|
||||||
|
The motion is measured at the same time by the Vionic Encoder and by an interferometer (most likely an Attocube).
|
||||||
|
</p>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
As the interferometer has a very large bandwidth, we should be able to estimate the bandwidth of the encoder is it is less than the Nyquist frequency (~ 5kHz).
|
||||||
|
</p>
|
||||||
|
|
||||||
|
|
||||||
|
<div id="org1bd058e" class="figure">
|
||||||
|
<p><img src="figs/test_bench_encoder_calibration.png" alt="test_bench_encoder_calibration.png" />
|
||||||
|
</p>
|
||||||
|
<p><span class="figure-number">Figure 3: </span>Schematic of the test bench</p>
|
||||||
|
</div>
|
||||||
|
|
||||||
|
<p>
|
||||||
|
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 <a href="#orgfdf8d08">4</a>).
|
||||||
|
</p>
|
||||||
|
|
||||||
|
|
||||||
|
<div id="orgfdf8d08" class="figure">
|
||||||
|
<p><img src="figs/test_bench_measure_noise.png" alt="test_bench_measure_noise.png" />
|
||||||
|
</p>
|
||||||
|
<p><span class="figure-number">Figure 4: </span>Mounting Strut test bench as a clamping method to measure the encoder noise.</p>
|
||||||
|
</div>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgfc138a6" class="outline-2">
|
<div id="outline-container-org68a3dfb" class="outline-2">
|
||||||
<h2 id="orgfc138a6"><span class="section-number-2">3</span> Measurement procedure</h2>
|
<h2 id="org68a3dfb"><span class="section-number-2">3</span> Measurement procedure</h2>
|
||||||
</div>
|
</div>
|
||||||
|
|
||||||
<div id="outline-container-orgcddc280" class="outline-2">
|
<div id="outline-container-orgf207a65" class="outline-2">
|
||||||
<h2 id="orgcddc280"><span class="section-number-2">4</span> Measurement Results</h2>
|
<h2 id="orgf207a65"><span class="section-number-2">4</span> Measurement Results</h2>
|
||||||
</div>
|
</div>
|
||||||
</div>
|
</div>
|
||||||
<div id="postamble" class="status">
|
<div id="postamble" class="status">
|
||||||
<p class="author">Author: Dehaeze Thomas</p>
|
<p class="author">Author: Dehaeze Thomas</p>
|
||||||
<p class="date">Created: 2020-12-16 mer. 14:07</p>
|
<p class="date">Created: 2020-12-17 jeu. 14:54</p>
|
||||||
</div>
|
</div>
|
||||||
</body>
|
</body>
|
||||||
</html>
|
</html>
|
||||||
|
|||||||
41
index.org
41
index.org
@ -51,9 +51,9 @@ You can find below the document of:
|
|||||||
We would like to characterize the encoder measurement system.
|
We would like to characterize the encoder measurement system.
|
||||||
|
|
||||||
In particular, we would like to measure:
|
In particular, we would like to measure:
|
||||||
- Bandwidth/dynamics of the sensor
|
|
||||||
- Power Spectral Density of the measurement noise
|
- Power Spectral Density of the measurement noise
|
||||||
- Linearity/resolution of the sensor
|
- Bandwidth of the sensor
|
||||||
|
- Linearity of the sensor
|
||||||
|
|
||||||
* Encoder Model
|
* Encoder Model
|
||||||
The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$.
|
The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$.
|
||||||
@ -85,15 +85,50 @@ The model of the encoder is shown in Figure [[fig:encoder-model-schematic]].
|
|||||||
#+RESULTS:
|
#+RESULTS:
|
||||||
[[file:figs/encoder-model-schematic.png]]
|
[[file:figs/encoder-model-schematic.png]]
|
||||||
|
|
||||||
|
|
||||||
|
#+name: tab:vionic_characteristics_manual
|
||||||
|
#+caption: Characteristics of the Vionic Encoder
|
||||||
|
#+attr_latex: :environment tabularx :width \linewidth :align lXX
|
||||||
|
#+attr_latex: :center t :booktabs t :float t
|
||||||
|
| *Characteristics* | *Manual* |
|
||||||
|
|----------------------+----------------|
|
||||||
|
| Resolution | 2.5nm |
|
||||||
|
| Sub-Divisional Error | $< \pm 15\,nm$ |
|
||||||
|
| Bandwidth | > 50 kHz |
|
||||||
|
|
||||||
|
|
||||||
|
#+name: fig:vionic_expected_noise
|
||||||
|
#+caption: Expected interpolation errors for the Vionic Encoder
|
||||||
|
[[file:./figs/vionic_expected_noise.png]]
|
||||||
|
|
||||||
|
|
||||||
* Test-Bench Description
|
* 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.
|
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 $n$.
|
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.
|
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 interferometer or capacitive sensor should work fine.
|
||||||
An actuator should also be there so impose a displacement.
|
An actuator should also be there so impose a displacement.
|
||||||
|
|
||||||
|
One idea is to use the test-bench shown in Figure [[fig:test_bench_encoder_calibration]].
|
||||||
|
|
||||||
|
The APA300ML is used to excite the mass in a broad bandwidth.
|
||||||
|
The motion is measured at the same time by the Vionic Encoder and by an interferometer (most likely an Attocube).
|
||||||
|
|
||||||
|
As the interferometer has a very large bandwidth, we should be able to estimate the bandwidth of the encoder is it is less than the Nyquist frequency (~ 5kHz).
|
||||||
|
|
||||||
|
#+name: fig:test_bench_encoder_calibration
|
||||||
|
#+caption: Schematic of the test bench
|
||||||
|
[[file:figs/test_bench_encoder_calibration.png]]
|
||||||
|
|
||||||
|
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 [[fig:test_bench_measure_noise]]).
|
||||||
|
|
||||||
|
#+name: fig:test_bench_measure_noise
|
||||||
|
#+caption: Mounting Strut test bench as a clamping method to measure the encoder noise.
|
||||||
|
[[file:figs/test_bench_measure_noise.png]]
|
||||||
|
|
||||||
* Measurement procedure
|
* Measurement procedure
|
||||||
|
|
||||||
* Measurement Results
|
* Measurement Results
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user