Add some test benches
This commit is contained in:
parent
95112f90c2
commit
a0ff5f2592
Binary file not shown.
BIN
figs/test_bench_encoder_calibration.pdf
Normal file
BIN
figs/test_bench_encoder_calibration.pdf
Normal file
Binary file not shown.
BIN
figs/test_bench_encoder_calibration.png
Normal file
BIN
figs/test_bench_encoder_calibration.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 22 KiB |
2567
figs/test_bench_encoder_calibration.svg
Normal file
2567
figs/test_bench_encoder_calibration.svg
Normal file
File diff suppressed because it is too large
Load Diff
|
After Width: | Height: | Size: 169 KiB |
BIN
figs/test_bench_measure_noise.pdf
Normal file
BIN
figs/test_bench_measure_noise.pdf
Normal file
Binary file not shown.
BIN
figs/test_bench_measure_noise.png
Normal file
BIN
figs/test_bench_measure_noise.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 9.5 KiB |
257
figs/test_bench_measure_noise.svg
Normal file
257
figs/test_bench_measure_noise.svg
Normal file
@ -0,0 +1,257 @@
|
||||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<svg
|
||||
xmlns:dc="http://purl.org/dc/elements/1.1/"
|
||||
xmlns:cc="http://creativecommons.org/ns#"
|
||||
xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
|
||||
xmlns:svg="http://www.w3.org/2000/svg"
|
||||
xmlns="http://www.w3.org/2000/svg"
|
||||
xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
|
||||
xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
|
||||
sodipodi:docname="test_bench_measure_noise.svg"
|
||||
inkscape:version="1.0.1 (3bc2e813f5, 2020-09-07)"
|
||||
id="svg1980"
|
||||
version="1.1"
|
||||
viewBox="0 0 26.089403 19.519478"
|
||||
height="19.519478mm"
|
||||
width="26.089403mm">
|
||||
<defs
|
||||
id="defs1974" />
|
||||
<sodipodi:namedview
|
||||
inkscape:window-maximized="1"
|
||||
inkscape:window-y="57"
|
||||
inkscape:window-x="12"
|
||||
inkscape:window-height="1371"
|
||||
inkscape:window-width="2536"
|
||||
showgrid="false"
|
||||
inkscape:document-rotation="0"
|
||||
inkscape:current-layer="g8286"
|
||||
inkscape:document-units="mm"
|
||||
inkscape:cy="35.173818"
|
||||
inkscape:cx="74.420306"
|
||||
inkscape:zoom="7.9195959"
|
||||
inkscape:pageshadow="2"
|
||||
inkscape:pageopacity="0.0"
|
||||
borderopacity="1.0"
|
||||
bordercolor="#666666"
|
||||
pagecolor="#ffffff"
|
||||
id="base" />
|
||||
<metadata
|
||||
id="metadata1977">
|
||||
<rdf:RDF>
|
||||
<cc:Work
|
||||
rdf:about="">
|
||||
<dc:format>image/svg+xml</dc:format>
|
||||
<dc:type
|
||||
rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
|
||||
<dc:title></dc:title>
|
||||
</cc:Work>
|
||||
</rdf:RDF>
|
||||
</metadata>
|
||||
<g
|
||||
transform="translate(-6.1565337,-4.320046)"
|
||||
id="layer1"
|
||||
inkscape:groupmode="layer"
|
||||
inkscape:label="Layer 1">
|
||||
<g
|
||||
id="g8286">
|
||||
<path
|
||||
id="path1880-6-5"
|
||||
d="m 28.978085,14.51602 h 3.13556"
|
||||
style="fill:none;stroke:#c8c8c8;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
sodipodi:nodetypes="cc" />
|
||||
<path
|
||||
id="path1880-1-9"
|
||||
d="m 28.978085,15.57437 h 3.13556"
|
||||
style="fill:none;stroke:#c8c8c8;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
sodipodi:nodetypes="cc" />
|
||||
<path
|
||||
style="fill:none;stroke:#c8c8c8;stroke-width:0.264999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:0.264999, 0.794999;stroke-dashoffset:0;stroke-opacity:1"
|
||||
d="m 28.978085,15.04519 h 3.13556"
|
||||
id="path1880-4"
|
||||
sodipodi:nodetypes="cc" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#c8c8c8;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
d="m 6.2814652,14.51601 h 3.29974"
|
||||
id="path1880-6" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#c8c8c8;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
|
||||
d="m 6.2814752,15.57436 h 3.29973"
|
||||
id="path1880-1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path1880"
|
||||
d="m 6.2814752,15.04518 h 3.29973"
|
||||
style="fill:none;stroke:#c8c8c8;stroke-width:0.264999;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:0.264999, 0.794999;stroke-dashoffset:0;stroke-opacity:1" />
|
||||
<g
|
||||
transform="rotate(90,51.048564,43.329672)"
|
||||
id="g1235-5">
|
||||
<rect
|
||||
style="display:inline;fill:#d95218;fill-opacity:0.651021;fill-rule:evenodd;stroke:#000000;stroke-width:0.264583;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stop-color:#000000"
|
||||
id="rect875-6-3-4"
|
||||
width="4.7726126"
|
||||
height="1.8691806"
|
||||
x="25.031273"
|
||||
y="74.259331" />
|
||||
<circle
|
||||
cy="74.790047"
|
||||
cx="25.61916"
|
||||
id="circle1164-4-3-7-90-7"
|
||||
style="display:inline;fill:#ffffff;fill-opacity:0.361354;fill-rule:evenodd;stroke:#000000;stroke-width:0.132556;stroke-linecap:round;stroke-linejoin:round;stop-color:#000000"
|
||||
r="0.27808872" />
|
||||
<rect
|
||||
style="display:inline;fill:#d95218;fill-opacity:0.651021;fill-rule:evenodd;stroke:#000000;stroke-width:0.264583;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stop-color:#000000"
|
||||
id="rect875-5-5-4"
|
||||
width="4.6578512"
|
||||
height="1.8691787"
|
||||
x="20.373421"
|
||||
y="74.259331" />
|
||||
<circle
|
||||
cy="74.804611"
|
||||
cx="20.943624"
|
||||
id="circle1164-4-3-6-11-4"
|
||||
style="display:inline;fill:#ffffff;fill-opacity:0.361354;fill-rule:evenodd;stroke:#000000;stroke-width:0.132556;stroke-linecap:round;stroke-linejoin:round;stop-color:#000000"
|
||||
r="0.27808872" />
|
||||
<path
|
||||
style="font-variation-settings:normal;opacity:1;vector-effect:none;fill:none;fill-opacity:1;stroke:#000000;stroke-width:0.132292;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000;stop-opacity:1"
|
||||
d="m 20.93084,74.84889 c 0.789289,0.464272 4.294211,0.305739 4.674984,-0.04779"
|
||||
id="path1025-7-3"
|
||||
sodipodi:nodetypes="cc" />
|
||||
<path
|
||||
sodipodi:nodetypes="cccccccccccccccccccccccccccccccccccccccccccccc"
|
||||
d="m 21.701789,70.812562 v 0.367273 h -0.343998 l -6.788952,2.380441 c -0.195106,0.157379 -0.443046,0.593109 -0.475499,0.80018 v 0.833461 0.833461 c 0.03245,0.207069 0.280393,0.642567 0.475499,0.799946 l 6.788952,2.380442 h 0.343998 v 0.367271 h 1.058061 1.057829 v -0.367271 h 0.343997 l 6.788954,-2.380442 c 0.195105,-0.157379 0.443044,-0.592877 0.475495,-0.799946 v -0.833461 -0.833461 c -0.03247,-0.207071 -0.28039,-0.642801 -0.475495,-0.80018 L 24.161676,71.179835 H 23.817679 V 70.812562 H 22.75985 Z m -0.131268,1.038045 h 1.189329 1.189329 l 6.395614,2.180513 v 0.228091 h -0.540902 v 0.934706 0.934472 h 0.540902 v 0.228091 l -6.395614,2.180745 H 22.75985 21.570521 L 15.174676,76.35648 v -0.228091 h 0.5409 v -0.934472 -0.934706 h -0.5409 V 74.03112 Z"
|
||||
style="display:inline;fill:#000000;fill-opacity:0.36;stroke:#000000;stroke-width:0.264583;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
id="path845-3-8" />
|
||||
<rect
|
||||
y="74.259331"
|
||||
x="15.715569"
|
||||
height="1.8691787"
|
||||
width="4.6578512"
|
||||
id="rect875-67-6"
|
||||
style="display:inline;fill:#0072bd;fill-opacity:0.651021;fill-rule:evenodd;stroke:#000000;stroke-width:0.264583;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stop-color:#000000" />
|
||||
<path
|
||||
style="font-variation-settings:normal;vector-effect:none;fill:#000000;fill-opacity:0.36;stroke:#000000;stroke-width:0.264583;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000"
|
||||
d="m 21.537322,80.697523 v -2.116665 h 2.449047 v 2.116665 z"
|
||||
id="path863-3-8"
|
||||
sodipodi:nodetypes="ccccc" />
|
||||
<path
|
||||
style="font-variation-settings:normal;vector-effect:none;fill:#000000;fill-opacity:0.2;stroke:#000000;stroke-width:0.264583;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000"
|
||||
d="m 21.701789,69.754222 v 1.05834 h 0.52903 v 7.365695 h 1.057946 v -7.365695 h 0.528914 v -1.05834 z"
|
||||
id="path861-9-8"
|
||||
sodipodi:nodetypes="ccccccccc" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path867-2-1-4"
|
||||
d="M 23.360629,77.680663 H 22.27654"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="M 23.360629,77.151493 H 22.27654"
|
||||
id="path867-3-9-2-3" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="M 23.360629,76.622319 H 22.27654"
|
||||
id="path867-6-1-7-1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path867-3-7-2-0-4"
|
||||
d="M 23.360629,76.093148 H 22.27654"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path867-7-9-9"
|
||||
d="M 23.360629,75.563981 H 22.27654"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="M 23.360629,75.034811 H 22.27654"
|
||||
id="path867-3-0-3-2" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="M 23.360629,74.505641 H 22.27654"
|
||||
id="path867-6-9-6-0" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path867-3-7-3-0-6"
|
||||
d="M 23.360629,73.97647 H 22.27654"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path867-60-6-8"
|
||||
d="M 23.360629,73.447303 H 22.27654"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="M 23.360629,72.918133 H 22.27654"
|
||||
id="path867-3-6-2-9" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="M 23.360629,72.388963 H 22.27654"
|
||||
id="path867-6-2-6-2" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path867-3-7-61-1-6"
|
||||
d="M 23.360629,71.859792 H 22.27654"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
<path
|
||||
style="font-variation-settings:normal;vector-effect:none;fill:#ecb01f;fill-opacity:0.651021;stroke:#000000;stroke-width:0.264583;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000"
|
||||
d="m 21.537322,70.611919 h 2.449047 v 7.968939 h -2.449047 z"
|
||||
id="path865-6-6"
|
||||
sodipodi:nodetypes="ccccc" />
|
||||
<path
|
||||
style="fill:none;stroke:#000000;stroke-width:0.264999;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 22.761845,78.580858 c 0.06273,4.405242 2.933827,5.770444 2.933827,5.770444"
|
||||
id="path2073-1-4"
|
||||
sodipodi:nodetypes="cc" />
|
||||
<circle
|
||||
r="0.27808872"
|
||||
style="display:inline;fill:#ffffff;fill-opacity:0.361354;fill-rule:evenodd;stroke:#000000;stroke-width:0.132556;stroke-linecap:round;stroke-linejoin:round;stop-color:#000000"
|
||||
id="circle1164-4-3-73-9"
|
||||
cx="16.262732"
|
||||
cy="74.800758" />
|
||||
<path
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1"
|
||||
d="m 16.257159,74.830071 c -0.781096,0.666002 -4.152075,0.745778 -4.152075,0.745778"
|
||||
id="path1008-5-5"
|
||||
sodipodi:nodetypes="cc" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path1008-3-6-0"
|
||||
d="m 20.93084,74.848891 c -1.865802,1.067007 -8.825756,1.12737 -8.825756,1.12737"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.132292;stroke-linecap:round;stroke-linejoin:round;stroke-miterlimit:4;stroke-dasharray:none;stroke-opacity:1" />
|
||||
</g>
|
||||
<path
|
||||
sodipodi:nodetypes="ccccccccccccccccccccccccccccccc"
|
||||
d="m 27.920855,16.09891 h -0.6433 -1.58713 m 2.23043,-2.11613 h -2.23043 m -1.06641,1.05807 v 1.05806 h 1.06641 c 0.40013,-1.10112 1.81457,-1.07521 2.23043,0 h 0.81753 v 0 -0.47053 h 0.83615 v -0.1398 h 1.02495 v 0.1398 h 0.75555 v -0.58753 m -6.73102,0 v -1.05807 h 1.06641 c 0.40013,1.10112 1.81457,1.07521 2.23043,0 h 0.81753 v 0 0.48707 h 0.83615 v 0.1274 h 1.02495 v -0.1274 h 0.75555 v 0.571"
|
||||
style="font-variation-settings:normal;vector-effect:none;fill:#000000;fill-opacity:0.36;stroke:#000000;stroke-width:0.264583;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000"
|
||||
id="path2761-27-0-4" />
|
||||
<path
|
||||
id="path2761-27-0-4-7"
|
||||
style="font-variation-settings:normal;vector-effect:none;fill:#000000;fill-opacity:0.36;stroke:#000000;stroke-width:0.264583;stroke-linecap:butt;stroke-linejoin:miter;stroke-miterlimit:4;stroke-dasharray:none;stroke-dashoffset:0;stroke-opacity:1;stop-color:#000000"
|
||||
d="m 10.383875,16.10102 h 0.6433 1.58713 m -2.23044,-2.11613 h 2.23044 m 1.06641,1.05807 v 1.05806 h -1.06641 c -0.40013,-1.10112 -1.81457,-1.07521 -2.23044,0 H 9.5663452 v 0 -0.47053 h -0.83615 v -0.1398 h -1.02495 v 0.1398 h -0.75555 v -0.58753 m 6.7310198,0 v -1.05807 h -1.06641 c -0.40013,1.10112 -1.81457,1.07521 -2.23044,0 H 9.5663452 v 0 0.48707 h -0.83615 v 0.1274 h -1.02495 v -0.1274 h -0.75555 v 0.571"
|
||||
sodipodi:nodetypes="ccccccccccccccccccccccccccccccc" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path1903"
|
||||
d="M 9.5691652,19.11741 V 10.94144"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cccccsc"
|
||||
id="path1772"
|
||||
d="m 6.2888252,10.97296 v 8.14445 h 3.28034 22.5444798 V 10.97296 H 9.5757952 Z"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
|
||||
<path
|
||||
sodipodi:nodetypes="cc"
|
||||
id="path1905"
|
||||
d="M 28.994895,19.15011 V 10.97296"
|
||||
style="fill:none;stroke:#000000;stroke-width:0.264583px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1" />
|
||||
</g>
|
||||
</g>
|
||||
</svg>
|
||||
|
After Width: | Height: | Size: 15 KiB |
BIN
figs/vionic_expected_noise.pdf
Normal file
BIN
figs/vionic_expected_noise.pdf
Normal file
Binary file not shown.
BIN
figs/vionic_expected_noise.png
Normal file
BIN
figs/vionic_expected_noise.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 146 KiB |
4204
figs/vionic_expected_noise.svg
Normal file
4204
figs/vionic_expected_noise.svg
Normal file
File diff suppressed because one or more lines are too long
|
After Width: | Height: | Size: 739 KiB |
114
index.html
114
index.html
@ -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. 14:07 -->
|
||||
<!-- 2020-12-17 jeu. 14:54 -->
|
||||
<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
|
||||
<title>Encoder Renishaw Vionic - Test Bench</title>
|
||||
<meta name="generator" content="Org mode" />
|
||||
@ -30,15 +30,15 @@
|
||||
<h2>Table of Contents</h2>
|
||||
<div id="text-table-of-contents">
|
||||
<ul>
|
||||
<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>
|
||||
<li><a href="#org52a1b18">1. Encoder Model</a></li>
|
||||
<li><a href="#org79c9cb0">2. Test-Bench Description</a></li>
|
||||
<li><a href="#org68a3dfb">3. Measurement procedure</a></li>
|
||||
<li><a href="#orgf207a65">4. Measurement Results</a></li>
|
||||
</ul>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div class="note" id="org89964c6">
|
||||
<div class="note" id="orgf5882b4">
|
||||
<p>
|
||||
You can find below the document of:
|
||||
</p>
|
||||
@ -57,13 +57,13 @@ We would like to characterize the encoder measurement system.
|
||||
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>
|
||||
<li>Bandwidth of the sensor</li>
|
||||
<li>Linearity 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 id="outline-container-org52a1b18" class="outline-2">
|
||||
<h2 id="org52a1b18"><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 “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>
|
||||
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>
|
||||
|
||||
|
||||
<div id="org8c743b3" class="figure">
|
||||
<div id="org131b7a7" 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>
|
||||
</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 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">
|
||||
<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.
|
||||
@ -97,23 +139,55 @@ Then, the measured signal \(y_m\) corresponds to the noise \(n\).
|
||||
|
||||
<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 interferometer or capacitive sensor should work fine.
|
||||
An actuator should also be there so impose a displacement.
|
||||
</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 id="outline-container-orgfc138a6" class="outline-2">
|
||||
<h2 id="orgfc138a6"><span class="section-number-2">3</span> Measurement procedure</h2>
|
||||
<div id="outline-container-org68a3dfb" class="outline-2">
|
||||
<h2 id="org68a3dfb"><span class="section-number-2">3</span> Measurement procedure</h2>
|
||||
</div>
|
||||
|
||||
<div id="outline-container-orgcddc280" class="outline-2">
|
||||
<h2 id="orgcddc280"><span class="section-number-2">4</span> Measurement Results</h2>
|
||||
<div id="outline-container-orgf207a65" class="outline-2">
|
||||
<h2 id="orgf207a65"><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. 14:07</p>
|
||||
<p class="date">Created: 2020-12-17 jeu. 14:54</p>
|
||||
</div>
|
||||
</body>
|
||||
</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.
|
||||
|
||||
In particular, we would like to measure:
|
||||
- Bandwidth/dynamics of the sensor
|
||||
- Power Spectral Density of the measurement noise
|
||||
- Linearity/resolution of the sensor
|
||||
- Bandwidth of the sensor
|
||||
- Linearity of the sensor
|
||||
|
||||
* Encoder Model
|
||||
The Encoder is characterized by its dynamics $G_m(s)$ from the "true" displacement $y$ to measured displacement $y_m$.
|
||||
@ -85,15 +85,50 @@ The model of the encoder is shown in Figure [[fig:encoder-model-schematic]].
|
||||
#+RESULTS:
|
||||
[[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
|
||||
|
||||
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 interferometer or capacitive sensor should work fine.
|
||||
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 Results
|
||||
|
||||
Loading…
Reference in New Issue
Block a user