120 lines
4.0 KiB
HTML
120 lines
4.0 KiB
HTML
<?xml version="1.0" encoding="utf-8"?>
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<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Strict//EN"
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"http://www.w3.org/TR/xhtml1/DTD/xhtml1-strict.dtd">
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<html xmlns="http://www.w3.org/1999/xhtml" lang="en" xml:lang="en">
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<head>
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<!-- 2020-12-16 mer. 14:07 -->
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<meta http-equiv="Content-Type" content="text/html;charset=utf-8" />
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<title>Encoder Renishaw Vionic - Test Bench</title>
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<meta name="generator" content="Org mode" />
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<meta name="author" content="Dehaeze Thomas" />
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<link rel="stylesheet" type="text/css" href="https://research.tdehaeze.xyz/css/style.css"/>
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<script type="text/javascript" src="https://research.tdehaeze.xyz/js/script.js"></script>
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<script>MathJax = {
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tex: {
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tags: 'ams',
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macros: {bm: ["\\boldsymbol{#1}",1],}
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}
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};
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</script>
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<script type="text/javascript" src="https://cdn.jsdelivr.net/npm/mathjax@3/es5/tex-mml-chtml.js"></script>
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</head>
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<body>
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<div id="org-div-home-and-up">
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<a accesskey="h" href="../index.html"> UP </a>
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<a accesskey="H" href="../index.html"> HOME </a>
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</div><div id="content">
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<h1 class="title">Encoder Renishaw Vionic - Test Bench</h1>
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<div id="table-of-contents">
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<h2>Table of Contents</h2>
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<div id="text-table-of-contents">
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<ul>
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<li><a href="#org096db33">1. Encoder Model</a></li>
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<li><a href="#orga6d0b8e">2. Test-Bench Description</a></li>
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<li><a href="#orgfc138a6">3. Measurement procedure</a></li>
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<li><a href="#orgcddc280">4. Measurement Results</a></li>
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</ul>
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</div>
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</div>
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<div class="note" id="org89964c6">
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<p>
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You can find below the document of:
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</p>
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<ul class="org-ul">
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<li><a href="doc/L-9517-9678-05-A_Data_sheet_VIONiC_series_en.pdf">Vionic Encoder</a></li>
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<li><a href="doc/L-9517-9862-01-C_Data_sheet_RKLC_EN.pdf">Linear Scale</a></li>
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</ul>
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</div>
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<p>
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We would like to characterize the encoder measurement system.
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</p>
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<p>
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In particular, we would like to measure:
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</p>
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<ul class="org-ul">
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<li>Bandwidth/dynamics of the sensor</li>
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<li>Power Spectral Density of the measurement noise</li>
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<li>Linearity/resolution of the sensor</li>
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</ul>
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<div id="outline-container-org096db33" class="outline-2">
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<h2 id="org096db33"><span class="section-number-2">1</span> Encoder Model</h2>
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<div class="outline-text-2" id="text-1">
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<p>
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The Encoder is characterized by its dynamics \(G_m(s)\) from the “true” displacement \(y\) to measured displacement \(y_m\).
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Ideally, this dynamics is constant over a wide frequency band with very small phase drop.
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</p>
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<p>
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It is also characterized by its measurement noise \(n\) that can be described by its Power Spectral Density (PSD).
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</p>
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<p>
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The model of the encoder is shown in Figure <a href="#org8c743b3">1</a>.
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</p>
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<div id="org8c743b3" class="figure">
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<p><img src="figs/encoder-model-schematic.png" alt="encoder-model-schematic.png" />
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</p>
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<p><span class="figure-number">Figure 1: </span>Model of the Encoder</p>
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</div>
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</div>
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</div>
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<div id="outline-container-orga6d0b8e" class="outline-2">
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<h2 id="orga6d0b8e"><span class="section-number-2">2</span> Test-Bench Description</h2>
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<div class="outline-text-2" id="text-2">
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<p>
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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.
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Then, the measured signal \(y_m\) corresponds to the noise \(n\).
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</p>
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<p>
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In order to measure the linearity, we have to compare the measured displacement with a reference sensor with a known linearity.
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An interferometer or capacitive sensor should work.
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An actuator should also be there so impose a displacement.
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</p>
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</div>
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</div>
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<div id="outline-container-orgfc138a6" class="outline-2">
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<h2 id="orgfc138a6"><span class="section-number-2">3</span> Measurement procedure</h2>
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</div>
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<div id="outline-container-orgcddc280" class="outline-2">
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<h2 id="orgcddc280"><span class="section-number-2">4</span> Measurement Results</h2>
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</div>
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</div>
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<div id="postamble" class="status">
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<p class="author">Author: Dehaeze Thomas</p>
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<p class="date">Created: 2020-12-16 mer. 14:07</p>
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</div>
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</body>
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</html>
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