reijii/klippain-shaketune-telegramm
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

improved the motor resonance plotting to avoid low freq detection

Browse Source
This commit is contained in:
Félix Boisselier
2024-04-02 18:01:22 +02:00
parent c2c05e51ae
commit fa41637ac9
3 changed files with 35 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

25
K-ShakeTune/scripts/graph_vibrations.py
View File

@@ -86,7 +86,7 @@ def compute_motor_profiles(freqs, psds, all_angles_energy, measured_angles=[0, 9
def compute_dir_speed_spectrogram(measured_speeds, data, kinematics="cartesian", measured_angles=[0, 90]):
# We want to project the motor vibrations measured on their own axes on the [0, 360] range
spectrum_angles = np.linspace(0, 360, 720) # One point every 0.5 degrees
spectrum_speeds = np.linspace(min(measured_speeds), max(measured_speeds), len(measured_speeds) * 5) # 5 points between each speed measurements
spectrum_speeds = np.linspace(min(measured_speeds), max(measured_speeds), len(measured_speeds) * 6)
spectrum_vibrations = np.zeros((len(spectrum_angles), len(spectrum_speeds)))
def get_interpolated_vibrations(data, speed, speeds):
@@ -269,8 +269,8 @@ def plot_speed_profile(ax, all_speeds, sp_min_energy, sp_max_energy, sp_avg_ener
ha='left', fontsize=13, color=KLIPPAIN_COLORS['red_pink'], zorder=10)
for idx, (start, end, _) in enumerate(low_energy_zones):
ax2.axvline(all_speeds[start], y2min, sp_composite_variance[start]/y2max, color=KLIPPAIN_COLORS['red_pink'], linestyle='dotted', linewidth=1.5)
ax2.axvline(all_speeds[end], y2min, sp_composite_variance[start]/y2max, color=KLIPPAIN_COLORS['red_pink'], linestyle='dotted', linewidth=1.5)
ax2.axvline(all_speeds[start], color=KLIPPAIN_COLORS['red_pink'], linestyle='dotted', linewidth=1.5)
ax2.axvline(all_speeds[end], color=KLIPPAIN_COLORS['red_pink'], linestyle='dotted', linewidth=1.5)
ax2.fill_between(all_speeds[start:end], y2min, sp_composite_variance[start:end], color='green', alpha=0.2, label=f'Zone {idx+1}: {all_speeds[start]:.1f} to {all_speeds[end]:.1f} mm/s')
ax.xaxis.set_minor_locator(matplotlib.ticker.AutoMinorLocator())
@@ -305,19 +305,18 @@ def plot_motor_profiles(ax, freqs, main_angles, motor_profiles, global_motor_pro
ax.set_ylim([0, max_value * 1.1])
# Then add the motor resonance peak to the graph and print some infos about it
motor_fr, motor_zeta, motor_res_idx = compute_mechanical_parameters(global_motor_profile, freqs)
if motor_fr > 25:
if motor_zeta is not None:
print_with_c_locale("Motors have a main resonant frequency at %.1fHz with an estimated damping ratio of %.3f" % (motor_fr, motor_zeta))
else:
print_with_c_locale("Motors have a main resonant frequency at %.1fHz but it was impossible to estimate a damping ratio." % (motor_fr))
motor_fr, motor_zeta, motor_res_idx, lowfreq_max = compute_mechanical_parameters(global_motor_profile, freqs, 30)
if lowfreq_max:
print_with_c_locale("[WARNING] There are a lot of low frequency vibrations that can alter the readings. This is probably due to the test being performed at too high an acceleration!")
print_with_c_locale("Try lowering the ACCEL value and/or increasing the SIZE value before restarting the macro to ensure that only constant speeds are being recorded and that the dynamic behavior of the machine is not affecting the measurements")
if motor_zeta is not None:
print_with_c_locale("Motors have a main resonant frequency at %.1fHz with an estimated damping ratio of %.3f" % (motor_fr, motor_zeta))
else:
print_with_c_locale("The detected resonance frequency of the motors is too low (%.1fHz). This is probably due to the test run with too high acceleration!" % motor_fr)
print_with_c_locale("Try lowering the ACCEL value before restarting the macro to ensure that only constant speeds are recorded and that the dynamic behavior of the machine is not impacting the measurements.")
print_with_c_locale("Motors have a main resonant frequency at %.1fHz but it was impossible to estimate a damping ratio." % (motor_fr))
ax.plot(freqs[motor_res_idx], global_motor_profile[motor_res_idx], "x", color='black', markersize=10)
ax.annotate(f"R", (freqs[motor_res_idx], global_motor_profile[motor_res_idx]),
textcoords="offset points", xytext=(15, 5),
ax.annotate(f"R", (freqs[motor_res_idx], global_motor_profile[motor_res_idx]),
textcoords="offset points", xytext=(15, 5),
ha='right', fontsize=14, color=KLIPPAIN_COLORS['red_pink'], weight='bold')
legend_texts = ["Resonant frequency (ω0): %.1fHz" % (motor_fr)]