Linearity Tests .pdf

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Linearity Tests - Turning Motor

Voltage (V)

Angular Velocity (degrees / sec)
12

980

11

900

10

800

9

730

8

630

7

550

6

460

5

380

4

290

3

200

2

120

1.7

90

1.6

0

1.5

0

1

0

0.8

0

0.6

0

0.5

0

0

0

Function (Positive, y = mx + b)

Function (Negative, y = mx + b)

-0.5

0

m

m

-0.6

0

-0.8

0

-1

0

-1.5

0

-1.6

-80

-1.7

-90

-2

-120

-3

-200

-4

-280

-5

-380

b
86.41243961

-55.88824977

R^2

b
86.13576339

R^2

0.9997655126

0.999850894

Function (Average, y = mx + b)
m

Dead Zone: ±1.6V

b
86.2741015

-56.27880951

56.66936925

Linearity Tests - Turning Motor

-6

-460

-7

-550

-8

-630

-9

-720

-10

-800

-11

-890

-12

-980

Linearity Tests - Turning Motor Controller (Beaglebone Motor Shield)

Signal

Voltage Out (V)
10000

-11.92

9000

-11.9

8000

-11.61

7000

-11.07

6000

-10.43

5000

-9.76

4000

-9.08

3000

-8.4

2000

-7.7

1000

-7

500

-6.62

250

-6.383

100

-5.787

1

-3.453

0

0

-1

3.35

-100

5.688

-250

6.275

-500

6.512

-1000

6.9

-2000

7.62

-3000

8.32

-4000

9.02

-5000

9.72

Function (Negative, y = mx + b)

-6000

10.4

m

-7000

11.04

-8000

11.6

-9000

11.9

-10000

11.92

Function (Positive, y = mx + b)
m

b
-0.0006326009672

R^2
-6.333018152

b
-0.0006442924491

0.9775590416

R^2
6.225482055

0.9781499757

Linearity Tests - Turning Motor Controller (Beaglebone Motor Shield)

Data without deadzone
Signal

Voltage Out (V)
10000

-11.92

9000

-11.9

8000

-11.61

7000

-11.07

6000

-10.43

5000

-9.76

4000

-9.08

3000

-8.4

2000

-7.7

1000

-7

500

-6.62

250

-6.383

100

-5.787

-100

5.688

-250

6.275

-500

6.512

-1000

6.9

-2000

7.62

-3000

8.32

-4000

9.02

-5000

9.72

-6000

10.4

-7000

11.04

-8000

11.6

-9000

11.9

Linearity Tests - Turning Motor Controller (Beaglebone Motor Shield)

-10000

11.92

Linearity Tests - Composite: Turning Motor w/ Controller

Name

m

b

Signal

Angular Velocity (degree / s)

Turning MC (Positive)

-0.0006326009

-6.333018152

10000

-1149.785727

Turning MC (Negative)

-0.0006442924

6.225482055

9500

-1122.453431

Turning Motor (Positive)

86.41243961

-55.88824977

9000

-1095.121134

Turning Motor (Negative)

86.13576339

56.66936925

8500

-1067.788838

8000

-1040.456541

Composite (Positive)

-0.0544895672

-488.8299839

7500

-1013.124245

Composite (Negative)

-0.0556748823

482.0708424

7000

-985.7919486

6500

-958.4596521

6000

-931.1273557

5500

-903.7950592

5000

-876.4627628

4500

-849.1304664

4000

-821.7981699

3500

-794.4658735

3000

-767.133577

2500

-739.8012806

2000

-712.4689842

1500

-685.1366877

1000

-657.8043913

500

-630.4720948

0

0

-500

509.9082836

-1000

537.7457248

-1500

565.5831659

-2000

593.4206071

-2500

621.2580483

-3000

649.0954895

-3500

676.9329306

-4000

704.7703718

motor(MC(signal))

Linearity Tests - Composite: Turning Motor w/ Controller

-4500

732.607813

-5000

760.4452542

-5500

788.2826953

-6000

816.1201365

-6500

843.9575777

-7000

871.7950189

-7500

899.63246

-8000

927.4699012

-8500

955.3073424

-9000

983.1447836

-9500

1010.982225

-10000

1038.819666

Linearity Tests - MagnePot

Teeth (Measured) Angle (Degrees Voltage Out (V)
0

0

0.204

3

15

0.37

6

30

0.577

9

45

0.781

12

60

0.98

15

75

1.177

18

90

1.383

21

105

1.576

24

120

1.783

27

135

1.99

30

150

2.168

33

165

2.351

36

180

2.562

39

195

2.753

42

210

2.945

45

225

3.152

48

240

3.349

51

255

3.547

54

270

3.747

57

285

3.936

Function (y = mx + b)

60

300

4.145

m (V/deg)

63

315

4.343

66

330

4.528

69

345

4.741

72

360

4.963

b (V)

0.01318641026 0.1884861538

R^2
0.9999472909

Linearity Tests - Voltage Divider

Voltage In (V)

Voltage Out (V)
0

0

0.4

0.144

0.8

0.286

1.2

0.429

1.6

0.572

2

0.714

2.4

0.855

2.8

0.998

3.2

1.142

3.6

1.284

4

1.427

4.4

1.571

4.8

1.713

5.2

1.855

5.6

1.998

6

2.141

Theory (V/V)
0.3571428571
Error (%)
0.1254411765

Function (y = mx + b)
m (V/V)

b (V)
0.3566948529

0.0004779411765

R^2
0.9999988915


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