39 determine sensor optimal frequency

Data/SensorFrequencyAnalysis/apps.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/01112026/011026-23.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["ETC_STATUS_PEDAL_TRAVEL"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [6, 6.5, 7]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("APPS - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("APPS - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/battery_current.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/11222025/11222025_22.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["ACC_POWER_CURRENT"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [5, 6, 7]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("Battery Current - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("Battery Current - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/battery_tray_temp.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/11222025/11222025_1.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["ACC_TRAY_TEMPS_BUSBAR"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [4, 5, 6]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("Battery Tray Temp - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("Battery Tray Temp - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/battery_voltage.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/01112026/011026-14.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["ACC_POWER_PACK_VOLTAGE"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [4.5, 5.5, 6.5]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("Battery Voltage - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("Battery Voltage - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/brake_temp.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/11222025/11222025_1.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["IZZE_BRAKETEMP_S1_CH1"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [5.5, 6.5, 7.5]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("Brake Temp - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("Brake Temp - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/cell_temp.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/11222025/11222025_1.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["ACC_SEG0_TEMPS_CELL0"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [4.5, 5.5, 6.5]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("Cell Temp - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("Cell Temp - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/cell_voltage.py

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+import scipy
+import numpy as np
+import polars as pl
+import matplotlib.pyplot as plt
+
+df = pl.read_parquet('/Users/aanyajain/Documents/GitHub/fs-data/FS-3/01112026/011026-14.parquet')
+df = df.fill_null(strategy="forward").fill_null(strategy="backward")
+signal = df["ACC_SEG0_VOLTS_CELL0"].to_numpy()
+
+fft = scipy.fft.fft(signal)
+freqs = scipy.fft.fftfreq(len(signal), d=0.01)
+
+attempts = [1.5, 2.5, 3.5]
+ffts = []
+iffts = []
+for i, attempt in enumerate(attempts):
+    ffts.append(fft.copy())
+    ffts[-1][np.log(np.abs(fft)) < attempt] = 0
+    ifft = scipy.fft.ifft(ffts[-1])
+    iffts.append(ifft)
+
+RMSs = [np.sqrt(np.mean((ifft.real - signal)**2)) for ifft in iffts]
+plt.plot(attempts, RMSs)
+plt.xlabel("Attempt")
+plt.ylabel("RMS")
+plt.title("Cell Voltage - RMS vs Attempt")
+plt.show()
+
+plt.plot(signal, label="Real")
+for ifft, attempt in zip(iffts, attempts):
+    plt.plot(ifft.real, label=f"Attempt {attempt}")
+plt.xlabel("Time")
+plt.ylabel("Amplitude")
+plt.legend()
+plt.show()
+
+plt.scatter(freqs, np.log(np.abs(fft)), s=0.25)
+plt.xlabel("Frequency (Hz)")
+plt.ylabel("Magnitude")
+plt.title("Cell Voltage - Frequency Spectrum")
+plt.show()

Data/SensorFrequencyAnalysis/graphs

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+# Sensor Frequency Analysis Summary
+
+## Wheel Speed BR
+Magnitude cutoff of 10 corresponds to approximately 10 Hz. Suggested sampling frequency is 20 Hz.
+
+![Wheel Speed BR Graph](wheel_speed_br_graph.png)
+![Wheel Speed BR Frequency Spectrum](wheel_speed_br_log_graph.png)
+
+## Wheel Speed BL
+![Wheel Speed BL Graph](wheel_speed_bl_graph.png)
+![Wheel Speed BL Frequency Spectrum](wheel_speed_bl_log_graph.png)
+
+## Wheel Speed FL
+![Wheel Speed FL Graph](wheel_speed_fl_graph.png)
+![Wheel Speed FL Frequency Spectrum](wheel_speed_fl_log_graph.png)
+
+## Wheel Speed FR
+![Wheel Speed FR Graph](wheel_speed_fr_graph.png)
+![Wheel Speed FR Frequency Spectrum](wheel_speed_fr_log_graph.png)
+
+## Suspension Travel BR
+![Suspension Travel BR Graph](Suspension_Travel_BR.png)
+![Suspension Travel BR Frequency Spectrum](suspension_travel_br_graph.png)
+
+## Suspension Travel BL
+![Suspension Travel BL Graph](suspension_travel_bl_graph.png)
+![Suspension Travel BL Frequency Spectrum](suspension_travel_bl_log_graph.png)
+
+## Suspension Travel FR
+![Suspension Travel FR Graph](suspension_travel_fr_graph.png)
+![Suspension Travel FR Frequency Spectrum](suspension_travel_fr_log_graph.png)
+
+## Tire Temp FL
+![Tire Temp FL Graph](tire_temp_fl_graph.png)
+![Tire Temp FL Frequency Spectrum](tire_temp_fl_log_graph.png)
+
+## Tire Temp BL
+![Tire Temp BL Graph](tire_temp_bl_graph.png)
+![Tire Temp BL Frequency Spectrum](tire_temp_bl_log_graph.png)
+
+## Brake Temp
+![Brake Temp Graph](brake_temp.png)
+![Brake Temp Frequency Spectrum](brake_temp_log_graph.png)
+
+## APPS
+![APPS Graph](apps_graph.png)
+![APPS Frequency Spectrum](apps_log_graph.png)
+
+## Battery Voltage
+![Battery Voltage Graph](battery_voltage_graph.png)
+![Battery Voltage Frequency Spectrum](battery_voltage_log_graph.png)
+
+## Battery Current
+![Battery Current Graph](battery_current_graph.png)
+![Battery Current Frequency Spectrum](battery_current_log_graph.png)
+
+## Battery Tray Temp
+![Battery Tray Temp Graph](battery_tray_temp_graph.png)
+![Battery Tray Temp Frequency Spectrum](battery_tray_temp_log_graph.png)
+
+## Cell Temp
+![Cell Temp Graph](cell_temp_graph.png)
+![Cell Temp Frequency Spectrum](cell_temp_log_graph.png)
+
+## Cell Voltage
+![Cell Voltage Graph](cell_voltage_graph.png)
+![Cell Voltage Frequency Spectrum](cell_voltage_log_graph.png)