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  1. Data Management
  2. DM-25658

Fix the Following Error in the Rotator Simulink Model

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      Description

      Fix the following error in the rotator Simulink model. There is the problem of physical model in plant that the rotator's position will differ from the related position command gradually until the trigger of followingError (the difference >= threshold) and this stops the motion of rotator. According to the observation, this happens if the rotator moves in the negative direction.

      In the following figure, there are two targets: (1) position=1.2 deg and velocity=0.01 deg/sec and (2) position=1.5 deg and velocity=-0.01 deg/sec. The total simulation time is 20.1 sec. There is no big difference between the position command and position. The error of noNewTrackCmdError after the slew of the second targetĀ is triggered as expected.

      However, if the second target has position=-1.5 deg and velocity=-0.01 deg/sec, the following error is triggered while the rotator turns the direction to slew to the second target:

        Attachments

        1. 2016-06-01 LSST CDR - Control System Design and Analysis_1.pptx
          25.09 MB
        2. DahlModel.nb
          36 kB
        3. moveNegativePosition.png
          moveNegativePosition.png
          54 kB
        4. movePositivePosition.png
          movePositivePosition.png
          52 kB
        5. moveToNegativeFromNonZeroPoint.png
          moveToNegativeFromNonZeroPoint.png
          58 kB
        6. moveToNegativeFromNonZeroPointNoCoulombFriction.png
          moveToNegativeFromNonZeroPointNoCoulombFriction.png
          56 kB
        7. moveWithLowCoulombFriction.png
          moveWithLowCoulombFriction.png
          57 kB
        8. neg_slew_failed.jpg
          neg_slew_failed.jpg
          82 kB
        9. trackAdapNoNewTrackCmd.png
          trackAdapNoNewTrackCmd.png
          62 kB
        10. trackFollowingError.png
          trackFollowingError.png
          46 kB
        11. trackPosAndNegTargets.png
          trackPosAndNegTargets.png
          59 kB
        12. trackPosAndNegTargets2.png
          trackPosAndNegTargets2.png
          51 kB
        13. trackSolverAdap.png
          trackSolverAdap.png
          73 kB

          Issue Links

            Activity

            ttsai Te-Wei Tsai created issue -
            ttsai Te-Wei Tsai made changes -
            Field Original Value New Value
            Epic Link DM-23800 [ 431613 ]
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-25249 [ DM-25249 ]
            ttsai Te-Wei Tsai made changes -
            Attachment trackFollowingError.png [ 44528 ]
            Attachment trackSolverAdap.png [ 44529 ]
            ttsai Te-Wei Tsai made changes -
            Attachment trackFollowingError.png [ 44528 ]
            ttsai Te-Wei Tsai made changes -
            Attachment trackAdapNoNewTrackCmd.png [ 44530 ]
            ttsai Te-Wei Tsai made changes -
            Description Fix the following error in the rotator Simulink model. Fix the following error in the rotator Simulink model. There is the problem of physical model in plant that the rotator's position will differ from the related position command gradually until the trigger of following error (the difference >= threshold) and stop the rotator. This happens if the rotator moves in the negative direction.

            In the following figure, there are two targets: (1) position=1.2 deg and velocity=0.01 deg/sec and (2) position=1.5 deg and velocity=-0.01 deg/sec. The total simulation time is 20.1 sec. There is no big difference between the position command and position.
            !trackAdapNoNewTrackCmd.png|thumbnail!

            However, if the second target is position=-1.5 deg and velocity=-0.01 deg/sec, the following error is triggered:
            !trackSolverAdap.png|thumbnail!
            ttsai Te-Wei Tsai made changes -
            Description Fix the following error in the rotator Simulink model. There is the problem of physical model in plant that the rotator's position will differ from the related position command gradually until the trigger of following error (the difference >= threshold) and stop the rotator. This happens if the rotator moves in the negative direction.

            In the following figure, there are two targets: (1) position=1.2 deg and velocity=0.01 deg/sec and (2) position=1.5 deg and velocity=-0.01 deg/sec. The total simulation time is 20.1 sec. There is no big difference between the position command and position.
            !trackAdapNoNewTrackCmd.png|thumbnail!

            However, if the second target is position=-1.5 deg and velocity=-0.01 deg/sec, the following error is triggered:
            !trackSolverAdap.png|thumbnail!
            Fix the following error in the rotator Simulink model. There is the problem of physical model in plant that the rotator's position will differ from the related position command gradually until the trigger of following error (the difference >= threshold) and stop the rotator. This happens if the rotator moves in the negative direction.

            In the following figure, there are two targets: (1) position=1.2 deg and velocity=0.01 deg/sec and (2) position=1.5 deg and velocity=-0.01 deg/sec. The total simulation time is 20.1 sec. There is no big difference between the position command and position. The error of *noNewTrackCmdError* is triggered as expected.
             !trackAdapNoNewTrackCmd.png|thumbnail!

            However, if the second target is position=-1.5 deg and velocity=-0.01 deg/sec, the following error is triggered:
             !trackSolverAdap.png|thumbnail!
            ttsai Te-Wei Tsai made changes -
            Description Fix the following error in the rotator Simulink model. There is the problem of physical model in plant that the rotator's position will differ from the related position command gradually until the trigger of following error (the difference >= threshold) and stop the rotator. This happens if the rotator moves in the negative direction.

            In the following figure, there are two targets: (1) position=1.2 deg and velocity=0.01 deg/sec and (2) position=1.5 deg and velocity=-0.01 deg/sec. The total simulation time is 20.1 sec. There is no big difference between the position command and position. The error of *noNewTrackCmdError* is triggered as expected.
             !trackAdapNoNewTrackCmd.png|thumbnail!

            However, if the second target is position=-1.5 deg and velocity=-0.01 deg/sec, the following error is triggered:
             !trackSolverAdap.png|thumbnail!
            Fix the following error in the rotator Simulink model. There is the problem of physical model in plant that the rotator's position will differ from the related position command gradually until the trigger of *followingError* (the difference >= threshold) and this stops the motion of rotator. According to the observation, this happens if the rotator moves in the negative direction.

            In the following figure, there are two targets: (1) position=1.2 deg and velocity=0.01 deg/sec and (2) position=1.5 deg and velocity=-0.01 deg/sec. The total simulation time is 20.1 sec. There is no big difference between the position command and position. The error of *noNewTrackCmdError* after the slew of the second target is triggered as expected.
             !trackAdapNoNewTrackCmd.png|thumbnail!

            However, if the second target has position=-1.5 deg and velocity=-0.01 deg/sec, the following error is triggered while the rotator turns the direction to slew to the second target:
             !trackSolverAdap.png|thumbnail!
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-23800 [ 431613 ] DM-25674 [ 436565 ]
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-25674 [ 436565 ] DM-23800 [ 431613 ]
            ttsai Te-Wei Tsai made changes -
            Epic Link DM-23800 [ 431613 ] DM-25674 [ 436565 ]
            ttsai Te-Wei Tsai made changes -
            Sprint TSSW Sprint - Jun 22 - Jul 6 [ 1028 ] TSSW Sprint - Jul 6 - Jul 20 [ 1031 ]
            ttsai Te-Wei Tsai made changes -
            Status To Do [ 10001 ] In Progress [ 3 ]
            ttsai Te-Wei Tsai made changes -
            Attachment neg_slew_failed.jpg [ 44857 ]
            ttsai Te-Wei Tsai made changes -
            Attachment movePositivePosition.png [ 44860 ]
            Attachment moveNegativePosition.png [ 44861 ]
            ttsai Te-Wei Tsai made changes -
            Attachment trackFollowingError.png [ 44862 ]
            ttsai Te-Wei Tsai made changes -
            Attachment moveToNegativeFromNonZeroPoint.png [ 44866 ]
            ttsai Te-Wei Tsai made changes -
            ttsai Te-Wei Tsai made changes -
            Attachment DahlModel.nb [ 44886 ]
            ttsai Te-Wei Tsai made changes -
            Attachment moveWithLowCoulombFriction.png [ 44897 ]
            ttsai Te-Wei Tsai made changes -
            Attachment trackPosAndNegTargets.png [ 44902 ]
            ttsai Te-Wei Tsai made changes -
            Attachment trackPosAndNegTargets2.png [ 44904 ]
            ttsai Te-Wei Tsai made changes -
            Reviewers Tiago Ribeiro [ tribeiro ]
            Status In Progress [ 3 ] In Review [ 10004 ]
            wvreeven Wouter van Reeven made changes -
            Sprint TSSW Sprint - Jul 6 - Jul 20 [ 1031 ] TSSW Sprint - Jul 6 - Jul 20, TSSW Sprint - Jul 20 - Aug 3 [ 1031, 1034 ]
            ttsai Te-Wei Tsai made changes -
            Link This issue relates to DM-26020 [ DM-26020 ]
            ttsai Te-Wei Tsai made changes -
            tribeiro Tiago Ribeiro made changes -
            Status In Review [ 10004 ] Reviewed [ 10101 ]
            ttsai Te-Wei Tsai made changes -
            Resolution Done [ 10000 ]
            Status Reviewed [ 10101 ] Done [ 10002 ]

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              ttsai Te-Wei Tsai
              Reviewers:
              Tiago Ribeiro
              Watchers:
              Te-Wei Tsai, Tiago Ribeiro
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                Dates

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                Updated:
                Resolved:
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