Details
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Type:
Story
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Status: Done
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Resolution: Done
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Fix Version/s: None
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Component/s: ts_main_telescope
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Story Points:3
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Sprint:TSSW Sprint - Jul 6 - Jul 20, TSSW Sprint - Jul 20 - Aug 3
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Team:Telescope and Site
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Urgent?:No
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 target 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
Issue Links
Activity
| Field | Original Value | New Value |
|---|---|---|
| Epic Link |
|
| Attachment | trackFollowingError.png [ 44528 ] | |
| Attachment | trackSolverAdap.png [ 44529 ] |
| Attachment | trackFollowingError.png [ 44528 ] |
| Attachment | trackAdapNoNewTrackCmd.png [ 44530 ] |
| 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! |
| 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! |
| 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! |
| Sprint | TSSW Sprint - Jun 22 - Jul 6 [ 1028 ] | TSSW Sprint - Jul 6 - Jul 20 [ 1031 ] |
| Status | To Do [ 10001 ] | In Progress [ 3 ] |
| Attachment | neg_slew_failed.jpg [ 44857 ] |
| Attachment | movePositivePosition.png [ 44860 ] | |
| Attachment | moveNegativePosition.png [ 44861 ] |
| Attachment | trackFollowingError.png [ 44862 ] |
| Attachment | moveToNegativeFromNonZeroPoint.png [ 44866 ] |
| Attachment | moveToNegativeFromNonZeroPointNoCoulombFriction.png [ 44867 ] |
| Attachment | DahlModel.nb [ 44886 ] |
| Attachment | moveWithLowCoulombFriction.png [ 44897 ] |
| Attachment | trackPosAndNegTargets.png [ 44902 ] |
| Attachment | trackPosAndNegTargets2.png [ 44904 ] |
| Reviewers | Tiago Ribeiro [ tribeiro ] | |
| Status | In Progress [ 3 ] | In Review [ 10004 ] |
| Sprint | TSSW Sprint - Jul 6 - Jul 20 [ 1031 ] | TSSW Sprint - Jul 6 - Jul 20, TSSW Sprint - Jul 20 - Aug 3 [ 1031, 1034 ] |
| Attachment | 2016-06-01 LSST CDR - Control System Design and Analysis_1.pptx [ 45043 ] |
| Status | In Review [ 10004 ] | Reviewed [ 10101 ] |
| Resolution | Done [ 10000 ] | |
| Status | Reviewed [ 10101 ] | Done [ 10002 ] |