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  1. Data Management
  2. DM-36986

Study the LUT/Parameters Difference between Surrogate and Mirror in M2

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    Details

    • Type: Story
    • Status: Done
    • Resolution: Done
    • Fix Version/s: None
    • Component/s: ts_main_telescope
    • Labels:
    • Story Points:
      1
    • Epic Link:
    • Sprint:
      TSSW Sprint - Nov 21 - Dec 05
    • Team:
      Telescope and Site
    • Urgent?:
      No

      Description

      Study the LUT/parameters difference between surrogate and mirror in M2.

      Note. The story point here contains the effort in DM-37017.

        Attachments

          Issue Links

          is triggered by

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-36773 Draft the Idea of M2 Mirror Safety Test

          • Done
          is triggering

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-37119 Prepare the M2 Jupyter Notebook of Bump Test

          • Done
          relates to

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-37017 Write the Jupyter Notebook to Simulate/Analysis M2 Bump Test

          • Done

          Story - Created by Jira Software - do not edit or delete. Issue type for a user story. DM-39085 Support the M2 Cart Rotation Test

          • Done

            Activity

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            ttsai Te-Wei Tsai added a comment - - edited

            Check the ts_mtm2_matlab_tools for the configuration tool provided by Harris.

            For the hardpoint correction between the surrogate the mirror, I think the main difference is the stiff matrices:

            1. Mirror: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/ReferenceFiles/StiffnessMatrix_M2.mat

            2. Surrogate: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/ReferenceFiles/StiffnessMatrix_Surrogate.mat

            I think we could do the run-time calculation of different hard points based on the following calculation:
            https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/Utilities/CalcHPFCInfMat.m

            As the expectation, some parameter files are duplicated:

            (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ ls
            		 
            CommandDelayFilter_Params.csv  Hd_ax_ff_Matrix_Params.csv
            		 
            CommandPrefilter_Params.csv    Hd_tan_Matrix_Params.csv
            		 
            Configurable_Params.csv        Hd_tan_ff_Matrix_Params.csv
            		 
            ForceController_Params.csv     Kdc_Matrix_Params.csv
            		 
            Hd_ax_Matrix_Params.csv        Kim_Matrix_Params.csv
            		 
            (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ diff Hd_tan_Matrix_Params.csv Hd_tan_ff_Matrix_Params.csv
            		 
            1c1
            		 
            < Variable Name, Tangent Hardpoint Comp Matrix
            		 
            ---
            		 
            > Variable Name, Tangent Hardpoint Comp Matrix Feedforward
            		 
            (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ diff Kdc_Matrix_Params.csv Kim_Matrix_Params.csv
            		 
            1c1
            		 
            < Variable Name, Decoupling Matrix
            		 
            ---
            		 
            > Variable Name, Influence Matrix
            		 
            (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ diff Hd_ax_Matrix_Params.csv Hd_ax_ff_Matrix_Params.csv
            		 
            1c1
            		 
            < Variable Name, Axial Hardpoint Comp Matrix
            		 
            ---
            		 
            > Variable Name, Axial Hardpoint Comp Matrix Feedforward

            More duplication here:

            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_tan_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_tan_Matrix_Params.csv
            		 
            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_tan_ff_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_tan_ff_Matrix_Params.csv
            		 
            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_ax_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_ax_Matrix_Params.csv
            		 
            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_ax_ff_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_ax_ff_Matrix_Params.csv

            As the expectation, the main difference in the hardpoint correction is: Kdc_Matrix_Params.csv.

            Other difference in the control parameters:

            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/CommandDelayFilter_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/CommandDelayFilter_Params.csv
            		 
            3,4d2
            		 
            <      0.0140000000000001,     0.0140000000000001
            		 
            <      0.9859999999999999,     0.9859999999999999
            		 
            5a4,5
            		 
            >      0.9680000000000002,     0.9680000000000002
            		 
            >      0.0319999999999998,     0.0319999999999998
            		 
            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/CommandPrefilter_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/CommandPrefilter_Params.csv
            		 
            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Configurable_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Configurable_Params.csv
            		 
            (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/ForceController_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/ForceController_Params.csv
            		 
            2c2
            		 
            <      0.3291319251000000,     0.3291319251000000
            		 
            ---
            		 
            >      0.3387224999999999,     0.3387224999999999

            Show
            ttsai Te-Wei Tsai added a comment - - edited Check the ts_mtm2_matlab_tools for the configuration tool provided by Harris. For the hardpoint correction between the surrogate the mirror, I think the main difference is the stiff matrices: 1. Mirror: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/ReferenceFiles/StiffnessMatrix_M2.mat 2. Surrogate: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/ReferenceFiles/StiffnessMatrix_Surrogate.mat I think we could do the run-time calculation of different hard points based on the following calculation: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/Utilities/CalcHPFCInfMat.m As the expectation, some parameter files are duplicated: (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ ls CommandDelayFilter_Params.csv Hd_ax_ff_Matrix_Params.csv CommandPrefilter_Params.csv Hd_tan_Matrix_Params.csv Configurable_Params.csv Hd_tan_ff_Matrix_Params.csv ForceController_Params.csv Kdc_Matrix_Params.csv Hd_ax_Matrix_Params.csv Kim_Matrix_Params.csv (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ diff Hd_tan_Matrix_Params.csv Hd_tan_ff_Matrix_Params.csv 1c1 < Variable Name, Tangent Hardpoint Comp Matrix --- > Variable Name, Tangent Hardpoint Comp Matrix Feedforward (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ diff Kdc_Matrix_Params.csv Kim_Matrix_Params.csv 1c1 < Variable Name, Decoupling Matrix --- > Variable Name, Influence Matrix (base) teweitsai@te-weis-mbp-2:CtrlParameterFiles_2018-07-19_104257_m2$ diff Hd_ax_Matrix_Params.csv Hd_ax_ff_Matrix_Params.csv 1c1 < Variable Name, Axial Hardpoint Comp Matrix --- > Variable Name, Axial Hardpoint Comp Matrix Feedforward More duplication here: (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_tan_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_tan_Matrix_Params.csv (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_tan_ff_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_tan_ff_Matrix_Params.csv (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_ax_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_ax_Matrix_Params.csv (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Hd_ax_ff_Matrix_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Hd_ax_ff_Matrix_Params.csv As the expectation, the main difference in the hardpoint correction is: Kdc_Matrix_Params.csv . Other difference in the control parameters: (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/CommandDelayFilter_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/CommandDelayFilter_Params.csv 3,4d2 < 0.0140000000000001, 0.0140000000000001 < 0.9859999999999999, 0.9859999999999999 5a4,5 > 0.9680000000000002, 0.9680000000000002 > 0.0319999999999998, 0.0319999999999998 (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/CommandPrefilter_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/CommandPrefilter_Params.csv (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/Configurable_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/Configurable_Params.csv (base) teweitsai@te-weis-mbp-2:closed_loop_controller$ diff CtrlParameterFiles_2018-07-19_104257_m2/ForceController_Params.csv CtrlParameterFiles_2018-07-19_104314_surg/ForceController_Params.csv 2c2 < 0.3291319251000000, 0.3291319251000000 --- > 0.3387224999999999, 0.3387224999999999
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            ttsai Te-Wei Tsai added a comment - - edited

            For the ForceController_Params.csv, the difference is the gain:
            https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/Utilities/Create_Filter_Params.m#L46-L51

            For the CommandDelayFilter_Params.csv, the difference is here:
            https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/Utilities/Create_Filter_Params.m#L10-L16

            Show
            ttsai Te-Wei Tsai added a comment - - edited For the ForceController_Params.csv , the difference is the gain: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/Utilities/Create_Filter_Params.m#L46-L51 For the CommandDelayFilter_Params.csv , the difference is here: https://github.com/lsst-ts/ts_mtm2_matlab_tools/blob/develop/Utilities/Create_Filter_Params.m#L10-L16
            Hide
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            ttsai Te-Wei Tsai added a comment - - edited

            For the LUT files, most of them between the mirror and surrogate are the same:

            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/F_0.csv FinalOpticalLUTs/F_0.csv 
            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/F_A.csv FinalOpticalLUTs/F_A.csv 
            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/F_E.csv FinalOpticalLUTs/F_E.csv 
            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Tr.csv FinalOpticalLUTs/Tr.csv 
            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Tx.csv FinalOpticalLUTs/Tx.csv 
            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Ty.csv FinalOpticalLUTs/Ty.csv 
            (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Tu.csv FinalOpticalLUTs/Tu.csv

            The only difference is the F_F.csv. Based on the Harris EUI user manual, this is: "Force Look Up Table for Factory Force Offset".

            For the surrogate, all the elements in F_F.csv are 0.

            Check: 03_M2_correctability_analysis.pdf.

            Show
            ttsai Te-Wei Tsai added a comment - - edited For the LUT files, most of them between the mirror and surrogate are the same: (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/F_0.csv FinalOpticalLUTs/F_0.csv (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/F_A.csv FinalOpticalLUTs/F_A.csv (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/F_E.csv FinalOpticalLUTs/F_E.csv (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Tr.csv FinalOpticalLUTs/Tr.csv (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Tx.csv FinalOpticalLUTs/Tx.csv (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Ty.csv FinalOpticalLUTs/Ty.csv (base) teweitsai@te-weis-mbp-2:luts$ diff FinalHandlingLUTs/Tu.csv FinalOpticalLUTs/Tu.csv The only difference is the F_F.csv . Based on the Harris EUI user manual, this is: "Force Look Up Table for Factory Force Offset". For the surrogate, all the elements in F_F.csv are 0. Check: 03_M2_correctability_analysis.pdf .
            Hide
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            ttsai Te-Wei Tsai added a comment -

            Does the following screenshot of 03_M2_correctability_analysis.pdf means the normal operation range is LUT angle = 0 - 90 degree:

            Show
            ttsai Te-Wei Tsai added a comment - Does the following screenshot of 03_M2_correctability_analysis.pdf means the normal operation range is LUT angle = 0 - 90 degree:
            Hide
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            ttsai Te-Wei Tsai added a comment -

            Please help to review the PR:
            https://github.com/lsst-ts/ts_notebooks/pull/100

            We should find a time to meet together to go through the details.

            Thanks!

            Show
            ttsai Te-Wei Tsai added a comment - Please help to review the PR: https://github.com/lsst-ts/ts_notebooks/pull/100 We should find a time to meet together to go through the details. Thanks!
            Hide
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            ttsai Te-Wei Tsai added a comment -

            Discussed and went through the ticket with Pablo.

            Show
            ttsai Te-Wei Tsai added a comment - Discussed and went through the ticket with Pablo.

              People

              Assignee:
              ttsai Te-Wei Tsai
              Reporter:
              ttsai Te-Wei Tsai
              Reviewers:
              Pablo Zorzi
              Watchers:
              Pablo Zorzi, Te-Wei Tsai
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              0 Vote for this issue
              Watchers:
              2 Start watching this issue

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                Updated:
                Resolved:

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