Introduction

1. Blanco TCS UpgradeIntegrationTest ResultsNov-2011Thru Feb-2012M.WarnerE.MondacaR.CantaruttiG.Schumacher

2. Introduction

3. Goals Expected

4. 1 - Motor and Tachometer Vendor Specifications: ftp://ftp.ctio.noao.edu/pub/warner/blanco/Blanco_motor&tach.pdf 2- Current Driver Data Sheet: ftp://ftp.ctio.noao.edu/pub/warner/blanco/az40a8.pdf 3 – Original 4m Telescope Servo Analysis: ftp://ftp.ctio.noao.edu/pub/warner/blanco/blanco_4m_analysis.pdf 4 – TCS CDR Telescope Lumped Mass Model: ftp://ftp.ctio.noao.edu/pub/warner/blanco/tcs_cdr_warner.pdf 5 - Blanco TCS Upgrade Project Report ftp://ftp.ctio.noao.edu/pub/warner/blanco/B4Upgrade.pptx 6 – TCS Upgrade Test Results ftp://ftp.ctio.noao.edu/pub/warner/blanco/TCSUpgrade_test_results.pdf References

5. General Telescope and Drive Specifications • The Dynamic Telescope requirements for both axes, needed to meet DECAM mission (2deg in 17sec): • Maximum Jerk = 0.05[deg/s^3] • Maximum Acceleration = 0.05[deg/s^2] • Maximum Velocity = 0.5[deg/s] Note: This limits where used for all test trajectories presented in this repot. • Tracking Requirements: • Jitter : 0.1”rms maximum on both axes • Settling Time: 5sec • Error band: 0.1”, 1 Second Mean • Drift: 1” per min

6. Test Plan Outline • Servo Models • Matlab Model and LabView Implementation • Open Loop Bode Plots • Velocity Loop Test • Velocity Loop Servo Model • Slew Trajectory and Model Verification • Slew Velocity Loop Step Response and Closed Loop Plots, Model Verification • Friction Loop Plots • Position Loop Tests. • Telescope Models for Tach->Tape Transfer Function • Position Loop Test Results for Slew Trajectory • Offset and Tracking performance on the sky • Final Integration Tests. • Integration with Old Console • Auto-Start, Auto-Stop for safe telescope operation • Safety Interlocks • Dirty Tachometer work around

7. Servo Models • Servo Models are based on Lumped Mass model described on Ref. 3, and coded into Matlab. • DEC Velocity Slew Compensation is based on original analog compensation modified to have a larger DC gain. • HA Velocity Slew Compensation is based on modified original analog compensation. • Tachometer to Tape Transfer Function was derived from measured sine wave sweep data.

8. HA Servo Models Position Loop (cRIO-P) Velocity Loop (cRIO-V) s + 0.5 HPCOMP1 = ------- s 66.6 s^2 + 682.6 s + 16650 HVCOMP1 = -------------------------------- s^2 + 9.3 s + 8.3

9. DEC Servo Models Position Loop (cRIO-P) Velocity Loop (cRIO-V) s + 0.5 HPCOMP2= ------- s 60.37 s^2 + 9170s + 84070 HVCOMP2 = ----------------------------------- s^2 + 53.12 s + 52.12

10. Velocity Loop Implementation in LabViewrunning at 1Khz loop cycle

11. Position Loop Implementation in LabViewrunning at 1Khz loop cycle

12. Velocity Loop Open Loop Plot

13. Position Loop Open Loop Plot

14. Velocity Loop Tests • Velocity Loop Test • Baseline 2 Deg Slew Trajectory performance was compared against Model • Slew Velocity Loop Step Response and Closed Loop Plots, Model Verification. • Friction Loop Plots to measure telescope imbalance and position dependent friction.

15. HA 2 Deg Baseline Trajectory Test (Position and Velocity)

16. HA 2 Deg Baseline Trajectory Test (Velocity Error)

17. DEC 2 Deg Baseline Trajectory Test (Position and Velocity)

18. DEC 2 Deg Baseline Trajectory Test (Velocity Error)

19. HA Slew Velocity Loop Step Response

20. HA Slew Velocity Closed Loop Bode Plot

21. DEC Slew Velocity Loop Step Response

22. DEC Slew Velocity Closed Loop Bode Plot

23. HA Friction Plot (+/- 45 deg from Zenith)

24. DEC Friction Plot (+/- 45 deg from Zenith)

25. Position Loop Tests • Position Loop Test • Telescope Models for Tach->Tape Transfer Function based on actual measurements • Baseline Slew Trajectory performance was compared against Model • 30” Offset Performance Tests • HA Tracking Jitter Measurements

26. HA Tachometer to Tape Transfer Function

27. DEC Tachometer to Tape Transfer Function

28. HA 2 Deg Position Loop Trajectory Test(Comparison to Servo Model)

29. DEC 2 Deg Position Loop Trajectory Test(Comparison to Servo Model)

30. HA Sidereal Tracking 30” Offset Test Note: Periodic Loop Instability (Tracking Error = 0.301” rms

31. DEC Sidereal Tracking 30” Offset Test DEC Tracking Error=0.013”rms

32. HA Sidereal Tracking Test 5 min Sidereal Tracking Test, using baseline HA Notch Track Filter #3 Total Tracking Error = 0.067” rms Tape Periodic Error = 0.02” rms

33. HA Sidereal Tracking Disturbance Test at DECam Cable Wrap Bracket

34. Further Tests • Full Range Friction Plots, for establishing a baseline before DECam Integration. • Investigate oil pressure effects in friction and tracking performance. • Improve convergence time for tracking.

35. HA Friction Baseline

36. DEC Friction Baseline

37. HA Track-2.25 deg Slew-Track Test using Kernel Generated Trajectory

38. HA Track-Slew-Track Test using Kernel Generated Trajectory (Detail) +/- 0.2” 25sec +/- 0.4” 23sec

39. DEC 2 deg Slew Test using Kernel Generated Trajectory

40. DEC Track-Slew-Track Test using Kernel Generated Trajectory (Detail)Note: Baseline Compensation +/- 0.2” 35sec +/- 0.4” 27.5sec

41. DEC Track-Slew-Track December Test (Detail)Note: hpcomp=1, hvcomp with integrator +/- 0.2” 20sec +/- 0.4” 16sec

42. Track Jitter