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Control Team

S P A C E Structures, Propulsion, And Control Engineering C e n t e r. Control Team. Faculty Advisors Dr. Helen Boussalis Dr. Khosrow Rad Dr. Charles Liu. Student Assistants Jessica Alvarenga Alok Desai Harshit Tarsaria Kimberly Castro Heather Rudow Eric Diaz.

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Control Team

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  1. S P A C E Structures, Propulsion, And Control Engineering C e n t e r Control Team Faculty Advisors Dr. Helen Boussalis Dr. KhosrowRad Dr. Charles Liu Student Assistants Jessica Alvarenga Alok Desai Harshit Tarsaria Kimberly Castro Heather Rudow Eric Diaz NASA Grant URC NCC NNX08BA44A

  2. Outline • Background • Current Work • Repairs to PPA • OD GUI Results • Integration of PPA to DSP • Modeling of PPA to State-Space • Future Work • Timeline NASA Grant URC NCC NNX08BA44A

  3. Background NASA Grant URC NCC NNX08BA44A

  4. James Webb Space Telescope • Bigger Viewing Dish • 6.5m Mirror Panel • Gold-plated Beryllium Mirrors • Six times the collecting area • Deep Space • No atmospheric interference • Lag time due to distance • Segmented System • Control Algorithm • Decentralized System • Reconfigurable • Fault Detection and Isolation • Maintain Shape Control under Disturbance • IR Detection • Studies of Big Bang NASA/JPL-Caltech/R. Hurt (SSC) NASA Grant URC NCC NNX08BA44A

  5. SPACE Telescope Testbed NASA Grant URC NCC NNX08BA44A 5

  6. Control Requirements • Shape Control Hold nominal paraboloid shape • Pointing Control Accuracy of 2 arc seconds • Vibration Suppression 100:1 • Control Bandwidth 30HZ NASA Grant URC NCC NNX08BA44A

  7. Current Work NASA Grant URC NCC NNX08BA44A

  8. Current Work NASA Grant URC NCC NNX08BA44A

  9. Repairs to PPA NASA Grant URC NCC NNX08BA44A

  10. FINALLY!!! NASA Grant URC NCC NNX08BA44A

  11. Tool Transportation NASA Grant URC NCC NNX08BA44A

  12. Up Close NASA Grant URC NCC NNX08BA44A

  13. Repairs to PPA NASA Grant URC NCC NNX08BA44A

  14. Repairs to PPA • Laser replacement, alignment/focus, and PPA measurements NASA Grant URC NCC NNX08BA44A

  15. Alignment of Mirrors Before After Fine Tuning NASA Grant URC NCC NNX08BA44A

  16. PPA In Action PPA Lasers Primary Mirror NASA Grant URC NCC NNX08BA44A

  17. Camera Views Camera 1 Camera 3 Camera 2 *Note: Pictures taken from approximate camera position NASA Grant URC NCC NNX08BA44A

  18. OD GUI Results NASA Grant URC NCC NNX08BA44A

  19. PPA Laser Path PPA (Pointing Verification) NASA Grant URC NCC NNX08BA44A

  20. Optical Detectors Note: This image is before final alignment and without the shaping control NASA Grant URC NCC NNX08BA44A

  21. Optical Detector GUI NASA Grant URC NCC NNX08BA44A

  22. Integration of Pointing Control into Shaping Control NASA Grant URC NCC NNX08BA44A

  23. Objective • H-infinity controller to handle both Shaping and Pointing (Currently just demonstrates shaping) • Integrate the Peripheral Pointing Architecture (PPA) Control with the Digital Signal Processor (DSP) • Some hardware/software changes will need to be made NASA Grant URC NCC NNX08BA44A

  24. Current Configuration DSP Shape Control Shaping and pointing control are separate Testbed PPA Motion Controller Pointing Control Pointing Architecture NASA Grant URC NCC NNX08BA44A

  25. Desired Configuration Shape and Pointing Control Shaping and pointing control are integrated Testbed DSP PPA Motion Controller Pointing Architecture NASA Grant URC NCC NNX08BA44A

  26. ESP-301 Motion Controller • Currently Controls the PPA • Communication protocols include: • USB • Serial RS-232 • IEEE488 • GPIO • Currently controlled remotely using LabVIEW, separately from the DSP NASA Grant URC NCC NNX08BA44A

  27. CMA 12PP Actuator • Linear Motion Actuator • Motorizes the PPA Platform • Stepper Motor • Controlled with the Newport Controller NASA Grant URC NCC NNX08BA44A

  28. Digital Signal Processing (DSP) • We Want Direct Communication between the DSP and the Motion Driver/Controller NASA Grant URC NCC NNX08BA44A

  29. Functional Block Diagram NASA Grant URC NCC NNX08BA44A

  30. New Block Functions • DAQ – I/O between DSP and PC2 host/LabVIEW GUI • Need to determine/process output signals from DSP • Convert DSP signal to usable data for LabVIEW • PC2 host – LabVIEW GUI • Must re-establish control of ESP301 via USB • Upgrade GUI to receive data from actuators • ESP301 – sends commands to actuators • PPA Actuators – moves PPA NASA Grant URC NCC NNX08BA44A

  31. State Space Modeling of PPA NASA Grant URC NCC NNX08BA44A

  32. Background • We know the workings of a segmented telescope’s testbed and PPA components • We can now focus on model identification, implementation, and control design for the PPA • Two methods of SID: • Frequency Response • FEM Modeling and Modal Analysis NASA Grant URC NCC NNX08BA44A

  33. Frequency Response NASA Grant URC NCC NNX08BA44A

  34. Frequency Response • Frequency domain system identification is based on estimation of scalar transfer function • Main approach is by dividing the frequency domain data into different bands to get the resonant frequency NASA Grant URC NCC NNX08BA44A

  35. Frequency Response • A chirp signal is applied to the Testbed with increasing frequency from 1 to 20 Hz NASA Grant URC NCC NNX08BA44A

  36. FEM and Modal Analysis NASA Grant URC NCC NNX08BA44A

  37. FEMAPExample NASA Grant URC NCC NNX08BA44A

  38. FEMAP Result NASA Grant URC NCC NNX08BA44A

  39. Future Work NASA Grant URC NCC NNX08BA44A

  40. Timeline NASA Grant URC NCC NNX08BA44A

  41. Timeline NASA Grant URC NCC NNX08BA44A

  42. Questions? Thank You NASA Grant URC NCC NNX08BA44A

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