A nonlinear disturbance-decoupled elevation axis controller for the Multiple Mirror Telescope

Details A nonlinear disturbance-decoupled elevation axis controller for the Multiple Mirror Telescope A nonlinear disturbance-decoupled elevation axis controller for the Multiple Mirror Telescope

Aug 2008

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2008spie.7019e..83c&link_type=abstract

Advanced Software and Control for Astronomy II. Edited by Bridger, Alan; Radziwill, Nicole M. Proceedings of the SPIE, Volume 70

Astronomy and Astrophysics

Astronomy

Scientific paper

The Multiple Mirror Telescope (MMT), upgraded in 2000 to a monolithic 6.5m primary mirror from its original array of six 1.8m primary mirrors, was commissioned with axis controllers designed early in the upgrade process without regard to structural resonances or the possibility of the need for digital filtering of the control axis signal path. Post-commissioning performance issues led us to investigate replacement of the original control system with a more modern digital controller with full control over the system filters and gain paths. This work, from system identification through controller design iteration by simulation, and pre-deployment hardware-in-the-loop testing, was performed using latest-generation tools with Matlab® and Simulink®. Using Simulink's Real Time Workshop toolbox to automatically generate C source code for the controller from the Simulink diagram and a custom target build script, we were able to deploy the new controller into our existing software infrastructure running Wind River's VxWorks™real-time operating system. This paper describes the process of the controller design, including system identification data collection, with discussion of implementation of non-linear control modes and disturbance decoupling, which became necessary to obtain acceptable wind buffeting rejection.

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