Computer Science – Performance
Scientific paper
Jul 2010
adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=2010spie.7733e..80s&link_type=abstract
Ground-based and Airborne Telescopes III. Edited by Stepp, Larry M.; Gilmozzi, Roberto; Hall, Helen J. Proceedings of the SPIE,
Computer Science
Performance
Scientific paper
The initial operation of the Large Millimeter Telescope/Gran Telescopio Milimetrico (LMT) main axis servo system showed promising results, with subarcsecond RMS performance even without a complete drive system. Since that time, there has been substantial progress in the commissioning of the system. For example, the alignment and grouting of the elevation axis gear rims is completed and all motors have been installed. This has allowed full-speed operation in both axes and has enabled some tuning of the servo system. The digital control architecture of the LMT allows direct measurement of the frequency response function of the system. Further, it allows the rate loop and position loop to be configured either as a classical proportional-integral (PI) controller or as a model-based (e.g., LQG) state-space controller. Finally, the architecture permits additional special-purpose control features to be implemented, including friction compensation and lookup table feedforward to reduce nonlinear effects. The measured FRF results are presented, and have been applied to tuning of the control system, with a resulting improvement in performance. Results are presented for the LMT main axis slewing, pointing, and tracking performance. Additionally, results are presented from initial experiments in applying lookup table feedforward to improve performance in crossing joints in the azimuth track.
Smith David R.
Souccar Kamal
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