Update spa text with 20% vaj plots and some extra narrative text

system_performance_analysis.tex

@@ -45,98 +45,159 @@ \subsubsection{Long and short slews at different elevations}
 
 %% TODO @b1quint - Ask Pablo, Holger, and Gabriele about the criteria for the
 %% force balance systems for M2.
-For M1M3, the criteria is to keep the measured forces on the hardpoint actuators
-below the operational limit (15\% the breakaway limit). For M2, the criteria is
-??????? (check with Holger, Gabriele, and Pablo).
-
-% Detailed analysis (both TNs are still under development):
-% \begin{itemize}
-%     \item \href{https://sitcomtn-092.lsst.io/}{SITCOM-TN092 M1M3 Force Balance System \item Inertia Compensation}
-%     \item \href{https://sitcomtn-147.lsst.io/}{SITCOM-TN147 M2 Response to short and long slews}
-% \end{itemize}
-
+% For M1M3, the criteria is to keep the measured forces on the hardpoint actuators
+% below the operational limit (15\% the breakaway limit). For M2, the criteria is
+% ??????? (check with Holger, Gabriele, and Pablo).
 
+The last set of data was collected on 2024-11-28. The two figures below show the
+slews performed when collecting this data starting at higher elevations (70$^o$)
+and then moving to lower elevations (34$^o$).
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/10_vel_acc_jerk/M1M3_short_long_slews_10_histogram.png}
-    \caption{Number of slews with minimum/maximum measured forces on the M1M3 hardpoint actuators.}
-    \label{fig:m1m3_short_long_slews}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T227_azel_slews.png}
+    \caption{TMA Short and Long slews at El = 34$^o$.}
+    \label{fig:block227_azel_slews}
     \end{figure}
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/M2_short_long_slews_axial_measured_force_10.png}
-    \caption{Measured axial force on the M2 force actuators during short and long slews.}
-    \label{fig:m2_short_long_slews_axial}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T293_azel_slews.png}
+    \caption{TMA Short and Long slews at El = 70$^o$.}
+    \label{fig:block293_azel_slews}
     \end{figure}
 
+
+For each of these slews, the force balance system on M1M3 should keep the forces
+measured on the hardpoints below an operational limit (15\% of the breakaway limit, nominally 450 N).
+The figures below show histograms with the number of slews that hit certain minima
+and maxima values for the hardpoint forces. The left histogram shows the minima
+reached on each slew. The right histogram shows the maxima reached on each slew.
+The red dashed lines show the fatigue limit (30\% of the breakaway limit, nominally 900 N).
+
+You can see a few slews with min/max reaching 800 N at low elevations.
+This is quite close to fatigue limits (900 N).
+However, these slews were performed without booster valves enabled.
+In addition, the big majority of the slews have measured forces below the operational limit.
+This gave us confidence that, from M1M3's perpective, we can use the 20\% velocity, acceleration, and jerk for the rest of the campaign.
+Note that we ran a few test slews with booster valves enabled and loads were significantly reduced (<200N per HP) before we got faults in some of the actuators with bad valves (need data analysis).
+
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/M2_short_long_slews_Tangent_measured_forces_TMA_10.png}
-    \caption{Measured tangent force on the M2 force actuators during short and long slews.}
-    \label{fig:m2_short_long_slews_tangent}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T227_m1m3_hp_histograms.png}
+    \caption{M1M3 hardpoint histograms min/max HP forces at low elevation.}
+    \label{fig:block227_m1m3_hp_histograms}
     \end{figure}
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/M2_short_long_slews_tangent_force_errors_10.png}
-    \caption{Measured tangent force errors on the M2 force actuators during short and long slews.}
-    \label{fig:m2_short_long_slews_tangent_errors}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T293_m1m3_hp_histograms.png}
+    \caption{M1M3 hardpoint histograms min/max HP forces at high elevation.}
+    \label{fig:block293_m1m3_hp_histograms}
     \end{figure}
 
+Similarly, M2 has limits of the measured forces associated with its closed loop and its
+open loop. The three figures below show the axial forces, the tangent forces, and the tangent
+force errors for the slews performed at different elevations. We can see that, for every slew,
+all the forces are within the closed loop maximum forces limit. This means that, from M2's
+perpective, we are safe to operate the telescope with 20\% velocity, acceleration, and jerk.
+
+\begin{figure}
+    \centering
+    \begin{subfigure}[b]{0.45\textwidth}
+        \centering
+        \includegraphics[width=\textwidth]{spa/20_vel_acc_jerk/BLOCK-T227_m2_axial_measured_forces.png}
+        \caption{M2 axial measured forces at low elevation.}
+        \label{fig:block227_m2_axial_measured_forces}
+    \end{subfigure}
+    \hfill
+    \begin{subfigure}[b]{0.45\textwidth}
+        \centering
+        \includegraphics[width=\textwidth]{spa/20_vel_acc_jerk/BLOCK-T293_m2_axial_measured_forces.png}
+        \caption{M2 axial measured forces at high elevation.}
+        \label{fig:block293_m2_axial_measured_forces}
+    \end{subfigure}
+    \caption{M2 axial measured forces during the slews at different elevations.}
+    \label{fig:m2_axial_measured_forces}
+\end{figure}
+
+\begin{figure}
+    \centering
+    \begin{subfigure}[b]{0.45\textwidth}
+        \centering
+        \includegraphics[width=\textwidth]{spa/20_vel_acc_jerk/BLOCK-T227_m2_tangent_force_errors.png}
+        \caption{M2 tangent force errors at low elevation.}
+        \label{fig:block227_m2_tangent_force_errors}
+    \end{subfigure}
+    \hfill
+    \begin{subfigure}[b]{0.45\textwidth}
+        \centering
+        \includegraphics[width=\textwidth]{spa/20_vel_acc_jerk/BLOCK-T293_m2_tangent_force_errors.png}
+        \caption{M2 tangent force errors at high elevation.}
+        \label{fig:block293_m2_tangent_force_errors}
+    \end{subfigure}
+    \caption{M2 tangent force errors during the slews at different elevations.}
+    \label{fig:m2_tangent_force_errors}
+\end{figure}
+
 
 \subsubsection{M2 close-loop breakout tests}
 \label{subsubsec:m2_close_loop_breakout_tests}
 
-\begin{itemize}
-    \item \href{https://rubinobs.atlassian.net/projects/LVV?selectedItem=com.atlassian.plugins.atlassian-connect-plugin:com.kanoah.test-manager__main-project-page#!/v2/testCase/LVV-T3034}{LVV-T3034 M2 closed-loop break-out during TMA slew}
-    \item \href{https://rubinobs.atlassian.net/projects/BLOCK?selectedItem=com.atlassian.plugins.atlassian-connect-plugin:com.kanoah.test-manager__main-project-page#!/v2/testCase/BLOCK-T241}{BLOCK-T241 M2 closed-loop break-out brake test during TMA slew}
-\end{itemize}
+\testCase{BLOCK-T241} M2 closed-loop break-out brake test during TMA slew is a test that
+ensures that M2 can survive an event where the telescope is slewing and, for whatever reason,
+the closed-loop system is disabled. In this case, the telescope will go to a fault and stop.
+
+The figures below show the axial forces, the tangencial forces, and the tangencial force errors
+during an event where the closed-loop system is disabled. The plots show that both axial and
+tangencial forces are within the limits. Considering this tests, we can say that M2 is safe to
+operate with 20\% velocity, acceleration, and jerk.
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/M2_cl_breakout_10_axial_force.png}
-    \caption{M2 axial forces during the closed-loop breakout test.}
-    \label{fig:m2_closed_loop_breakout_axial_force}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T241_m2_axial_measured_forces.png}
+    \caption{M2 axial measured forces during the closed-loop break-out test.}
+    \label{fig:block241_m2_axial_measured_forces}
     \end{figure}
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/M2_cl_breakout_10_tangent_forces.png}
-    \caption{M2 tangent forces during the closed-loop breakout test.}
-    \label{fig:m2_closed_loop_breakout_tangent_force}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T241_m2_tangent_measured_forces.png}
+    \caption{M2 tangencial measured forces during the closed-loop break-out test.}
+    \label{fig:block241_m2_tangent_measured_forces}
     \end{figure}
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/M2_cl_breakout_10_tangent_force_errors.png}
-    \caption{M2 tangent force errors during the closed-loop breakout test.}
-    \label{fig:m2_closed_loop_breakout_tangent_force_errors}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T241_m2_tangent_force_errors.png}
+    \caption{M2 tangencial force errors during the closed-loop break-out test.}
+    \label{fig:block241_m2_tangent_force_errors}
     \end{figure}
 
 
 \subsubsection{TMA azimuth and elevation brake tests}
 \label{subsubsec:tma_azimuth_and_elevation_brake_tests}
 
-Test cases associated:
-\begin{itemize}
-    \item \href{https://rubinobs.atlassian.net/projects/BLOCK?selectedItem=com.atlassian.plugins.atlassian-connect-plugin:com.kanoah.test-manager__main-project-page#!/v2/testCase/BLOCK-T231}{BLOCK-T231 TMA Azimuth Brake Test}
-    \item \href{https://rubinobs.atlassian.net/projects/BLOCK?selectedItem=com.atlassian.plugins.atlassian-connect-plugin:com.kanoah.test-manager__main-project-page#!/v2/testCase/BLOCK-T240}{BLOCK-T240 TMA Elevation Brake Distance}
-\end{itemize}
+The tests \testCase{BLOCK-T231} TMA Azimuth Brake Test and
+\testCase{BLOCK-T240} TMA Elevation Brake Distance are designed to ensure that the
+telescope will stop in case of an emergency. Accordingly to the two figures below,
+the telescope travels 1.6 degrees in El (2.2 deg/s^2 peak deceleration) after the hard stop initiated.
+In Az, it travels 1.9 degrees (3.9 deg/s^2 peak deceleration) after hard stop initiated.
+Both without any mirror faults. These values seem reasonably low and confirm that the telescope
+would be safe in case of an emergency.
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/TMA_Az_brake_test_10.png}
-    \caption{TMA azimuth brake test.}
-    \label{fig:tma_azimuth_brake}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T231_az_brake_tests.png}
+    \caption{TMA Azimuth Brake Test.}
+    \label{fig:block231_azimuth_brake_test}
     \end{figure}
 
 \begin{figure}
     \centering
-    \includegraphics[width=0.8\textwidth]{spa/TMA_El_brake_test_10.png}
-    \caption{TMA elevation brake test.}
-    \label{fig:tma_elevation_brake}
+    \includegraphics[width=0.8\textwidth]{spa/20_vel_acc_jerk/BLOCK-T240_el_brake_tests.png}
+    \caption{TMA Elevation Brake Distance.}
+    \label{fig:block240_elevation_brake_distance}
     \end{figure}
 
 \subsection{Night Performance}