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a/spa/20_vel_acc_jerk/BLOCK-T293_m2_tangent_measured_forces.png b/spa/20_vel_acc_jerk/BLOCK-T293_m2_tangent_measured_forces.png new file mode 100644 index 0000000..6126981 Binary files /dev/null and b/spa/20_vel_acc_jerk/BLOCK-T293_m2_tangent_measured_forces.png differ diff --git a/system_performance_analysis.tex b/system_performance_analysis.tex index bd744a8..76fbffa 100644 --- a/system_performance_analysis.tex +++ b/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}