Servo Tests 30Nov07

Friction Compensation Tests

The intent of this test was to confirm that the modified friction compensator now uses a tanh() curve as velocity commands switch in sign. We accentuated the effect by using a much lower value for Ktrans than would be used in normal operation.

Start by setting Ktrans to 20.0
22:51:05 setTrajectory(50.0, 77.860, 0.5, 0.0, -0.04, 0.0, 25.0) (Antenna Fits file written to wrong directory, reset to JUNK)
22:56:19 setTrajectory(50.0, 77.860, 0.5, 0.0, -0.04, 0.0, 25.0)
22:59:21 setTrajectory(50.0, 77.860, 0.5, 0.0, -0.04, 0.0, 25.0)
(Feels kind of rough)
23:05:00 Set Ktrans = 0.0
23:05:25 setTrajectory(50.0, 77.860, 0.3, 0.0, -0.03, 0.0, 20.0)
23:07:00 Set Ktrans = 200.0
23:08:03 setTrajectory(50.0, 77.860, 0.5, 0.0, -0.04, 0.0, 25.0)
23:23:29 setTrajectory(50.0, 77.860, 0.1, 0.0, -0.01, 0.0, 20.0)
23:25:09 setTrajectory(50.0, 77.860, 0.05, 0.0, -0.005, 0.0, 20.0)
23:26:00 Set Ktrans=2000.0
23:30:45 setTrajectory(50.0, 77.860, 0.05, 0.0, -0.005, 0.0, 20.0)
23:38:00 setTrajectory(50.0, 77.860, 0.5, 0.0, -0.04, 0.0, 20.0)
23:40:29 setTrajectory(50.0, 77.860, 0.5, 0.0, -0.04, 0.0, 20.0)
23:47:00 Set Ktrans=2000.0
23:49:20 setTrajectory(50.0, 77.860, 0.05, 0.0, -0.005, 0.0, 20.0)
23:50:19 setTrajectory(50.0, 77.860, 0.05, 0.0, -0.0025, 0.0, 40.0)
23:52:01 setTrajectory(50.0, 77.860, 0.01, 0.0, -0.001, 0.0, 20.0)
23:58:45 Set Ktrans=0.0
23:53:16 setTrajectory(50.0, 77.860, 0.01, 0.0, -0.001, 0.0, 20.0)
Set Ktrans=2000
23:58:51 setTrajectory(50.0, 77.860, 0.01, 0.0, -0.001, 0.0, 20.0)
00:03:00 Set Ktrans = 0
00:03:09 setTrajectory(50.0, 77.860, 0.01, 0.0, -0.001, 0.0, 20.0)
00:03:40 Set Ktrans = 2000
00:03:52 setTrajectory(50.0, 77.860, 0.01, 0.0, -0.001, 0.0, 20.0)
0:12:33 End tests

Scan Times:

2007_11_30_22:56:19.fits
2007_11_30_22:59:21.fits
2007_11_30_23:02:39.fits
2007_11_30_23:05:25.fits
2007_11_30_23:08:03.fits
2007_11_30_23:23:29.fits
2007_11_30_23:25:09.fits
2007_11_30_23:30:45.fits
2007_11_30_23:38:39.fits
2007_11_30_23:40:29.fits
2007_11_30_23:49:20.fits
2007_11_30_23:50:19.fits
2007_11_30_23:52:01.fits
2007_11_30_23:53:16.fits
2007_11_30_23:58:51.fits
2007_12_01_00:03:09.fits
2007_12_01_00:03:52.fits

-- JoeBrandt - 01 Dec 2007

Topic 30Nov07ServoTesting . { Edit | Attach | Ref-By | Printable | Diffs | r1.2 | > | r1.1 | More }

Revision r1.2 - 02 Dec 2007 - 21:03 GMT - JoeBrandt Parents: TWikiUsers > JoeBrandt	Content copyright © 1999-2007 by the contributing authors. All material on this collaboration platform is the property of the contributing authors.


NRAO Home > Green Bank \| Wiki Topic: GB > Main > TWikiUsers > JoeBrandt > 30Nov07ServoTesting

Users \| Groups \| Offices \| Changes \| Index \| Contents \| Notify \| Search \| Jump to Topic: