GB . PTCS . TPTCSOOF

TPTCSOOF_080102

Goals

Tim has replaced the elevation rate loop board. Gather constant acceleration data to look for any differences in behavior.
Also gather similar data in azimuth due to the lower temperature now compared to previous tests.

Conditions

Operator: Barry
Weather: -10.6C, P=932mB, wind=3.1m/s (station 2)
Azimuth motors 2 and 4 are not running (torq values near 0.0 in azServo1Hz)
Elevation motors all okay

Commands

on titania:
- bash
- source /home/gbt/gbt.bash
- cd /home/groups/ptcs/obs/procs
- glish -l setTrajectory.g

Commands issued:

When present, "start" means the time when the 10 seconds of constant velocity motion began, while "finish" means when the telescope came to a complete stop at the end of the scan. All times are EST.

start with azimuth, in forward direction:
    setTrajectoryConstRate(45.0, 50.0, 0.55, 0.0, -0.01, 0.0, 2*0.55/0.01, 10.0)   finish at 07:01PM EST
    setTrajectoryConstRate(45.0, 50.0, 0.55, 0.0, -0.02, 0.0, 2*0.55/0.02, 10.0)   finish at 07:04
    setTrajectoryConstRate(45.0, 50.0, 0.55, 0.0, -0.03, 0.0, 2*0.55/0.03, 10.0)   finish at 07:06:30
    setTrajectoryConstRate(45.0, 50.0, 0.55, 0.0, -0.04, 0.0, 2*0.55/0.04, 10.0)   finish at 07:08
    setTrajectoryConstRate(45.0, 50.0, 0.55, 0.0, -0.05, 0.0, 2*0.55/0.05, 10.0)   finish at 07:10
    ----------------------      
    change to elevation:  (ignore these 3 scans)
         setTrajectoryConstRate(45.0, 50.0, 0.0, +0.3, 0.0, -0.01, 2*0.3/0.01, 10.0)   antenna manager had to be rebooted
         setTrajectoryConstRate(45.0, 50.0, 0.0, 0.15, 0.0, -0.01, 2*0.15/0.01, 10.0)  start at 07:28:30, finish at 07:31
         forgot to change to encoder coords after the reboot
         setTrajectoryConstRate(45.0, 50.0, 0.0, 0.15, 0.0, -0.01, 2*0.15/0.01, 10.0)  start at 07:33:25, finish at 07:34:30
    -------------------------------------------------
elevation (forward direction):
    setTrajectoryConstRate(45.0, 50.0, 0.0, 0.30, 0.0, -0.01, 2*0.30/0.01, 10.0)  finish at 07:36:44
    setTrajectoryConstRate(45.0, 50.0, 0.0, 0.30, 0.0, -0.02, 2*0.30/0.02, 10.0)  start at 07:37:30, finish at 07:38:26
    setTrajectoryConstRate(45.0, 50.0, 0.0, 0.30, 0.0, -0.03, 2*0.30/0.03, 10.0)  start at 07:39:15, finish at 07:40:00
    setTrajectoryConstRate(45.0, 50.0, 0.0, 0.30, 0.0, -0.04, 2*0.30/0.04, 10.0)  start at 07:40:47, finish at 07:41:36
    setTrajectoryConstRate(45.0, 50.0, 0.0, 0.30, 0.0, -0.05, 2*0.30/0.05, 10.0)  start at 07:42:13, finish at 07:42:50
elevation (reverse direction):
    setTrajectoryConstRate(45.0, 50.0, 0.0,-0.30, 0.0,  0.01, 2*0.30/0.01, 10.0)  finish at 07:45:18
    setTrajectoryConstRate(45.0, 50.0, 0.0,-0.30, 0.0,  0.02, 2*0.30/0.02, 10.0)  finish at 07:47:10
    setTrajectoryConstRate(45.0, 50.0, 0.0,-0.30, 0.0,  0.03, 2*0.30/0.03, 10.0)  finish at 07:48:50
    setTrajectoryConstRate(45.0, 50.0, 0.0,-0.40, 0.0,  0.01, 2*0.30/0.04, 10.0)  finish at 07:50:30
    setTrajectoryConstRate(45.0, 50.0, 0.0,-0.50, 0.0,  0.01, 2*0.30/0.05, 10.0)  finish at 07:52:05
    ------------------------------------------------------------------------------------------------
azimuth (reverse direction)
    setTrajectoryConstRate(45.0, 50.0,-0.55, 0.0, 0.01, 0.0,  2*0.55/0.01, 10.0)  finish at 07:56:29
    setTrajectoryConstRate(45.0, 50.0,-0.55, 0.0, 0.02, 0.0,  2*0.55/0.02, 10.0)  start at 07:57:34, finish at 07:59:06
    setTrajectoryConstRate(45.0, 50.0,-0.55, 0.0, 0.03, 0.0,  2*0.55/0.03, 10.0)  start at 08:00:07, finish at 08:01:20
    setTrajectoryConstRate(45.0, 50.0,-0.55, 0.0, 0.04, 0.0,  2*0.55/0.04, 10.0)  start at 08:02:22, finish at 08:03:25
    setTrajectoryConstRate(45.0, 50.0,-0.55, 0.0, 0.05, 0.0,  2*0.55/0.05, 10.0)  start at 08:04:45, finish at 08:05:44
------------------------------------------------------------------------------------------------
This final section is for comparison with the tests run last month with prior elevation rate board (in which we did not wait
for the system to settle at constant velocity for 10 seconds before starting the acceleration part of the trajectory).
    setTrajectory(45.0, 50.0, 0.0, -0.30, 0.0, 0.01, 2*0.30/0.01)  start at 08:07:00, finish at 08:08:14
    setTrajectory(45.0, 50.0, 0.0, -0.30, 0.0, 0.02, 2*0.30/0.02)  start at 08:08:40, finish at 08:09:25
          -----------------
          ignore the following 4 scans
          setTrajectory(45.0, 50.0, 0.0, -0.30, 0.0, 0.03, 2*0.30/0.03)  failed to start twice.   Revert to lower rate (0.20)
          setTrajectory(45.0, 50.0, 0.0, -0.20, 0.0, 0.03, 2*0.20/0.03)  completed successfully
          setTrajectory(45.0, 50.0, 0.0, -0.24, 0.0, 0.04, 2*0.24/0.04)  "  finish at 08:12:40
          setTrajectory(45.0, 50.0, 0.0, -0.25, 0.0, 0.05, 2*0.25/0.05)  "  finish at 08:14:01
    setTrajectory(45.0, 50.0, 0.0,  0.29, 0.0,-0.01, 2*0.29/0.01)  "  finish at 08:16:25
    setTrajectory(45.0, 50.0, 0.0,  0.29, 0.0,-0.02, 2*0.29/0.02)  "  finish at 08:17:48
    setTrajectory(45.0, 50.0, 0.0,  0.29, 0.0,-0.03, 2*0.29/0.03)  "  finish at 08:18:48
    setTrajectory(45.0, 50.0, 0.0,  0.29, 0.0,-0.04, 2*0.29/0.04)  "  finish at 08:19:48
    setTrajectory(45.0, 50.0, 0.0,  0.29, 0.0,-0.05, 2*0.29/0.05)  "  finish at 08:20:48
    go back and re-run the three scans taken at lower rate
    setTrajectory(45.0, 50.0, 0.0, -0.29, 0.0, 0.03, 2*0.29/0.03)  finish at 08:22:24
    setTrajectory(45.0, 50.0, 0.0, -0.29, 0.0, 0.04, 2*0.29/0.04)  finish at 08:23:22
    setTrajectory(45.0, 50.0, 0.0, -0.29, 0.0, 0.05, 2*0.29/0.05)  finish at 08:24:23

- - ToddHunter - 02 Jan 2008

Topic TPTCSOOF_080102 . { Edit | Attach | Ref-By | Printable | Diffs | r1.3 | > | r1.2 | > | r1.1 | More }

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