ALSControlLoop-CerroTololoInter-American…：ALS控制环路托洛洛山美洲….pptVIP

ALS Control Loop Influence Matrix The Influence Matrix can be derived from: FEA analysis Mathematically from simplified mirror-link-cell geometry. Direct measurements from telescope Influence Matrix – FEA Model Influence Matrix Solution Matrix - Theoretical Mathematically from the theoretical Influence Matrix, plus the loop closure constraint of: Link4 = -Link1 Link2 = Link3 Link6 = Link5 Then solving for a solution matrix that will satisfy all these conditions, such as F(final)=F(initial)*M Solution Matrix – Iterative Approach A different approach to obtain the Solution Matrix was used, this method used a simplified force error vector that only solved for: Link4 = -Link1 Link2 = Link3 Link6 = Link5 Then running a loop iteratively with the actual Influence Function, until a solution was obtained, a set of initial conditions, and final values forces, were stored for each simulation ( ~20 times) This produced a overdetermined set of equations, and the Solution Matrix was then calculated: Solution Matrix = pinv(F(initial)) * F(final) Note Pinv = Matrix Pseudo-Inverse based on SVD Method This method produces the same solution matrix as the theoretical method when Ideal Influence Functions were used, and could be use for other cases quite easily. Solution Matrix Algorithm for i=1:20, ffi(i,:)=2*(rand(1,6)-.5); % Initial Random Force Vector % Iterate to get force solution ff(1,:)=ffi(i,:); % Copy Initial Force Vector for j=2:50, f=ff(j-1,:); fe=0.5*[0 f(3)-f(2) 0 -(f(1)+f(4)) 0 f(5)-f(6)]; % Force Error - Gain=0.5 ff(j,:)=ff(j-1,:)+fe*INFL; % Iteration Loop with Influence Function end fff(i,:)=ff(j,:); % Save final forces vector end %Solve for Solution matrix (overdetermined least-squares method) M=pinv(ffi)*fff Typical Iterative Solution Simulation Solution Matrix * Solution Matrix X + + - GAIN Stiffness Fe(3) Fm(6) Fm(3) Steps(3) Actuator (Integrate) X Influence Matrix + Mechanical Plant External Forces (Gravity, Ghost) Ft(3) F