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 revision: r2 - 2007-12-02, JoeBrandt
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