1. Control Team Faculty Advisors Dr. Helen Boussalis Dr. Khosrow Rad Dr. Charles Liu Student Assistants Jessica Alvarenga Alok Desai Harshit Tarsaria Kimberly Castro Heather Rudow Eric Diaz 02/10/2011NASA Grant URC NCC NNX08BA44A1

2. Outline Background Current Work Integration of PPA to DSP Multiple Sensor Calibration Modeling of PPA to State-Space Future Work Timeline 02/10/20112NASA Grant URC NCC NNX08BA44A

3. Background 02/10/20113NASA Grant URC NCC NNX08BA44A

4. Bigger Viewing Dish 6.5m Mirror Panel Gold-plated Beryllium Mirrors Six times the collecting area Deep Space No atmospheric interference Lag time due to distance Segmented System Control Algorithm Decentralized System Reconfigurable Fault Detection and Isolation Maintain Shape Control under Disturbance IR Detection Studies of Big Bang NASA/JPL-Caltech/R. Hurt (SSC) James Webb Space Telescope 02/10/20114NASA Grant URC NCC NNX08BA44A

5. SPACE Telescope Testbed 02/10/20115 NASA Grant URC NCC NNX08BA44A 5

6. Control Requirements Shape Control Hold nominal paraboloid shape Pointing Control Accuracy of 2 arc second Vibration Suppression 100:1 Control Bandwidth 30HZ 02/10/20116 NASA Grant URC NCC NNX08BA44A

7. Current Work 02/10/20117NASA Grant URC NCC NNX08BA44A

8. Ongoing Work 02/10/20118NASA Grant URC NCC NNX08BA44A Establishing communication between DSP and DAQ-board Control of PPA via LabVIEW Integration of PPA to DSP Systematic calibration of multiple sensors at once Sensor Calibration Check Develop a state space model of the PPA structure using either: FEMAP/NASTRAN Frequency Response Modeling of PPA to State- Space

9. Integration of Pointing Control into Shaping Control 02/10/20119NASA Grant URC NCC NNX08BA44A

10. Objective H-infinity controller to handle both Shaping and Pointing (Currently just demonstrates shaping) Integrate the Peripheral Pointing Architecture (PPA) Control with the Digital Signal Processor (DSP) Some hardware/software changes will need to be made 02/10/201110NASA Grant URC NCC NNX08BA44A

11. Current Configuration DSP PPA Motion Controller Shape Control Pointing Control Shaping and pointing control are separate Testbed Pointing Architecture 02/10/201111NASA Grant URC NCC NNX08BA44A

12. Desired Configuration DSP Shape and Pointing Control Shaping and pointing control are integrated PPA Motion Controller Testbed Pointing Architecture 02/10/201112NASA Grant URC NCC NNX08BA44A

13. Functional Block Diagram SensorsKDMDSPAmplifiers Testbed 02/10/201113NASA Grant URC NCC NNX08BA44A DAQPC2 hostESP301 PPA Actuators PPA

14. Communication from DSP to DAQ DSPD/ADAQLabVIEW 02/10/201114 NASA Grant URC NCC NNX08BA44A Generate a sine wave digital test signal from DSP to free D/A channels From D/A channels, test signal will be converted to analog Converted analog signals will be input to USB-6251 DAQ The acquired data will be acquired by LabVIEW

15. DSP Board (Pentek 4285) MIX-VME baseboard it has: 40 MHz 68030 processor 4 processors used on the SPACE test-bed (numbered 0,1,4,5 or A,B,E,F) Offers communication ports to the host computer and other modules such as the A/D & D/A 02/10/2011 NASA Grant URC NCC NNX08BA44A 15

16. Digital to Analog Converter (DAC) Purpose: Converts digital to analog voltage High performance 8-channel, 16-bit converter 18 channels are currently used on the test- bed 16-bit resolution, sampling frequency up to 250 kHz 02/10/2011 NASA Grant URC NCC NNX08BA44A 16

17. Communication from LabVIEW to PPA DAQLabVIEWESPPPA 02/10/201117NASA Grant URC NCC NNX08BA44A Voltage signals from DAQ must be converted into linear displacements for the two PPA actuators Displacement must then be converted to ASCII commands for the ESP Position of both PPA actuators may be queried and returned to LabVIEW for position verification and/or for feedback to the DSP

18. DSP-to-PPA GUI Must first establish a “home” position (a spatial origin of reference) Convert sampled voltage signal into a two-dimensional displacement i.e. – G 1 and G 2 are gains to be experimentally determined Convert displacement into ASCII command and send to ESP to send to PPA i.e. – 01MA0.03 -> tells ESP to move actuator 1 to an “absolute” position of 0.03mm Retrieve actuator positions of PPA from ESP 02/10/201118NASA Grant URC NCC NNX08BA44A

19. Sensor Network Calibration 02/10/201119NASA Grant URC NCC NNX08BA44A

20. Calibration Sensor linearity 8 volts/ 2 mm Operate between +/- 10 Volt Sensor Testing Module 02/10/201120NASA Grant URC NCC NNX08BA44A

21. Sensors 18 collocated sensor 24 edge sensor 02/10/201121NASA Grant URC NCC NNX08BA44A

22. Single Sensor Calibration LabVIEW GUI has been developed to aid with sensor calibration checks Requires removal of sensor from holder Prone to human errors when replacing Maintain offset through entire procedure Original offset During calibration check Placing back onto the structure Tedious and time consuming 02/10/201122NASA Grant URC NCC NNX08BA44A

23. Sensor Network Calibration Check Eliminate the need for removal of the sensors from holders Eliminate as much human error as possible Being able to check multiple sensors at once 02/10/201123NASA Grant URC NCC NNX08BA44A

24. Block Diagram 02/10/201124NASA Grant URC NCC NNX08BA44A LabViewDAQ(A o ) DAQ(A I ) Panel Sensors Testbed Actuators

25. PPA Structure Modeling 02/10/201125NASA Grant URC NCC NNX08BA44A

26. Background We know the dynamics of all the components of a segmented telescope testbed Now, we will focus on model identification, implementation, and control design for the PPA 26 NASA Grant URC NCC NNX08BA44A 02/10/2011

27. Modeled on CAD Key, FEMAP Defined Elements (beams, nodes, material properties) NASTRAN (Eigen values) MATLAB State space Eliminate modes, frequencies Model Reduction State space 02/10/201127NASA Grant URC NCC NNX08BA44A Model Identification of A Segmented Telescope Testbed

28. Laser Platform 02/10/201128NASA Grant URC NCC NNX08BA44A

29. FEMAP Platform Design 02/10/201129NASA Grant URC NCC NNX08BA44A

30. 02/10/201130NASA Grant URC NCC NNX08BA44A Platform Design

31. Hexagonal Part Design 02/10/201131NASA Grant URC NCC NNX08BA44A

32. Platform with Base Design 02/10/201132NASA Grant URC NCC NNX08BA44A

33. Future Work Perform a Calibration Check of all sensors on the structure Calibrate any sensors that do not meet the linearity requirements Sensor Network Calibration Check Sensors Integration with DSP Modeling of PPA structure in State-Space Shaping Control PPA Develop the PPA State-Space Model Integration into the current State Space Model Model Verification Implementation to System Control Accepted paper in 6 th IEEE Conference on Industrial Electronics and Applications, China Waiting on response of Conference Submission: Raytracing LabVIEW GUI Sensor Calibration Linearity Checker Conference Paper Submission 02/10/201133 NASA Grant URC NCC NNX08BA44A

34. Timeline 02/10/201134 NASA Grant URC NCC NNX08BA44A SPACE Laboratory Control Team Timeline: October 2010 - Jan 2011 20102011 Student NameOCTNOVDECJAN Jessica Alvarenga Sensor Calibration Procedure Conference Paper Preparation PPA Laser Replacement and Alignment H InfinityTeam Supervision Alok Desai Sensor Calibration Procedure Conference Paper Preparation PPA Laser Replacement and Alignment Sensor Calibration GUIH Infinity Harshit Tarsaria Ray Tracing LabVIEW GUI Conference Paper Preparation Sensor Calibration Document GUIH Infinity Heather Rudow Testbed TrainingDetermine Options for PPA to DSP OperationDevelop LabVIEW Code to control PPA actuator LabVIEW TrainingFamiliarization with LabVIEW Signal Processing PPAPPA Laser Replacement and Alignment Eric Diaz Testbed TrainingSensor VisualizationUpgrade Optical Detector GUI LabVIEW TrainingSensor CalibrationDevelop LabVIEW Code to control PPA actuator Sensor CalibrationPPA Laser Replacement and Alignment Kimberly Castro Testbed TrainingDSP Familiarization Develop LabVIEW Code to receive signals from DSP DSP TrainingUpgrade DSP Software PPAPPA Laser Replacement and Alignment

35. Timeline 02/10/201135 NASA Grant URC NCC NNX08BA44A SPACE Laboratory Control Team Timeline: October 2010 - Jan 2011 2011 Student NameFEBMARAPRMAYJUN Jessica Alvarenga Develop State Space Model of PPAValidation of PPA SS Model Develop H-Infinity for PPA and Shaping Simulation Integration of PPA to DSP Simulations of PPA Control Team Supervision Alok Desai Develop of State Space Model of PPAValidation of PPA SS Model Develop H-Infinity for PPA and Shaping Simulation Familiarization with NASTRAN Simulations of PPA Control Initial control for PPA Harshit Tarsaria Develop State Space Model of PPAValidation of PPA SS Model Develop H-Infinity for PPA and Shaping Simulation Familiarization with NASTRAN Simulations of PPA Control Initial control for PPA Heather Rudow Develop LabVIEW Code to control PPA actuatorTesting of LabVIEW Code for PPA Actuator Integration of PPA to DSP Sensor Calibration Check PPA to DSP DSP C Code Eric Diaz Sensor Calibration CheckPPA to DSP Integration of PPA to DSP Develop LabVIEW Code to control PPA actuatorPerform Homing of Structure Begin Working on Homing CodeDSP C Code Kimberly Castro Sensor Calibration CheckFinalize Comm from DSP to LabVIEW Integration of PPA to DSP Initial tests of DSP to LabVIEWPerform Homing of Structure Homing CodePPA to DSP

36. Questions? Thank You 02/10/201136NASA Grant URC NCC NNX08BA44A