Distributes balance forces. More...

#include <BalanceForceComponent.h>

Inheritance diagram for LSST::M1M3::SS::BalanceForceComponent:

Collaboration diagram for LSST::M1M3::SS::BalanceForceComponent:

Public Member Functions
	BalanceForceComponent (ForceActuatorApplicationSettings *forceActuatorApplicationSettings)

void	applyBalanceForces (float x, float y, float *z, bool check=true)

void	applyBalanceForcesByMirrorForces (float xForce, float yForce, float zForce, float xMoment, float yMoment, float zMoment)
	Called from ForceController::updateAppliedForces.

bool	applyFreezedForces ()

void	updatePID (int id, PIDParameters parameters)

void	resetPID (int id)

void	resetPIDs ()

void	freezePIDs ()

void	thawPIDs ()

void	postEnableDisableActions () override
	Called after enable/disable changes.

Public Member Functions inherited from LSST::M1M3::SS::ForceComponent
	ForceComponent (const char name, ForceComponentSettings forceComponentSettings)
	Construct ForceComponent.

const char *	getName ()
	Returns force component name.

bool	isInitialising ()
	Returns true if the force component is being initialised.

bool	isEnabled ()
	Returns true if the force component is enabled.

bool	isDisabling ()
	Returns true if the force component is being disabled.

bool	isActive ()
	Returns true if the force compoment is active - shall be calculated.

void	enable ()
	Enable the force component.

void	disable ()
	Disable the force component.

void	update ()

void	reset ()

Protected Member Functions
void	postUpdateActions () override
	Called after update to forces.

Additional Inherited Members
Protected Attributes inherited from LSST::M1M3::SS::ForceComponent
float	xCurrent [FA_X_COUNT]
	measured actuator current X force

float	yCurrent [FA_Y_COUNT]
	measured actuator current Y force

float	zCurrent [FA_Z_COUNT]
	measured actuator current Z force

float	xTarget [FA_X_COUNT]
	target actuator X force

float	yTarget [FA_Y_COUNT]
	target actuator Y force

float	zTarget [FA_Z_COUNT]
	target actuator Z force

float	xOffset [FA_X_COUNT]
	difference (error) between current and target X force

float	yOffset [FA_Y_COUNT]
	difference (error) between current and target Y force

float	zOffset [FA_Z_COUNT]
	difference (error) between current and target Z force

Detailed Description

Distributes balance forces.

Only active when enabledHardpointChase command was called. Takes forces and moments measured on hardpoints (transformed to XYZ space from hardpoints load cells measurements), feed them through PIDs, and calculates force offsets (12*X, 100*Y, 156*Z). Applied balance forces are published in appliedBalanceForces SAL/DDS event.

The purpose of this is to see almost 0 forces acting on hardpoints. Hardpoints task is not to actively steer the mirror, their purpose is to hold mirror in position. Mirror is being steered by applying offsets (moving) hardpoints, which are immediately (as hardpoints moves and forces are being measured on hardpoints load cells) offloaded to 156 mirror force actuators (assuming hardpoints chase is enabled).

See also: LSST::M1M3::SS::PID

Member Function Documentation

◆ applyBalanceForcesByMirrorForces()

void LSST::M1M3::SS::BalanceForceComponent::applyBalanceForcesByMirrorForces	(	float	xForce,
		float	yForce,
		float	zForce,
		float	xMoment,
		float	yMoment,
		float	zMoment )

Called from ForceController::updateAppliedForces.

Feeds in hardpoint force and moments measured from the hardpoint load cells and transformed into xyz forces and moments.

Parameters

xForce	X projection of force acting on hardpoints
yForce	Y projection of force acting on hardpoints
zForce	Z projection of force acting on hardpoints
xMoment	X projection of moment acting on hardpoints
yMoment	Y projection of moment acting on hardpoints
zMoment	Z projection of moment acting on hardpoints