MCAO MCAO Control System Corinne Boyer. MCAO May 24-25, 2001MCAO Preliminary Design Review2 Changes...

MCAOMCAO

MCAO Control SystemMCAO Control System

Corinne Boyer

May 24-25, 2001 MCAO Preliminary Design Review

2

MCAOMCAO

Changes since the CoDRChanges since the CoDR

• The requirements for all the sub-systems of the MCAO have been modified and refined.

• The Interface Control Documents (ICDs) between MCAO and the other telescopes systems have been written as well as the internal sub-system interface ICD.

• Preliminary design documents (mainly flow diagrams) have been written for some of the sub-systems.


3

MCAOMCAOMCAO sub-system of the OCS - MCAO sub-system of the OCS - 11

A&G

SCS

LLT

Har

dwar

e si

deEPICS

ENGINEERINGGUIs

OCS GUI &SAD

SCREENS

ALARMS SCREEN

ObservatoryControlSystem

StatusAlarm

Database

MCAOControl System

EP

ICS

sid

e, C

han

nel

Acc

ess

BTO SALSA AOM Laser

TCS GIS

GIS

Interlocks


4

MCAOMCAOMCAO sub-system of the OCS - MCAO sub-system of the OCS - 22

• This solution is different from the one chosen for the Altair, which is a subsystem of the TCS. The reasons are:

– The MCAO system is an independent system with a minimal interface to the TCS,

– The MCAO system needs to be synchronized with the other instruments controlled by the OCS,

– There will be some very complex sequences that need to be done at the level of the Sequencer which will be most efficiently performed by using a direct-access tool like ocswish.


5

MCAOMCAOPosition in the Gemini Position in the Gemini architecturearchitecture

MCS VME

CRCShardware

MCAOhardware

SCShardware

A&Ghardware

PCShardware

PCS VME SCS VME CRCS VME A&G VME MCAO VME

Instrumenthardware

Instrument VME

TCS VME

Synchro bus

MCShardware

ECShardware

ECS VME

GIS VME

LANs

Interlock system

Observingworkstations

MCAO workstation

Instrument/telescope

workstation


6

MCAOMCAOInterface with other sub-Interface with other sub-systemssystems

MCAO

SADStatus and Alarm Data

OCS

OCS ResponseOCS Command

Observingdata

GISInterlock

SCSM2 dataA&G Oiwfs data

Seeing

TCS

Telescope pointing

M1data

Time server Raw TAI


7

MCAOMCAO

Interface Control DocumentsInterface Control Documents

• Interfaces are described in the following ICDs:– ICD 1.13.5/3.1 MCAO to OCS– ICD 1.13.5/1.6 MCAO to A&G – ICD 1.13.5/1.4.4 MCAO to SCS – ICD 1.13.5/1.1.11 MCAO to TCS – The MCAO system uses the standard GIS interface

already described in ICD 1.1.13.

• Note that there is no interface to the Gemini Data Handling System. Diagnostic displays will require very high refresh rates and so will be generated and sent directly to video displays.


8

MCAOMCAO

MCAO controller architectureMCAO controller architecture

• The MCAO control system will be split in six independent sub-systems :

– The Real Time Controller,

– The AOM Component Controller ,

– The BTO / LLT Component Controller,

– The Laser Controller,

– The SALSA Controller,

– The Diagnostics Wavefront Sensor Controller.


9

MCAOMCAO

Gemini modelGemini model

• The MCAO control system will be implemented using the standard Gemini control system model.

• An Instrument Sequencer will manage the 6 independent subsystems and act as the main public interface for the entire MCAO system.

• The sequencer will coordinate all of the internal tasks and provide external systems with the commands and status information they need, to control the MCAO System.


10

MCAOMCAO

System hierarchySystem hierarchy

Instrument Sequencer

1

RTC3

AOM Component Controller

2

BTO/LLTComponent Controller

4

SALSAController

5

LaserController

6

Laser hardware

SALSA hardware

BTO/LLT devices

AOM devices

AOM WFS/DM

OCS command OCS command status

AOM CC command

AOM CC status

RTC command

RTC status

BTO CC Command

BTO CC Status

SC status

SC command

LC status

LC command

WFSdata

DM/TTMcontrols

Devicecontrols

Devicestatus

Devicecontrols

Devicecontrols

Devicecontrols

Devicestatus

Devicestatus

Devicestatus

TCS pointing

Oiwfs data

M2 data

M1 data

BTOFast TT

AOMSlow TT

NGS probe Position

offset

Observing data

seeing

CR angleoffset

CR angle

DWFS DC command

DWFS DC statusDWFS

DetectorController

7


11

MCAOMCAO

MCAO Sequencer - 1MCAO Sequencer - 1

• The Sequencer will be implemented using only standard EPICS records.

• Command and status information that pass between the OCS and MCAO systems is described in the OCS/MCAO ICD.

• The commands reboot, initialize, datum, park, test, simulate and debug will be implemented to perform global actions on all of the associated devices for all the sub-systems.


12

MCAOMCAO

MCAO Sequencer - 2MCAO Sequencer - 2

• The standard commands pause, continue, stop and abort will not be implemented. The observe command will be rejected during the preset directive and the others commands verify, endVerify, guide, endGuide, endObserve will be ignored.

• Night operation and calibration and maintenance sequences will be implemented using ocswish tool.

• The setup/engineering command set can be found in the MCAO Internal ICD.


13

MCAOMCAOBTO/LLT Component BTO/LLT Component ControllerController

• This sub-system is responsible for managing all of the opto-mechanical devices associated with the BTO and LLT under the direct control of the MCAO Instrument Sequencer.

• The commands initialize, datum, park, test, simulate and debug will be implemented to perform global actions on all of the associated devices.

• The component controller will be a hybrid EPICS/VxWorks implementation which uses a mix of standard EPICS records and custom assembly and device control records and also dedicated VxWorks tasks.


14

MCAOMCAO

BTO/LLT CC InterfacesBTO/LLT CC Interfaces

• The BTO/LLT CC will interface directly with:

– the RTC to receive Fast Steering Array commands,

– the SALSA sub-system to sense the state of the SALSA shutter,

– the Gemini GIS system to disable all motions in the case of a hardware interlock,

– the TCS system to read the telescope pointing information.


15

MCAOMCAO

BTO/LLT CC Design - 1BTO/LLT CC Design - 1

Device Hardware DesignLLT Cover AC motor with two limit

switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.

2 EPICS binary output records and 2 EPICS binary input records.

Pointing mirror 2 DC servo motors: 2 channels of an OMS58 servo card.

2 EPICS device control records and a single EPICS assembly control record.

Centering mirror 2 DC servo motors: 2 channels of an OMS58 servo card.


K mirror A DC servo motors: 1 channel of an OMS58 servo card.

A single EPICS device control record.

Top end ring mirror 2 DC servo motors: 2 channels of an OMS58 servo card.



16

MCAOMCAO


Device Hardware Design

Beam dump mirror AC motor with two limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.


Corner cube shutter AC motor with two limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.


Near-field chopper wheel

Single stepper motor with encoder: one axis of an OMS58 servo card.


Centering array 10 DC servo motors: 10 channels of OMS58 servo cards.

10 EPICS device control records and 5 EPICS assembly control records

Pointing array 10 DC servo motors: 10 channels of OMS58 servo cards.

10 EPICS device control records and 5 EPICS assembly control records


17

MCAOMCAO


Device Hardware DesignFast Steering Array Piezzo-electric actuators:

10 channels of XYCOM531 high-speed D/A card.

VxWorks task.

Quarter-wave plate Single stepper motor with encoder: one axis of an OMS58 servo card.


Alignment camera selector

TTL selection signals: 3 output bit of an XVME244 digital I/O card.

3 EPICS binary output records.

Power meter A single analog input: one channel of the XYCOM 566 Analog I/O card.

A single EPICS analog input record.

Polarization sensor A single analog input: one channel of the XYCOM 566 Analog I/O card.

A single EPICS analog input record.


18

MCAOMCAO



Near-field and far-field diagnostic cameras

Not defined yet - Separate computer – Interface through the synchro bus.

VxWorks task started by a gensub record.


19

MCAOMCAO

BTO/LLT CC Design – 5BTO/LLT CC Design – 5

• The BTO/LLT CC will be implemented using two separate CPU boards.

• The first CPU board will provide the EPICS interface and all device control. This board will also implement the following slow closed loop algorithms:– PM, KM, CM closed loop, – Beam diagnostic WFS and CA and PA closed loop,– Quarter wave plate closed loop.

• The second CPU board (non EPICS) will be dedicated to the fast TT mirror control at 800Hz.

• All of the closed loops will maintain circular buffers to hold debugging and display history data.


20

MCAOMCAOBTO/LLT CC hardware BTO/LLT CC hardware environmentenvironment

MV

ME

270

0 –

CP

U b

oard

OM

S58

mot

or c

ontr

olle

r

Control LAN

Time bus

To servo motor electronics

To TT mirrors

Ban

com

635

tim

e b

oard

MV

ME

270

0 –

CP

U b

oard

XY

CO

M53

1 D

A b

oard

VM

IVM

E55

88 R

M b

oard

Synchro bus

XY

CO

M 5

66 A

D b

oard

From sensors

OM

S58

mot

or c

ontr

olle

r

OM

S58

mot

or c

ontr

olle

r

OM

S58

mot

or c

ontr

olle

r

XY

CO

M 2

44 D

igit

al I

/O

BTO/LLT VME

BTO DWFS

To switches, relays, DC

motors


21

MCAOMCAO

AOM Component ControllerAOM Component Controller

• This sub-system is responsible for managing all of the opto-mechanical devices (except the DM, TTM and the readout of the WFS) associated with the AOM under the direct control of the MCAO Instrument Sequencer.

• The commands initialize, datum, park, test, simulate and debug will be implemented to perform global actions on all of the associated devices.

• The component controller will be an all-EPICS implementation based on the Gemini Altair model which uses a mix of standard EPICS records and custom assembly and device control records.



22

MCAOMCAO

AOM CC InterfacesAOM CC Interfaces

• The AOM CC will interface directly with:

– the RTC to receive LGS WFS pupil alignment data, to receive NGS probe position offsets and to send NGS probe positions,

– the SALSA sub-system to sense the state of the SALSA shutter,

– the Gemini GIS system to disable all motions in the case of a hardware interlock,

– the TCS system to read the telescope pointing information and to receive NGS probe position demands,

– the A&G to read OIWFS data,– The OCS to receive observing data.


23

MCAOMCAO

AOM CC Design - 1AOM CC Design - 1

Device Hardware DesignLGS simulated source array illumination

One output channel of a XVME244 output card.

A single EPICS binary output record.

LGS simulated source array position

A single DC motor with 2 limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.


LGS simulated source array focus

A single DC servo motor: one axis of an OMS58 servo card.

A single EPICS device control.

NGS peripheral simulated source array illumination



NGS central simulated source array illumination




24

MCAOMCAO



NGS simulated source array position



LGS reference source array illumination



LGS reference source array position



DM0 mask A single DC motor with 2 limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.



25

MCAOMCAO



Inlet shutter A single DC motor with 2 limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.


Output shutter A single DC motor with 2 limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.


Beam splitter wheel A single DC motor with 2 limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.



26

MCAOMCAO


Device Hardware DesignScience ADC position A single DC motor with 2

limit switches: 2 outputs and 2 inputs of a XVME244 digital I/O card.


Science ADC rotation 2 DC servo motors: 2 channels of an OMS58 servo card.


NGS ADC rotation 2 DC servo motors: 2 channels of an OMS58 servo card.


DWFS probe arm 4 DC servo motors: 4 channels of an OMS58 servo card.



27

MCAOMCAO


Device Hardware DesignDiagnostic camera mirror



LGS zoom corrector 2 DC servo motors: 2 channels of an OMS58 servo card.


NGS WFS probe arms 6 DC servo motors: 6 channels of an OMS58 servo card.

6 EPICS device control records and 3 EPICS assembly control records.

Pupil alignment mirrors

Piezzo-electric actuators: 10 output channels of a XYCOM 531 DAC.

10 EPICS analog output records and a single EPICS gensub record.

LGS active relay elements

15 DC servo motors: 15 channels of an OMS58 servo card.

15 EPICS device control records and 5 EPICS assembly control records.


28

MCAOMCAOAOM CC hardware AOM CC hardware environmentenvironment

MV

ME

270

0 36

6MH

z, 6

4 M

B C

PU

Ban

com

635

tim

e b

oard

OM

S58

mot

or c

ontr

olle

r

OM

S58

mot

or c

ontr

olle

r

OM

S58

mot

or c

ontr

olle

r

XY

CO

M 2

44 D

igit

al I

/O

Control LAN

Time bus

To servo motor electronics

To switches, relays, DC motors

To pupil alignmentTT mirrors

XY

CO

M53

1 D

A b

oard

OM

S58

mot

or c

ontr

olle

rAOM VME


29

MCAOMCAO

SALSA ControllerSALSA Controller

• Presented with the SALSA sub-system later in the morning


30

MCAOMCAO

DWFS Controller RequirementsDWFS Controller Requirements

• The Diagnostic Wavefront sensor is 32x32 sub-aperture SH WFS, each sub aperture being composed of at least 16x16 pixels. A 1024x1024 standard CCD will be used.

• This diagnostic WFS will only be used during the day to calibrate the DM commands to insure the science path wavefront quality.

• Basic signal processing will be required at a slow rate:– read the pixel image, save to a file,– subtract a dark to a pixel image,– compute the centroids and save the centroids to a file.


31

MCAOMCAO

DWFS Controller DesignDWFS Controller Design

• A frame grabber installed on a PC system or on a Unix host will be implemented to read the pixel data.

• Two solutions to perform signal processing:– Use of WaveLab,– in house developed IDL routines.

• In the two cases, it will be very easy for the instrument sequencer to interface these tools.

• Interface with MCAO sequencer has been defined and is described in the ICDs.


32

MCAOMCAO

Real Time ControllerReal Time Controller

• This controller is dedicated to the AO control loop itself. It is the heart of the system and the most critical in terms of real time performances

• It will handle 3 basic real time functions:– The NGS real time control loop,– The LGS real time control loop,– The optimization and background processes.


33

MCAOMCAO

LGS WFS pixels (7)

LGS WFS slopes

computation (8)

Extrapolate un-illuminatined DM

actuators (11)

DM actuator controls

++

+

(10)

DMs filter+

Reference slopes

LGS DM actuator controls

computation(9)

RTC block diagramRTC block diagram

NGS WFS Slopes computation (1)

NGS WFS Pixels (0)

TTM actuator controls

computation (2)

NGS DM mode computation

(4)

TTM filter (3)

TTM actuator controls

OIWFS TTConversion to DMs

actuators(6)

NGS DM filter(5)

OIWFS Focus

Adjust LGS WFS focus lens and active

relay elements

Offload M2 via synchro bus

(16)

TT F

PSF, r0 (15)

LGS and NGS slopes, DM and TTM actuator

controls CR angle

NGS modal Optimization

(14)

Adjust NGS WFS position and Cass

Rotator (13)

NGS WFS Gain optimization

(12)

Lookup table (seeing)

Field distorsion

OIWFS TT

Observation parameters

ProbePositions

Offload M1via EPICS

Records (22)

Null DMPiston,waffle,

Tilt (19)

Loop gain and control matrix

optimization (18)

Telescope pointing

Adjust BTO TT (20)

Real Time display (23)

LGS WFS Gain optimization

(17)

A

A

Fie

ld r

otat

ion

Ref

eren

ce s

lop

es

Adjust the AOM TT

(21)

B

B

CR angle


34

MCAOMCAO

LGS process RequirementsLGS process Requirements

• Five 16x16 SH WFS (2x2 sub-aperture). Total: 2040 illuminated sub-apertures

• EEV CCD39’s with 4 outputs and 80x80 pixels each

• 3 DMS (total active actuators: 636) DM0 21x21, active 240, extrapolate 109 DM45 24x24, active 276, extrapolate 192 DM9 17x17, active 120, extrapolate 121

• Rate up to 800Hz

• Number of operations 2.26GFlops.


35

MCAOMCAO

NGS process requirementsNGS process requirements

• 3 tip/tilt sensors using APDs

• 1 TTM

• 3 DM modes

• Rate up to 800Hz

• Operation number: 3.16 MFlops


36

MCAOMCAO

RTC synchronisationRTC synchronisationLGS WFS exposure

time - 1.25ms

LGS WFS readout time (10) – 1ms

LGS DM computation

(11), (12)

NGS TTM computation(1), (2), (3)

NGS DM computation (4)

NGS WFS exposure time - 1.25ms

NGS WFS readout time (0)

Final DM computation

(13), (14), (15)

TTM commands

DMcommands

TTM commands

DMcommands

DMcommands

TTM commands

DM0DM45DM9

DM0DM45DM9


37

MCAOMCAOComputation requirement Computation requirement summarysummary

RTC Process Frequency Computation requirement

NGS process 800Hz 3.16MFlops

LGS process 800Hz 2.26GFlops

• Computation requirement also estimated for all optimization and background processes.


38

MCAOMCAO

RTC architectureRTC architecture

• Since the CoDR, 2 actions:– a VSS4 Synergy Micro Systems board a VME64

back plane has been purchased: VME DSP-Quad PPC 7400@433Mhz, 256 Mb, 8Mb Backside Cache (2:1 ratio), VME64x. Benchmarks are right now performed by HIA to assess the suitability of this board.

– contract some vendors to study other architectures for our requirements. Two vendors have been selectioned :

• The Optical Science Company (tOSC), located in Anaheim-California,

• SHAKTIWARE, located in Marseille France.


39

MCAOMCAO

One possible RTC approachOne possible RTC approach

VM

IVM

E55

88 R

efle

ctiv

e m

emor

y b

oard

Ban

com

635

tim

e b

oard

DM9

TTM

VSS4 VME Board

DM45DM0

EPICS

CCD Controller

LGS CB image

LGS CB slopes

CB actuator DM0

CB actuator DM45

CB actuator DM9

CB actuator TTM

NGS CB modes

NGS CB slopes

SDSU

PM

C I

FP

IO P

MC

boa

rdP

IO P

MC

boa

rd

PIO

PM

C b

oard

PIO

PM

C b

oard

PIO

PM

C b

oard

PIO

PM

C b

oard

APD

DA

C P

MC

boa

rdA

PD

PM

C I

F

boar

d

Vid

eo b

oard

XY

CO

M24

4 D

igit

al I

/O b

oard

VSS4 VME Board

VSS4 VME Board

VSS4 VME Board

LGSoptim

DM0

DM0

DM0 DM45

DM45

DM45

DM45

DM9 DM9

Video PSF/r0

Modaloptim

NGSoptim

TTM


40

MCAOMCAO

RTC software designRTC software design

• RTC will be a hybrid EPICS/VxWorks system• Minimal software design for on the baseline approach

presented in the document (architecture is not yet defined)• Interfaces with other systems described in the ICDs:

– with the TCS to read pointing data and cass rotator angle and to send M1 data and cass rotator angle offset,

– with the A&G to read OIWFS data and seeing data,– with the SCS to send M2 data,– with the SALSA sub-system to sense the state of the SALSA

shutter,– with the Gemini GIS system to disable all motions in the

case of a hardware interlock– with the AOM CC to receive NGS probe positions and send NGS

probe offsets and pupil alignment commands– with the BTO CC to send FSA commands



41

MCAOMCAO

PDR AgendaPDR Agenda

Friday, 5/250800 Laser System 0900 CTIO Sodium Studies0915 Control System0945 Break1000 RTC Electronics1045 Safety System1100 Availability analysis1130 Closed vendor

Sessions1200 Lunch

1300 Cost and schedule1400 Committee session1700 Committee report1800 Adjourn


42

MCAOMCAO

RTC benchmark and studiesRTC benchmark and studies

• VSS4 benchmark: – linux installed– Benchmark in progress. First results presented by Les

Saddlemyer – HIA

• tOSC study: – Investigate how VME/PCI architectures based on SHARC,

PowerPC G4 processors associated with floating point/fixed point processing will fully conform the MCAO requirements.

– Draft report delivered for the PDR and results presented now by Steve Brown

• SHAKTIWARE study (Joint funding Gemini and ESO):– Investigate the different processors (DSP, PPC and FGPA) as

well as COTS boards which will fully meet the MCAO requirements

– Final report delivered for the PDR and results presented now by Didier Rabaud

MCAO MCAO Control System Corinne Boyer. MCAO May 24-25, 2001MCAO Preliminary Design Review2 Changes...

Documents

Transcript of MCAO MCAO Control System Corinne Boyer. MCAO May 24-25, 2001MCAO Preliminary Design Review2 Changes...