The InfraRed Imaging Spectrograph (IRIS) is the first-light client instrument for the Narrow Field Infrared Adaptive Optics System (NFIRAOS) on the Thirty Meter Telescope (TMT). IRIS includes three natural guide star (NGS) On-Instrument Wavefront Sensors (OIWFS) to measure tip/tilt and focus errors in the instrument focal plane. NFIRAOS also has an internal natural guide star wavefront sensor, and IRIS and NFIRAOS must precisely coordinate the motions of their wavefront sensor positioners to track the locations of NGSs while the telescope is dithering (offsetting the telescope to cover more area), to avoid a costly re-acquisition time penalty. First, we present an overview of the sequencing strategy for all of the involved subsystems. We then predict the motion of the telescope during dithers based on finite-element models provided by TMT, and finally analyze latency and jitter issues affecting the propagation of position demands from the telescope control system to individual motor controllers.
KEYWORDS: Telescopes, Optical instrument design, Computer aided design, Mirrors, Electroluminescence, Control systems design, Control systems, Earthquakes, Safety, Thirty Meter Telescope
We present an overview of the preliminary design of the Telescope Structure System (STR) of Thirty Meter Telescope (TMT). NAOJ was given responsibility for the TMT STR in early 2012 and engaged Mitsubishi Electric Corporation (MELCO) to take over the preliminary design work. MELCO performed a comprehensive preliminary design study in 2012 and 2013 and the design successfully passed its Preliminary Design Review (PDR) in November 2013 and April 2014. Design optimizations were pursued to better meet the design requirements and improvements were made in the designs of many of the telescope subsystems as follows: 1. 6-legged Top End configuration to support secondary mirror (M2) in order to reduce deformation of the Top End and to keep the same 4% blockage of the full aperture as the previous STR design. 2. “Double Lower Tube” of the elevation (EL) structure to reduce the required stroke of the primary mirror (M1) actuators to compensate the primary mirror cell (M1 Cell) deformation caused during the EL angle change in accordance with the requirements. 3. M1 Segment Handling System (SHS) to be able to make removing and installing 10 Mirror Segment Assemblies per day safely and with ease over M1 area where access of personnel is extremely difficult. This requires semi-automatic sequence operation and a robotic Segment Lifting Fixture (SLF) designed based on the Compliance Control System, developed for controlling industrial robots, with a mechanism to enable precise control within the six degrees of freedom of position control. 4. CO2 snow cleaning system to clean M1 every few weeks that is similar to the mechanical system that has been used at Subaru Telescope. 5. Seismic isolation and restraint systems with respect to safety; the maximum acceleration allowed for M1, M2, tertiary mirror (M3), LGSF, and science instruments in 1,000 year return period earthquakes are defined in the requirements. The Seismic requirements apply to any EL angle, regardless of the operational status of Hydro Static Bearing (HSB) system and stow lock pins. In order to find a practical solution, design optimization study for seismic risk mitigation was carried out extensively, including the performing of dynamic response analyses of the STR system under the time dependent acceleration profile of seven major earthquakes. The work is now moving to the final design phase from April 2014 for two years.
The Thirty Meter Telescope primary mirror is composed of 492 segments that are controlled to high precision in the presence of wind and vibration disturbances, despite the interaction with structural dynamics. The higher bandwidth and larger number of segments compared with the Keck telescopes requires greater attention to modeling to ensure success. We focus here on the development and validation of a suite of quasi-static and dynamic modeling tools required to support the design process, including robustness verification, performance estimation, and requirements flowdown. Models are used to predict the dynamic response due to wind and vibration disturbances, estimate achievable bandwidth in the presence of control-structure-interaction (CSI) and uncertainty in the interaction matrix, and simulate and analyze control algorithms and strategies, e.g. for control of focus-mode, and sensor calibration. Representative results illustrate TMT performance scaling with parameters, but the emphasis is on the modeling framework itself.
Finite element models (FEMs) are being used extensively in the design of the Thirty Meter Telescope (TMT). One such
use is in the design and analysis of the Primary Segment Assembly (PSA). Each PSA supports one primary mirror
segment on the mirror cell, as well as three actuators, which are used to control three degrees of freedom - tip, tilt, and
piston - of the mirror segment. The dynamic response of the PSA is important for two reasons: it affects the response
of the mirror to fluctuating wind forces, and high-Q modes limit the bandwidth of the control loops which drive the
actuators, and impact vibration transmissivity, thereby degrading image quality. We have completed a series of tests on
a prototype PSA, in which the dynamic response was tested. We report on the test methods used to measure the dynamic
response of the PSA alone and with candidate actuators installed, and we present comparisons between the measured
response and FEM predictions. There is good agreement between FEM predictions and measured response over the
frequency range within which the dynamic response is critical to control system design.
The Thirty Meter Telescope has 492 primary mirror segments, each incorporated into a Primary Segment Assembly
(PSA), each of which in turn has three actuators that control piston, tip, and tilt, for a total of 1476 actuators. Each
actuator has a servo loop that controls small motions (nanometers) and large motions (millimeters). Candidate actuators
were designed and tested that fall into the categories of "hard" and "soft," depending on the offload spring stiffness
relative to the PSA structural stiffness. Dynamics models for each type of actuator are presented, which respectively use
piezo-electric transducers and voice coils. Servo design and analysis are presented that include assessments of stability,
performance, robustness, and control structure interaction. The analysis is presented for a single PSA on a rigid base, and
then using Zernike approximations the analysis is repeated for 492 mirror segments on a flexible mirror cell. Servo
requirements include low-frequency stiffness, needed for wind rejection; reduced control structure interaction, specified
by a bound on the sensitivity function; and mid-frequency damping, needed to reduce vibration transmission. The last of
these requirements, vibration reduction, was found to be an important distinguishing characteristic for actuator selection.
Hard actuators have little inherent damping, which is improved using PZT shunt circuits and force feedback, but still
these improvements were found to result in less damping than is provided by the soft actuator. Results of the servo
analysis were used for an actuator down-select study.
We evaluate how well the performance of the Thirty Meter Telescope (TMT) can be maintained against thermally
induced errors during a night of observation. We first demonstrate that using look-up-table style correction for
TMT thermal errors is unlikely to meet the required optical performance specifications. Therefore, we primarily
investigate the use of a Shack-Hartmann Wavefront Sensor (SH WFS) to sense and correct the low spatial
frequency errors induced by the dynamic thermal environment. Given a basic SH WFS design, we position
single or multiple sensors within the telescope field of view and assess telescope performance using the JPL
optical ray tracing tool MACOS for wavefront simulation. Performance for each error source, wavefront sensing
configuration, and control scheme is evaluated using wavefront error, plate scale, pupil motion, pointing error,
and the Point Source Sensitivity (PSSN) as metrics. This study provides insight into optimizing the active optics
control methodology for TMT in conjunction with the Alignment and Phasing System (APS) and primary mirror
control system (M1CS).
This paper presents refinements to the design of the TMT primary mirror segment passive-support system that are
effective in reducing gravity print-through and thermal distortion effects. First, a novel analytical method is presented
for tuning the axial and lateral support systems in a manner that results in improved optical performance when subject to
varying gravity fields. The method utilizes counterweights attached to the whiffletrees to cancel astigmatic and comatic
errors normally resulting when the lateral support system resists transverse loads induced by gravity. Secondly, several
central diaphragm designs are presented and analyzed to assess lateral-gravity and thermal distortion performance: 1) a
simple flat diaphragm, 2) a stress-relieving diaphragm having a slotted outer rim and a circumferential convolution near
the outside diameter, and 3) a flat diaphragm having a slotted outer rim. The latter design is chosen based on results from
analytical studies which show it to have better overall optical performance in the presence of gravity and thermal
environments.
KEYWORDS: Observatories, Software development, Telescopes, Control systems, Telecommunications, Computer architecture, Adaptive optics, Data modeling, Data communications, Thirty Meter Telescope
The Thirty Meter Telescope (TMT) will be a ground-based, 30-m optical-IR alt-az telescope with a highly segmented
primary mirror located in a remote location. Efficient science operations require the asynchronous coordination of many
different sub-systems including telescope mount, three independent active optics sub-systems, adaptive optics, laser
guide stars, and user-configured science instrument. An important high-level requirement is target acquisition and
observatory system configuration must be completed in less than 5 minutes (or 10 minutes if moving to a new
instrument). To meet this coordination challenge and target acquisition time requirement, a distributed software
architecture is envisioned consisting of software components linked by a service-based software communications
backbone. A master sequencer coordinates the activities of mid-layer sequencers for the telescope, adaptive optics, and
selected instrument. In turn, these mid-layer sequencers coordinate the activities of groups of sub-systems. In this paper,
TMT observatory requirements are presented in more detail, followed by a description of the design reference software
architecture and a discussion of preliminary implementation strategies.
The TMT mount control system provides telescope pointing and tracking. Requirements include wind disturbance
rejection, offsetting time and accuracy, control system robustness, and the magnitude of response at structural
resonances. A finite element model of the complete telescope has been developed and the transfer functions used for the
control designs are presented. Wind disturbance, encoder, and
wave-front-sensor models are presented that are used for
the control design. A performance analysis translates the requirements to a required bandwidth. Achieving this
bandwidth is important for reducing telescope image motion due to wind-buffeting. A mount control design is presented
that meets the demanding requirements by maximizing low frequency gain and using structural filters to roll-off
structural modes. The control system analysis includes an outer guide loop using a wave front sensor. Offsetting time
and accuracy requirements are satisfied using feed-forward control architecture.
The out-of-plane degrees of freedom (piston, tip, and tilt) of each of the 492 segments in the Thirty Meter Telescope
primary mirror will be actively controlled using three actuators per segment and two edge sensors along each intersegment
gap. We address two important topics for this system: edge sensor design, and the correction of fabrication and
installation errors.
The primary mirror segments are passively constrained in the three lateral degrees of freedom. We evaluate the segment
lateral motions due to the changing gravity vector and temperature, using site temperature and wind data, thermal
modeling, and finite-element analysis.
Sensor fabrication and installation errors combined with these lateral motions will induce errors in the sensor readings.
We evaluate these errors for a capacitive sensor design as a function of dihedral angle sensitivity. We also describe
operational scenarios for using the Alignment and Phasing System to correct the sensor readings for errors associated
with fabrication and installation.
KEYWORDS: Telescopes, Optical instrument design, Control systems, Structural design, Safety, Control systems design, Finite element methods, Space telescopes, Earthquakes, Thirty Meter Telescope
The Thirty Meter Telescope (TMT) project has revised the reference optical configuration from an Aplanatic Gregorian
to a Ritchey-Chrétien design. This paper describes the revised telescope structural design and outlines the design
methodology for achieving the dynamic performance requirements derived from the image jitter error budget. The usage
of transfer function tools which incorporate the telescope structure system dynamic characteristics and the control
system properties is described along with the optimization process for the integrated system. Progress on the structural
design for seismic considerations is presented. Moreover, mechanical design progress on the mount control system
hardware such as the hydrostatic bearings and drive motors, cable wraps and safety system hardware such as brakes and
absorbers are also presented.
KEYWORDS: Mirrors, Actuators, Control systems, Finite element methods, Sensors, Telescopes, Control systems design, Phase modulation, Mirror structures, Thirty Meter Telescope
The primary mirror control system (M1CS) stabilizes the 492 segments of the Thirty Meter Telescope primary mirror in
the presence of disturbances. Each Primary Segment Assembly (PSA) has three actuators and position sensors that
control the piston, tip, and tilt of the mirror segment. Requirements for the PSA position controller are presented, with
the main requirements being 10 Newton per micron stiffness below one Hertz, where wind is the primary disturbance.
Bandwidths of the PSA position controller of about twenty Hertz, assuming a soft actuator, are needed to meet this
requirement. A finite element model of the PSA was developed and used for a preliminary control design. PSA structural
modes at 40, 90, and 120 impact the control design. We have studied control designs with different actuators, sensors,
and structural filters in order to assess disturbance rejection properties and interactions with the PSA structural modes.
The performance requirements are achieved using voice coil actuators with modal control architecture for piston, tip, and
tilt. Force interactions with the underlying mirror cell are important, and we present the status of our studies of the
control structure interaction effect (CSIE). A related paper presents further analysis of the CSIE and MICS global
position control loop.
The primary mirror control system (M1CS) keeps the 492 segments of the Thirty Meter Telescope primary
mirror aligned in the presence of disturbances. A global position control loop uses feedback from inter-segment
edge sensors to three actuators behind each segment that control segment piston, tip and tilt. If soft force
actuators are used (e.g. voice-coil), then in addition to the global position loop there will be a local servo loop to
provide stiffness. While the M1 control system at Keck compensates only for slow disturbances such as gravity
and thermal variations, the M1CS for TMT will need to provide some compensation for higher frequency wind
disturbances in order to meet stringent error budget targets. An analysis of expected high-wavenumber wind
forces on M1 suggests that a 1Hz control bandwidth is required for the global feedback of segment edge-sensorbased
position information in order to minimize high spatial frequency segment response for both seeing-limited
and adaptive optics performance. A much higher bandwidth is required from the local servo loop to provide
adequate stiffness to wind or acoustic disturbances. A related paper presents the control designs for the local
actuator servo loops. The disturbance rejection requirements would not be difficult to achieve for a single
segment, but the structural coupling between segments mounted on a flexible mirror cell results in controlstructure
interaction (CSI) that limits the achievable bandwidth. Using a combination of simplified modeling
to build intuition and the full telescope finite element model for verification, we present designs and analysis
for both the local servo loop and global loop demonstrating sufficient bandwidth and resulting wind-disturbance
rejection despite the presence of CSI.
This paper describes the studies performed to establish a baseline conceptual design of the Segment Support Assembly
(SSA) for the Thirty Meter Telescope (TMT) primary mirror. The SSA uses a combination of mechanical whiffletrees
for axial support, a central diaphragm for lateral support, and a whiffletree-based remote-controlled warping harness for
surface figure corrections. Axial support whiffletrees are numerically optimized to minimize the resulting gravityinduced
deformation. Although a classical central diaphragm solution was eventually adopted, several lateral support
concepts are considered. Warping harness systems are analyzed and optimized for their effectiveness at correcting
second and third order optical aberrations. Thermal deformations of the optical surface are systematically analyzed
using finite element analysis. Worst-case performance of the complete system as a result of gravity loading and
temperature variations is analyzed as a function of zenith angle using an integrated finite element model.
KEYWORDS: Mirrors, Actuators, Telescopes, Active optics, Control systems, Computer programming, Systems modeling, Adaptive optics, Monochromatic aberrations, Thirty Meter Telescope
The Thirty Meter Telescope (TMT) project is a partnership between ACURA, AURA, Caltech, and the University of California. The design calls for a 3.6 m diameter secondary mirror and an elliptical tertiary mirror measuring more than 4 m along its major axis. Each mirror will weigh more than two metric tons and must be articulated to compensate for deformation of the telescope structure. The support and control of these "smaller optics" pose significant challenges for
the designers. We present conceptual designs for active and passive figure control and articulation of these optics.
The Thirty Meter Telescope (TMT) is a collaborative project between the California Institute of Technology (CIT), the University of California (UC), the Association of Universities for Research in Astronomy (AURA) and the Association of Canadian Universities for Research in Astronomy (ACURA). Current activity is focused on the design and development phase (DDP) of all systems. For the TMT to achieve seeing and diffraction limited performance, the telescope-related software systems will have to work in concert to precisely control all 738 primary mirror (M1) segments along with the active secondary mirror (M2) and an articulated tertiary mirror (M3). In this paper we discuss the conceptual design of the software control systems for these surfaces and their integration into a cohesive whole.
The Thirty Meter Telescope (TMT) project is a partnership between ACURA, AURA, Caltech, and the University of
California. The Telescope Control System (TCS) for TMT is comprised of many subsystems. The TCS Supervisory
Controller is responsible for pointing the telescope via an embedded pointing kernel, sequencing commands to the
telescope systems, responding to errors and alarms and interacting with the telescope safety system. This paper describes
the conceptual design for the Supervisory Controller and addresses the integration with the other TMT software systems.
The requirements are discussed in terms of producing a functional, usable, safe, reliable and maintainable system.
KEYWORDS: Actuators, Mirrors, Control systems, Telescopes, Prototyping, Electronics, Position sensors, James Webb Space Telescope, Astronomy, Thirty Meter Telescope
The Thirty Meter Telescope (TMT) is a collaborative project between the California Institute of Technology (CIT), the University of California (UC), the Association of Universities for Research in Astronomy (AURA), and the Association of Canadian Universities for Research in Astronomy (ACURA).
In order for the Thirty Meter Telescope (TMT) to achieve the required optical performance, each of its 738 primary mirror segments must be positioned relative to adjacent segments with nanometer-level accuracy. Three in plane degrees of freedom are controlled via a passive Segment Support Assembly which is described in another paper presented at this conference (paper 6273-45). The remaining three out of plane degrees of freedom, tip, tilt, and piston, are controlled via three actuators for each segment. Because of its size and the shear number of actuators, TMT will require an actuator design, departing from that used on the Keck telescopes, its successful predecessor. Sensitivity to wind loads and structural vibrations, the large dynamic range, low operating power, and extremely reliable operation, all achieved at an affordable unit cost, are the most demanding design requirements. This paper describes a concept that successfully meets the TMT requirements, along with analysis and performance predictions. The actuator concept is based on a prototype actuator developed for the California Extremely Large Telescope (CELT) project. It relies on techniques that achieve the required accuracy while providing a substantial amount of vibration attenuation and damping. A development plan consisting of a series of prototype actuators is envisioned to verify cost, reliability, and performance before mass production is initiated. The first prototype (P1) of this development plan is now being built and should complete initial testing by the end of 2nd QTR 06.
The adaptive optics system design for the W. M. Keck Telescope incorporates over twenty tracking and movable stages on the optical bench. This paper presents a commercial solution for controlling and positioning these stages. It describes the hardware system and the EPICS software interface used to communicate with the off the shelf hardware controllers. It touches on the positional accuracy and repeatability requirements and the selection of hardware to meet those requirements. It examines the cost and packaging issues and tradeoffs between developing custom hardware and software versus commercially available equipment. A method of synchronizing the stages to absolute time for telescope tracking is also presented.
The servo design and model of the W. M. Keck telescopes autoguider is presented. Telescope servo models often do not include the guider loop and therefore do not take advantage of traditional control analysis and test techniques to improve performance. Guide camera dynamics, computational and transport lags, and compensation networks are discussed. A means of measuring the actual frequency response characteristics of the guide loop is presented and the results are compared to those predicted by the model. Guide performance as a function of integration time is illustrated. An improved compensation network is developed and its performance examined.
The achieved pointing and tracking performance of the telescope is presented and compared with the Keck goals. The implications of the current performance on observing are discussed, and planned remedies for deficiencies in pointing and tracking are proposed.
The azimuth and elevation sources of the W.M. Keck Telescope have been designed to meet stringent tracking, offsetting, and slewing requirements. The requirements and the achieved performance are presented. The feedback architecture of the position and rate loops is described. The analysis includes an identification of the telescope structure via frequency sweep test signals. The identified model is compared with the single resonance model used in the preliminary design. As expected there are numerous additional resonances, and the effects of these on performance and stability are discussed. The autoguider loop is also discussed. Shortcomings are noted and ideas for improved performance are examined.
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