MockPlant

class lsst.ts.m2com.MockPlant(static_transfer_matrix: ndarray[Any, dtype[float64]], inclinometer_angle: float)

Bases: object

Mock plant model to simulate the actuator’s force feedback.

Parameters

static_transfer_matrixnumpy.ndarray

Static transfer matrix used to simulate the delta force from the change of steps. This is a 78 x 78 matrix. The unit of row is the Newton and the unit of column is the actuator’s step.

inclinometer_anglefloat

Inclinometer angle in degree.

Attributes

actuator_stepsnumpy.ndarray [int]

Current positions of the actuator in steps referenced to the home position.

Attributes Summary

STEP_TO_MM

Methods Summary

get_actuator_forces()	Get the actuator forces.
get_actuator_positions()	Get the actuator positions in millimeter.
move_actuator_steps(actuator_steps)	Move the actuator steps.
reset_actuator_steps()	Reset the actuator steps.
update_actuator_force_weight(inclinometer_angle)	Update the component of actuator's force according to the mirror's weight.

Attributes Documentation

STEP_TO_MM = 1.9967536601e-05

Methods Documentation

get_actuator_forces() → ndarray[Any, dtype[float64]]

Get the actuator forces.

Returns

numpy.ndarray

Actuator forces in Newton.

get_actuator_positions() → ndarray[Any, dtype[float64]]

Get the actuator positions in millimeter.

Returns

numpy.ndarray

Actuator positions in millimeter.

move_actuator_steps(actuator_steps: ndarray[Any, dtype[int64]]) → None

Move the actuator steps.

Notes

This function is translated from vendor’s original LabVIEW code: “Steps to Force.vi” in ts_mtm2_cell. The static transfer matrix is used to simlulate the force change of actuator’s movement.

Parameters

actuator_stepsnumpy.ndarray [int]

78 actuator steps.

Raises

ValueError

When the length of actuators does not match.

ValueError

When the data type is not integer.

reset_actuator_steps() → None

Reset the actuator steps.

update_actuator_force_weight(inclinometer_angle: float) → None

Update the component of actuator’s force according to the mirror’s weight.

Parameters

inclinometer_anglefloat

Inclinometer angle in degree.