New Focus 8783 GuideStar, Руководство пользователя

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25
5
Principles of Operation
5.1
GuideStar II Algorithm Theory
The control algorithm moves each Motor one at a time in accordance to the Lock
Equation derived from the Inverse Movement Matrix, the difference between the
current beam positions and the target beam positions and the gain coefficient.
Above is the equation that would drive the beam all the way to the target in a
single step. However, because of the nonlinearities in the system this leads to
oscillation. Multiplying by a gain coefficient less than 1 leads to stable iterative
convergence to the target in multiple steps.

CAM1X

CAM1Y

CAM2X

CAM2Y

MM1X

MM1Y

MM2X

MM2Y
A
11
A
12
A
13
A
14
A
21
A
22
A
23
A
24
A
31
A
32
A
33
A
34
A
41
A
42
A
43
A
44
Movement Matrix A

CAM1X

CAM1Y

CAM2X

CAM2Y

MM1X

MM1Y

MM2X

MM2Y
A

MM1X

MM1Y

MM2X

MM2Y

CAM1X

CAM1Y

CAM2X

CAM2Y
A
-1

CAM1X

CAM1Y

CAM2X

CAM2Y

MM1X

MM1Y

MM2X

MM2Y
A
11
A
12
A
13
A
14
A
21
A
22
A
23
A
24
A
31
A
32
A
33
A
34
A
41
A
42
A
43
A
44
Movement Matrix A

CAM1X

CAM1Y

CAM2X

CAM2Y

MM1X

MM1Y

MM2X

MM2Y
A

MM1X

MM1Y

MM2X

MM2Y

MM1X

MM1Y

MM2X

MM2Y

CAM1X

CAM1Y

CAM2X

CAM2Y

CAM1X

CAM1Y

CAM2X

CAM2Y
A
-1