RE<C: Pitch/Roll Heliostat Control System Design
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چکیده
1. Overview 2. Design Requirements 3. Alternative Approaches 4. Coordinate Systems and Direction Vectors 4.1. Coordinate Systems 4.2. Reflector Unit Vectors 4.3. Angular Rates and Angular Velocity of the Reflector 4.4. Sensor Data 5. Heliostat-to-Actuator Kinematics 5.1. From Mirror Angular Rates to Linear Actuator Rates 6. Rough Orientation Control 6.1. Orientation Control Specified with Angles 6.2. General Pointing Orientation Specification 6.3. Reflector Orientation Specification 6.4. Orientation Feedback Control Law 7. Heliostat-to-Light-Spot-Position Kinematics 7.1. Heliostat Angular Rates to On-Target Spot Speeds 7.2. Inverse Kinematics: From On-Target Spot Speeds to Linear Actuator Rates 8. On-Target Reflected Light Spot Position Control 8.1. Spot Position Feedback Control 8.2. Sun Motion Feed-Forward Control 8.3. Complete Reflected Light Spot Position Control Law 8.4. Control Strategy 9. Computational Optimization 9.1. Approximation to Transformation Matrix 10. Sensitivity Analysis 10.1. Residual Feedback Error due to Imprecise Heliostat Installation 10.2. Residual Feed-forward Error due to Imprecise Heliostat Installation 11. Conclusions 12. Further Work
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