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Figure 6
Simplified control implementation diagram for the integration of the HD-DCM running on NI's cRIO, with four control loops for the Bragg angle (BRG) and crystal cage (CCG, with GAP, PTC and RLL) position control, and an APU source running on a third-party controller, with one control loop for the phase. Reference r and metrology y signals are represented, together with controllers C, plants P, and functions f for coordinated motion. As detailed in the text, motion setpoint updating depends on structures for input selection (SEL) and operation modes (OPN), including trajectory generation on demand (TRG), stored trajectory files (TRF) and motion estimators (χUND and χBRG). Complementary real-time performance estimators can be computed for energy tuning (χENG) and virtual source vertical position (χVSV). Integration with EPICS is represented by the process variables (PVs). Colors are given to differentiate the APU from the HD-DCM domains, and the control blocks from data blocks (related trajectories or PVs), and from the estimators.

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