NATIONAL RADIO ASTRONOMY OBSERVATORY - · PDF fileELECTRONICS DIVISION INTERNAL REPORT ......
Transcript of NATIONAL RADIO ASTRONOMY OBSERVATORY - · PDF fileELECTRONICS DIVISION INTERNAL REPORT ......
NATIONAL RADIO ASTRONOMY OBSERVATORY
GREEN BANK) WEST VIRGINIA
ELECTRONICS DIVISION INTERNAL REPORT No. 198
300-FOOT INDUCTOSYN READOUT SYSTEM
DWAYNE R. SCHIEBEL
MAY 1979
NUMBER OF COPIES: 150
300-FOOT INDUCTOSYN READOUT SYSTEM
Dwayne R. Schiebel
. Introduction
This report describes the electronics necessary to derive a binarynumber using the inductosyn readout system, present this data to theH316 computer, and provide a coarse readout independent of the com-puter.
. Programming
OCP 550 This is a system reset; output this command at initializa-tion and periodically while the program is running. Theprogram should wait 300 ms after this command is executed,before trying to read the inductosYn -
OCP 450 This command holds the inductosyn reading for 2 ms whilethe computer inputs the data
INA 1450 Execute this command to input the inductosyn data. Twodata words are required as shown below.
Bit .. 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
Word 1 0 2 3 22 21 2° 0 0 0 0 0 0 0 0 0 0 0
Word 2 21 9
218 217 216 215 214 213 212 2 11 210 2 9 2 8 27 2 6 2 5 24
This count is 0 to 37777778 for 360
0 rotation.
3. Inductosyn
"Inductosyn" is a registered trademark of Inductosyn Corporation for"electrical measurement apparatus". The inductosyn was developed byMr. C. L. Farrand, Sr., President of Farrand Controls, Inc.
Inductosyn's were first used at NRAO on the 140-ft telescope. Later weused inductosyns on the 45-ft telescope. Impressed by their reliabilityit was decided to buy an inductosyn for the 300-ft to replace the presentoptical encoders.
The inductosyn at the 300-ft is different in that the only parts of theinductosyn that we purchased from Farrand were the rotor and stator.The rest of the housing was designed and built by NRAO.
An inductosyn consists of two parts: inductosyn for a fine readout anda resolver for a coarse readout. The fine and coarse reading is com-bined in the electronics.
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4. Resolver to Digital Conversion
Three cards of logic are necessary to derive a coarse and fine binarynumber using the inductosyn and associated resolver. These threecards were designed by Ron Weimer and are identical to the ones usedon the 45-ft telescope. Two of these cards are the same except forsome jumper plugs. These plugs should remain with the card slot.These two cards will be referred to as digital cards.
The two digital cards are located in slots 8 and 10. Slot 10 con-tains the card used by the inductosyn and the other card is used bythe resolver. The two jumper plugs select frequency of operation andphasing. The phasing should be adjusted so that with the inductosynor resolver in "open loop" the error signal should be in phase withthe reference. Four test points are provided on the analog card forthis adjustment. This adjustment should only be necessary when chang-ing inductosyns.
The other card in this group is referred to as the analog card and islocated in slot 9. Both resolver and inductosyn use this card.
The operation of the resolver to digital conversion is quite compli-cated and I will not attempt to explain it in this report. A briefexplanation can be found in EDIR #149, page 8.
5. 300-ft Inductosyn Card
This card (built on a Shalloway card) combines the coarse and finebinary numbers from the resolver to digital converters to form a20-bit binary number. This number can be indexed for the properposition, then fed to the computer. This card also contains the logicto generate a coarse local readout independent of the computer.
The logic that combines the coarse and fine counts involves the useof adders located in chip locations 11F, 11E, 10E, 9B and 9A. The dipswitch in 11C positions 6, 7, and 8 are used to adjust the "crossover"between the coarse and fine count. This adjustment is made by settingthe display select switch to separate. The dip switches should be ad-justed such that the two middle digits in the display have a differenceof four.
Indexing is accomplished by the adders in chip locations 10A, 10B, 10C,10D and 11D. the dip switches in chip locations 11A, 11B and switches1, 2, 3, and 4 in 11C are opened or closed to obtain the proper posi-tion readout as displayed by the computer.
The logic on pages 2 and 3 of the "300-ft inductosyn card" is used forthe readout on the front panel. This logic enables the selection ofthree possible displays. The three displays that can be selected areseparate, combined and indexed. Separate is a display of coarse andfine independent of each other. Combined is a display of fine andcoarse added together. Indexed is a display of the combined numberwith an index number added to it.
5. 300-ft Inductosyn Card (continued).
Pages 4 and 5 contain the logic necessary to convert the indexed numberto degrees and tenths of degrees in BCD. The logic function on page 4is to generate two clocks. The binary clock is generated by dividing a2 MHz clock by 22510, and the BCD clock is generated by dividing by 25610.These two clocks perform the binary to degree conversion by countingdown the binary number while a BCD counter is incrementing. This count-ing process continues until the binary counter reaches zero. Thesecounters and a latch for the BCD number are located on page 5. Someshort time after the binary counter goes to zero a new number will beloaded in the binary count er , and the process starts over. Conversiontime depends on the magnitudes of the binary number.
6. Console Display Switch
When this system was originally designed it was planned to have twosystems, such as we had with the encoders. After installation of thefirst system it was decided that only one system with a spare inducto-syn was all that was necessary. This card therefore has some unneces-sary logic.
This card contains four single-pole double-throw switches whose func-tion was to switch between two inductosyn systems; this function isnow not necessary.
The logic that is necessary are the markers. A latch was provided forthe markers to help reduce the chatter of the dip relays when the posi-tion is on a transition point. Two markers are available -- one everyeven tenth of degree and one every ten degrees.
7. Balancing the Inductosyn
For optimum performance the drive to the inductosyn and resolver wind-ings must be balanced.
The balancing of the resolver is more straightforward so I will attemptto explain it first. The telescope will have to be moved 45° to bal-ance the resolver, so this should be kept in mind when positioning thetelescope as the following describes. First the display select switchmust be set to separate. The four digits to the left of the displayare the coarse numbers. Position the telescope such that you are ona transition edge of one of the following in the coarse display:
3777-0000 777-1000 1777-2000 2777-3000
When one of these points has been reached, record the fine reading(4 digits to the right). The telescope must now be moved 32 cyclesof fine (go through the fine number that was recorded 32 times).Stop on the same fine number the 32 nd time. The coarse number shouldbe 400 octal counts from the transition edge selected above. For
4
example, if the point chosen was 3777-0000 after 32 cycles of fine,it could be reading 377-400 or 3377-3400, depending on which direc-tion the telescope was moved. The resolver adjustment should beadjusted for this number.
The coarse balance of the inductosyn (fine readout system) should beperformed when changing inductosyn packages. The fine balance shouldbe checked when changing inductosyn packages or the fine digital card(J10). The fine balance procedure should be attempted on a fairlycalm day since wind can affect this procedure.
The coarse balance of the inductosyn requires the use of a digital ohmmeter. This meter should be used to read resistance between pins inslot 10 (card removed) as shown below:
J10-3 to J10-4 Fixed resistance.
J10-5 to J10-6 Adjust resistance equal to theresistance measured from J10-3to J10-4.
The fine balance of the inductosyn (fine readout) will require the useof a chart recorder with the capability to "buck off" 10 V DC. Thechart recorder should be connected to the output of the variable speeddrive D/A converter. The telescope will have to be doing wobbles at ahigh rate (we used 130 min/min). The gain of the chart recorder shouldbe such that the AC error component can be displayed. The chart record-ing should be examined for a periodicity to fit the formula:
42 =wobble rate (mm/mm) time between peaks in min.
If this period is evident, the balance will have to be adjusted slightly.Observe the chart record carefully for changes of phase, using the di-rection change edge as a reference point. If this periodicity is stillevident, but the phase has changed, the balance point was passed. Thisadjustment will probably require making a slight adjustment, then ob-serving several wobble cycles. When it is balanced, the AC error com-ponent will still be evident but it will not have a periodicity. Thiserror is affected by wind and telescope balance.
8. Credits
Credit should be given to the following people:
Ron Weimer for the design of the resolver to digital convertercards and the balancing procedure.
Engineering for the design of all the hardware for the inducto-syn housing and mounting the inductosyn to thetelescope.
Machine Shop for all the precision machine work necessary forthe inductosyn.
Jerry Turner for wiring the digital chassis for this project.
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