TCS3 Servo System Proposed Design. Why Model? Meet Resolution Requirements What Resolution Encoder...

TCS3 Servo System

Proposed Design

Why Model?

Meet Resolution Requirements What Resolution Encoder to use? Velocity Configuration PID Values Wind Loading Tests

Tests

10 arcsec Offset 15 arcsec/sec Track Open/Closed Loop Response Wind Loading Frequency Sweep

JPL System

torqueposition

v elocity

mechanical_system

s+alpha

s+beta

Transfer Fcn

Step1

Step

Ramp

Product

Mech

Manual Switch

1s

Integrator

206271

Gain9

206271

Gain8

-K-

Gain7

m

Gain6

kk1

Gain5

a1

Gain4

c3

Gain3

a2

Gain2

206271

Gain10

c4

Gain1

c1

Gain

ContinuousRMS

CRMS

|u|

Abs

JPL Step

JPL Track

Present System vs. JPL System

Added Transfer Functions Added Quantization Blocks Added Rate Limiter Dual Opposing Motor Mechanical Model Disturbance Rejection in Velocity loop Adjust C3 and C4 gains to reflect present

system components

JPL 5 DOF Mechanical Model

Matlab 5 DOF Mechanical Model

IRTF 6 DOF Mechanical Model

Matlab 6 DOF Mechanical Model

Wind Loading Calculations

Matlab Model for Wind Disturbances

Mechanical Model Simulation

Present System

0.488

42E- 3s+1

Tach Sum

Transfer

Velocity in

Torque in

Torque out

Tach Out

Tach Loop 2

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 1

0.84

Sum Gain1

1.2

Sum Gain

produced disturbance (wind) N*m

Subsystem

Step1

Step

Rate

Limit

Ramp Quantizer1

Product

Mech

Manual Switch

90E- 3s+1

3.5E- 6s +8E- 3s+12

Lead

Compensator1

Integrator

Limit

0.162s

1

Integrator

c4

Gain7

206271

Gain5

206271

Gain4

c4

Gain3

206271

Gain12

206271

Gain10

- K-

Gain

1.96

100E- 6s+1

Forward

Filter

Encoder

DAC

0.875

470E- 6s+1

Command

Filter Fcn

Continuous

RMS

CRMS

torque - a

torque - b

disturbance

position

velocity - a

velocity - b

2 motor mechanical system

Present Tachometer Loop

2

Tach Out

1

Torque out

3

660E- 6s+1

Sum Filter Positive2

0.215

220E- 6s+1

Input filter Fcn3

450E- 6s +99E- 3s2

59.4E- 9s +121.7E- 6s +48.7E- 3s+13 2

High pass

filter Fcn1

m

Gain6

kk1

Gain5

c3

Gain4

1.33

Gain

0.35

Constant

| u|

Abs

2

Velocity in

1

Torque in

Present Step

Present Track

Present Track with Wind

Present System Response Testing

0.488

42E- 3s+1

Tach Sum

Transfer

Velocity in

Torque in

Torque out

Tach Out

Tach Loop 2

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 1

0.84

Sum Gain1

1.2

Sum Gain

Step3

Step2

Step1

Spectrum

Analyzer2

Spectrum

Analyzer1

Rate

Limit

Pulse

Generator

Product2

Product1

Product

Mech

90E- 3s+1

3.5E- 6s +8E- 3s+12

Lead

Compensator1

Integrator

Limit

0.162s

1

Integrator

c4

Gain7

206271

Gain5

206271

Gain4

c4

Gain3

206271

Gain2

206271

Gain12

206271

Gain10

206271

Gain1

1.96

100E- 6s+1

Forward

Filter

Encoder

DAC

0

Constant

0.875

470E- 6s+1

Command

Filter Fcn

Continuous

RMS

CRMS

torque - a

torque - b

disturbance

position

velocity - a

velocity - b


Present Open Loop

Present Closed Loop

HA 15srcsec/sec Track

Dec 15 arcsec/sec Track

HA 600 arcsec Offset

HA 1200 arcsec Offset

Dec 1200 arcsec Offset

HA Slew

Dec Slew

Proposed System vs. Present

Delta Tau PMAC Configuration for PID Use present Tachometer Loop Adjust C4 gain for 16 bit DAC

Proposed System

NCD

OutPort 1

NCD_Outport1

0.488

42E- 3s+1

Tach Sum

Transfer

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 2

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 1

Step1

Step

Signal

Ramp

Product

Positive

Negative

Mech

Manual Switch

Ki

Gain9

Kp

Gain8

c4

Gain7

Kfv

Gain6

206271

Gain5

206271

Gain4

c4

Gain3

Kfa

Gain2

206271

Gain12

206271

Gain10

Kd

Gain1

- K-

Gain

Encoder

T

z- 1

Discrete- Time

Integrator

z- 1

z

Discrete

Transfer Fcn1

z - 2z+12

z 2

Discrete

Transfer Fcn

DAC1

DAC

z

1

Cycle Delay1

z

1

Cycle Delay

0

Constant2

0.35

Constant1

- 0.35

Constant

Continuous

RMS

CRMS

torque - a

torque - b

disturbance

position

velocity - a

velocity - b


double

double

double doubledouble

double

double

double

double

double

doubledouble

double

double

double

double

double

double

doubledouble

double

double

double

double double

double double

double

double

double

double double

double

double

double

double doubledouble

double

double

doubledoubledouble

double

double

double

Proposed Tachometer Loop

2

Tach Out

1

Torque out

1

660E- 6s+1

Sum Filter1

0.215

220E- 6s+1

Input filter Fcn3

450E- 6s +99E- 3s2

59.4E- 9s +121.7E- 6s +48.7E- 3s+13 2

High pass

filter Fcn1

m

Gain6

kk1

Gain5

c3

Gain4

| u|

Abs

2

Velocity in

1

Torque in

Proposed Step 8P

Proposed Step 35P

Proposed Step 50P

Proposed Step 100P

Proposed Track with Wind 8P

Proposed Track without Wind 50P

Proposed Negative Track without Wind 50P

Proposed Track without Disturbance Rejection

Proposed System Response Testing

0.488

42E- 3s+1

Tach Sum

Transfer

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 2

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 1

Step3

Step2

Step1

Spectrum

Analyzer2

Spectrum

Analyzer1

Signal

Pulse

Generator

Product2

Product1

Product

Positive

Negative

Mech

Ki

Gain9

Kp

Gain8

c4

Gain7

Kfv

Gain6

206271

Gain5

206271

Gain4

c4

Gain3

Kfa

Gain2

206271

Gain13

206271

Gain12

206271

Gain11

206271

Gain10

Kd

Gain1

Encoder

T

z- 1

Discrete- Time

Integrator

z- 1

z

Discrete

Transfer Fcn1

z - 2z+12

z 2

Discrete

Transfer Fcn

DAC1

DAC

z

1

Cycle Delay1

z

1

Cycle Delay

0

Constant2

0.35

Constant1

- 0.35

Constant

Continuous

RMS

CRMS

torque - a

torque - b

disturbance

position

velocity - a

velocity - b


double

double

double

double

double

double

double

doubledouble

double

double

double

double

double

double

doubledouble

double

double

double

double double

double double

double

double

double

double double

double

double

double

double doubledoubledouble

doubledoubledouble

double

double

double

double

double

double

double

double

double

double

Proposed Open Loop

Proposed Closed Loop

Proposed System Sweep Testing

NCD

OutPort 1

NCD_Outport1

0.488

42E- 3s+1

Tach Sum

Transfer

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 2

Torque in

Velocity in

Torque out

Tach Out

Tach Loop 1

0.1

Sum Gain2

Signal

Positive

Negative

Mech

Ki

Gain9

Kp

Gain8

206271

Gain5

206271

Gain4

c4

Gain3

206271

Gain12

Kd

Gain1

Encoder

T

z- 1

Discrete- Time

Integrator

DAC1

DAC

z

1

Cycle Delay1

z

1

Cycle Delay

0

Constant2

0.35

Constant1

- 0.35

Constant

Chirp Signal

Averaging

Spectrum

Analyzer

torque - a

torque - b

disturbance

position

velocity - a

velocity - b


Proposed System Sweep

Encoder ResolutionEncoderResolution

1arcsec

0.5arcsec

0.1arcsec

0.05arcsec

0.02arcsec

0.01arcsec

PresentSystem (track – no wind)

0.260 0.130 0.032 0.021 0.023 0.024

PresentSystem (step – no wind)

0.209 0.090 0.027 0.029 0.027 0.029

PresentSystem (track – wind)

0.319 0.217 0.160 0.156 0.153 0.152

PresentSystem (step – wind)

0.331 0.225 0.166 0.158 0.161 0.161

ProposedSystem (track – no wind)

0.260 0.133 0.037 0.030 0.026 0.027

ProposedSystem (step - no wind)

0.100 0.076 0.031 0.021 0.012 0.008

ProposedSystem (track – wind)

0.258 0.150 0.091 0.088 0.088 0.088

ProposedSystem (step - wind)

0.232 0.165 0.092 0.090 0.089 0.088

Conclusion

PMAC will meet 0.1 arcsec resolution requirement

Present Encoder will meet resolution requirement

Present Tachometer loop is necessary Starting PID Values

TCS3 Servo System Proposed Design. Why Model? Meet Resolution Requirements What Resolution Encoder...

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