TCS3 Servo System Proposed Design. Why Model? Meet Resolution Requirements What Resolution Encoder to use? Velocity Configuration PID Values Wind Loading.

Slides:

Advertisements

Similar presentations

ADVANCED MOTION CONTROL First and Second Order Motion by Peter Nachtwey.

Advertisements

CHE 185 – PROCESS CONTROL AND DYNAMICS

TCS3 Conceptual Design Review 1 Aug 21, 2003 TCS3 Project Replacement of the Telescope Control System for the IRTF Conceptual Design Review Aug 2003.

Sensors Interfacing.

CHE 185 – PROCESS CONTROL AND DYNAMICS

Negative vs. positive feedback What is the difference? Consider what happens when there is a perturbation Positive feedback drives op amp into saturation:

TCS3 Servo Design Review - Software VTCS ModesRTCS ModesPMAC notesComments Idle OpenServo Brakes Locked Amp Disabled Track Jog or PVT (Jog preferred) Target.

11/29/07 1 TCS November Presentation Telescope Control System (TCS) Modeling & Analysis Update Eric Warmbier.

LINEAR CONTROL SYSTEMS Ali Karimpour Assistant Professor Ferdowsi University of Mashhad.

Design of a Control Workstation for Controller Algorithm Testing Aaron Mahaffey Dave Tastsides Dr. Dempsey.

The Mechatronics Design Lab Course at the University of Calgary Presented June 2, 2003.

Modeling, Simulation, and Control of a Real System Robert Throne Electrical and Computer Engineering Rose-Hulman Institute of Technology.

IRTF TCS Servo concepts I Peter Onaka Note: this is a compilation of information blatantly copied from multiple sources. 11/4/03.

DC motor model ETEC6419. Motors of Models There are many different models of DC motors that use differential equations. During this set of slides we will.

1 CBE 491 / Oct 12 Model of Stirred Tank Heater Goal: set up models to simulate and see effect of tuning parameters 1 st principles (Chaps 3 – 6);

Controlling a 3D Vehicle with Simulink Jeff Bender ME

DOUBLE ARM JUGGLING SYSTEM Progress Presentation ECSE-4962 Control Systems Design Group Members: John Kua Trinell Ball Linda Rivera.

M. Zareinejad 1. 2 Outline # Sensors –––– Sensor types Sensor examples #Actuators Actuator types Actuator examples ––––

A Mathematical Analysis of a Sun Tracking Circuit for Photovoltaic Systems Dr. S. Louvros and Prof. S. Kaplanis T.E.I. of Patra, Greece.

Power PMAC Electronic Cam Tables April 2014

Motion Control. Two-Link Planar Robot Determine Kp and Kv and Tv.

Model Reference Adaptive Control Survey of Control Systems (MEM 800)

Analog to Digital conversion. Introduction  The process of converting an analog signal into an equivalent digital signal is known as Analog to Digital.

DELTA TAU Data Systems, Inc. 1 UMAC TurboTurbo PMAC PCIGeo Drive Single Source Machine Control motion logic data Power PMAC Encoder Conversion Table January.

Disturbance Rejection: Final Presentation Group 2: Nick Fronzo Phil Gaudet Sean Senical Justin Turnier.

Chapter 6 Position and Speed Regulation in DC Servomechanism § 6.1 DC Servo System § 6.2 Servo Components § 6.3 Component Model § 6.4 System Control.

HARDWARE INTERFACE FOR A 3-DOF SURGICAL ROBOT ARM Ahmet Atasoy 1, Mehmed Ozkan 2, Duygun Erol Barkana 3 1 Institute of Biomedical Engineering, Bogazici.

Controller Design (to determine controller settings for P, PI or PID controllers) Based on Transient Response Criteria Chapter 12.

ME 335 Boğaziçi University A Study on Motor Speed Control.

Controls. Given a set of desired Tool frame positions and orientations (that trace out a path over time, t ), there will be a corresponding required set.

Banc d’(Bench) Essais pour(Tests for) Régulateurs(Regulators) Turbines et(Turbines) Alternateurs(Alternators)

PID Controller Design and

Final Project ME 270 NASA CDSL 6-DOF Platform Jesse Kaneko.

Observer-Based Robot Arm Control System Nick Vogel, Ron Gayles, Alex Certa Advised by: Dr. Gary Dempsey.

PID. The proportional term produces an output value that is proportional to the current error value. Kp, called the proportional gain constant.

Final Exam M.Eng. Amjad Elshenawy RTECS Gc(s)Gc(s) Gc(s)Gc(s) Controller   n sensor noise  w load disturbance  Gp(s)Gp(s) Gp(s)Gp(s) Plant.

Control systems KON-C2004 Mechatronics Basics Tapio Lantela, Nov 5th, 2015.

Design and Implementation of a High-Performance PMLSM Drives Using DSP Chip Student : Le Thi Van Anh Advisor : Ying-Shieh Kung IEEE TRANSACTIONS ON INDUSTRIAL.

B. Caron, G. Balik, L. Brunetti LAViSta Team LAPP-IN2P3-CNRS, Université de Savoie, Annecy, France & SYMME-POLYTECH Annecy-Chambéry, Université de Savoie,

Digital Control CSE 421.

XMP Single Axis Tuning PIV September Single Axis MOCON 2.

M. Zareinejad 1. 2 Outline # Sensors –––– Sensor types Sensor examples #Actuators Actuator types Actuator examples ––––

Disturbance rejection control method

Diagnostics and Optimization Procedures for Beamline Control at BESSY A. Balzer, P. Bischoff, R. Follath, D. Herrendörfer, G. Reichardt, P. Stange.

Delta Modulation Professor: Dr. Miguel Alonso Jr..

ChE 433 DPCL Model Based Control Smith Predictors.

Software Troubleshooting Eliminate possible programming and timing errors by stopping all programs ( and ). Use the Executive program terminal and send.

DVAC PROGRESS OFFSET GREGORIAN DISH (DVAC-1) 郑元鹏 (Yuanpeng Zheng ) Joint Lab. for Radio Astronomy and Technology MAY 29, 2012.

4m. Blanco TCS Upgrade: Signals and Interfaces

Yimin Zhou, Hongyu Wang, Ling Tian and Ce Zhu

Digital Control CSE 421.

Automatic control systems III

Control Systems EE 4314 Lecture 12 March 17, 2015

WORKSHOP 7 PID TUNING.

Servo Motor Drive Velocity Tracking

4m. Blanco TCS Upgrade: Signals and Interfaces

Problem Homework-04 In the control system shown in the figure Gp and Gc are given as Gp(s)=(2s+3)/(s3+6s2-28s) and Gc=K. a)

Oversampling A/D Conversion

Metrology Improves Pointing at 12m ALMA Telescopes

IRTF TCS Servo concepts I

Quanser Rotary Family Experiments

محاسبات عددی و برنامه نویسی

HOMEWORK-04 Problem In a closed loop control system shown in the figure, the process transfer function is Gp(s)=(2s+3)/(s3+6s2-28s) and Gc=K. a)

Repeating Behaviors.

Application of Vehicle Controls ME5670

Example 2-2: Multi-DOF mechanical systems

Generating Block Diagrams

Find the closed-loop transfer function in terms of Gİ.

PID Controller Design and

Problem Homework-04 In the control system shown in the figure Gp and Gc are given as Gp(s)=(2s+3)/(s3+6s2-28s) and Gc=K. a)

Presentation transcript:

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

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

Present Tachometer Loop

Present Step

Present Track

Present Track with Wind

Present System Response Testing

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

Proposed Tachometer Loop

Proposed Step 8P

Proposed Step 35P

Proposed Step 50P

Proposed Step 100P

Proposed Track with Wind 8P

Proposed Track with Wind 35P

Proposed Track with Wind 50P

Proposed Track with Wind 100P

Proposed Track without Wind 50P

Proposed Negative Track without Wind 50P

Proposed Track without Disturbance Rejection

Proposed System Response Testing

Proposed Open Loop

Proposed Closed Loop

Proposed System Sweep Testing

Proposed System Sweep

Encoder Resolution Encoder Resolution 1 arcsec 0.5 arcsec 0.1 arcsec 0.05 arcsec 0.02 arcsec 0.01 arcsec Present System (track – no wind) Present System (step – no wind) Present System (track – wind) Present System (step – wind) Proposed System (track – no wind) Proposed System (step - no wind) Proposed System (track – wind) Proposed System (step - wind)

Conclusion PMAC will meet 0.1 arcsec resolution requirement Present Encoder will meet resolution requirement Present Tachometer loop is necessary Starting PID Values