1. TCS3 Servo System Proposed Design

2. Why Model? Meet Resolution Requirements What Resolution Encoder to use? Velocity Configuration PID Values Wind Loading Tests

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

4. JPL System

5. JPL Step

6. JPL Track

7. 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

8. JPL 5 DOF Mechanical Model

9. Matlab 5 DOF Mechanical Model

10. IRTF 6 DOF Mechanical Model

11. Matlab 6 DOF Mechanical Model

12. Wind Loading Calculations

14. Matlab Model for Wind Disturbances

15. Mechanical Model Simulation

16. Present System

17. Present Tachometer Loop

18. Present Step

19. Present Track

20. Present Track with Wind

21. Present System Response Testing

22. Present Open Loop

23. Present Closed Loop

24. HA 15srcsec/sec Track

25. Dec 15 arcsec/sec Track

26. HA 600 arcsec Offset

27. HA 1200 arcsec Offset

28. Dec 1200 arcsec Offset

29. HA Slew

30. Dec Slew

31. Proposed System vs. Present Delta Tau PMAC Configuration for PID Use present Tachometer Loop Adjust C4 gain for 16 bit DAC

32. Proposed System

33. Proposed Tachometer Loop

34. Proposed Step 8P

35. Proposed Step 35P

36. Proposed Step 50P

37. Proposed Step 100P

38. Proposed Track with Wind 8P

39. Proposed Track with Wind 35P

40. Proposed Track with Wind 50P

41. Proposed Track with Wind 100P

42. Proposed Track without Wind 50P

43. Proposed Negative Track without Wind 50P

44. Proposed Track without Disturbance Rejection

45. Proposed System Response Testing

46. Proposed Open Loop

47. Proposed Closed Loop

48. Proposed System Sweep Testing

49. Proposed System Sweep

50. 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) 0.2600.1300.0320.0210.0230.024 Present System (step – no wind) 0.2090.0900.0270.0290.0270.029 Present System (track – wind) 0.3190.2170.1600.1560.1530.152 Present System (step – wind) 0.3310.2250.1660.1580.161 Proposed System (track – no wind) 0.2600.1330.0370.0300.0260.027 Proposed System (step - no wind) 0.1000.0760.0310.0210.0120.008 Proposed System (track – wind) 0.2580.1500.0910.088 Proposed System (step - wind) 0.2320.1650.0920.0900.0890.088

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