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Advanced Servo System Design: Enhancing Velocity Control and Disturbance Rejection

DESCRIPTION

This document discusses the proposed design of a sophisticated servo system that meets stringent resolution requirements. Key topics include the selection of appropriate resolution encoders, velocity configurations, and PID tuning values. The analysis also covers wind loading tests, open and closed-loop responses, and mechanical modeling using MATLAB for 5-DOF and 6-DOF systems. Additional considerations involve the impact of disturbance rejection strategies and quantization effects. The paper aims to provide insights into optimizing servo system performance under various operational conditions.

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Advanced Servo System Design: Enhancing Velocity Control and Disturbance Rejection

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Presentation Transcript

  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

  13. 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

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