198 - NRAO

Transcription

198 - NRAO
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 binary
number using the inductosyn readout system, present this data to the
H316 computer, and provide a coarse readout independent of the computer.
. Programming
This is a system reset; output this command at initializa-
OCP 550
tion and periodically while the program is running. The
program should wait 300 ms after this command is executed,
before trying to read the inductos Y n OCP 450
This command holds the inductosyn reading for 2 ms while
the computer inputs the data
INA 1450
Execute this command to input the inductosyn data. Two
data words are required as shown below.
Bit ..
1
Word 1 0
21 9
Word 2
13
10 11 12
0
0
0
0
0
0
0
2 2 21 2° 0
8
9
210
2
11
12
14
213
15
17
216
18
2
2
2 27
2
2
2
2
3
2
3
4
5
6
7
9
8
2
This count is 0 to 3777777
8
for 360
0
14
15 16
0
0
0
2 62 5 24
rotation.
3. Inductosyn
"Inductosyn" is a registered trademark of Inductosyn Corporation for
"electrical measurement apparatus". The inductosyn was developed by
Mr. C. L. Farrand, Sr., President of Farrand Controls, Inc.
Inductosyn's were first used at NRAO on the 140-ft telescope. Later we
used inductosyns on the 45-ft telescope. Impressed by their reliability
it was decided to buy an inductosyn for the 300-ft to replace the present
optical encoders.
The inductosyn at the 300-ft is different in that the only parts of the
inductosyn 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 and
a resolver for a coarse readout. The fine and coarse reading is combined in the electronics.
2
4.
Resolver to Digital Conversion
Three cards of logic are necessary to derive a coarse and fine binary
number using the inductosyn and associated resolver. These three
cards were designed by Ron Weimer and are identical to the ones used
on the 45-ft telescope. Two of these cards are the same except for
some 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 contains the card used by the inductosyn and the other card is used by
the resolver. The two jumper plugs select frequency of operation and
phasing. The phasing should be adjusted so that with the inductosyn
or resolver in "open loop" the error signal should be in phase with
the reference. Four test points are provided on the analog card for
this adjustment. This adjustment should only be necessary when changing inductosyns.
The other card in this group is referred to as the analog card and is
located in slot 9. Both resolver and inductosyn use this card.
The operation of the resolver to digital conversion is quite complicated and I will not attempt to explain it in this report. A brief
explanation can be found in EDIR #149, page 8.
5. 300-ft Inductosyn Card
This card (built on a Shalloway card) combines the coarse and fine
binary numbers from the resolver to digital converters to form a
20-bit binary number. This number can be indexed for the proper
position, then fed to the computer. This card also contains the logic
to generate a coarse local readout independent of the computer.
The logic that combines the coarse and fine counts involves the use
of adders located in chip locations 11F, 11E, 10E, 9B and 9A. The dip
switch in 11C positions 6, 7, and 8 are used to adjust the "crossover"
between the coarse and fine count. This adjustment is made by setting
the display select switch to separate. The dip switches should be adjusted such that the two middle digits in the display have a difference
of 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 switches
1, 2, 3, and 4 in 11C are opened or closed to obtain the proper position readout as displayed by the computer.
The logic on pages 2 and 3 of the "300-ft inductosyn card" is used for
the readout on the front panel. This logic enables the selection of
three possible displays. The three displays that can be selected are
separate, combined and indexed. Separate is a display of coarse and
fine independent of each other. Combined is a display of fine and
coarse added together. Indexed is a display of the combined number
with an index number added to it.
5. 300-ft Inductosyn Card (continued).
Pages 4 and 5 contain the logic necessary to convert the indexed number
to degrees and tenths of degrees in BCD. The logic function on page 4
is to generate two clocks. The binary clock is generated by dividing a
2 MHz clock by 22510, and the BCD clock is generated by dividing by 25610.
These two clocks perform the binary to degree conversion by counting
down the binary number while a BCD counter is incrementing. This counting process continues until the binary counter reaches zero. These
counters and a latch for the BCD number are located on page 5. Some
short time after the binary counter goes to zero a new number will be
loaded in the binary count er , and the process starts over. Conversion
time depends on the magnitudes of the binary number.
6. Console Display Switch
When this system was originally designed it was planned to have two
systems, such as we had with the encoders. After installation of the
first system it was decided that only one system with a spare inductosyn was all that was necessary. This card therefore has some unnecessary logic.
This card contains four single-pole double-throw switches whose function was to switch between two inductosyn systems; this function is
now not necessary.
The logic that is necessary are the markers. A latch was provided for
the markers to help reduce the chatter of the dip relays when the position is on a transition point. Two markers are available -- one every
even tenth of degree and one every ten degrees.
7. Balancing the Inductosyn
For optimum performance the drive to the inductosyn and resolver windings must be balanced.
The balancing of the resolver is more straightforward so I will attempt
to explain it first. The telescope will have to be moved 45° to balance the resolver, so this should be kept in mind when positioning the
telescope as the following describes. First the display select switch
must be set to separate. The four digits to the left of the display
are the coarse numbers. Position the telescope such that you are on
a 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 cycles
of fine (go through the fine number that was recorded 32 times).
Stop on the same fine number the 32 nd time. The coarse number should
be 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 direction the telescope was moved. The resolver adjustment should be
adjusted for this number.
The coarse balance of the inductosyn (fine readout system) should be
performed when changing inductosyn packages. The fine balance should
be checked when changing inductosyn packages or the fine digital card
(J10). The fine balance procedure should be attempted on a fairly
calm day since wind can affect this procedure.
The coarse balance of the inductosyn requires the use of a digital ohm
meter. This meter should be used to read resistance between pins in
slot 10 (card removed) as shown below:
J10-3 to J10-4
Fixed resistance.
J10-5 to J10-6
Adjust resistance equal to the
resistance measured from J10-3
to J10-4.
The fine balance of the
inductosyn (fine readout) will require the use
of a chart recorder with the capability to "buck off" 10 V DC. The
chart recorder should be connected to the output of the variable speed
drive D/A converter. The telescope will have to be doing wobbles at a
high rate (we used 130 min/min). The gain of the chart recorder should
be such that the AC error component can be displayed. The chart recording 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 direction change edge as a reference point. If this periodicity is still
evident, but the phase has changed, the balance point was passed. This
adjustment will probably require making a slight adjustment, then observing several wobble cycles. When it is balanced, the AC error component will still be evident but it will not have a periodicity. This
error 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 converter
cards and the balancing procedure.
Engineering for the design of all the hardware for the inductosyn housing and mounting the inductosyn to the
telescope.
Machine Shop for all the precision machine work necessary for
the inductosyn.
Jerry Turner for wiring the digital chassis for this project.
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