Transcript Cover

VERTEX ANTENNENTECHNIK GmbH
Arecibo Telescope Servo Drive System
Ideas For Computer Upgrade
Arecibo Telescope Servo & Drive System
-1-
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Por t able Cont r ol
Unit (PCU)
t o host comput er
IRIG- B Time Code Reader
LAN
(in main cont r ol r oom)
W
Mot or
Cont r oller
#2
M
G
W
f our ident ical unit s
2x
1x GD + 1x CH
Dat a
DP RAM
Main CPU
COM2
RS232
FO
Et her net Module
Oper at ion Cont r ol
Unit (OCU)
G
Dr ive
Cont r ol
Syst em
FO
RS232
Mot or
Cont r oller
#1
DCS
Mot or
Cont r oller
#2
M
G
P
M
G
RS232
Arecibo Telescope Servo & Drive System
E
f ive ident ical unit s
E: Encoder
G: Gear box
M: Mot or
P: Pinion
W: Wheel
E
incl. CH#1 Drive Syst em
CP 581
(AT 386)
IRIG- B
CP524
M
El Drive Syst em
Pr ogr ammable
Logic Cont r oller
PLC
DCS
monit or ing & cont r ol
TTY
set point s
Dr ive
Cont r ol
Syst em
Mot or
Cont r oller
#1
monit or ing & cont r ol
Local Cont r ol
Unit (LCU)
Az Drive Syst em
VERTEX Ser vo Contr ol System " ARECIBO"
Compoments suggested to be
replaced during Computer Upgrade
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D3\ O&M\ BS5034.SKD/ 2.2
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Computer Upgrade Concept I

(Existing) PLC

 hardware can be re-used to
a large extent
 hardware (except CP581) is
still will be available for
many years
 CP581 will be removed
 PLC function will be limited
to safety functions and low
level operation
 interface to servo computer
via serial interface (new
card) – not time critical!
Arecibo Telescope Servo & Drive System
New Servo Computer
 Local User Interface
(replaces existing LCU)
 tasks:
•
•
•
•
encoder readout
operating mode control
M&C Interface to host
position loops
 output to DCS:
analog velocity commands
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Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Computer Upgrade Concept II

Drive Control





 presently read by PLC
 new (possibility 1)
motors to be re-used
servo amplifiers to be re-used
complete DCS to be re-used
additional setpoint from servo
computer:
•
•
•
•
•
DCS boards can handle
additional setpoint
analog signal must be wired
from backplane SUB-D
connector to board connector
PLC software must control
selection relay
Arecibo Telescope Servo & Drive System
Encoders
only computer reads
encoders
position dependent PLC
interlocks cannot be kept
 or (possibility 2)
•
•
•
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install SSI doublers
both computer and PLC read
encoders
position dependent PLC
interlocks can be kept
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Computer Upgrade Concept III

OCU in main control room

 also to be replaced
 new OCU could be …
•
•
•
Interface to host computer
 remains on Ethernet
 protocol
a desktop PC with keyboard
and mouse, running on
Windows
a rack mounted touch screen
panel PC
a notebook PC
•
•
•
… could be kept
… or extended/modified
according to present
experience
… or completely changed
 logs into servo computer via
Ethernet
 existing serial link no more
required
Arecibo Telescope Servo & Drive System
-5-
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Az Drive Syst em
Contr ol System af ter Computer Upgr ade
Por t able Cont r ol
Unit (PCU)
G
W
Mot or
Cont r oller
#2
M
G
W
f our ident ical unit s
SSI
doubler
2x
SSI
doubler
1x GD + 1x CH
CP524
Main CPU
ACU
Programmable
Logic Cont roller
PLC
Dr ive
Cont r ol
Syst em
FO
LAN
LAN
t o host comput er
Mot or
Cont r oller
#1
DCS
Mot or
Cont r oller
#2
Oper at ion Cont r ol
Unit (OCU)
M
G
P
M
G
E
E
incl. CH#1 Drive Syst em
LAN
M
El Drive Syst em
FO
LAN
RS232
monit or ing & cont r ol
CP524
Local
User
Int er f ace
IRIG- B
DCS
monit or ing & cont r ol
Ant enna
Cont r ol Unit
set point s
TTY
Dr ive
Cont r ol
Syst em
Mot or
Cont r oller
#1
f ive ident ical unit s
(in main cont r ol r oom)
Oper at ion by t ouch scr een
or keyboar d & mouse
E: Encoder
G: Gear box
M: Mot or
P: Pinion
W: Wheel
New Components
D:\PROJ\AKTUELL\BS_Arecibo_new.SKF/2004-05-24
Arecibo Telescope Servo & Drive System
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Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Possibilities for Servo Computer

PC

 in-expensive
 easy replacement / upgrade
 interface boards to encoders etc.
to be found
 existing application software to
be adapted to hardware and
software platform
 reliability for operation unknown
 becomes obsolete very fast
 spare part availability
Arecibo Telescope Servo & Drive System
Industrial Servo Computer
 proven reliability
 all interface hardware
available
 interface modules comply to
more stringent specifications
 spare part availability
 application software available
to a large extent
 prepared for future upgrades
 more expensive than PC
 software and drivers written
for a particular hardware
configuration
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Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Vertex Antenna Control Unit 8100


Vertex Antennentechnik’s standard controller for high accuracy
antennas and telescopes since 2001
Installed at
 ESA 35m Deep Space Antenna (servo accuracy ~2 mdeg)
•
•








Australia: in operation
Spain: presently being built
various (fast) ESA 15m antennas (~20 mdeg)
ALMA Radio Telescope (~0.15 mdeg)
APEX Radio Telescope (~0.15 mdeg)
AMIBA Hexapod Telescope (~3 mdeg)
CNR 32m Radio Telescopes at Noto and Medicina (~1 mdeg)
Eumetsat Polar Station, Svalbard (~20 mdeg)
various other stations
Several more installations in progress
Arecibo Telescope Servo & Drive System
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Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Arecibo Telescope Servo & Drive System
-9-
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Arecibo Telescope Servo & Drive System
- 10 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Vertex Antenna Control Unit 8100

Concept:

 CompactPCI bus
 VxWorks 5.5 RTOS
 P III 1.3 GHz CPU with 2 Ethernet
interfaces
 10.4” Color Touch Screen as local
user interface (separate PC running
on Embedded XP)
 multiple user interfaces feasible
 several types of interfaces to host /
encoders / drive cabinet available
Arecibo Telescope Servo & Drive System
Tasks:
 drive control
•
•
fully digital Az/El drive control or
position loop only with analog
velocity command output






position readout from encoders
operating modes
interlocks on software level
local control of all functions
pointing error correction (option)
communication to interlock
system PLC
 Interfaces to host computer
- 11 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
ACU 8100 Components
other
Control Panels
(optional)
LAN
to/from host computer,
development system,
remote service (option),
PLC
Compact PCI-Bus 8 Slots
spare
spare
spare
LAN 1
IRIG-B
time code
reader
DT bc635
CPCIPower Supply
IRIG-B
signal
2*CAN
bus
interface
Main CPU
(Pentium III)
LAN 2
SM CPU6
AD 1710
encoders
120/
230 V~
digital &
analog
I/O
EncoderInterface
(SSI)
AD CPCI-3120-84
ES CAN/331
VGA
COM1
COM2
test
outputs
analog
velocity commands
(if required)
Azimuth
Elevation
234.5678°
87.6543°
STOP
PRESET
ACU Front Panel
(colour touch screen)
field buses to/from
metrology sensors
(for fully digital systems)
ACU_Arecibo_KOMP.SKF/21.05.2004
Arecibo Telescope Servo & Drive System
- 12 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Vertex Antenna Control Unit 8100
6HU-Version of ACU 8100
4HU-Version
of ACU 8100
Arecibo Telescope Servo & Drive System
- 13 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
New Antenna Control Unit 8100 (6 HU)
Arecibo Telescope Servo & Drive System
- 14 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Sample Local User Interface
Arecibo Telescope Servo & Drive System
- 15 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Advantages of Suggested Approach

Limited scope of upgrade

 computer replacement only
 “budget-friendly” solution

 PLC software
•
•
Re-Use of components
 drive cabinet, PLC and servo
amplifiers
 encoders
 motors

Low risk
 the working interlock system and
low level control will be re-used
 return to existing system can easily
be achieved
 use of well proven components
 limited software effort
Arecibo Telescope Servo & Drive System
Limited software effort
can be re-used to large extent
various functions not used any
more
 Servo computer software
•
•

functionality already existing
only adaptations required for
Arecibo (interfaces, specific
interlocks etc.)
Limited telescope downtime
 Estimated total downtime approx.
2-3 weeks
 With a little more effort, it would
even be possible to return to
operation every night
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Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Possibilities for Future Upgrades

Fully Digital Drive System
 very flexible control loop
structure
 improved performance
 much easier to be tuned than
analog DCS
 insensitive to EMI etc.
 less components …less
failures
 … more software
 measurement of commands to
servo amplifiers is difficult and
requires analyzers or test
outputs in the computer (even
more software…)
Arecibo Telescope Servo & Drive System




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Adaptation to new host
computer(s)
Extended operating modes
Drive cabinet or servo
amplifiers only
Motors ?
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Fully Digital Servo System Overview
IRIG-B Time Code
Antenna
Control
Unit
ACU
EnDat or SSI
local bus
LAN
to/from host computer,
software development,
remote service option, etc.
LAN
RS232
position
feedback
serial
several units
Interlock
System
Servo
Amplifier
Motor
Gear
Box
Antenna
PLC
Sensor
Low Level
Operation
limit switches etc.
BS02238.SKF/07.02.2003
Arecibo Telescope Servo & Drive System
- 18 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Fully Digital Drive System







Position and velocity loops closed in servo computer
Servo computer provides torque command to each motor via
local bus
In low level control the servo amplifiers receive analog
commands
Configuration of servo amplifiers is controlled by PLC via digital
inputs to amplifiers
Existing drive motors could be kept
Servo amplifiers (or entire drive cabinet) needs to be replaced
Analog DCS could
 … be kept for low level control
 … be removed, leading to a much simpler but “less comfortable” drive
concept in low level control
Arecibo Telescope Servo & Drive System
- 19 -
Technical Meeting May 2004
VERTEX ANTENNENTECHNIK GmbH
Az Drive Syst em
Fully Di gi tal Contr ol System
Por t able Cont r ol
Unit (PCU)
LAN
G
W
Mot or
Cont r oller
#2
M
G
W
f our ident ical unit s
SSI
doubler
2x
SSI
doubler
1x GD + 1x CH
CP524
Main CPU
ACU
Programmable
Logic Cont roller
PLC
Dr ive
Cont r ol
Syst em
FO
LAN
LAN
Mot or
Cont r oller
#1
DCS
t o host comput er
Oper at ion Cont r ol
Unit (OCU)
Mot or
Cont r oller
#2
M
G
P
M
G
E
E
incl. CH#1 Drive Syst em
FO
M
El Drive Syst em
IRIG- B
LAN
RS232
monit or ing & cont r ol
CP524
Local
User
Int er f ace
DCS
monit or ing & cont r ol
Ant enna
Cont r ol Unit
set point s
TTY
Dr ive
Cont r ol
Syst em
Mot or
Cont r oller
#1
f ive ident ical unit s
(in main cont r ol r oom)
Oper at ion by t ouch scr een
or keyboar d & mouse
E: Encoder
G: Gear box
M: Mot or
P: Pinion
W: Wheel
New Components
D:\PROJ\AKTUELL\BS_Arecibo_FD.SKF/2004-05-24
Arecibo Telescope Servo & Drive System
- 20 -
Technical Meeting May 2004