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Record Details

Record 60 of 2052
Controlling Precision Stepper Motors in Flight Using (Almost) No Parts
External Online Source: hdl:2014/45312
Author and Affiliation:
Randall, David(Jet Propulsion Lab., California Inst. of Tech., Pasadena, CA, United States)
Abstract: This concept allows control of high-performance stepper motors with minimal parts count and minimal flight software complexity. Although it uses a small number of common flight-qualified parts and simple control algorithms, it is capable enough to meet demanding system requirements. Its programmable nature makes it trivial to implement changes to control algorithms both during integration & test and in flight. Enhancements such as microstepping, half stepping, back-emf compensation, and jitter reduction can be tailored to the requirements of a large variety of stepper motor based applications including filter wheels, focus mechanisms, antenna tracking subsystems, pointing and mobility. The hardware design (using an H-bridge motor controller IC) was adapted from JPL's MER mission, still operating on Mars. This concept has been fully developed and incorporated into the MCS instrument on MRO, currently operating in Mars orbit. It has been incorporated into the filter wheel mechanism and linear stage (focus) mechanism for the AMT instrument. On MCS/MRO, two of these circuits control the elevation and azimuth of the MCS telescope/radiometer assembly, allowing the instrument to continuously monitor the limb of the Martian atmosphere. Implementation on MCS/MRO resulted in a 4:1 reduction in the volume and mass required for the motor driver electronics (100:25 square inches of PCB space), producing a very compact instrument. In fact, all of the electronics for the MCS instrument are packaged within the movable instrument structure. It also saved approximately 3 Watts of power. Most importantly, the design enabled MCS to meet very its stringent maximum allowable torque disturbance requirements.
Publication Date: Mar 06, 2010
Document ID:
20150012018
(Acquired Jul 02, 2015)
Subject Category: CYBERNETICS, ARTIFICIAL INTELLIGENCE AND ROBOTICS; COMPUTER PROGRAMMING AND SOFTWARE; COMPUTER OPERATIONS AND HARDWARE; MECHANICAL ENGINEERING
Document Type: Conference Paper
Meeting Information: 2010 IEEE Aerospace Conference; 6-13 Mar. 2010; Big Sky, MT; United States
Meeting Sponsor: Institute of Electrical and Electronics Engineers; New York, NY, United States
American Inst. of Aeronautics and Astronautics; Reston, VA, United States
Financial Sponsor: Jet Propulsion Lab., California Inst. of Tech.; Pasadena, CA, United States
Organization Source: Jet Propulsion Lab., California Inst. of Tech.; Pasadena, CA, United States
Description: 10p; In English
Distribution Limits: Unclassified; Publicly available; Unlimited
Rights: Copyright
NASA Terms: STEPPING MOTORS; CONTROLLERS; ALGORITHMS; SPACECRAFT INSTRUMENTS; APPLICATIONS PROGRAMS (COMPUTERS); MARS RECONNAISSANCE ORBITER; SOUNDING; COMPUTER SYSTEMS DESIGN; CONTROL SYSTEMS DESIGN; SERVOCONTROL; ACTUATORS; ARCHITECTURE (COMPUTERS)
Availability Source: Other Sources
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