Skip to end of banner
Go to start of banner

Enclosure Azimuth Position Control

Skip to end of metadata
Go to start of metadata

You are viewing an old version of this page. View the current version.

Compare with Current View Page History

« Previous Version 5 Next »

Enclosure Azimuth motion is controlled by the EMCS PLC. Motion is commanded from the ECS or locally.

ECS can control motion in four operating modes

  • Tracking - ECS sends Position Reference and Speed Reference

  • Point to Point - ECS sends Position Reference and sometimes sends Speed Reference

  • Jogging and Offset - modes are not used

Local motion includes Point to Point and Jogging

EMCS PLC controls Enclosure Azimuth motion in these routines

  • EMCS / Azimuth / Control Speed
    Setup Control Loop for selected mode

  • EMCS / Azimuth / Control Loop
    Calculate Speed Reference to Azimuth Drives for Position Control or Speed Control

EMCS PLC controls Enclosure Azimuth motion in two control modes

  • Position Control
    Operate to maintain Actual Position = Position Reference

  • Speed Control
    Operate to move Azimuth at Speed Reference

Enclosure Azimuth motion during observation
PLC Routine: Control Speed

Set Position and Speed Reference
Calculate Position Error
Set Tuning parameters based on position error (Homing, Tracking, Fine Tracking
Set Speed limits based on operating mode
Set response times for PI, signal filtering and output curve shaping
Calculate inflection point (change in direction) of Position Setpoint

PI (Proportional / Integral) closed loop control

Calculate PI output
Clamp maximum integral error
Clamp PI output
Add ECS speed reference
Clamp maximum speed output
Convert degrees / second to RPM

  • No labels