KEYWORDS: Actuators, Mirrors, Control systems, Telescopes, Prototyping, Electronics, Position sensors, James Webb Space Telescope, Astronomy, Thirty Meter Telescope
The Thirty Meter Telescope (TMT) is a collaborative project between the California Institute of Technology (CIT), the University of California (UC), the Association of Universities for Research in Astronomy (AURA), and the Association of Canadian Universities for Research in Astronomy (ACURA).
In order for the Thirty Meter Telescope (TMT) to achieve the required optical performance, each of its 738 primary mirror segments must be positioned relative to adjacent segments with nanometer-level accuracy. Three in plane degrees of freedom are controlled via a passive Segment Support Assembly which is described in another paper presented at this conference (paper 6273-45). The remaining three out of plane degrees of freedom, tip, tilt, and piston, are controlled via three actuators for each segment. Because of its size and the shear number of actuators, TMT will require an actuator design, departing from that used on the Keck telescopes, its successful predecessor. Sensitivity to wind loads and structural vibrations, the large dynamic range, low operating power, and extremely reliable operation, all achieved at an affordable unit cost, are the most demanding design requirements. This paper describes a concept that successfully meets the TMT requirements, along with analysis and performance predictions. The actuator concept is based on a prototype actuator developed for the California Extremely Large Telescope (CELT) project. It relies on techniques that achieve the required accuracy while providing a substantial amount of vibration attenuation and damping. A development plan consisting of a series of prototype actuators is envisioned to verify cost, reliability, and performance before mass production is initiated. The first prototype (P1) of this development plan is now being built and should complete initial testing by the end of 2nd QTR 06.
KEYWORDS: Mirrors, Interfaces, Finite element methods, Temperature metrology, Cryogenics, Space telescopes, Sensors, Kinematics, Phase modulation, Space operations
The Lockheed Martin/Advanced Technology Center (LM/ATC) developed a lightweight, compact, high-load capable and yet high precision latch for use on deployable optical systems such as the Next Generation Space Telescope (NGST). The design allows precise self-centering and control of the stiffness at the latch interface. It also incorporates unique capabilities to evaluate the effects of gravity loads, latch preload level, creep, and very low vibration loads on the dynamics and microdynamics of the deployed instrument.
The stiffness, nonlinearity and hysteresis characteristics of the latch and its catch flexure assembly were thoroughly tested in 6 axes down to the nanometer level at room temperature using the LM/ATC Compliance Measurement Device. The latch is stiff enough to hold an NGST-size mirror segment cantilevered against gravity allowing only small gravity sag when the primary mirror is horizontal, thus enabling end-to-end performance verification in 1-G in that orientation. The latch hysteresis is less than 1.0 nm/N under mechanical loads less than 25 N, which meets the NGST stability requirements with significant margin (20 nm at the tip of the petal in space environment).
Several of these latches were integrated and demonstrated at the petal assembly level on a Single Petal Test-bed and the experimental results obtained on that test-bed are consistent with the component level results described in this report.
We experimentally demonstrated that the latch engagement performance is not affected by exposure to cryogenic temperatures down to 20K, as required for use of the device on cryogenic infrared optical instruments such as NGST.
A structural model of the latch was developed using Finite Element Analysis. Good correlation was obtained between the linear components of the analytical and of the experimental results: the model can therefore reliably be used in future NGST or other mission design efforts.
This paper includes a brief description of the LM/ATC latch hardware and its principle of operation as well as the results of the modeling and the experimental characterization work performed on that hardware in the NGST Phase I formulation.
As part of its risk mitigation efforts related to large, future space-based deployable optics such as NGST, Lockheed Martin developed, implemented, and evolved a full-scale, lightweight, deployable petal structure and associated deployment mechanisms for cryogenic and microdynamic stability testing. The test-bed features a single petal assembly for an 8-meter diameter telescope, including a flight-like mirror support structure and full-size hinges and latches. The work completed on this test-bed include: 1) Characterization of the dynamics and microdynamics response of the full-scale petal and its hinge/latch interface to low-level vibration sources down to 0.1 nanometer, 2) Evaluation of petal deployment repeatability, 3) Evaluation of the performance of simple passive damping strategies for petal vibration control at cryogenic temperatures.
In all respects, including microdynamics, deployment repeatability and stability, the hardware demonstrated performance well in excess of the NGST requirements.
In this paper, we summarize the development and the results of the performance testing completed during the NGST Phase I formulation, including testing of hysteresis and deployment repeatability at room temperature.
KEYWORDS: Actuators, Mirrors, Control systems, Telescopes, Control systems design, Position sensors, Space telescopes, Sensors, Optical instrument design, Prototyping
In order for the California Extremely Large Telescope (CELT) to achieve the required optical performance, each of its 1000 primary mirror segments must be positioned relative to adjacent segments with nanometer-level accuracy. This can be accomplished using three actuators for each segment to actively control the segment in tip, tilt, and piston. The Keck telescopes utilize a segmented primary mirror similar to CELT employing a highly successful actuator design. However, because of its size and the shear number of actuators (3000 vs. 108 for Keck), CELT will require a different design. Sensitivity to wind loads and structural vibrations, the large dynamic range, low operating power, and extremely reliable operation, all achieved at an affordable unit cost, are the most demanding design requirements. This paper examines four actuator concepts and presents a trade-off between them. The concept that best met the CELT requirements is described along with an analysis of its performance. The concept is based on techniques that achieve the required accuracy while providing a substantial amount of vibration attenuation and damping. A prototype actuator has been built to validate this concept. Preliminary tests confirm predicted behavior and future tests will establish a sound baseline for final design and production.
Charles Yee, Lawrence Lesyna, Kenneth Lorell, Jean-Noel Aubrun, Pat Champagne, Neal Didriksen, Victor Nikolaskin, Roger Mihara, Robert Clappier, Ramji Digumarthi
An engineering test unit Fabry-Perot interferometer has been designed and built to operate in the 1.5-1.7 um regime from room temperature to 30 K°. The Fabry-Perot interferometer is tuned by controlling the gap spacing between the two highly reflecting mirrors. Capacitance sensors are used to control the gap spacing and maintain parallelism of the mirrors. An overview of the optical, mechanical, electrical, and control designs of the instrument are described. Some early results at cryogenic temperature indicative of the performance of the instruments are presented.
This paper describes the testing and performance evaluation of the Gemini secondary mirror control system. The mechanism and control system have demanding requirements for dynamic performance, precision position control throughout the mirror chop cycle, and the virtual elimination of residual forces and torques. The test procedures and hardware required to measure and verify the system performance were specifically developed for this application. The tests utilize a special computer-controlled laser interferometer to calibrate the mirror position sensors. Dynamic chopping performance of the system is also tested and verified. A range of chop waveform parameters; amplitude, frequency, and duty cycle, is employed to fully exercise the control system and electromechanical hardware. Measurements of angular stability and repeatability under dynamic chop conditions are made to verify performance. Effectiveness of the active force cancellation system is evaluated using a six-axis digital dynamometer.
The Keck 2 ten meter telescope will utilize an advanced chopping secondary mirror in order to enhance observations in the infrared. The Infrared Fast Steering Mirror (IFSM) can execute a square-wave chop at frequencies as high as 25 Hz with an accuracy of +/- 0.1 arcsec. Chopping can be synchronized by focal plane instruments, and the system can simultaneously perform high-performance chopping as well as beam-steering (for atmospheric correction), providing the Keck telescope with greatly enhanced capability. Details of design, testing, and performance of the Keck 2 IFSM are presented in this paper. The mirror is controlled by three voice coil actuators. Reaction forces generated by the actuators are absorbed by a reaction mass suspended from the main IFSM structure. Motor driven springs are used to minimize power dissipation in the actuators. The IFSM all- digital control system uses a unique adaptive algorithm that forces the mirror to precisely follow the commanded chop waveform. Tests use various computerized instruments: a three-axis laser interferometer for calibration and stability, a 6-axis dynamometer to evaluate reaction forces transmitted to the telescope. In addition to specifics of the design, performance, and testing, a video illustrating details of the IFSM hardware and showing it in operation will be presented.
In mid 1992 an actively controlled infrared (IR) reflecting secondary mirror was installed on the W.M. Keck Ten Meter Telescope, currently the world's largest telescope. This 0.5 m gold plated beryllium mirror is capable of extremely precise motions over a wide range of amplitude and frequency and is used to perform spatial chopping, a technique commonly used in IR astronomy to improve the signal-to-noise ratio of weak IR sources. This paper describes the design, implementation and test of the mirror drive and control system. Details of the drive electromechanical design and operations on its unique adaptive control system. Test data from laboratory and telescope operation are also shown and discussed, and a short video of the mirror system in operation (shown at the conference) is also briefly described.
The paper describes the electromechanical design of the drive system for the actively controlled chopping secondary mirror of the W.M. Keck Ten Meter Telescope, which performs two-axis spatial chopping. Also described are the reaction cancellation system, the special packaging and cooling features, and the operation of the adaptive drive system. Laboratory test data are presented showing the performance of the drive and control system for chop amplitudes up to 54 arcmin (mirror motion), duty cycles of up to 98 percent, and frequencies from 1 to 50 Hz.
A control system is presented for precise and rapid positioning of spectral filters in the multispectral infrared optical system used for the MUlti-Spectral Infrared Camera (MUSIC). A hybrid system employing a stepper motor as a direct-drive brushless servomotor presents an ideal solution, applying high torque at low speed for the optimum response as limited by available torque. As the end of the repositioning transient is approached, closed-loop proportional control of torque provides quick settling to a positioning accuracy of 0.02 degrees. The use of a stepper motor avoids the problems of a brushed DC servomotor, such as brush and bearing failures at high speeds in a cryogenic vacuum, and backlash in reduction gears. The analog servo loop with commutation hardware to optimally switch the current to the stepper motor windings, avoids problems typical of stepper motors, such as limited positioning precision and high power dissipation while holding position.
New frequency response measurement procedures, on-line modal tuning techniques, and off- line modal identification algorithms are developed and applied to the modal identification of the Advanced Structures/Controls Integrated Experiment (ASCIE), a generic segmented optics telescope test-bed representative of future complex space structures. The frequency response measurement procedure simultaneously uses all the actuators to excite the structure and all the sensors to measure the structural response so that all the transfer functions are measured simultaneously. Structural responses to sinusoidal excitations are measured and analyzed to calculate spectral responses. The spectral responses in turn are analyzed as the spectral data become available and, which is new, the results are used to maintain high quality measurements. Data acquisition, processing, and checking procedures are fully automated. As the acquisition of the frequency response progresses, an on-line algorithm keeps track of the actuator force distribution that maximizes the structural response to automatically tune to a structural mode when approaching a resonant frequency. This tuning is insensitive to delays, ill-conditioning, and nonproportional damping. Experimental results show that it is useful for modal surveys even in high modal density regions. For thorough modeling, a constructive procedure is proposed to identify the dynamics of a complex system from its frequency response with the minimization of a least-squares cost function as a desirable objective. This procedure relies on off-line modal separation algorithms to extract modal information and on least-squares parameter subset optimization to combine the modal results and globally fit the modal parameters to the measured data. The modal separation algorithms resolved modal density of 5 modes/Hz in the ASCIE experiment. They promise to be useful in many challenging applications.
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