Development Status of Angular Detector with High Accuracy

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1 Development Status of Angular Detector with High Accuracy Yutaka Karasawa (TAMAGAWA SEIKI CO,. LTD.) Hiroshi Miyaba,Shingo Obara,Mineo Suzuki (Japan Aerospace Exploration Agency) October 28, 2005 TAMAGAWA SEIKI CO,. LTD. -1-

2 Contents 1. Background 2. Features 3. Outline (1) Specification & outer shape (2) Block diagram (3) Structure 4. Principle of resolver 5.Key elements (1) 1X-32X multi-speed resolver (2) Ball bearings (3) RD converter circuit 6. Development schedule 7. Information -2-

3 1.Background Development Status of Angular Detector with High Accuracy Satellite manufacturer Overseas procurement of angular detector Single source of optical encoder Instability of supply Exclusive supply from single overseas manufacturer Delay of satellite development plan Large cost for development, manufacturing and operation -3-

2.Features Development Status of Angular Detector with High Accuracy Object : To secure flexibility and reliability of key space components by domestic envelopment.

4 2.Features Development Status of Angular Detector with High Accuracy Object : To secure flexibility and reliability of key space components by domestic envelopment. Applications : Antenna & Optical sensor pointing mechanism Features : High accuracy and resolution Compact and light weight I/F compatibility with existing optical encoder -4-

5 3.Outline Development Status of Angular Detector with High Accuracy (1)Specification & Outer shape Item Sensing method Angular accuracy Resolution Mass Power Input/Output Specification Resolver+RD converter (electromagnetic induction) < ± ( < ±5 ) 21 bit < 2.0 kg <2.0 W Differential type (EIA RS422) -5- Imports Optical encoder Optical < ± ( < ±5 ) 18 bit <2.2 kg <5 W Differential type (EIA RS422)

6 (2)Block Diagram The angle is detected by resolver section and transmitted in analog signal. This analog signal is converted to digital signal by RD converter to transmit.. Rotary transformer Resolver RD converter Stator Rotor Rotor Stator Line Driver Line Receiver -6-

7 (3)Structure Special features Titanium alloy is adopted for minimizing the weight. High-permeability magnetic material is adopted for resolver section The resolver section is structured as pan-cake type for small size and light weight and located concentrically to the bearing. High precision thin-section ball bearings are adopted for small size. High density on surface components are adopted for small size. -7-

8 4.Principle of Resolver(1/2) Resolver consists of one rotor and one stator, the rotor can be freely rotated. Non-contact type rotary transformer is used instead of the conventional brushes and slip rings to transfer the signal (i.e. exciting voltage) to the rotor of resolver. When the exciting winding is excited by AC voltage (i.e. AC 10~ 60 V, 60 Hz~ 10 khz), a couple of voltages with SIN and COS function of the rotor angle) is generated by the electromagnetic induction effect on the output winding. The angle of rotor can be measured by reading out the two output voltages, because the output voltages are varied corresponding to the rotational angle of resolver rotor. Rotor & rotary transformer Output voltage COS S1-S3 SIN S2-S Stator & rotary transformer -8- Resolver output

9 4.Principle of Resolver(2/2) Multi-speed resolver has the electric shaft angle multiplication of 32 times (i.e. number of pole is 64 poles) and the output signals have 32 cycles per one revolution of mechanical shaft. When two kinds of resolvers (i.e. single and multi-speed resolvers) are located on the same single iron core to obtain both signals of 1X and 32X, the absolute signal around one revolution of mechanical shaft can be detected. The angle detection accuracy is decided by the SIN and COS output voltages of 32X resolver. The angle detection accuracy of 32X resolver for one cycle (i.e. electrical angle of 360 degrees) of its output signal is approximately the same level of 1X resolver, but this angle detection accuracy is deducted to 1/32 in the view from the mechanical angle of 360 degrees. Output voltage Output voltage Electrical angle 360 Mechanical angle

10 5.Key Elements Development Status of Angular Detector with High Accuracy (1)1X-32X Multi-speed Resolver Angle detection is carried out. High accuracy Pancake type Redundant winding Space materials Magnetic material Coil Resolver stator Resolver rotor -10-

11 Rotary Transformer Development Status of Angular Detector with High Accuracy Exciting voltage is transferred to the rotor. High efficiency. Pancake type Redundant winding Space materials Magnetic material Plastic Coil Rotary transformer stator Rotary transformer rotor -11-

Trial Development Status of Angular Detector with High Accuracy Results(1/2) 1X-32X Multi-speed Resolver+ Rotary Transformer Test procedure Specifications Main Results Redundant Power < 0.35 W 0.

12 Trial Development Status of Angular Detector with High Accuracy Results(1/2) 1X-32X Multi-speed Resolver+ Rotary Transformer Test procedure Specifications Main Results Redundant Power < 0.35 W 0.240W 0.247W Output voltage 1X 32X 1.25Vrms ±10% 1.25Vrms ±10% S1-S3 S2-S4 S5-S7 S6-S V 1.326V 1.281V 1.279V 1.324V 1.326V 1.284V 1.286V Phase shift 1X 32X < ±20 < ± Zero point shift < ±60 (1X-32X) < ±30 (Main- redundant)

13 Trial Accuracy (arcsec) Development Status of Angular Detector with High Accuracy X-32X Multi-speed Resolver+ Rotary Transformer Results(2/2) Accuracy ± Angle (deg) -13-

14 (2) Ball Bearings High precision thin-section ball bearings Angular contact Type DB (Back to Back) Space grease lubrication Low torque -14-

15 Ball Bearings Flow Acceptance test Preserved in oil Lubrication Running torque test (single) Assembly & preloading Preload test Running torque test (pare) -15-

16 Trial Torque (Nmm) 摩擦トルク (N mm) Results Running 軸受 7809 Torque 摩擦トルク温度試験結果 of Ball Bearings < 180 Nmm 回転数 Speed (rpm) (r/m) -16-

17 (3)RD Converter Circuit Analog angle signal from resolver is converted to digital signal. High accuracy & resolution Compact Low power Space electrical parts -17-

18 Trial Results RD Converter Circuit Test procedure Specifications Results Power < 2.0 W 1.28 W Accuracy < Resolution 21 bit 21 bit Output voltage 7Vrms±3% 2192Hz±5% 7.139Vrms 2283Hz Tracking rate > 30 r/m 31.0 r/m Input/Output I/F OK Updated command <Input> Updated complete <Output> > 2μs :3.2μs < 300kHz DUTY=50%±10% :308.6kHz 50.0% Clock <Input> Data <Output> >500ns 20 MSB LSB <2μs: 640ns 0.4~4μs:0.50~3.43μs <100ns: 20ns -18-

19 6.Development Schedule Japanese Fiscal Year Preliminary design Detailed design PDR Sustainable design CDR1 CDR2 PQR BBM QM -19-

1879 OHYASUMI, IIDA, NAGANO PREF, 395-8515 JAPAN TEL:0265-21-1800

20 7.Information Development Status of Angular Detector with High Accuracy TAMAGAWA SEIKI Co., Ltd OHYASUMI, IIDA, NAGANO PREF, JAPAN TEL: FAX: TAMAGAWA SEIKI Headquarters South Alps mountains range Iida city Tenryu river -20-

DEVELOPMENT OF A HIGH PERFORMANCE ANGULAR SENSOR FOR SPACE APPLICATIONS

DEVELOPMENT OF A HIGH PERFORMANCE ANGULAR SENSOR FOR SPACE APPLICATIONS Masafumi Kiryu*, Yutaka Karasawa*, Hideo Kumagai*, Tomio Nakata* Hiroshi Miyaba**, Shingo Obara**, Mineo Suzuki** *Tamagawa Seiki