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Welcome to the SkyMapper 1.3m Telescope Critical Design Review

Welcome to the SkyMapper 1.3m Telescope Critical Design Review EOS Space Systems Canberra 8:00 am Nov 24, 2005 EOS Technology Tucson 2:00 pm Nov 23, 2005. Critical Design Review Agenda. Finite Element Analysis Eigen Frequency M1 Support M2 Assembly Line of Sight Controls

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Welcome to the SkyMapper 1.3m Telescope Critical Design Review

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  1. Welcome to the SkyMapper 1.3m Telescope Critical Design Review EOS Space Systems Canberra 8:00 am Nov 24, 2005 EOS Technology Tucson 2:00 pm Nov 23, 2005

  2. Critical Design Review Agenda • Finite Element Analysis • Eigen Frequency • M1 Support • M2 Assembly • Line of Sight • Controls • Control Cabinet Layout • Software • Software Architecture • Firmware • Server Applications • Client API • User Interface • Optics • Optical Tolerancing • Optical Alignment • Baffling • Optics Production Update • Introduction • Teams • CDR Folder (Documentation) • Project Management • Program Schedule • Work in Progress • Review of Mount Design • Overview • Base • Yoke • OSS • Drive sizing

  3. Teams Australian National University Team: Prof Brian Schmidt Science Lead (RSAA Astronomer) Mike Petkovic Project Manager (Auspace) Andrew Granlund Mechanical Engineer (RSAA) Annino Vacarella Scientific Programmer (RSAA) Peter Conroy Designer (RSAA) Liam WaldronTechnical Programme Manager (RSAA)

  4. Teams EOS Space Systems Team: Craig Smith CEO Mark Blundell Project Manager Andrew Rakich Optical Designer Adam Seedsman Observatory Group Manager Michael Forman Senior Software Engineer Ali Avci Optical Designer

  5. Teams EOS Technology Team: Rob Brunswick Program Manager Bruce Cook Chief Technology Officer (Systems Engineering) Ken Clarke Lead Mechanical Designer Jim Waltho Mechanical Engineer (Finite Element Analysis) Carlos Vanegas Mechanical Engineer (FEA and Line of Sight Analysis) Adrian Loeff Senior Software Engineer Aaron Evers Software Engineer Mark Croft Electronics Associate (Controls) Harry Fagg Project Planning and Control Paul Sherman Senior Opto-Mechanical Engineer Vince Blair Assembly and Test Supervisor (Assy, test, shipping, installation)

  6. Agenda Project Management • Program Schedule • Work in Progress

  7. Program Schedule Critical Path – CDR to Site Milestones depend on successful completion of M1 (accelerated polishing schedule) M1 ready to installSept 1, 2006FAT completeOct 31, 2006 Telescope on Site Dec 19, 2006 SAT / Final AcceptanceJan 23, 2007

  8. Program Status Major Milestones: Contract vs. Plan Milestones depend on successful execution of the M1 contract with LZOS for M1 by December 5th 2005.

  9. SECTION 1 Critical Design Review Presentation SECTION 2 TR-9150-1 Technical and Interface Resolution Report FEA-9267-1 Finite Element Analysis DC-6597-2 Drive Sizing Calculation SECTION 3 SSD-8747-3 Software System Design SECTION 4 ICD-8984-2 Telescope to Enclosure (Interface Control Document) ICD-8137-2 Telescope to Instrument/CLA (Interface Control Document) SECTION 5 OPT-10044-2 Optical Tolerance DN-500790-01 Alignment Procedure DN-07591-02 Alignment Maintenance Targets MRS-7790-2 Recommended Spare Parts List Documentation

  10. Mount Design • Overview • Base • Yoke • Optical Support Structure (OSS) • Truss • M1 Support • M2 Support

  11. Upper Truss Overview Mirror Covers Yoke Center Section Cable ladder Instrument Lower Truss Base

  12. Mount Design: Base Azimuth Slewing Ring End of Travel Switch Center of Rotation Switch Connector Panel Door External Cabling Strain Relief

  13. Mount Design: Yoke Encoders Elevation Stop Pin Fiberglass Covers Mirror & Instrument removal rails

  14. Mount Design M2 Vanes Hexapod M2 Baffle Corrector Lens Assembly Optical Support Structure (OSS)

  15. Mount Design: M1 Support Load Spreader Lateral Support Flexure Tangent Flexure ( replaced with tangential noodle flexures ) Lateral Support Lateral Support Counterweight 18 Point M1 Support Mirror Puck

  16. Mount Design: M2 Support Lateral Support Flexure Assembly Load Spreader Tangent Flexure Mirror Puck 18 Point M2 Support

  17. Analysis Jim Waltho and Carlos Vanegas, Mechanical Analysts • Drive Sizing • Eigen Frequency • M1 Support • M2 Support • Line of Sight

  18. Drive Sizing Continuous stall torque 1.5 times calculated torque required to produce the specified telescope accelerations, under worst case loading • Refer DC-6597-2 • Draft: PDR February 2005 • Final: CDR November 2005 • Azimuth Motor requirement: 478 Nm • Elevation Motor requirement: 178 Nm

  19. Drive Sizing Azimuth Motor: Requirement: 478 Nm Kollmorgan QT-23502 Continuous torque 950 Nm

  20. Drive Sizing Elevation Motor: Requirement: 178 Nm Kollmorgan QT-12502 Continuous torque 271 Nm

  21. Purpose of model Create a structural representation of the telescope to evaluate its stiffness. Find the resonant frequencies and vibration modes. Model creation Built from software model. Shell, solid and beam elements Weights, CG’s and inertias within 5% from software model. Requirements Structural Resonance > 8Hz. Complete Telescope FEA

  22. Complete Telescope FEA Upper truss (modeled as point mass ) Elevation bearings Instrument rotator Yoke Azimuth bearing Fixed base

  23. 1st Telescope Mode @ 8 Hz 8 Hz 24 Hz Telescope mode Upper truss mode

  24. Purpose of model Create a structural representation of the M1 Support to evaluate its stiffness. Find the impact of temperature change and gravity direction over the WFE. Model creation Built from SW model. Solid, shell and beam elements. Weights, CG’s and inertias within 5% from SW model. Simulation Approach Tmin= -20°C, Tmax= 40°C, Tassy= 20°C, Δ Tmax=40°C Zenith and 70° orientation. M1 Support Structure FEA

  25. M1 Support Structure FEA Counterweight system provides lateral support Whiffletree vertical support 18 puck support Tangential flexures Tangential flexures Tangential flexures Tangential flexures 3 count Lateral counterweights 6 count Kinematic support at 3 points

  26. M1 Wavefront ErrorZenith, ΔT=0 WFE=19.2nm Budget Allocation 55 nm

  27. M1 Wavefront ErrorZenith, ΔT=40 WFE=51.8nm Budget Allocation 55 nm

  28. M1 Wavefront Error 70°, ΔT=0 WFE=26.2nm Budget Allocation 83 nm

  29. M1 Wavefront Error 60°, ΔT=40 WFE=53.9 nm Budget Allocation 83 nm

  30. M2 Support Structure FEA • Purpose of model • Create a structural representation of the M2 Support to evaluate its stiffness. • Find the impact of temperature change and gravity direction over the WFE. • Model creation • Built from software model. • Solid, shell and beam elements. • Weights, CG’s and inertias within 5% from software model. • Simulation approach • Tmin= -20°, Tmax= 40°C, Tassy= 20°C, ΔTmax=40°C • Zenith and 70° orientation.

  31. M2 Support Structure FEA FEA model CAD model

  32. M2 Wavefront ErrorZenith, ΔT=40 WFE=14.8nm Budget Allocation 45 nm

  33. M2 Wavefront Error 70°, ΔT=40 WFE=52.3 nm Budget Allocation 68 nm

  34. X M2 M1 Y Z * Rotation in arcsec, positive out of the page while G load is down Line Of Sight Analysis @70° Worst operation case All perturbations are within design limits except for M2 Ux, which will be corrected with the hexapod

  35. Stiffer mirror cover design than used on previous 1m telescopes Mirror Covers

  36. Controls • Control Cabinet Layout • Typical Rack Construction • PMAC Channel Allocation

  37. Fans GPS Encoder Planar 0 Blank (4U) Panel indicators, Keyboard, et cetera Telescope Control Computer Digital I/O Planar and power supplies Hexapod (4U) Blank (4U) Blank (6U) Control Cabinet Layout

  38. Control Cabinet Front Representative Only Rear Representative Only

  39. PMAC Channel Allocation The Physik Instrumente hexapod has a dedicated controller and cable interface separate from the PMAC.

  40. Software Architecture Firmware Server Applications Client API User Interface Software Aaron Evers, Software EngineerAdrian Loeff, Senior Software Engineer

  41. Customer Computer/s User Customer Interface Software Client API Ethernet Telescope Control Computer Control System Framework DIO Telescope Hexapod GPS Time Temperature Server Server Server Server Sensor Server PMAC PMAC DIO Firmware Board Serial Serial Ethernet Digital I/O Planar Hexapod GPS Temperature Signals DIO DIOP Computer Receiver Sensor Controller Firmware Hexapod … Encoder Planar 0 Servo Channels ENCP0 Firmware Temperature Sensors Key: Key: Customer Supplied Customer Supplied Software Software Hardware Hardware Computer Computer Product Product SoftwareArchitecture

  42. Software Architecture Based on current software architecture Reuses these modules with minimal changes:

  43. No user interface; starts automatically Monitors/controls the following servo motors: Azimuth Elevation Cassegrain instrument rotator Interface to TCC through Dual-Port RAM Accepts commands from Telescope Server Reports status to Telescope Server PMAC Firmware Embedded software installed on the PMAC motion control card, responsible for controlling servo motors

  44. No user interface; starts automatically Interface to Encoder Planar 0 Implements safety-critical logic Monitors/controls: mirror covers, E-stop, failsafe limits, servo amplifier power, ancillary power, onboard fuses, and others Accepts commands from DIO server Reports status to DIO server DIOP Firmware Embedded firmware installed on the FPGA in the Digital I/O Planar that routes and combines digital signals controlling ancillary telescope devices

  45. Embedded firmware installed on the FPGA in Encoder Planar 0 that routes and combines digital signals relating to the control of PMAC servo channels 1 through 8 ENCP0 Firmware • No user interface; starts automatically • Interfaces to DIOP, PMAC • Monitors/controls: • PMAC servo channels 1 through 8: limit switches, home flags, amplifier power, faults • digital timing signals • others • Reports status to DIOP

  46. Windows embedded software application which processes various digital signals in the telescope control system, many related to ancillary devices DIO Server • Minimal user interface; starts automatically • Interface to DIOP through DIO board • Monitors/controls: mirror covers, E-stop, failsafe limits, servo amplifier power, encoder fault signals, and others • Accepts commands from clients to operate devices • Reports status of devices to clients • Some autonomous activities (e.g., turning off mirror cover motors when mirror cover reaches position)

  47. Windows embedded application, responsible for control of the telescope axes Telescope Server - 1 • Minimal user interface; starts automatically • Interface to PMAC firmware through PMAC Dual-Port RAM • Interface to hexapod through Hexapod Server • Interface to UTC through GPS Time Server • Provides high-level control over: azimuth, elevation, secondary position, Cassegrain instrument rotator

  48. Correction models for accurate positioning Mount model Atmospheric refraction Thermal expansion/contraction of truss Truss sag due to gravity Adjust telescope pointing for M2 position Safety features Axis stability monitoring Variable-height operating skyline Sun avoidance Telescope Server - 2

  49. Windows embedded application that controls the position of the secondary mirror via the hexapod Hexapod Server • Minimal user interface; starts automatically • Provides high-level control over the hexapod • Accepts commands from clients to operate hexapod • Reports status of hexapod and hexapod computer

  50. Windows embedded application that reads the current time from the GPS receiver and synchronizes the other modules GPS Time Server • Minimal user interface; starts automatically • Maintains UTC time through serial connection to the GPS receiver • Provides access to UTC time to clients • Reports status of GPS receiver to clients

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