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23 June 1997 Digital servo implementation: closing loops over VME bus with commercial off-the-shelf processors
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Real-time control of gimbaled sensors has been successfully demonstrated using dedicated specialized analog hardware. The reuse of this hardware or its adaptation to new requirements has been limited. To provide more flexibility and allow greater reuse of servo hardware and software, Hughes has developed a commercial off-the-shelf, digitally- based architecture for controlling, measuring and reporting the gimbaled line-of-sight. Applications with multiple servo loops can be performed using real-time hosts and high speed digital signal processors communicating over the VME bus. In this paper we discuss one application of this architecture for a two-axis integrated electro-optical/infrared sensor imbedded in a system with 12 servo loops. The system requirements for gimbal control and line-of-sight reporting required moderately high bandwidth servo loops. Even so, the design incorporated a standard VME bus. Multiple processors with differing interrupt rates were used to control the differing bandwidth servo loops. The requirements, implementation, and performance of this architecture are covered.
© (1997) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Kevin J. Ames "Digital servo implementation: closing loops over VME bus with commercial off-the-shelf processors", Proc. SPIE 3086, Acquisition, Tracking, and Pointing XI, (23 June 1997);


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