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The GTC Main Axes Servos and Control System

M. Suarez,J. Rosich,J. Ortega, A. Pazos

Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE（2008）

Cited 7|Views8
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Abstract
The GTC azimuth and elevation axes control systems employ large custom direct-drive motors operated by means of embedded fully-digital current loops. A high-performance position loop has been developed based on sinusoidal encoder feedback with interpolation error compensation. Real-time servo feedback and trajectory tracking is implemented by object-oriented software components at CPU-level which trigger encoder sampling, interpolate the remote CORBA demands and perform high-frequency setpoint streaming for the servo controller.
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Key words
Servo,control,real-time,software
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