22 July 2014 An iterative model-based cogging compensator for the Green Bank Telescope servo system
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Abstract
This paper outlines an anti-cogging methodology and summarizes the current state of motor cogging cancellation on the Green Bank Telescope (GBT). An iterative, model-based algorithm is developed for finding the anticogging signal which yields rapid convergence. This method fills a gap in present methodologies in that it can serve as a drop-in cogging solution which operates in the presence of unknown structural dynamics as well as with an existing feedback controller. The algorithm is described and demonstrated on a 40 HP DC brushed motor test bed and also on the GBT’s elevation axis motors. Results and implementation experience from deploying the algorithm on a motor test bed and on the GBT are discussed.
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Timothy Franke, Timothy Weadon, John Ford, Mario Garcia-Sanz, "An iterative model-based cogging compensator for the Green Bank Telescope servo system", Proc. SPIE 9145, Ground-based and Airborne Telescopes V, 914555 (22 July 2014); doi: 10.1117/12.2056704; https://doi.org/10.1117/12.2056704
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