Developing micro DC-brushless motor driver and position control for fiber positioners

Laurent Jenni; Philipp Hörler; Laleh Makarem; Jean-Paul Kneib; Denis Gillet; Hannes Bleuler; Mohamed Bouri; Francisco Prada; Guillermo De Rivera; Justo Sanchez

doi:10.1117/12.2055197

8 July 2014 Developing micro DC-brushless motor driver and position control for fiber positioners

Laurent Jenni, Philipp Hörler, Laleh Makarem, Jean-Paul Kneib, Denis Gillet, Hannes Bleuler, Mohamed Bouri, Francisco Prada, Guillermo De Rivera, Justo Sanchez

Author Affiliations +

Proceedings Volume 9147, Ground-based and Airborne Instrumentation for Astronomy V; 914744 (2014) https://doi.org/10.1117/12.2055197
Event: SPIE Astronomical Telescopes + Instrumentation, 2014, Montréal, Quebec, Canada

Abstract

In the large-scale, Dark Energy Spectroscopic Instrument (DESI), thousands of fiber positioners will be used. Those are robotic positioners, with two axis, and having the size of a pen. They are tightly packed on the focal plane of the telescope. Dedicated micro-robots have been developed and they use 4mm brushless DC motors. To simplify the implementation and reduce the space occupancy, each actuator will integrate its own electronic control board. This board will be used to communicate with the central trajectory generator, manage low level control tasks and motor current feeding. In this context, we present a solution for a highly compact electronic. This electronic is composed of two layers. The first is the power stage that can drive simultaneously two brushless motors. The second one consists of a fast microcontroller and deals with different control tasks: communication, acquisition of the hall sensor signals, commutation of the motors phases, and performing position and current regulation. A set of diagnostic functions are also implemented to detect failure in the motors or the sensors, and to sense abnormal load change that may be the result of two robots colliding.

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Laurent Jenni, Philipp Hörler, Laleh Makarem, Jean-Paul Kneib, Denis Gillet, Hannes Bleuler, Mohamed Bouri, Francisco Prada, Guillermo De Rivera, and Justo Sanchez "Developing micro DC-brushless motor driver and position control for fiber positioners", Proc. SPIE 9147, Ground-based and Airborne Instrumentation for Astronomy V, 914744 (8 July 2014); https://doi.org/10.1117/12.2055197

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KEYWORDS

Robots

Actuators

Microcontrollers

Control systems

Sensors

Telescopes

Robotics

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