Antenna system servo requirements:

Type of Mount: Elevation over Azimuth

Screw-Rod arrangement in Elevation.
System Slew Velocity: 3 deg/sec.
System Tracking Velocity: 0.1 Deg/s. (Az and EL Axis)
System Tracking Acceleration: 3 deg/sec/sec. max.
Servo pointing accuracy: 0.1 deg.
Position display Resolution: 0.01 deg.
Position loop bandwidth – 0.5HZ

Specification for servo motor:

Drive configuration : Single motor per Axis.
Attachment : Resolver feedback, Built in brake, Natural air cooling.
Mounting : Flange mounting, standard type
Drive shaft : Standard type with key.
Protection : IP 65 class with oil seal.
Thermal sensing switch.
Maintenance free closed bearings for expected lifetime.
Interface : Rotatable MS Circular Connectors for power, brake and Resolver with Manufacturer supplied
interface cables of30 Mtrs long with suitable chokes for power Servo Drive with resolver feedback and
built in brake.

Specifications for Drive: the drive should be amulti axis drive with a capability to drive minimum 2
serovmotors- one for azimuth & one for elevation
The DRIVE unit shall be compatible with the selected motor.
• PWM controlled converter preferably with 1Ø power configuration.
• Integrated Power Supply and controller with all the protection circuits.
• Dynamic braking facility with suitable DBRs accordingly.
• Drive shall be Configurable for Velocity / Torque modes.
• Continuous & Peak current : Suitable to the selected Motor.
Drive Input / Output specifications:
• Reference input :
Analog input : 2/4 Nos. for ± 10/12 V DC based on requirements.
Digital Inputs/ Outputs : 8/16 Nos. based on requirements.
Drive Protection & Customization
The Drive amplifier with the following protection cum customizing features.
• DC Bus under voltage/over voltage,
• Short circuit protection,
• Over Temperature (Heat sink),
• Over current trip,
• I²t
• Resolver connection fault (open circuit).

Multi Axis Controller:

Multi axis controller (Programmable Multi-Axis Motion Controller) may be used for closing the
position loop.
• CPU Module with USB/Ethernet I/F to IPC.
• Axis Module for Closing the Amplifier-Motor.
• SSI/ Endat / EtherCat Encoder Module for Position sensing.
• DIO Module for Digital Inputs of all Interlocks (as per requirement).
• ADIO for Analog Inputs (as per requirement).

Antenna Load Details for AZIMUTH Axis:

Gearbox reduction : 1500:1
Motor speed : 750rpm
Torque at motor end
Peak torque – 1.5Nm
Continuous torque – 1.2 Nm
80% duty cycle
No of motors required – 7No’s

Antenna Load Details for ELEVATION Axis:

Inertia for torque computation
Gearbox reduction : 3000:1
Motor speed : 1500 rpm
Torque at motor end
Peak torque – 2.2Nm
Continuous torque – 2 Nm
80% duty cycle
No of motors required – 7No’s

Block diagram for antenna control system

Note: absolute encoder will be purchased by aadyah aerospace

Antenna Control System – Functional Requirements

3.1. ACS – Operating Modes:
The Antenna Control System shall have the following different operating modes which allow the
system handy in tracking the MEOSAR satellites and in the offline activities like antenna
calibration and the maintenance activities etc.
3.1.1. Stand By Mode:
In this mode motor brakes are applied (held). Drive amplifier is in latched condition and the
amplifier output contactor is in OFF condition.
3.1.2. Manual Mode:
In this mode antenna will be moved using a set of soft (GUI based) hand-wheel/Joystick/Keyboard
arrangement. The rate at which the antenna can be moved for each pulse (inching) shall be
configurable through the „configuration file‟.
3.1.3. Slew Rate Mode:
This is a rate mode in which the antenna will be moved in the set speed. Speed setting is through
the no. of rotations/Keyboard pressing and it shall be configurable through the „configuration file‟.
3.1.4. Program mode:
This is the tracking mode in which the antenna will be driven simultaneously in both the axes as
per the pre-loaded trajectory information as per the timeline. Time input will be UT through NTP
or PC time. The satellite look angles shall be generated by the ACS using TLE (Two Line
elements) uploaded to ACS via M&C system or via any media that ISTRAC defines in ICD.
3.1.5. Designate Mode:
This is an offline mode by which the system can be driven to the pre-defined target designations at
the set speed. 10 or 15 such fixed locations can be provided for user setting and naming. In
addition, a „set-and-move‟ window is to be provided to set and move the antenna.