An Embedded Analysis System for Assuring Mission Critical Servo Performance

Development of an embedded hardware/software. system for on-line estimation of the parameters of servo systems at Kwajalein Missile Range is proposed. Using state-of-the-art parameter estimation schemes and data required from the servos, the proposed system will determine the parameters of interest to the user. At a minimum, the estimated parameters will include loop gain , servo system bandwidth, friction, and mount imbalances. The embedded servo analysis system will also generate special test signals that can be injected at various points in the servo systems to enhance the estimation accuracy of critical parameters. These estimated parameters can be used to assess the state of readiness of mission critical servo systems. Some of these parameters will also useful for scheduling preventive maintenance. By just-in-time scheduling of preventive maintenance, the embedded servo analysis system will result in significant cost savings to the Army. Phase I research will generate the complete architecture of the system including all the algorithms to be implemented in the prototype system. Detailed system cost data will also be generated. The system performance will be demonstrated using simulations. A prototype of the embedded servo analysis system will be built and evaluated at the Kwajalein Missile Range during Phase II work. Estimation of all the parameters of interest will be demonstrated. The embedded servo analysis system will be commercialized during the latter half Phase II research. BENEFITS: The servo analysis system will result in a more reliable and economical operation of the servo system used in mission critical applications at KMR. The technology can be used to improve the reliability of tracking systems used in Air Traffic Control and Satellite Communication. It can help improve the productivity of manufacturing automation systems, machine tools and robots.