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Proceedings Paper

Performance of the High-Altitude Balloon Experiment Roto-lok drive gimbal systems
Author(s): Marcus R. Schulthess; Andrew Asim Ardaman; Steven Baugh; Donald G. Carson
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Paper Abstract

This paper presents and discusses laboratory performance measurements of a Roto-Lok drive system for the HABE azimuth and elevation gimbals. The HABE system is a 7,000 lb acquisition tracking and pointing (ATP) balloon-launched vehicle. The primary azimuth and elevation drive systems are zero-backlash torque multipliers referred to by the trade name Roto-Lok rotary drive and designed by Sagebrush Technology, Inc. The Roto-Lok used in the azimuth gimbal has a limited 320 deg of angular travel; therefore, it is supplemented with a secondary drive element to provide unlimited travel. This secondary drive is used to counteract the gross angles resulting from the freely rotating nature of the untethered balloon system. The Roto-Lok drive is used for the fine tracking and pointing of the gimbals. Both the azimuth and elevation Rota-Lok drives are tandem drives with an end-to-end ratio of 72:1. Performance specifications developed from the mission requirements are compared against the actual system performance measurements. The entire gimbaled azimuth and elevation systems are required to point in inertial space to less than 250 (mu) rad RMS over the band DC to 100 Hz for each axis. Performance measurements better than the specification were measured. The primary gimbal base-motion disturbances, however, are due to the motor cogging torque or torque ripple. A brief discussion of the measurement methods and the control system used to drive the gimbals is presented. Several system anomalies, such as the structural compliance between the drive element and the inertial rate sensors and the coarse gear backlash, are discussed in terms of their impact on the gimbal control system.

Paper Details

Date Published: 5 July 1994
PDF: 13 pages
Proc. SPIE 2221, Acquisition, Tracking, and Pointing VIII, (5 July 1994); doi: 10.1117/12.178970
Show Author Affiliations
Marcus R. Schulthess, Air Force Phillips Lab. (United States)
Andrew Asim Ardaman, Applied Technology Associates, Inc. (United States)
Steven Baugh, Applied Technology Associates, Inc. (United States)
Donald G. Carson, Sagebrush Technology, Inc. (United States)


Published in SPIE Proceedings Vol. 2221:
Acquisition, Tracking, and Pointing VIII
Michael K. Masten; Larry A. Stockum; Morris M. Birnbaum; George E. Sevaston, Editor(s)

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