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Proceedings Paper

Developing micro DC-brushless motor driver and position control for fiber positioners
Author(s): Laurent Jenni; Philipp Hörler; Laleh Makarem; Jean-Paul Kneib; Denis Gillet; Hannes Bleuler; Mohamed Bouri; Francisco Prada; Guillermo De Rivera; Justo Sanchez
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Paper 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.

Paper Details

Date Published: 8 July 2014
PDF: 7 pages
Proc. SPIE 9147, Ground-based and Airborne Instrumentation for Astronomy V, 914744 (8 July 2014); doi: 10.1117/12.2055197
Show Author Affiliations
Laurent Jenni, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Philipp Hörler, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Laleh Makarem, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Jean-Paul Kneib, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Denis Gillet, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Hannes Bleuler, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Mohamed Bouri, Ecole Polytechnique Fédérale de Lausanne (Switzerland)
Francisco Prada, Univ. Autónoma de Madrid (Spain)
Guillermo De Rivera, Univ. Autónoma de Madrid (Spain)
Justo Sanchez, Instituto de Astrofísica de Andalucía (Spain)


Published in SPIE Proceedings Vol. 9147:
Ground-based and Airborne Instrumentation for Astronomy V
Suzanne K. Ramsay; Ian S. McLean; Hideki Takami, Editor(s)

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