WATSON INDUSTRIES SMS-P233 Bedienungsanleitung

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

STABILIZED MOUNT SYSTEM

OWNER'S MANUAL

PART NUMBER: SMS-P233

WATSON INDUSTRIES, INC.

3035 MELBY STREET

EAU CLAIRE, WI 54703

Phone: (715) 839-0628

FAX: (715) 839-8248

email: support@watson-gyro.com

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

Table Of Contents

Introduction................................................................................................................... 3

Product Description...................................................................................................... 3

Start-Up..........................................................................................................................................................................5

Time Constant................................................................................................................................................................5

Pointing Angle...............................................................................................................................................................6

Error Correction.............................................................................................................................................................6

Centrifugal Force:......................................................................................................................................................6

Delta Velocity:...........................................................................................................................................................6

Moment Arm: ............................................................................................................................................................6

Safety Features...............................................................................................................................................................6

Over-current detection shut down:.............................................................................................................................6

Electronic limit stop:..................................................................................................................................................6

Mechanical limit stop:................................................................................................................................................6

Reverse power connection:........................................................................................................................................7

Installation .................................................................................................................... 7

Mounting:.......................................................................................................................................................................7

Servo System: ............................................................................................................................................................7

Sensor Package:.........................................................................................................................................................9

Environment: .................................................................................................................................................................9

Connections: ................................................................................................................................................................10

Power:..........................................................................................................................................................................10

Specifications.............................................................................................................. 10

Specifications.............................................................................................................. 11

RS-232 Output Format ............................................................................................... 12

RS-232 Input Commands ........................................................................................... 13

Warning ...................................................................................................................... 15

Appendix A................................................................................................................. 17

Appendix B................................................................................................................. 20

Activating Command Mode (Double Spacebar Mode)................................................................................................20

Determining Output Channels .....................................................................................................................................20

Setting Output Channels ..............................................................................................................................................21

Adjust Time Constant ..................................................................................................................................................21

Set Baud Rate...............................................................................................................................................................22

Watson Industries prides itself on solving customer problems and serving their needs in a timely fashion. This manual

is intended to facilitate this goal and to provide written information about your product. We ask that you carefully read

this manual. Becoming familiar with the manual will help you understand the product’s capabilities and limitations, as

well as provide you with a basic understanding of its operation. If, after reading the manual, you require further

assistance, do not hesitate to call Watson Industries with your questions and comments.

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

CAUTION!

Watson Sensors are rugged devices that have been used successfully in a number of harsh

environments. The components have been qualified to withstand a mechanical shock of 200g 's or

greater, and most enclosures provide an added level of protection. However, dropping a sensor

from waist height onto a hard floor can cause a shock level of 600g's. At this level, damage is

likely to occur.

Introduction

This manual is intended to help in understanding the installation and operation requirements of the

Watson Stabilized Mount System. Details of the operation and adjustments are provided to allow

the owner to obtain optimum performance from this product.

Product Description

Watson Industries has many years of experience developing sensor packages for stabilized

platforms for camera and antenna applications. Now we have taken the next step and are offering a

complete system.

Our gyro-stabilized mount system is built around a rugged pan and tilt mechanism. This is a high-

resolution digital system that uses high quality, wide bandwidth, low noise, and solid-state gyros.

Watson's proprietary rate closure, zero error algorithms takes preset attitude angles from a micro

controller and drives a digital servo controller in the mount. The whole system is user configurable

to adapt to a wide range of payloads and requirements.

Watson Industries also provides custom systems for special requirements. Our system design is

modular and configurable for economical and quick adaptation to a wide variety of hardware

configurations. Of course Watson Industries’ excellent product support and applications

engineering goes along with every product.

This particular model of the Watson product line is intended to hold an up to a 99 pound (45 Kg)

payload aligned to level and horizontal on a moving vessel/vehicle

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

Figure 1 Two-axis gyro Stabilized Mount installation

Each axis comprises a servomotor, driving the platform through an anti-backlash gear, a precision

potentiometer for positional measurements, and a pair of limit stops. The anti-backlash gear

minimizes the backlash from platform motions to less than 10 Arc Seconds. Furthermore, Watson

Industries has installed two gyros and a triaxial accelerometer used to calculate corrective

commands to the drive motors.

The two gyros are rugged vibrating-structure gyroscopes, whose angular rate signals are converted

from analog to 16-bit digital form. The effects of temperature variation on the DC bias of the gyros

are digitally corrected.

The micro controller assesses the desired motion of the platform based on preset angles in its

memory. It then compares this desired motion against the real motion of the platform, sensed by

the gyros and accelerometers, developing a rate error value. A servo-control system (P.I.D.

algorithm), uses the current (Proportional), past (Integral), and predicted future (Differential) value

of this error to derive a motor voltage that will drive the error to zero. In other words, the servo-

control system ensures that the motion of the platform exactly matches that of the preset value in

inertial space.

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

The servo driver module in the mount enclosure accepts commands from the micro controller in

digital form, converts them to pulse-width modulation using two full-bridge switching motor

drivers and then applies this to the two motors.

The platform is carefully designed to be rugged and reliable. Particular attention has been paid to

minimizing the effects of noise at every point in the system. This ensures that full advantage can

be taken of the low noise performance of the gyroscopes to achieve a highly stable platform.

Operation

Start-Up

The system is automatic. Once power is applied, the stabilized mount system will drive to its

preset attitude angles with errors corrected at a short time constant. The time constant of the

correction will be increased in increments until it reaches the full operational time constant.

Time Constant

The operational time constant of error correction is chosen for the predicted influences on the

accuracy of the system. Chief among the sources of error are the dynamics of the vehicle and the

drift tendencies of the gyroscopes.

Vehicle dynamics are characterized as being violent when they exist for a short time and gentle

when they are sustained over a long period. They are derivative in nature. In contrast, gyroscopes

have little error on the short term, but grow rapidly as the errors accumulate in the system. They

are integral in nature. The time constant must be chosen to match the circumstances such that the

least error is likely as shown in example below:

0.01

0.1

100

1000

1 10 100 1000 10000

Seconds

Error (Degrees)

Dynamic Disturbances

Sensor Drift

Figure 2 Errors versus Time Constant

The correction time constant for this system is adjustable by the conditions detected by the system.

When increasing errors are detected, the time constant is made longer so that the gyros are in more

control of the attitude. This is done on the assumption that short-term errors are more likely to be

caused by vehicle dynamics.

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

The dynamics of an aircraft or a large ship or a small ship or a land vehicle will all have individual

patterns and intensities. Only experience will expose the best time constant setting for lowest error.

The time constants are settable by the user through the RS-232 connections of the unit.

Pointing Angle

The nominal preset attitude angles are set to level and horizontal. Full ranges of offsets to this

starting point (within mechanical limits) are settable by the user through the RS-232 connections of

the unit.

Error Correction

Short-term disturbances will be held off from affecting the stable mount system, but as these errors

become longer term, corrections or preventative actions will be required.

Centrifugal Force:

The centrifugal force from turns at a significant speed will pull the pointing angle into error over

time. There are two ways to limit this effect:

1. Set the system time constant to a higher time interval.

2. Send a “Free Mode” command (essentially an infinite time constant) to inhibit the vertical

reference accelerometers from influencing the pointing angle. This is for short-term use

only on the order of a couple of minutes.

Delta Velocity:

The compensation for forward acceleration is done just as that for centrifugal force.

Moment Arm:

Rotation motions of the vehicle will produce errors that are a function of the distance from the

center of rotation, the moment arm. The compensation for this is to increase the time constant.

Safety Features.

Over-current detection shut down:

There is current sensing for each axis of this system that connects to the micro controller. If

sustained excessive motor current is detected (i.e. greater than one amp on either axis), the system

will shut down. Since the components of the system are balanced, the only regular cause of

sustained over current is driving against resistance such as an obstruction. Such a load on the

system could cause a burn out of the motor and this must be prevented. The power will have to be

turned off, the obstruction must be cleared and the power will then have to be restored in order to

reboot the system.

Electronic limit stop:

The system tracks the orientation of the mount by reading the potentiometer outputs and will

prevent driving past a preset angle value held in the micro controller’s non-volatile memory.

Driving the mount away from this limit is not inhibited.

Mechanical limit stop:

This is a mechanical limit adjusted to keep the mount from colliding with its structure. It uses

micro switches to turn off the ability to drive further into the stop by interrupting one side of the

motor driver. This is a last line of defense from a system failure, as it is fully independent from the

other safety systems. Driving the mount away from this limit is not inhibited.

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

Reverse power connection:

Power is diode protected from voltage polarity reversal. Recovery is immediate and without

damage.

Installation

The servo system is mounted to the post with

careful alignment and bolted together.

Additionally, the payload (supplied separately)

must be attached to the SMS. The steps for this

process are described below and should be read

and understood before any installation or

assembly begins.

WARNING – Do not apply power until the

installation is complete!

Mounting:

Servo System:

The servo system is the part of the SMS that will hold the payload level and horizontal. The servo

system consists of the main servo housing and the sensor package mounting arm. The main servo

housing has a circular plate with M6 threaded holes. Four M6 bolts and four M6 washers are

provided to mount the servo system to its mounting place. Several steps should be followed for a

proper installation of the servo system:

1. The servo system is heavy and must be supported

during installation to its mounting place.

2. Adjust the position of the mounting ring of the servo

system so that the paint mark on the mounting ring

will line up with the center position of the intended

field of view.

Stop Pin

Paint Mark

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

3. Loosely attach the servo system to the mounting position using four mounting

bolts, washers and possibly nuts. Use bolts that do not protrude beyond the

mounting ring.

4. Adjust the position of the servo system so that the paint

marks on the mounting position and mounting ring are in

line with the stop pin.

5. Using a level, adjust the position of the servo system so that it is reasonably level.

6. Once the servo system is completely level, secure the four M6mounting bolts.

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

Sensor Package:

Once the servo system is correctly installed, a payload may be installed on the mounting arm of the

servo system. The SMS has no counterweight and is limited by this load imbalance to 99 lb (45

Kg) payload. WARNING – Do not apply power until the installation is complete!

Environment:

This product has been surface treated for resistance to salt air and precipitation. As always, this

resistance is limited and the system should be kept clean and should be inspected for signs of

corrosion damage regularly.

As in all moving mechanisms there is concern about ice interfering with operation. The system has

internal protection against damage from stalling the motors, but performance may be reduced.

The system should be considered fragile. DO NOT APPLY LOADS OR FORCES TO THE

PAYLOAD.

Watson Industries, Inc. SMS-P233 Rev B 10/17/2017

Connections:

This product has one connector for all system connections. The user mating connector is

Amphenol part number MS3106A-20-7S (included with the system). The connections are:

Pin Function

A Power Return

B +28 Volt Power

C No Connection

D RS-232 Transmit from SMS-P233

E Signal Ground (connected internally to Power Return)

F RS-232 Receive to SMS-P233

G No Connection

H Case Ground

Power:

This unit has an internal regulator to allow operation over a moderate voltage input range. Best

operation is obtained at 28 VDC level, although operation is fully satisfactory down to 18 VDC and

up to 30 VDC. Current draw of the unit is about 3 amperes peak. Internal capacitors are provided

to remove a reasonable level of power line noise, however, capacitors should be added for long

power line wiring or if noise is induced from other loads on the circuit.

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