SFScon14: ALMA Telescopes powered by RTAI Linux
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Transcript of SFScon14: ALMA Telescopes powered by RTAI Linux
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ALMA
● Cosa è?● E' il più grande osservatorio radio
astronomico al mondo● Atacama Large Millimiter/submillimiter
Array● Deserto dell'Atacama nel Cile a 5000 metri● Collaborazione tra Europa, Nord America,
Est Asia, con partecipazione del Cile
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ALMA● 66 radiotelescopi di cui:● 54 con una parabola da 12 metri di
diametro● 12 con una parabola da 7 metri● Altissime prestazioni e precisione● Più di 10 anni di sviluppo● Inaugurato ufficialmente nel 2013 e dal
2011 produce risultati scientifici
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ALMA● Tutti i 66 telescopi osservano in modo
sincrono● I radio telescopi possono essere
riposizionati (l'array può essere riconfigurato)
● Distanze possono andare da
150 metri
fino a
16 kilometri
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Riconfigurazione Array
Per il riposizionamento viene usato:● Uno speciale transporter
– Lunghezza di 20 metri
– Larghezza di 10 metri
– Altezza 6 metri
– 28 ruote motrici
– Peso 130 tonnellate
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ACU
● Microgate s.r.l. di Bolzano ha fatto la progettazione e realizzazione della ACU e del sistema di metrologia termica e dinamica
● ACU (Antenna Control Unit)Il “cervello” del telescopio
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RTAI
● ACU è interamente basata sul sistema operativo RTAI
● Non solo anche la ABM (Antenna Bus Master) è basata su RTAI
● RTAI Real-Time Application Interface● È un estensione per il Kernel Linux
sviluppato al Politecnico di Milano dal team del Prof. Paolo Mantegazza
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Hardware ACU
● Sistema VME● CPU Intel Pentium M 1.1GHz
RAM Memory 512 MB● Varie schede per la comunicazione con
periferiche● I/O Digitali, Seriali, Schede di
interpolazione etc.
Sistema affidabile: temperature e altezza
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ALMA
ABMAntenna Bus Master
ACU
RTAI
ACUACU ACURTAI
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Sistema motore
Direct Drive● 36 Nodi motore● 20 Azimuth● 8 Elevation● 4 Power Supply● 4 Sensori Hall
AZ 56000 NmEL 34000 Nm
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Sistema Encoder
● 3 Sistemi di interpolazione● 8 Testine ottiche per AZ● 4 Testine ottiche per EL
● Contact less
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Metrologia
● Metrologia Termica ● 100 sensori di temperatura
di precisione <0.15°C
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Metrologia
● Compensazione dinamica vento ● 2 Inclinometri sviluppati ad Hoc
(MicroCline)● Risoluzione:
0.1 microradianti
equivale a● 1 mm su 10 km!!!
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Svariati Task
● Centinaia di segnali I/O per – Sicurezza, Stow Pin, Freni, Fine Corsa...
● Controllo Hexapod● Controllo Temperatura Cabina ● Gestione PCU (Portable Control Unit)● Interfaccia utente● Diagnostica
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ACU
RTAI
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Alcuni dati
● Precisione di puntamento
meglio di: 0.6 arcsec1 grado equivale: a 3600 arcsecondi
● ABM comando ogni 48 ms● ACU interpola e calcola la traiettoria
ottimale. Ogni 2 ms:– acquisisce tutte le testine
– calcola la coppia motori
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Conclusione: Vantaggi RTAI
● Free software● Accesso al codice● Controllo completo● Adattabilità (nessuna black box)● Ottima performance● Stabilità e affidabilità● Ottimo supporto da mailing list
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