Goal of the Project:
Development of 4D gimbal (4 Axis turntables) which can be used for next generation measurements. This Automated test equipment can be used to measure radar sensors, communication systems and antenna systems to characterize real time behavior.
What is definition of 4D Gimbal?
4D gimbal means 4 different movements across different axis to test the device under test (DUT). One motion is linear motion and rest three is rotatory motion. Here is small diagram to show motion which can be done on gimbal.
Figure 1 Gimbal Motion Axis Overview
Below diagram will show motor placements.
Figure 2 Motors placement overview
There are two important types of motion definition in measurement domain for Automated test equipment: One is Linear motion and other is rotatory motion of device under test(DUT)
Final system is a 4D design (3D pattern + linear actuator) motion with one high torque servo motor on base with linear actuator to move the whole system. 3 Additional servo motors will be mounted for 3D axis measurement of Device under test (DUT).
As shown in Figure 1 and Figure 2:
Base linear actuator motor will move complete 3D gimbal back and forth to change distance of DUT from measurement system under range of 1 meter. Three rotators will further move to create 3D patterns of DUT.
How powerful is final system?
Final 4D system is able to power up three powerful servo motors and one linear actuator which can handle good amount of torque and need to drive heavy DUTs and antennas. The antennas and DUT can vary from few grams to several Kgs. With this basic preliminary system it will be tested what we can drive with Tapas platform. It will be then extended with help of Individual Tapas boards for as drivers for future units.
Use Cases for testing
Why Tapas Board?
Tapas are powerful platforms specifically with use case of Motor controls. We can drive 2 motors per board easily. With embedded software inverter circuit power usage and power driven circuits can be controlled and estimated. This also enables us to build smart algorithms of control and drivers to mimic certain profiles of measurement for example movement of sensors on Roads, movement of antennas due to wind etc.
For initial phase we need 3 boards for testing. We will use them to build one system prototype to test the concept and understand some improvements in mechanical and control design.
For extension of project we are planning to integrate 5 motors with 2 to 3 Tapas boards for 5D Gimbal.
Technical Flow and step by step procedure
This section details the flow diagram of system. There can be some changes as per the convenience in system design. But this is just initial flow to understand how to proceed and embed several design aspects for 4D gimbal.
Figure 3 System Architecture with Tapas Boards
Step by Step Development Flow:
Future Aspects: System extension to 5D Gimbal
This will be extended in next generation to provide capabilities for 5D axis measurements which comprise of 3D pattern of DUT + 2 liner motions including change in range and lateral displacement with additional linear actuator embedded with servo motors.
Ashutosh Baheti (Systems consultant, Infineon Technologies AG)
Raghavendran Vagarappan Ulaganthan (Algorithm and Embedded Designer, Infineon Technologies AG)
Rohith Revindran (Student for Antenna chamber control and measurements, Infineon Technologies AG)
this idea will get three TAPAS dev kits