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figure 6.1: motor control circuit
6.2.3.4 Thermal control
Temperature control is necessary to protect the electronic components. Active heating is needed
to prevent the temperature from falling below -15°C. The temperature control system is fully
autonomous. The CPU on the DR will receive inputs from the thermocouples and switch on the
power to the heaters as and when necessary. The thermal control system measures and compares
the temperatures to decide whether to power the heaters. The autonomous nature of the thermal
control system ensures that any failures will be immediately dealt with, decreasing the chance of
damage occurring to the DR. See Appendix 6 for a model of the thermal control block diagram.
6.2.3.5 DR Main CPU
The DR CPU is responsible for sending and receiving commands and signals to ground control
as well as all of the other DR actors with the exception of the LSC, video cameras and telemetry
controller. It performs high-level tasks, which coordinate most of the autonomous systems on
the DR.
The CPU will give commands to the following systems:
Vision System Processor
• Update the workspace definition- these tasks are actually carried out by separate visions
system controller.
Motor Controllers
• Start/stop
• Required angles
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