request for proposal - indian space research organisation

Request for Proposal for the Supply Installation and Commissioning of

Antenna Control Servo System

ISTRAC/ ISRO (Feb. 2017)

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Request for Proposal (RFP)

for

Supply, Installation and Commissioning

of

ANTENNA CONTROL SERVO SYSTEM

for ISTRAC 11M Antenna.

Feb. 2017

BUYER:

ISTRAC/ISRO DEPARTMENT OF SPACE GOVERNMENT OF INDIA

BANGALORE-560058




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CONTENTS

Sl.NO. Description Page No.

1. INTRODUCTION

1.1 Introduction 01 1.2 Scope of document/Scope of Work 01 1.3 Description of Work Package 01 1.4 Price bid details 02

2. ANTENNA CONTROL SERVO SYSTEM DESCRIPTION

2.1 Introduction 03 2.2 System Description 03 2.3 System Operating Modes 05 2.3.1 Stand By Mode 05 2.3.2 Slew Rate Mode 05 2.3.3 Manual Mode 05 2.3.4 Auto Track Mode 05 2.3.5 Program mode 07 2.3.6 Designate Mode 08 2.3.7 Computer Designate mode 08 2.3.8 Slave Mode 09 2.3.9 Sun/Star Track 09 2.3.10 Stow Mode 09 2.3.11 Auto Sequence 09 2.3.12 Auto Over-Ride 10 2.4 System Safety Interlocks 10 2.5 System Status Display 11 2.6 System Interface to Antenna 12 2.6.1. Antenna Specifications 12

3. ANTENNA CONTROL SERVO SYSTEM SPECIFICATIONS

3.0 Introduction 13 3.1 System Features 13 3.2 System Functional Requirements 14 3.3 System Specifications 15 3.3.1 Overall System Specifications 15 3.3.2 Antenna Control Unit Specifications 17 3.3.3 Remote Antenna Console (RAC) 18 3.3.4 System Control Software & Software Tools 18 3.3.4.1 Linux ACU Application Software 18 3.3.4.2. Linux RAC Application Software 19 3.3.4.3 Software Diagnostic tools 19 3.3.4.4. Mission Scheduler 20 3.3.4.5. Gateway GUI 20 3.3.4.6. Reporting Services 20 3.3.5. Servo Motor Specifications 20 3.3.6 Drive amplifier Specifications 20 3.3.6.1 Functional Specifications 20 3.3.6.2 Input/Output Functions 21 3.3.6.3 Protection & Customization 21




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3.3.7 Antenna Drive Unit 21 3.3.7.1 Functional Specifications 21 3.3.7.2 Mechanical Aspects 22 3.3.8 Encoder Box 22 3.3.8.1 Absolute Rotary Shaft Encoder Specifications 23 3.3.8.2 Limit switch and Cable wrap sensor 23 3.3.9 Stow Lock Unit Specifications 23 3.3.9.1 Input/output Interface 24 3.3.10 Quality & Reliability 24 3.3.11 Operating Environment 24 3.3.12. Standards & EMI/EMC Compliance 24 3.3.13. Primary power 24 3.3.14 Documentation 24

4. LIST OF DELIVERABLES

4.1 List of spares to be delivered 25 4.2 Address for Delivery 25

5. PROGRAM CLAUSES

5.1 Delivery/Schedule 26 5.2 Warranty 26 5.3 Spares support 26 5.4 Pre-shipment, FAT & Training 26 5.5 Site Acceptance & Training 26 5.6 Test results 26 5.7 System software & upgrades 26 5.8 Installation & commissioning 26 5.9 Languages & Measures 26

ANNEXURE-I Compliance Statement 27

ANNEXURE-II Control & Interface Details 29

1. Data Interfaces 29 2. Monitoring & Control Interface 29 3. System control options 31

INTERFACE DESCRIPTION 31

DATA FORMATS 33

LIST OF FIGURES

Figure 1: System Block Diagram 04 Figure 2: Encoder Box diagram 23

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1.0 INTRODUCTION

1.1 INTRODUCTION ISRO Telemetry Tracking and Command Network (ISTRAC) is one of the centers of

INDIAN SPACE RESEARCH ORGANIZATION, under the Department of space, Government of India. The prime responsibility of ISTRAC is to provide mission support to “Low earth orbital satellite missions and Launch Vehicle programmes” under ISRO‟s space research and development programme.

Under ISTRAC‟s Network stations new 11m-antenna second terminal is proposed to be installed in Port-Blair, Andaman Islands and Bhopal Ground Station in Bhopal, MP. This is a co-located Antenna in both locations along with the first terminal as a full backup terminal for supporting ISRO‟s upcoming launch and satellite programs.

Further ISTRAC on its Network expansion, has the plan of establishing additional stations in Bangalore (Bylalu), Lucknow and an external station. Hence the total number of systems to be supplied is 05 numbers. The vendor is advised to include the installation, Packing and Freight charges accordingly as per the format given below and mention price in the PRICE/COMMERCIAL BID only.

1.2 SCOPE OF THE DOCUMENT This Request for Proposal describes the functional and technical specifications for

the supply of state-of-the-art Antenna Control Servo System (ACSS). This system is required to safely point and track a satellite for uplink and downlink purposes. This document describes the system functions, specifications, features and overall requirements of the ACSS, sub-systems, major components, Monitor and Controlling (M&C), and other required interfaces.

SCOPE OF WORK

The purpose of this second terminal is to have the identical operational features in comparison with the co-located ACSS, ease of maintenance/operations and maintain sufficient spares in addition with the Remote M & C system of operations.

The scope of this work includes the responsibility of Supply, Installation and Commissioning of Antenna Control Servo System to control the ISTRAC 11m Antenna at the specified sites.

Vendor has to go through the RFP document and give the compliance with respect to complete document. If vendor wants any technical clarification/details, before submission of Quote, they may contact ISTRAC through Purchase department.

1.3 DESCRIPTION OF WORK PACKAGE.

The activities and Services to be rendered by the supplier shall cover the following.

1.3.1. Supply, Installation and Commissioning of Antenna Control Servo system (ACSS) (1 No. at each site) according to the functional and Technical specifications given below.

1.3.2. Supply of the systems with the state-of-the-art products related to ACSS, interfaces to antenna, accessories, instrumentation and safety systems.

1.3.3. Configuration, design of sub-systems including various options culminating in configuration design-document. Preliminary design, which includes detailing the parameters of ACSS and performance, quality and reliability, test & evaluation of the system. Finalization of detailed specifications of all the sub-system, bill of




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materials (BOM). Critical design including computer analysis, appropriate documentation of inspection, testing procedures and acceptance criteria.

1.3.4. Finalization of ACSS design based on the implementation of recommendations, if any, of ISTRAC Technical Evaluation Committee or the Optional Critical Design Review Committee.

1.3.5. Realization of the system with the TEC or CDRC recommendations, assembly, testing and firm up the design drawing etc.,

1.3.6. Conducting Site Acceptance test (SAT), the pre-dispatch acceptance tests at supplier‟s premises along with ISTRAC representatives with preliminary level of training and testing. The additional cost involvement for these activities shall be taken into account by the supplier.

1.3.7. Installation and Commissioning of the system at the site. Review of the test results and acceptance. Revision of the design document in accordance with review and recommendations, if any, of ISTRAC Technical Review Committee or Optional CDR Committee.

1.3.8. In this commitment the Party should have prior experience of Design, Development, Installation and Commissioning experiences of at least two or more number of, 6-meter or above, full motion Antenna Control Servo Systems. Supportive documentary evidence shall be produced (user certificate).

1.3.9. The Supplier should have a service center or agent/representative within India and shall hold the responsibility of repair/service of the failed subsystems/units to minimize the turnaround time and avoid the shipping delays/overseas procedures if any etc.,

1.3.10. During after-sales-service-support period, the minimum service period preferably to be about 30-45 days for items to be serviced in India and for items to be serviced outside India at Principals (manufacturer for imported items) if so, the minimum service period preferably expected to be is about 60-90 days from the date of receipt of the items at service-center agent/representative in India.

1.3.11. The ACSS System shall have six Receiver Interfaces. Each Receiver will have AGC, Az Error and EL Error analog inputs, and Receiver Lock Status (Digital) to be handled independently.

1.4. PRICE BID DETAILS:

The Party shall submit their quotes for the supply of two systems of this offer and also quote for a slab rate with validity for a period preferable upto 2 years as per the given below format. ISTRAC has the right to place the order with or without spares set.

Price/Commercial details like supply/installation/spares etc. should not be mentioned in the Technical bid. If price details are indicated in Technical bid the proposal will be rejected.




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Table-1. Price Bid Format.

S No. Item Description Quantity

Numbers

Unit

Price

Validity

Till

Total

Amount

1. Supply Installation and Commissioning of

ACSS System for PORTBLAIR Station

including packing and Freight Charges

01


ACSS System for BHOPAL Station


01


ACSS System for LUCKNOW Station


01


ACSS System for BANGALORE, including

Installation, packing and Freight Charges

01

5. Supply of ACSS System for BANGALORE,

including packing and Freight Charges 01

6. Critical spares one set per system as per

section 4.5 05 Set

7. . Supply of Similar ACSS Systems at

BANGALORE including Packing and Freight

Charges

01-05

06-10

8. Critical spares one set per system as per

section 4.5

01-05

06-10

2.0 ANTENNA CONTROL SERVO SYSTEM DESCRIPTION

2.1 INTRODUCTION

The Antenna control servo system shall have all the salient features of modern digital control system available in any of the latest ground stations, using the state-of-the-art technology. The following features shall be built into the system.

2.1.1. Facilitate automated/unmanned operating environment through remote monitoring and control system.

2.1.2. Software based digital Control – Totally Configurable Remote Antenna Console (RAC) and Antenna Control Unit (ACU).

2.1.3. Reception of satellite ephemeris in standard TLE format / Real-time TLE / ISTRAC format and generation of look angles, automatic down loading of look angles and scheduled based operations.

2.1.4. Built in Test and Evaluation function, apart from diagnostic functions for hardware.

2.1.5. Network based Control.

2.1.6. Dual Drive servomotors Brushless DC and matched digital drive amplifiers.

2.2 SYSTEM DESCRIPTION

The required antenna control servo system block diagram is illustrated in below Figure-1, which shows the system components. The system can be broadly divided into the




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following sub systems. Each block in the diagram may correspond to single/multiple subsystems or multiple blocks may correspond to single/multiple subsystems.

2.2.1. Remote Antenna Console (RAC)

2.2.2. Antenna Control Unit (ACU) or Servo Controller

2.2.3. Antenna Drive Unit (ADU)

2.2.4. Servomotors and matched Amplifiers.

2.2.5. Encoder box contains absolute encoders for angle sensing and safety limits.

2.2.6. Drive electronics or Controller interface including interlocks and drive I/F.

2.2.7. Stow locking unit interface facility with stow interlock functions.

2.2.8. Input Isolation transformers and EMI/EMC filters/chokes as needed.

The primary operator interface for the Antenna control servo system is the Remote Antenna Console (RAC) located in the TTC Control Room at a distance from the Antenna Control Unit (ACU) which provides remote control of ACU. The Remote Antenna Console (RAC) communicates with the Antenna Control Unit (ACU) over OFC Interface for 100 to 500 Mtrs distance. Exact distance depends upon site requirement and will be decided at the time of releasing P.O.

The Antenna Control Unit (ACU) or the Servo-Controller, which is part of the Antenna Drive Unit (ADU) will be located in the Antenna pedestal room and is responsible for closing the position loop, reading the position sensors and commanding the Antenna Azimuth/Elevation Drives. The position loop shall be built with appropriate inner loops (rate loop and current loops) such that the equal-and-opposite counter-torque-bias is added appropriately at the rate loop input and both motors feedback taken in the loops.

The Servo-Controller shall have a built-in timer/real time clock and shall have the feature to synchronize it with station reference time (NTP/IRIG) and shall have the time stamping of the data at the source end itself.

ACU shall also provide antenna control functions for remote operations from M & C system through RAC. All the operational configurable parameters shall be available to access from RAC terminal with appropriate password protection. An integral or external color display shall allow the operator to continuously and simultaneously view all information of interest in clear alphanumeric font.




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NOTE: The Exact Screen display requirement like formats, colours, functions and details may be worked out mutually during implementation phase.

The Major subsystems like RAC, ACU or Servo-Controller, Servo Motors and the associated Drive Amplifiers etc., are to have after sales service support for a minimum period of 8 years.

In addition to the conventional PID control algorithm, the servo system shall have required hardware and/or software features to implement the advanced control features like feed forward adaptive control schemes etc. Thus the servo system shall have either selectable or automatic Type-I, Type-2 compensation or adaptive bandwidth control with Rate feed forward. In other words, the vendor has to ensure smooth antenna tracking at all demanding velocity and acceleration requirements meeting the tracking accuracy conditions (MRE ±0.02 deg).

2.3 SYSTEM OPERATING MODES

The Antenna Control servo system shall have extensive operational modes to meet the antenna requirements for orbiting satellites. The system shall have mainly two operating control environments. One is “Local mode” (RAC-Control) at RAC console and another is “Remote mode” via RAC from M&C system provided by ISTRAC. Apart from these a “Maintenance-mode” (ACU-Control) shall be available to operate either from ACU Op-Panel at Antenna pedestal room or from a pluggable hand held maintenance console (Pedestal-control).

The system shall support all the following operating modes

2.3.1. STANDBY MODE:

Standby mode stops the antenna, engages the brakes, and inhibits the drive amplifiers. While in standby, the ACU will continue to monitor status and alarms and display them in the status display.

Brake Release: A separate „Break Release‟ button should be available at ACU Screen to release Az and EL motor breaks (both together or separate) without any interlocks at will for maintenance purpose.

2.3.2. SLEW RATE MODE:

This is a rate loop mode in which the antenna shall be moved at a constant selectable/settable rate directly without position loop control in both axes independently.. The azimuth and elevation axes can be driven at any rate from approximately 0.1 to 9.0 deg/sec within their specified operational travel limits. Slewing the antenna through ACU keyboard shall also be possible.

2.3.3 MANUAL MODE:

In this mode the Antenna Control System electronically gears the antenna by the command angle generated by a hand-wheel/joystick positioned on the RAC/ACU Op-panel. The step size (0.02, 0.1, 0.5, 1.0, & up to 5 deg) is programmable (configuration table) independently for AZ and EL axes.

‘Enter & Go’ Mode: In Manual Mode there should be a provision to click the command angle window and enter the desired angle-and-rate independently and on the „Go‟ command, antenna should be driven to the set angle in the selectable rate automatically taking care of cable wrap. This function has to be provided for both Axes to operate together as well independently.

2.3.4 AUTO TRACK MODE: This mode is the main operational mode of ACSS. In this mode the ACU closes

tracking loop through a tracking receiver and controls the antenna to point the target




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accurately with the error signal (+ 10 V DC) produced by the tracking receiver (ISTRAC supply). The Bandwidth of the tracking loop is programmable for Azimuth & elevation axes for the X-Band and S-Band Auto (selectable) tracking loops.

The Auto mode augments the manual or slave mode by switching to auto track mode when the tracking receiver locks on the downlink signal. The „Auto-Sequence or „Auto-Diversity‟ Enable‟ (i.e., automatically switching to Auto-Track Mode based on the set conditions) monitors the tracking receiver (X or S or Acq Tracking Receiver) AGC, receiver lock status, and error signal within threshold level (settable in the Configuration table), etc. and when the received AGC is greater than the acquisition threshold, the receiver status indications become valid and if Auto Sequence is enabled, then ACU automatically switches to the Auto-track mode once conditions are TRUE for the set time.

The ACSS shall have the feature of comparing the Receiver Inputs (i.e., between X-RCP and X-LCP/S-RCP and S-LCP/Acq-RCP and Acq-LCP) for three Receive systems namely for X-Band Auto, S-Band Auto, Acqn-Auto. System shall continuously monitor and compare the AGC of the RCP and LCP Receivers and select the BEST channel for Auto-tracking and the Auto-loop has to be closed with the corresponding selected receiver errors, based on the set threshold level of AGC signal.

If the Auto-Sequence is not enabled, then manual switching is to be allowed under the set conditions are TRUE.

A good AGC with minimum/zero error signal and Rx lock status are, then, the only signals required to maintain Auto track mode. The ACU monitors the X and S-Band tracking receivers AGC, lock status, and signal present status. Auto mode may be selected by remote control command or in local mode. The Secant correction has to be applied for Az tracking loop (only) in X and S Band Auto modes.

a) X-Band AUTO TRACK This is a sub mode of Auto track mode in which the antenna is controlled through

the tracking error detected by Auto-track receiver connected to the X-Band antenna feed having beam width of + 0.1 deg.

b) S-Band AUTO TRACK This is another sub mode of Auto mode. In this mode of operation the auto loop is

closed through the Auto-track receiver connected to the S-Band antenna feed having a higher beam width of + 0.4 deg.

There should be a „configuration file‟ for the „Mnemonics‟ of the buttons provided in the screen, allowing the user to assign the name both for display and for data parameters logging in the log file. This naming should be globally taken in the entire application.

c) ACQN. AUTO TRACK

This is another sub mode of Auto mode. In this ACQUISITION AUTO mode of operation the auto loop is closed through the Auto-track receiver connected to the S-Band wide beam antenna feed having a higher beam width of + 3.5 deg.

d) Automatic PROGRAM Angle Offset Correction.

In RT Pass during Auto-Track with the PROGRAM Mode Trajectory loaded, the offset between PGM angles and the autotrack angles should be continuously monitored, displayed and offset should be updated with the loaded Trajectory information and the corrected PGM dot to be displayed in Bulls eye with the offset displayed all the time in the command window. If PGM Mode is selected the trajectory should follow the target in the corrected Angles for 10/20 secs (configurable). Further if receiver not locked antenna




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should be driven as per the original PGM trajectory. Both the uncorrected original and the corrected PGM angles should be logged in the Log-file for offline analysis.

Provision to set offset ON/OFF facility should be provided to operator‟s selection.

If Auto Track receiver loses the lock, the corrected offset is to continue with the provision for the operator to increase or decrease the offset (in the pre-settable steps) with the arrow keys in real-time. The offset should be displayed all the time in text.

Offset ON/OFF, positive offset, negative offset etc., for each axis shall be implemented through function keys or in any better method.

2.3.5 PROGRAM MODE:

In this mode, as said earlier, the satellite look angles generated using standard TLE file or Real-time TLE or ISTRAC format is stored/uploaded in the system controller. The present antenna Az. and El. angles are compared with these pre-determined satellite look angles with respect to time, and position errors are generated corresponding to the angle difference. Thus the antenna is servo controlled on the angular positions received before satellite tracking either from the Remote computer (RAC) or by the look angles generated by the ACU based on the satellite ephemeris data.

Following are the salient features of Program mode of operation.

1. The Satellite look angles should be generated from (Selectable) Real-time TLE / Normal TLE (Offline) and / or using ISTRAC Standard Orbital Elements. Next day pass (zero Zulu cross over) to be taken considered.

2. The maximum number orbits of satellite for which the look angles to be generated is to be configurable.

3. Generation of TDSN for each pass in selectable intervals like 500ms, 1 sec, 10 sec, 30 sec, 1 and 5 minutes. The interval may include preferably 100ms. No of samples for long duration say for 12Hrs or more should be taken care (settable in configuration table max up-to 10000 samples).

4. The maximum number of satellites to be supported/Trajectory loaded etc., should be configurable without boundaries.

5. The Look Angle output to be in two formats in different directories, (i.e., the trajectory to be loaded) as follows.

Output file-1 HHMMSS.mmmAAA.AAEEE.EE HH - Hours MM - Minutes SS - Seconds mmm - milli seconds AAA.AA - Azimuth Angle. EEE.EE - Elevation Angle. (The Angle output shall be upto 0.01 deg or suitably better resolution considering the X-Band bean width)

Another Format masking milli-second portion for matching to the existing systems:

Output file-2. (Can be discussed and decided) HHMMSSAAA.AAEEE.EE HH - Hours MM - Minutes




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SS - Seconds AAA.AA - Azimuth Angle

EEE.EE - Elevation Angle. (The Angle output shall be upto 0.01 deg or suitably with better resolution considering the X-Band bean width)

NOTE: In case of any error for TDSN generation for one or more satellites, with the appropriate popping up of the error message, indicating the satellite name, the TDSN generation should continue for remaining all satellites. Indicate on completion and the completion message is to be sent to M&C system. In case Orbital elements (ISTRAC orb Format) are not received or updated in ACSS system in the set time (settable in Configuration table), then with event log and a error message in the message window (Orb files received/Not received with time,) from the earlier latest orb files, use “For further use”, all the old orb files and look angle files to be kept as a backup/mirror files, the back-up files to be maintained for a week or month (circular file mode).

6. Scheduling / un-scheduling a pass by editing the schedule file. 7. Display of all the passes scheduled & completed, scheduled and upcoming and not

scheduled for operations in different colors on the screen. 8. Display of the upcoming pass with name of the satellite and AOS time and Count

down time. 9. Automatic loading of look-angles of the upcoming scheduled pass at T-4 (or

settable) minutes. 10. Facility for loading the pass look angles after AOS time and initiating the PROGRAM

with respect to the current time. 11. Audio alert at the AOS time. 12. Facility to edit the actual support AOS and LOS timings. 13. Facility of Program Track simulation without changing system time 14. Angle offset facility in Program mode for real time auto error phase setting with

satellite. Offset is programmable independently for AZ and EL ( 0.1 0.4, 1.0,

2.0, 3.0, 4.0 and up to 10.0 deg. Using arrow keys after correcting to max AGC.)

15. Arbitrary time interval between successive samples. 16. The PGM Mode data points updating with time in real-time.

ZENITH PASS: This feature is a integral part of PGM Mode and eliminates, overhead pass

cone-of-silence effect. In this feature the algorithm computes the measure of peak

elevation angle of the satellite pass in real time and the max antenna rate and plans zenith

pass solutions. The ACU automatically drives the azimuth axis in the correct direction of the

pass to catch-up the satellite. The solutions shall be programmable for different satellite

altitudes and position error thresholds.

2.3.6 DESIGNATE MODE:

The designated preset memory allows the operator to save at least 25 targets with user naming facility (Such as satellite, bore sight, stow lock etc) configurations. A target configuration includes Az and El position.

2.3.7 COMPUTER DESIGNATE MODE:

The antenna is servo controlled on the angular positions received at a constant rate (10 samples/sec) on TCP/IP port from a remote computer in mission control centre. (Configuration file shall have the provision to includes the compensation of the data




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transmission delay if any). The system shall have the facility to receive two CDM data streams over the two different LANs CDM-1 and CDM-2 simultaneously. Real time selection of tracking source CDM-1 or CDM-2 shall be possible.

2.3.8 SLAVE MODE:

This is a sub-mode of the computer designate mode. In this mode of tracking, the antenna will be slaved to another co-located antenna (Master antenna) to the angle available over TTC LAN I/F, which follows the master antenna. If no valid command angles are received the position angle shall remain fixed at the latest received position.

2.3.9 SUN/STAR TRACK:

When Sun/Star mode is selected the antenna is commanded to track the sun or the star using an ephemeris program that is resident in the ACU. The ACU shall have the following databases to achieve the above function. The data logging in the prescribed format should be enabled automatically and upto settable and or fixed duration.

Sun/Star Database that is predefined with the most common stars. Any celestial body

2.3.10 STOW MODE:

Stow mode drives the antenna to a predefined stow lock position, keep powering the amplifiers under servo-lock in pulse mode to keep the antenna out of external heavy wind disturbances and maintain the stow lock position within the tolerable limits and allows the operator to stow lock the antenna. The system allows for the release of the stow pin for normal operation or maintenance activities in stow-release mode.

2.3.11 AUTO SEQUENCE:

In this mode/feature the user can stack different modes on top of each and designate thresholds and boundary conditions for transitioning from one mode to the next. The initial pointing mode and the priority of stacking the modes shall be user programmable.

Various configurations of stacking of modes are possible depending upon the mission requirement. For example the operator may stack modes in the following manner.

Program mode/Manual mode Scan mode (Circular, spiral, raster)

CDM 1/2 (Priority settable. If data is not in selected Link automatically select other CDM)

Acq-Auto (selectable) S-Auto (wide Beam Tracking Receiver) X-Auto (Narrow Beam Tracking Receiver).

Operationally the user can pick an initial pointing mode such as Program mode or manual mode. The ACU would position the antenna in azimuth and elevation based on the angles generated from ephemeris data or manually loaded look angles.

If the signal levels on the tracking receivers do not exceed a predefined threshold, the ACU will see for CDM data on the CDM links and select List track mode for tracking. If CDM-1 is present then the system uses that data. If CDM-1 data is not present, the system would use the CDM-2 data. From that point a tracking mode could be imposed. Once signal level exceeds the S-Band Auto receiver threshold, the system begins to Auto-track on the wide-beam signal (S-Band Auto). Once the Narrow beam (X-Band) Tracking receiver signal exceeds the pre-defined threshold, the system begins X-Auto track.

If the signal drops below the threshold level the system backs down to the previous mode, at any stage of the „automatic-acquisition and tracking process‟. The SCAN mode shall be imposed as per the configuration selected, over the initial position mode/CDM, if




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required. The operator can set the signal thresholds for all tracking receivers for transitioning into S-Auto or X-Auto through Acq-Auto (if set). At any time in this process, the signal level exceeds the pre-defined threshold and the conditions are TRUE, then the system shall begin to Auto track in Auto Sequence mode.

2.3.12 AUTO OVER-RIDE.

This is a separate mode/feature to be enabled at operator‟s choice. On enabling this, all the conditions for Auto Tracking and default fall back options etc., are becoming ineffective and entire console operations will be at operator‟s decision. All other functions like hardware interlocks and data logging functions etc., remains as it is except the Antenna mode-changeover.

2.4 SYSTEM SAFETY INTERLOCKS

The System shall have the following interlock functions for the safety of the antenna and control the overall system operation sequentially. Following are the interlock functions to be incorporated into the system algorithms/hardware circuits.

1) CONTROLLER (ACU) ON/OFF 2) ANTENNA DRIVE UNIT ON/OFF 3) EMERGENCY STOP 4) AZ./EL AXIS ON/OFF 5) AZ. STBY/EL. STBY 6) AZ. / EL. MOTOR BRAKE RELEASE 7) STOWING AND STOW RELEASING

Antenna is stow locked by using STOWING command, after positioning at predetermined Az. and El. Angles. Stowing/Stow releasing is possible only in combination with Manual mode. This interlock allows only Manual-mode selection under stowed condition. In addition it takes care of complementary operation based on the present status i.e. stowing is possible only when stow is already released and

vice-versa. A separate unit/section within the ADU with 3- switching circuits and interlocks overload protection relays etc., shall be made for this operation. Stowed and stow Released interlocks are to be independent for both the stow motors.

8) ANTENNA TRAVEL LIMITS (Pre-limit and limits) 9) HARDWARE TRAVEL LIMITS:

PRE-LIMITS: On reaching the pre-limit, the corresponding indication flashes on the screen and the maximum antenna velocity in that direction will be limited to 1.0 deg/sec. and there should not be a limitation in the opposite direction. Software feature shall be made in configuration table (with a warning in main screen) to ignore/bypass the pre limits for testing the speed killing effect.

END LIMITS: The antenna will be stopped at this point and further movement in the same direction is restricted when the final limits are reached. But the operator shall be able to move the antenna back in the reverse direction in MAN/SLEW mode of operation, so as to come out of the final limits. Respective Limit indication will be displayed on the screen with audio alarm. The limit indication will be removed as soon as the antenna comes out of the set limit.

10) SOFTWARE END LIMITS AND PRE-LIMITS: In addition to the hardware switch arrangement for the travel limits, the ACU

will have software limits. Nominally the antenna movement will be restricted within these limits by monitoring the angle data directly. On reaching the set limits (programmable) the antenna cannot be moved further in that direction and allows movement in the reverse direction only. The pre-limit function is same as hardware pre-limits function as explained above. Nominal pre-limit and limits for Azimuth and Elevation axes are given in section 3.3.




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PRE LIMIT BY PASS FACILITY SHALL BE INCORPORATED in the software Settings.

All the software limits & Pre-limits shall be field programmable. Pre-Limit Speed killing should be effective only in entry direction and the

opposite or exit direction to come out of pre-limit should not have any speed limitation.

11) FINAL LIMITS: In the event of any malfunction of the above limits and their logic functions or due to overdrive of the antenna and on reaching the final-limits the antenna mode will be switched to standby mode and brakes will be applied, Control enable signal to drive will be disabled and AC 3-phase input will be disconnected to the Drive Amplifiers at this point. Respective Limit indication will be displayed on the screen with audio alarm. To come out of the dead limit condition the operator has to use Hardware (Az/El) limit Bypass switches and or Limit-Exit commands.

12) AZIMUTH LIMIT EXIT/ELEVATION LIMIT EXIT (if drive is tripped) When the Azimuth/Elevation final Hardware limits (final Limits) are reached and drive is made to trip by the interlock functions, these controls will facilitate the operator to come out of respective limit condition by activating manual or slew rate command mode and generating signal in appropriate direction based on the limit status. The antenna comes out of final limits in the Limit-Exit mode in opposite direction till the final limit is there.

13) AZIMUTH /ELEVATION DRIVE AMPLIFIER READY STATUS 14) AZ/EL SERVO MOTOR OVER TEMPERATURE 15) SINGLE PHASE PREVENTOR AND RECOVERY INTERLOCK.

All the above status parameters should be logged in the event logger file.

2.5 SYSTEM STATUS DISPLAY

The RAC/ACU screen shall show a detailed system status. Following are the parameters (not limited) to be displayed on the RAC/ACU operating screen. All error messages and system faults, operator prompts, menus etc shall be in plain English or easy mutual discussion with user during Design Review).

1. Azimuth and Elevation antenna angle, PGM angle in degrees 2. CDM-1 and CDM-2 Angles. 3. Difference between Antenna angle and PROGRAM angle. 4. Difference between CDM-1 and Antenna angle and CDM-2 and Antenna angle. 5. Hi-lighting Commanded angle to Antenna angle. 6. Different settable colours for the boundary limits through configuration file.

NOTE: All the above angle displays with 0.001 Deg resolutions. Vendor is free to implement the screen appearance however the final screen shot will be decided by

ISTRAC. Vendor should be flexible to change the screen appearance including multiple

screens and the parameters as per ISTRAC requirements.

7. Operation mode. 8. Azimuth & Elevation limits and pre-limits. 9. Azimuth and Elevation rates in deg/sec (input selectable from motor-1 or motor-2

drive for display alone). 10. Azimuth and Elevation Drive currents in Amperes. 11. Azimuth & Elevation Drive system fault status. 12. Tracking system parameters like Signal strength, Rx lock status and Tracking

errors for all auto track chains. 13. Tracking receiver AGC and Tracking errors in bar graph. 14. Tracking errors display in Numeric values.




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15. Universal Time (ddd: hh:mm:ss). 16. CDT count down time (HH:MM:SS) 17. Tracking aids (Bull‟s eye) 18. ACU Active/hanged status at RAC screen. 19. Cable wrap position. 20. EMERGENCY STOP indication + location 21. Type of tracking (Type-I/Type-II at all times). 22. Position lag in graphical form in Bull‟s eye. (Auto, Program and CDM1 and 2). 23. Automatic Satellite pass summary (details can be discussed and finalised).

2.6 SYSTEM INTERFACE TO ANTENNA

The servo drive system is interfaced with antenna axes using gearboxes, low inertia couplings and slew ring bearings. The antenna specifications are as follows.

2.6.1 ANTENNA SPECIFICATIONS

Reflector diameter : 11m Type of mount : Elevation over Azimuth Antenna type : Solid parabolic dish with casse-grain

geometry

Mount : Fully steerable Elevation over Azimuth mount

Antenna coverage : Azimuth ± 360 deg Elevation - 2 to +182 deg. (Restricted to +95 Deg settable) Antenna Beam Width : Beam width for X-Band: + 0.1 deg

Beam width for S-Band: + 0.4 Deg Beam width for S-Acqn: + 3.5 Deg

Antenna rates (AZ/ EL) : Velocity 9deg/sec (Mechanical) Acceleration 9deg/sec² Gear ratio (overall) : 1500:1 Efficiency : > 85 % Load Inertia : 1,25,000 Kg-m² in Az/El axes (excluding motor inertia) Frequency band : X-Band

a) Transmit 7135-7235 MHz b) Receive 8000-8500 MHz S-Band a) Transmit 2025-2120 MHz

b) Receive 2200-2300 MHz Tracking : Monopulse G/T : 23 dB/deg. K Environmental (wind loads) : a) Operational 60 Kmph b) Survival 200 Kmph

Safety Features : 1. Lightening arresters. 2. Stow lock for AZ & EL 3. Mechanical stopper 4. Hand cranking facility 5. Flexible couplings.

Geared Stow motor : 0.5/1.0 HP, 3- Induction motor

Resonance Frequency : 5 Hz (approx.)




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3.0 ANTENNA CONTROL SERVO SYSTEM SPECIFICATIONS

INTRODUCTION

The antenna control servo system shall employ the state-of-the-art technology as described earlier. Broadly the proposed Antenna Control Servo System shall consist of the following sub systems.

However the vendor has the right to conceive the ACSS system on his own and still meet all the ISTRAC requirements laid down in this RFP directly or indirectly.

1. Remote Antenna Console (RAC)

2. Antenna control unit (ACU)

3. Antenna drive unit (ADU) containing drive amplifiers and logic for azimuth and elevation axes control, power-on sequence and safety interlocks.

4. Servo motors and amplifiers (Two for Az and two for EL Axes).

5. Azimuth and Elevation Absolute encoders and coverage limits.

6. Interface cables.

7. Stow lock unit.

3.1 ACSS SYSTEM FEATURES

The system shall have the following features: 3.1.1. Compact and ruggedness. 3.1.2. Software based digital control-totally configurable controller. 3.1.3. Configuration Table should be provided wherever applicable for user configuration

parameters, Labeling (should be globally applied in entire data usage), selection ON/OFF etc., The configuration file should enable the user to edit the activities related to Pre-shift and Post-shift commands (which will be received from M&C system) like setting the antenna parking angle, orientation speed etc.,

3.1.4. Monitor and Control Software for automated/unmanned operating environment. 3.1.5. Servomotors in dual drive mode and digital drive amplifiers. 3.1.6. Mission scheduler for automated scheduling of multiple satellite passes based on

satellite ephemeris data (ISTRAC Format) and/or TLE / Real time TLE. 3.1.7. Test and calibration software for comprehensive built in Test & Evaluation

capability. 3.1.8. High performance, software tunable servo loops (All internal loops) 3.1.9. Complete Intelligence at the Controller. 3.1.10. Remote Antenna Console for M&C functions 3.1.11. Opto isolated I/O modules – additional lightning protection. 3.1.12. Highly reliable system performance. 3.1.13. Entire Interface cables should be Teflon cables and Teflon wires.

The Interface cables are to be individually twisted and shielded pairs for all analog and sensitive signals and overall shielded with proper colour coded wires, melinax taped and properly PVC sheathed for external environmental and rodent protection at all interfaces. All the Connectors to be wired with two or four spare pins wired and at the cables two spare pairs of wires left un-wired. Connectors selection should be optimized as per the wiring requirement. Avoid over sizing.

3.1.14. Necessary Junction Box/Termination Box are to be planned suitably at Antenna Pedestal both in Azimuth and Elevation separately for monitoring the low power DC signals/voltages during maintenance with separate Ground Potential Point extended at the Junction Box with proper labeling/marking.




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The markings should be legible and durable (long lasting -permanent) in hot sunny environment with proper transparent covering on the cables etc.,

3.1.15. CAT-6/latest LAN Cables or latest with proper PVC sheath for external environmental and rodent protection particularly between RAC and ACU interface. (Preferably all LAN Cables to be of same type)

3.1.16. All the Interface connectors (MS Circular connectors etc.,) are to be of Industrial standard or MIL Graded.

3.1.17. Numbering of Cables should be in sequence at each level starting from XXX-01. The numbering format for IO Panel connectors:

XXX-AA to XXX-ZZ XXX - Termination End (RAC/ACU/ANT etc.,) AA - 01, 02, 03 etc., Numbering format for Interface Cables

XXX - Termination End (RAC/ACU/ANT etc.,) AA - 01, 02, 03 etc., YYY - Destination or other end like (ACU/RAC/ANT etc.,) BB - 01, 02, 03 etc., Mnemonics - Interlocks / S-Band Rx / X-Band Rx / EM Stop / Motor Power / Az.

Enc./ EL Enc. / Stow-1 INTLK / Stow-2 Power etc.,

(This can be decided mutually at the time of design/review/implementation)

3.2 SYSTEM FUNCTIONAL REQUIREMENTS

The Antenna Control Servo system shall meet the following functional requirements.

3.2.1 Steer the antenna at the maximum rate and acceleration.

3.2.2 Logging of angle data and transmission to station computer as per the specified format and rates. (Annexure-II gives the data formats. Configurable table should be given, in which the parameters can be selected for transmission).

Default Data Log file in 1 sec interval should be provided for each satellite pass (Naming the file can be automatic with day number and UT time and user entry for special cases). Additionally Data logging shall be with „Capture‟ button (ON/OFF) facility for any arbitrary time with selectable intervals (0.01/0.1/1.0 secs etc., through configuration file). All the ACSS input and output parameters should be logged. Data logging may be a circular file (optional) configurable for a maximum

period of 100 days.

3.2.3 Control the antenna in various defined operational modes.

3.2.4 Interlock functions for sequencing operations under various operating modes and provide safety of Antenna, Amplifiers, servo motors and cable wrap. A hard-wired

EMERGENCY STOP switch shall be provided on the front panel of RAC and ACU.

3.2.5 LAN interface - shall support 4 additional network configurations.

3.2.6 Reception of Satellite ephemeris from station computers and generation of look

angles locally and/or TLE from the defined network or Real-time TLE.

3.2.7 Automatic down loading of look angles from Station Computer/Remote computer.

3.2.8 Schedule based automatic operations.




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3.2.9 Interpolation of command data @ 100Hz.

3.2.10 Digital compensation servo loops.

3.2.11 Automatic selection of Bandwidth

3.2.12 Automatic gain adjustment of Auto loop with error slope changes (X or S or Acqn. tracking, Single or Double motor).

3.2.13 M&C functions, Status transmission to Monitoring and Control System in the

specified format and interval (Annexure –II gives the format details).

3.2.14 Screen based Graphic display of Antenna angles, command angles, position error and satellite pass support details and display of all other system parameters and alarms.

3.2.15 Configuration control for important software controls like encoder bias, UT time offset, bandwidth selection i.e. Type I/II independently for Az and EL (Separate Buttons) if not adaptive bandwidth control, loop gains, angle offsets, data rates, Single/Double motor drive etc.

3.2.16 Counter torque drive configuration with torque bias and fade out adjustment (field

configurable).

3.2.17 Automatic loop parameters in case of one motor failure during tracking and switching to single motor operations on the fly. (The system switching to STBY cases may be discussed and decided)

3.2.18 Hardware and software antenna coverage limits.

3.2.19 Interlocks for all alarm features, Motor brakes, Stow lock, Emergency stop, cable wrap indication etc.

3.2.20 System should have highly reliable assured sensing-mechanism of Brake Release,

which is to be given highest weightage.

3.2.21 UT or PC-Time selection for time stamping.

3.2.22 Limited Online plotting function feature in real time in secondary screen, for selected parameters with ON/OFF control and full-fledged Offline plotting function for multiple selected parameters with selectable scales for X and Y axes and storing

them in preferably in JPEG or any other selectable format.

3.2.23 Event logger with time.

3.2.24 Plug in maintenance control module for testing and maintenance at Antenna

pedestal.

3.2.25 Built in Test and evaluation and system diagnostic functions and automatic results/report generation.

3.2.26 Auto Acquisition and tracking methodology (Auto-Sequence Mode), using sequencing/stacking of operational modes. The priority of modes shall be user

programmable.

3.2.27 Tracking-aid display (Bull‟s eye etc) and Main-lobe indication with user

programmable parameters like levels, colours etc.,.

3.2.28 Servo Compensation and Evaluation Tools.

3.2.29 Transmitter-inhibit-function output at MS Circular connector level.

3.2.30 External Limits.

3.3 ACSS SYSTEM SPECIFICATIONS.

3.3.1 OVERALL SYSTEM SPECIFCATIONS.

3.3.1.1 Tracking Velocity within beam : 9 deg/sec.

3.3.1.2 Tracking Acceleration : 3 deg/sec/sec. (Min)

3.3.1.3 Servo pointing accuracy : 0.04 deg.

3.3.1.4 Servo Tracking Accuracy : 0.02 deg.




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3.3.1.5 Position display Resolution : 0.001 deg. (Antenna, Command, CDM angles and PGM Angle Difference position display)

3.3.1.6 Position Transducer : 21 bit or better single turn Absolute rotary shaft optical encoders in Az and El axes.

3.3.1.7 Position loop bandwidth : 1.0 Hz in Type-1 & Type-2 (Field programmable for optimizing during

installation in steps of 0.1 Hz up to 1.5 Hz for counter Torque and Single motor drive operations).

3.3.1.8 Rate loop bandwidth : Minimum twice of Position loop BW. (Field programmable for optimizing during

installation in steps of 0.5 Hz around design values for counter Torque and Single motor drive operations).

3.3.1.9 Operating modes : STANDBY, SLEW, MANUAL, PROGRAM, CDM, DESIGNATE, X-AUTO, S-AUTO, Acq Auto SUN/STAR, SLAVE, AUTO SEQUENCE.

3.3.1.10 Drive configuration : Two motor Counter-torque (Torque bias / share) arrangement with linear fade out to minimize backlash.

3.3.1.11 Type of drive : Servo Motors, with resolver feedback and built in brake and compatible drive system.

3.3.1.12 System Control Options : A. LOCAL CONTROL (From RAC/ACU) Operator controlled. (Non M & C) Schedule Based. (Non M & C)

B. REMOTE CONTROL (From M & C) NOTE: Control Details are explained in Annexure –II

3.3.1.13 Antenna Coverage Limits :

AZIMUTH AXIS Hardware limits Software limits Clock wise Final limit +350.00 deg --- Clock Wise End limit +340.00 deg +320.00 deg Clock Wise pre-limit +330.00 deg +310.00 deg Counter clockwise Final limit - 350.00 deg --- Counter Clockwise End limit - 340.00 deg -320.00 deg Counter Clockwise pre-limit -330.00 deg -310.00 deg

ELEVATION AXIS:

Hardware limits Software limits Up Final limit +105.00 deg --- UP End limit +100.00 deg +94.00 deg UP pre-limit +89.00 deg +88.00 deg Down Final limit -02.00 deg --- Down End limit 00.00 deg +01.00 deg Down pre-limit +05.00 deg +05.00 deg

Note: All the software limits and pre-limits shall be user programmable.




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3.3.1.14 Data Output : (a) To Station computer Time tagged Az.& EL angle data preferably @

0.1,1 and 10Hz (programmable) with selectable ground station code.

(b) To M & C System Status (Refer Annexure –II).

(c) To Control Centre.

Status Data (Refer Annexure –II).

3.3.1.15 Data Input : (1) Commands from M & C System. (2) CDM 1/ CDM 2 data over two networks. (Refer Annexure –II). (3) Ephemeris/Look angles from Station Computer.

3.3.1.16 External Interfaces : (1) X/S/Acqn Receiver (AGC, lock status and auto errors)

(2) Timing syste : Mod. Code (IRIG-B)/NTP. (3) STC/M&C : ETHERNET (TCP/IP). (4) CDM-1/2 : ETHERNET (UDP/IP).

(5) CDT : MOD. CODE / DC-SHIFT CODE. (6) LCDT : LAN based CDT.

NOTE: 1. Station computer and M&C System through TTC LAN. 2. ETHERNET UDP/IP ports for CDM data interface on two Networks. 3. CDT mod. Code or DC shift code.

3.3.1.17 Screen Displays : Color Graphics-oriented means of screen display, visual tracking aids (Bull‟s eye etc), and graphical representation for tracking AGC, errors and Cable wrap position UT, CDT etc.,.

3.3.1.18 Safety Interlocks

3.3.1.19 Status monitoring : (The status display shall contain all the parameters listed in section 2.5)

3.3.1.20 Secant correction : To be applied for Az tracking loop in Auto mode.

3.3.1.21 MTBF : Min 4800 Hours

3.3.1.23 DIAGNOSTIC FACILITY:

A) ACU software shall include the System Diagnostic Tools to evaluate the performance of the system in different modes of operation and plotting of tracking parameters with respect to time (position, Velocity, Acceleration and tracking error, following error etc., and any other selectable parameters of interest from the logged data) in Real time / Off line. Interface shall be provided to a printer and saving the file in JPEG or other format of user choice.

B) ACU software shall include the Diagnostic aids to troubleshoot the subsystem faults and maintenance aspects.

3.3.2 ANTENNA CONTROL UNIT (ACU) SPECIFICATIONS

The ACU is an Industrial PC with additional 1u KB unit with foldable Monitor in 17” / or better TFT or LCD with Touch Screen display with keyboard and built-in mouse or track ball. The ACU shall be providing local GUI operation as well as the Servo




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Test & Evaluation Toolkit allowing for comprehensive diagnostic and performance monitoring. The ACU shall provide the interface to remote operations via the local area network (LAN) or OFC Link with RAC as front end system. Refer block Diagram in Figure-1. The ACU will be built with the following features.

3.3.2.1. Tracking Modes : Program, Auto-track, Slave, and CDM. 3.3.2.2. Acquisition Aid : Auto-Sequence feature (configurable stacking of

tracking and scanning modes) 3.3.2.3. Manual Modes : Manual, Slew, Stow and Designate. 3.3.2.4. Other Modes/Features : Self Test, Standby, Sun/Star Track, Event Log,

S/W Tunable Compensators, IRIG-B Time, plug in maintenance unit

3.3.2.5. Offsets Available : Azimuth, Elevation and Time 3.3.2.6. Axis Supported : Azimuth and Elevation 3.3.2.8 PC : Industrial Grade PC with Linux OS. 3.3.2.9 Display Monitor : 17” built-in TFT LCD display with resolution 1024 x

768 or better and with 8/16 MB VRAM minimum or better.

The actual configuration shall be mutually decided.

3.3.2.10 Shall support external CRT monitor simultaneously and desirably with two Front side USB connectors.

3.3.2.11 Watchdog Timer. 3.3.2.12 Input Power Supply : 180-250 volts, 50Hz. 3.3.2.13 Mechanical : All 19” rack mountables with slides. 3.3.2.14 Shall meet the safety standards and EMI/EMC compliance or better in clause. 3.3.2.15 Application Software shall run under Latest version of Linux OS.

3.3.3 REMOTE ANTENNA CONSOLE (RAC)

The RAC shall be a 19” Rack mountable Industrial PC with additional 1u KB unit with foldable Monitor in 17” / or better TFT or LCD with Touch Screen display with keyboard and built-in mouse or track ball. 3.3.3.1 Shall support external CRT monitor simultaneously. 3.3.3.2 Watchdog Timer. 3.3.3.3 Input Power Supply : 180 – 250 volts, 50Hz. 3.3.3.4 Mechanical : 19” rack Mountable and should be with slide 3.3.3.5 Shall meet the safety standards and EMI/EMC compliance or better in clause. 3.3.3.6 Application Software shall run under Latest version of Linux OS.

3.3.4 SYSTEM CONTROL SOFTWARE AND SOFTWARE TOOLS

The software shall be developed on Linux OS and provide a suite of system monitor & control and diagnostic tools like Linux ACU GUI application software, Linux RAC application software, Instrumentation Software for Test and Evaluation, Mission Scheduler for Scheduling multiple satellite tracking tasks, Gateway GUI for controlling and managing the flow of data and Reporting Services to generate system reports etc.,

3.3.4.1 Linux ACU GUI SOFTWARE:

This software shall provide servo loop compensation, status & control processing, interfaces to the ADU, remote interface to RAC and front panel software interface. All inputs and outputs are configurable via a setup file local to the controller or down loaded via the remote interface.

The software should display IRIG-B UT Time and in the absence of this, application should automatically take the NTP Synchronized PC-Time with sufficient indication and




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continue all the on-going operations without any break. PC Time synchronization with NTP time in the fixed interval is to be taken care. Application Software shall have the following features/configurability. User friendly and intuitive graphic user interface, remotely operable.

Upgradability and flexibility. Dual-Axis Torque bias control (Azimuth & Elevation). Digital servo compensation. Data logging of all parameters at selectable intervals and for selectable duration. Auto

over writing of log files should be avoided.

Generation of look angles based on satellite ephemeris and/or TLE/Real-time TLE. Remote down loading of Time tagged Satellite look angles. Built in test functions. Application self-test.

3.3.4.2 Linux RAC GUI SOFTWARE:

RAC software shall be the primary interface for users to configure the antenna. This software shall provide the Linux based operator interface for the control and

monitoring of antenna system. The remote M&C interface allows for remote control from a M&C system. The software features shall include:

Intuitive, graphical monitor & control. Satellite database with ephemeris. Scheduler for automatic tracking of multiple satellites. Monitoring and controlling functions as per Annexure-II. Configurable files for all log parameters, intervals, durations etc., addition/deletion of

satellites to be supported, editing of satellite names, screen buttons names, voltage polarity reversals and voltage range etc.,

Multiple window interfaces for system configuration, monitor and control. Flexible system configuration. Tracking Aid Display (Bull‟s eye etc)

3.3.4.3 SOFTWARE DIAGNOSTIC TOOLS

This Test and diagnostic software is for establishing the initial antenna performance baseline. During the Periodical performance evaluation and Test & Evaluation activities, the tests can be repeated again and compared against the baseline results. Preferably the following test capabilities (not limited to) shall be incorporated in this software tool. The resulting test data is to be plotted on software based strip chart recorder and to be saved in JPEG or other selected format. Provision for printer/plotter interface shall be made available.

1. ERROR SENSITIVITY TEST: To plot position error generated in various modes vs antenna position.

2. STEP RESPONSE TEST: In this test Rise time, Settling time, % of overshoot and bandwidth shall be computed, logged and displayed along with response curve. The test and the response shall be logged every time with filename option and the plot should be automatically logged in the same file name with the above computed results. This test can be carried out in the rate loop also.

3. VELOCITY/ACCELERATION: This test is designed to measure the maximum velocity and acceleration of the antenna servo system. The measurements can be made for both dual and single motor cases (selectable) and in position/rate loops. Test parameters should be settable too.




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4. LOOP SENSITIVITY TEST: To plot/find position/rate loop sensitivities by taking the voltage levels at respective input points. (Position loop sensitivity for all modes shall be carried out separately).

5. RATE FEEDBACK SENSITIVITY TEST: To find the rate feedback sensitivity (direct or indirect method)

6. SATELLITE TRACKING PLOTS: To record, display and store Antenna Azimuth/Elevation position/velocity/Acceleration vs time during the satellite pass.

7. INERTIA TEST: The inertia test is designed to measure the inertia of the antenna by inputting signal into the external velocity command input of the appropriate drive amplifier while monitoring the motor current or vendor may suggest suitable test to estimate system inertia.

8. LOW SPEED FRICTION: The Low speed friction test slews the antenna at low velocities while recording the current and velocity feedback data. NOTE: All the real-time tests can be provided with ON/OFF facility in the configuration file to enable them whenever necessary only.

3.3.4.4 MISSION SCHEDULER

The scheduler GUI shall be responsible for the following.

Setup and Schedule new missions.

Edit existing missions. Administer the Mission Scheduler Process. Inform users when a mission starts and completes.

3.3.4.5 GATEWAY GUI

The system shall automatically ping, upon selection of the client name (IP address), with all the network connections identified and report the status in a file at any time and log the event, if any.

3.3.4.6 REPORTING SERVICES

The Reporter shall be responsible for generating text reports on the data logged/support provided and shall include Date, Time, Station and Devices etc.

3.3.5 SERVO MOTOR SPECIFICATIONS

3.3.5.1 Suitable Motor for ISTRAC Antenna requirements. 3.3.5.2 Built in brake : Suitable brake. Easy accessible for maintenance. 3.3.5.3 Cooling : Natural air cooling. (No Blower) 3.3.5.4 Connection : Flange mounting, standard type 3.3.5.5 Drive shaft : Standard type with key. 3.3.5.6 Protection : IP 65 class with oil seal. 3.3.5.7 Interface : Preferably through MS Circular Connectors for power, brake

and resolver. 3.3.6 DRIVE AMPLIFIER SPECIFICATIONS

3.3.6.1 FUNCTIONAL SPECIFICATIONS:

3.3.6.1.1 Suitable drive for the selected servo motor as per section 3.3.5. 3.3.6.1.2 Controller with all the protection. 3.3.6.1.3 Dynamic braking facility with suitable DBRs. 3.3.6.1.4 Configurable for Velocity / Torque modes. 3.3.6.1.5 Drive Input voltage : 415V, 3-Ø, 50Hz. 3.3.6.1.6 Drive Amp. to Motor connection : 50 Mtrs without any external Filter/choke.




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3.3.6.2 INPUT/OUTPUT FUNCTIONS:

3.3.6.2.1 Reference input : a) Analog input +/- 10 V DC.

3.3.6.2.2 Resolver interface : Compatible with the motor.

3.3.6.2.3 Power output to Brake : +24 V DC.

3.3.6.2.4 Drive ready : Status. 3.3.6.2.5 An isolated and calibrated analog signal, truly representing motor current and

motor speed should be made available for remote monitoring and data logging purpose.

3.3.6.2.6 Status / fault conditions on the front panel. 3.3.6.2.7 The Drive Amplifier interface for drive set up and continuous status

transmission to remote computer and resetting the Drive fault. The status shall include the nature of fault condition with Remote fault resetting provision.

3.3.6.2.8 Driver software preferably for Linux OS shall be provided along the Application development tool.

3.3.6.2.9 Provision and interface to connect external dynamic braking resistor.

3.3.6.3 PROTECTION & CUSTOMIZATION

The Drive amplifier shall be equipped with the following standard protection.

3.3.6.3.1 DC Bus under voltage/over voltage.

3.3.6.3.2 Short circuit protection.

3.3.6.3.3 Over Temperature (Heat sink).

3.3.6.3.4 Over current trip.

3.3.6.3.5 I²t.

3.3.6.3.6 Electronic fusing.

3.3.6.3.7 Resolver connection fault (open circuit).

The Drive Amplifier shall have the facility to customize/set the following through software tools.

3.3.6.3.8 Continuous Current.

3.3.6.3.9 Peak/maximum current.

3.3.6.3.10 PI regulation of the speed loop.

3.3.6.3.11 PI regulation of the current loop.

3.3.6.3.12 Resolver converter resolution

3.3.6.3.13 Inversion of the input reference

3.3.6.3.14 Inversion of the speed feedback.

3.3.6.3.15 Dynamic braking current.

3.3.7 ANTENNA DRIVE UNIT

The ADU shall house all the servo drive units, power supply units, interlocks and the switching elements like MCB, Fuse, Contactors et., elmex strip monitoring points, switches, motor brake protection units with reliable durable assured brake release sensing circuit/elements with indication, Line filters, dynamic braking resistors, Input Isolation Transformers, EMI/EMC Filtering Chokes, if needed, Stow lock unit with Circuit breakers, Overload relays, contactors fuses etc., with a local op-panel with Axis ON/OFF, Emergency stop, Hard wired or software Limit By-pass etc.,.

3.3.7.1 FUNCTIONAL SPECIFICATIONS:

3.3.7.1.1 ON / OFF control for Each motor drive 3.3.7.1.2 Single motor drive operation to continue in the event of motor / drive failure

(conditional).




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3.3.7.1.3 Interlock device on the door. 3.3.7.1.4 Emergency stop switch on the front of the Op-panel of the ADU. 3.3.7.1.5 Built in power line conditioner with over load protection for RFI/EMI

suppression, at the power input point. Additional heat sink for dynamic braking resistors if needed. Anti-static charge controls for the sensitive processor based units like RAC / ACU PC Units and Controllers with isolated 1 phase supply.

3.3.7.1.6 Proper exhaust fans on the top of ADU Rack and additional fans for cool air circulation interlocked with door open and louvers at the bottom of doors in both side doors and rear doors.

3.3.7.1.7 Easy access at convenient height to remove and fix drives when faults are detected.

3.3.7.1.8 All contactors and brake coils shall have transient suppression devices. 3.3.7.1.9 All relays shall be protected with flywheel diodes and LED indicators. 3.3.7.1.10 Local Plug-in operational panel with limited control options as given below.

Azimuth & Elevation axis ON/OFF. Azimuth & Elevation Mode ON/OFF. Azimuth & Elevation rate control.

3.3.7.2 MECHANICAL ASPECTS:

3.3.7.2.1 The ADU Panel shall be built mainly in view of easy maintenance/fault rectification and easy approachability in replacement point of view.

3.3.7.2.2 Proper cooling arrangement with built in air filters / louvers at all sides and exhaust fans.

3.3.7.2.3 All the rack mounted sub systems (if any) shall have sliding arrangements providing easy access for maintenance. Direct mounting ADU subsystems without slides should ensure easy approachability.

3.3.7.2.4 Standard cable entry ducts and power distribution systems. All the entries shall be closed with proper protection against rodents.

3.3.7.2.5 Proper isolated and labeled grounding points with separate lead for power and signal earthing etc., and grouting arrangements shall be made. Separate ground extension bolts for external connection/termination.

3.3.7.2.6 Avoiding open edges leading rusting etc., avoiding sharp edges which is safety concerns.

3.3.7.2.7 KB and Monitor protection cum dust covers to be provided. 3.3.7.2.8 ADU housing shall be painted with standard coded paint. 3.3.8 ENCODER BOX

The Encoder box shall house absolute rotary shaft encoder for antenna position sensing and limit switch with sector switch, internally connected with anti-backlash gear train. Refer following Figure-2; An Indicative Encoder Box Diagram.

The input to the encoder box shall be derived from the antenna Azimuth/ Elevation slew ring bearing having internal gear teeth. The gear nomenclature is as follows for existing 11 m antenna system.

Azimuth/ Elevation gear module size : 10 Number of teeth in Azimuth : 100 In Elevation : 100

Note:- The contractor shall design the gear train by meshing with the SRB gear teeth.

Additional input needed from ISTRAC may be obtained accordingly.

Spare Encoder Box should be equipped with all components and should be used either in Azimuth or in Elevation Axis, in case of failure.




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3.3.8.1 ABSOLUTE ROTARY SHAFT ENCODER SPECIFICATIONS

3.3.8.1.1 Mounting : Synchro Flange 3.3.8.1.2 Power Supply : 12 Volts 10%.

3.3.8.1.3 Absolute position Values : 21 bits or better. 3.3.8.1.4 Cable Length to ACU : 100 mtrs minimum 3.3.8.1.5 Protection : IP 67 for housing, IP 66 at shaft inlet. 3.3.8.1.6 Cable Interface : Pig-Tail cable. 3.3.8.2 LIMIT SWITCH AND CABLE WRAP SENSOR 3.3.8.2.1 The limit switch assembly shall operate as per the section 3.3.1.13.

3.3.8.2.2 Cable wrap sensor or sector switch shall provide signal proportional to the antenna position. Accordingly the arrangement should be made to extend + 12V input to the switch via shielded twisted pair and the output differential signal shall be read in Analog Input channel via properly shielded and twisted pair. OR by any other better means like additional optical encoder, the vendor has to determine the positive or negative loop of antenna movement as an important operational safety interlock at all times.

3.3.9 STOW LOCK UNIT SPECIFICATIONS

The stow lock unit shall be designed to operate two separate stow lock motors on the antenna (Motors are supplied by ISTRAC) and shall have interface for stow limit switches (stow locked/released status feedback). The unit shall also incorporate required logic circuits/interlock functions for the purpose of stowing and stow releasing operations in conjunction with the present status of stow lock pin.

Stowing and stow releasing commands from ACU will energize stow motors so as each stow pin is engaged or disengaged through the motor control (direction control). The stowing or stow releasing commands shall be interlocked such that they will be enabled only when the system is in safe zone (within the tolerance of stowing position; if not apply brakes or hold servo-lock), antenna drive unit (ADU) power is on and no emergency-on condition.

(This can be decided mutually at the time of design/review/implementation)

3.3.9.1 INPUT/OUTPUT INTERFACE: 3.3.9.1.1 Input supply : 3 -Ø, 415volts AC, 50 Hz.




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3.3.9.1.2 Output Power : Separate interface for two stow motors, 3 -Ø, 415volts AC, 50 Hz, 1 HP power through MS Circular connectors.

3.3.9.1.3 Stow motor limits : stowed and stow released inputs for two motors.

3.3.9.1.4 Cable Interface : MS Connectors at ACU I/O Panel end and cables should run up to Antenna Top stow-motor end.

3.3.10 QUALITY AND RELIABILITY: The system design should be planned in terms of selection of materials, connectors for signal lines and AC/DC power supply lines taking care of modular design and maintenance flexibility. These attributes shall include the following.

De-rating of components at least by 30%. Connectors as per the MIL or Industrial standards; Shielded cables are to be used with proper grounding of shields. All signal lines specially Encoder and resolver signal lines shall be protected

against surge voltages/lightening/ground noise EMI/EMC coupling noise etc.,

Anti-static charge controls for the sensitive processor based units like RAC / ACU PC Units and Controllers and any for other sensitive components.

3.3.11 OPERATING ENVIRONMENT: All equipment shall withstand the following environmental conditions.

3.3.11.1. Temperature : i) Operational : 0 to 50 Deg. C ii) Storage : -10 to +50 Deg. C.

3.3.11.2. Humidity : 95% Non-Condensing @ 40 Deg. C.

3.3.12 STANDARDS & EMI / EMC COMPLIANCE:

3.3.12.1 The Antenna Control servo system shall meet the present safety standards (e.g., CE/UL etc., as applicable) and EMI/EMC compliance or better in clause.

3.3.12.2 The Drive Amplifier shall have EMI/EMC Certification and shall not cause electromagnetic interference to the nearby electronic equipment. Provision shall be made at the output for proper shielding/grounding of the drive Amplifier Unit. All cables and connectors used for the Motor power and Resolver data interface shall meet the EMI/EMC standards.

3.3.13 PRIMARY POWER 3.3.13.1 REMOTE ANTENNA CONSOLE:

230 V ± 10%, 50 Hz ± 2%, AC single phase UPS Supply with independent ON/OFF Control for RAC IPC and other units.

3.3.13.2 ANTENNA CONTROL UNIT : 230 V ± 10%, 50 Hz ± 2%, Isolated AC single phase UPS supply

3.3.13.3 ANTENNA DRIVE UNIT :

(i) Main : 415V ± 10%, 50 Hz ± 2% AC 3 (Raw)

(ii) Auxiliary : 230 V ± 10%, 50 Hz ± 2%, AC 1 (UPS)

3.3.13.4 STOW LOCK UNIT : 415V ± 10%, 50 Hz ± 2% AC 3 . (Raw)

3.3.14 DOCUMENTATION

The Following documentation shall be made and submitted during the testing phase. All the documentation shall be prepared in English language.

Product drawings, System bill of materials.




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System description with Signal flow/wave form diagrams.

Installation Manuals, User friendly Operation, Maintenance and servicing manuals, Training Materials.

Test and Evaluation procedures and Test results, Factory Acceptance Test procedures and results document (Mutually agreed upon tests),

Site Acceptance test procedure and results documents.

4.0 LIST OF DELIVERABLES ITEMS TO BE DELIVERABLED QTY/SYSTEM

4.1. The deliverables shall be listed out as per the final configuration arrived and the sub-system level components finalised.

4.1.1. System software & Software Development Tools : 1 Set/system (Along with Source code, testing tools, demo software, Firmware etc., as per section 5.8)

4.1.2. Documentation : 2 Sets/system. (As per list given in section 3.3.14)

4.1.3. Standard integration material & 1 set of Quality Tools : 1 set/system.

4.1.4. LIST OF SPARES TO BE DELIVERED The Contractor shall list down the specific essential sub-system level critical spares to be procured by ISTRAC and supplied along with the system. The spares cost must be indicated ONLY IN PRICE BID separately without adding to the system basic cost. However till the System installation, commissioning and the warranty period, the supplier shall maintain the required level of spares in hand to avoid any time delay in any stage of this complete Supply, Installation and Commissioning and warranty phases of the ACSS to ISTRAC. However the spares of „one set‟ includes 2 Motors and 2 Amplifiers.

4.2. ADDRESS FOR DELIVERY OF THE SYSTEM. System-1 to be delivered at: MANAGER, ISTRAC GROUND STATION (ISRO), Government of India, Department of Space, DOLLIGUNJ-P.O. PORT-BLAIR – 744103 ANDAMAN & NICOBAR ISLANDS, INDIA.

System-2 to be delivered at: Joint Director (TTC) DSCC Complex, Govt of India N-Sector, Ayodhya Nagar, BHOPAL – 462041, MP, INDIA.

System-3 to be delivered at: DY. GENERAL MANAGER, ISTRAC/ISRO, Govt of India/Dept. of Space, Sector-G, Jankipuram, Kursi Road, Lucknow, UP, INDIA.

System-4 to be delivered at: Senior Stores Officer, ISTRAC/ISRO, Govt of India/Dept of Space, IDSN Site, Bylalu, BANGALORE – 560058, KARNATAKA, INDIA.

System-5 to be delivered at: Senior Stores Officer, ISTRAC/ISRO, Govt of India/Dept of Space, Plot No. 12 & 13, 3rd Main, 2nd Phase, Peeny Indl. Area, Peenya, BANGALORE – 560058, KARNATAKA, INDIA.




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5.0 PROGRAMME CLAUSES

5.1 DELIVERY / SCHEDULE: The development and supply of these first and second systems to be within 6-8 months from the date of contract signing.

Delivery of remaining three systems shall be within 14-16 months from the date of contract signing.

5.2 WARRANTY: 24 Months from the date of Acceptance after commissioning at the specified site of ISTRAC. For spares supplied, warranty shall be from the date of receipt of these equipment/stores at ISTRAC‟s stores after custom‟s clearance. The contractor shall warranty the products of free from any defect of material, workmanship including SOFTWARE BUGS and fix them if any.

5.3 SPARES SUPPORT: Shall support spares for this program for a period of minimum 8 years from the date of acceptance.

5.4 PRE-SHIPMENT, FAT AND TRAINING: All systems shall go through a mandatory factory acceptance test (FAT) at supplier‟s premises and shall support 3 to 5 persons for a maximum period of ONE WEEK without any additional charge. The contractor shall provide ISTRAC, the written confirmation 2 weeks prior to such tests/training.

5.5 SITE ACCEPTANCE AND TRAINING: The contractor shall supply a site Acceptance Test procedure (ATP) that outlines the criteria for site acceptance and hand-off to ISTRAC. This ATP will be developed in conjunction with ISTRAC Engineers to ensure the Acceptance criteria are agreed upon prior to running the test. The contractor‟s Engineers shall perform the site-ATP with the support from ISTRAC Engineers and impart training to ISTRAC Engineers on the system installation and maintenance.

5.6 TEST RESULTS: ISTRAC‟S approval is final on Test results before dispatch of the systems.

5.7 SYSTEM SOFTWARE AND UPGRADES: Software upgrades support up to warranty/extended warranty period shall be provided without extra cost. Post warranty period support shall be ensured for the period of 8 Years.

5.8 INSTALLATION AND COMMISSIONING:

The Contractor shall have the responsibility of installation and commissioning of the system. ISTRAC shall intimate the readiness for Installation to the vendor.

The party shall arrive at site within one week from the date of intimation from ISTRAC.

ISTRAC shall provide the required assistance in the installation and commissioning of the system at ISTRAC Ground Station

5.9 LANGUAGE AND MEASURES: All documents pertaining to the contract including specifications, schedule notices, correspondence, operating & maintenance instructions, drawings or any other writings shall be written in English language. The English system of measurements shall be used.




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Annexure-I Compliance Statement.

SNo. RFP Clause

No. Brief Description of RFP Clause

Compliance (Yes/No)

Ref. Page No.in Bid

Remarks

1 1.2 Scope of Work

2 1.3 Description of Work Package Clause 1.3.1 to 1.3.11

3 1.4 Dummy Price bid details in Technical Bid

4 2.0 ANTENNA CONTROL SERVO SYSTEM DESCRIPTION

5 Clause 2.1.1 to 2.1.6

6 System Description (Sub systems) Clause 2.2.1 to 2.2.8

7 ACU-RAC Interface 100-500 Mtr OFC Link

8 Servo system control schemes

9 2.3 System Operating Modes

10 2.3.1 Stand By Mode

11 2.3.2 Slew Rate Mode

12 2.3.3 Manual Mode

13 2.3.4 Auto Track Mode

14 2.3.5 Program mode

15 2.3.6 Designate Mode

16 2.3.7 Computer Designate mode

17 2.3.8 Slave Mode

18 2.3.9 Sun/Star Track

19 2.3.10 Stow Mode

20 2.3.11 Auto Sequence

21 2.3.12 Auto Over-Ride

22 2.4 System Safety Interlocks Clause (1)-(15)

23 2.5 System Status Display

24 2.6 System Interface to Antenna

25 2.6.1 Antenna Specifications

26 3.0 ANTENNA CONTROL SERVO SYSTEM SPECIFICATIONS

27 3.1 ACSS System Features Clause 3.1.1 to 3.1.17

28 3.2 System Functional Requirements

Clause 3.2.1 to 3.2.30

29 3.3.1 Overall System Specifications

Clause 3.3.1.1 to 3.3.1.23

30 3.3.2 ACU: Clause 3.3.2.1 to 3.3.2.15

31 3.3.3 RAC: Clause 3.3.3.1 to 3.3.3.6

32 3.3.4 System Control Software & Software Tools

33 3.3.4.1 Linux ACU GUI Software

34 3.3.4.2 Linux RAC GUI Software

35 3.3.4.3 Software Diagnostic tools

Clause (1) to (8) & NOTE

36 3.3.4.4 Mission Scheduler

37 3.3.4.5 Gateway GUI

38 3.3.4.6 Reporting Services

39 3.3.5 Servo Motor Specifications

Clause 3.3.5.1 to 3.3.5.7

40 3.3.6 Drive amplifier Specifications

41 3.3.6.1 Functional Specifications

Clause 3.3.6.1.1 to 3.3.6.1.6

42 3.3.6.2 Input/Output Functions Clause 3.3.6.2.1 to 3.3.6.2.9




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SNo. RFP Clause

No. Brief Description of RFP Clause Compliance

Ref. Page No.in Bid

Remarks

43 3.3.6.3 Protection & Customization

Clause 3.3.6.3.1 to 3.3.6.3.15

44 3.3.7 Antenna Drive Unit

45 3.3.7.1 Functional Specifications Clause 3.3.7.1.1 to 3.3.7.1.10

46 3.3.7.2 Mechanical Aspects Clause 3.3.7.2.1 to 3.3.7.2.8

47 3.3.8 Encoder Box

48 3.3.8.1 Absolute Encoder

Clause 3.3.8.1.1 to 3.3.8.1.6

49 3.3.8.2 Limit switch and Cable wrap sensor

Clause 3.3.8.2.1 to 3.3.8.2.2

50 3.3.9 Stow Lock Unit Specifications

51 3.3.9.1 Input/output Interface Clause 3.3.9.1.1 to 3.3.9.1.4

52 3.3.10 Quality & Reliability

53 3.3.11 Operating Environment

Clause 3.3.11.1 to 3.3.11.2

54 3.3.12 Standards & EMI/EMC Compliance

Clause 3.3.12.1 to 3.3.12.2

55 3.3.13 Primary power Clause 3.3.13.1 to 3.3.13.4

56 3.3.14 Documentation

57 4.0 LIST OF DELIVERABLES

58 4.1 List of spares to be delivered Clause 4.1.1 to 4.1.4

59 4.2 Address for Delivery

60 5.0 PROGRAM CLAUSES

61 5.1 Delivery/Schedule

62 5.2 Warranty

63 5.3 Spares support

64 5.4 Pre-shipment, FAT and Training

65 5.5 Site Acceptance & Training

66 5.6 Test results

67 5.7 System software & upgrades

68 5.8 Installation & commissioning

69 5.9 Languages & Measures

70 ANNEXURE-II Control & Interface Details

71 Data Interfaces

72 Monitoring & Control Interface

73 System control options

74 INTERFACE DESCRIPTION

75 DATA FORMATS

NOTE: Vendor has to go through the RFP document and give the compliance

with respect to the complete document and not limited to this table.




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ANNEXURE - II CONTROL AND INTERFACE DETAILS

Note: The interface details given are as sufficient indicative requirements for the supplier‟s initial planning purpose. The actual byte-wise data format details will be provided along with the Purchase order.

However these interface formats can be discussed along with the designer’s doubts/clarifications and finalized at the time of design/review along with the M & C software team of ISTRAC.

1. DATA INTERFACES

The ACSS through RAC shall interface as regards to data transfer with the rest of the systems in Ground Station as per the details given below.

1. RAC to M & C SYSTEM: STATUS DATA: 100 bytes in byte-oriented form. Protocol will be TCP / IP. Data rate will be 1-10 packets/sec, programmable by the user. M&C protocol is as defined in 2.1 below.

2. RAC to STATION COMPUTER: Time tagged Angle data - 100 bytes in byte-oriented form. Protocol will be TCP /

IP. Data rate will be 1/10 packet/sec (Selectable). 3. RAC to CONTROL CENTER Over two networks:

STATUS DATA: 100 bytes in byte-oriented form. Protocol will be UDP/ IP. Data rate will be 1 packet / sec (Max). This is the UT Time stamped status of the ACSS like, Mode of operation, Antenna angles, Commanded angles, Tracking TYPE (I/II), which will be sent to Control Centre over the same CDM link. CDM data is incoming and status data is output (duplex) on the same communication line.

4. M & C SYSTEM to RAC: Control data Protocol will be TCP / IP. ACU shall respond to M&C calls asynchronously.

5. CONTROL CENTER to RAC OVER TWO NETWORKS: Computer designated mode (CDM) data - 19 bytes in byte oriented form using UDP

/ IP protocol. Data rate will be 10 packets / sec. (Max).

2. MONITORING AND CONTROL INTERFACE

The interface for remote monitoring and control is through ETHERNET, which allows full control from a remote M&C computer located in the ground station. The complete status information of the servo system: Antenna position, command angles, mode status, receiver AGC, lock status, AZ/EL errors, drive system status and alarms, limits etc is transmitted to the M&C computer.

Antenna control servo system (Through RAC) will be able to send/receive through ground station LAN all relevant data for real time support or offline support functions, such as

a. Full remote control/operation of ACSS b. Schedule listing for passes to be supported. c. Time tagged angle data transmission d. System status data transmission e. Communication under TCP/IP protocol




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2.1 M&C DETAILS FOR ACSS

1. For remote monitoring and control of Antenna Control Servo System, the interface is through decodable commands transacted between the systems using the standard TCP protocol on LAN.

2. Under TCP protocol, Servo system will be the Server accepting connection from the remote client system anytime on defined TCP ports.

3. All parameters information (including test, calibrations, system setups etc.) available locally should be present on the remote interface as well.

4. There should be a single monitoring command to get all the parameters, the format should be byte oriented. The format may be as follows

Command: ALL? Response:

Header Data Values Trailer

Example Byte 0: A Byte 1: L Byte 2: L Byte 3: 0 // Servo system Mode Byte 4: 0 // Alarms/warnings . . . Byte n: \r Byte n+1: \n

Note that this only a sample and need not follow the same byte pattern 5. Group-wise monitoring commands and individual parameter monitoring commands

can also be available. Example: To get the current antenna azimuth „ANT.AZ?‟, should respond with „ANT.AZ=2.5‟;

6. All parameters controlled locally should be available for remote commanding as well. These command formats will be text oriented. Example, to change the antenna mode the command can be given as ANT.MODE = AUTO;

7. It should be possible to chain both monitoring and control commands. Chained commands and responses should be delimited by any character (; , : etc.). The system should be able to accept the maximum number of commands while chaining the commands. If monitoring commands are sent the response should also be sent in the same order. Example Command: ANT.MODE?;ANT.AZ?;ANT.EL?;ANT.AGC? etc

Response: ANT.MODE=REMOTE; ANT.AZ=60.0;ANT.EL=30;ANT.AGC=5.25; etc

8. The response time for any monitoring commands should be less than 10 msec. This means, once a request for monitoring data has been sent, the response for that should come within 10 msec. Similarly, when a control command is given, the control operation should get executed within 10 msec, so that it will be observed in the next monitoring data.

9. It is required to have multiple port connection for M&C. This means, an socket (port) can be identified to accept both monitoring request and control commands from a single client whereas, there can be another port to which multiple clients can get connected and receive only monitoring data in the desired requested format.

10. M&C status (in terms of connection) should be available in the local interface.




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3. SYSTEM CONTROL OPTIONS

The enclosed Table summarizes the control options envisaged through the ACSS.

Sl.no CONTROL OPTION REMARKS

1. Control Option (1) Operator Controlled

(LOCAL MODE via RAC)

Operator controls all functions of Servo system through

various operating modes. Data output to Station Computer.

Receipt of orbital elements through Station computer/M&C

remote computer in off-line mode.

2. Control option (2) Unattended and

schedule based (LOCAL

AUTOMATIC via RAC) (stand alone)

Receipt of orbital elements through Station Computer/M&C

remote computer in off-line mode. Receipt of schedules (containing Satellite, Time, AOS, LOS,

Support start time, Support end time, scheduled/not

scheduled etc.) through Station Computer/M&C remote

computer in off-line mode. Unattended operator free total control of antenna through

schedule based events.

Data output to Station Computer.

No real time dialog with M & C.

3. Control Option (3)

Through M&C -

Operator (Remote Operation)

Receipt of orbital elements through Station Computer/M&C

remote computer in off-line mode.

Real-time control of all functions of servo system through

various operating modes by M&C operator.

Data output to Station Computer and M&C computer.

Real-time dialog with M&C computer for receipt of commands

and transmission of status. Reporting and confirmation of Sch and elements.

4. Control option (4) Unattended and

schedule based from M

& C. (Remote Operation)

Similar to Control Option (2) including Real Time dialogue

with M&C computer for receipt of commands and transmission of status and angle data.

Interface Description

1.1 EXTERNAL INTERFACES To ACU (Antenna Control Unit)

S No

SYSTEM INTERFACE DETAILS REMARKS

1. Tracking Rx-1 (X-Band Rx)

1. AGC : (0-10) V DC, Analog 2. Azimuth Error : + 10 V Analog. 3. Elevation Error : + 10 V Analog. 4. Lock Status : 0/5 V, TTL. Connector Type : 15 pin D-type female

Input to ACU

2. Tracking Rx-2 (S-Band Rx)

1. AGC : (0-10) V DC, Analog 2. Azimuth Error : + 10 V Analog. 3. Elevation Error : + 10 V Analog. 4. Lock Status : 0/5 V, TTL. Connector Type : 15 pin D-type female

Input to ACU

3. Beacon Receiver

1. AGC : (0-10)V DC, Analog. Input to ACU

4. Timing system 1. Mod. Code (IRIG-B) Input to ACU




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1.2 EXTERNAL INTERFACES To RAC (Remote Antenna Console)

SNo. SYSTEM INTERFACE DETAILS REMARKS

1. LAN-1

Main Link-CDM I/F Type : ETHERNET Protocol : UDP/IP Data Rate : 10 Packets/Sec Packet Size : 19 bytes Format : Byte Oriented Status Data I/F Type : ETHERNET Protocol : UDP/IP Data Rate : 1-10Packets/Sec (Programmable) Packet Size : 300 bytes Format : Byte Oriented

From CONTROL CENTER (SHAR) To CONTROL CENTER (SHAR) via Status PC of G/S

2. LAN-2

Redundant Link-CDM I/F Type : ETHERNET Protocol : UDP/IP Data Rate : 10 Packets/Sec Packet Size : 19 bytes Format : Byte Oriented Status Data I/F Type : ETHERNET Protocol : UDP/IP Data Rate : 1-10Packets/Sec (Programmable) Packet Size : 300 bytes Format : Byte Oriented

From CONTROL CENTER (SHAR) To CONTROL CENTER (SHAR) via Status PC of G/S

1. Station Computer (STC) I/F Type : ETHERNET Protocol : TCP/IP Data Rate : 1/10 Packets/Sec (Selectable) Packet Size : 90 bytes Format : Byte Oriented

Time Tagged Angle Data from RAC to STC.

2. Second Servo System (Master/Slave). I/F Type : ETHERNET Protocol : TCP/IP Data Rate : 10 Packets/Sec Packet Size : 19 bytes Format : Byte Oriented

Time Tagged Angle Data (Both Receive and Transmit) to second servo system

3. M & C (Monitor & Control System) (A) Status Data I/F Type : ETHERNET Protocol : TCP/IP Data Rate : 10 Packets/Sec Packet Size : 300 bytes Format : Byte Oriented No. of Connections : 5 (port no. e.g. 5000)

From RAC to M & C (RAC is Server) Unidirectional communication.




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(B) Control Data I/F Type : ETHERNET Protocol : TCP/IP Data Rate : Asynchronous Packet Size : Variable Format : Tag Oriented No. of Connections : 1 (port no. e.g. 5001)

No response from RAC to MCS for control command from MCS . However RAC sends complete status packet (on port no. 5001)when request comes for monitoring data.(Bi-directional communication)

2. 4. Time Server I/F Type : ETHERNET Protocol : TCP/IP

Time information from GPS Rx.

DATA FORMATS

ACSS : ANGLE DATA TRANSMISSION TO STC : DATA FORMAT

Angle data interface between RAC and STC is on TCP/IP. The time stamp corresponds to the first measurement of the block. Remaining measurements (2 to 10) will be for every 100 milliseconds. If the data transmission rate is at 1 packet/second, all 10 measurements values will be filled which are sampled at 100 milliseconds. If the transmission rate is at 10 packets/second (1 packet for every 100 milliseconds) , only first measurement value will be filled, remaining 2 to 10 measurements values will be dummy. The proposed format is similar to the data format between STC and SCC (OASD) Interface Type : Ethernet (LAN-3) Protocol : TCP/IP Format : Byte Oriented Size : Fixed, 90 bytes Port Numbers : TBD Data Rate : 1/10 Packets/second (Selectable) The proposed byte allocation for this data will contain the message header, actual antenna angles with time information as mentioned below:

(THE ACTUAL DATA FORMATS WILL BE PROVIDED AT THE TIME OF ORDERING). Measurement Description : Byte #6 corresponds to byte position 28 in Sr. No. 15 in the table above.

Byte-6 Byte-5 Byte-4 Byte-3 Byte-2 Byte-1

H.N. L.N. H.N. L.N. H.N. L.N. H.N. L.N. H.N. L.N. H.N. L.N.

Data validity by Antenna Modes

Hundreds of AZ

Tens of AZ

Units of AZ

Deci Tens of AZ

Deci Units of AZ

0 Tens

of EL

Units of EL

Deci Tens

of EL

Deci Units of EL




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Antenna Modes 0x01 – Standby 0x02 – Slew Rate 0x03 – Manual 0x04 – Scan 0x05 – X-Auto 0x06 – X-Auto –Zenith Pass 0x07 – X-Auto – Rate memory 0x08 – S-Auto 0x09 – S-Auto Zenith pass 0x0A – S-Auto Rate memory 0x0B – Program 0x0C – Designated 0x0D – CDM-1 0x0E - CDM-2 0x0F – Slave 0x10 – Step Track 0x11 – Stow Time Stamp Description (9 bytes):

Byte-9 Byte-8 Byte-7 Byte-6

H.N. L.N. H.N. L.N. H.N. L.N. H.N. L.N.

Thousands of Year

Hundreds of Year

Tens of Year

Units of Year

Unused Hundreds of Days

Tens of Days

Units of Days

Byte-5 Byte-4 Byte-3 Byte-2

H.N. L.N. H.N. L.N. H.N. L.N. H.N. L.N.

Tens of Hours

Units of Hours

Tens of Minutes

Units of Minutes

Tens of Seconds

Units of Seconds

Hundreds of milliseconds

Tens of mSec

Byte-1

H.N. L.N.

Units of mSec

Decimal mSec

ACSS : CONTROL DATA FROM MCS TO RAC : DATA FORMAT For the remote control of ACSS, the interface is through decodable commands transacted between the MCS and RAC using the standard TCP/IP protocol on LAN. Purpose : This control block will be sent by MCS to RAC to configure and operate

for which no acknowledgement will be sent by RAC to MCS Interface Type : Ethernet (LAN-3) Protocol : TCP/IP Communication : Asynchronous, Bi-directional Format : Tag Oriented Size : Variable Port No. : 5001 No. of Connections: 1 The message block may contain the name of the parameter and its value. The following table gives the parameter that will be changed by MCS and their tag. MCS may send any one or chain of commands at any time. The command demarker is “;” and end of command will be CRLF. If any of the command is invalid in a sequence of commands (command code invalid, invalid value etc.) the entire command sequence will be discarded by RAC. No indication will be sent to MCS. Example of command data: ACU.MODE=LOCAL;ANT.MODE=0X04;DRIVE.CNTL=ON;EMSTOP.CNTL=OFF

(THE ACTUAL DATA FORMATS WILL BE PROVIDED AT THE TIME OF ORDERING). M&C Commands like Pre-shift and Post shift should be independent and clear commands to ACSS and the activities associated with them should be definable/settable through a configuration file including setting the antenna parking angle etc.,




Page ( 35 )

ACSS : STATUS DATA TRANSMISSION FROM RAC TO MCS : DATA FORMAT

The Interaction between RAC and MCS will be through LAN and RAC will function as server and MCS will be client for monitoring and controlling purpose. RAC will send its status data to MCS on a defined LAN port at a regular interval. This status data will contain all the parameters which are locally monitored in ACSS and to be displayed to operator on MCS. Status data will be byte oriented (defined byte location for parameters). Interface Type : Ethernet (LAN-3) Protocol : TCP/IP Communication : Synchronous , Uni-directional (RAC to MCS) Format : Byte Oriented Size : Fixed, 300 bytes Data Rate : 10 packet/second Port No. : e.g. 5000 for periodical interval data (every 100 millisecond) No. of Connections: 5

(THE ACTUAL DATA FORMATS WILL BE PROVIDED AT THE TIME OF ORDERING).

ACSS : STATUS DATA TRANSMISSION FROM RAC TO CONTROL CENTRE OVER TWO NETWORKS VIA STATUS SYSTEM (G/S) : DATA FORMAT

The Interaction between RAC and Status PC of Ground Station (G/S) will be through LAN. RAC will send its status data on a defined LAN port at a regular interval. This status data will contain all the parameters, which are locally monitored in ACSS. Interface Type : Ethernet (LAN-1 and LAN-2) Protocol : UDP/IP Communication : Synchronous Format : Byte Oriented Size : Fixed, 300 bytes Data Rate : 1 to 10 packets/second (programmable) Note : Data format is same as the status packet from RAC to MCS.

ACSS : CDM-1/2 DATA FROM MISSION COMPUTERS (SHAR): DATA FORMAT

CDM data transmission details:

Network Topology : Fast Ethernet (LAN-1 And LAN-2) Protocol : UDP/IP Format : Byte Oriented Size : Fixed, 19 bytes Data Rate : 10 packet/second Source/Destination : RSP1 & RSP2 to all ISTRAC Ground Stations





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ACSS : ANGLE DATA TO SECOND SERVO SYSTEM (SLAVE) : DATA FORMAT

This angle data format is similar to CDM data format (i.e. packet size, data rate, Azimuth and Elevation byte positions). Additional information like antenna mode and auto sequence on/off will be indicated in unused byte positions of CDM format. : Network Topology : Fast Ethernet (LAN-3) Protocol : TCP/IP Format : Byte Oriented Size : Fixed, 19 bytes Data Rate : 10 packet/second Source/Destination : Master to slave ACSS and vice versa


ACSS FTP TRANSACTIONS OVER LAN-3

ACSS will communicate in FTP mode over LAN-3 with MCS and STC. These communications may be grouped as:

1 TDSN Generation for scheduled passes This involves

1. Receipt of schedule inputs and ephemeris 2. Update of orbital elements for the scheduled satellites. 3. Command and response with MCS (async.) 4. Logged data transmission from ACSS to STC.

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