4.2.2 Results

 Figure 4-5 shows a plot of the controller commanded halt angle and the actuator halt

angle versus the commanded angle sent to the controller from the OCU. The controller

commanded halt angle is the angle returned to the controller from the DWT sensor at the

instant that the controller issued the halt rotation command. The actuator halt angle is the

angle read from the plumb compass and corresponds to the angle of the auxiliary track

after the rotation has actually stopped. Both sets of data points have a linear distribution

across the entirety of the available range of motion, as illustrated by the applied trend

lines and their respective R2 values. The controller commanded halt angle and the

actuator halt angle are identical at 0 degrees and 150 degrees because there are physical

stops at these points of rotation on the Andros frame.

 150 -
 140
 130
 120
 110
 100
 Sy = 1.0x + 0.4 *
 a 90 -
 SR = 0.9998
 S80
 S70 y 1.0.x- 1.6
 70 2
 S60 R= 0.9921
 50
 40 Actuator Halt Angle
 30 0 Controller Commanded Halt Angle
 20 -Actuator Halt Angle
 10 Controller Commanded Halt Angle
 04
 0 10 20 30 40 50 60 70 80 90 100 110 120 130 140 150
 Commanded Angle (Degrees)
Figure 4-5: Controller commanded halt angle and actuator halt angle versus operator
 commanded angle