Project Gemini Familiarization Manual Vol2 Sec2
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T
PROJECT l
CONTROL NO. C-160063
GEMINI
SUPPLFMENT
1
!
familiarization manual
¢
-
|-
SEDR 300
COPY NO.
RENDEZVOUSand
/
DOCKING
CONFIGURATIONS THIS PUBLICATION SUPPLEMENTS SEDR300 VOLUME
IMFC I_ O lki lkl E L L THIS DOCUMENT SUPERSEDES DOCUMENT DATED 31 MAY' 1965
_
defense of the United States within the meaning of the Espionage Laws, Title 18, U.S.C., Sections contains 793 and 794, the transmission NOTICE: This material information affecting or therevelation national
_
of which in any manner to an unauthorized person is p_ohibited by law.
.,_J__ .._
DOWNGRADED GROUP-4 AT 3-YEAR INTERVALS; DECLASSIFIED AFTER12 YEARS CONFIDENTIAL
I
I JULY 1966
CONFIDENTIAL
f
GUIDA NCE and CONTROL SYSTEM
TABLE
OF
CONTENTS
TITLE
PAGE
GENERAL ....................................................... ATTITUDE CONTROL AND MANEUVER ELECTRONICS
8-3 8 15
__!_ i:._-:_'_ii_;_ _::::_-_':---_
INERTIAL GUIDANCE SYSTEM ...................... 8-43 iiiiiiiiii:_i!-";_'-..'--_ H ORIZ O N SEN SO R SYSTEM .......................... 8- 201 iiiiiiiiii_i_i!i!iiiiii-_i RENDEZV OU S RADAR SYSTEM .................... 8- 233 iii!iiiii_iiiiiii_iiiiiii ,...°.°°._...,.o.°..°°o.°°. ::::::::::::::::::::::::::: ,..o.....,.°...°°.......,.,
........._.o...°..o,°....o, •°°,°.°o ...o°o.°.°°°°._.o., .°.,.°°°.,..°°....°..,....,
CO MMA N D LIN K.......................................... REN DEZ V O US EVA LUATIO N PO D................ TIME REFERENCESYSTEM ........................... PROPULSION SYSTEM ...................................
8- 273 8- 289 8-3Ol 8- 341
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8-1 / 2 CONFIDENTIAL
......... .........
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......... .........
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°................. °_ .............. ° ................. ° ................. ................. ,° .................
iii_iiiii_ii!'_iiiiii!_!!
CONFIDENTIAL
__
SEDR300
GUIDANCE AND CONTROL - GENERAL
GENERAL The Guidance and Control System provides the Gemini Spacecraft with the capability to maneuver in space, control its attitude in relation to the earth's surface. and effect a safe re-entry.
It also provides back-up launch vehicle guidance
during ascent and control of certain target vehicle
functions
during rendezvous
procedures.
Spacecraft attitude can be controlled about three axes:
pitch, roll, and yaw.
mode select switch permits selection of either automatic or manual control.
A
An
attitude hand controller, located for use by either pilot, is used for manual attitude control.
Translation control is provided along the longitudinal, vertical, and lateral spacecraft axes. translation
Either of two maneuver hand controllers may be used for manual
control.
No provision is made for automatic
control.
Three types of target vehicles are provided for the rendezvous missions:
the
Agena, the Rendezvous Evaluation Pod (REP), and the Augmented Target Docking Adapter (ATDA)o
Certain functions within the Agena or the ATDA can be controlled
through the Command Link of the Guidance and Control System.
In rendezvous spacecraft, the Guidance and Control System is made up of eight individual systems or subsystems.
They are:
a.
Attitude Control and Maneuver Electronics (ACME)
b.
Inertial Guidance System (IGS)
c.
Horizon Sensors
8-3 CONFIDENTIAL
J
CONFIDENTIAL SEDR 300
z--
BOOSTER SECONDARY AUTOPILOT
DMEASUREMENT INERTIAL UNIT
I
I INERTIAL GUIDANCE SYSTEM •
AUX] LIARY COMPUTER POWER UNIT
lob I POVvER
COMPUTER TURN-ON
| AC-DC
400 CPS POWER
BOOSTER MD_I
J POWER I
SUPPLY
•
SIGNAL
AC POWER
AC POWER (SELECTOR)
t
z
PO%'ER
MANUAL DATA iNSERTION UNIT
O _ O
POWER CONTROL
PLATFORM (MODE
l
SELECTOR)
_u
CONTROL --
j O
TAPE
;_LRCEI
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--
U
MEMORY PROGRAM
PLATFORM
COMPUTER (MODE SELECTOR)
1 • J ;
MODE CONTROL
I
RESOLVER EXCITATION GIMBAL POSITION SIGNAL
ON BOARD C_MPUTER
I I
VELOCITY l
INDICATOR IN CREMENTAL
PLAIEORM
I
DISPLAy GROUP
(INERTIAL) I
ATTITUDE
I
- -1-I| TARGET YA% AND
_ TARGET VEHICLE
SUPPLY POV, _ ER ,
I
ATTITUDE ERROR
PITCH ANGLES
_
ANTEN NA RECED/ER SYSTEM
I
"
-
/-
q
POV, ER SUPPLY
TIME REFERENCE
TRANSMITTER
INTERROGA11ON AND PDAEE INFORMATION
J
I C_MMAND_,N_I_TE'ND'CAT°R LNK I i_NO_NGR I _PTE_°°C_'NG) L & RF COMMAND
soB-B,T DETE_OR I_ Figure
XMIT ANT iNTERROGATION
l
PROGRAMMER
(ANALOG)
r_'E ND'_'_V O-US _ -RADAR J SYSTEM
'
ANTENNA SYSTEM
/TRANSPONDER I
I
_l
I_V INFORMATION
ELECTRONICS
_
I
_,V COMMAND
ENCGDER LINK
j 8-1
Guidance
I
_>
Control
Functional 8-4
CONFIDENTIAL
Block
Diagram
SPACECRAFT
8 THRU
12 ONLY.
[_AGENA AND ATDA TARGET VEHICLES ONLY.
(BEFORE DOCKING)
and
I
(Sheet
1 of 2)
CONFIDENTIAL SEDR 300
._,_.__
PROJECT
I-;O.,ZON SENSO,'--" --
GEMINil
i----" -- -- "
' cPsP°wE ' -i SUPPLY PO_'ER
I
RE-ENTRY ROLL COMMAND
MANEUVER CONTROL ELECTRONICS AND ATTITUDE I_ATE
--
I
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I
_
ATTITUDE ELECTRONICS
'_
II
GYRO'S
_
t
_
I
I
k
FIRE COMMANDI
1
I
ATTITUDE COMMAND
'
ATTITUDE
(MODE
HAND
ACME
CONTROLLER
PO'C,'ER
(RIGHT)
INVERTER
HAND
AND MANEUVER ORBIT ATTITUDE ELECTRONICS
I
I
I
I
THRUSTERS
I,
__
I
MANEUVER THRUSTERS
L
_I
-!
I
_1 --
m TO BIO-MEDTAPE
RECORDER
TO VOICE TAPE RECORDER
I"_M E REFEI_EN_Y ST--'_ .... TIME DIGITAL CLOCK
1 CORRELATION BUFFER
I
I
DCSEECE,VER> UPOATE I_
8P.P.S.
I
-
ELECTRONIC
TIMING
SIGNAL I
r
TIMER
E.T. & T.T.G.
EVENT TIMER
ACCUTRON CLOCK
GMT CLOCK
I
I
: T X SIGNAL
AND 8.19
KC CLOCK SIGNAL
I TR-256 SEC,TR-30 SEC TR SIGNAL
Figure
8-1
I
ATTITUDE
coMMA.D j
--
E.T.
SEQUENTIAL_LIFT-OFF
CONTRoLRE-ENTRY SYSTEM
MANEUVER
....
INTERROGATION TIME REFERENCE AND
_
I
(DAME) II i
-CONTROLLER HAND (LEFT) MANEUVER
I
I
1
FIRE COMMAND
CONTROL
,EEC, OE)
"
(ACE)
I 400 CPS POWER
1'
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r_TTTT'_I:
I
HEAD SENSOR
ELECTRONICS SEN SOR
I
J
Guidance
DCSRECEIVER
_
SEQUENTIAL SYSTEM
_
and Control
Functional 8-5
CONFIDENTIAL
Block
I
_
RETRO FIRE CIRCUITS
Diagram
(Sheet
2 of 2)
CONFIDENTIAl.
PROJECT
GEMINI m
__
SEDR300
d.
Rendezvous
Radar
e.
Command
f.
Rendezvous
g.
Time Reference
h.
Propulsion
System
Link Evaluation
Pod
System
(REP)
(TRS)
System
SYSTEM FUNCTIONS
The various functional
Attitude
guidance
and control
relationship
Control
The Attitude
between
and Maneuver
Control
systems each
firing
com,_nds
provided
by the attitude
of the systems
related.
is illustrated
The
in Figure
8-1.
Electronics
and M/_euver
thruster
are all functionally
Electronics
for the Propulsion hand controller,
system System.
converts Input
input
signals
signals
to
to ACME are
the IGS, or the horizon
sensors
depend-
ing on the mode of operation.
Inertial
Guidance
The Inertial mation, ation
System
Guidance
guidance
information
manual
provides
computations_
inertial
and displays.
is used for computations
are used for back-up Displays
System
are utilized
ascent
guidance,
attitude
The inertial
and display
rendezvous
by the crew for reference
control.
8-6 CONFIDENTIAL.
and acceleration attitude
purposes.
guidance
and acceler-
Computations
and re-entry
information
infor-
guidance.
and as a basis
for
_-
CONFIDENTIAL
EQ_
PROJE
=
Horlzon Sensors
The Horizon Pitch
Sensors
and roll
error
and to the
IGS for
Rendezvous
Radar
The Rendezvous Target
provide signals
are
platform
Radar
information
a reference supplied
earth
local
vertical
to ACMEfor automatic
during
attitude
orbit. control
alignment.
provides is used
to the
for
target
range,
rendezvous
range
rate,
computations
and angle and for
information.
display
A radar indicator displays target range and range-rate information.
purposes. Target eleva-
tion and yaw angles are selectable for display on the attitude indicator.
Comana TInk The Command Link provides a control capability over the Agena or ATDA target vehicle.
Coded cu.-,_ands, transmitted either through the radar or the umbilical,
allow the pilot to activate or de-actlvate the various
systems of the target
vehicle.
_e_dezvous
Evaluation
The Rendezvous
Pod
Evaluation
Pod is the target for a simulated rendezvous mission.
The pod is carried into orbit in the equipment adapter section of Gemini. in orbit, the pod is ejected and its systems activated.
Once
A radar transponder and
acquisition lights in the pod allow the Gemini pilots to perform rendezvous exerclses.
8-7 CONFIDINTIAL
CONFIDENTIAL
PROJECT __
GEMINI
SEDR300
Time Reference
System
The Time Reference functions. form.
System provides a time base for all guidance and control
Time is displayed for pilot reference in both clock and digital
The TRS also provides timing signals to the computer and the Sequential
System.
Propulsion
System
The Propulsion Thrusters
System provides the thrust required
are provided for both translational
co, hands for the Propulsion
for spacecraft
maneuvers.
and attitude control.
Firing
System are provided by AC_ME.
GUIDANCE ANDCONTROL MISSION
The functions of the Guidance
....
and Control System are dependent on mission phase.
The mission is divided into five phases for explanation purposes. are:
pre-launch,
launch, orbit, retrograde,
The phases
and re-entry.
Pre -launch Phase
Pre-launch
phase is utilized for check-out and programming
control systems.
Parameters
inserted in the computer. desired launch azimuth. selectors
of guidance and
required for insertion in the desired orbit are
The IMU is aligned to the local vertical and the Power is turned on to the various systems, and mode
are placed in their launch position.
Check-out and parameter
are performed in the last 150 m_nutes prior to launch.
8-8 CONI=IDI[NTIAL
insertlo:
CONFIDENTIAL
_;
PROJECT SEDR
___.
TRACKING
300
GEMIN!
__
DATA =.]
TELEMETRY
GROUND CONTROL
G/E BURROUGHS SELF CHECKS Vl
GEMINI CREW
DISPLAYS I
MANUAL SWITCHOVER
TITAN
CREW STATION SYSTEM ASCENT ;EMINI
9
PRIMARy BACK-UP
_|
J
GUIDANCE
I
1
J
RATE GYROS
J
I MALFUNCTIO N DETECTION SYSTEM
J
AUTOMATLC
J
SWiTC HOVER
ANGLE SENSORS I
ASCENT GUIDANCE SWlTCHOVER
GIMBAL
i
GEMINI
TRANSMITTER
RECEIVER
:[ :
O.B.C.
FI L I I
TITAN
I
I --
COMPUTERS A-I r J-1 BURROUGHS
.....
_
(PRE-LAUNCH) }
TARGET
AUTOPILOT
DATA
_
I
TI
;
1
BACK-UP
'
MOD III TRACKER
HYDRAULICS
TRACKING DATA
: MISTRAM
2rid STAGE
2
ENGINES
I'<_
NOTE STAGE _>
"
_
--
GODDARD
SPACECRAFT 6 AND 8 THRU 12 ONLY
! "mid
I I TRACKING SYSTEM
ENGINES
BACK-UP ASCENT GUIDANCE
Figure
8-2
Gemini
BACKzUP HYDRAULICS
Ascent 8-9
CONFIDENTIAL
Guidance
(Back-Up)
CONFIDENTIAL
PROJECT __
GEMINI
SEDR300
Launch Phase
Guidance and control from lift-off through SSECO is provided by the booster guidance system. control.
However, in case of booster guidance malfunction the IGS can assume Provision
(Gemini) guidance.
is made for either automatic or manual switchover to back-up Figure 8-2 indicates both methods of s_itchover and the back-
up method of controlling and acceleration information remaining
the booster during ascent.
parameters throughout
Is used to continuously
the launch phase.
use the Propulsion
is displayed.
System to increase
required for insertion in the desired orbit. approxlm_tely
Ground tracking
update computer parameters.
velocity required for insertion
after separation,
The IGS monitors attitude
At SSECO, the
The command pilot will, spacecraft velocity as
Insertion will take place
580 miles down range at an inertial velocity of approximately
25,YTO feet per second.
Orbit Phase
Orbit phase is utilized for checkout and alignment maneuvers
and preparation
of systems, rendezvous
for retrograde and re-entry.
Immediately
after
insertion a series of system checks will be performed to assure the capability of guidance and control systems.
Guidance
computations
for accuracy against ground tracking information. aligned by ground command or by the pilot.
and measurements
are checked
Systems are updated and
After completion of system
=hecks, the catch-up and rendezvous maneuvers
can be performed.
During the final
orbit, guidance and control systems are re-allgned in preparation for retrograde and re-entry.
8-IO CONIFIDRN'rlAL
CONFIOIENTIAL S|DIt300
Retrograde
Phase
Retrograde
phase begins
is placed
in re-entry
approximately
mode
and begins
The Time Reference
System provides
and TR.
At TR-256
seconds,
needle.
The Propulsion
re-entry
control.
Retrograde changes
are
Re-Entry
Phase
Re-entry
phase
through
heads
are
held
until
the
CMD.
flight c_nds.
Shortly
attitude
computer
re-entry
control.
For automatic
control,
controls
of touchdown
from orbit
is referenced
The computer computations.
seconds,
TR-30
seconds,
on the pitch
attitude manually !
attitude
and maneuver during
by the IGS, and
retrograde
adapter
retrograde,
to
retrograde.
velocity
orients Re-entry
starts_ and the pilot
the RE-ENT mode
Is utilized.
roll attitude. computer
and
8-11 CONIFIDINTIAL,
attitude _00,000
a choice
selects
mode
indicates program
spaceis
feet of
RE-ENT
EATE
In the automatic
For either
re-entry
heating.
the pilot
has
during
scanner
the
At approximately
control,
counts
and horizon
the pilot
starts.
timer
sixty minutes
180 ° roll, 0° yaw).
For manual
re-entry
event
down from
program
to the
The
counting
of the computer
and to control
retrofire.
program
spacecraft
The purposes
the
after
re-entry
computer
director
re-entry
at TR-256
are monitored
after
(0 ° pitch,
or automatic
the computer
data for
is controlled
and will be
retrofire,
Jettisoned.
altltl,de, the manual
immediately
After
craft to re-entry
retrofire.
for reference.
begins
phase_
attitude
and attitude
zero at retrograde
re-entry
before
16 degree bias is placed
is switched
Spacecraft
displayed
collecting
indications
a minus
System
acceleration
five minutes
of control,
computed
the
attitude
are to control
By controlling
mode,
the point
the spacecraft
CONFIDENTIAL
PROJECT S_
_@_
G s,oR 300 EMINI
roll attitude and rate, it is possible to change the down-range touchdow,,point by approximately right.
500 miles and the cross-range touchdown
by 40 miles left or
The relationship between roll attitude or rate and direction of lift is
illustrated
in Figure 8-3.
and ends at 90,000 feet. cow,ands an attitude
The roll control starts at approximately
400,000 feet
Re-entry phase ends at 80,000 feet when the computer
suitable for drogue
chute deployment.
8-13/l_. CONFIDENTIAL
CONFIDENTIAL
ATTITUDE CONTROL AND MANEUVERING
ELECTRONICS
TABLE OF CONTENTS TITLE
_
PAGE
SYSTEM DESCRIPTION ......... SYSTEM OPERATION...... ...... GENERAL, , .... FUNCTIONAL OPERATION _ACME)_ , . MODE OPERATION ...... , . . SYSTEM UNITS..... , . . . ATTITUDE CONTROL ELECTRONICS(ACE). ORBIT ATTITUDE AND MANEUVER ELECTRONICS (OAME) . . . . . . , RATE GYRO PACKAGE (RGP) . . , • • POWER INVERTER PACKAGE , ......
8-15 CONFIDENTIAL
, , 8-17 8-17 8-17 . . 8-18 . . 8"21 • 8-30 Z 8-30 . . 8-38 • • 8-39 8-_2
CONFIDENTIAL SEDR 300
_-_-.
ACME BIAS POWER ROLL JETS ACME LOGIC (3) ATT. DRIVERS ACME CONTROL (2) MANEUVER THRUSTERS(8)' ATTITUDE THRUSTERS(8) RCSA THRUSTERS(3) OVERHEAD CONTROLS _ RCS B THRUSTERS(3)
NEUVER
.-
L_
\"--...L_ \- POWER SW,TCHES
',
_ CONTROLLER
CONTROLLER ATTITUDE HAND
i_
ATTITUDE CONTROL
\\
MODE SELECTOR ATTITUDE CONTROL
_--
\\
,
/
INVERTER
ATTITUDE CONTROL
_
/'-_
I ELECTRONICS PACKAGE
_.
TTITUDE AND
RATE GYRO PACKAGES
%
PACKAGEMANEUVER ELECTRONICS
Figure
8-4
Attitude
""
Control
and
8-16 CONFIDENTIAL
Maneuver
Electronics
/
'7
,
CONFIDENTIALSEDR 300
PRO ACME
SYSTEM
DESCRIPTION
The Attitude
Control
and Maneuver
the control
circuitry
to attain
velocity. horizon
The ACME accepts sensors,
firing
command
composed
platform,
of four
cal rate stalled
and Maneuver
in the equipment
the
solenoid
8-4) provides attitude
and applies
valves.
Electronics
a power
inverter
ACME
is
and two identi-
The O_ME package
Total weightof
s
(ACE),
and rate gyro packages
module.
or
controller,
Control
inverter
bay of the re-entry
capability
selectable
or the computer hand
attitude
control.
solenoid
valves
SYSTEM
(OAME),
hand
the signal(s);
System
Attitude
of the adapter.
spacecraft
from the attitude
Propulsion
Electronics
(Figure
are in-
is located
the ACME System
is
40 pounds.
separate,
The attitude
a desired
processes
The ACE, power
section
The ACME provides
platform
inputs
suosystems:
Kyro packages.
approximately
signal
(ACME) System
maintain
or computer;
separate
in the center
Electronics
and/or
to the appropriate
Orbit Attitude
seven
SYSTEM
of automatic
modes provide
controller
of operation. the
reference
provides
The maneuver
for translational
or manual
the input
hand
controller
attitude
control,
The horizon
sensor,
for automatic
modes
signals
for manual
supplies
signals
with
the inertial of operation. modes
of
to the maneuver
maneuvers.
OPERATION
GENERAL The ACME provides
attitude
of the spacecraft
mission.
attitude
rates.
Signal
commands
for the Prc_Isic_
control,
automatic
Rate gyro
inputs
inputs
are modified
System.
8-17 CONFIDENTIAl.
or manual,
during
to ACE are used by ACME
logic
all flight
to dampen
and converted
phases
spacecraft to firing
CONFIDENTIAL
PRiNI __
SEDR300
The ACME functional pulse,
re-entry
different routing
rate co_and,
signal input
to Re-entry
modes
of control
modes
(horizon
from control utilized.
comms_ds mental
are separated
direct,
panel
ACME power
Control
ACME
by guidance
the control
and attitude redundant
attitude control
Display
control
and control
rate
switches control
increments
mode,
control modes
modes
are
subsystems and roll
(from the incre-
(from the radar necessary
The
information
rates, bank angle
velocity
and range
by ACE for drivers.
attitude
when manual
a
indicator).
for selection
along with
of
selection
options.
(AC_) (Figure
8-5)
signals
and attitude commauds.
group),
and range
and logic circuits
COW,hands or error
firing
display
valve
automatic
command).
attitude
direct,
Each mode provides
and manual
is supplied attitude,
also contain
for the various
types;
rate
rate co_nand,
to be processed
is used as reference
information
indicator),
FOWC_ONALO_ON Attitude
and platform)
indicators
scan,
(RCS) or OAME solenoid
pulse and re-entry
(from the attitude
The control panels
of inputs)
into two basic
of the following:
velocity
switches
System
are horizon and platform.
(or combination
Control
Reference
and consists
re-entry,
scan, re-entry
(rate commaud,
gyros
modes of the control
from the computer,
hand controllers The firing
are converted
commands
to the RCS or the Orbit Attitude
platform,
horizon
System
rate
by the ACE into thruster
are routed by a valve
Maneuver
sensors,
driver
(OAMS) attitude
select system
solenoid
valve
drivers. Signal
inputs
signals,
to the ACE are of three
and ac attitude
rate
by ACE mode logic switching the proportional
circuitry
signals.
circuits. which
types : These
ac attitude
signals,
dc attitude
signals
selected
and distributed
Selected
amplifies,
are
signals are channeled
sums and demodulates
8-18 CONFIDENTIAL
through
the signal
inputs
....
CONFIDENTIAL
PROJECT
GEMINI SPACECRAFT
INVERTER
CONTROL MODE
BIAS
JAC II SW,TCH
PC
_
POWER
LI OCPOW,R
C POWER
SPACECRA
I
RING
"A"
VALVE DRIVERS ANE_
T ACME INVERIER
ATTITUDE POWER SOLENOID VALVES
J
SPIK_ SUPPRESSION
(REF)
THEUSIER RCS DIRECT TO
COMMANDS FIRING BIAS
J
RCS RING AANDB-"7 SOLENOID VALVES j
I
J !
DIRECTION
THRUSTER FIRING COMMANDS
STEERING ATTITUDE
PULSE/DIRECT
SWITCH PULSE
HAND CONTROLLER
j
INITIATE SWITCH
BIAS
SIGNALS
_
J
THRUSTER
--|PULSE
L,-
7Z .,:ZEM;:TNORr
PICK OFF
J
J
I
I
I
L
SIGNALS
AND
SPIKE
SUPPRESSION
FIRING COMMANDS
MANEUVER SPIKE SUPPRESSION
|
I I | i J
RING "B" VALVE DRIVERS
DC POWER
_-_
I OAME ATTITUDE VALVE DRIVERS
l
J
OAME
J
ANO SPIKE SUPPRESSION
HORIZON
PITCH & ROLL ATTITUDE
SENSOR
SIGNALS
l
8BMj _BM
HORIZON
J
T
oAC
POWER
R, rE r RO
RATE SIGNALS
I 0F C F
RATE SIGNALS SIGNALS
I
",_Y,"_',,c_-_'_ ] P
P
SPACECRAFT DC POWER
SENSOR SIGNALS AC POWER
r_
=
RE-ENTRY ATTITUDE RING"B"
ATT,TOOES,GNALS _ C,RCDITR_ _:
RATE DC COMMAND POWER
_=
_
SPACECRAFT
RATE SIGNALS TO
HAND CONTROLLER L/H MANEUVER
STSER,NGD'R SWITCHES
POWER
DISPLAY
I
:
_IAS
I
o_s VALVES
i_
_
J
--GSE
TORQUER INPUT
JJ
PROPORTIONAL
ATTITUDE ERROR SIGNALS
(KEF)
(PITCH, ROLL, YAW)
,
i 1
"
STEER/NO
R/H SWITCHES MANEUVER HAND
I
I
I I DIGITAL COMPUTER (REF)
(REF)
I
I
INERTIAL plATFORM
SOLENOID
ROLL ATTITUDE ERROR SIGNAL I
i •
IL_ Figure
i
I
8-5
ACE ACME
Functional 8-19
CONFIDENTIAL
Block
Diagram
CONImlDINTIAL
PROJECT
into adc ac prior
analog
output.
to entering
converted
by
discrete,
the output
c_ds.
torque
suppression
circuits
limit the voltages
generated
thruster
select
across
Zener
firing
system to the valve
diode
drivers
spike
the solenoid
valves
Controller
attitude
signals,
upon the control handle
may be manually reference.
(plus a hand mode
movements
controller
and/or pulse
signals
are produced
or deadband.
a calibrated
position
Output
of control
before
on time. another
outputs
signals
signals
The control
control mode may be found in the MODE
Rate
signals
controller
handle
or
produced
are
deadband.
generator
must be returned
can be commanded.
OPERATION
depending
is displaced
a pulse
con-
or direct
by positive
from a center
trigger
hand
to telemetry)
are produced
position.
the hand
single pulse
are rate, pulse
output
displacement
when
Pulse
by use of the attitude
position
from the centered
to the amount
threshold
controlled
Controller
selection.
proportional
neutral
valves.
are then
interruptions.
comm_nd
to produce
driver
to
or negative
or to the OAMS attitude
thruster
and a visual
preset
signals
or negative
from the valve
drivers,
are converted
to a positive
of either positive
are routed
signals
The analog
switch circuitry
ring B) valve
troller
negative
_rcuitry.
to the appropriate
Hand
Spacecraft
(dc attitude)
command
current
Attitude
logic
consisting
These commands
for a firing
sensor
the proportional
control
RCS (ring A and/or
during
Horizon
GEMINI
Direct
past
a
in ACE to a
Details
of each
paragraph.
RCS Direct _le RCS direct mode RCS thrusters,
is selectable
and by-passes
RING A or RING B switches
as an alternate
the ACE.
provides
means
of manually
The DIRECT position
a circuit
8-20
the
of each of the RCS
ground to 12 attitude
OONFIDESNTIAL.
firing
hand
con-
CONFIDENTIAL
PRNI [_
SEDR300 The ground is then applied directly to the
troller RCS direct switches.
required thruster solenoid valves through appropriate hand controller displacements.
This RCS mode of operation is intended for backup or emergency control
only •
Ns_euver
Hand Controllers
Tra_-lational maneuvers of the spacecraft in the horizontal, longitudinal and vertical planes may be c_nded
by either of the maneuver hand controllers.
Displacement of a hand controller, fr_n the centered or neutral position in any of the six translational directions produces a direct-on c.-,-_ndto the respective solenoid valves.
Rate Gyros The function of the rate _ro yaw and roll
axes
of the
that sensed rate.
package is to sense angular rate about the pitch,
spacecraft
and provide
an o_tput
signal
proportional
to
Selection of certain control modes provides gyro inputs to ACE
for angular rate damping.
Additional information concerning the rate gyros may be
found in the paragraph under SYST_
U_TS
RATE GYR0 PAC_%GE.
Power Inverter The power inverter provides the ACME and horizon sensors with ac power. craft primary
dc power is source
Measuresent may be found
converted
to
26V,
of ac excitation).
_it in
(IMU) is the
off.
paragraph
400
cps
(The IGS !inverter provides the i The ACE inverter is utilized when the Inertial
Additional under
Space-
SYST_
information
regarding
the
power
inverter
UNITS POWERINVERTER PACI_GE.
MC_E OPERATIO_ _trol
of spacecraft attitude is acconplished through the selection of seven
8-21 CONFIDENTIAL.
CONFIDENTIAL
PMINI _.
SEDR300
functional
control
or type of AC_ mode
provides
signals
circuits
serve power.
Each
operation either
ing of input all unused
modes.
relays at the power
mode
in conjunction
automatic to ACE. within
Switching
control
level.
with various
or manual
spacecraft
In addition,
for a specific
mission
control
the mode
the ACE during
is performed
is utilized
logic
through
circuits
use of the horizon
by transistors
The operation
phases.
of each control
Each
the switchde-energlze
scan mode
at the signal mode
purpose
to con-
level
and by
is explained
in
the following.
Direct
Mode
(MII
In this mode, attitude direct voltage
solenoid switches
firing
valve
(Figure 8-6).
a circuit
switches.
Six normally-open
commands
drivers
to a transistor
completes direct
thruster
by actuation Selection
designated
The transistor
to the RCS or OAME
of the attitude
switch
is common
remains
contacts
directly
of the direct
ground
to ground which
switch
are applied
A.
hand
controller
mode applies
Conduction
a bias
of the transistor
to one side of the hand
on as long as the direct mode
provide
the command
signals
controller
is moved
threshold
Deflection
in the desired
applies
a ground
direction
which,
travel.
from switch A directly in turn,
as long as the hand This mode
of handle
fires
controller
of operation
to the valve
the proper is displaced
is optional
beyond
beyond
driver relative
thruster(s).
Thrusters
the _.5
is selected.
in the pitch,
and roll axes and will close when the hand (2.5 degrees)
controller
degree
a preset direction to that
continue threshold.
at all times.
P se In this mode,
the attitude
commands
initiated
8-22 @ONPIOIIN'rlAI.
by hand
controller
yaw
displacement
firing
CONFIDENTIAL
__j-
I
__
SEDR300 PROJECT GEMINI r
__
_
"1
I=_
i= °-
I OPo>
O>
°-
-
i
LL-_2TL_, ...... I I _
...... -T-t
II
-' 0
=
I
I
° <_]
0
=' >=u= '-" _>
I
_
==
ID
,.__ ,.=.
o_z
u_>
:_Zo
t
_OS_z z_ or_ _
I o__o
I _7"{
....
I I _ __ o I _ I
I I_, I I I
I I
_ 2 _
I
I I
,-, ,_
I I
;.
I;-;..........
L .11 / _=s i_, 4 ,& 4 & & /_
_
I=
Figure
8-6
ACME
I ]
Simplified
Block
Diagram
8-23 CONFIDENTIAL
(Direct
& Pulse
Command
Modes)
CONFIDENTIAL
PROJECT
GEMINI
$EDI 30O
fire a single pulse generator in the ACE (Figure 8-6). activates the generator, command is received.
The pulse mode logic
allowing it to fire for a fixed duration when a pulse
Commands originate every time one of the six normally-
open pulse switch contacts of the hand controller is closed. the generator
This triggers
and applies a bias voltage pulse for a 20 millisecond
to ground switch A.
This ground is then applied to the RCS or 0A_
valve drivers, through the actuated hand controller for thruster firing.
direct switches,
duration attitude as a command
Commands may be initiated in the pitch, yaw or roll axis
by moving the control handle in the desired direction beyond a preset threshold (3.5 degrees).
Thrusters fire for 20milliseconds
placed beyond S.5 degrees.
each time the handle is dis-
This mode is optional at all times and will normally
be usedduring platform alignment.
Rate Com-_nd Mode (MB) In this mode, spacecraft attitude rate about each axis is proportional attitude hand controller
displacement
from the neutral deadband
(The output remains at zero for displacements providing
a non-operational
handle displacements,
area or deadband).
less than I degree of handle travel, Command signals, generated by
thruster firing occurs.
in the hand controller
handle displacement.
(Figure 8-7)
are compared with rate gyro outputs, and when the difference
exceeds the damping deadband, potentiometers
to the
Signals originate
from
and outputs are directly proportional
to
A maximum command signal to ACE produces an angular rate
of i0 degrees/second about the pitch and yaw axis and 15 degrees/second about the roll axis.
Automatic, closed-loop stabilization of spacecraft rates is provided by the sensing of angular rates by the rate gyro package.
8-24 CONFIOENTIAL
With the absence of hand
CONFIDENTIAL SEDIt 300
controller within
command
signals,
+ 0.2 degrees/second
degrees/second
control. until
about
control
Output
dampened
and to wlthin
signals
the rate signal
at all times
or attitude
each axis are
_ 0.5
from the rate gyros
is within
and will
to
normally
the damping
be used
during
changes.
Scan Mode (M4)
processed
during
to within
orbit
_5 degrees
maintained null.
the pitch
sensor
firing
repetition
pitch
is also
command.
deadband.
available
is summed with
control
deadband,
The pulse
without
having
within
attitude
a desired
is maintained
mode.
to supplement
sensor
upon how much
Pulse
control
control.
(pitch
or roll) logic
is a
and the pulse
the attitude
to use the power-consumlng
about
to the ACE to maintain
of the ACE on-off
in this mode provides
zero degree
the automatic
input
is
from the attitude
the attlt!ude error
the output
automatically
and roll attitude
by commands
time is 18 milliseconds
is dependent
A lag network
are
of thehorlzon
the pitch
When
(pitch and roll)
-5 degree!output,
as in the pulse
down orientation.
frequency
rate damping
attitude
+5 degrees
in the same manner
the 5 degree
i
of the horizon to withln
outputs
the spacecraft
Pitch
bias voltage
the 5 degree
and hold
sensor
8-8).
and roll axes
A -5 degree
Re-entry i
(Figure
horizon
about the yaw axis is accomplished
controller
degree
mode,
automatically
Control
exceeds
command
by the ACE to orient
deadband
pulse
attitude
is optional
thrusting
In this automatic
hand
with OAME
fire commands
This mode
translational
Horizon
rates
with RCS attitude
are used to produce deadband.
spacecraft
error
a pseudo
exceeds
the 5
rate feedback
for
rate gyros.
Mode (M_)
In this automatic
co_m_nd
mode,
spacecraft
angular
8"25 OONFIDBNT|AL,
rates
about
the pitch
and yaw
CONFIDENTIAL SEDR 300
.I -_.
i
1
IL.
Ze_
i
uJ
O_
2=
='_"
°_o>
r
r-
,
I I I
u
o>
I
-3
Ii iL_ I ,
_@_
I
II0-0 I
i o@ I _@ I
li
a
l---1
I
_-_
" =_ Oo_oO
z
m_
_
I
_
_
_g:
L
_I
I
/\_
_
_
Z
o_
O_
zo__
_
_
a gg_
m_
O
.,x. Figure
8-7
ACME
Simplified
Block
Diagram
(Rate 8-26
CONFIDENTIAL
Cmd.
and
Re-entry
Rate
Cmd.
Modes)
Figure
8-8
ACME
Simplified
Block
Diagram
8-27 CONFIDENTIAL
(Horizon
Scan
Mode)
CONFIDENTIAL
Z axes are _ampened
to within
about the roll axis de&Tees
(Figure
of the attitude
computer
a fixed roll rate comm_nd
provided
to minimize
Mode
command
from the attitude
depending
re-entry
The computer
control
a reference
spacecraft
point.
With
rate damping
the spacecraft
for initiating
a bank
rates
to the rate command
Angular
cally
computer
input
a_le
Roll
to within
+2
to ACE.
The
attitude between
command
or
the predicted
to yaw crosseoupling
is
lift vector.
controller.
crosscoupling. mode.
controlled
upon the relationship
touchdown
+2 degrees/second
(M_)
mode,
hand
is identical
of either
the spacecraft
Command
In this manual
Roll attitude is
consists
point and the desired
Re-entry/Rate
method
8-9).
and to within
colmnanded by the digital
roll input to A_E
touchdown
+4 degrees/second
bank
the exception mode
about
angle
are controlled
of wider
with the addition
the three
re-entry
on the control
roll
deadbands,
the
of roll-yaw
rate
axes is identical
and roll rate commands
but are provided
manual
by rate commands
to the
do not automati-
panel
displays
as
commands.
Platfo(M61 This attitude axes, with matically
control
respect
mode
is used to maintain
to the inertial
to within * I.i degrees
tude,
with respect
to the earth,
orbit
rate or alignment
+ 0.5 degrees/second.
matically
hold
an inertial
spacecraft
can be held
during
attitude
attitude.
Spacecraft purpose
attitude. fine
attitude,
if the inertial
The primary
spacecraft
attitude
Spacecraft
of the platform
mode of operation.
to within
maintaining
platform.
spacecraft
alignment
8-10). 8 -28 CONF_DEN'T'JAL
is held
auto-
A horizontal
atti-
platform
attitude
rates
of this mode
This mode
in all three
is in the are dampened
is to auto-
is also useful
of the platform
for
(Figure
CONFIDENTIAL
a>
i
I
.J
i
oQo
z
[
_
N o _
u
,N o
_
J
/\
/
L__ Figure
8-9
ACME
Simplified
Block
8-29 CONFIDENTIAL
Diagram
/\
/\
;
]
(Re-entry
Mode)
CONFIDENTIAL
PROMINI SEDR300
- ACME/RCS
Aborts
The rate
command
abort modes. abort
mode of ACME will be utilized
Control
CONTROL
The ACE package
ELECTRONICS (Figure
cover and contains logic circuitry processing
(+20, +I0, perform
signal
inputs
solenoid
three
for a mode 2
sequential
relays.
module
boards.
axis
logic boards,
driver
These
processing
firing
for the RCS
boards,
These
an
ac signal
a powe_
replaceable
control,
commands.
solenoid
make up the ACE
logic board,
relay
board.
has a removable
boards
for the three-axis
thruster
circuits
a mode
three
-I0 vde) and a lag network
17 pounds,
module
and
They also
supply
convert contain
the
valves.
Operation
signals
A functional
to ACE
represented control
are dependent
schematic
ing to thai mode.
transistor
switching
input
Additional
signal
ACE mode logic
on mode
8-30
logic
to are
of an atti-
circuits
is then switches
may be found in the Mode Logic bwltchingpsragraph.
CONFIDENTIAL
circuits
The selection
in the logic
information
rate correction.
8-11 and is sectioned
at the left of the figure.
The appropriate
for processing.
axes.
rate requirements
or attitude
in Figure
for each of the three
initiates
or attitude
an attitude
of the ACE is shown
by the blocks mode
upon altitude
and are used to obtain
show signal processing
channel
approximately
of the following:
into appropriate
of the spacecraft
ACE
all
(ACE)
ten removable
the signal
valve
Functional
tude
to ACME by the abort
8-4) weighs
and consist
board,
boards
Input
switched
during
UNITS
ATTITUDE
board
control
over the RCS ring A and ring B switches
is automatically
SYSTEM
for attitude
pertain-
into the proper switching
CONFIDENTIAL SEDR 300
..,<:_..
PROJECT
GEMINI I
--
--
'
I=_1 = =_I =_'-='=> I°_1"-
I, o I r ---1 I _ < I I i _ I
I
I
..... I_
]
I I
_..z.>.
I_ o>o 1 I ' --
f .......
" I
I
_ I °
I I
II_
L___
_l
I
z U
_
l -
oo-
_
ul.-
___._ )_..__
1 /\
z_
Figure 8-10 ACME Simplified Block Diagram (Platform Mode) 8-31 CONFIDENTIAL
I J
CONFIDENTIAL
PROJGEMINI __.@
SEDR300
Proportional switch
circuits
amplifiers
consist
The outputs
put of the switch
amplifier
verted
to a positive
either
the positive
torque
logic section.
a minimL_ signals
are chopped
The valve
driver
low-hysteresis
The switches
select
circuits
control
valve drivers.
drivers
Transistor along
consist
with ACE power
explained ground.
sensor
and rate The out-
stage _here
it is con-
The dc signal
then energizes
switch
in the control
and ya_ axes are held generators.
amplifiers_
Horizon
on for sensor
then modulated
dc
in
power
and signal
distribution
The normally-closed Power
contacts
may then be a_plied
for ECS sltitude
of relays
relay
system_
energized
control.
to 0AME power
forward
is the
to the RCS ring
The ring A and ring B
by transistor
relay
drivers.
Switching switching
represented
of horizon
amplifiers.
To turn off the OAME control
relays.
ring B valve drivers
Logic
pulse
by the switch
power and signal inputs to the OAME.
Mode
and rate signals
by the attitude
transistor
for the pitch
by the minimum
and amplified
to de-energized
RCS valve
signal.
and rate),
as ac signals.
and RCS attitude
A and/or
levels
to the demodulator
dc analog
or negative,
of 18 milliseconds
the same manner
s_plied
or negative
Attitude
and fed to the s_tch
is coupled
(attitude
(with the exception
to operational
are summed
stages
stages.
yaw and roll channels
are ac and are amplified
al_lifiers.
amplifier
and the demodulator/filter
to each of the pitch, signals)
of the signal
by blocks
provides
the
distribution in Figure
control
in the horizon 8-I1.
The logic
in the truth table at the right Figure
8-12
for attitude
shows how mode
mode
signal
scan mode.
These
function
of Figure
control
8-32 CONFIDENTIAL
switches
for each block
8-i1 as being
of signal
selections,
selections
are
is
ground or not is accomplished.
CONFIDENTIAL SEDR 300
PROJECT The transistor signals#
switches
provide
a grounded
by being in a conducting
and command position.
signals
it to cut off.
applied
to the ACE amplifiers. (horizon
application mands.
by selecting
This ungrounded
scan) logic
of +20 vdc,
switches
This provides
The pulse generator
or orbit modes.
Signal Processing
(Figure
_ne type
signal
selected
Attitude
the desired
are I_N transistors, a ground
circuit
for hand
to be and one with the
controller
com-
8-11) for each mode
establish
of control
ca n be determined
logid
table.
by referring
The P and I blocks, stages.
Signals
to the ACE are either
in-phase
or out-of-phase
exception
of the de horizon
sensor
input).
generates
an in-phase
signal
which,
A negative positive
switch
the bias !voltage to turn on switch A
the gain for rate[amplifier
Inputs
signal
and conduct
through
Attitude
mode
land mode 2 (pulse),
and the mode
selections,
reference
control
to the logic block in each channel mode
to attitude
to thei base of a PNP transistor,
1 (direct),
signal provides
when in the pulse
state.
state allows
The mode
condition
the appropriate
a +20 vde bias voltage
biasing
of the M4
or non-conducting
are obtained
This applies
or not grounded
error
attitude
displacement,
thrusting.
By referri1_
selection
of mode
5 provides
A positive
attitude
in turn, will
generating
command
an out-of-phase
to the logic
a computer
ae signals
table,
roll input
(with
displacement negative
signal,
through
A roll attitude
is fed into the three-stage
amplifier.
The ampl_fier
valve driver.
_e
output
signal
will
selected
the function
signal
or command
for an input
8-33 CONFIOENTIAL
command
signal
of
to ACE. attitude
will be used to tur m on the appropriate
li_Jiter is used to limit attitude
thrusting.
it may be seen that the
logic block DR and is the only attitude error
the
amplitude.
solenoid _e
out-
CONFIDENTIAL SEDR 300
._-_-_.
2.O_,_._EG j PITCH BIAS
_
I
102K
21.5K
'GYRO
I ,13VRMS,/DEG/SEC
20OK
°'+VRMS'_AxI
i' _
.(L%o/
_
I_IIL
ToRo/B_cT i-'> _IIF_
2101(.
I"_ND
_I_
FRATE
_ " 1241< '222 /
*
_ 17.4K
m J_
1
( -GND
L_
pL_
_
I [PI ME° GAIN
HiGH GAIN
(IpPp) (I'pPP)
_
_
LOW GAIN
(l'pP*p)
IPPI
(B-GN_ORD'F SWA S
A)
/
57 6K ._5,_K
49 9K
,CONTROLLERI.G,S,¢ .v qvv. •
4
1:1
,9.9K .L
124K
_
T
I
'EI,DI EE :C OROONO 0 102K ,_,
.275V/ DEG
pLATFORM ]SV RMS MAX (REF)
_
,262V
41 .2K
_
I I .8K
54.9K AMp
YAw IRA'EG_O 1.13VRMS/OEG/SEC
p0K
-._.o/-
1:1
/
1:1
_ --
49.9K --
,4V DC/DEG
_,.
T 2_K []
"HIE_,
_RATE
I " ROLLER
294K
I"_C_lll.,
T DEG/SEC1 " I/" 210K
k/
MEO GAIN (Pyl'y) LOW GAIN (l'yP'y) 57.6K
102K 49.9K
ICOMPUTER26vI.SVRMS/6_b_.K
130K 1.Suq/OEGJ
_
I
'V'_--49.9K
ROLL AXIS
IpLATFGRMISV RMS MAX (REF)I _,.,,... .262V _. _
RATE GYRO
CONTROLLER
54.9K
I ,13V RMS/DEG/SEC
[]
4_2'7ua/'DEG
AMP
:v
100K
°EG/SECT I/
_IIE__
IO, R.,,0EO,,EC '"K
RATE
I HANG
,,uo,
/
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r "m
_:_
i_.._jl_.
| _
86.6K
T 105K
15.4K 86]:6:_K_ I_
?21"SK'SK
(IRPR) ,_7!!H7.87K GAIN (PRi'R) _ ME° GAIN _ LOW GAIN (I'RP_R)
CONTROLLER(2_I_ "j
I
/
_721
t I |
U Figure 8-11 ACME Functional 8-34 CONFIDENTIAL
Schematic
(Sheet 1 of 2)
VENT MAN
l
i
I
SWITCHES LONG MAN LAT MAN SWITCHES
I MOOECM° I
CONFIDENTIAL SEDR 300
_...._=_
PROJECT GEMINI LOGIC TABLE
tim
LOGIC FUNCTIONS WHERE (') DENOTES NOT GROUND IN PHASE CHOPPER
75K
42.2K
2.2J_v_
OUT OF PHASE __ I CHOPPER
•
__ 7SK
I
A = M1 ÷ M2 PULSE + M4 PULSE B = Mt + M2 ÷ M4 C'p = M 3 +M 5 +MsD +M 6 C'R =M3 +Ms +MsD +M6
2.2
• •
I_R =RING A +RING B +M S +MsD + M 6 "P = RING A + RING B + M5 + MsD + M6 I'y=RINGA+RINGB+Ms+MsD+M6 K'p =M 6
42.2K
150K
K'R = M6 K'y = M6 M' R =M 5 +MsD P'p = M5 = MsD P'R = M5 + MsD ply=MS +MsD
* SWITCH & INVERTER SWITCH & INVERTER
C'y=M3+Ms+M5D+M6D'R =Ms
AMP
I
DAMS SVDJ . / T°SOLENO,D VALVES
PITCH HAND CONTR
M 3 = RATE M2 PULSECMD M4 = HOR SCAN M 5 =RE-ENTRY MSD = RE-ENTRY RATE CMD
r sw,TcH -
I
IMIATT'TUO PEATORE
JI
J i
150K
I
M6
10:1
tELAY DRIVERS __
AMp
_CS
F .TO SOLENOID
I 2' I
'4V_10K
CHOPPER IN PHASE
J
--
75K
DAMS SVD
SWITCH I
I
_
I
YAW HAND CONTR
42.2K
I
VALVES
J
OUT OF PHASE CHOPPER
7SK
1S0K
+ SWITCH & INVERTER TO SOLENOID
VALVES
- SWITCH & INVERTER
AMP
DAMS
SVD
--
CONTROL
FUNCTIONS
i I
•
I
VALVES VERTMAN kSOLENOID
I
SOLENOID LONGMAN VA_.VES
J
SOLENOID VALVES EAT MAN
GAME
F'i
LOGIC I
IB
"
"
JJJJl
I
ROLL HAND CONTROLLER
I
SWITCH
SUPPRESSOR SPIKE DIODES
F
I
I MODE
7
_
I
-
I . i PITCH UP, YAW RT, ROLL RT, GIVE HAND CONTROLLER COMMANDS ERROR SIGNAL.
I_
m
'
J
ALL CAPACITANCE
VALUES ARE IN MICROFARADS.
Schema
8-35 CONFIDENTIAL
ROLL LEFT,
SENSOR OUTPUT.
PHASE REVERSAL IN RATE PRE-AMP & ATTITUDE mE-AMP. BY 3 .guo PEAK TO PEAK WAVE. + SWITCH ACTIVATED BYSQUARE 3ua Pdv_S IN-PHASE SINE WAVE OR + SWITCHES DRIVE POSITIVE TORQUING
Figure 8-11 ACME Functional
RATE & ATTITUDE
PITCH DOWN,
PITCH UP & ROLL RT GIVE POE HORIZON YAW LEFT IN-PHASE.
_
TO ALL AXES
IN-PHASE
PRI/SEC ELECTRONICS
SELECT BY AXIS.
(Sheet 2 of 2)
SOLENOID
VALVES.
CONFIDENTIAL SEDR300
....
\HOE
\
DIRECT
=
SCAN
m•
i B
RATE CMD (RE.ENT)
PULSE
SINGLE PULSE
PULS Ill
ATTITUDE
PULSE COMMAND _10V DC
I
GENERATOR _t
PLAT
CONTROL
(6 pLACES)
SOLENOID
._
mRECT AND
J +2OV DC
J
IVER
PULSE COMMAND
J
-10V
DC
(6 PLACES)
I ATTITUDE HAND CONTROLLER
(M4 PULSE) MI
(_O_
DIRECT
22V DC -10V DC ( "A"
M2 kr_C)_
RATE
PULSE
GYROS
-1OV OC_
; I M3 _
RATE CMD
I M4 (..T_C)_
HOR SCAN
"B"
_,
v
C'R= M3 + M5 +MSD÷M6
_>
,1" C_Y=+MSD+M6M3 +M5
TYPICAL PNP M5 0_
(RATE
RE-ENT
M' R : M5 ; M5D
SWITCH (1) PLACES)
_,,,_
O'R= M5
(ROLL)
COMPUTER (REF)
RATE CMD bM5Dcy _
M6
O'_
Z
RE-ENT
_I
PLAT
_
I,p=RINGA+RINGB+M5
SWITCH
I'R= RING A + RING B + M5 ÷ MSD +M6
TO GND
+ MSD _b'_6 I=y: RING A +RING +M5D+M6
I_1
_ B +MS
P'R : M5 +MSD
GAIN CON-
P'y = M5 ÷MSD P'F;: M5 +MSD ACE-MODE
LOGIC
I.
IN
2.
REFERTO FIGURE 8-11 (FUNCTIONAL ACE CIRCUITRY
LOGIC FUNCTIONS
(') DENOTES-NOT
GROUND.
SCHEMATIC)
FOR
Figure 8-12 ACE Mode Logic Switching-Attitude 8-36 CONFIDENTIAL
O
Control
CONIFIDHNTIAL
P put of the three-stage in-phase
and energizes
amplifier
ator will
either
the positive the ground
a prescribed
used in the pitch
Rate Signals
to either
stage.
dc signal,
drivers_
The output
which
low-hysteresis
the of
is filtered
switch.
The minimum
Energizing
pulse
gener-
to turn off in less than 18 milliseconds, i
thruster
force.
Minimum
pulse
generators
are
only.
8-11)
rate and rsie
command
signals
Cp, Cy and Cr through
gains through
rectified
valves
minimum
coupled
of the demodula$or
for the valve
and roll channels
(Figure
is transformer
or negative
not allow the solenoid
thus assuring
Angular
section
stage is a full-wave
the switch provides
F
switch
or the out-of-phase
the demodulator
blocks
,
are provided
the selection
the rate amplifiers
of modes
by the logic M3, M5, MSD,
are varied by the functions
Ip, Iy, Ir, Pp, Py, and Pr, with the selection
functions
of
and M6.
Signal
of logic blocks
of th_ re-entry
modes
or plstform
I
mode.
Rate
control
signal
solenoid
inputs
are used
valves.
Roll
in the ssme manner
rate signals
as attitude
are summed with
signals
to
the computer
command
i
signal
and the proportional
of the logic
block
crosscoupling signals signal
MR, with
of roll rates
are proportionally for cancellation
output
is fed to the swilch
of the re-entDy modes of control, provides i into the yaw axis for r_-entry control. Roll rate coupled
of part
into yaw.
This provides
of the yaw rate command i
HorizonSensorSignals
!
pitch
and roll
to out-of-phase the pitch
horizon
signals
choppers sensor
The function
selection
bility,
Sensor
amplifiers.
are positive
in ACE. output
or negative
A -5 degree for
pitch
signal
8-37
for proper
sta-
dc and are fed directly
pitch!bias
down orientation.
CONIFIOENTIAL.
an opposite-phase
voltage
is summed with
T_e output
of
the
CONFIDENTIAL
PROJECT __
GEMINI
$EDR3O0
chopper
will be of a phase opposite
the attitude
displacement
attitude
displacement
will
result
in an out-of-phase
attitude
displacement
will
result
in an In-phase
then amplified attitude
scan mode,
energizes
the
the
along
the minimum
with
in-phase
(hunting would result control
RCS Valve
vide e circuit energized
utilized
lag feedback
is
as an
provides
by other
networks
The lag network
operation,
ground
and
choppers
discharge
anti-hunting
of the horizon
relay
sensors
rate,
control
if no anti-
when
8-4) weighs
removable
diode
thruster
boards
as well as fixed co_aponents. the fixed
suppression
compone_t_,
power
They pro-
The relays
receiving
thruster
or the attitude
suppression
are
is provided
hsnd to
is interrupted.
(OA_) 8 pounds,
(2-reley
s;_ attitude
solenoid
valves.
8-38
CONFIDENTIAL
has a re_ovsble
boards
_ue replaceable
function
for the m_neuver
upon
switches
spike
spproxin_ately
module
conduct
logic
AND _._hrEUVERELECtrONICS
(Figure
with nor_rJally-open con-
and the RCS ring switch.
which
torque
Zener
are relays
is in the ACt_ position.
drivers
from the control
8-1B)
valve
when the switch
genersted
three
(Figure
the solenoid
the voltage
tion with spike
between
by transistor
ORBIT ATTI_JDE
board)
in the same manner
circuits
signal.
generator
drivers
switches.
contains
- capacitance
from the slow response
direct
This unit
to energizing
or out-of-phase pulse
valve
co_ands
controller limit
This signal
Drivers
connected
firing
logic
output).
and a negative
were used).
The RCS solenoid tacts
in addition
resistance
for either
hunt
by the on-off
output,
signal.
The horizon modes,
and processed
(a positive
end 1-component
module v_Ive
boards, drivers
cover
and
module
in conjuncand provide
CONFIDENTIAL
PROOECT
Functional
Control
Attitude
CO,hands
to the OAi_t are either
logic cor_msmc]sto the solenoid
driver
of ACiZ (_ee Figure transistors
the solenoid
to limit
Maneuver
Control
Maneuver
cock,ands
ground
8-14-).
package
8-i_).
originate
to limit the voltage
(Figure
_nis provides
8-4) contains
three
The rate gyro package
rate inputs°
gyro may be turned Two _/ro packages mately
8
The gyros
spike
when
logic
to energize
supp_.ession is
js interrupted.
hand
controllers
obt_.ined by applying
suppression
checkout.
rate gyros,
are orthogona!ly
Application
synchronization
ground
power
to the
firing
solenoid
valve for'
is provided
thruster
a circuit
power
by the OA_._ is interrupte6.
(RGP)
three axes.
put durin_
switch
spike generated
sealed.
of spin motor
grounds
of the two maneuver are
torque
dioSc: spike
when thruster
controller
hermetically
attitude
thruster
sigr,_ls, the vc_Ivc
circuit
Zener
con_nand signals
diode
eomm_nd
the
system.
from either
Conventional
RATE GYR0 PACKAGE
receiving
generated
hand
or negative
drivez's from the cont_o!
of the propulsion
the voltegc
positi_e
Upon
conduct.
the proper
firing.
The RGP
_alve
Translatio_.]
through
thruster
will
valves
provided
(Figure
,4
Oper_tion
Attitude
section
GEMINI
provides
Each
on or off without are provided
a check
gyro
mounte8
ac analog
of a gimbal
provide
each Indi_idually
for redundancy
pounds.
8-39 CONFIDENTIAL
outputs,
torquer
current
of gyro operation
is separately
affecting
for rate
excited
the operation and have
mounted
and
sensing
in all
proportional
to
and monitoring and pickoff
out-
so that any individual of the other
a total
weight
two.
of approxi-
CONFIDENTIAL SEDR300
f_'-
F-_---
]
=o
_:._
I<_
--.vU o,.-¢ _=,-
L.2
I Ii
-
I
I
>_
,_,>-
>_'.2
O
_(° u.
_'z=_l ,. _
''O'-L
I
,l I
I
__-_ _ I
=_-I
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_
'
I
I
°_
11
I
I"i
I I
k____
I _._-I,,I
I _I
tI
jI
--
__z _
_
_z
o__z _o
Figure
Zo_ o_
8-13
RCS
& OAMS
Attitude
8-40 CONFIDENTIAL
Valve
Drivers
_
=
_.
>_ __z
CONFIDENTIAL
____-_. "__
SEOR 30° PROJECT GEMINI
I
"-_Rcu,-rl
CONTROLLER
FWD-AFT
I
I I I
I
, P,CAL I TWO
Fwo_
I
h
AFT
I
__
soV_;_os _._O_E_J
_%._ I
_
J
_J
Figure
8-14
TO OAME SPIKE SUPPRESSOR
ACME
Maneuver
Control-Simplified 8-41
CONFIDENTIAL
L
Block
Diagram
CONFIDENTIAL
PRO,JECMINI SEDR 300
POWER
INVERTER
The power
inverter
use by the AC_ 7 pounds
PACKAGE (Figure
8-4) converts
subsystems
and horizon
sensors.
and consists
of the
following:
tor, power amplifier,
output
filter,
and oscillator
starter.
spacecraft
dc power
to ac power
The unit weighs
current
and voltage
regulator-controller,
The 26 vac, 400 cps power
approximately
regulators,
switching
inverter
for
output
oscilla-
regulator
is supplied
the following: a.
b.
ACE pc_er
d.
reference
demodulators
and dc biasing
Rate
20 watts
power c.
supply:
gyros:
for motor
Horizon
starting
ll watts
for bias
voltages
Attitude
hand controller:
for the choppers,
voltages.
and piekoff
sensors:
power
power and 16 watts
excitation. operational
and pickoff
power,
as reference
excitation.
0.5 _tts
for potentiometer
excitation. e.
Telemetry:
f.
FDI:
g.
Rendezvous
1.0 watts
for demodulation
reference.
8.2 watts Radsr:
for angular
8-42 CONFIOENTIAL
runming
reference.
to
CONFIDENTIAL
INERTIAL
GUIDANCE
!
SYSTEM
TABLE OF CONTENTS TITLE
_-
PAGE
SYSTEM DESCRIPTION.. .... INERTIAL MEASUREMENT UNIT: : . AUXILIARY COMPUTER POWER UNIT: : . ON-BOARD COMPUTER.. ......... SYSTEM OPERATION. . . ....... PRE-LAUNCH PHASE .... . . .... LAUNCH PHASE . . . ......... ORBIT PHASE. .......... RETROGRADE PHASE .......... RE-ENTRY PHASE . . . .... CONTROLS AND INDICATORS_ . ..... SYSTEM UNITS. , . . ...... • • INERTIAL MEASUREMENT UNIT ...... AUXILIARY COMPUTER POWER UNIT .... DIGITAL COMPUTER.. .......... SYSTEM DESCRIPTION .... ..... SYSTEM OPERATION . . . ...... MANUAL DATA INSERTION UNIT: ...... SYSTEM DESCRIPTION ....... . SYSTEM OPERATION ..... . • . . AUXILIARY TAPE MEMORY .......... SYSTEM DESCRIPTION ......... SYSTEM OPERATION ....... INCREMENTAL VELOCITY'INDiCATOR. , . , SYSTEM DESCRIPTION ......... SYSTEM OPERATION ..........
8-43 CONFIDENTIAL
8-45 . 8-45 . 8-45 8-46 . 8-46 8-47 8-47 8-48 8-50 8-51 8-51 • 8-56 8-56 8-73 8-75 8-75 8-79 8-176 . 8-176 . 8-179 8-185 8-185 8-188 . 8-193 8-19_ 8-195
CONFIDENTIAL
PROJECT
GEMINI
JDE DISPLAY INDICATOR
_
DISPLAY
INDICATOR
ONTROLLER
INSERTION UNIT
MANUALOATA _
"_
_.
I PLATFORM CONTROLS INCREMENTAL
VELOCITY
AND
INDICATORS
/
/
J
INDICATOR
FUGHT DIRECTOR CONTROLLER
AUXILIAR
INSTRUMENTPANELS
_
//
--
_\
\\
__\
\ \
/
/
,,
il_'
NOTE [_
S,/C 8THRU 12 ONLY
/
II
f-.(\ DIGITAL
\
COMPUTER
i NERTIAL PLATFORM
INERTIAL GUIDANCE
\
,
J
SYSTEM ELECTRONICS
AUXILIARY
Figure
8-15 Inertial
Guidance
8-44 CONFIDENTIAL
COMPUTER POWER UNIT
System
SYSTEM POWER SUPPLY
CONFIDENTIAL
__
SEDR300
ims
,N_L.__
io
The Inertial Guidance System (IGS) consists of an Inertial Measurement Unit, an Auxiliary Computer Power Unit, an On-Board Computer, With Auxiliary Tape Memory and associated controls and indicators. illustrated in Figure 8-15. pressurized c_bin area.
The location !of all IGS components is
Controls and indicators are located inside the
The Inertial Measurement Unit, Auxiliary Computer Power
Unit, and the On-Board Computer are located in the un_ressurized left equipment bay.
The computer Auxiliary Tape Memory is mounted on the electronic module
coldplate located in the adapter section (spacecraft 8 through 12).
_"
_RTIAL
MEASUREMENT UNIT
The Inertial Measurement Unit (IMU) consists of three separate packages: inertial platform, system electronics, and IGS power Supply.
the
All three packages
function together to provide inertial attitude and acceleration information. Attitude measurements are utilized for automatic control, computations, and visual display.
Acceleration
measurements
are utilized
retrograde computations and displays. selector.
for insertion, rendezvous,
and
I_/ operation _s controlled by a mode
Cage, alignment, orbit rate, and inertial modes are available.
Plat-
form attitude measurements are available to each pilot on his attitude display group.
The I_
is also capable of providing _00 cps power to ACME inverter loads.
An AC POWER switch allows the pilot to select the source of 400 cps ACME power.
AUXILIARY ,
COMPUTER POWER UNIT
The Auxiliary Computer Power Unit (ACPU) provides protection for the computer,
8-45 CONFIOENTIAL
CONFIDENTIAL
PROJE-C-T _.
GEMINI
$EDR 300
from the spacecraft bus voltage variations. ACPU supplies temporary computer power. computer is automatically turned off.
If bus voltage drops momentarily, the
If bus voltage remains depressed, the The ACPU is activated by the computer
power switch. ON-BOARD COMPU_
The On-Board Cc_uter
(OBC) provides the necessary parameter storage and computa-
tion facilities for guidance and control. rendezvous, and re-entry guidance. of computations to be performed.
A computer mode selector determines the type
A START switch allows the pilot to initiate
certain computations at his discretion. completion of a computation.
Computations are utilized for insertion
The COMP light indicates the start s_d
A MAT._light indicates the operational status of
the computer and a BESET switch provides the capability to reset the computer in ease of temporary malfunctions.
A Manual Data Insertion Unit (MDIU) allows the
pilot to communicate directly with the computer.
Specific parameters can be
inserted, read out, or cleared from the cc_pater memory. Indicator (M)
displays velocity changes.
depending on computer mode.
An Incremental Velocity
Changes can be measured or computed,
An Auxiliary Tape Memory (A_4) that works in con-
Junction with the spacecraft computer is utilized in spacecraft 8 through 12.
It
provides greater memory capacity and allows in-flight loading of program modes in the computer. SYS_t
v_TION
Operation of the IGS is dependent on mission phase.
Components of IGS are util-
ized from pre-launch through re-entry phases.
Landing phase is not controllable
and therefore no IGS functions are required.
The computer and platform each have
mode selectors and can perform independent functions. 8-46 CONFIDIENTIAL
However, when computations
CONFIDENTIAL
PROJECT
GEMI
S
are to be made concerning inertial attitude or acceleration, the two units must be used together.
PHE-LAUNCH PHASE
Pre-launch phase consists of the last 150 minutes before launch.
This phase is
utilized to warm-up, check-out, prog_am, and align IGS equipment.
After warm-up
the computer performs a series of self checks to insure proper operation.
Infor-
mation not previously progr-mmed but essential to the mission is now fed into the computer.
AGE equipment utilizes accelerometer outputs to align IMU pitch and
yaw gimbals with the local vertical.
The roll gimbal is aligned to the desired
launch azimuth by AGE equipment.
LAUNCH PHASE
Launch phase starts at lift-off and lasts throush insertion.
During the first and
second stage boost portion of launch, the guidance fUnctions are performed by the booster autopilot.
If the booster radio guidance system should fail, a Malfunction
Detection System (MDS) provides automatic switchover to back-up (IGS) guidance. Back-up ascent guidance can also be selected manually at the discretion of the c_and
pilot.
The computer has been progxw,_ed with launch parameters and the
l_J provides continuous inertial reference for back-Up ascent guidance.
To mini-
mize launch errors, the computer is updated by ground stations throu@hout the launch phase.
In the back-up ascent guidance operation, the computer provides
steering and booster cut-off commands to the secondary booster autopilot. i
The
computer also supplies attitude error signals to the!flight director needles. IMU provides inertial attitude reference to the attitude ball.
At Second Sta@e
The
Engine Cut-0ff (SSECO) guidance control is switched from booster to Gemini IC_. 8-47 CONFIDENTIAL
CONFIDENTIAL
PRO,JECT
GEMINI
The con_uter starts insertion computations at SSECO and, at spacecraft separation, displays the incremental velocity change required for desired orbit insertion. When the required velocity change appears the command pilot will accelerate the spacecraft with the O_ ation the I_
thrusters to insertion velocity.
During acceler-
supplies attitude and velocity changes to the computer.
The
computer continuously subtracts measured acceleration from required acceleration on the display.
When insertion has been achieved the incremental velocity
indication will be zero along all three axes.
ORBIT PHASE
Orbit phase consists of that time between insertion and the start of retrograde sequence.
If the IGS is not to be used for long periods of time it can be turned
off to conser_T power.
If the platform has been turned off, it should be warmed
up in the 0AGE mode approximately one hour before critical alignment.
The
computer should be turned on in the PRE LN mode and allowed 20 seconds for self checks before changing modes. separate operations. ment.
IGS operation during orbit is divided into three
The initial part of orbit is used for check out and align-
The major part of orbit is used for rendezvous exercises and the final
portion is used in preparation for retrograde and re-entry.
,Check-Out& Alignment
l_ediately
after orbit confirmation the spacecraft is maneuvered to small end
forward and the platform aligned with the horizon sensors.
Horizon sensor out-
puts are used to align pitch and roll gimbals in the platform.
8-48 CONFIDENTIAL
The yaw gimbal is
._
CONFIDENTIAL
PROJECT
GEMINI
i
aligned through gyrocompassir_ techniques using the roll gyro output. i will align the yaw gyro to the orbit plane.
Platform !aligmnent will be maintained
by the horizon sensors as long as SEF or _EF modes are used. used when maneuvers are to be performed.
This
ORB RA_
ORB RA_
mode is
is ian inertially free mode
except for the pitch gyro which is torqued at approximatel_ four degrees per minute (orbit rate).
The purpose of torquing the pitch gyro is to maintain a
horizontal attitude with respect to the earth. long periods of time drift errors can occur. drift, the mode is switched back to SEF or _F
Rendezvous
_
If 01_ RA_
mode is used for
To eliminate errors due to _yro for aligr_ent.
Exercises
IGS operation during rendezvous exercises consists oflperforming inertial measurements and maneuver computations.
Radar target!information is provided i to the computer for use in rendezvous computations, platform alignment is performed in SEF or BEF mode prior to initiating a maneuver.
The co_uter
START
button is pressed to initiate computation of velocity changes and computed velocity requirements are automatically displayed on the IVI. Flight
director needles
are referenced to the computer during rendezvous exercises and indicate the attitude in which translational thrust should be applied.
When the spacecraft
is in the correct attitude for a maneuver, all of the!incremental velocity indicationwill
be along the foTward-aft translational axls_
As thrust is applied, the
supplies the computer with attitude and acceleration information to continuously update the M
indications.
When the maneuver has been completed the plat-
form can be realigned to the horizon sensors.
8-49 CONFIDENTIAl-
CONFIDENTIAL
PROJ--E-CT'-GEMINI
Preparation
for
Retrograde
& Re-Entr_
Preparation
for
retrograde
and re-entry
retrograde (requires turned
sequence. less
than
on one hour
approximately
The AS
re-entry
_0 minutes). before
one half
is
If
module IV is the
retrograde.
hour
to
stabilization and aligmnent. )
I_
(The
in the loaded
has been _ros
last into
turned
hour the
off,
it
and accelerometers
warm up and another
half
hour is
before
computer must be require
required
for
The attitude hall will indicate when platform
gimbals are aligned to spacecraft axes. to Blunt End Forward (_F)
performed
At this time the spacecraft is maneuvered
and the platform aligned with the horizon sensors.
The platform remains in B_F mode to maintain alignment until retrograde sequence. The computer retrograde initial conditions are checked and if necessary updated by either ground traok_n8 stations or the pilot.
Preparation for retrograde
and re-entry is completed by placing the computer in RE-EFt mode.
RETROGRAD_ PHASE
Retrograde phase starts 256 seconds prior to retrofire and ends approximate_v twenty-five seconds after retrofire initiation. phase
a minus
indicator. form
sixteen
degree
bias
At time-to-go-to
is placed in ORB RA_
is
placed
retrosrade mode.
At the start of retrosA_ade
on the pitch
minus
30 seconds
needle
of the
attitude
(_-30
seconds)
the
plat-
While the retrorockets are firing (approximately
22 seconds) the acceleration and attitude are monitored by the l_J and supplied to the computer for use in re-entry computations. for re-entry at retrofire. inertial
position
and attitude,
C_putations
The computer starts computations
are based on the time of retrofire,
and retrograde
8-50 CONFIDENTIAL
acceleration.
-
CONFIDENTIAL
PROJECT GiSMINI
1_-_
t_._E
Re-entry phase starts immediate_v after the retrorockets stop firing and lasts i until drogue chute deployment. After retrograde a 180° roli maneuver is perZ
formed and pitch attitude is adjusted so that the horizon can be used as a visual attitude reference.
The spacecraft attitude is controlled by visual
observation of the horizon until the computer c_anEs at approximately 400,000 feet. the flight director needles. computer during re-entry. signals to the computer.
a re-entry attitude
The spacecraft is then controlled to null Flight director needles are referenced to the
The l_J supplies inertial iattitudeand acceleration Bank angle commands are computed and displayed on
the roll needle for down range and cross range error ieorrection. The bank angle commands L_at between 0 to 500 seconds depending on the amount of down i
range and cross range error.
Pitch and yaw needles display down range and
cross range errors respectively.
Upon completion of =the bank angle commands
(spacecraft on target) a roll rate of 15 degrees per second is commanded by the computer.
At approximately 80,000 feet the computer co_nds
suitable for drogue chute deployment.
an attitude
Immediately after drogue deployment
the IGS equipment is turned off.
CONTROLS AND INDICATORS
Attitude
Display
Group
The Attitude Display Group (ADG), (Figure 8-16), consists of a Flight Director
8- 51 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
FLIGHT DIRECTORINDICATOR
FLIGHT DIRECTORCONTROLLER
COMPUTER
S,/C POSITION 5,6 AND 8 DESIGNATIONS S/C 9 THRU 12 2. 3. 1.
ASC CTCH PRELNUP
2. 3. I.
i
ASC PRELN NAV
_
I
4. RNDZ
4. RNDZ
I
5. 6.
TD PRE RE-ENT
5. 6.
PREDNAV RE-ENT
J
7.
(NOT
7.
ORB DET _
USED)
ROLL ERROR _
J
I
I
I
ROLL
!._
® I ,,_,TUD_ CO,,_NO ®l
REP_,EN_E
_ODE
2' PLAT CMPT "l_ )
; M,X R RAT_ ,,_
3. RDR
3. ATT
I
I
j
I
_)
J PITCH
®
I
@
I
(_)
_j
('_
I
,, J
Q(_)
,L
I
{ DISPLAY
_'--2c_"P'Tc"'
YAW
CROSS DOWN RANGE RANGE ERROR ERROR
I
ROLL
_
Fi
E u
ure
> _
:_ "_'I = I
_
I R 8-16 Attitude
E _
I
0 >_
RATE GYRO
Display
8-52 CONFIDENTIAL
Group
'
I
I
I
SLAVED TO GIMBAL _ATTITUDE _'_ 1 POSITIONS SPHERE OF THE
PLATFORM
_
CONFIDENTIAL
__
SEDR300
Indicator fiers.
(FDI) a Flight
Three
are provided
types of displays by the FDI.
each axis continuously the inertial needle
platform
platform,
attitude
rate,
attitude
indicates and/or
displayed
platform
and type
of signal available.
types
of signals,
schematic
the computer
FDC reference
selector
mode
determines
selector
Manual
Data
The _mnual
Insertion
determines
A scale
selector
Unit
message.
the computer
the source of signal
is slaved Three
by the
is included
in the
and indicates
of display
as
on the needles.
is c_pable
to
is provided
on the needles.
is included
The
Figure
8-16
the source
of producing
different
in the schematic. information.
The
The FDC
displayed.
(MDIU) consists
Provision
Keys are pressed
word
in a most
and a
directly
with
cancel or read out informal location in the computer
The first
location
keyboard
to enter,
a specific
for insertion.
memory
of a ten digit
the pilot to communicate
is made
is used to address
and set up coded messages address
selector
The MDIU allows
computer.
The keyboard
the computer
in
Unit
seven digit register.
tion.
the type
Data Insertion
the on-board
mode
of freedom
attitude.
on the needles
of the FIE switching Since
off)
attitude! rate information
is used to select the source and type of display a simplified
ampli-
and ADG power
The sphere
of HI or LO scale indications
includes
associated
360 _egrees
information.
and rate gyros.
FDI to allow the selection FDC
attitude
Information
radar,
(FIE) and their
axis sphere with
and always
display
by the pilot.
computer,
A three
gimbals
Controller
(attitude,
displays
type indicators
selected
Director
two keys that are pressed
and the next flve
significant
8- 53 CONFIDENTIAL
bit first
set up a coded order.
Negative
CONFIDENTIAL SEDR 300
values
are
inserted
represents
a minus
monitor button
by making
addresses switches
the messages. register.
The _
The Incremental
orbit
required
provided
a display
message
seven
digit
a 9.
The 9 then
register
is
used
panel
does not clear
to READ CUT, CI_AR,
the computer,
in the computer
Co-m_d
System
to
Push
and
it clears only the by the ground
capabilities.
Indicator
Indicator
(M)
for, or resulting
rendezvous
insert
the
into or read out of the computer.
on the register
provides fr_
computer. maneuvers
along each of the spacecraft
to manually provides
entered
of
The
can also be inserted
the on-board
correction,
number
a number.
switch
Velocity
through
first
which have Digital
Velocity
increments
not
a_d messages
Information
Incremental
and
are included
trackin 6 stations
trolled
sign
the
a display
a specific
Displays
of computed
maneuver.
are utilized
and retrograde. translational
The 1%'I is confor orbit
Velocity
axis.
insertion,
.ncrements
Controls
plus or minus velocity
increments
into the IVI.
of tape position
and module
words
words
velocity
are
are included The IVI also
from the auxiliary
tape memory.
Computer
Controls
Computer
controls
are located
the -_in instrument C_uter
controls
light, a MALF selector to be
panel consist
- center of:
light, a RESET
is a seven position
performed.
they are utilized.
on the computer
a COMPUTR_ switch, rotary
Modes of operation The CO_
console
light
controls
and indicators
(lower assy). mode
selector,
and an 0N-OFF switch which correspond
indicates
CONFIDENTIAL
See Fisure a START
switch.
selects
the type
the computer
on
8-15.
swltch,
The CO_eU_ER
to the mission
when
panel
a COMP mode
of c_,_utations
phase
in which
is running
through
CONFIDENTIAL
PROJ
its program
and provides
a means
of checking
computer
The START
_equencing. f
switch
is utilized
for manual
initiation
of certain
computations.
NOTE The START Junction and
The HALF
switch with
must be operated
the COMPUTER
mode
in coal
sel@ctor
the COMP light.
light indicates
when
a malfunction
has occurred i
and the RESET
switch
i
resets
the computer
resetting power
to
the computer the computer
IMU Controls w,
a RESET
computer
consist
switch,
is o_Y
An ION-OFF ii
capable
switch
of
controls
power! unit.
Two cage modes,
light indicates
of; a PLATFORM! mode J
rotary
The ATT light
tude portion
of the l_J.
that the IWJ has returned
switch
two align
a malfunction
of the I_J.
indicates
an ACC
s_lector. The PLATIZ0RM i which,[ in conjunction with the
on and off as we_l as control
are selectable.
when
selector,
and an AC POWER
turns the platform
rate mode of operation ACC
malfunctions.
and the auxiliary
is a seven position
AC POI_ER selector_
of operation.
for mcaentary
and indicators
an ATT light,
mode selector
The RESET Switch J
indicator.
& Indicators J
The IMU controls light,
malfunction
modes,
one _e
mode,
the mode
and an orbit
The align models are SEF and _F. has occurred
when
i_ the accelerometer
!
_ha__.a occurred
a malfunction
The RESET
switch
to nor_-I
operation.
The portion
in the atti-
will turn Qff the lights 3 indicating The ___8T
switch works
for momen-
I ;
tary _-_Ifunctions of either
type.
to
Inability
reset ithe lights i
indicates
a
!
pe _r_anent malfunction. inverter
on without
The AC POWER
operating
the
selector
platform
or
8-55 CONFIDENTIAL
allows electro_cs
_he pilot circuits.
to turn the IGS
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
SYSTEM UNITS
INERTIAL
MEASUREMENT UNIT
The Inertial Measurement
Unlt
reference
Spacecraft.
for the Gemini
the inertial packages
conform
total weight functions
and
attitude other
platform,
platform
to spacecraft
of 130 pounds. signal
routing
and acceleration
units of guidance
_ounted
(I_J) is the inertial
The IMU consists
electronics, contours
throughout
reference,
block
all
of three
separate
convenience
diagram
three
The platform
packages
All three
and have a
(Figure 8-17)
packages.
the IMU provides
and control.
and acceleration
and IGS power supply.
for mounting
A functional
on cold plates to prevent
attitude
indicates
In addition
to
ac and dc power for use in
and electronics
packages
are
overheating.
NOTE References
to x, y, and z attitude
translational guidance with
Inertial
pertain
only and should
structural
to inertial
not be confused
coordinate
axes.
Platform
The inertial miniature
platform
integrating
the gyro mounting housing
axes
and
(Figure
is a four gimbal
gyros and three
frame
moves freely
8-18)
(pitch block)
about them.
assembly
pendulous
accelerometers.
to remain
in a fixed
Major
components
8-% CONFIDENTIAL
containing
three
Gimbals
allow
attitude
of the platform
while are:
the
a housing,
CONFIDENTIAL SEDR300
c@ gimbal
structure,
accelerometers.
PROJECT
torque
motors,
The gimbals
gimbal
All gimbals,
dora. The inner roll
gimbal
occur
are used
pitch,
and 90 degrees
roll
inner
when
exists.
resolvers,
are: pitch,
roll, have
to plus
the possibility
structure
,
synchros,
to outside
except
is limited
to eliminate
on a three gimbal
angle
from inside
yaw and outer roll.
gimbals
GEMINI
_...y.;._ .___
and minus of gimbal
an attitude
gyros
inner
360 degrees
At this time the roll
Two roll
Gimbal
of 0 degrees
roll, of free-
15 degrees. lock.
and
yaw,
lock can 0 degrees
and yaw gimbals
in the same plane and the yaw gimbal
lock).
In the Gemini
between
the inner
cannot move about its axis (gimbal i an angle of 90 degrees is maintained
are
four gimbal platform
roll and yaw gimbals
thus preventing
gimbal
lock.
The inertial
compo-
i
nents are mounted F_
and shielding the pitch
from thermal
of the pitch
input axes block.
effects.
cube located
casting
The gyros
are aligned
Two sealed
for alignment
alignment
gimbal
block in a fixed relationship
accelerometer
housing
in the innermost
(Pitch block)
and associated
with the reference
with the three
optical
and testing.
quality
Both windows
on the stable
servo
loops
coordinate
mutually
windows
for rigidity
system.
perpendicular
are provided
provide
maintain
optical
axes
in the
access
to an
element.
System Electronics The system
electronics
package
of the I_.
Circuits
motor power,
accelerometer
contains
are provided logic,
the circuitry
for gyro
torque
accelerometer
necessary
control,
rebalance,
for operation
tJmlug
lOgic,
and malfunction
i
detection.
Relays
provide
remote
mode
control
8-57 CONFIDENTIAL
of the above
circuits.
spin
The
ELECTRONICS
ACC/_u_.LFLAMP ATIM_'LFLAMP _
I
RICAL I
I
El
TO COMPUTER_
0.2604CPS
GYRO MALFUNCTION LOGbC
TO COMPUTER_
ACCELEROMETER MALFUNCTION LOGIC
6*25 KC
TO COMPUTER
TO COMPUTER
TOCOMPUTER TO COMPUTER_
s
Figure 8-17 IMU Functional
Block Diagram
->
8-58 CONFIDENTIAL
(Sheet 1 of 2)
_
CONFIDENTIAL SI::DR 300
.f-==--.
I
ProJECT INERTIAL
PLATFORM--
"1
I "z" OMET
I POSITION SIGNAL
ii TocoMPu REFERENCE SIGNAL TO COMPUTER
!
i
i
=
u
=
_
_g "
I
=
pOSITION SIGNAL TO COMPU|ER
I
POSITION SIGNAL I'O COMPUTER
J•
15V 400_ FROM COMPUTER
m , • }
i
•
REFERENCE SIGNAL TO COMPUTER
I
,,
REFERENCE SIGNAL TO COMPUTER
•
O b
•
PLATFORM SIGNAL TO ADO (AT1'ITUDE POSITION DISPLAYGROUP)
HORIZON SENSOR(PITCH)'
SELECTOR(_EF) HORIZON SENSOR (ROLL)
PLATFORM POSITION "SIGNALS TO ACME
b ;
•
suPPLY
-CPS
CPSJ
'
r
ID I
>D1
I
Figure
8-17
IMU
Functional
Block 8-59
CONFIDENTIAL
Diagram
(Sheet
I
2 of 2)
+28v DC
CONFIDENTIAL f:_'_\
SEDR 300
L__V
PROJECT
GEMINI
NOTE PLATFORM CO'ORDINATES BODY CO-ORDINATES-Xb,
-Xp, Yp, Zp. Yb, Zb.
_
INERTIAL PLATFORM
_
....
I - VERTICAL ACCELEROMETER (Z AXIS) FIRST GIMBAL
(PITCH)-
ALONG COURSE ACCELEROMETER_ (X AXIS)
ACROSS CO (Y AXLS)
GIMBAL
Figure
8-18 Inertial
Platform 8-60
CONFIDENTIAL
Gimbal
Structure
(INNER ROLL)
CONFIDENTIAL
PROJECT
I GS Power
GEMINI
Supply
The IGS power supply (Figure 8-19) contains glmbal control electronics and the static power supply unit. platform.
Oimbal control electronics idrive torque motors in the
Separate control circuits are provided for leach gimbal.
The static
power supply provides the electrical power for the IMU, OBCI ACPU, MDiU_ M, ACME_ and horizon sensors.
Figure 8-19 indicates the types of power available
and the units to which they are supplied.
Attitude
Measurement
Attitude measurements are made from inertial platform igimbals and reflect the difference between spacecraft and gimbal attitudes, '
platform gimbals are main-
rained in essential_v a fixed inertial attitude by gimbal control electronics. As the spacecraft moves about the attitude axes, friction transfers some of the movement to platform gimbals.
Three miniature gyros are used to sense minute
gimbal attitude changes.
When gyros sense a change in attitude, they produce ; a signal proportional to the attitude error. Gyro outputs are then used by gimbal control circuits to drive g_mbals to their original inertial attitude. Gimbal positions relative to the spacecraft are measured by synchros and resolvers.
Synchro outputs are provided for attitude _isplay, automatic attitude i
control, and gyro alignment. transformation, are used. to the computer.
Two types of resolvers, p_-se shift and coordinate
Phase shift resolvers provide gimbal angle information
Coordinate transformation resolvers provide attitude signal
resolution for gimbal control purposes.
8.61 CONFIOENTIAL
CONFIDENTIAL
":.
PROJECT
GEMINI
INERTIAL PLATFORM ]0.SV 7.2KC
r_
I
+40V DC -40V DC -3V DC +35V DC
i,
+I2V DC +35V DC PRECISION
SYSTEM
ELECTRONICS
-40V DC PRECISION -35V OC
=
-22V DC +22V DC
! MAIN
BUS
+28v
_
÷28V DC •
AC POWER (SELECTOR) --
26V AC
400 CPS
L
IGS POWER 26vAc
SUPPLY
_ 400 CPS
•_VDC .i iv, i i MO,U I 2>
+ 28.6V DC ÷ 10.2V DC - 28.6V
DC
+ 20.7V
DC
_
+28V DC
26VAC
Figure
8-19
IGS
Power
8-62 CONFIDENTIAL
400CPS
Supply
(3
• I
26V AC 400 CPS
+28vDC +28vDc
>
I
COMPUTER
=
POWER UNIT AUXILIARY COMPUTER
J _
I"OACME, HORIZON SENSORS AND ATTITUDE DISPLAY
I
CONFIDENTIAL SEDR 300
Modes
of Operation
Seven modes
of operation
are selectable
by the astronaut.
The modes,
in order
and
The
of
;
switch position position
are:
is used
OFF,
SEF, ORB RATE,
for IMU warm-up
craft body axes.
Platform
horizon
In the
sensors.
a null is obtained
and to align
gimbals CAGE mode,
are aligned
small end forward.
synchro
outputs
horizon
sensor
with
A gyro
compass
Horizon
and the difference outputs
are balanced
loop aligns
gimbals When
is used to align the platform
flyiDg
_F,
the gimbals
spacethe
outputs
until
torquing
SEF (Small End Forward)
sensors
gimbals.
when
When
are aligned
with
CAGE
with
null,
and roll outputs
used to torque
the yaw gimbal
reach
axes_
with the horizon sensor pitch
with
by synchro
outputs
spacecraft
gimbals
to fine alignment
are torqued
synchro
FREE.
C_GE,
the platform
are caged prior
on the synchro.
stops and the gimbals mode
CAGE,
the orbit
the spacecraft are compared synehro
to earth
with
and
local
vertical.
plane.
-NOTE If horizon
sensors
SEF or _F
alignment
automatically
lose
track
modes,
switched
during
either
the platform
is
to ORB RATE mode. i
ORB RATE
(orbit
rate) mode
craft maneuvers.
ORB RATE
The pitch
gyro is torqued
a horizontal
attitude
for long periods BEF
is used to maintain mode
is inertially
at approximately
with respect
of time,
(Blunt End Forward)
drift
mode
attitude
free except
four degrees
to the earth.
can cause
reference
per minute
errors
is the same as SEF except
8-63 CON FIDENTIAL
for the pitch
If ORB RATE mode
excessive
during
spacegyro.
to maintain is used
in the platform.
that relays
is
reverse
the
CONFIDENTIAL
PROd
ECT'T--GMI
phase of horizon sensor inputs.
NI
The second CAGE mode allows the platform to
be caged in blunt end forward without switching back through other modes. mode is used during launch and re-entry phases.
FREE mode is completely
inertial and the on_v torquing employed is for drift compensation.
NOTE FREE mode is selected automatical_y by the Sequential System at retrofire.
Oimbal Control Circuits
Four separate servo loops provide gimbal attitude control. trates the signal flow through all four loops.
Figure 8-17 illus-
Gyro signal generator outputs
are used either directly or through resolvers as the reference for gimbal control. Both pbsse and amplitude of signal generator outputs are functions of gimbal attitude. output.
Gimbal number one (pitch) is controlled directly by the pitch gyro
Error signals produced by the pitch gyro are amplified, demodulated,
and compensated, then used to drive the pitch gimbal torque motor.
The first
amplifier raises the signal to the level suitable for demodulation. fication, the signal is demodulated to remove the 7.2 KC carrier.
After ampli-
A compensation
section keeps the signal within the rate characteristics necessary for loop stability.
When the signal is proper_v conditioned by the compensation section,
it goes to a power amplifier.
The power amplifier supplies the current required
to drive the gimbal torque motor.
The torque motor then drives the gimbal ma_n-
raining gyro Outputs at or very near null.
8-6_ CONFIDENTIAL
CONFIDENTIAL SEDR 300
Roll and yaw servo loops utilize resolvers to correlate gimbal angles with gyro outputs.
Inner roll and yaw gimbals are controlled by a coordinate
transformation resolver mounted on the pitch gimbal.
When the spacecraft
is at any pitch attitude other than 0 or 180 degrees, some roll motion is sensed by the yaw gyro and some yaw motion is sensed by the roll gyro.
The
amount of roll motion sensed by the yaw gyro is proportional to the pitch gimbal angle.
The resolver mounted on the pitch gimbal angle.
Resolver
output is then conditioned in the same manner as in the pitch servo loop to d_ive inner roll and yaw gimbals.
The outer roll gimbal is
servo driven from the inner roll gimbal resolver.
A
coordinate transformation resolver mounted on the inner roll gimbal, monitors the A_le
between inner roll and yaw gimbals.
If the angle is anything other
than 90 degrees an error signal is produced by the _esolver.
The error signal is
conditioned in the same manner as in the pitch servo loop to drive the outer roll gimbal.
One additional circuit (phase sensitive electronics) is incluced in the
outer roll servo loop.
The outer roll gimbal torque motor is mounted on the
platform housing and moves about the stable element with the spacecraft. i
As
the spacecraft moves through 90 degrees in yaw, the direction that the outer roll i gimbal torque motor must rotate to c_ensate
for spacecraft roll, reverses.
Phase sensitive electronics and a resolver provide the phase reversal necessary for control.
The resolver is used to measure rotation of the yaw gimbal about !
the yaw axis.
As the gimbal rotates through 90 degrees in yaw, the resolver
8-65 CONFIDENTIAL
CONFIDENTIAL
PROJECT __
output
changes
phase
sensitive
motor
drive signal
Pre-Launch
phase.
Resolver
electronics.
for that
launch azimuth.
Platform
an error
gimbal error
mounted
up attitude control
is aligned
is compe/ed
phase by the
phase, the torque
synchro
the platform
to local
vertical
is not properly
aligned output
the gimbal.
is used by AGE
The outer
output
to the launch
8-66 CONFIDENTIAL
then produces
a
by a
is in a 90 degree
is transferred
the roll gimbals
and the AGE reference
is aligned
and applied
is coordinated
all of the yaw gyro output
roll
the launch azimuth
by AGE equipment
the spacecraft
drive
If
When the gyro is torqued
Gyro output
The electronics
X and Y
and must be
The yaw gyro signal generator
Since
for local
due to gravity.
with a signal representing is conditioned
and the
to the local vertical,
for the gyros.
on the pitch gimbal.
electronics.
and must therefore
are the reference
is used to align
generator.
essentially
guidance
The accelerometer
to the input torque.
exists between
signal exists,
signals
The error signal
signal proportional
ascent
is aligned
the platform
signal which
to the yaw gyro torque
pitch
changes
sense any acceleration
signal exists. torque
output
by AGE equipment.
resolver
to a reference
output
X and Y aecelerometers
is sensed,
to generate
synchro
The platform
When the platform
until no error
it produces
for hack-up
are level and cannot
any acceleration
equipment
When the resolver
reference
purpose.
alignment.
accelerometers
torqued
is compared
Alignment
be aligned
vertical
output
is reversed.
The IMU is the inertial
gimbal
GEMINI
SEDR300
signal.
azimuth.
to roll
until
no
When no error
CONFIDENTIAL SEDR300
PROJECT
GEMINI
Orbit Alignment
Alignment of the platform in orbit is accomplished by referencing it to horizon sensors.
the
Placing the platform mode selector _n SEF or BEF position
will reference it to the horizon sensors.
Pitch and roll horizon sensor outputs
are co_pared with platform pitch -nd outer roll synchro outputs.
Differential
amplifiers produce torque control signals proportional to the difference between sensor and synchro outputs.
Torque control signals are used to drive pitch and
roll gyro torque generators.
Gyro signal generator outputs are then used by
gimbal control electronics to drive platform gimbals, i When synchro and horizon sensor outputs balance, the pitch and roll gimbals are aligned to the local verti. cal.
The yaw gimbal is aligned to the orbit plane through a gyro compass loop.
If yaw errors exist, the roll gyro will sense a component of orbit rate.
The
roll gyro output is used through a gyro compass loop %o torque the yaw gyro. Yaw gyro output is then used by gimbal control electronics to drive the yaw gimbal.
When the roll gyro no longer senses a component of orbit rate, the yaw
gimbal is aligned
to the orbit plane.
All three gimbals are now aligned
remain aligned as long as SEF or BEF modes are used.
and will
The pitch Erro will be
continuously torqued (at the orbit rate) to maintain a horizontal attitude.
If
horizon
sensors
lose
track
while
platform
is
in SEF or _F
modes,:
platform
is
automaticall_
switched
ORB RATE mode.
8-67
CONFIDENTIAL
the
the to
CONFIDENTIAL
PROJECT
Orbit
Rate
Circuit
The orbit rate circuit
is used to maintain
during
orbit maneuvers.
Local
during
m_neuvers
they
attitude
with
four
degrees
Torque
is
because no external
per
minute.
obtained
amplifier. rate.
GEMINI
The Orbit
rate
will
bias
track.
The torque
represents
a DC bias the
is
lose the
drives
pitch
adjustable
to the local vertical
cannot be provided
reference,
by placing bias
vertical
aligmnent
To maintain
pitch
gyro
and
is
the
on the gyro
by horizon
torquer can
be
torqued
of
at set
a horizontal at
spacecraft
output
approximately
orbit
the
pitch
match
rate. differential
approximatel_v
to
sensors
orbits
the
orbit
of
various
altitudes.
Phase
Angle Shift Technique
Phase
A_le
ability.
Shift Technique
(PAST) is a method
One of the factors
unbalance.
The effect
point
which affects
of unbalance
on with the synchronous different
_
motor's
each time
errors
by a factor
of spin motor excitation
will vary with field.
it is started.
Drift
of ten.
per hour. To cancel
30 degrees
now tend to cancel and become
it can be
compensated
compensation
circuits.
gyro torque
generator.
for. )
errors
a meana
All three
gyro torque
compensation
848
control
the _ro
unbalance
shifts the phase the phase
is shifted.
is predictable
loops
apply
of lock
of reducing
Shlftin@
(When drift
circuits
torques
CONFIDENTiAl-
PAST
each time the phase
predictable.
rotor
can lock on to a
due to rotor
errors,
repeat-
in the point
The spin motor
drift
The drift compensation Drift
changes
PAST provides
point
gyro drift
is spin motor
at reg,,IA_ intervals.
causes the rotor to lock on a different Drifts
gyro drift
rotatiDg
are in the order of 0.5 degrees drift
of improving
contain
drift
a dc bias to each
in the opposite
-_
CONFIDENTIAL
_
direction
Attitude
SEDR300
as predictable
Malfunction
An attitude generator
drift,
excitation, Gyro
a stable
attitude.
Detection
malfunction
voltages.
maintaining
detection gimbal
signal
circuit
control
generator
performs
signals,
excitation
self checks
logic
timing
is checked
of gyro
signals,
for presence
signal
and critical and
proper
i amplitude.
Gimbal
are present. cal voltages
operation
signals
The logic timing (+22vdc,
tion is detected, If momentary
control
signal
-3vdc, +12vdc)
an ATT
light
malfunctions
by pressing
are checked (28.8kc)
the RESET
is che,_ed
are checked
on the
occur,
for th, length
control
the ATT
for
panel
indicator
signals
for presence.
i,resence.
Criti-
If a malfunc-
is automatically cam be restored
illuminated. to normal
button.
i N-OTE If the attitude malfunction, tions are
of time
I
measurement
circuits
the acceleration
not
reliable.
indica-
Acceler_eter !
axes will indications
not be properly are along
aligne_
-n_nown
and
axes. J
Acceleration
Measurement
Acceleration
is measured
platform.
Sensing
along
devices
three
are three
mutuall_ miniature
8-69 CON FIDEN'I"IAL
perpendicular i pendulous
axes of the inertial
accelerometers.
The
CONFIDENTIAL
PROJECT
GEMINI
accelerometers are mounted in the platform pitch block and measure acceleration along gyro x, y, and z axes.
Accelerometer signal generators produce signals
whose phase is a function of the direction of acceleration. output is used to control torque rebalance
pulses.
Signal generator
The torque rebalance
drive acceleromgter pendulums toward their null position. dc current whose polarity is controlled of rebalance
Rebalance pulses are
by signal generator output.
pulses indicates the direction
of acceleration
sum of the pulses indicates the amount of acceleration.
pulses
The polarity
and the algebraic
Rebalance
pulses are
supplied to the spacecraft digital computer where they are used for computations and incremental velocity displays.
Torque Rebalance Loop
Three electrically
identical
ometer pendulum positions.
torque rebalance
loops are used to control acceler-
Normally an analog loop mould be used for this pur-
pose; however, if an analog loop were used, the output would have to be converted to digital form for use in the computer.
To eliminate the need for an analog to
digital converter, a pulse rebalance loop is used. dc current pulses drive the accelerometer passes through null.
Short duration 184 milliampere
pendulum in one direction until it
Pulses are applied at the rate of 3.6kc.
passes through null, signal generator output changes phase.
When the pendulum
The signal generator
output is demodulated to determine the direction of the pendulum from null. Demodulator output is used by logic circuits to control the polarity of rebalance pulses.
If acceleration is being sensed, there will be more pulses of one polar-
ity than the other.
If no acceleration is being sensed, the number of pulses of
8-70
CONFIDRNTIAL
CONI=IOENTIAL
PROJECT __
GEMIIII
SEDR300
each polarity pulses,
will
be equal.
logic circuits
set up precision
inputs from the t_mlng timing
is essential
the current therefore pulses.
Each
pulse is also pulses
torque
provided
are the basis
is dependent
for rebalance torque i
pulse
is applied
Algebraic
supply
provides
measurements
are based
a negative
feedback
circuit
passed
through
a precision
resistor
and the voltage
to a precision
in the feedback
A pendulous
of
sum of the applied torquer,
a
of the rebalance
pulses be as near
current i on the number
current,
voltage
circuit
both
reference.
to correct
the current
in a temperature
Accelerometer
on the length
and amplitude,
the required
stable
are housed
Precise
Supply
current
stability
depends
su,_tion
that all
enhance
frequency
pulse timing.
to the accelerometer
it is essential
used
Precision
the same _uration
only on the algebraic f
of rebalance
by the computer.
Since acceleration
compared
the polarity
of the pulses. I
of pendulum
to the computer.
Current
A pulse rebalance
timing
the amount
time a rebalance
Pulse Rebalance
to controlling !
All pulses are precisely
is performed
ance.
circuits
because
pulse.
total
In addition
identical
of torque
as possible.
is employed.
The
rebalpulses
To maintain
supply output
drop across
a
is
the resistor
Errors
detected by the comparison are i any deviations in current. To further
supply and the pre_ision
controlled
for torque
voltage
reference
oven.
Dither
accelerometer,
unlike a gyrp, has an inherent
m_ss unbalance.
The
;
mass unbalance perfect
is necessary
flotation
to obtain
of the pendulous
the pendulum
gimbal
aCtion.
cannot be achieved
8-71 CON I=IDENTIAL
Due to the unbalance, and consequently
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
pressure
is present
caused by bearing The oscillation
on the gimbal bearing.
friction, (dither)
a low amplitude
prevents
enough to cause stlctlon. a i00 cps dither imposed
signal
on the signal
the gimbal.
generator
gimbal
field
signal beats against
down.
The dither motion
oscillation
is imposed
from resting oscillation,
current.
excitation
the dc field,
is not around
causing
is super-
field
(modulator)
long
are required:
current
a magnetic
the glmbal
the output
on the g_mbal.
two signals
to a separate
effect,
on its bearing
The dc field
and creates
The I00 cps dither is applied
dither
the stlction
the gimbal
To obtain
and adc
To minimize
around
coil.
to oscillate
axis and consequently
The up end
no motion
is sensed by the signal generator.
Accelerometer
Malfunction
Detection
An acceleration
malfunction
velocity
and critical
pulses
the three axes are checked seconds,
it indicates
critical
voltage
detection
normal
occur,
operation
velocity
If pulses
for presence.
is automatically
the accelerometer
by pressing
self checks of incremental pulses
are absent
flop did not reset between
is checked panel
performs
Incremental
for presence.
an ACC light on the control malfunctions
voltage.
that a flip
(+12 vdc)
circuit
malfunction
the RESET
circuit
does not
affect
8-T2 CONFIOENTIAL
circuits
measurements.
The
is detected,
If momentary
can be restored
button.
attitude
than 0°35
set pulses.
illuminated.
of the accelerometer
longer
If a malfunction
NOTE Malfunction
from each of
to
CONFIDENTIAL
PROJ
AUXILIARY COMPU_R
i
POWER UNIT
The Auxiliary Computer Power Unit (ACPU) is used in conjunction with the IGS power supply to m-_ntain the correct dc voltades at the computer.
The computer
cannot function properly On low voltage either as a transient or a depression. Abnormal voltages can cause permanent cha_es
in the computer memory.
Three
types of circuits are provided in the ACPU to prevent a low voltage condition at the computer.
The first circuit is a transient sense and auxiliary power
control circuit.
The second circuit is a low voltage Sense and power control
circuit and the third is auxiliary power.
The .ACPUis turned on and off with
the COMPUTER ON-OFF switch.
Tr-naient Sense Circuit
The transient sense circuit is designed to sense and correct tr__n.ientlow voltage conditions.
A series type tz__-aistorvoltage regulator holds e_x_liary
power off the llne as low is normal.
as IGS power suppl_ computer voltage regulator voltage drops below a min__mu_ of 17.5 volts,
If regulator voltage _entarily
the transient sense circuit detects the drop and turns on the series regulator. The redulator the
desired
Low Voltage
then
places
auxiliary
power
on the
line,and
maintains
voltage
at
level.
Sens.e Circuit
A low voltage sense circuit prevents the computer from operatin_ on low voltage. When the computer is turned on, the low volta6e senseicircuit insures that spacecraft bus voltage is above 21 volts before allowing power to be applied to the
8-TS CONFIDENTIAL
CONFIDENTIAL
computer.
If the computer is already on when a low voltage condition occurs,
the transient sense circuit will maintain normal voltage for i00 milliseconds. If spacecraft bus voltage is not back to normal after ZOO milliseconds the low voltage sense circuit initiates a controlled shutdown of the computer.
Computer
power is controlled through contacts of a relay in the low voltage sense circuit. When the low voltage sense circuit detects a voltage depression it deenergizes the relay.
Contacts of the relay initiate a computer shutdown in a manner
identical with the computer power switch.
When the low voltage sense circuit
turns off the computer it also breaks power to all ACPU circuits except low voltage sense.
If power were not broken to the transient sense circuit it would
attempt to maintain normal voltage at the c_puter.
In attempting to maintain
normal voltage the auxiliary power capability would be exceeded.
Auxiliar_
Power
Auxiliary power consists of a battery and a trickle charger.
A O.5 ampere-hour
nickel cadmium battery is used to supply computer power during spacecraft bus low voltage transients.
The battery will supply up to 9.8 amperes for periods
of i00 milliseconds or less.
A trickle charger is provided to maintain a full
charge on the battery.
The charger consists of a transistor oscillator, trans-
former, and rectifier.
The oscillator changes static power supply dc voltage
to ac.
The ae voltage is then stepped up with a transformer and changed back to
dc by a full wave diode rectifier.
Rectifier output is then applied, through
a current limiting resistor, to the battery. to 25 milliamperes.
The resistor limits charging current
Provision is included to charge the battery from an external
source if desired.
--
8-74 CONFIDENTIAL,
CONFIDENTIAL
PROWl _._
SEDR 300
I
,DIGITALC_ER SYSTEM DESCRIPTION
General The Digital Computer, hereinafter referred to as the computer, is a binary, fixedpoint, stored-program, general-purpose computer, used to perform on-board computations. deep.
The computer is 18.90 inches high, 14.50 inches wide, and 12.75 inches It weighs 58.98 pounds.
Figure 8-20.
External views of the computer are shown in
The major external characteristics are s_arized ;
in the accompany-
ing legend.
Using inputs from other spacecraft systems, along with a stored program, the _.
computer performs the computations required during the pre-launch_ insertion, catch-up, rendezvous, and re-entry phases of the mission.
In addition, the com-
i
purer provides back-up guidance for the launch vehicle during ascent.
lu_uts and Outputs The computer is interfaced with the Inertial Platform_ System Electronics, Inertial Guidance System Power Supply, Auxiliary CompUter Power Unit, Manual Data Insertion Unit, Time Reference System, Digital Co_and
System,
Attitude Display, Attitude Control and Maneuver Eleet_onics, Titan Autopilot, ! I
Auxiliary Tape Memory (spacecraft 8 through 12), Pilots' Control and Display Panel, Incremental Velocity Indicator, Instrumentationi System, and Aerospace Ground Equipment.
In connection with these interfaceS, the computer inputs and
outputs include the following:
Inputs _0 discrete 3 incremental velocity
8-75 CONFIDENTIAL
CONFIDENTIAL
.. _-__
SEDR300
__._ LEGEND I1_M !
Q
NOMENCLATURE
MOUNTING
ACCESS COVER
CONNECTOR
J4
CONNECTOR
J5
(_
CONNECTOR
J7
Q
CONNECTOR
J3
(_
CONNECTOR
J2
Q
CONNECTOR
JI
I (_)
CONNECTOR
J6
MOUNTING
ACCESSCOVER
i _
MOUNTING
ACCESS COVER
i (_
MOUNTING
ACCESS COVER
_
ELAPSED TIME INDICATOR CONNECTOR
ACCESS COVER
(_
RELIEFVALVE
(_
MOUNTING
' (_
_)
ACCESS COVER
HANDLE
MOUNTING
ACCESS COVER
IOEN TIFICA TION (_
Figure
8-20
Digital
Computer
8-76 CONFIDENTIAL
PLATE
_
MAIN
ACCESS COVER
(_
BUS BAR ACCESS COVER
(_)
_us8at ACCESS cover
(_)
RELieFVALVE
---"
CONFIDENTIAL
SEDR 300
Inputs
:
(cont)
3 gimbal
angle
2 high-speed
data
(500 kc)
i low-speed data
(3.57 kc)
i low-speed
(182 cps)
data
i input and read-back
(99 words)
6 dc power
(5 regulated,
i ac power
(regulated)
i unregulated)
Outputs 30 discrete 3 steering
command
3 incremental I decimal
velocity
display
(7 digits)
I telemetry
(21 digital
data words)
i low-speed
data
(3-57 kc)
i low-speed
data
(182 cps)
3 dc power (regulated) i ac power
O_erational The major
(regulated,
filtered)
Characteristics operational
Binary,
characteristics
fixed-point,
of the computer_ are as follows:
stored-program,
general-purpose
8-77 CONFIDENTIAL
CONFIDENTIAL
PEMINI SEDR 300
Memo r_ Random-access, nondestructive-readout Flexible division between instruction and data storage 4096 addresses, 39 bits per address 13 bits per instruction word 26 bits per data word
Arithmetic Times Instruction cycle - 140 usec Divide requires 6 cycles Multiply requires 3 cycles All other instruction require i cycle each Other instructions can be progra=med concurrently with multiply and divide
Clock Rates Arithmetic bit rate - 500 kc Memory cycle rate - 250 kc
Controls and Indicators The computer itself contains no controls and indicators_ with the exception of the elapsed time indicator.
However, the computer can be controlled by means of four
switches located on the Pilots' Control and Display Panel:
a two-position
ON-OFF switch, a seven-position mode switch, a push-button START Computation switch, and a push-button RESET switch.
8-78 CONFIDENTIAL
CONFIDENTIAL
SYSTE_ OPerATION Power The computer IuertiR1 to
receives
Guidance
the
c_ater
the
System is
in regulation
source.
Actual and the
IGS Po_er
are
in the
for
transients
that
in
occur
operation
Power Unit.
from the
dc power
a manner that
in the
and depressions
Ccmlmter
its
The regulated
IGS Power Supply
interruptions
Auxiliary
required
Power Suppl_.
due to
power
Supply
(IGS)
buffered
any loss
Su_y
ac and dc power
eliminates
spacecraft
arel buffered
The power
supplied
inputs
prime
by the received
po_er
IGS Power from
the
as follows:
(a) 26 vacand return !-_.
(b)
+28 vdc filtered A_
return
(c) +27.2vdc andreturn (d)
-27.2 _e and return
(e)
+20 vde andreturn
(f)
+9.S "v_e_
The application
of all
Pilots'
Control
and IYispl_
e_sed
t_me indicator
the to
IGS Power Supply the
stops the
computer. operating
return
power
is
Panel.
starts by the
When the and the
controlled
_nen the
operating c_uter. s_r_teh
power
by the
control
l
switch
and a power This
is
0N-OFF switch
turned
signal off,
signal
is
is iturned control !
on the on,, the
sJj_ml
is
computer supplied
to
ca_es power to be transferred l the eCmlzlter elapsed time indicator [
l
terming=ted /
computer.
8-79 CONFIDENTIAL !
to
remove
pover
from
CONFIDENTIAL SEDR 300
PROJECT GEMINI Within the computer, the 26 vac power is used by magnetic modulators to convert de analog si_lals to ac analog signals.
This power is also used by a harmonic filter
to develop a 16 vac, _00 cps filtered gimbal angle resolver excitation signal. The +28 vdc power is used by computer power sequencing circuits.
The +27.2 vdc,
-27.2 vdc, +20 vdc, and +9-3 vdc power is used by power regulators to develop +25 vdc, - 25 vdc, and +8 vdc regulated power.
This regulated power is used by logic
circuits throughout the computer, and is supplied to some of the other spacecraft systems •
Basic Timin_ The basic computer timing is derived from an 8 mc oscillator.
The 8 mc signal is
counted down to generate four chock pulses (called W, X, Y, and Z) (Figure 8-21). These clock pulses are the basic t_m!ng pulses from which all other timing is generated.
The width of each chock pulse is O.375 usec and the pulse repetition
frequency is 500 kc.
The bit time is 2 usec, and a new bit time is considered as
starting each time the W clock pulse starts.
Eight gate signals (GI, G3, GS,
GT, @9, Gll, GI3, and Gl4) are generated, each lasting two bit times.
The first
and second bit times of a particular gate are discriminated by use of a control signal (called LA) which is on for odd bit times and off for even bit times. Fourteen bit times make up one phase time, resulting in a phase time length of 28 usec (Figure 8-22).
Five phases (PA through PE) are required to complete a
computer instruction cycle, resulting in an instruction cycle length of i_0 usec. Special phase timing, consisting of four phases (PHI through PHi) (Figure 8-23), is generated for use by the input processor and the output processor.
This timing
is independent of computer phase timing but is synchronized with computer bit timing.
8-80 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMI
I I
"_
J-_-0.375USEC
wl-I
-'_
J"_--
rl__.R _
2USEC
I"1 I-1 I"1 n
I-1 n
r-i I-1 FL__R r'b
__n n n fln n n n run n n n n n rL n n n rb_n,n,n
n__n n =n n__n n n m
n n n rL_n__nno LAJ
I
r-'-I
r'--q
n nin
r'--!
i--1
J--
G,
I
G3
I
G5
n run
n,
I----i =J
28USEC
r
I,
I
I
I
I
G7
I
I
G_
i
I
I
G.
I
G,3
i
I
:
I
I I
G14 BIT TIMING
I
TABLE
BIT TIME (BT)
LA
GATE
BIT TIME (BT)
LA
GATE
I
"1"
G1
6
"0"
G7
11
"1"
Gll
2
"0"
G3
7
"1"
G7
12
"0"
GI3
3
"1"
G3
8
"O"
G9
13
"1"
G13
4
"0"
G5
9
"1"
G9
14
"0"
G1
5
'q"
G5
_6
"0"
G11
Clock
and
Figure
8-21
Computer
8-81 CONFIDENTIAL
BIT TIME (BT)
Bit
Timing
LA
GATE
CONFIDENTIAL
SEO
PROJECT
I_
28 USEC
GEMINI
i J
_,, n
n
_I
I
_
f
n
n
L I
_o
I
Figure
,,,,n
28 USEC
n_ I
I
_
n
8-22 Computer
I
Phase Timing
L [
n
_.,J
I
P.2
I
n
n
n
n_
I
b
I
_._
I
I
I I'
P.4-]
Figure
8-23 Processor
Phase
8-82 CONFIDENTIAL
Timing
I
CONFIDENTIAL
SEDR300
The computer
memory
nondestructive
is a random-access,
readout.
The nondestructive series-parallel, a separate
The basic
read property thereby
buffer
register.
bits.
A1! memory
words
each.
Data words
(25 bits
syllables,
Once the spacecraft modify
the third
syllables
makes
Data
accomplished
Insertion
in flight,
array
removed
Unit
arit_tic
into three
syllables
stored
word.
8 through
of data
System.
12, _sing
of 13 bits two syllables.
it is not possible
site through
Co_an_
or in
or 159,7_4
in all three
Modification
at the launch
core.
serially
in the first
area,
with
unit without
can store 4096 words,
are intermixed
or the Digital
on spacecraft
a serial
array
ferrite
to read or write
from the hangar
of any memory
ferrite
is! a two-hole
are normally
(13 bits)
0 and i can be accomplished
the Manual
with
are divided
and a sign)
has been
syllable
it possible
The memory
words
element
operation
of 39 bits
and instruction
coincident-current,
storage
allowing
i
stored
interface
to
in with
It can also be
the Auxiliary
Tape
Memory(A_). As
shown on Figure
readout
elements.
Z 8_mension),
with
8-2_, the memory Physically, each plane
is logically
subdivided
efficiency.
The Z d_mension
with
each
syllable
into
consisting
is a 64 x 64 x 39 bit array
it consists consisting smaller
of a stack
is divided
to increase
into three
of 13 bits.
(SEC O0 through
SEC 07, and SEC lO through
defined
as the residual
sector.
word
of the 4096 13 bits,
is defined
possible
and is coded
as the 39 bits
along
X-Y grid positions. in either
sMllables
syllable
word
8-83
SYL 2),
into 16
sector
17 being
and is located
at one
or co_-._nd requires
O, l, or 2 Of a memory
CONFIDENTIAL
storage
is divided
the Z dimension
in the
The memory
(SYL O through
SEC 17), with
An instruction
(stacked
of cores.
the program
The X-Y plane
sectors
A memory
of 39 planes
of a 64 x 64 array
parts
of nondestructive
word.
A data word
SYL 0
SYL2
J
CONFIDENTIAL
PROJE _@
SEDR300
requires 26 bits, and is always coded in syllables O and I of a memory word.
In-
formation stored in syllable 2 can be read as a short data word by using a special mode of operation primarily used to check the contents Of the memory.
NOTE The operation codes mentioned in the subsequent paragraphs are describe_ in the Instruction and Data Words paragraph.
Instruction List The instructions which can be executed by the computer are as follows:
f
O_eration Code 0000
Instruction HOPe
The contents of the memory location specified
by the operand address are used to change the next _nstruction address.
Four bits identify the next
sector, nine bits are transferred to the instruction address counter, two bits are used to condition the syllable register, and one bit is used to select one of the
0001
two data
DIV (divide).
word modes. ! The contents of the memory location
specified by the operand address are divided by the contents of the accumulator.
The 24-bit quotient is
available in the quotient delay line during the fifth word time following the DIV.
8-85 CONFIDENTIAL
CONFIDENTIAL
PROJEMINI SEDR300
o ration c, e (cout) 0010
z t ction PRO (process specified
input by the
or output). operand
(cont,),
The input
address
loaded from, the accumulator.
is
read
or output into,
or
An output co_and
clears
the accmnulator to zero if address bit A9 is a I. The accumulator
contents
are
retained
if A9 is
a O.
(Refer to Table 8-1 for a ]ist of the PRO instructions.)
O011
RSU (reverse subtract).
The contents of the accumula-
tor are subtracted from the contents of the specified memory location.
The result is retained in the ac-
cmnulat or.
0100
ADD.
The contents
of the
memory location specified
by the operand address are added to the contents of the accumulator.
The result is retained in the ac-
cumulator.
0101
SUB (subtract).
The contents of the memory location
specified by the operand address are subtracted fr_n the contents of the accumulator.
The result is re-
tained in the accumulator.
0110
CLA (clear and add).
The contents of the memory
location specified by the operand address are transferred to the accumulator.
8-86 CONFIDENTIAL
CONFIDENTIAL
PROJECT __
GEMINI
$EDR 300
!
Operand Address X (Bits AI-AB) Y (Bits A_-A6)
Signal
0
0
Digital C_._eJ_lSystem shift pulse gate
0
i
Data Tr_ssion
0
2
Time Reference System
System control gate data and timing
pulses 0
3
Digit magnitude weight I
0
_
Reset
0
5
Digit selec_ weight I
O
6
M_ory
i
0
Cumputer ready
I
i
Drive counters to zero
i
2
Enter
1
3
Digit
i
_
Display
i
5
Digit select weight 2
1
6
Autopilot scale factor
2
0
Pitch resolution
2
i
Select X counter
2
2
Aerospace
2
3
Digit
2
5
Digit select
2
6
Reset start _omputation
Table 8-1.
data
ready,
8-87
and readout
strobe
magnitude
we_ht
2
device drive
Ground Equipment data link
magnitude
PRO Instruction Progrmlng
CONI=IDINTIAL
enter,
weight
weight
(1 of 3)
CONFIDENTIAL
PRO,JEC--E'C-T-GEMINI _.
SEDR300 0perand X (Bits A1-A3)
Address Y (Bits A_-A6)
Signal
3
0
Yaw resolution
3
I
Select Y counter
3
2
Aerospace
3
3
Digitmagnitude weight8
3
_
Read Manual
3
6
Resetradarready
0
Roll resolution
i
Elapsed
4
Ground Equipment
data clock
Data Insertion
Unit
insert data
time
control
and Time Reference
System
control
reset/A_
wind-rewlnd
Reset 3
Computer
malfunction
_
ATM verify/repro
4
6
Secondstageenginecutoff
5
0
Computer
5
i
Time to start
command
_nning re-entry
/ATM wind
calculations
command
5
2
Time to reset
5
3
Write
5
4
Read
5
5
Inputprocessor time
5
6
Time to retrofirecontrol
6
3
Read pitch
6
4
Read roll
Table 8-1.
PRO Instruction
output
8-88 CONFIDENTIAL
control/ATM
rewind
processor
delta velocity
gimbal gimbal
Programming
control
(2 of 3)
command
CONFIDBNTIAL
__
SEDR300
Operand Address
Signal
x (_tsAI-A3) Y (Bits A4-A6) 6
5
Ready yaw gimbal
7
0
Pitch error comm_d
7
I
Yaw error c_,_ud
7
2
Roll error command i
I
I
Table 8-1.
PRO Instruction Prograr_4_g (3 of 3)
8-89 CONFIDENTIAL i
CONFIDENTIAL SEDR 300
PROJECT GEMINI
ope.,ration. Code (cont)_ 0111
Instruction (cont.). AND.
The contents of the memory location specified
by the operand address are logically ANDedj bitby-bit, with the
contents of the accumulator.
The
result is retained in the accumulator.
I000
MPY (multiply).
The contents of the memory loca-
tion specified by the operand address are multiplied by the contents of the accumulator.
The 24
high-order bits of the multiplier and miltiplicand are multiplied together to form a 26-bit product which is available in the product delay line during the second word time following the MPY.
iO01
TRA (transfer).
The operand address bits (AI
through AP) are transferred to the instruction address counter to form a new instruction address. The syllable and sector remain unchanged.
I010
SHF (shift).
The contents of _he accumulator are
shifted left or right, one or two places, as specified by the operand address, according to the following table:
8-90 CONI_II_I_NTIAI
CONFIDENTIAL
PRO
'
_.
!
SEDR300
Oweration Code (cont)
Instruction (cont) Co_and
Operand Address iX (Bits AI-A_) Y (Bits A4-A6)
Shift left one place
*
3
Shift left two places
*
4
Shift right one place
I
2
Shiftrighttwoplaces
0
2
• Insignificant
If an improp@r address co_e is given, the accumulator is cleared to zero.
While shifting left,
O's are shifted into the low-order positions; f
while shifting right, the Isign bit condition is i
shifted into the high-order positions.
1011
TMI (transfer on minus accumulator sign). i
If the
sign is positive (0), theinext instruction in i sequence is chosen (no branch).
If the sign is
negative (i), the nine bits of operand address become the next instructibn address (perform branch). The syllable and sector remain unchanged.
Ii00
STO (store).
The contents of the accummlator are
stored in the memory location specified by the ! I
operand address.
The con_ents of the accumulator I I
are also retained for later use.
8-91 CONFIDENTIAL
CONFIDENTIAL
code+(cont) ii01
stru,=t, ,o. (cont,) SPQ
(store product
available MI_.
o_ The
time
is
word
on the
The product location
an
fifth
word
or quotient
specified
(clear and add discrete). input
selected
by
read into all accumulator to Table
TNZ
followin6
is
is
by the
address.
discrete
iiii
The product
time
available
a DIV.
in the memory
operand
CLD
second
quotient
following
stored
iii0
the
or quotient).
accumulator
operand
address
bit positions.
on non-zero).
are zero,
is chosen
are non-zero, become
the
of the is
(Refer
8-2 for a list of the CLD instructions. )
(transfer
sequence
The state
the next
(no branch);
instruction
The syllable
of the
in
if the contents
the nine bits of operand
the next instruction
branch).
If the contents
address
address
(perform
and sector remnln
unchanged.
NOTE The instructions paragraphs
in the subsequent
(e.g., HOP, TRA, TMI,
are described Instruction
Instruction
mentioned
more
completely
Information
and TNZ)
in the
Flow paragraph.
Sequencing
The instruction
address
is derived
from an instruction
8-92 CONFIDENTIAL
counter
and its associated
CONFIDENTIAL
PROJEII __.@
SEDR300
OperandAddress X (Bits A1-A3) Y (Bits A4-A6)
Signal
0
0
Radarready
0
1
Computer mode2
0
2
Spare
0
3
Processor
0
4
Spare
1
0
Dataready
1
1
Computer mode1
1
2
Start
1
3
X zero indication
1
4
ATM clock
2
0
Enter
2
I
Instrumentation Systemsync
2
2
Velocityerrorcountnot zero
2
3
Aerospace
2
4
Spare
3
0
Readout
3
i
Computer
3
2
Spare
3
3
ATM on
3
11.
ATM data
0
Clear
Table
8-2.
CLD Instruction
timing
phase
computation
Ground
mode
Equipment
3
channel
2
Progr_-.._ug (I of 2)
8-93 CONFIDENTIAL
i
request
CONFIDENTIAL SEDR300
PMINI Operan& Address X (Bits AI-A3) Y (Bits A_-A6
Signal
1
A_
2
Simulation mode command
3
ATM end of tape
4
ATM data channel 3
5
0
Time to start re-entry calculations
5
i
ATM mode control 2
5
2
Y zero indication
5
3
ATM data 1
5
_
Spare
6
0
Digital Co;,_nd System ready
6
i
Fade-in discrete
6
2
Z zero indication
6
3
Umbilical disconnect
6
_
Spare
7
0
Instrumentation System request
7
i
Abort transfer
7
2
Aerospace Ground Equipment input data
7
3
Spare
7
_
Spare
Table 8-2.
mode control I
CLD Instruction Progrnmm_ng (2 of 2)
CONFIDENTIAL
4
CONFIDENTIAL
__
SEDR300
address register.
To address an instruction, the syllable_ sectorj end word
position within the sector (one of 256 positions) mus_ be defined.
The syllable
and sector are defined by the contents of the syllable register (two-bit code, three com_Luations) and sector register (four-bit code, 16 combinations). registers can be cha_ged only by a HGP instruction. sector is defined by the instruction _dress
These
The word position within the l
counter.
The instruction address
count is stored serially in a delay line; and normally each time it is used to address a new instruction, a one is added to it so th@t the instruction locations within a sector can be sequentially scanned.
The humor
stored in the counter can
be changed by either a TRA, TMI, or TNZ instruction, With the operand address specifying the new n,_ber.
A HOP instruction can alsO change the count_ with the
new instruction location coming from a data word.
Instruction and Data Word.s The instruction word consists of 13 bits and can be cOded in ar_ syllable of any memory word.
The four
The word is coded as follows :
Bit Positlon
i
Z
3
4
5
6
7
8
9
Bit Code
A1
A2
A3
A4
A5
A6
A7
A8
A90PI
operation
operand
address
presently
used,
rata residual.
bits bits
(OP1 through
(A1 through
and the
residual
OP4) define
AS) define bit
(Ag)
one
i0
II
12
13
OPe
OP30P4
_f 16 instructions,
a memory
_ord within
determines
_hether
the
or not
the sector to
read
eight being the
If the A9 bit is a i, the data word aSdressed is always located i
in the !eat sector (sector 17).
If the A9 bit is a O_ the data word addressed
i is ture
read
from the
allows
data
sector locations
defined to
by the be available
contents to
8-95 CONFIOENTIAL
of the i instructions
sector
register. stored
anywhere
This
fea-
in the
CONFIDENTIAL
The data word consists of 25 magnitude bits and a sign bit.
Nmnbers are represent-
ed in t_o's-complement form, with the lc_-order bits occurring at the beginning _f the word and the sign bit occurring after the highest-order bit. point is placed between bit positions 25 and 26. denotes the binary weight of the position.
The binary
The bit magnitude n-tuberalso
For example, MI6 represents 2-16.
For the HOP instruction, the next instruction address is coded in a data word that is read from the memory location specified _
the operand address of the HOP word.
The codings of a nmnerical data word and a HOP word are as follows :
Bit Position
i
2
S
4
5
6
7
8
9
i0
II
12
13
Data Word
M25
M25
M23
M22
_i
M20
MI9
MI8
MI7
MI6
MI5
MI4
MI3
HQP Word
AI
A2
AS
A4
A5
A6
A7
A8
A9
SI
$2
$3
$4
mt PgSlt±on IS 15 16 17
18 19 2o 21 z2 23 e_ 25 26
Data Word
MI2
M8
H_ Word
-
MII
MIO
M9
_.A S'ZB
M7
)46
M5
MS
MS
M2
MI
S
....
s5
For the HOP word, eight address bits (AI through A8) select the next instruction (one of 256) within the new sector, the residual bit (Ag) determines whether or not the next instruction is located in the residual sector, the sector bits (SI through $4) select the new sector, and the syllable bits (SYA and SYB) select the new syllable according
to the following
S_able
table :
,_B
S_A
0
0
0
1
0
1
2
I
0
CONFIDENTIAL.
-
CONFIDENTIAL
_.
PROJENI
Roll
and yaw servo loops utilize
gyro outputs.
Inner
resolvers
roll and yaw gimbals
to correl_te are controlled
gimbal
angles with
by a coordinate
i
transformation
resolver
is at any pitch
mounted
attitude
other
on the pitch than
gimbal.
When
0 or 180 degrees_
the spacecraft
some roll motion
is
=
sensed by the yaw gyro and some yaw motion amount
of roll motion
gimbal
angle.
The resolver
output
is then
conditioned
drive
is sensed by the roll gyro.
sensed by the yaw gyro is proportional mounted
on the pitch
in the same manner
gimbal
The
to the pitch
angle.
as in the pitch
Resolver servo
loop to
inner roll and yaw gimbals.
The outer roll gimbal coordinate
transformation
the Anzle between than 90 degrees conditioned
inner
_
outer roll servo loop. platform
housing
from the inner
mounted
is produced
(phase
The outer
and moves
If the angle
resolver.
sensitive
roll gimbal
about the stable
electronics)
torque Imotor i
element
other
The error
servo Iloop to drive
A
monitors
is a_hing
by the resolver.
as in the pitch
circuit
roll gimbal
i on the irLUer roll gimbal,
roll a_d yaw gimbals.
error signal
additional
driven
resolver
in the same manner
One
gimbal.
is servo
signal
the outer
is incluced
is mounted
is
roll
in the
on the
with the spacecraft.
As
i
the spacecraft gimbal Phase
torque
moves through motor must
sensitive
for control. the yaw axis.
90 degrees
rotate
electronics
The resolver
in yaw, the direction
to compensate
and a resolver
As the gimbal
rotates
for sp;acecraft roll,
provide
is used to measure through
8-65 CON|=IDENTIAL
that the outer
the phase
reverses.
reversal
necessary
rotatilon of the yaw gimbal i 90 degrees
in yaw,
roll
about
the resolver
CONFIDENTIAL
PRO
M IN I SEDR 300
output changes phase.
Resolver output is compared to a reference phase by the
phase sensitive electronics.
When the resolver output changes phase, the torque
motor drive signal is reversed.
Pre-Launch Alignment
The IMU is the inertial reference for back-up ascent guidance and must therefore be aligned for that purpose. launch azimuth.
The platform is aligned to local vertical and the
Platform X and Y accelerometers are the reference for local
vertical alignment.
When the platform is aligned to the local vertical, X and Y
accelerometers are level and cannot sense any acceleration due to gravity.
If
any acceleration is sensed, the platform is not properly aligned and must be torqued until no error signal exists.
The accelerom_ter output is used by AGE
equipment to generate torque signals for the gyros.
When the gyro is torqued
it produces an error signal which is used to align the gimbal.
The outer roll
g_mhal synchro output is compared with a signal representing the launch azimuth by AGE equipment.
The error signal is conditioned by AGE equipment and applied
to the yaw gyro torque generator.
The yaw gyro signal generator then produces a
signal proportional to the input torque. resolver mounted on the pitch gimbal.
Gyro output is coordinated by a
Since the spacecraft is in a 90 degree
pitch up attitude essentially all of the yaw gyro output is transferred to roll gimbal control electronics.
The electronics drive the roll gimbals until no
error exists between synchro output and the AGE reference signal. signal exists, the platform is aligned to the launch azimuth.
8-66 CONFIDENTIAL
When no error
CONFIDENTIAL
PROJEI
O_ItAlig_e_
_1_gnment of the platform in orbit is accomplished by referencing it to the horizon sensors.
Placing the platform mode selector £n SEF or ]_F position
will reference it to the horizon sensors.
Pitch and roll horizon sensor outputs
are compared with platform pitch and outer roll synchro outputs.
Differential
amplifiers produce torque control signals proportional to the difference between sensor and synchro outputs.
Torque control signals are used to drive pitch and
roll gyro torque 6enerators.
Gyro signal generator o_tputs are then used by
gimbal control electronics to dri_,_platform gimbals.
When synchro and horizon
sensor outputs balance, the pitch and roll gimbals are aligned to the local verti. i
cal.
The yaw gimbal is aligned to
the orbit plane through a @yro compass loop.
If yaw errors exist, the roll @yro will sense a component of orbit rate.
The
roll @yro output is used through a _Fro compass loop _o torque the yaw _ro. Yaw gyro output is then used by gAmbal control electronics to drive the yaw i gimbal.
When the roll gyro no longer senses a component of orbit rate, the yaw
gimbal is aligned to the orbit plane.
All three gimbals are now aligned and will
remain aligned as long as SEF or BEF modes are used.
!The pitch gyro will be
continuously torqued (at the orbit rate) to maintain a horizontal attitude.
NOTE If
horizon
platform
sensors is
lose
track
w_'.le
in SEF or _RF modes,
the
the
platform is automaticallp switched to ORB RA_
mode.
8-67 CONFIDENTIAL
CONFIDENTIAL
PROJECT
Orbit
Rate Circuit
The orbit rate durin@
circuit
attitude
with
four degrees
Local
because
per minute.
vertical
they will
no external
is obtained
amplifier. rate.
is used to ,_intain
orbit maneuvers.
during maneuvers
TOrque
GEMINI
alig_nent
cannot be provided
lose track.
reference,
the pitch
The torque
represents
by placing
The bias drives
to the local
Orbit rate bias is adjustable
at approximately
the spacecraft
8Yro torquer
sensors
a horizontal
is torqued
a DC bias on the output
the pitch
by horizon
TO maintain gyro
vertical
orbit
of the pitch
differential
at approximately
and can be set to match
rate.
the orbit
orbits
of various
altitudes.
Phase
Angle Shift Technique
Phase
Ar_le Shift Technique
ability.
One of the factors
unbalance.
which affects
The effect of unbalance
on with the synchronous different
(PAST) is a method
point
motor's
will vary with field.
each time It is started.
Drift
errors by a factor
of spin motor
8Yro drift
rotating
are in the order of O. 5 degrees drift
of improving
excitation
per hour.
of ten.
30 degrees
drift
Drifts
now tend to cancel and become predictable.
compensation
circuits.
gyro torque
generator.
for. )
All three
The drift Drift
point
e_,_rs t PAST
compensation
compensation
circuits
torques
848 CONFIDENTIAL
controX
unbBIAnce
the phase
is shifted.
is predictable
loops
apply
on to a
of reducing
Shifting
(_nen drift
of lock
shifts the phase
each time the phase
8yro torque
rotor
can lock
a means
at re_p_lar intervals.
repeat-
in the point
errors due to rotor
the rotor to lock on a different
compensated
changes
The spin motor
causes
it can be
is spin motor
PAST provides
TO cancel
gyro drift
contain
drift
a dc bias to each
the 8Yro in the opposite
....
CONFIDENTIAL
PROJECT _.
GEMINI
SEDR300
direction as predictable drift, maintaining a stable attitude.
Attitude
Malfunction
Detection
i An attitude malfunction generator
excitation,
voltages.
detection
glmbal control
Gyro signal generator
amplitude.
circuit performs
se_f checks of gyro signal i logic timing signals, and critical
signals,
excitation
is checked for presence and proper
Gimbal control signals are checked for th( length of time signals
are present.
The logic timing signal (28.8kc) is che(_ed for presence.
cal voltages (+22vdc, -3vdc, +12vdc) are checked for tion is detected,
,resence.
Criti-
If a malfunc-
an ATT light on the control panel is automatically
illuminated.
If momentary malfunctions occur, the ATT indicator cam be restored to normal operation
by pressing the RESET button.
NOTE If the attitude measurement malfunction,
the acceleration
tions are not reliable.
circuits indica-
Accelerometer
axes will not be properly alignedland indications are along _n_uown axes.
Acceleration
Measurement
Acceleration is measured along three mutually perpendicular axes of the inertial platform.
Sensing devices are three miniature pendulOus accelerometers.
8-69 CONFIDENTIAL
The
CONFIDENTIAL
PROJEC'T
GEMINI
accelerometers are mounted in the platform pitch block and measure acceleration along gyro x, y, and z axes.
Accelerometer
signal generators produce signals
whose phase is a function of the direction of acceleration. output is used to control torque rebalance pulses.
Signal generator
The torque rebalance pulses
drive accelerometer pendulums toward their null position.
Rebalance pulses are
dc current whose polarity is controlled by signal generator output.
The polarity
of rebalance pulses indicates the direction of acceleration and the algebraic sum of the pulses indicates the amount of acceleration.
Rebalance pulses are
supplied to the spacecraft digital computer where they are used for computations and incremental velocity displays.
Torque
Rebalance
Loop
Three electrically identical torque rebalance loops are used to control accelerometer pendulum positions.
Normally an analog loop would be used for this pur-
pose; however, if an analog loop were used, the output would have to be converted to digital form for use in the computer.
To eliminate the need for an analog to
digital converter, a pulse rebalance loop is used.
Short duration 184 milliampere
dc current pulses drive the accelerometer pendulum in one direction until it passes through null.
Pulses are applied at the rate of 3.6kc.
passes through null, signal generator output changes phase.
When the pendulum
The signal generator
output is demodulated to determine the direction of the pendulum from null. Demodulator output is used by logic circuits to control the polarity of rebalance pulses.
If acceleration is being sensed, there will be more pulses of one polar-
ity than the other.
If no acceleration is being sensed, the number of pulses of
8-70
CONFIDENTIAL
CONFIDENTIAL
_.
SEDR300
each polarity will be equal.
In addition to controlling the polarity of rebalance
pulses, logic circuits set up precision timing of the pulses. !
Precision frequency
inputs from the timing circuits are the basis for rebalance pulse t_m_ng.
Precise
timing is essential because the amount of pendulum torgue depends on the length of the current pulse.
All pulses are precisely the sar_ duration and amplitude,
therefore total torque is dependent only on the algebraic sum of the applied pulses.
Each time a reba]ence pulse is applied to the accelerometer torquer, a
pulse is also provided to the computer.
Algebraic su_=_tion of the rebalance
pulses is performed by the computer.
Pulse
Rebalance
Current
Supply
A pulse rebalanee current supply provides the required current for torque rebalance.
Since acceleration
measurements
are based on the number of torque pulses i
it is essential that all pulses be as near identical as possible. stable current, a ne_tive
feedback circuit is employed.
To maintain a
The supply output is
passed through a precision resistor and the voltage drop across the resistor compared to a precision voltage reference. Errors detected by the comparison are i used in the feedback circuit to correct any deviations enhance
in current. To further
stability both the current supply and the precision
are housed in a temperature
controlled
voltage reference
oven.
Accelerometer Dither
A pendulous aecelerometer, unlike a gyrp, has an inherent mass unbalance. mass unbalance is necessary to obtain the pendul,]maction.
The
Due to the unbalance,
perfect flotation of the pendulous glmbal cannot be achieved and consequently
8-71 CONFIDENTIAL
CONFIDENTIAL m_mmmmq
PROJECT _.
SEDR3O0
pressure
is present
caused by bearing
on the gimbal
friction,
The oscillation
(dither)
enough
stiction.
to cause
a i00 cps dither imposed
prevents
signal and adc
dither
signal beats against
down.
The dither motion
Accelerometer
pulses
gimbal
field
the stlction
oscillation
is imposed
from resting oscillation,
current.
is applied
to a separate
the dc field,
causing
the output
on its bearing
The dc field
and creates
a magnetic
coil.
the glmbal to oscillate axis and consequently
detection
and critical
voltage.
circuit
performs
Incremental
self checks
up and
no motion
velocity
pulses
from each of
it indicates
a flip flop did not reset
between
critical
voltage
is checked
If a malfunction
that
(+12 vdc)
an ACC light on the control
for presence.
panel is automatically
the accelerometer
by pressing
If pulses are absent
of incremental
seconds,
operation
The
Detection
for presence.
normal
around
generator.
malfunction
occur,
is super-
field
(modulator)
long
are required:
current
the three axes are checked
malfunctions
effect,
on the g_mbal.
two signals
excitation
is not around
Malfunction
acceleration
velocity
signal
To minimize
the gimbal
To obtain
The I00 cps dither
is sensed by the
bearing.
a low amplitude
on the signal generator
the gimbal.
An
GEMINI
malfunction
the RESET
button.
of the accelerometer
does not affect
attitude
8-72 CONFIDENTIAL
circuits
measurements.
The
is detected,
If momentary
can be restored
NOTE Malfunction
than 0.35
set pulses.
illuminated. circuit
longer
to
--
CONFIDENTIAL SEDR 300
PROJECT
AUXILIARY
COM_
The Auxiliary power
POWER UNIT
Computer
supply
properly
voltages
(ACPU)
can cause permanent are provided
at the computer.
The first circuit
control
circuit.
The second
circuit
and the third is auxiliary ON-OFF
Tr-nsient
power
as a transient
che_es
in the ACPU
at the computer.
is a trsnaient
circuit
senSe
The ACTU
memory.
_ low voltage
is a low voltage
power.
The computer
or a depression.
in the computer
to prevent
the IGS
Three
condition
and auxiliary
_ense
and power
is turned
power control
on and off with
switch.
sense circuit
conditions.
is designed
A series type
If regulator
voltage
the transient
sense circuit
The regulator
then places
the desired
level.
Low Volta_e
Sense
A low volta6e
craft bus volta6e
detects
auxiliary
regulator
c_uter
volta@e
drops
i below
the drop and turns power
transient
voltage
supply
momentarily
and correct
holds
low auxiliary
regulator
a minimum
of 17.5 volts,
on the series
on the line land mlntains
voltage
regulator. voltage
at
Circuit
sense
the computer
to sense
transistor
off the line as long as IGS power
is normal.
When
either
with
Sense Circuit
The transient volta@e
is used in eo_Junction
dc voltages
on low voltage
types of circuits
the C_
"-
Power Unit
to realntain the correct
cannot function Abnormal
GEMIN
circuit
is turned
prevents
the computer
on, the low volta@e
is above 21 volts
before
from operating
sense icircuit insures
a!l_lir_pOwer
8-73 CONFIDENTIAL
on low voltage. that
to be applied
space-
to the
GONFIDENTIAL
PROJECT
computer.
If the computer
is already
the transient
sense circuit
If spacecraft
bus voltage
voltage power
sense circuit
is controlled
on when
will maintain
is not back
initiates
through
GEMINI
normal
to normal
a controlled
contacts
sense circuit
the relay.
of the relay initiate
identical turns
with the computer
off the computer
voltage
sense.
attempt
to maintain
normal voltage
If power were
normal voltage
the auxiliary
Power
Auxiliary
power consists
cadmium
low voltage
battery
of i00 milliseconds charge
and rectifier.
to ac.
The ac voltage
limiting
to 25 milliamperes. source
and a trickle
will
A trickle
The charger
former,
a current
The battery
or less.
on the battery.
dc by a full wave
would
consists
The oscillator is then
stepped
diode rectifier. resistor,
in a manner
sense
circuit
charger.
of a transistor
a transformer
if desired.
8-74 CONFIDENTIAL.
it would
to maintain
A O. 5 ampere-hour
during
is provided
spacecraft
to maintain
a full
oscillator, supply
the battery
trans-
dc voltage
and changed
limits
bus
for periods
is then applied,
The resistor
to charge
low
be exceeded.
power
output
circuit
except
In attempting
up with
is included
sense
circuits
static power
Rectifier
circuit.
it deenergizes
shutdown
changes
to the battery.
Provision
depression
Computer
sense
supply up to 9.8 amperes
charger
the low
of the computer.
to the transient
is used to supply computer
transients.
i00 milliseconds
to all ACPU
power capability
occurs,
for lO0 milliseconds.
When the low voltage
at the computer.
of a battery
condition
in the low voltage
a computer
power
not broken
after
a voltage
power switch.
it also breaks
Auxiliar_
nickel
detects
voltage
shutdown
of a relay
When the low voltage Contacts
a low voltage
back
to
through
charging
current
from an external
CONFIDENTIAl.
_@
SEDR 300
DIGITAL
COMPUTER
SYSTEM DESCRIPTION
General The Digital
Computer,
point#
stored-program,
tions.
The computer
deep.
It weighs
Figure
8-20.
hereinafter
referred
general-purpose is 18.90
inches
58.98 pounds.
The major
computer, high,
External
external
to as the computer,
used to perform
i_.50
views
is a Binary,
inches wide,
and 12.75
of the computer
characteristics
on-hoard
fixed-
computa-
inches
are shown
in
are s_t-_arized in the accompany-
in6 legend.
Using _.
inputs
computer
performs
catch-up, puter
from other
along
the computations
required
during
back-up
and re-entry guidance
phases
with
a stored
thei: pre-launch,
of the mission.
for the Bunch
program,
the
insertion,
In addition,
the com-
vehicl(
during
ascent.
Platform_
System
Electronics,
and Outputs
The computer Inertial Manual
systems,
rendezvous,
provides
Y_ts
spacecraft
is interfaced
Guidance
Data
Attitude
System
Insertion
Display,
Auxiliary
with the Inertial
Power
Unit,
Attitude
Tape Memory
Supply,
Auxiliary
Time Reference Control
(spacecraft
System,
and Maneuver 8 through
Computer
Power
Digital
C_and
Electronics,
12), PiloSs'
Unit, System,
Titan Autopilot,
Control
and Display
!
Panel, Ground outputs
Incremental Equipment. include
Velocity
Indicator,
In connection
with
Instrumentatio_ these
System,
l interfaceS,
the following:
Inputs i _0 discrete 3 incremental
velocity
8-V5 CONFIDRNTIAL i
and Aerospace
the computer
inputs
and
CONFIDENTIAL
LEGEND ITEM
- -"
NOMENCLATURE
Q
MOUNTING
ACCESS COVER
(_
CONNECTOR
J4
Q
CONNECTOR
J5
(_
CONNECTOR
J7
CONNECTOR
J3
CONNECTORJR
Q
CONNECTOR
(_
CONNECTOR J6
(_
MOUNTING
ACCESS COVER
(_
MOUNTING
ACCESS COVER
MOUNTING
ACCESS COVER
)
JI
ELAPSED EIME INDICATOR CONNECTOR
(_)
RELIEF VALVE
(_
I'_OUNTING
(_
HANDLE
(_
MOUNTING
ACCESS COVER
ACCESS COVER
"_
ACCESS COVER
IDENTIFICATION
_
MAIN
PLATE
ACCESS COVER
BUS BAR ACCESS COVER (_
BUS BAR ACCESS COVER
(_
RELIEFVALVE II
Figure 8-20 Digital Computer 8-76 CONFIDENTIAL
CONFIDENTIAL
PRO SEDR 300
Inputs
i
(cont)
3 gimbal
angle
2 high-speed
data
(500 kc)
i low-speed
data
(3.57 kc)
i low-speed
data
(182 cps)
i input
and read-back
(99 words)
6 dc power
(5 regulated,
i ac power
(regulated)
i unregulated)
Outputs 30 discrete i--
3 steering
command
3 incremental I decimal
display
(7 digits)
i telemetry
(21 digital
i low-speed
data
i low-speed
data (182 cps)
data words)
(3.57 kc)
3 dc power
(regulated)
i ac power
(regulated,
Operational The major
velocity
filtered)
Characteristics operational
Binary,
characteristics
fixed-point,
of the computer
stored-program,
_re as follows:
general-purpose
f
8-77 CON FIDENTIAL.
CONFIDENTIAL SEDR300
PROJECT GEMINI Memo r_ Random-access, nondestructive-readout Flexible division between instruction and data storage 4096 addresses, 39 bits per address 13 bits per instruction word 26 bits per data word
Arithmetic Times Instruction cycle - 140 usec Divide requires 6 cycles Multiply requires 3 cycles All other instruction require I cycle each Other instructions can be progrn..nedconcurrently with multiply and divide
Clock tes Arithmetic bit rate - 500 kc Memory cycle rate - 250 kc
Controls
and Indicators
The computer itself contains no controls and indicators, with the exception of the elapsed time indicator.
However, the computer can be controlled by means of four
switches located on the Pilots' Control and Display Panel: ON-OFF switch, a seven-position and a push-button
mode
switch, a push-button
RESET switch.
8-78 CONFIDI.rNTIAL
a two-position START Computation
switch,
CONFIDENTIAL
;_
PROJECT
GEMINI
SYSTEM 0PE%_TION
The computer
receives
the
ac and dc I_wer
required
for
its
operation
from the
The regulated dc power supplied
Inertial Guidance System (IGS) Power Supply.
to the computer is buffered in the IGS Power Supply in a manner that eliminates any loss in regulation due to transients that occur in %he spacecraft prime power source.
Actual power interruptions and depressions areibuffered by the IGS Power
Supply and the Auxiliary Ccm_uter Power Unit.
The power inputs received from the
IGS Power Suppl7 are as follows:
(a)
26 vac and return
(b)
+28 vdc filtered and return
(e)
+27.2 wle A-d return
(d)
-27.2 _c
Ce)
+20 vdc and return
(f)
+9.3 _e an_return
and return
The applieatlon of all power is controlled by the ON-0FF switch on the Pilots'
Control
elapsed
time
the to
indicator
IGS Power Supply the
stops the
and Displ_
eom_uter. operating
Panel.
starts by the
When the and the
When the
operating computer. s_rltch
power
is
control
switch
and a power This turned
signal off,
signal
is
is iturned cox trol ca_les
the
eompute_.
8-79 CONFIDENTIAL .....
stKnal power
e, mputer
termi_Lted
i
on_ the
to
is
computer supplied
to
be tr.n-ferred
elapsed
time
to remove
power
indicator from
CONFIDENTIAL
PROJECT GEMINI
Within the computer, the 26 vac power is used by magnetic modulators to convert dc analog signals to ac analog signals.
This power is also used by a harmonic filter
to develop a 16 vac, _00 cps filtered gimbal angle resolver excitation signal. The +28 vdc power is used by computer power sequencing circuits.
The +27.2 vdc,
-27.2 vdc, +20 vdc, and +9.3 vdc power is used by power regulators to develop +25 vdc, - 25 vdc, and +8 vdc regulated power.
This regulated power is used by logic
circuits throughout the computer, and is supplied to some of the other spacecraft systems •
Basic Timln_ The basic computer timing is derived from an 8 mc oscillator.
The 8 mc signal is
counted down to generate four clock pulses (called W, X, Y, and Z) (Figure 8-21). These clock pulses are the basic timing pulses from which all other timing is generated.
The width of each clock pulse is 0.375 usec and the pulse repetition
frequency is 500 kc.
The bit time is 2 usec_ and a new bit time is considered as
starting each time the W clock pulse starts.
Eight gate signals (Gl, G3, GS,
GT, Gg, GII, GI3, and Gl_) are generated, each lasting two bit times.
The first
and second bit times of a particular gate are discriminated by use of a control signal (called LA) which is on for odd bit times and off for even bit times. Fourteen bit tlmes make up one phase time, resulting in a phase time length of 28 usec (Figure 8-22).
Five phases (PA through PE) are required to camplete a
computer instruction cycle, resulting in an instruction cycle length of 140 usec. Special phase tlmlng, consisting of four phases (PHI through PHi) (Figure 8-23), is generated for use by the input processor and the output processor.
Thls timing
is independent of computer phase timing but is synchronized with computer bit timing.
8-80 CONFIDENTIAL
CONFIDENTIAL
s o 3oo
PROJECT
GEMINI
!
--_ _- o.37B USEC
--"1
[-----2USEC
wn n n n n n_n
n n n n n n FUJI n_
x_n n n n n rL_n n n__n n n n,n I"I
n
I"I ,,I-I I-L_FI
,,_
n
n
I
G_
I
G5
rl.__R
rl
II
n
n
I-
n,, n n n n n n!run n n n 28USEC
!=
G_
i-I
n rE
:
-I
! I
I
I
:
I
I
G7
I
G,
I
! I
:
I
I I
G,, G,3
I i
I
GI,
I I
BIT TIMING BIT TIME (BT)
LA
GATE
BIT TIME (BT)
1
Iili'
G1
6
II0'1
G7
2
"0"
G3
7
"1"
3
"1"
G3
8
"0"
¢
5
_IOII
"I"
Figure
G5
G5
_
10
8-21 Computer
I
TABLE LA
Ill
GATE
"
"0"
_JT TIME (BT)
CONFIDENTIAL
GATE
I'1"
Gll
G7
1'2
"0"
GI3
G9
13
"1"
G13
]4
1'0"
G_
Gll
Clock and Bit :Timing 8-81
LA
lj
G_
l
CONFIDENTIAL
_
s,=oR 300
i"
BT'4 El
28 USEC
•
I
R
P_ I
1
_
I
n
n
I I
I
_°
I
Figure
_,,,n
28 USEC
rb I
_
I •
n
8-22 Computer
I
Phase Timing
I_l
n
_.,J
I
_._
I
n
n
n
n_
I
S
I
_H_
r-
I'
I
_ -I
I'
Figure
8-23 Processor
Phase Timing
8-82 CONFIDENTIAL
I
CONFIDENTIAL
_.
SEDR300
Me:o_ The computer
memory
nondestructive
is a random-access,
readout.
The nondestructive
read
The basic property
series-para_ _el, thereby a separate
buffer
bits.
_1! memory
words
each.
Data words
(25 bits
syllables,
modify
the thir_
syllables
makes
Data
accomplished
Insertion
in flight,
array
and a sign)
can store
_096 words,
into three
syllables
Stored
with
ferrite
toi read or write i
core.
serially unit
or in
without
or 159,7_4 of 13 hits
in the first
are intermixed
word.
in all three
Mod/flcation
two syllables.
of data stored
i
at the launch
or the Digital
on spacecraft
isi a two-hole
array
from the hangar iarea, it is not possible
of any memory
Unit
ferrite
a serial arithmetic
are normally
(13 hits)
O and i can he accomplished
the Manual
with
are divided
has been removed
syllable
it possible
The memory
words
element
operation
of 39 bits
and instruction
Once the spacecraft
storage
allowing
register.
coincident-current, i
site through
C_nd
8 through
System.
12, using
to
in
interface
with
It can also be
the Auxiliary
Tape
emory As
shown on Figure
readout
elements.
8-24, the memory Physically_
is a 64 x 64 x 39 bit array
it consists
of nondestructive
of a stack of 39 planes
(stacked
in the
I
Z dimension),
with
each plane
is logically
subdivided
efficiency.
The Z dimension
with each
syllable
into
consisting
consisting smaller
of a 64 x 6_ array
parts
is divided
to increase
into three
of 13 bits.
of cores.
the program
syllables
The X-Y plane
The memory
storage
(SYL 0 through
is divided
SYL 2),
into 16
i
sectors
(HEC O0 through
SEC 07, and SEC i0 through
defined
as the residual
sector.
A memory
word
is defined
as the 39 bits
along
SEC 17), with
the Z ilmenslon
sector
17 being
and is located
at one
!
of the _096 13 hits,
possible
X-Y grid positions.
and is coded in either
An instrucSion
syllable
word
or command
O, I, or 2 Of a memory J
8-83 CONFIDENTIAL
word.
requires
A data word
CONFIDENTIAL SEDR 300
0
y
32
40
skt o
15
11f
11 ,---
Sp_ !
Figure
8-24
Computer
Memory 8-8i4
CONFIDENTIAL
Functional
Organization
CONFIDENTIAL SEDR 300
PROJECT
GEMIN
requires 26 bits, and is always coded in syllables 0 and I of a memory word. Ini formation stored in syllable 2 can be read as a short data word by using a special mode of operation primarily used to check the contents of the memory.
_0TE The operation codes mentioned in the subsequent paragraphs are described in the Instruction and Data Words paragraph.
I truction
Ist
The instructions which can be executed by the computer are as follows: !
._
O_eration ,Code 0000
ilnstruction HOP.
The contents of t_e memory location specified iI
by the
operand
address
instruction address.
are
used
to
change
the
next
FQur bits identify the next i
sector, nine bits are transferred to the instruction address counter, two bi_s are used to condition the syllable register, and one bit is used to select one of the
o001
two data
DIV (divide).
word modes.
The contents
of the
memory location
specified by the operandi address are divided by the i
contents of the accumulator.
The 24-bit quotient is
i
available in the quotient del_y line during the fifth i word time following the DXV.
8-85 CONFIDENTIAL
i
I
CONFIDENTIAL
PROJEMINI _.
SEDR300
O_eration 0010
Code(cont)
(cont)
Instruction PRO (process specified
input by the
or output). operand
The input
address
loaded fr_n, the accumulator.
is
read
or output into,
or
An output command clears
the accumulator to zero if address bit A9 is a i. The accumulator contents are retained if A9 is a O. (Refer to Table 8-1 for a llst of the PRO instructions.)
0011
RSU (reverse subtract).
The contents of the accumula-
tor are subtracted from the contents of the specified memory location.
The result is retained in the ac-
cu_ulator.
0100
ADD.
The contents of the memory location specified
by the operand address are added to the contents of the accumulator.
The result is retained in the ac-
cumulator.
0101
SUB (subtract).
The contents of the memory location
specified by the operand address are subtracted from the contents of the accumulator.
The result is re-
tained in the accmnulator.
0110
CLA (clear and add).
The contents of the memory
location specified by the operand address are transferred to the accumulator.
8-86 CONFIDENTIAL
CONFIDENTIAL
PROJECT ___
GEMI
SEDR 300
_erand X (Bits A1-AS) 0
Address Y (Bits A_-A6) 0
Signal
Digital Cum_nd i
System shift pulse gate
i
0
i
Data Transmission System control gate i
0
2
_me
Reference System data and timing pulsesi
p-
0
3
Digit magnitude weight I
0
1_
Reset
0
5
Digit select weight I
0
6
Memory strobe
1
O
C_put
I
i
Drive counters to zero
I
2
Enter
i
3
Digit magnitude
i
_
Display device
i
5
Digit select weight 2
i
6
Au_opilot scale factor
2
0
Pitch resol_ion
2
i
Select X counter
2
2
Aerospace
2
3
Digit
2
5
Digit selec_ weight
2
6
Reset start !computation
Table 8-1.
data
er
ready,
8-87
and readout
ready
we_t
2
drive
Oround Equipment data link
magnitude
PRO Instruction Progrvm_ng
CONFIDENTIAL
enter,
weight
(i of 3)
CONFIDENTIAL
PROJEMINI SEDR 300 Operand A_ress X (Bits AI-A3) Y (Bits A_-A6)
Signal
3
O
Yaw resolution
3
i
Select Y counter
3
2
Aerospace Ground Equipment data clock
3
3
Digitmagnitude weight8
3
_
Read Manual Data Insertion Unit insert data
3
6
Reset radar ready
4
0
Roll resolution
4
i
Elapsed time control and Time Reference System control reset/A_
wind-rewind
Reset 4
3
Computer malfunction
_
ATM verify/repro command
6
Second stage engine cutoff
5
0
Computer x.m_ing
5
1
Time to startre-entrycalculations control /ATM wind co_and
5
2
Time to reset control/ATM rewind command
5
3
Write output processor
5
4
Readdelta velocity
5
5
Inputprocessor time
5
6
Timeto retrofire control
6
3
Read pitch gimbal
6
4
Readrollgimbal
Table 8-1.
PRO Instruction Programming (2 of 3)
8-88 CONFIDENTIAL
CONFIDENTIAL
_.
SEDR 300
Operand Address X (Bits AI-A3) X BitsA4-A6)
_
Signal
6
5
Ready yaw glm_al
7
0
Pitcherror Co.m_nd
7
i
Yaw error command
7
2
Roll
Table 8-1.
error c_nd
PRO Instruction Programm4!ug(3 of 3)
8-89 CON
FIDUNTIAL
CONFIDENTIAL
,%_-_
SEDR300
___
Operation COde (cont) 0111
Instruction (cont) AND.
The contents of the memory location specified
by the operand address are logically ANDed, bitby-bit, with the contents of the accumulator.
The
result is retained in the accumulator.
I000
MPY (multiply).
The contents of the memory loca-
tion specified by the operand address are multiplied by the contents of the accumulator.
The 24
high-order bits of the multiplier and miltiplicand are multiplied together to form a 26-bit product which is available in the product delay line during the second word time following the MPY.
i001
TRA (transfer).
The operand address bits (AI
through Ag) are transferred to the instruction address counter to form a new instruction address. The syllable and sector remain unchanged.
i010
SHF (shift).
The contents of _he accumulator are
shifted left or right, one or two places, as specified by the operand address, according to the following table :
8-90 CONPIDIEN'rlAL
CONFIDENTIAL
s.)t
i i
O_eration Code _ont)
Instruction (cont) Command
O_erandAddress iX (Bits AI-A_) Y (_BitsAM-A6)
Shift left one place
*
3
Shift left two places
*
4
Shift right one place
i
2
Shiftrighttwoplaces
0
2
• Insignificant
If an improp@r address co_e is given, the accumui lator is cleared to zero. While shifting left, O's are shifted into the Low-order positions; while shifting right, theisign bit condition is shifted into the high-order positions.
i011
_I
(transfer on minus a_cumulator sign).
If the
sign is positive (9)_ the next instruction in i sequence is chosen (no b_anch). If the sign is negative (i), the nine b_ts of operand address become the next Instruction address (perform branch). i The syllable an_ sector remaln unchanged.
Ii00
STO (store).
The contents of the accumulator are f
stored in the memory location specified, by the ! 1 operand address. The co_tents of the accumulator are also retained for la1_eruse.
8-91 CONFIDIENTIAL.
CONFIDENTIAL
PROJECT
GEMINI
Si:DR 300
o tlm,
code+(cont)
str, uctl,m ,(era, +,,) SI_ (store
Ii01
product
available _Y.
or
on the
second
quotient
is
The
time following
IIi0
CLD
time
available
The product
an
fifth
word
or quotient
specified
(clear and add discrete). input
selected
is
by the
to Table
accumulator
bit positions.
on non-zero).
are zero,
is chosen
are non-zero, become
address
is
(Refer
8-2 for a list of the CLD instructions. )
(transfer
sequence
The state of the
by the operand
read into all accumulator
TNZ
following on the
location
is
address.
discrete
iiii
The product
word
a DIV.
stored in the memory operand
quotient).
the next
(no branch);
instruction
The syllable
of the
in
if the contents
the nine bits of operand
the next instruction
branch).
If the contents
address
and sector
address
(perform
remain
unchanged.
NOTE The instructions paragraphs
mentioned
in the subsequent
(e.g., HOP, TRA, TMI, and TNZ)
are described Instruction
more
completely
Information
in the
Flow paragraph.
I nstructio n Sequencing The instruction
address
is derived
from an instruction
8-92 CONFIDENTIAL
counter
and its associated
CONFIDENTIAL.
PROJEI __.
SEDR 300
0perand Address X (Bits AI-A3) Y (Bits A4-A6)
_
Signal
0
0
Radar ready
0
1
Computer mode2
0
2
Spare
0
3
Processor timing phase i
0
_
Spare
i
0
Data ready
I
i
Computer modei
i
2
Start computation
I
3
X zero indication
1
4
ATM clock
2
0
Enter
2
i
Instrumentation System sync
2
2
Velocity error count not zero
2
3
Aerospace Ground Equil_nentrequest
2
4
Spare
3
0
Readout
3
i
Computer mode 3
3
2
Spare
3
3
ATM on
3
h
A_4 data channel 2
0
Clear
Table 8-2.
CLD Instruction Progrs..._ng (i of 2)
8-93 CON FIDENTIAL
CONFIDENTIAL
Operand Address X (Bits AI-A3) Y (Bits A4-A6)
Signal
1
A_
2
Simulation
3
ATM end of "tape
4
ATM data channel
5
0
Time
5
i
ATM mode
5
2
Y zero indication
5
3
A_ deta 1
5
_
Spare
6
0
Digital
Command
6
i
Fade-in
discrete
6
2
Z zero indication
6
3
Umbilieal
6
_
Spare
7
0
Instrumentation
7
i
Abort
7
2
Aerospace
7
3
Spare
7
_
Spare
4
Table
8-2.
mode
CLD Instruction
CON I=IDENTIAL
control mode
to start
1 co._aand
3
re-entry
control
calculations
2
System
ready _--
disconnect
System request
transfer Ground
progrsmm_ng
Equil_nent input
(2 of 2)
data
CONFIDENTIAL
PNI
address register.
,o,,oo
i
To address an instruction, the syllable, sector, and word
position within the sector (one of 256 positions) must be defined. and sector
are defined
by the
contents
of the
The syllable
syllabl
e register (t_o-bit code, i three combinations) and sector register (four-bit code, 16 combinations). These registers can be cha_ged only by a HGP instruction. sector is defined by the instruction _dress
The word position within the
counter.
The instruction address
count is stored serially in a delay line; and normally each time it is used to address a new instruction, a one is added to it so that the instruction locations within a sector can be sequentially scanned.
The number stored in the counter can
be changed by either a TRA, TMI_ or TNZ instruction, With the operand address specifying the new n,_her.
A HOP instruction can alsO change the count, with the
new instruction location coming from a data word.
Instruction and Data Words The instruction word consists of 13 bits and can be coded in any syllable of any m_nory word.
The word is coded as follows :
Bit Position
l
2
3
4
5
6
7
8
9
Bit Code
AI
A2
AS
A4
A5
A6
A7
AS!A9
i0
Ii
12
GPI
OP20PS
13 OP4
The four operation bits (0PI thro,_h 0P4) define one iof16 instructions, the eight e_erand address bits (AI through AS) define a memory _ord within the sector being presentl_ used, and the residual bit (Ag) determines whether or not to read the data _esidual.
If the A9 bit is a i, the data word addressed is always located
in the last sector (sector 17). F
If the A9 bit is a 0, the data word addressed
is read from _he sector defined by the contents of the sector register. ture alloss data
locations to be available
to
instru(tions
8-95 CONIWIOIKNl"lAI. i
stored
anywhere
This feain the
CONFIDENTIAL
SEDR 300
The data
of 25 man,rude
word consists
ed in t_o's-complement _f the point
ward is
denotes
and the
placed the
form, sign
between
binary
with
bit bit
the
of the
and a sign
low-order
occurring positions
weight
bits
after
the
2_ and 26.
position.
bits
bit.
Numbers
occu_,;ing
highest-order The bit
For example,
at
are
the
represent-
beginning
bit.
The binary
magnitude
number also
M16 represents
2 -16.
For the HC_ instruction, the next instruction address is coded in a data word that is read from the memory location specified by the operand address of the HOP word. The codings of a nmmerical data word and a HOP word are as follows :
BitP, ositloni
2
3
_
5
6
7
8
9
1o
11
12
13
Data Word
M25
M24
M23
M22
M21
M20
MI9
MI8
MI7
MI6
MI5
MI4
MI3
HOP Word
AI
A2
A3
A4
A5
A6
A7
A8
A9
Sl
S2
S3
S4
Bit Positic_
14
15
16
17
18
19
20
21
22
23
2_
25
26
Data Word
MI2
MII
MIO
M9
M8
M7
M6
M5
M4
M3
_
MI
S
SYA
SYB
-
S5
HOP Word
.......
For the HOP word, eight address bits (AI through A8) select the next instruction (one of 256) within the new sector, the residual bit (A9) determines whether or not the next instruction is located in the residual sector, the sector bits (SI through $4) select the new sector, and the syllable bits (SYA and SYB) select the new syllable according to the following table :
S_Uab,le
_B
sYA
0
0
0
i
0
i
2
I
0
8-96 CONFIDENTIAL.
_-
CONFIDENTIAL
PRO __
SEDR300
The special syllable bit ($5) determines the mode in which data words are to be read.
If the $5 bit is a 0, normal operation of reading data words from sylI
lables 0 and 1 is followed; however, if the $5 bit is a l, data words are read from syllable 2 only.
These data words contain infoE_tion
from syllable 2 in
bit positions 1 through 13, but contain all O's in bi_ positions 14 through 26. This special mode is foISowed until a new HOP c_and the normal mode of reading data words.
places the computer back in
(While in the ispecial mode, amy HOP word
addressed always has O's coded in the SYA_ SYB, and $5 positions due to the short data word that is read; therefore,
any HOP word!coded
while in this mode
terminates the mode and operation is resumed In syllable 0.).
The computer itself
i
does not have the capability to store information in Syllable 2; therefore, ST0 i and SPQ commands are not executed while in the special mode. The mode Is used ;
only to allow the computer arithmetic circuits to check the entire memory contents i to verify the fact that the proper information is in storage.
In a HOP word, the residual bit (A9) overrides the sector bits (S1 through S_). If the A9 hit Is a l, the next instruction is read frOm the residual sector.
If,
however, the A9 bit is a 0, the S1 through $4 blts determine the sector from which the next instruction is read.
For convenience, the data and instruction words can be coded in an octal form that is easily converted to the machine hlnary representat$on.
The order in which the
bits are written is reversed to conform to the normal imethod of placing lowersignificance blts to the left so that, while perform_pg arithmetic, the low-order bits are accessed first.)
The coding structure Is as follows:
8-97 CONFIDENTIAL
CONIFIDISNTIAL
PROJECT
GEMINI
_SEDR
300
____
Instruction Word 0Ph
OP3
0F2
0P1
A9
AB
A7
A6
A5
A4
A3
*Y Address
A2
A1
*X Address
*Addresses for CLD and PRO instructions
Data Word
s
_I
M2
M3
M4
M5
M6.......... M20
N21
M22
.23
M24 N25
where each group of three bits is expressed as an octal character (from 0 to 7). An instruction word is thus expressed as a five-character octal number.
The opera-
tion code can take on values from 00 to 17, and the operand address can take on
777. Any operand address larger than 377 addresses the residual
values from 000 to
sector (sector 17) because the highest-order address bit (Ag) is also the residual identification bit.
A data word is expressed as a nine-character octal number,
taking on values from 000000000 to 777777776.
The low-order character can take on
only the values of O, 2, 4, and 6.
Arithmetic Elements The computer has two arithmetic elements: and a multiply-divide element.
an add-subtract element (accumulator),
Each element operates independently of the other;
however, both are serviced by the same program control circuits.
Computer oper-
ation times can be conveniently defined as a number of cycles, where a cycle time represents the time required to perform an addition (140 usec).
All operations
except MPY and DIV require one cycle; MPY requires three cycles, and DIV requires six cycles.
Each cycle, the program control is capable of servicing one of the
arithmetic elements with an instruction.
An MPY or a DIV instruction essentially
starts an operation in the multiply-divide element, and the program control must
8-98 CONFIDINTIAL
CONFIDENTIAL
PROJECT
GEMINI
obtain the answer at the proper time since the multlply-divide element has no means of completing an operation by itself.
When an MPY is co_m_nded, the
product is obtainable from the multlply-dlvide element two cycle times later by an SPQ instruction.
When a DIV is commanded, the quotient is obtainable five
cycle times later by an SPQ instruction.
It is possible to have one other instruction run concurrently between the MPY and the SPQ during multiply, and four other instructions run concurrently between the DIV and the SPQ during divide.
However, an MPY or a DIV is always followed with an
SPQ before a new MPY or DIV is given.
Basic Information
Flow
Refer to Figure 8-25 for the following description of _nformation flow during the i five computer phase times.
The description
is l_m4tedl to those operations I
requir-
ing only one cycle time, and thus does not pertain to MPY and DIV. i During phnse A, the 13-bit instruction word is read from memory and stored in the instruction address register.
The address of the instruction is defined by the
contents of the memory address register, the sector r_gister, and the sy11-ble register.
The four operation code bits (OP1 through 0P4) are stored in the
operation register.
During phase B, the operand address bits (AI through AS) are
seri-1:lytransferred from the instruction address register to the memory address l register.
S_,,_Itaneously,the instruction address stored in the memory address
register is incremented by plus one and stored in the iinstruction address register. The operation specified by the operation code bits is !performed during phases C and D.
During phase E, the next instruction address Stored in the instruction
address register is transferred to the m_ory
8-99 CONFIDENTIAL
address register.
CONFIDENTIAL
PROJECT ,,
GEMINI
'=.,
_J
D
X DRIVERS
REGISTER
Y D MEMORY
R I
PHASE B (INSTRUCTION ADDRESS)
E
• INSTRUCTION ADDRESS
REGISTER
PHASES C & D
MEMORY ADDRESS
!'
J_ J REGISTER j _PHASE B (OPER AND ADDRESS) PHASE E (INSTRUCTION ADDRESS)
i _ !
i
OPERATION REGISTER
SENSE AND INHIBIT DRIVERS
REGISTER PHASE
J
SYLLABLE
J
1
PHASE C&D
[ Figure
l
8-25
Basic
Information 8-100
CONFIDENTIAL
T Flow
OUTPUTS
J
CONFIDENTIAL $EDR 300
Four of the one-cycle operations do not strictly adhere to the above information flow.
These operations are HOP, TRA, T_I, and _FZ.
For the HOP instruction, data
read from memory during phases C and D is transferred directly to the instruction address register, the sector register, and the syll,ble register.
For the TRA,
S_I, and TNZ operations, the transfer of the next instruction address from the instruction address register during phase E is inb_bited to allow the operand address to become the next instruction address.
Instruction Information Flow Flow Diagram:
The instruction information flow diagram (Figure 8-26) should be
used along with the following descriptions.
CLA Operation During phases C and D, the data that was contained in the accumulator A and B is destroyed.
S_multaneously,
during phases
new data from the selected memory location
is transferred through the sense amplifiers and into the ace_tor. i
During
phases E and A, the new data is recirculated so as to be available in the accumulator during phases A and B.
ADD Operation During phases C and D, new data from the selected m_ry through the sense amplifiers
and into the accumulator_
location is transferred Here, the new data is
added to the data that was contained in the acctamulator during phases A and B. During phases E and A, the sum data is recirculated sO as to be available in the accumulator
during phases A and B.
SUB Operation During phases C and D, new data from the selected memory location is transferred
8-iOl CONFIDENTIAL
CONFIDENTIAL SEDR 300
"TRA" ACCUMULATOR SIGN CONTROL
DRIVERS
_
.oP
,N.IS,T
Y
R I V
_
MEMORY _
S
HOI
"TRA"
HOP _
a
TNZ TMI ACCUMULATOR
•
PRO
(16
r
INSTRUCTIONS) --
INSTRUCTION
t OR
TIME)
A_
m
_I =
(OPERATE __
ADD
--I
(ADD-SUBTRACT
-
|
i
INPUT PRO _ OUTPUT ADDRESS _
IN%:T£_T_ = PRO
_ _
(OP_RATETI_E)
l
NOTE A---- AND;
Figure
m OUTPUT DATA
8-26
I --- INVERTER
Instruction 8-102 CONFIDENTIAL
Information
Flow
CONFIDENTIAL SEDR 300
PROJECT
GEMINI
through the sense amplifiers and into the accumulator.! Here, the new data is subtracted from the data that was contained in the accumulator durlngphases and B.
A
During phases E and A, the difference data is recirculated so as to be
available in the accumulator duringphases
A and B.
RSU Operation Duringphases
C and D, new data from the selected memory location is transferred
through the sense amplifiers and into the accumulator.! Here, the data that was contained in the accumulator during phases A and B is isubtracted from the new data.
Duringphases
E and A, the difference data is recirculated so as to be
available in the accumulator during phases A and B.
AND Operation During phases C and D, new data from the selected memory location is transferred through the sense amplifiers and into the accumulator_
Here, the new data is
ANDed with the data that was contained in the accumulator during phases A and B.
i During phases E and A, the ANDed data is reelrculatedlso as to be available in the accumulator during phases A and B.
SHF Operation During phases C and D, the data that was contained inithe ac_tor
during
phases A and B is shifted left or right, one or two places, as specified by the operand address.
During phases E and A, the shifted _ta
is recirculated so as
to be available in the accumulator during phases A an_ B.
f
STO Operation During phases C and D, the data that was contained inithe phases A and B is transferred thr_sh
accumulator during
the inhibit drivers and stored in the memory
8-lO3 ¢ONPIDENTIAL
CONFIDENTIAL
PROJECT
location
selected
reeirculated
by the
operand
address.
so as to be available
in the
GEMINI
During
__
phases
accumulator
E and A, the
during
phases
same data
is
A and B.
H0P Operation During
phases
C and D, new data
from the
selected
memory location
is
transferred
through the sense --_lifiers and into the address, sector, and syllable registers. Here, the new data is used to select the address, sector, and syllable of the memory location from which the next instruction will be read.
TRA Operation During phases A and B, the instruction from the selected memory location is transferred through the sense an_lifiers and into the address register.
Here, the
instruction is ttsedto select the address of the m_zory location from which the next instruction will be read.
The sector and syl1.ble remain unchanged.
TMI Operation During phases A and B, the instruction from the selected memory location is transferred thro_,_hthe sense amplifiers and into the address register.
Here, if the
accumulator sign is negative, the instruction is used to select the address of the memory location from which the next instruction will be read.
However, if the
acc_._lator sign is positive, the next instruction address in sequence is selected in the normal m_nner.
The sector and syllable remain unchanged.
TNZ Operation During phases A and B, the instruction from the selected memory location is transferred through the sense A_lifiers
and into the address register.
Here, if the
contents of the accumulator are not zero, the instruction is used to select the address of the memory location from which the next instruction will be read.
8-1o4 CONFIDENTIAL
.....
CONFIDENTIAL
PR FNI _.
SEDR300
However,
if the contents
in sequence
of the accumulator
is selected
in the normal
are zero
manner.
The
the next instruction
s@ctor and syllable
address
remain
un-
changed.
CLD Operation During
phases
C and D, the data that was contained
A and B is destroyed. the operand
address
Simultaneously, is transferred
phases E and A, the new data lator during
the state
in the accumulator
of the discrete
into all accumulator
is reeirculated
during
input
bit positions.
so as to be available
phases
selected
by
During
in the accumu-
phases A and B.
PRO Operation
(Inputs;
During
phases
C and D, the data that was contained
phases
A and B is destroyed.
by the operand
address
when A_I)
Simultaneously,
is transferred
the new data is recirculated
in the accumulator
during
the data on the input
into the accumulator.
so as to be available
channel
During
phases
in the accumulator
selected E and A,
during
i
phases
A and
B.
PRO Operation
(Inputs; when
During
C and D, the data on the input
phases
transferred
Ag=O)
into the accumulator.
Here,
channel
selected
the new data
by the operand
is ORed with
is
the data that
i
was contained ORed data
in the accumulator
is recirculatad
during
phases
so as to be available
A and B.
During
phases
in the accumulator
E and A, the
during
phases
A
and B.
.
PRO Operation
(Outl_tS)
During
C and D, the data that was contained
phases
A end B is tr_sferred
to the output
channel
in the accumulator
selected
8-I05 CONFIDENTIAL
:
by the operand
during
phases
address.
If
CONFIDENTIAL
PROJECT
GEMINI
the A9 bit of the operand address is a i, the data that _¢as contained in the accumulator during phases A and B is then destroyed.
However, if the A9 bit is
a 0, the data is reclrculated so as to be available in the accumulator during phases A and B.
MPY Operation During phases A and B of the first instruction cycle, the data that is contained in the accumulator is transferred into the multiply-divide element as the multiplier.
During phases C and D of the same cycle, new data from the selected
memory location is transferred through the sense amplifiers and into the multiplydivide element as the multiplicand.
During the remainder of the first instruction
cycle and the next tw_ instruction cycles, the multiplicand is multiplied by the multiplier.
The product is available in the multiply-divide element during phases
C and D of the third instruction cycle.
DIV Operation During phases A and B of the first instruction cycle, the data that is contained in the accumulator is transferred into the multiply-divide element as the divisor. During phases C and D of the same cycle, new data from the selected memory address is transferred through the sense amplifiers and into the multiply-divide element as the dividend.
During the remainder of the first instruction cycle and the next
five instruction cycles, the dividend is divided by the divisor.
The quotient is
available in the multiply-divide element during phases C and D of the sixth instruction cycle.
8-106 CONFIDINTIAL
....
CONFIDENTIAL.
__
SEDR300
SPQ Operation During phases C and D, the product or quotient that is contained in the multiplydivide element is transferred through the inhibit dr_vers and stored in the memory location selected by the operand address.
In the subsequent program and interface descriptions, the signals that are
pro-
grammed by CLD and PRO instructions are sometimes referred to as DI (Discrete i
Input) or DO (Discrete Output)isignals. I
The two digits
following
the
DI or DO
are the Y and X addresses, respectively, of the instructions.
OPERATIONAL PROGRAM
General Two different programs are used with the rendezvous configuration of the spacecraft.
For spacecraft 6, the sixth operational program is utilized.
craft 8 and up, the seventh operational program is used.
For space-
The primary difference
between the two is that the latter is a modular program and is used in conjunction with the Auxiliary Tape Memory (ATM).
Sixth Operational
Program
The sixth operational program consists of six basic routines, called executor, pre-launch, ascent, catch-up, rendezvous, and re-entry. of several subroutines.
Eech routine is made up
Some of the subroutines are common to all routines while
8-io7 CONFIDENTIAL.
CONFIDENTIAL
PROJECT
GEMINI
SEDR300
SODIe are l__n4_queto a particular of pros_m
instructions
to operate.
which,
The initiation
PUTER mode
switch
initiated,
the subroutines
Executor
dividual
when
Each
executed,
of a particular
on the Pilots'
Control
within
subroutine cause
specific
routine
Panel.
are executed
of a series
computer
is controlled
and Display
the routine
consists
circuits
by the CCM-
Once a routine
is
automatically.
Routine
The executor routines.
routine.
routine
selects,
The program blocks
(a)
and handles
the functions
flow for this routine
is shown on Figure
shown on the figure are explained
Block
1.
co-_on to, all other
When the computer
8-27.
as follows:
is turned
on, the first memory
tion addressed is address 000, sector 00, syllable O. location routine
(b)
is the first memory
The operational
locations
dresses.
addresses
on whether
instructions
utilized
This memory
by the executor
computer
scale factor,
utilizes
special
as Logical
predetermined
Choice
(LC) ad-
the sign bits at these LC addresses
(0).
The sign bits
during
the execution
of specific of the
they are plus or minus,
are
The following
computation, pilot
times,
are then checked
of program
3.
program
are designed
(I) or plus
and, depending
Block
which
At certain
are set minus
(c)
address
loca-
•
Block 2. memory
The in-
LC
routines
special
series
executed.
discrete
running,
AGE data
8-i08 CONFIDENTIAL
outputs
second
clock,
are set plus:
stage
engine
start
cutoff,
and Time Reference
auto-
System
gate.
CONFIDENTIAL SEDR 300
1 LC ADDRESSES
' I
TIME
YES
TIME
I
NO
YES
i
I
REiD C)
I
,r
Figure
8-27
r
I
EXECUTE ASCENT
EXECUTE CAICCH -Ul
ROUTINE
ROITINE
Executor
Routine
Program
8-109 CONFIDENTIAL
!
Flow
O
CONFIDENTIAL
PROJECT
(d)
Block 4.
The processor
the individual
(e)
Block
5-
Block
The accelerometer
6.
A special
determine
If these
this
Program
instruction
subroutine
signals
is executed
the GO path
causes
program
arithmetic
fail,
instruction
to verify
from the accelerometers
computer
circuits
there is no failure,
Block 7.
is read for utilization
go, no-go diagnostic
if the basic
properly.
(g)
real time count
by
routines.
the X, Y and Z velocity
(f)
GEMINI
that
equal
is executed
circuits
zero.
to
are functioning
the NO GO path is followed;
if
is followed.
PR03_
is executed.
the computer
malfunction
The execution circuit
of
to be con-
ditioned.
(h)
Block 8.
The processor
utilization
(i)
real time count
by the individual
Block 9-
Program
condition
of the AGE request
for
routines.
instruction
l, the YES path is followed;
is read and updated
C_ID32 is executed discrete
input.
to determine
If the input
the
is a
if the input is a O, the NO path
is followed.
(J)
Block
i0.
Special
check-out
the Gemini T.aunch Vehicle
(k)
Blocks
II through
determine mode
i_.
the condition
switch.
This
tests are executed
and the computer
Program
instructions
of the discrete
switch is manually
8-110 CONFIDm'NTIAL
by the AGE.
can be checked
CLDIO,
inputs
controlled
CLDII,
Both
out.
and CLDI3
frcm the CCMPb_/_ by the pilot and,
CONFIDENTIAL
SEDR 300
depending routine
upon which
until
to the
mode is
be execute_ cce_uter
is
mode switch
discrete
routtne
as follows.
are
selected,
until
the
turned
off.
inputs
icauses
switcl
is
The combinations
required
Routine
setting
a particular
t(
select
changed
or
of COMPUTER
a particular
Discrete Inputs i
Pre-launch
0
0
0
Ascent
1
0
0
Catch-up
i
0
i
Rendezvous
0
1
0
Re -entry
0
1
1
(i)
Blocks 15 through 19.
Depending on the setting of the COMPUTER
mode switch, one of these operationaliroutines is selected. l ;i individual routines are discussed in Subsequent paragraphs.
The
Pre-launchRoutine The pre-launch routine provides the instructions required to check out the com! i
purer prior to launch and to read in special data forifuture use. This routine i performs sum-checks on all sectors within the computer memory. These checks are |i
performed by adding the contents of all memory addresses within a sector and i comparing
the sum with a pre-stored constant.
If theiconstant and the sum are ;
not equal, the computer malfunction latch is set by program instruction PR03_. If the sum check is successful, special data is store@ in predetermined memory addresses hythe
co--nonsubroutines.
These subroutines are discussed in later
paragraphs. 8-iii CONFIDENTIAL
CONFIDENTIAL
PROJ E'-E'C"T-G-EM I N I SEDR 300
Ascent
Routine
The ascent routine provides the computations required for back-up ascent guidance. After the computer has been placed in the ascent mode, special data is transferred to the computer via the Digital Command System.
This data is then continually up-
dated and used to keep track of the orbit plane and the platform attitude with respect to Earth.
Thirty second_ after the special data is first transferred to
the c_nputer, the Inertial Guidance System is placed in the inertial mode. computer continually this time.
monitors
The
and stores the platform gimbal angle values during
After lift-off, the co_puter performs a back-up guidance function.
If necessary, however, the computer can he used to perform prlmary guidance during ascent.
Catch-up Routine The catch-up routine provides the computations required to properly position the spacecraft for rendezvousing.
During the catch-up mode, gimbal angle values and
incremental velocity values are computed.
Calculated data is then supplied to
the Attitude Display so that the spacecraft can be properly positioned for rendezvousing.
Rendezvous Routine The rendezvous routine provides the computations required for achieving a rendezvcus.
The routine performs essentially the same function as the catch-up routine,
with the addition of radar data computations.
The radar data is transferred to
the conjurer from the rendezvous radar and utilizc_lin computations.
These compu-
tations are used to achieve a rendezvous between the spacecraft and the target.
Re-entry Routine The re-entry routine provides the computations required for re-entry guidance. 8-112 CONFID'rNTIAL
CONFIDENTIAL
SEDR 300
During
the re-entry
velocity respect
errors
mode, the retrograde
are calculated.
to the desired
landing
velocity
The distance
is monitored
and heading
site are calculated,
and retro_rade
of the spacecraft
a_d the down
with
range travel
to
i
touchdown craft
is predicted.
roll
maneuvers
The routine
during
also provides
re-entry
signA]_
and provides
to com_ana
a d_aplay
of
the space-
attitude
errors.
NOTE The following previously
subroutines
described
accelerometer, mentation
a description
Gimbal
Angle
The glmbal
angle
subroutine
cessing
operation
than
System,
angle, Instru-
Therefore,
subroutines
follows.
Platform.
the glmbal
During angle
value
axis were
the processing angle
glmbal
value.
for the pitch,
a computer word
time,
and transfers
This method
for each
angles
enables
processed,
the
a previously
a faster
pro-
individually.
of lone gimbal angle
value
(The igimbal angle value
and
is the
angle. )
Subroutine
Unit.
subroutine These
spacecraft,
adjustment
between
of the actual
The acceleremeter
of the
and processes
if the angle
of the next gimbal
equivalent
Measuring
reads
reads in one gimbal
5 ms elapses
the processing
Accelerometer
gimbal
data.
of each of these
angle value to the acc_-mllator.
Approximately
binary
and manual
of the Inertial
angle processor
read glmbal
Command
to the
Subroutine
yaw, and roll axes glmbal
routines:
Digital
System,
are co_nn
processes
signals,
are generated
of the accelerometers,
which
velocity represent
signal
velocity
by accelerometers. the signals
8-i13 CONFIDENTIAL
inputs
contain
Due
from the Inertial
for the X, Y_ and Z axes to the construction
inherent
bias
and
and alignment
CONFIDENTIAL
PROJECT
GEMINI
__
SEDR300
errors. values
The
subroutine
corrects
in predeterm_ued
the X, Y, and Z velocity
line.
The delay line ,is then
depend
on the selected
Co,_and
The Digital Digital
Co._and
Co,_nd
consisting
where
the data bits
then
signals,
locations.
read by the subroutine
System subroutine (DCS).
of 6 address
reads
input processor
them to the processor at periodic
The data bits
bits
intervals
in the computer
this
stored
data furnished
the computer with
and 18 data bits.
from the DCS.
are then
After
and processes
The DCS furnishes
are to be stored
bits.
velocity
delay which
or routine.
if data is available
by the address
The computer
and transfers
reads the data into the ac_1,.,lator.
separated.
and stores the corrected
Subroutine
System
wor_s
determines
mede
System
errors
computer memory
reads
Digital
these
The address memory.
special bits
the address
in the computer
data is stored,
24-bit
indicate
The subroutine
If data is available,
Next,
by the
first
the subroutine
and data bits are
memory
address
it is used as constants
specified by other
subroutines.
The DCS subroutine (Address
100-117).
operational tendsd
program
address
accomplished first
recognized address words
contains
it is necessary order
and the associated With
order
the DCS extended
20 first,
low order
address,
into the computer.
8-ll CONFIDENTIAL
the proper
and this must be
21 next).
20 is recognized
On the second
DCS addresses.
For each DCS ex-
two transmissions
address
data yields
extended
in the computer.
to make
data.
provide
20 and 21 exercises
(i.e., DCS address
the DCS subroutine,
is stored as high
which
of addresses
loops to store the data
in the proper
word.
instructions
The recognition
insert,
cycle through
ciated data
also
and the asso-
cycle, address
data plus
it is possible
On the
21 is
the DCS extended to insert
26-bit
CONFIDENTIAL
PRO SEDR3OO
Instrumentation
System
Subroutine
The Instrumentation
System
the Instrumentation
System.
to the Instrumentation the stored include pitch,
velocity roll,
mentation words
results
of other
address
in the Instrumentation mentation
MAnual
21 data words
for the X, Y, and Z axes,
input
are assembled
Once
occurs.
in a special
of 21 predetermined
as a word System
selection
memory
the input
values
seconds,
for the
the Instru-
occurs,
the data
System
addresses.
tO determine
are
transferred
l_strumentation
memory
counter
buffer
angle
every 2.4
When
data words
of data words gimbal
it to
are transferred
The transferred
The types
range.
data and transfers
A special
which
are to be transferred
memory
data words
to the Instru-
System.
Data
The manual
Subroutine data
Data Keyboard Readout
subroutines.
consists
is used
special
by the subroutine.
sync discrete
The buffer
assembles
2._ seconds,
and yaw axes, and radar
to be transferred
memory
Every
System
changes
System
buffer.
subroutine
subroutine
determines
(MDK) to the computer
(MDR).
The subroutine
are used to govern
when
and from the computer i
consists
the generation
data is transferred
of approximately
of signals
that
control
from the Manual
to the Manual
Data
I000 instructions circuit
operation
which in
the MDK and MDR.
Seventh
Operational
The seventh
Program
operational
program
craft 8 and 9 are scheduled to use all six modules. discussed I
Module
I represents
of six modules.
to use modules
Each module
below and under Sixth
Module
consists
that portion
I, IV and V.
contains
,Operational
certain
At this time, Spacecraft
routines
space-
i0 is scheduled
and subroutines
' Prog_.
of the program 8-115 CONFIDENTIAL
which
is always
maintained
in
as
CONFIDENTIAL
PROJECT--GEMINI SEDR 300
the computer memory.
It contains the programming required for the pre-launch
mode as well as that associated with the executer functions,
diagnostic
sub-
routines, computational subroutines and the ATM read programs.
Module II Module II consists of the ascent computer mode, a simplified catch-up mode (no radar interface) and that portion of the re-entry mode required for ascent/abort re-entry guidance.
For ascent/abort re-entry, the computer mode selector remains
in ASC.
Module III Module III consists of the catch-up and rendezvous modes as described under Sixth Operational
Program.
Module IV Module IV contains the touchdown predict and re-entry modes.
The touchdown
predict mode provides an on-board capability for predicting the half-llft touchdown point on the basis of ground-computed orbital initial condition data and a selected trial retrograde time.
The calculated time-to-go to retrograde and
the associated retrograde initial conditions may be automatically transferred to the Time Reference System (TRS) and re-entry program, respectively, for subsequent initialization of the re-entry mode.
The re-entry mode is generally
the same as that described for the Sixth Operational Program.
Module V Module V contains the ascent mode of module II, without the ascent/abort capability, and the catch-up and rendezvous modes of module III without the rendevous self test.
The purpose of modnle V is to insure that ATM load failure
8-116 OONFIDIENTIAL
CONFIDENTIAL
SEDIt 3OO
will
not
Jeopardize
Module
VI
Module
VI contains
completion
of rendezvous
the orbit predict,
mission
orbit
objectives.
navigation,
and orbit
determination
tootles.
The orbit predict position
mode
provides
of the spacecraft
position)
as much
This mode
also provides
in the spacecraft inputs
the capability
or target
as three orbits
The orbit navigation
axes while
velocity
and position
computer
equations
provides
changes
or 0ne orbit i
by
to
the orbit
computation
the means
including
the velocity
relative
s_,,_late _isive i is accomplished by accepting
This
mode
(or thei_
into the future
the capability
orbit.
in the guidance
vehicle
to calculate
and
velocity
and
into the past.
velocity
changes
velocity
change
is not in progress.
to navigate il
the spacecraft
the accelerometer
outputs
during
in the
of motion.
The orbit determination
mode
provides
the capability
to improve
the on-board
i
navigation star
to
accuracy
local
by processing
vel'q_icle
angle
the measurements
taken
aboard
the
of! star to horizon
angle
or
spacecraft.
I_I'I_WACE S Figure also
8-28
shows the equipment
contains
references
which
interfaces
to the individual
with
equipment
the computer. interface
The diagram
diagrams.
i
InertialPlatform (Figure8-29) The computer on the pitch, rotors
supplies roll,
_00 cps excitation
and yaw gimbal
of any of these
resolvers
to the rotors
axes of the !nertial
away from their
of three Platform.
resolvers
Movement
zero! (platform-caged) i
8-117 CONFIDENTIAL.
i
located of the
reference
CONFIDENTIAL SEDR 300
__.
4,
PROJECT
GEMINI
INERTIAL MEASURING
PLATFORM (FIGURE 8-29)
UNIT
ELECTRONICS (FIGURE 8-30)
POWER SUPPLY (FIGURE 8-31)
J
N IMENTAL
VELOCITY INDICATOR (FIGURE 8-40)
:
-'-
AEIOSACE GROUND EQUIPMENT (FIGURE 8-42)
I
TITAN AUTOPILOT
•
I
DIGITAL
_
(FIGURE 8-37)
_=
_
_
COMPUTER
IPLOT I CONTROL AND DISPLAY PANEL (FIGURE 8-39)
!
NI
I
I ...
SYSTEM (FIGURE 8-41)
DIGITAL COM/CU_,ND SYSTEM (FIGURE 8-34)
i NDEzv°us .
IT ISY ME E EM
(FIGURE 8-38)
(FIGURE 8-33)
IA TUDECONT I OL I AND MANEUVER ELECTRON] CS
I
_=
(FIGURE 8-36)
NOTE []_
i
SPACECRAFT 8 THRU 12 ONLY.
Figure
8-28
READOUT
KEYBOARD
(FIGURE 8-32)
(FIGURE 8-32)
MANUAL
Computer 8-118
CONFIDENTIAL
DATA INSERTION
Interfaces
UNIT
I
C_ AUXI LIARY TAPE MEMORY (FIGURE 8-38)
I
CONFIDENTIAL SEDR 300
j_
_L___._'_
PROJECT
GEMINI
! INERTIAL PLATFORM
_
DIGITAL
COMPUTER
I
RETURN (XCEGAEG)
ROLL GIMBAL
ANGLE
FILTER
(XPR4PPSRRC)
REFERENCE (XPR4PCRPRC)
YAW GIMBAL
ANGLE
l
(XPR3PPSRVC) GIMBAL ANGLE
REFERENCE (XPR3PCRPYC)
PITCH GIMBAL ANGLE
•
PROCESSOR
(XPR1PPSRPC)
REFERENCE (XPR1PCRPPC)
J ACCELEROMETER
-X VELOCITY
Y
PLATFORM
ACCE LEROMETER
-Y VELOCITY
ACCELEROMETER
-Z VELOCITY
Figure
8-29
•
Computer-Platform 8-119 CONFIDENTIAL
ACCUMULATOR
ELECTRONICS
Interface
CONFIDENTIALSEDR300
PROJEC--'-G
EM I N I
causes the output voltage of the stator winding to be phase-shifted the reference 400 cps voltage inputs to the computer: the compensalor winding
_e
a reference voltage from
(pitch, ya_, and roll references),
voltage from the stator winding
following PRO instruction
relative to
and a phase-shifted
(pitch, yaw, and roll gimbal angles).
programming
is associated with the Inertial Platform
interface : Signal
Address X
Y
Readpitchgimbal
6
3
Readrollgimbal
6
4
Readyawgimbal
6
5
The gimbal angles are read no sooner than 5 ms from each other, and the total reading time for all three angles is no greater than 30 ms. once per computation
in the catch-up, rendezvous,
every 50 ms in the ascent mode.
The angles are read
and re-entry modes, and once
These angles are gated, as true magnitude, into
the accumulator S, and I through 14 bit positions with the 15 through 25 bit positions being zero. discarded.
The accumulator value from the first PRO instruction is
Each of the next three PRO instructions
results in an accumulator
value of the glmbal angle read by the previous PRO instruction, as follows:
(a)
PROS6 (read pitch; process previously read angle)
(b)
Discard previously read angle
(c)
Wait 5 ms
(d)
PR046 (read roll; provess pitch)
(e)
STO pitch
8-12o CONIFIOENTIAL
CONIFIIDiENTIAL
SEDIt 300
(f)
waAt
(g)
PRO56 (read yaw;
(h)
STO roll
process
ii
roll)
(i) wait5 ms (J)
PRO36 (read pitch; process yaw)
yaw The computer inputs frcm the Inertial Platform are
s_...-_._ized as follows:
(a)
Roll gimbal angle
(b)
Yaw _mbal
(c)
Pitch gimbal angle (XPRLPPSRPC) andlreference (XPRIPCRPPC)
(XPR4PPSRRC) and
._ference (XPR_PCRPRC)
angle (XPR3PPSRYC) and reference ((XPR3PCRPYC)
The computer output to the Inertial Platform is _._rized
as follows:
Gimbal angle excitation (XCEGAE) and return (XCEGAEG)
System Electronics (Figure
8-30)
Outputs derived from each of the three platform accele_eters computer as incidental
are supplied to the
velocity pulses (+X and -X delta velocity, +Y and -Y delta
velocity, and +Z and -Z delta velocity).
An up level on one Line denotes a posi-
tive increment of velocity while an up level on the _ther line denotes a negative increment of velocity.
The following PRO instruction programming is associated with the System Electronics interface:
8-121 CONFIDENTIAL. iI
CONFIDENTIAL •_._
_
SEDR 300
PLATFORM ELECTRONICS
DIGITAL
COMPUTER
+ X VELOCITY
FROM PLATFORM
+ X DELTA VELOCITY CONVERSION CIRCUIT
-X DELTA VELOCITY I
-X VELOCITY
(XEDVPL) (XEDVML)
INERTIAL
+ Y VELOCITY
FROM PLATFORM
+ Y DELTA VELOCITY
(XEDVPY)
CONVERSION
INPUT
CIRCUIT
-Y DELTA VELOCITY
____
J
-Y VELOCITY
(XEDVMY)
PROCESSOR
INERTIAL
+ Z VELOCITY
FROM
+ Z DELTA VELOCITY CONVERSION CIRCUIT
-Z DELTA VELOCITY
(XEDVPZ)
,
(XEDVMZ)
ACCUMULATOR
Figure
8-30
Computer-Platform 8-122 CONFIDENTIAL
Electronics
Interface
CONFIDENTIAL.
SEDR 300
Signal
Address
Processor
X
Y
PHASETIME
Read X delta velocity
5
4
2
ReadY deltavelocity
5
4
3
ReadZ deltavelocity
5
_
The input processor accumulates the incremental velocity pulses on the processor delay line in two 's-complement form.
The velocity p_aes
have a mnximum frequency
of 3.6 kc per channel with a minimum separation of 135 usec between any plus and minus pulse for a given axis.
Three input circuits are used to buffer the plus
and minus pulses, one circuit for each axis. /-
The buffered velocity p_11ae inputs i
are sampled during successive processor phases and read into a control circuit. This control circuit synchronizes the inputs with the processor timing and establishes an add, subtract, or zero control for thelprocessor carry-borrow circuit.
The Bccumulated velocity quantities are read into the accumulator S, and
1 through 12 bit positions in two's-complement form via a single PRO45 instruction, as follows:
(a)
Processor phase 2 - read accumulated X velocity
(b)
Processor phase 3 - read accumulated Y velocity
(c)
Processor phase 4 - read accumulated Z velocity
As the accelerometer values are read into the accumulator, the delay llne is automaticslly zeroed so that each reading represents the cb,_e
in velocity from the
previous reading.
The cow,purer inputs from the System Electronics
are s_-_rized
8-123 CONIFIOI!NTIAL
as follows:
CONFIDENTIAL
PROJ':-'t--'6EM,NI SEDR300
(a)
+X delta
velocity
(]IED_L)
(_) -xde1_ velocity (X_) (c) +_del_ velocity (_) (d) -_del_ veloclty (_) (e)
+Z delta
velocity
(3_DVFZ)
(r) -zael_ veloclty (x_z)
The computer
supplies
a filtered
the dc power
supplied
to the cumpu_er.
computer
within
the cumpu%er
28 vdc si_l
The IGS Power
0.3 second after receivlng
power
control
dc power frum the computer
signal drops within
to the IGS Power Supply
the 28 vdc power
Supply
is not controlled
control
present
at the computer
Supply
and is therefore
control
to control power
signal.
Supply
by the computer whenever
inputs
from the IGS Power
(a) -_7.z vdc(m_7_)
Supply are m,_lzed
as follows:
a_ ret=n(_mT_m_)
(b) -_.2_c (xs_7_c)_d retu= (Xm_TVDC_) (c) -_ _c (Xm_O_) _
ret=.(_0_)
(d) +9.3_e (XSmV_)_
ret=n(X_VDm_)
(e)
The e_mpuT_r
26 vac (XS26VAC)and return (X_9.6VACI_)
ou%19ut to the IGS Power
Power e_rol
Supply is m_-vlzed
(XCEP)
CONFIDENTIAL
When
furnished power
the IGS Power
is operating.
The computer
to the
removes
The 26 vac, _OO cps power
to the eumputer by the IGS Power signal,
supplies
to 2 vdc, the IGS Power
0.3 secomd.
Supply
as follows:
CONFIDENTIAL
PROJECT
GEMINI
IGS POWER SUPPEY
DIGITAL
+ 27.2 VDC (XSP27VDC)
J
i
i
RETURN (XSP27VDCRT)
!=
-27.2VDC CXSM2_'DC_
COMPUTER
i Ii
RETURN (XSM27VDCRT)
I
+ 20 VDC (XSP20VDC)
l
!
RETURN (XSP2OVDCRT)
REGULATORS POWER
J |
+ 9.3 VDC (XSP9VDC)
i
J
RETURN (XS P9VDCRT)
i
J
I "
i 26 VAC (XS26VAC) RETURN (XS26VACRT)
_ I I i
i
400 CPS FILTER
I
i i ROWER CONTROL
(XCEP) i ! I
RETURN (XS P28VDCRT)
_
+ 28 VDC FILTERED (XSP28VDC) POWER SEQUENCING CIRCUITS
I
AUXILIARY COMPUTER POWERUNIT
1
Figure
POWERLOSSSENSING(XQBND) +28 VDC FILTERED (XSP28VDC)
8-31 Computer-Power 8-125 CONFIDENTIAL
Supply
:Interface
J
I
CONFIDENTIAL
PROJECT
Auxiliar_
com_uter
Power
The ACPU functions interruptions
in
and
pression,
it
cuits
in
until
the
The
computer
The computer
power
to
the
the
by inserting capability
the
sensing
into,
crew
with
new data to verify
into
sensing maintains
ends
to
a power
signal
s--_arized
ACPU is
to
the
buffer
computer
(up
to
power
interruption power
the
as
su_tzed
sequencing
power
a -_wlmum
or
decir-
constant of
lO0 msee).
follows:
as
follows:
(XQBHD)
(_IU) and/or
(Figure 8-32) read
a means of the
out
of,
updating
appropriate
the data stored
Two of the quantities Time Reference
ACPU senses
depression
ACPU is
Supply
filtered
can insert
provides
IGS Power
(_CEP)
from
loss
8-B1)
the
loss
or
Data Insertion Unit
The HDIU
with
The ACPU then
Control
+28
(Figure
When the
interruption
input
Power
It
the
output
Power
Manual
depressions.
computer.
power
(ACPU)
conjunction
supplies
the
Unit
GEMINI
the
cerl_sin
up to
dat_
which may be inserted
99 det_
stored
memory location.
in a number
System by the computer,
computer
Zt
of additional
in also
the
computer
provides
memory
(TR and _X) are transferred
following
words.
a
locations. to the
insertion.
The NDIU consistsof two units: The Manual Data Keyboard (MDK) and the Manual Data Readout used during presses
(KDR).
The MDK has a keyboard
data insertion
seven data-insert
of the computer
memory
and readout. push-button
location
containing
To insert
switches;
in which
I0 push-button
data,
the first
the pilot
8-126
always
de-
two set up the address
data is to be stored,
CONFIDENTIAL
switches
and the last
five
CONFIDENTIAL
s o,oo
PROJECT
MANUAL
DATA READOUT
DIGITAL
GEM
COMPUTER
!
READOUT (XNZRC)
CLEAR (XNZCC)
NI
ECDPOSAX) I
CCUMUL&.TOR SIGN NEG,
J_
_CDNEGAX)SIGN POS. _CCUMULATOR
_
ADDRESS XI
(XCSAXI)
DISCRETE iNPUT
! -
ADDRESS X2(XCSAX2)
LOGIC
ENTER (XNZJC)
ADDRESS SELECTION I
ADDRESS X3 (XCSAX3)
•
ADDRESS Y4(XCSAY4) ACCUMULATOR
ADDRESS Y5 (XCSAY5) ADDRESS Y3 (XCSAY3)
LOGIC
DATA READY (XMZDA)
l
-25 VDC (XCP25VDC)
,NSERT DATA 1_×N_B,, L
_OWER
•
INSERT SERIALIZER
_--_
DEVICE
B" -ZTURN (XCPM25VDCRT)
! I
_
INSERT DATA 4 (XMZB4)
=8 VDC (XCPBVDC)
C"
:ETURN (XC PBVDCRT)
i
E"
DiSPLaY DEVICES
INSERT DATA 8 (XMZB8)
MANUAL
NUMBER SELECT CIRCUIT
DATA KEYBOARD
INSERT DATA BUFFERS
RESET CIRCUIT
DATA READY CIRCUIT
INSERT ENCODER
Figure
8-32 Computer-MDIU 8-127 CONFIDENTIAL
r
-_VOC I×CMB_VDC, C,RCD,T ! A" SELECT
, IEGULATORS:, INSERT DATA 2 (XMXB2)
I
Interface
DISPLAY DEVICE DRIVE CONTROL
CONFIDENTIAL
PROJECT _.
GEMINI SEDR300
set
up the
FollorJJIK
the
_n
JJumr_io_
mrltoh
is
verification and the
(1eta.
8_tua_
Each
presse_
to
ve_lfi_ti_
the
8_
dat_
d_tts
store
_t
be set
the
the
and verifying
up e4_in.
READ 0_T push-button
catien.
switch.
The M_ This
switch,
two
The select_l
a two-digit the
seven
The following
a_ress,
sxlAress digits
prior
to
displayed
CLD instruction
programming
zero
is
_
meuo_
unit
mrltoh
is
be use_
is
then
and then display_
for
prusse_ for to
_epressing verifi-
than seven dAglts, or fails to
the
ERT_
or READ 0_T push-button
indicating
associated
a pilot
with
the
error.
_)IU
interfaces
_dress Y
Data _
1
0
Enter
2
0
Readout
3
0
Clee_
_
0
programming
is
associate_
with
the
MD1U interface.
Address
Signal
Digit magnitude weight i
8-128 CONFIDENTIAL
re-
attempts _o
X
PRO instruction
If
displ_s
oaa also
_tgtts
Si_
The following
l_sh-
lo_tto=.
in an invalid _ress,
depress___-_ all
the
sequentially
(adAress)
inserts _re
are
verification.
This operation is aee_lishe_
_ata
Tf the pilot at-temptsto insert d_a
read data out of an inv_ insert
first
for
push-button
by the pt1_.
ceLly the
digit,
seleot_1
_
check quantities s_ore_ in the computer memorT. _y inserting
displa_ed
seventh
dAt_ in the
be _--_,
4-ger_e_
also
of the
the
onnnot
is
inserts&
8na verification
of 8_y digit
8_&ress
dAgit
X
Y
0
3
.....
CONFIDENTIAL
P........
x
!
Dl_t magnitude vetgbt 2
i
3
Digit
me_.t"_(le vetgbt _
2
3
Digit
_.tude
3
3
weight
Reset DIOI, Display
off.
is
device
0
drive
1 i
0
5
Digit
select weight
2
1
5
Digit
select
h
2
5
Read MDIU insert data
3
_J.ght
_epress
the CIRAR push-button
or displayed.
Thls
results then
& &igit
entereA
Upon
4-to
DI01_
ana DI03,i and elearlng I the display drivers.
switch Is _epressed,
the bv_Cer
ema DIOI is
blt positions
The progr_
quantity
DI02,
sets DO_I off to reset
then
t_trned
1 through
sends out a code by means
be _Isp]_ye_.
switch for the first
the reeo_wn_tlon of DI0_ ion, the progran Ii
in resetting
push-button
into a_omallator
program
DI02, ana DI03
select weight
The pro_Im
When
8
Digit
The pilot must Inserted
I
on.
D051,
oode_
The program
_ an_ sets _0
of D050,
sets _0_l
the ht_7
ofT.
to be
sets DO_O
the MDIU buffer.
e(xle
aec_ml
(B_D)
re_ls
the hurter
Fo]_oeln_
and iD052 to select
on to turn ion the 41spla_ i
this,
the 4/glt _rIvers,
the
to a_1
senAs a BCD dl_It to the buffer by means of D030, D0_, D032, and D033. The pro_m
walts
the atgit
0.5
seoo_d
is atspl_ea
and sets
D0_O and D0_l
before enterin_
have been entereA and at_,
The pilot
the next dtgt%. /
the pilot
This remLlts in _IO_ beta_ set on.
off.
The _
After
must
all
nit
until
seven atgtts
aepresses ithe _ l_sh-button mrlteh. i then Isets D0_0 ofT, sad eon_s
8o129 CONFIDENTIAl.
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
the
flve
eordlu8
_
d£81ts
to the
to binary.
This
data
is
sealed
the 1M.lot enters
queatit¥
depresses
to be dtspla3_
results
in DI03 being
quested
quantlty
a_l set
the
The ccml_t_r
on.
the
then
BeD data
the _vo-_:I.l_Lt a(1.___-ess of the
READ OUT lmsh-but_on sets to
D0_O off_
the
svttch.
converts
dtsp]_y
buffer
This
the
re-
one digit
at
intervals.
_prts
fr_
Readout
the _1_
are sumanlzed as follovs_
(I(ZRC) - The up level
prevt_s]_
(h)
then
to BeD, and sends
a fine in 0.5-sec_l
(a)
in memory ae-
two-d£E_Lt exldress.
'1'o read (h_ta out of the ecmputer_
The eo_u_
an_ stored
inserted
dL_tts
are
_i_
to be _tepl_e_.
Clear
(]NZCC) - The _p level
Wlously
4-serte_
dt_ts
of this to
signal
be used
of this
are
incorreot
(XWZZC) - The up level
of this
si_
denotes
as the
ad_ess
denotes
and the
that
rye
of a
that
insert
the
the
pre-
sequence
must
be repeated.
(c)
Enter l_masl_ the
(_)
tnser_e_
rea_
d_git
b_
20 times
(e)
Znsert four
have
been
denotes
verified
that
and should
the
pre-
be stor_l
in
memoz.y.
e_ter
D_te
digits
si_
(_W_.r_) been per
data si_3.s,
- The up level
inserted.
secon_
to
of this
The computer al_o_
continuous
signal
samples insertion
1, 2_ }_ an¢_ 8 (_'A_B1, X/wz.w, ]1,_ d.enott__ one _CD chaz.a_er,
8-_3o CONFIDENTIAL
denotes this
that
line
at
a least
of data.
and. ]3_8)
are mrj_lte_
- These
to the cam-
CONFIDENTIAL
__
SEDIt300
i
puter for each decimal digit inserted.
The computer outputs to the _IU
(a)
_ccumulator sign positive (XCDPOSAX) - The up level of this signal on a set
(b)
ir_ut
causes
the
addressed
la_ch
to be set.
Accumulator sign negative (XCDNEG_X) -!The up level of this signal on a reset
(c)
are sur_narized as foli_s:
input
causes
the
addressed
ilatch
to be reset.
Addressing - Seven lines provide the Q_pability of addressi_ lslches in the _IU.
all
The following X iand Y address lines are pro-
vided:
(i)
MDIU address XO (XCSAXO)
(2)
_IU
(3)
MDIU address X2 (XCSAX2)
(4)
MDIU address XB (XCSAX3)
(5)
MDIU address Y3 (XCSAY3)
(6)
_IU
address Y4 (XCSAY4)
(7)
_IU
address Y5 (XCSAYS)
address Xl (XCSAX1)
By selecting one X and one Y address line at a time, a total of 12 addressescan be formed.
(d)
Power - Regulated dc power is supplied to the MDIU as follows: (i) (2)
+25 vdc (XCP 25VDC) and return (XCPM25VDCRT) i -25 vdc (XC_5VDC) and return (XCPR225qfDCRT)
(3)
+8 vdc (xcPSVDC) and r@turn (XCP8VDCRT)
8-131 CONFIDENTIAL
CONFIDENTIALSEDR 300
The TRS counts Elapsed Time (ET) from ].ift-offthrough impact, counts down time to
retrograde
(TR) on c¢_mand,
and counts
cnmmand, all in I/8-second increments.
down time
to
equipment
The computer receives TR
words from the MDIU end automatically transfers them to the TRS.
reset
(Tx)
on
and TX data When the com-
puter receives a display request from the MDIU for TR, or when the computer program requires ET_ the TRS transfers them to the computer.
The following CLD instruction progr_mming is associated with the TRS interface.
Signal
Address
TR discrete
X
Y
5
0
The following PRO instruction programming is associated with the TRS interface:
Signal
Address X
Y
ET control
4
1
TX control
5
2
TR control
5
6
Enter
1
2
TRS data 8nd
0
2
4
1
timing pulses TRS control reset
In the readout mode, the computer transfers TR or TX data words to the TRS. mode is initiated by setting DO21 on.
The
The 24 bits of data to be sent to the TRS
8-132 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMI
I I
DIGITAL
COMPUTER
TIME REFERENCE SYSTEM
TR EXCITATION +8V
INPUT DISCRETE
LOGIC DATA INPUT
i
LOGIC
(XCDGTRE)
C
"_
C
I
AI
TR DISCRETE (XGT£)
I
I
TRS DATA INPUT (XGDAT)
_
,-_"
TR=0
TRS DATA OUTPUT (XCDXRCD) ENTER (XCD[NT)
1
!
=
O
.... I A
I _
-
I
I
I
.
I Ai _-
:
: A
TRS TIMING
PULSES (XCDTRT)
TRCONTROL XCDT G
DISCRETE OUTPUT
Tx CONTROL
(XCDTXG)
.I TT,0G,MSEITE I i l
Figure
8-33
Computer-TRS 8-133 CONFIDENTIAL
Interface,
Tx TIME REGISTER
C
=
CONFIDENTIAL
PROJECT-'GEMINI $EDR 300
are
then
(shift is
¢- the
placed right
one place)
aut_atlca_y
timing been
pulse sent
e_cumu_tor
is
to
the
by 2_ consecutive
instructions.
With each
_-_tiate_
70 usee
after
terminated
so that
its
TRS_ the
progr_
the
of PRO20 and S'HR1
PRO instruction,
beginn_n 5 of the
up level
generates
sets
is
139 usec.
one of two control
a tt-_ug
pulse
data
pulse.
The
Ai_r
bit
gates
2_ has
(_
or TX).
Between 9 and 15 ms later, the computer terminates the TRS control gate.
The enter mode is initiated by setting D021 off.
One of two control gates (E_ or
TR) is generated by the pro£_ramen_ terminated between 9 an_ 15 ms later.
After
termination of the control gate, the program enters a subroutine consisting of consecutive sets of PROIO an_ _
instructions.
Every time a PRO operation is
called for, a timing pulse is generated by the same logic as in the readout mode. The t_4"5
pulse
the coaster.
is
sent
to the
TRS to
cause
the
addressed
data
to be supplied
The flrst bit reeeived is aiscarded wlth the final _
to
instruction.
The seeon_ bit received is the least significant bit and is shifted into ace_at the e_letion
lator bit position _ instructions. line
to
the
of the tvont¥-fifth set of PRO20 an_
When TR equals zero, a relay in the TRS connects the _
TR discrete
14,e.
The TR discrete
signal
then
causes
the
excitation ecmz_ater
to
start re-entry calculatlons.
The computer
(a)
inputs
from the
TR di_rete
TRS are
(_JSt)
smmm_ized
as follovs:
- The up level of this signal signifies that the
e
eo_puter shou_
begin re-entry calculations.
o
the
ee_puter occur on this line. mined by _hieh eontrol _te
CON
tothe
The _ata word on the llne is deterthe eaaputer actuates prior to the
FID_NTIAL
CONFIDENTIAL
_@
SEDR300
actual
The computer
outputs
(a)
data transfer.
The up level
to the TRS are sum-rized
TR excitation resistor
is a binary
I.
as foll_)ws:
(SCDG_I_E) - The computer
supplies
+8 vde through
to the _RS as the _R excitati6ni input.
When
a
TR equals
i
zero, the _R relay to the computer
(b)
Enter
(XCI_)
causes
the TR excitation
as the _R discrete
- The up level
input
to be transferred
signal.
of this _ignal
signifies
that
data
i
is to be transferred
from the TRS to the computer when the transfer i The down level signifie_ that data is to be trans-
clocks occur. feted
(c)
from
TRS data
the
computer
output
(XCDXRCD)
to the TRS occur mimed by which
to
control
TRS timing computer
pulses
gate
(e)
TR control
(TR
The da_a word or _)
from the computer on the line
the computer
is deter-
has actuated.
i.
(XCSYI_)
data to be shifted
for transfer
_IS.
- All data transfers
on this lime.
The up level is a binary
(d)
the
- These
3.57 kc timing
pulses
cause the
into or ou_ of the _RS buffer
register
to or from the computer.
(XC_)
- The up level of _his
fer of data between
the TRS buffer
ter.
of transfer
The direction
signal
re_ister i
is determined
causes
and the _
the transTR regis-
by the level
of the
|!
entersignal.
(f)
TX control
(XCI_)
- The up level
8o135 CON FIDINTIAL
of ithis signal
causes
the trans-
CONFIDENTIAL SEDR 300
fer of data between the _RS buffer register and the TRS TX register.
The direction of transfer Is determined by the level of the
enter signal.
(g)
ET control (_)
- The up level of this signal causes the trans-
fer of data between the TRS buffer register and the TRS ET register.
The direction of transfer is determined by the level of the
enter signal.
Diglt, cond s st,@cs)(Figure The DCS accepts BCD messages from the ground stations at a I ke rate, decodes the messages, and routes the data to either the TRS or the computer.
In addition,
the DCS can generate up to 6_ discrete commands.
Sign% l
Address
DCS ready
X
Y
6
0
The following PRO instruction programming is associated with the DCS interface:
Signal
Address X
Y
Computer ready
I
0
DCS shift pulse gate
0
0
When data is to be sent to the computer, the DCS supplies the computer with a DCS ready discrete input (DI06).
This input is sampled every 50 ms or less in all com-
puter modes except during the I/8-second interval in the ascent mode when reading ET at lift-off.
To receive DCS data, the computer supplies a series of 2_ DCS
8-136 CONFIDENTIAL
CONFIDENTIAL
__
PROJECT
GEMINI
i=
D'G'TALCO ICONT CSRETU O iD'G C, i
1
J
ACCUMULATOR
J
t RETURN (XDDATG)
INPUT LOGIC
DATA BUFFER
RETURN (XCDCSPG)
Figure
8-34
Computer-DCS 8-137
CONFIDENTIAL
:
Interface
DISCRETE OUTPUT LOGIC
CONFIDENTIAL
PROJEMINI __
SEDR300
shift pulses at a 500 kc repitition rate by setting D001 off and programming a PRO0 instruction. register
to
positions dress Bit
These shift pulses cause the data contained in the DCS buffer
be shifted
1 through
of the
out 2_,
associated
position
19 (address
with
on the
DCS data
position
quantity portion)
line
and read
19 through
and position and bit
2_ containing
1 through
position
into
accumulator the
18 containing
1 (data
portion)
bit
assigned the are
adquantity.
the
most
significant bits.
The computer inputs fro_ the DCS are s,_rized
(a)
as follows:
DCS ready (XDRD) and return (XDRDG) - The down level of this signal signifies that the DCS is ready tO transfer data to the computer.
(b)
DCS data (XDDAT) and return (XDDATG) - This serial data from the DCS consists of 2_ bits, with 6 being address bits and 18 being data bits.
The computer output to the DCS is su_,_rized as follows:
DCS shift pulses (XCDCSP) and return (XCDCSI_) - The computer supplies these 2_ shift pulses to the DCS to transfer data contained in the DCS buffer register out on the DCS data llne.
Rendezvous Radar (Figure 8-35) The Rendezvous Radar supplies the computer with three data inputs: range to target, sine of azimuth, and sine of elevation.
line-of_sight
In the rendezvous mode,
the computer uses radar data to compute and display velocity to be _ined body coordinates).
8 -138 CONI=UDENTIAL
(in
_
CONFIDENTIAL SEDR300
_- __ _
ENDEZVOUSRAOARI I I LD'G'TALCOM CONTROL
-
CIRCUITS
l
RETURN (XREDG)
DISCRETE INPUT LOGIC
RADAR READY (XRED)
REGISTER
AZIMUTH REGISTER
ACCUMULATOR
SINE
ELEVATION REGISTER _
SINE
t RAOAR SERIAL DATA C×RDAT_
OUTPUT REGISTER
ij
LOGIC
DATA
RADAR SHIFT PULSES (XCDRSP) RETURN (XRDATG) RETURN (×CDRSPG)
INPUT
DISCRETE OUTPUT
I coNTroL I: CO PUTERREAO LOO,C CIRCUITS
RETURN (XCDCRDG)
Figure
8-35
Computer-Radar 8-139
CONFIDENTIAL
Interface
CONFIDENTIAL
PROJ
E'-E-C-T--GEM
IN I
SEDR300
The following
CLD instruction
progr_mlng
is associated
with the Rendezvous
Radar
with the Rendezvous
Radar
interface:
Addre,s,s
Radar
The following
ready
PRO instruction
x_
x_
0
0
prosr-_mir_
is associated
interface:
sisal
x_
X
I
0
Reset radar ready
3
6
DCS shift pulse gate
0
0
C_puter
When the e_puter is supplied radar signal
_,_,e,ss
ready
requires
radar data, the computer
to the Rendezvous
ready discrete
Radar.
input buffer
completion
sets of PR000
register
500 kc pulses
output
The computer
data and to enter The program
sequence:
8-1ho CONFIDENTIAL
ready
a hold
waits
If the test is negative,
are given.
(IDOl)
has reset the
20 ms three
Each PRO instruction
to be sent to the radar to shift
of the radar data output register.
in the following
instruction.
cycle.
(DI00).
and STO instructions
a burst of fifth-two
the contents
input
discrete
the progr_n
its internal
of a data acquisition
and tests the radar ready discrete consecutive
to this,
with the PR063
causes the radar to stop updating
mode following
causes
Prior
ready
The data appears
out
in the output
CONFIDENTIAL
PROJE ___
SEDR 30_
(a)
Range - 15 bits
(b)
Sine azimuth - iO bits
(c)
Sine elevation - i0 bits
i
i
A del_y of 280 usec occurs before the leading pulse of each 500 kc burst to enable the computer to store the data it has received and to allow the next data word to be inserted into the radar data output register in preparation for transmission to the computer.
Radar range data is read in true
magnitude form into accumulator bit positions 8 i
through 24.
If bit positions 8 through Ii (four mostIsignificant bits) are l's, I
the radar r-_e
data is considered unreliable and is _nored.
Sine azimuth and
sine elevation data are read into accumulator bit positions 15 through 24. iI
The computer inputs from the Rendezvous Radar are s,m_arized as follows: I
(a)
Radar ready (X_)
and return (XREDG) -iThe up level of this signal I
signifies that the radar has recognizedlthe computer ready signal and is ready to transfer data.
The radar ready pulse occurs between i
0 and 4000 usec after the c_uter has
(b)
rea_
pulse, if radar lock-on
occurred.
Radar serial data (XRDAT) and return (_) - This data consists i of three words which occur in a fixed format as determined by the
iI
radar shift pulses.
The first word is _ange to target (15 bits), I I
the second word is sine of azimuth angle (i0 bits), and the third _ord
is sine of elevation angle
8-l_l CONFIDINTIAL
(I0 bit_).
CONFIDENTIAL
PROJECT __
GEMINI
SEDR300
The computer
outputs
to the Rendezvous
Radar
(a) Radarshiftpulses(X_)
groups
the radar
of 52 pulses
are _.._rized
as follows!
and return(XC_S_) - These500 kc
pulses are issued between puter receives
______j
280 usec and _ millisec read_
signal.
each I with
after
the com-
They are sent out as three
a 280 usec delay
_efore
the leading
edge of each group.
(b) Computerready(XCDCRD)and return(XCDCRDG)- The up levelof this signal
$$ti_ude During
_Isplay/Attit_xde
the ascent mode_
signals
and supplies
Attitude
During
Display
that the computer
add Maneuver
the computer
and rendezvous
modes,
and is capable
(A_)
roll,
(Figure
the computer
inputs.
8-36)
and yaw attitude
The pilot utilizes
of the ascent
of supplying
radar data
guidance
generates
error
the
equil_nent.
pitch
th_n to the Attitude
and yaw Display
AC_.
the re-entry
signal and supplies
mode,
the computer
it to the Attitude
with
zero lift is equal to the computed
hank
rate
comnsnd
roll attitude equal
pitch,
Display.
the performance
requires
Electronics
generates
th_n to the Attitude
attita_de error signals
During
_ontrol
to monitor
the catch-up
and. the
signifies
equivalent
error output
signal is supplie_
the oomputer
generates
Display range
to a IS _egree
line.
to that for the deslre_
attitude
generates
a roll attitude
and the ACME. to the desired
per second
point,
on the output
cross range end down range
8-Z_,2 CONFIDENTIAL
Also, error
duri_
rate
If range to touchdown touchdown
with
the appropriate
line.
or bank
point,
roll rate is provided
If the range to touchdown
touch_own
error
a on the
zero lift is not
roll rate or ro_1 the re-entry
signals
mode,
and supplies
CONFIDENTIAL SEDR300
f_"
•
them to the Attitude
Display
re-entry
of the spacecraft.
flight
The following
path
i
for the pilots'
PRO instruction
progrs_ng
use in _nu,S1y
is associated
controlling
the
with the Attitude
Display
and ACME interfaces:
Signal
Address
x
X
7
0
Yaw error command
7
i
Roll error
7
2
Pitchresolution
2
0
Yaw resolution
B
0
Roll resolution
4
0
Pitch
error cc_nand
ccmnand
f_
The pitch, accumulator address
yaw,
is sampling
previously time
sampled
is 48 ms.
adc
is then
commands
are written
S, and 8 through
The outputs
generate
analog voltage circuit
error
bit positions
of 7.
works which
and roll
of the register voltage
sampled
equivalent
output,
The minimum
The Y address
a seven-bit
to ladder
to the buffered
is 2 ms,
mentioned
the one sample
and hold
circuit
that
digital
error.
of each sample
and hold
circuit
is fed into an individual
and the maximum
PRO instruction
is to ssmple the ladder
8-14B
decoding
an X netThis
and hold circuits; while one i two circuits are holding their
ssmple time
CONFIDENTIAL
having
from
ssmple
the other
of the previously
register
_ PRO instruction
are connected
by one of three
the ladder value.
13_ with
i_to
output.
ladder
hold
selects
The output
amplifier
where
CONFIDENTIAL
PROJECGEMINI .___
SEDR300
the DC analog voltage for each channel is made available for interfacing with the Titan Autopilot.
The dc analog outputs are also fed through individual range switches and magnetic modulators
where the dc voltages are converted to 400-cycle analog voltages.
The
range switches, which are controlled by means of discrete outputs, can attenuate the dc voltages being fed into the magnetic modulators by a factor of 6-to-l. addressing
of the discrete
The
outputs for controlling the range switches is as fol-
lows:
(a) (b)
Pitch or down range error (DO02) - _ Yaw or cross range error (DO03) -
(c)
Roll error (DO0_) -
plus for low range; minus for high range.
The error commands are written every 50 ms or less.
_
is dependent upon the computer mode of operation.
The updating period, however, For the catch-up, rendezvous,
and re-entry modes (and the orbital insertion phase of ascent guidance), the error co_ands
are updated once per computation cycle or every 0.5 second or less.
For first and second stage ascent guidance, the error co_nds
are updated every
50 ms or less.
The computer outputs to the Attitude Display and ACHE are s_:mmarizedas follows:
(a)
Pitch attitude error (SCLPDRM) and return (XCIPDRMG) Two identical sets of outputs (A and B) are time-shared between pitch attitude error (during ascent, catch-up and rendezvous)
8-i_4 CONFIDENTIAL
CONFIDENTIAL
__
SEDR30O
and down range
error
(during Re-entry).
(i)
Pitch
attitude
error
(ascent) !
(2)
Pitch
attitude
error
(cat'h-up
Attitude (3)
(b)
Roll
!
(XCIROLMG)
Display
Down range
attitude
error
error/bank
rate
- Two identical
shared between
!
to Attitude
Display
and rendezvous)
to
i (re-entry)
to Attitude
I(XC_OLM) command i
Display
and return
sets of ou/;puts (A and B) are time-
roll attitude
error
an_ bank rate
command.
Dur-
i
ing ascent, entry,
it represents
hc:_ever,
it
only roll attitude i I
represents
roll
attitude
error. error
During
re-
when the
I
_--
computed
range
is less than the desired i
range,
and a 20 degree
I
per second bank rate exceeds
the
desired
command when range.
the computed !
range
equals
or
i l
(i)
Roll
attitude
error
(ascent)
to Attitude
Display
(2)
Roll attitude
error
(re-e:itry) to Attitude
Display
and ACME (3)
Bank
rate comand and
(c)
Yaw attitude
error
(re-ent ._j)to Attitude
Display
ACI_
(XCLYCRM)
and retum
(XCLYCRMG)
- Two identical
!
sets of outputs
(A and B) are time-shlred
between
yaw attitude
i
error
(during ascent,
catch-up,
I and rendezvous)
error (during re-entry). f
8-i_5 CONFIDENTIAL I
and cross
range
CONFIDENTIAL
PROJ E--E'CT-'M
IN I
SEDR300
(I)
Yaw attitude error (ascent) to Attitude Display
(2)
Yaw attitude error (catch-up and rendezvous) to Attitude Display
(3)
Cross range error (re-entry) to Attitude Display
During ascent, the computer performs guidance computations in parallel with the Titan guidance and control system.
If a malfunction occurs in the Titan system,
the pilot can switch control to the Inertial Guidance System.
For a description
of the program requirements and operation associated with the Tital Autopllot interface, refer to the Attitude Display and ACME interface description.
The computer outputs to the Tital Autopilot are summarized as follows:
(a)
Pitch error (X_)
(c)
Yaw error (XCLYDC) -
(d) (b)
Comzon return (XC_) Roll error (XCIA_DC)-
(e)
Autopilot scale factor (XCI_SF) pilot dyn_cs
-,-
-
backup ascent guidance. __
These signals are provided during - This signal cha_es
the auto-
after the point of maximum dynamic pressure is
reached. (f)
Second ste_e engine cutoff (XCDSSCF) - This signal is generated when velocity
to
be gained
equals
8 OONFIDINTIAL
zero.
CONFIDENTIAL
_---_
PROJECT
DIGITAL
GEMINI
i
ATTITUDE CONTROL AND MANEUVER ELECTRONICS
COMPUTER
ACCUMULATOR
J
1 RETURN (XCLROLMG
-A)
CIRCUITS
LADDER LOGIC
I
Ji . jI ATT,TU_ D,SPLA¥
ROLL ATTITUDE ERROR (XCLROLM-B)
I
I
RETURN (XC LROLMG -B)
i
YAW ATTITUDE ERROR (XCLYCRM-B)
i
PITCH ATTITUDE ERROR (XCLPDRM-B)
i
RETURN (XCLPDEMG -B)
p_.
_ :
'Jl
DISPLAY
i
=
RETORN_XCL_CRMG_ Jl =I i
i Figure 8-36 Computer-Attitude
DIGITAL
Display/ACME
Interface
COMPUTER
TITAN AUTOPILOT
ROLL ERROR (XCLRDC) LADDER
I YAW ERROR (XCLYDC)
!
RETURN (XC LDCG)
L
I
LOGIC I
DISCRETE OUTPUT
J
SEC. AUTOPILOT STAGE ENGINE SCALE FACTOR CUTOFF(XCDAPSF) (XCDSSCE)
Figure
8-37
Computer-Autopilot 8-147 CONFIDENTIAL
i
Inte rface
CONTROL CIRCUITS
CONFIDENTIAL
PROJ--3-EC-f--G
E M IN I
Auxiliary Tape Memory ,(A_) (Figure 8-38) The A_4 is interfaced with the Digital Computer and the following controls and indicators on the Pilots' Control and Display Panel (PCDP):
A_
mode switch
A_
0N/R_SET switch
ATM ERROR indicator A_I_RUN indicator
The crew, via the PCDP and the computer, controls the modes of A_ The Incremental Velocity Indicator (M)
operation.
are used to provide information on A_
ani the ATM ERROR and RUN indicators status.
The crew also uses the Manual
Data Insertion Unit (MDIU) for co..._uicationwith the computer and subsequent computer co-_.-__uication with the A_.
The following CID instruction progra_-_n_ is associated with the A_
Signal
Address
x_
Y_
ATM clock
i
A_4on
3
3
A_M d_ta channel 2
3
4
A_
4
i
4
3
mode control number i
A_4 beginning
or end of tape
A_
data channel 3
It
I_
A_
mode control number 2
5
i
A_
data channel i
5
3
8-148 CONFIDIENTIAL
interface:
....
/
CONFIDENTIAL SEDR 300
_
AIM
COMPUTER
REPRODUCE
--ATM
DATA 3 (XLDAT 3)
ELECTRONICS
--ATM
DATA 2 (XLDAT
--ATM --ATM
DATA 1 (XLDAT 1) CLOCK (XLOCK)
f
2)
DISCRETE INPUT CIRCUITRY
END OF TAPE (XLEOT) i
ATM ON (XLON)
:
POWER SUPPLY
_
AUTO VERIFY/REPRO
AND CONTROL CIRCUITRY
=
AUTO WIND
-
-
(XCDVR)
ATM MODE
I (XHMSAI)
ATM MODE
2 (XHMSA2)
•AUTO VERIFY/REPRO (XCDVR)-
(XCDWD)
(XCDWD) --
AUTOREWIND (XCDRW) AUfO
(XCDRW)--
WRITE (XCDWT)
(XCDWT)--
AGE WRITE ENABLE (XHDWEN) MANUAL --MANUAL
VERIFY/REPRO ( REWIND (XHDRD)
• -
-
MANUAL WIND i
-
-
ATM MODE SWITCHEXCITATION (XLSVDC)
DISCRETE OUTPUT CIRCUITRY
i WRITE ELECTRONICS
COMP.
SHIFT (XCDSH)
COMP.
CLOCK
COMP.
DATA (XCDAT)
(XCDCLK)
J
PCDP
SWITCH
ATMMODE I ATM ERRO_ LIGHT
TO CONTROL CIRCUITRY
_
_ ATMATM ON/RESEToFF 11
ON/RESET SWITCH ATM
(XLERR) ! :
l _ATM
INDICATION ERROR INDICATION AIMRUNNING (XLRN)
i 28V MAIN BUS
CIRCUITRY -
LIGHT
f
Figure
8-38
FROM CONTROL
Computer-ATM-PCDP
Interface
(S/C
8-149 CONFIDENTIAL i
8 thru
12 Only)
CONI=mDENTIAL
PROJECT ..
GEMINI SEDR30O
_"-_
The following PRO instruction programming is associated with the ATM interface:
A_4 wind/rewind reset
_
i
ATM verify/reprogram cc_and
_
4
ATM wind c_J,.,and
5
1
ATM rewind command
5
2
The computer inputs from the ATM are m_mrized
(a)
as follows:
ATM clock (XLOCK) - A two millisecond pulse for each three-bit parallel data output frame, delayed 1520 microseconds from the nominal beginning of each frame. down level less than one volt.
Up level six to twelve volts;
Rise and fall times less than 20
microseconds each.
(b)
A_4 data 1 (XI_tT 1), data 2 (x_.n&T2), data 3 (_.n&T 3) Parallel NRZ data output on three lines at a rate of 200 bits per second on each line. + 2_ of normal.
(c)
Individual bit periods are written
Other specifications same as for data outputs.
End-of-tape (XLEOT) - A logic level from the A_d to the computer. An up level indicates that either end of the tape has been reached.
(d)
A_4 on (XLON) - A logic signal from the ATM to the computer.
An
up level indicates that the A_4 has reached proper operating speed in the read and write modes.
8-15o
This signal appears approximately
(;ON lelO_NTIAL
CONFIDENTIAL
SEDR 300
five seconds write.
after
a command
It is inhibited
when
is given!
to the AS
to read or
either lend of the tape
is reached.
!
The computer
outputs
(a)
Auto
to the AS
are summarized
verify/reprogram
through ATM.
(XCDVR)
the AUTO position
An 8 vdc signal
the record
or write
as follows:
- A c_and
of the AT
on this
line from the computer,
i
TAPE mode
llne _auses
mode in the forward I
switch,
the AS
direction
to the
to operate
in
at a nominal
i
tape
speed of i. 5 ips. i
(b)
Auto wind AUTO
(X_)
position
signal
- An 8 vdc signal 1from the computer of the AUX TAPE mode
causes
the tape to move
witch,
through
to the AS.
in the forward
the
This
direction
at a
i
nominal
tape
speed of 12 ips.
the read mode
(c)
Auto
rewind
during
(XCDRW)
the AUTO position signal
(d)
Auto
write
position used
tape
- An 8 vdc signal
of the AUX TAPE m_e !
speed
of 12 ips.
(XCDWT)
- A signal
of the AUXTAPEmode
Computer
data
internally
(XCDAT)
from the computer, switch,
in the reverse
in
switch,
through
to the AS. direction
from the computer,
by the A_M to set up internal
data can be recorded
(e)
functions
this operation_
causes the tape to move
nominal
The AS
to the A_.
This
at a
through
the AUTO
The signal
_ontrols such that
is
computer
on the tape.
- Groups
of fQur serial
NRZ data bits,
each
i group or frame totaling 1120 microsecondsduration at a rate of i
8-151 CONFIDENTIAL
OONFUDENTIAL
PRMINI SEDR 300
200
frames
level
per
Up level
less than one volt.
fall time
(f)
second.
Com_uter having
shift (XCDSH)
a period
microseconds;
frame.
(a)
(b)
14 volts;
down
pulses.
begin
Rise
- Serial pulses
than
seven
time less than
having
a duration
per second
15
of 18
or one per
280 or 560 microseconds
four in each frame.
Up level
after
is seven
the to
Rise time less than ten
fall time less than O. 5 microseconds.
- Computer
switch excitation
interfaces (XL8VDC)
are summarized - A nominal
from the ATM to the AUX TAPE mode
AGE write enable
(]C_]_N)
position
it to send a write
Manual
verify/reprogram switch
(XHDVR)
to the A_
at a nominal
command
tape speed
8-152 CONFmDENTIAL
8 vdc excitation
from the ATM, through
switch,
to the AGE to
to the ATM.
- An 8 vdc discrete
which
as follows :
switch on the PCDP.
- An 8 vdc discrete
of the AUX TAPE mode
enable
write mode
70 microseconds
Up level greater
level less than one volt.
- PCDP and PCDP
TAPE mode
each pulse
and spaced 141 microseconds
input pulses
are delayed
of bit number
the STANDBY
(c)
(XCDCLK)
beginning
voltage
down
fall time less than 0.4 microseconds.
These pulses
ATM mode
volts;
of four serial pulses,
each at a rate of 200 pulses
microseconds;
A_
Shift
of the da_
clock
microseconds
Additional
- Groups
down level less than one volt.
Computer
seven
time less than 15 microseconds;
of 139 microseconds
after the s_rt
(g)
than
less than ten microseconds.
from the next pulse.
volts;
Rise
greater
causes the A_ of 1.5 ips.
from the AUX
to operate
in the
CONFIDENTIAL
(d)
Manuel
wind
(X_WD)
- An 8 vac
discrete
from
the
AUX TAPE mode
l
switch
to
the
direction
(e)
Manual
ATM which
causes
at a nominal
rewind
tape
(XHDRD)
the
_e
to
move
in
a forward
speed of 112 ips.
- An 8 vdc diserete
from
the AUX TAPE mode
l
switch
to the ATM which
causes
the tape to move
in the reverse
;
direction
(f)
A_
on/reset
ON/RESET A_
switch
(a_ly
A_ When
(j)
This
power)
the ADX TAPE ERROR
sil hal will
or re-i_tiate
28 vdc signal
It causes
error indication
(XLERR)
ever the error
detection
between
- A signal logic
parity i
tape
speed.
causes
PCI_
to illuminate.
transmitted
(XI_)
to the PCDP
extin-
from the ATM to the PCDP
circuits
from the data
running indication
while
from the AUX TAPE OFF-ON/RESET i
bits that are generated
A_
operation
initiate
the AT_ to cease operation.
the recorded
The signal
either
indicato r on the PCDP.
to the A_.
a disagreement
of if2 ips.
28 vdc si_hal from the AUX TAPE OFF-
to the A_.
ATM OFF - A momentary switch
(h)
tape speed
- A momentary
operation
guishing
(g)
at a nominal
the AS
in the A_I_ indicate
bits and the parity
during playback ERROR
indicator
at either on the
- A signal from the ATM which is
five seconds
after
the A_
is comm_nded
i
to operate indicator signal
in any mode. on
the
P_DP
is terminated
This
whenever when
signal iilluminates the A_ RUN i the tape is in motion. The
either
8-153 CONFIDISNTIAL
end of the tape is reached.
CONFIDENTIAL
PROJECT" __
GEMINI
SEDR300
(k)
Two mode controls (XHMSAI and XHMSA2) - Mode control signals supplied to the computer from the AUX TAPE mode switch on the PCDP.
The signals define the A_
mode selection.
MODE POSITION
XHMSAI
XH_A2
AUTO
i
i
REPRO
0
i
All Others
0
0
pilots' Control and Display Panel (PCS)P),(Figure8-39 ) The following CLD instruction programming is associated with the PCDP interface:
Signal
Address X
Y
Computer modei
i
I
Computer mode2
0
i
Computer mode 3
3
I
Startcomputation
i
2
Abort transfer
7
1
Fade-in discrete
6
1
8-19_ CONFIDENTIAL
CONFIDENTIAL
I
!_-_
PROJECT
PI LOTS' CONTROL DISPLAY PANEL
GEMINI
AND
DIGITAL
COMPUTER
POWER
COMPUTER
COMPUTER ON (XHONP)
ON-OFF SWITCH
COMPUTER OFF (XHOFF)
I
CIRCUITS I
SEQUENCING
COMPUTER MODE
COMPUTER MODE
2 (XHMS2)
SWITCH
COMPUTER MODE
3 (XHMS3)
!
i START COMPUTATION SWITCH
COMPUTER MALF. RESET SWITCH
/_--"
I J
START COMPUTATION
(XHSTC)
j DISCRETE iNPUT LOGIC
MALFUNCTION
RESET (XHRST)
I
RELAYS
FADE_IN
DISCRETE (XHSFI)
RUNNING LAMP J
COMPUTER
COMPUEER RUNNING
I
TO COMPUTER CONTROL SWITCHER _
(XCDCOMP)
DISCRETE OUTPUT LOGIC
SWITCHEXCITATION (XCDHSME) _ +8VDC
Figure
8-39
Computer-PCDP
Interface
8-]55 CONFIDENTIAL
i
i
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
The following PRO instruction programming is associated with the PCDP interface:
Si_/e-I
Address X
Y
Computer malfunction
4
3
Computer running
5
0
Reset start computation
2
6
The computer inputs from the PCDP are m_._,_rizedas follows:
(a)
Computer on (XHONP) and computer off (XHOFF) - These signals from the COMPUTER ON-OFF switch control computer power.
(b)
Computer mode - The computer receives three binary coded discrete signals from the COMPUTER mode switch, to define the following operational modes:
Mode
Computer Mode i (m_Sl)
Computer Mode 2 ,(XHMS2)
Computer Mode 3 _Xm_3)
Pre -launch
0
0
I
Ascent
0
i
0
Catch-up
0
i
i
Rendezvous
i
0
0
Re -entry
i
0
i
(c)
Start computation (NNSTC) - This signal from the START pushbutton switch starts the closed-loop rendezvous operation and initiates re-entry calculations.
8-1% CONFIDENTIAL
CONFIDENTIAL
SEDR 300
Id)
Malfunction function pilot
(e)
reset
(_ST)
SESET switch uses
the
- This
signal
the
c_uter
resets
swit@h to
Abort transfer (XH_T)
test
for
fr_
the
c_puter
malfunction
a _ransient
mal-
latch.
The
failure.
- The signal aut_natlcally switches the
cc_puter from the ascent mode to the re-entry mode.
(f)
Fade-in descrete (_HS_) to the ac_ulator
(g)
The computer
via the discrete i_Lputlogic.
28 vdc unfiltered (_P28rmF)
outputs
(a)
- This signal fron a relay is supplied
to
the
PCDP are
s,_m_-_rized
as follows:
- This pr(,_-controlled
CcRputer r-n_Ing (_)
signal lights
the computer r,_nningl_mp which is tu:edas follows:
(1)
Pre-launch:
The COMP (c_]_uter x-m-_ng) lamp re_ains
off during this mode, except during m_ssion simulation I when its operation is governed by the mode being simu_ted,
(2)
Ascent:
i
The CaMP lamp turns on following Inertial i
Pl_tform release.
The lamp remains on for the duration
of the mode, and then turns off.
(3)
Catch-up: button duration
The caMP lamp l_ghts [
switch
is
of the
depressed
the
START push-
i The lamp remains ! mode_ ana then turns off.
8-157 CONFIDENTIAL
after
on for
the
CONFIDENTIAL
PROJECT
(4)
Rendezvous: button
GEMINI
The COMP
switch is depressed.
mode, operation readings when
(5)
Re-entry:
in this mode.
switch
is depressed
calculations
malfunction
built-in
(c)
Switch
lamp.
timing
the COMPUTER malfunction
Incremental
Velocity
The IVI contains
three
along the s_acecraft
Power
is
applied
to
the
IVI
- This
the computer
(SXDHSME) switch,
RESET
switch.
off
- This
and then turns
signal turns diagnostic
computation
off.
on the com-
program,
actuates
dc excitation
the START
The lamp remains
a
the signal.
is suppled
to
switch and the
(M),,, (,Figure 8-_0),
incremental
ments
The lamp turns
to zero.
of the mode,
check, or an AGE command
mode
Indicator
by the radar
or when time to start
is equal
(XCDMAL-A)
Either
excitation
of the
is terminated.
on for the duration
puter MALF
For the remainder
The COMP lamp lights when the START push-
re-entry
Computer
the START push-
of the 1Amp is dictated
that occur
the mode
button
(b)
lamp lights after
velocity
counters
that display
velocity
incre-
(body) axes.
whenever
the
computer
the
application
is
turned
on.
During
the
first
\
30-second cally
period
references
recognizing
(or
less)
its
counters
computer
following to
zero.
After
signals.
8-158 CONFIDENTIAL
this
of period,
power, the
the
IVI
M
is
aut_ticapable
of
CONFIDENTIAL .V-_
SEDR300
DIGITAL
COMPUTER
INCREMENTAL INDICATOR
VELOCITY
xwxwI -X DELTA VELOCITY
(XCWXVM)
X SET ZERO (XCDVIXZ)
I I J
CHANNEL
I
PROCESSOR
CHANNEL Y SET ZERO (XCDVIYZ) +Y
DELTA VELOCITY
-Z DELTA VELOCITY
(XCWYVP)
|
I
(XCWZVM)
Z AXIS CHANNEL
Z SET ZERO (XCDVIZZ)
'
DISCRETE OUTPUT LOGIC
-I
.--_
' DISCRETE INPUT LOGIC
1-
I
I !
Y ZERO INDICATION
(XVVYZ)
Z ZERO INDICATION
(XVVZZ)
X ZERO iNDICATION
(XWXZ)
I = _'
1 I
DC RETURN (XCDCRT)
1
+27.2
i
VDC (XSP27VDC-B)
RETURN (XSSVDCRT) I
J
I
+5 VDC (XS5VDC)
PROM IGS POWER SUPPLY
Figure
8-40
Computer-IVI
Interface i !
8-159 CONFIDENTIAL
i
I
m
CONFIDENTIAL
PROJECT-'G'EMINI ____
SECIR 300
The M _it,
counters
by means
or they can be set aut_atic-1_y
i_it_1_y These
can be set manually
set, _ey
p-!_es
cca_uter
l_rmits
set zero lines.
t_le computer
tion and dlspl_
The followi_
counters
A feed-back
CI_ instruction
velocity
kuobs
on the front
of the
After
the counters
are
pulses
displ_ed
signal, counter
from the c_er.
by the counter.
to zero by providing
to test for the proper
of a computed
velocity
the indications
can set the individual
each of three
by the cc_puter.
are driven by incremental
are used to _date
of control
denoting
The
a 20 usec pulse zero counter
reference
prior
on
position,
to the inser-
increment.
progr_-.,i.ng is associated
Signal
with the IVI interface:
Address
x_ X zero indication
i
3
¥ zero indication
5
2
Z zero indication
6
2
Velocity
2
2
The following
error count not zero
PRO instruction
progr_m_
is associated
Sisal
with the M
A_dress
x_
X
X counter
2
i
Select Y counter
3
I
Drive
counters
1
i
Write
output
5
3
Select
to zero
processor
8-16o CONFIOENTIAL
interface:
CONFIDIENTIAL
SEDR 300
_| i
i
The computer
supplies
_hree
s_nAl_
to
I1/I,
the
one
_or
each
counter,
that
are
i i
used
to
position
the
sets DOll minus
counters
to
zero.
To generate
and sets DO12 and D013
these
signals,
the
as follows:
X set zero
Minus
Plus
Y set zero
Plus
Minus
Z set zero
Minus
Minus
The IVI provides
three
feed-back
program
signals
to the cc_uter
D.125,
(DI31,
and D126)
!
to indicate
that the counters
are zeroed.
The program i
tests
the individual
i counters
for zero position
before
attempting
to drive
them to zero.
; The output processor increments line
provides
a timed
along the spacecraft
is time-shared
two's-co_-_lement
output to the IVI that
axes.
One output
c_annel i
represents
velocity
(phase 2) on the dels_
among the X, Y_ and Z counters.
form)
are written
on the del_y
! Incremental velocities (in i I line during phase 2 from acct_-
J ulator
bit positions
are set no more than
S_ and i through i ms before
12.
Discrete joutputs DOI2
the PROB5
operation,
select
and DOI3,
the proper
which
velocity
signal as follows:
S
nal
X velocity
MinUs
Plus
Y velocity
Plus
Minus
Z velocity
M_nv_
Minus
s
Once data is written for data during
on the del_
line,
bit times BTI through
the output
BTI2.
Of the del_y
Any bit sensed
8-161 CONFIDENTIAL
i
line
during
is sensed
this
time in-
CONFII)imNTIAL
PROJECT
GEMINI
SEDR 300
dicates bit
the
presence
(BTI_)
during
and a pulse
is
phase
Zf the is
_
buffer
the is
recirculated
addressed
set
The c_uter
zero
(a)
if
the
data during
affecting
velocity
se_
s_proximate_y
either
and a count
plus
the
_0_ate
cycle,
the
data
The zero
During
this
offt
velocity
added to
on the
output data
sign
ms
by a count
magnitude
the
21.5
either
the
is
every
of one is
decrease
_
with
or minus.
to
magnitude.
alcag
of
dels_
of the has
one. line
buffer
been
or
is
count-
can be processed.
is at the zero position.
Y zero indication (XVVYZ) - The down level signifies that the Y chanis at the zero position.
Z zero indication (XVVZZ) - The down level signifies that the Z channel of the M
is at the zero position.
The cc_puter outputs to the M
(a)
s_led
a buffer
X zero indication (XVVXZ) - The down level signifies that the X chan-
nel _f the M
(c)
is
into
inputs fr_n the IVX are su_aarlzed as follows:
nel of the M
(b)
its
discrete
next
is
buffer
line zero
t"_en gated
buffer
initiated
When this
and the
is
is
delay to
which This
cycle
without
as DI_.
ed down to
2.
generated
ssme time 2 an update subtracted
of data
are s_narized
sa follows:
+X delta velocity (XCWXVP) - The up level denotes that the X channel should change by one foot per second in the fore direction.
(b)
-X delta velocity (XCWXVM) - The up level denotes that the X channel should change by one foot per second in the aft direction.
8-162 CONFIDIKNTIAL.
CONIFIDI_NTIAL
SEDR 300
(c)
X set zero
(XCDVIXZ)
- The up level
drives
the X channel
to the
zero position.
(d)
+Y delta velocity nel should
(e)
(f)
(XCg_/VP) - The up level
change by one foot per second
-Y delta velocity
(XC_T/VM) - The up level
nel should
by one foot per
change
denotes
that the Y chan-
in the right
denotes
direction.
that
the Y chan-
second in the left direction.
Y set zero (XCDVIYZ) - The up level drives the Y channel to the zero position.
(g)
-Z delta velocity
(XC]¢ZVP) - The up level
denotes
that the Z chan-
i
_-_
nel should change by one foot per second in the down direction.
(h)
-Z delta velocity channel
(i)
should
(XC%IZVM) - The up level
denotes
change by one foot pe r second
that
the Z
in the up direction.
Z set zero (XCDVIZZ) - The up level drives the Z channel to the zero position.
Instrumentatlon The
computer
ditioning provided
S_stem
is interfaced
equipment
computer
8-41)
with the multiplexer
of the Instrumentation
to the signal
sent upon request
Certain
(Figure
conditioning
data,
System.
equipment,
to the multiplexer
as described
encoder
encoder
and
unit and the signal
COntinuous stored
analog
digital
con-
data is
quantities
are
unit.
below,
is continually
signal
conditioning
made
available
to the
i
signal
conditioning
data for multiplexing
equipment.
_e
and analo6-to-digital
conversion
unit. 8-163 CONI=IDI=NTIAL
equipment
conditions
by the multiplexer
this
encoder
CONFIDENTIAL i_.-_
SFDR 300
DIGITAL
COMPUTER
INSTRUMENTATION SYSTEM
PITCH ERROR (XCLPMBD)
=
RETURN (XCLPMBDG) ROLL ERROR (XCLRMBD) LADDER LOGIC
m
RETURN (XCLRMBDG)
m
YAW ERROR (XCLYMBD)
l
RETURN (XCLYMBDG)
SEQUENCING CIRCUITS J
=
POWER
I
SIGNAL CONDITIONING EQUIPMENT
COMPUTER OFF tXCEOPFD)
COMPUTER MALFUNCTION SEC. STAGE ENGINE
(XCDMALD)
CUTOFF (XCDSSCRT)
COMPUTER MODE I (XCDMSID) COMPUTER MODE
2 (XCDMS2D)
COMPUTER MODE 3 (XCDMS3D) + 27.2 VDC (XCDP27D) DISCRETE OUTPUT LOGIC
+ 9.3 VDC (XCDP9D)
SSHFT ULS S XCOAS:1P
RETURN (XC DASSPG) IS DATA (XCDASD)
RETURN IXC DAS DG)
-F 8 VDC
•
+8VDC
•
J
ENCODRR 15DATA SYNC EXCIT. (XCDTDSE)
INPUT LOGIC
IS DATA SYNC
(XTDS)
IS REQUEST EXCIT. (XCDTRQE)
Figure
8-41
Computer-IS 8-164
CONFIDENTIAL
i
Interface
J
MULTIPLEXER
CONFIDENTIAL
PROJEI (a)
Computer
modes -
monitored
The mode
to determine
signals
that the computeri
for a partlcularoperational
(b)
Computer
input power
the computer
(c)
Computer
mission
- The 27.2
by the IGS Power
running
transmitted
was in the correct
are
mode
phase.
vdc and 9.3 vdc inputs
Supply
- The computer
to the computer
are monitored
running
discrete
supplied
to
via the computer.
output
is monitored
and recorded.
(d)
Computer
malfunction
monitored
(e)
Attitude
data word
of Instrumentation the computer
The following System
mode
malfUnction
errors:
yaw,
and roll ac analog
and recorded.
locations
System
The pitch,
output
in the computer
data.
Data
attitude
errors
stored
memoryiare
in these
allocated
locations
for the storage
is dependent
upon
of operation.
CLD instruction
programming
is associated
with the Instrumentation
interface: Address X m
Y
Instrumentation
System
request
7
0
Instrumentation
System
sync
2
1
The following
is
!
Signal
PRO instruction
progr_ng
is associated
f
System
discrete
and recorded.
are monitored
Twenty-one
- The computer
interface:
8-165
CONFIDENTIAL
with
the Instrumentation
CONFIDENTIAL
PRINI SEDR 300
Si_al
Address
Instrumentation control
Every
System
input
gate
(DI07).
sync discrete
(a)
program
If the discrete
input
DII2 m_nus
- The program
21 locations.
mode,
input
is given.
This instruction bit positions
supplied
by one and the contents
(a)
buffer
location
instructions.
advance
the program
quantities
System
are placed correin o con-
shift pulses
System.
sequential
counter
counter buffer
is incremented location
Instrumentation
until
all
are
System System
21 Instrumentation
are tranmuitted.
System
request
8 -166 CONFIDENTIAL
System
(XTRQ)
of
23 to be
Twenty-four
program
Subsequent
inputs from the Instrumentation
Instrumentation
buffer
Then a PROIO
S, and i through
System.
of the next
according
of the data word
in the accu_nulator and sent to the Instrumentation
via the PROI0
The computer
request
causes the information
to the Instrumentation
- An Instrumentation
values,
System memory
of the accumulator.
are also
System
System
the Instrumentation
specified
so that the sign position
to the Instrumentation
requests
current
of the first
supplied
placed
minus,
in an Instrumentation
in accumulator
DII2 plus
is tested
stores
sponds to the sign position
(b)
i
tests the Instrumentation
The contents
in the accumulator
tained
0
(DII2) is tested as follows:
to the computer
struction
Y
System
50 ms or less, the computer
discrete
x_
are svmmarized
- An up level
as follows:
on this line
CONFIDENTIAL
PROJECT
GEM!
..,oo
N| ;
signifies that the Instrumentation System requires a computer data i word.
The word is transferred from the computer within 75 ms of i the request. Requests can occur at rases up to I0 times per second.
(b)
Instrumentation System data sync (XTDS
- An up level on this line
signifies the beginning of the Instrumentation System data transfer operation.
The computer outputs to the Instrumentation System are summarized as follows:
(a)
Instrumentation System shift pulses (XCDASSP) and return (SCDASSPG) ! This series of 2_ pulses causes Instrusentation System data to be I !
transferre_
(b)
to the Instrumentation
System buffer.
Instrumentation System data (SCDASD) and return (XCDASDG) - These ! l 2_ hits of data are transferred1in synchronism with the Instrumentation System shift pulses.
(c)
Instrumentation
System request excitatlon (SCDTRQE) - This +8 vdc
signal is the excitation
for the Instr _entation
System request
signal.
(d)
Instr_aentation System data sync excitation (SCIEDSE) - This +8 i vdc signal is the excitation for the Tnstrumentation System data sync signal.
(e)
Monitored signals - The following signals are supplie& to the iI Instrumentation System for monitoring purposes: i (i)
Pitch error
(X_)
an_ return (XCI_MBDG) i
8-167 CONFIDENTIAL
i !
CONFIDENTIAL SEDR 300
PROJECT GEMINI
DIGITAL COMPUTER
AEROSPACE GROUND EQUIPMENT
DIGITAL
COMPUTER
AGE REQUEST (XURQT)
AGE INPUT DATA (XUGED)
DISCRETE INPUT LOGIC
MARGINAL
TEST (XUMRG)
m UMBILICAL DISCONNECT
,¢
CONTROL LOGIC J
SIMULATION
(XUMRDC)
MODE COMMAND
(XUSIM)
COMPUTER HALT (XUHLI) _
RETURN (XS26VAC RT)
I
26 VAC (XS26VAC) +28 VDC FILTERED (XSP28VDC)
AGE DATACLOCK(XCDGSEC)
,
RETURN (XSP28VDCRT) FROM IGS
AGE DATA LINK (XCDGSED) DISCRETE OUTPUT LOGIC
COMPUTER MALFUNCTION
AUTOPILOT
SCALE FACTOR
• (XCDMALT)
•
(XCDAPSF)
=l
SEC. STAGE ENGINE CUTOFF (XCDSSCF) m i
+27.2
VDC (XSP27VDC)
RETURN (XSM27_/DCRT)
+20 VDC (XSP20VDC)
+9.3
VDC (XSPgVDC)
POWER LOSS SENSING
PITCH ERROR (XCLPDC)
ROLL ERROR (XCLRDC)
LOGIC LADDER
m
YAW ERROR (XCLYDC)
POWER SUPPLY
(XQBNEI)
FROM AUX. COMP. POWER UNIT
+28 VDC UNFILTERED (XSP28UNF)
11
,_
ABORT TRANSFER (XHABT)
(
CONTROL AND FROM PILOT'S
_
FADE-IN
I
DISPLAY PANEL
DISCRETE (XHSFI)
RETURN (XCLDCG)
+25 VDC (XCP25VDC)
-25 VDC (XCM25VDC) POWER REGULATORS
+8 VDC (XCPSVDC)
RETURN (XCSRT)
=--
A
m
Figure
8-42
Computer-AGE 8-168
CONFIDENTIAL
Interface
CONFIDENTIAL
_.
SEDR300
(2)
Roll
error
(SCIP_BD)
and retur_
(X_)
(3) Y_ e_or(xcT.-_mD) andre_i (X_) i
(_)
Computer off
(XCEOFFD)
i
(_) C_ter ma_u_otlon(XC_T_)i (6)
Second stage engine cutoff (XCDSSCPr)
(T)
Computer mode i (XCDMSID)
(8)
Computer mode 2 (XCDMS2D)
(9)
Computer mode 3 (XCSMSSD)
(zo)+zr.2 vdc(XCDPZrD) (ll) +9.3 vdc (XCDPgD) Aerospace
,Grcund Equipment
(AGE) Figure 8-_2)
The AGE determines spacecraft-installed computer stat_s by being able to read and i display the contents of any memory location, initiate i _nd terminate marginal tests of the memory timing, and co._and the computer to con_tion
the computer malfunc-
i
tion circuit.
These tests are accomplished by a hard-wlred computer/AGE data !
llnk. i
In conjunction with a voice link to the spacecraft, the AGE can control the I various computer modes of operation to determine the _tatus of the computer and its interfaces. computer
To aid in localizing failures, the AGE monitors the following
signals: (a)
All input and output voltages _
(b)
Second stage engine cutoff
(c)
Autopilot scale factor
(d)
Roll error command
(e)
Yaw errorcommand
(f)
Pitch error command
(g)
Computermalfunction
(to _tan
_.
Autopilot)
i!
In addition, the AGE provides two hard-wlred inputs to the computer to reset the malfunction memory
circuit and halt the computer and to forcei a marginal
t_m!ng.
check of the
Early and late strobing of the memory iis effected using the corn8 -169 CONFIDENTIAL
CONFIDENTIAL
PROJEMINI _.
$EDR300
puter/AGE data link.
The following CLD instruction progra_n_ng is associated with the AGE interfaces: Signal
The following
Address X
Y
AGErequest
2
3
AGEinput data
7
2
Simulation mode CO.And
_
2
Umbilicaldisconnect
6
3
PRO instruction
progr_-._ng
is associated with the AGE interface:
Signal
Address X
Y
AGEdatalink
2
2
AGEdataclock
3
2
Computer m_ifUnction
4
3
Memory strobe
0
6
Autopilotscalefactor
1
6
Second stage engine cutoff
4
6
The AGE program commences when the AGE request (C132) is tested minus.
To receive
the 18 bit AGE data word, the program repeats the following sequence of operations 18 times:
(a) Turn on AGE data clock (D023)
(b) Wa t
8-17o CON FIDINTIAL
CONFIDmNTIAL
SEDR300
(c)
Reset AGE data clock
(D023)
(d) w_t Z._mB (e) _eadAG_inputdata(Dx2?) (f) w._tz._ ms The
above sequence
causes
the 18-blt
ter and Into the computer. the r_ining
i_ bits
The first _ bits
are data.
The coding
of the _E
out of the AGE regis-
word
of the _ mode
are mode
bits
Bits
0
0
0
0
None
0
0
0
1
Read ar_ word
0
0
i
0
Set marginal
earl)-
0
0
i
i
Set cumputer
malfunction
0
I
0
0
Set marginal
late
0
i
0
i
Set pitch
0
i
i
0
Set yaw ladder
0
i
i
i
Set roll ladder
i
0
0
0
Set all ladder
the I_ data bits
ladder
of the AGE word
output output outputs
are as follows:
15
Z_ 13
12
LI
l0
9
s5
s3
s2
Sl
A8
A7
A6
A5 A_ A3 A2
A9
A8 define the address
clock pulse
timing,
of the requested
Sl throush
S_ define
8
8-ZTZ i
7
6
5 A1
data, A9 sets up AGE
the sector
CONI_IO=NTIAL
on
output
16
where A1 through
s/id
Mode
Z8 lT s_
bits,
is as follows:
Mode
In the read any word mode,
internal
AGE word to be shifted i
of the requested
CONFIDENTIAL
SEDR300
data,
and
S5 defines
mines
the
requested
located bit
in
of
syllable
data
the is
times.
data
syllables
requested and
the
and
is
last
13
bits
sent
to
the
There
is
(a)
Set
(b)
Turn
it
are
syllable
data
from
_-5
requested
the
sent
AGE.
to
the 2_
the
the
data. the
If
bit
the
13 bits
first
following
of
the
syllable
bit
clock
to
18
If
AGE are
first). of
is
high-order
0.
sent
deter-
data
with
sequence
resetting
computer
requested
2 (high-order
ms between
The
AGE starting
iOn-order
syllable
executing
of
the
to
with
in
AGE by
a dels_
it is
finishing
located
of
sends
0 and 1,
1 and
data
syllable(s)
____
O's,
Requested
operations and
the
setting
26 clock
19. AGE data
link
on AGE data
(D022) clock
from
accumulator
sign
position
(D023)
....
(c) wait2.5 ms Reset AGEdataclock(D023)
(d)
(e) waitz ms (f)
Reset
AGE data
link
(I)022)
(g) waiti ms In the set marginal _unction
with the marginal
of the co_uter
malfunction
test
sets DO60 on.
signal provided
This
signal,
by the AGE, causes
early
in constrobing
memory.
In the set computer
m-leunction
on mode_
the computer
sets D03_
on to check the
indication.
In the set marginal Junction
earl_ mode, the computer
late mode, the computer
with the marginal
test signal,
sets D060 off.
causes late strobing
memory.
8-m72 CONFIDENTIAL
This
signal,
in con-
of the computer
CONFIDENTIAL
SEDR 300
In the set ladder outputs modes, the i_ data bits of the AGE word are as follows:
18
17
16
15
i_
13
12
S
D6
D5
D4
D3
D2
D1
]I
io
9
8
7
6
5
0
0
0
0
0
0
0
where D1 throuEh D6 are data bits and S is the sign bit.
The data and sign bits
are used to control the ladder outlmr_indicated by the i4 associated mode bits. The nmnber is in t_o's-cumplement form where DI is the iow-°rder data bit.
The computer inputs from the AGE are su_.arized as follows:
(a)
AGE request (_)
- An up level signifies that the AGE is read_ to
transfer a message to the computer.
(b)
AGE input data (XUGED) - An up level denotes a binary i being tr,n-ferred from the AGE to the cumputeri
(c)
Marginal test (XI_dRG)- An up level, in conjunction with the proper AGE message_ causes the ccm_uter m_mory Liming to be m-_gin-lqy tested.
(d)
Umbilical dlscomnect (_DC)
- An open circuit on this line signi-
fies that the Inertial Platform has beenireleased (or that the torquing signals have been removed).
The Inertial Platform then
enters the inertial mode of oper_ion
and the ccmrputerbegins to
perform the navigation guidance portion of its ascent routine.
_-
(e)
Simulation
mode ec_ud
(XUSIM) - This
c_end
causes
the
c_uter
to operate in a slmulated ,-ode as determined by the COMP_I_R mode switch. 8-173 CON_'IDENTIAL
CONFIDENTIAL
SEDR 300
(f)
Computer halt (XU}_T) - An up level resets the computer malfunction circuit and sets the computer halt circuit.
The computer outputs to the AGE are summarized as follows:
(a)
AGE data clock (XCDGSEC) - This line reads out the AGE register and synchronizes
(b)
AGE data link (XCDGSED) - An up level denotes a binary l being transferred
(c)
the AGE with the AGE data link.
from the computer to the AGE.
Computer malfunction (XCDMALT) - An up level indicates that the computer malfunction latch is set.
The latch can be set by the computer
diagnostic program, a timing error, program looping, or an AGE command.
(d)
Monitored signals - The following signals and voltages are supplied to the AGE for monitoring or recording purposes:
(i)
Autopilot scale factor (XCDAPSF)
(2)
Second stage engine cutoff (SCDSSCF)
(3)
Pitch error (XCLPI_)_ l
(5) (4)
Rollerror error(XCLYDC) (XCLRDC) Yaw
_
and common return (XCLDCG)
(6) +25v c(x P2mc (8) +8 c (xcPSV ) (7) -25vde (XCM25VDC)_
8-1"_ CONFIOIEN'rlAL.
and co_on return (XCSRT)
8-175 CONFIDENTIAL
CONFIDENTIAl-
PROJECT
GEMINI
_SEDR 300
__
SYSTEM _SCRXPA_ _ Purpose... The Manual Data consists
Insertion
of the Manual
(Figure 8.dl_), The MI_U
Unit, hereinafter
Data Keyboard
hereinafter
enables
referred
the pilot
referred
(Figure
8-43)
to as the _fl_U, physically
and the Manual
Data Readout
to as the MDK and the MIIR, respectively.
to insert data into,
and read data from, the com-
puter memory.
rfo ee Data Insertion Before cleared
data is set up for insertion from the _
by pressing
Then the data
insert push-button
digit decl,ml
nmaber.
of the computer five digits
cally supplied the address on the MDR. pressed
Data Before
to
the CLEAR switches
The first two
memory
specify
into the computer,
location
the data itself.
to the computer
store
the
data
in
from
the
the
on the _
switch
the data
data
is
on the MDR.
are used to set up a 7-
from the left specify
the address
is to be stored,
and the last
As the data is set up, it is automati-
accumulator.
and data is made by means After verification,
push-button
digits
in which
all existing
A digit-by-digit
of the ADDRESS
and MESSAGE
the ENTER push-button selected
memory
verification
switch
display
of devices
on the MDR is
location.
Readout data
is
MD_U by pressing
read the
computer,
CT._AR push-button
all
existing
switch.
CONIPlOIN'rlAI..
data Then
the
is data
cleared insert
from push-
the
CONFIDENTIAL __.
SEDR 300
PROJECT
____
GEMINI
•,=,"_
=
LEGEND
t1_Mi
NOMENCLATURE
_
DATA INSERT PUSH-BUTTON
CONNECTOR J1
Q
Figure
8-43 Manual
Data
IDENTIFICATION
Keyboard
8-177 CONFIDENTIAL i
PLAI'E
SWITCHES
CONFIDENTIAL
__
PROJECT
SERIALW0
GEMINI
PARTN0
L_I_'ERNAT_NAL BUSINESS MACHINES CORP U¢0ONNKU. SCO MOe_L CONTACT MANUAL ....
_--]
iTEM
DATA uS READOUT
NOMENCLATURE
LEGEND DISPLAy DEVICES MESSAGE
0
ADDRESS AND
Q
ENTER PUSH-BUTTON
(:_ 0
READ OUT RUSH-BUTTON SWITCH CLEAR PUSH-BUTTON SWITCH PWR (POWER) TOGGLE
Figure
8-44 Manual
(_
CONNECTOR
O
IDENTIFICATION I
Data Readout
8-178 CONFIDENTIAL
SWITCH
SWITCH
JI PLATE
CONFIDENTIAL-
SEDR 300
button
switches
specify
the
read.
are
used
address
of
the
A digit-by-digit
ADDR_S on the
display MDR is
and
displayed
__
Physical
devices. pressed by the
computer
memory
After and
the
of
is
The _
the
dlspl_
address
from
External
Controls
and
and describes
made
READ _'_ the
data
digits
is
by moans
to
of
push-button
Selected
be
the switch
memory
location
devices.
wide, and 5.51 inches
inches high,
characteristics
8-45.
which
two
deep.
on Figure
It weighs
8-43.
The
1.36 pounds.
major
external
charac-
legend.
Description
external
The controls
is
The
Description
is 3.26
3.15 pounds.
from
the
read
n_mber.
location
verification, data
_n_SAGE
deelual
are s,,,,_rized in the accompanying
Physical
SYSTEM
up a 2-digit
views of the MEK are shown
teristics
Figure
set
verification
The MIE is 3.38 inches External
to
5.01 inches wide,
views
and 6+41 inches
of the MDR are shown
are s,-m-rized
on Figure
in the accompanying
deep.
8-44.
It weighs
The major
legend.
Indicators and indicators
located
The accompanying
on the MDK and MDR are illustrated
legend
identifies
the controls
on
and indicators,
their purposes.
OPERATION
Power The MDIU This
receives
all of the power
power consists
required
of th e following
for its operation
regulated
8-179 CONFIDENTIAL.
dc voltages :
from the computer.
CONFIDENTIAL SEDR300
.,----.
o c•o
LEGEND ITEM
NOMENCLATURE
PURPOSE D_SPLAY ADDRESS AND MESSAGE SENT TO COMPUTER DURING
O
Q
Q
ADDRESS AND MESSAGE DISPLAy
ENTER PUSH-BUTTON
SWITCH
CLEAR PUSH-BUTTON
SWITCH
READ OUT PUSH-BUTTON
Q
(_
PWR (POWER) TOGGLE
DEVICES
SWITCH
Figure 8-45
DURING OPERATION TO BE STORED IN MEMORY. PROVIDESENTER MEANS FOR CAUSING MESSAGE SENT TO COMPUTER UP BY MDKMEANS TO BE CLEARED OR CANCELED. PROVIDES FOR CAUSING ADDRESS AND MESSAGE SET
SWITCH
DATA INSERT PUSH-BUTTON
ENTER OPERATION; DISPLAY DURING ADDRESS READOUT SENT TO, OPERATION. AND MESSAGE RECEIVED FROM, COMPUTER
SWITCHES
Manual
OF COMPUTER ANDFOR DISPLAYED MESSAGETODISPLAY PROVIDES MEANS CAUSING BY MESSAGE BE READDEVICES. OUT POWER TO MEANS MDK AND PROVIDES FORMDR, CONTROLLING
APPLICATION
OF
PROVIDE MEANS FOR CAUSING ADDRESS AND MESSAGE TO BE SENT TO COMPUTER TO BE DISPLAYED BY ADDRESS AND MESSAGE DISPLAY AND DEVICES.
Data Insertion Unit Front Panels 8-180 CONFIDENTIAL
CONFIDENTIAL
PROJECT
.,
(a)
+25 vdc
_
(b) -25 (c)
it is not actually
filtered
on.
and common
return
J
+8 vac and return
This power is available
is turned
GEMI
SEDR300
at the MDIU whenever
applied
When
to the MDIU
power is turned
by a capacitor
network
the computer
circuits
until, the PWR
on at the MDR,
and supplied
is turned
on.
However,
switch on the MDR
the regulated
dc voltages
are
to the MDK and MIR circuits.
Flow (n re 8-6) The MDK has ten data select
the address
or from which are numbered
insert
of a computer
to binary
values,
called the insert
in the computer.
coOed decimal
(Figure
values
button
display
devices
push-button
switches
data
insert
push-button
switches
The command
push-button
switches,
the
data
switches
that
has
all
supply
are used to
data is to be stored
data, !the push-button
encoder
is used
switches
to convert
their
can be used by the computer.
are supplied Ito the insert
encooer
also
input
devices
are used to display on the MDK,
develops
logic of
set
inputs
up is to
the
and three
These
serializer
the data available
the computer.
called H_TER, into be
discrete
input
8-181 CONFIDIENTIAL
switches. insert
the data set up by the
from a computer
memory
location.
READ !OUT, and CT._4R, are used
or read
cleared
push-button
Set up by the data
either
or the data read
to
Cnmm"nd
the address
and to display
data is entered
been
in Which
that
switches
8-47)
The display
whether
location
to the discrete
The I_R has seven digital
to determine
These
For storing
data signals,
The insert
is supplied
Flow
switches.
the insert button
outputs
M_R.Data
memory
data is to be read. decimally,
signal which
push-button
(or
out of the computer, canceled). logic
of
These the
computer.
or whether
push-button Since
CONFIDENTIAL
_-_
PROJECTSEDR 3OOGEMINI
_,_.._.
DATA INSERT SWITCHES
J_
O
;
_
2
,
_-
/
ZERO
C
_
C
_
C
_
I
AVAILABLE CIRCUIT DATA
__1
• I
INPUT LOGIC TO DISCRETE
|
_
CIRCUITINSERT DATA l
_
INSERT DATA 2 CIRCUIT
3
:
•
4
• 5 ;
•
O
INSERT BUTTON ENCODER
L
I 1
8
O
C
_
Figure
_
8-46
Manual
INSERT DATA 8 CIRCUIT
Data
Keyboard
8-182 CONFIDENTIAL
Data
Flow
_, "--" TO INSERT ' SERIALIZER
CONFIDENTIAL
PROJECT
GEMINI
DRIVE
i
CONTROL CIRCUIT
i
i DEVICE SELECT CONTROL
I _
i
INSERT DATA 2
i
CirCUIT
I
CIRCUIT
U
J i
_
O_
_" U w O _ _ _- _ _
DEVICE b
_, N MBER
DEVICE
SELECT CONTROL 2 CIRCUIT
_
SELECT CIRCUIT
DISPLAY DEVICES
_
SE ECT CI CUlT
DEVICE SELECT CONTROL CIRCUIT
INSERT _
DATA 4 CIRCUIT
iNSE'RT 4
:
DATA 8 CIRCUIT
i I i I
i i
Ji READOUT
i rZZl
O
C
_ J CIRCUIT
J
CLEAR
O
C
-_
I
CIRCUIT
L
_
INPUT
LR_c_IC
TO D,SCR TE
ENTER
0
Figure
C
_
8-47 Manual
l,
Data Readout
Dat a Flow
8-183 CONFIDENTIAL
i I
CONFIDENTIAL
the
display
received
from
values and to
devices
from three
the
the the
device display
drive
is
outputs
number
display
control
The manual the MDIU
to
is
used
of
data circuits
device.
control
This
device
signal
from
coded
can
be
select the
conjunction
with
display
values
outputs
from
the
outputs
of
with
a particular by means
of the device received
is presented
supplied the
the
device.
A combination
is accomplished
coded decimal
is
of
is used in conjunction
operations
These circuits
display
selector.
values
displayed.
computer
a particular
to select
dect._l
control
A combination
device
selection
decimal
they
three
select
the
binary
before
circuit
the combined
the binary
in to
by means
drive
the
circuit.
circuit
and an equivalent
Data
decoded
Another
control
Thus, through
selector,
decoded
Manuel
device
be
display,
supplied
circuits
accomplished
of the display
selector.
are
drive
from the insert
selected
must
circuits.
control
device
selection
data device
select
a decimal
computer computer
insert
display
provide
This of
the outputs number
on the
of the number
selector
and the
from the computer
are
on the display
devices.
is transferred
between
Subroutine data subroutine,
and the computer,
in the DIGITAL
CC_ER
which
determines
is described
SYSTEM
when data
under
OPERATION
part
the Operational of this
Program
heading
section.
Interfaces The MDIU under
interfaces,
the Interfaces
all of which heading
are made with the computer,
in the DIGITAL
CC_fl_u_ERSYSTEM
this section.
8-184 CONFIDENTIAL
are described
OPERATION
part
of
CONFIDENTIAL
PROJMINISEDR300
___
AUXILIARY SYSTEM
TAPE M_MORY
DESCRIPTION
General The Auxiliary system. program
It is used storage
over 85,000 puter
Tape Memory
in spacecraft
thirteen-bit
of the spacecraft
The ATM
is a self-contained
for the digital
core memory.
Physical
(ATM)
(Figure
through
computer.
words.
The ATM
eight
twelve
tape
to provide
It has a total
This is about
is mounted
magnetic
seven
on a cold plat(
additional
storage
;linesthat
recording
capacity
of
of the com-
in the adapter
section
8-15).
Characteristics is i0 inches
x i0 inches
It has three external
connectors
x 7 inches and weigh_ for its interfaces
25.7 pounds (Figure 8-48). i with the digital computer and
! the Pilots' initial
Display
and Control
pressurization
Panel
(PCDP).
of one atmosphere,
The AT M is hermetically
gage,
at ambient
room
sealed with
temperature
and
pressure.
Internally,
the AM
electronics
for the read, write
Functional
contains
a tape transport, an_ control
a driv, motor,
and the necessary
functions
Characteristics
The functional Tape
characteristics
of the ATM are _,-_nriZed
length
as follows:
525 feet I
i Tape type
3M type m-1353 i Heavy-du_
high
resolution
i _-
Instrumentation
tape
i
Tape
Read/write
speed.
- 1.5 ips +.0.5_
Wind/re'rid !
8-18_ CONFIDENTIAL
i
!
- 8 times
r/w speed
CONFIDENTIAL SEDR300
-_
__'__
PROJECT
ACCESS HOLES FOR MOUNTING
GEMINI
SCREWS
CONNECTOR
GROUNDING
)MPUTER AND CONTROL MOUNTING
SURFACE' NNECTC_
Figure
8-48
Auxiliary
8-186 CONFIDENTIAL
Tape
Memory
HOLE
CONNECTOR
CONFIDENTIAL
SEOR 300
Channels
16 (9 data, 3 parity, 3 clock, i spare)
Storage capacity
Total 12i.5x 106 bits (15 channels) Effective 90,000 iS-bit computer words
Storage density
133 bits_inch/channel
Data transfer rate
600 bits_second
Ready tide-per max program
i0 m_nutes (verify 3 syllables)
i
7 minutes
(reprogram 2 syllables)
Total rea_ time
67 minu_es
Total wind/rewind time Voltage
i0 minu_es max. i 21 - 30 v&c
Voltage interrupts
115 milliseconds
Controls and Indicators The controls and indicators associated with the ATM are _...arized as follows: (a)
AUX TAPE OFF - ON/RESET - A toggle
,vitch on the PCDP, used to i !
apply power to the A_
(b)
AUX _
or to reset St.
mode selector - A five - position rotary switch used
i to select an operational control mode for the ATM.
The five
mo_sare- (l) _BY, (2)A_O, (B)W_m, (_)RE_D _d (5)PROG (reprogram).
(c)
Manual Data Insertion Unit (MDIU) -iUsed to select one of three ATM operational sequences stored in!the computer memory. are:
(i) reprogram, (2) verify, an_ (3) reprogram/verify.
These
8-187 CONFIDENTIAL
CONFIDENTIAL
PROJE--C'-GEM __
IN I
SEDR 300
(d)
- Display tape position
Incremental Velocity Indicator (M)
words (on the IVl LEFT/RIGHT channel) and module words (on the M
(e)
FORE/AFT channel) during the A_
AUX TAPE RUN indicator - A lamp on the PCDP which ill_im_nates whenever A_
(f)
search operation.
motor power is applied.
AUX TAPE ERROR indicator - A lamp on the PCDP which illuminates when incorrect frame parity is detected by the ATM.
SYSTEM OPERATION
9eneral The A_4 is used to store operational program modules for in-flight loading of the spacecraft digital co_puter.
It is capable of replacing the majority of the data
in syllables zero and one of the computer memory (approx 8,000 thirteen-bit wor_s) in approximately seven m_nutes.
The program data is stored in the A_
by recording it on magnetic recording tape.
Normally, this data is supplied by the Aerospace Ground Equipment (AGE) and recorded (written) on the tape prior to launch time.
It is also possible, however,
to write data onto the tape using the MDIU and digital computer.
There are two methods of load_ng the computer memory from the ATM. the auto m_le and is considered to be the primary one.
The first is
The second is the manual
mode and is provided as a hack-up metho_ for loading the computer memory.
The
•asic difference between the two is that the auto mode requires fewer manual operations.
8-188 CONFIDENTIAL
CONFIDENTIAL
PROJECT s,o.3OGEMINI
The A_
employs
a reel-to-reel
combination
read/write
drive motor
accomplishes
head having speed
the phase
of one winding
(n_._nal)
is provided
wind/rewind
operation.
which
are eight
The oscillator The frequency
transport
with
by using
by
!A tape
modes
those
for the read/write by 8:1 through
speed
of i. 5 ips High
the drive motor
speed
a binary
speed
with a fre-
used for the read/write
the frequency
The
switch to switch
of operation.
by a tic-to-de inverter
output provides
and a single-
per track.
a s_lid-state
supplying
times
assembly
two windings
to the other.
read and write
is provided
source hut it is reduced
Write
respect
is accomplished
The drive system power oscillator.
with
drive
16 tracks
reversal
for both
operation
quency and voltage
peripheral
and a fixed
speed. frequency
for high-speed
o_iginates
from this
same
chain.
Electronics
Figure
8-_9
shows the A_
(Hon-Return-to-Zero)
write
data in serial
a parity bit)
together
with
The recording
circuits
convert
four-bit
frames
electronics.
in parallet
shift
form
pulses
input
accepts
four-bit
(one his in each four-bit
and frame
the serial
NRZ format
The A_
input
synchronizing i
clock
frame
is
pulses.
into iparallel form and record
on the m_netlc
tape.
Each four-bit
the
frame
i
plus a frame
synchronizing
tape by triple width
redundant
to minimize
errors
clock
pulse
is recorded
head drivers. introduced
Each
redundantly
on the magnetic
data bit is spread across
by tape flaws
or foreign
matter
the tape
on the tape
surface.
_ead
Electronics
The play-back
(read) electronics
write electronics.
Each data
(Figure
channel
8-50)
uses the same tape head as the
is read by a play-hack
8-189 CONF|DENTIAL
amplifier/level
CONFIDENTIAL
_REOGLISTE R
F_ou'_JT 7 REGISTER
POUR .'13"_U_FEr
_ __
J
INTERFACE
:
TRIPLE
TRACK 1
REDUNDANT
TR6
_ m
Dl D1
DRIVER HEAD
TRI1
_"
DI
DRIVER
TR12
•
D2
TR8
_
D3
TRI5
_
P
TR5
_
P
|
SHIFT
-
j
HEAD i
REDUNDANT
DRIVER HEAD
I
__,._
I
1
0I" I
L
NRZ DATA
ERAM/ [D3D2 ' l PARITY BIT
DI l_l
--
_n
FF
j_
TRWLE
J
COMPUTER
REDUNDANT --HEAD
DATA INTERFACE
DRIVER
CLOCK
t COMPUTER J J
INTERFACE
Figure
8-49
ATM
Write
Electronics 8-190
CONFIDENTIAL
Block
Diagram
_
IR4
=
C
TR9
_
C
TR14 READ/WRITE TAPE HEAD
_
C
CONFIDENTIAL SEDR 300
._ _
l_
Po,JcT VOTER
DI
_
D2
L
DATA I
_
_
PARITY _J
TAPE HEAD READ/WRITE
D2
_
D3
_
DAITA I
VOEER DATA 3
DATA 2
GENERATOR
_
: DA=TA 3
P_ p
PARITY VOTER
--
PAilTY COA_PARATOR
SET TAPE ERROR
i
P
_
t
ERROR INHIBIT
VOTER C _
-
CLOCK'
C
•
C
8-50
ATM
Read
Electronics 8-191
CONFIDENTIAL
Block
=
_
= CLOCK
I
Figure
_
Diagram
CONFIDENTIAL
PROJECT
detector, voted
and each redundantly
on (2 out of 3 majority
outputs
recorded vote)
data bit (DI, D2, D 3, P, C) is majority
by the A_
(DI, D 2, and ])3) and clock voters
amplifiers supplied
and,
subsequently,
to the computer).
generator.
The output
Each
bit read from the tape.
generated
parity
bit, the A_
the AUX TAPE ERROR
lamp on the PCI_.
those developed
computer output
generator
an A_
logic.
error
to output
is also
from the voted
bit is not
supplied
to a parity
wlth
parity bit differs discrete
by comparing
data bits
voted
interface
(the parity
which
A check for tape errors
of operation
Three
is then compared
If the recorded
issues
the wind and rewind modes
bits with
data voter
of the parity
voting
are supplied
to the digital
on parity
during
GEMINI
the votedfrom the
will ill-m4nate
is also performed
the recorded
parity
during playback.
Im_RFAC_S The A_I_ interfaces DIGITAL
CO_F_
|H,
with the digital
IN_FACES
co_uter
part of this
and the PCDP
section.
8-192 CONFIDENTIAL
are described
in the
CONFIDENTIAL
PROWl
___
YS_
VELOCIT_ INDICATOR
i i
SYS_
SEDR 300
IESCRIPTION
Purpose The primary
purpose
after referred velocity
of the Incremental
to as the IVI,
Velocity
is to provide
Indicator i
visual
(Figure
indications
8-51),
herein-
of incremental
!
for the longitudinal(forward-aft),laterall(left-rlght), and vertical l
(up-down)
axes
of the spacecraft.
sent the amount and direction achieve
correct
by means
_
mation
of additional
concerning part
velocities
to the existing
repre-
necessary
spacecraft
to
velocities
thrusters.
Tape Memory
the tape position
during
this usage can be found
of this
incremental
velocity !or thrust
use of the IVI is to display
from the Auxiliary
OPERATION
indicated
and thus are added
of the maneuver
An additional words
orbit,
These
words
its oper@tion.
and module
Additional
infor-
in the AI/_ [LIARY TAPE MEMORY
SYS_
section.
Performance A three-diglt
decimal
used to display
display
incremental
device
velocity
Both the lamps and the display
iiI
indication
for each of the ithree i
1.mps are
spacecraft
axes.
devices
switches
on the IVI or automatically
maneuver
thrusters
correct
and two direction
can be set up ieither manually by rotary J by inputs from the computer. Then, as the
the spacecraft
velocities i pulses
are received
from
i
the computer
which
drive the display
devices
toward
Zero.
If a display
device
is
! driven
beyond
zero, indicating
an overcorrection
of the spacecraft
velocity
for
i the respective
axis, the opposite
direction
indication
lamp lights
and the display
i
device
indication
increases
in magnitude
to show a velocity
direction.
8-193 CONFIDENTIAL
i
error
in the opposite
CONFIDENTIAL SEDR300
..___
_,--lrT'_t __
LEGEND
,_M
NO_NCLA_"
(_ Q
FWD_FORWARD_ DI_CTIO. ,NO,CATION L--P _O.ARO-APT O.F_AY.V'CE
Q
LEFT-RIGHT
Q
R (RIGHT) DIRECTION
(_
UP-DOWN
Q
UP DIRECTION
DISPLAY DEVtCE INDICATION
LAMP
DISPLAY DEVICE
INDICATION
LAMP
L-R ROTARY SWITCH
(_)
AFT-FWD ROTARY SWITCH
(_
AFT DIRECTION
(_) _
CONNECTOR IDENTIFICATIONJI
iNDICATION
O
O
LAMP
_0,
CONTRACT
'_/
PLATE
j_
_
,)
Figure
8-51
Incremental 8-194 CONFIDENTIAL
Velocity
Indicator
CONFIDENTIAL
PROJECII
Physics1
Description
The IVI is 3.25 inches B.25 pounds. summarized
Controls
The major
;.0_ inches wide,
external
in the accompanying
and 5.99 inches
characteristics
are
deep.
;hown in Figure
It weighs $-51 and
legend.
and Indicators
The controls
and indicators
The accompanying their
C
high,
legend
located
identifies
on the IVI are illustrated i the
controls
on Figure
i and indicators,
8-52.
and describes
purposes.
SYSTEM
OPERATION
Power The _Dower required Supply whenever
During
for operation
the computer
of the IVI is supplied
is turned
(a)
+27.2 vde and return
(b)
+5 vdc and return
the first BO seconds
(or less)
on.
by the IGS Power
The powerl inputs
following
are as follows :
the application
of power,
the
i
incremental
velocity
Thereafter,
the IVI is capable
Basic
counters
on the
IVI are automatihally
of normal
driven
to zero.
operation.
Operation
The IVI pulses display
includes
three
identical
channels,
for one of the spacecraft device
error pulses
axes
and its two associated
are either
received
each
of
and processes direction
which
accepts
them
indication
from the computer
velocity
error
for use by a decimal lamps.
o4 i generated
The velocity
within
the M,
i l
as determined With
by the position
the spring-loaded
of the rotary
switches
in their
switch aslsociated with 1
neutral
8-195 CONFIDENTIAL
center positions,
each the M
channel.
CONFIDENTIAL SEDR 300
"FWD"" J 1
I
[0oo1 [olc)lol [oool
LEGEND ITEM
(_
NOMENCLATURE
FWD (FORWARD) DIRECTION FORWARD-AFT
INDkCATION
UP-DOWN
LAMP
LAMP
LAMP
DISPLAY DEVICE
DN (DOWN)
DIRECTION
THAT PLUS X AXIS VELOCITY
INDICATES
INDICATES
OF INSUFFICIENT
OF INSUFFICIENT
THAT PLUS Y AXIS VELOCITY
INDICATES PLUS OR MINUS AMOUNT Z AXIS. OF INSUFFICIENT
LAMP
INDICATION
IS INSUFFICIENT. VELOCITy
FOR PLUS
THAT MINUS Y AXIS VELOCLFY IS INSUFFICIENT.
OR MLNUS YAMOUNT AXIS. INDICATES
iNDICATION
UP DIRECTION iNDICATiON
INDICATES
INDICATES OR MINUS XAMOUNT AXIS.
DISPLAY DEVICE
R (RIGHT) DIRECTION Q
INDICATION
DISPLAY DEVICE
L (LEFT) DIRECTION
LEFT-RIGHT
PURPOSE
VELOCITY
FOR PLUS
iS INSUFFICIENT. VELOCITY
FOR
INDICATES THAT MINUS Z AXIS VELOCITY IS INSUFFICIENT, LAMP
THAT PLUS Z AXiS VELOCITY
IS INSUFFICIENT.
Q
DN-UP
(_
L-R ROTARY SWITCH
VELOaEY ERROR ON PROVIDES MEANS FC_ LEFT-RIGHT MANUALLY DISPLAY SETTING DEVICE. UP Y AXIS
AFT-FWD ROTARY SWITCH
VELOCITY ERROR ON DISPLAYUP DEVICE. PROVIDES MEANS FOREC_WARD-AFT MANUALLY SETTING X AXIS
@
ROTARY SWITCH
INDICATES
VELOCITY ERROR ON DEVICE PROVIDES MEANS FORUP-DOWN MANUALLY DISPLAY SETTING UP Z AXIS
AFT DIRECTION INDICATION
Figure
8-52
LAMP
INDICATES THAT MINUS X AXIS VELOCITY IS INSUFFICIENT.
Incremental
Velocity 8-196
CONFIDENTIAL
Indicator
Front
Panel
CONFIDENTIAL
__
SEDR300
processes
only the pulses
switches
in either
replaces
them with pulses
pulses
beyond
direction
are generated
of rotation
until
generated
the rate reaches
fixed oscillator.
and replaces
oscillator
per second.
removes
them with
Rotation
the pulses
pulses
These
of the switches
generated
generated
and
13.5 degrees
by the
by an internal
at a rate
of the switches
beyond
the 50 pulses
per second position
of 50 pulses
per second.
is limited
by
stops.
pulse received causes
Simultaneously,
this
same pulse
lamps to light right,
on any channel,
the appropriate
the pulse;
count depending
or up direction
Each additional
A pulse having
a count
depending
of one.
direction
on a positive
is indicated,
pulse between pulse
the same
a pulse having
to display
or one of the
input
on which
indi-
line,
a
channel
and if the pulse was ireceived on a negative i
on the relationship
conversely,
received
is indicated,
and the sign of the added
is received.
device
the computer
one of the two associated
If the pulse _as
input line, an aft, left, the pulse.
from either
display
causes
or down direction
(X, Y, or Z) received
count;
variable
per second for every
I0 pulses
of the
from the computer
are generated
oscillators,
counters
rotation
pulses
The first
received
received
by an internal
position
However,
These
mechanical
forward,
the pulses
at a rate of one pulse
oscillator
Rotation
from the computer.
removes
the i0 pulse per second
variable
cation
received
either
depending
increases i
on which
or decreases
the sign Of the existing
as determine(
the
value
on the
by the line on which
sign as the existing
the opposite
channel
error
increases
sign ofi the existing
error
it the
decreases
i
the count.
A series
of pulses
having
the opposite
sign indicates
a corrective
i
thrusting causing direction
and eventually still more
reduces
pulses,
indication
causes
the indicated the count
error
to zero.
to increase
lamp lit.
8-197 CONt_IDIENTIAL
again
An overcorrection, but with
the opposite
CONFIDENTIAL SIDR 300
X CHANNEL
ROTARY -X DELTA VELOCITY
_ Z
SWITCH
fXDELTAVELOCJTY
_:
AFT
COUNTER
FWD
' J
_i ' ]
_ PULSE
_g_NR
MOTOR
[
I SET ZERO CONTROL
X ZERO INDICATION
I I I
D,S_Y Iololol
I
DEVICE
I OSCILLATOR
÷27.2v
J I I
X SET ZERO
I
DRIVERS
- l
J
=
I
DRIVER
FIXED
t
l
I
[
il
li I
I 1 I
EORWARD-AE, "
X ZERO IND.
l
_+27.2V
FWD
VARIABLE OSCILLATOR
|
LAMP DRIVER "l-SV
-"
_
J
SELECTOR
AFT
i "_
_ LAMp
_'
kAMP DRIVER _
+SV
IO'4:_OM Y AND Z CHANNELS
NOTE Y AND Z CHANNELS ARE SAME AS X CHANNEL, EXCEPT Y CHANNEL CONTROLS AND INDICATORS ARE LEFT-RIGHT AND Z CHANNEL CONTROLS AND INDICATORS ARE UP-DOWN.
Figure
8-53
Incremental
Velocity 8-198
CONFIDENTIAL
Indicator
Data
Flow
-_
CONFIDENTIAL
....
PRMINI Zero
SEDR 300
Indication 8-53, three
As shown on Figure forward-aft however,
display
device.
series-connected (The same thing
since the three channels
When the display
device
+27.2 vdc signal
is then applied
the X zero indication indicates
indicates
signal
is true
are operated
for the Y an_
are identical,
only the X channel
000, all three
switches
to the X zero indication
that is supplied
that the respective
switches
counter
by
the
Z channels; is shown. )
are closed.
A
driver
develops
to the computer.
which
This signal
is at zero.
• coun,t Velocity
error
pulses
via the AFT-FWD pulses
rotary
are received
-X delta velocity are received previously
switch.
operate
of the error,
the fixed
to be driven
the same. which
and the motor 90 degrees
The motor drives
the
velocity
is not in the!center
depends
The lamp selector be lit.
lamp driver.
counter drivers
operate
for each pulse is determined
error
count
the display
position,
these
line and the the pulses
oscillator.
As
position
the lamp selector determines,
and
by means
is then supplied
Meanwhile,
drivers.
that causes
is counted.
by the relationship
the
The direction between
the sign
and the sign of the added
velocity
device
by a count
8-199 CONFIDENTIAL
to
the same pulses
to the motor
in a manner
that
counter
on the exact
Power
and supplied
pulse
position,
or the variable
that is used
lamp should
by the pulse
velocity
and
of the source of the pulses,
in which the motor is driven of the existing
selector
on the +X delta
oscillator
lamp via the associated
The pulse counter
lamp
If the switch is in the center
If the switch
Regardless
are being processed
the
from the computer
line.
counter
the selected
pulse.
to
explained 3 the oscillator
of the sign
motor
applied
from either
of the switch. the pulse
are
so that it changes
error of one
CONFIDENTIAL
for each 90 degrees of motor rotatlon.
_hus the display device maintains an
up-to-date count of the size of the veloci_
error for the assocleted axis
(in this case_ the X axis), and the direction indication lamps maintain an up-to-date Zero
indication
of _
direction
of the
error.
C_=and
The IVI counters can be individual_V driven to zero by means of set zero signals (X set zero, on Fi6ure 8-53) supplied by the discrete output logic of the computer.
The set zero signal is supplied to the set zero control circuit which
gates the 50 pps output from the fixed oscillator into the pulse counter, provided the display device counter is not already at zero.
The pulses from
the fixed oscillator then drive the motor in the normal manner until the counter is zeroed.
The pulses are applied in such a manner that the count always
decreases, regardless of the initial value.
Interfaces The IVI interfaces, which are made with the computer and the IGS Power Supply, are described under the Interfaces heading in the DIGITAL COMPUTER SYSTEM OPERATION part of this section.
8-200 CONFIDENTIAL
CONFIDENTIAL
HORIZON
SENSOR SYSTEM
TABLE OF CONTENTS TITLE
PAGE
SYSTEM DESCRIPTION ........... SENSOR HEAD ......... ELECTRONICS PACI_AGE_ ........ SYSTEM OPERATION . . • • • • • F
8-203 8-203 8-205 • • • 8-205 8-207 INFRARED OPTICS'o'I INFRARED DETECT N .......... • • • • • .... 8-211
SERVO LOOPS. HORIZON SENSOI_ I_0 W EI_ •..... • • • .
8-212 •• •• •• 8-228
SYSTEM UNITS...... . . . . , . . . 8-229 SENSOR HEAD .... , o o ° o o . o o 8-229 ELECTRONICS PACKAGE° ..... • • • 8-232
8-201 CONFIDENTIAL
CGNFIDENTIAL
PROJECT
DETAIL A
_(_i_)_
GEMINi
OFF DETAIL C
SEC DETAIL B
SEE
RIGHT SWITCH/CIRCUiT
\
BREAKER PANEL_
SEE DETAIL R
TRONIC PACKAGES
FT EQUIPMENT ' HORIZON -PRIMARY
HORIZON
Figure8-54 Horizon Sensor System 8-202 CONFIDENTIAL
SENSOR HEA0
SENSOR HEAD
IN SENSOR PAIRING
BAY
CONFIDENTIAL
PROJE
HORIZON
SYST_4
I
SENSOR
SYSTEM
DESCRIPTION
The Horizon
Sensor
System
(Figure
8-5_)
consists
of a isensor head,
an electronics
i
I package
and their associated
establish error
a spacecraft
signals
controls
attitude
proportional
horizontal
attitude.
spacecraft
or the inertial
and indicators.
reference
to earth
to the difference
Attitude
error
The system
local vertical
is used to and generates
between
signals
spacecraft attitude and a I can be u_ed to align either the
i platform
to earth
local
vertical.
The system
has a
i
null accuracy
of O.1 degree
nautical
miles.
altitude
range, measurable
spacecraft
When
attitude
and is capable
the system
errors
of operating
is operating
spacecraft
of 50 to 900
in the 50 to 550 nautical
attitude
are between
at altitudes
error
_s + 14 degrees.
i_ and 20 degrees,
the sensor
mile When
output
i becomes
non-linear
but the direction
slope of the attitude
error.
When
of its slope
always corresponds with the i attitud_ errors exceed 20 degrees,
spacecraft
i the system may lose track. The second
system
TWo complete
is provided
systems
as a backup
are _ustalled i
on the
in case of! primary
spacecraft.
system malfunction.
SENSOR HEAD The sensor head track
the
(Figure
infrared
8-55)
gradient
contains
between
equipment
earth
and
requlred
space,
_t
to scan,
the
detect
horizon.
The
and sensor
i
heads are mounted
on the left side of the spacecraft
_d
canted
I_ degrees
for-
the azl_,th
axis
!
ward
f
of the spacecraft
by a yoke assembly assembly).
Scanning
and about the elevation
Infrared
servo loop which
pitch axis.
detection
positions
is provided
the Positor
is provided
about
axis by a _sitor by a bolometer
mirror.
8-203 CONFIDENTIAL
(mlrror
positioning
and tracking
by a
CONFIDENTIAL
_
PROJECT
PYROTECHNIC
GEMINi
ELECTRICAL CONNECTOR
/
)
J5 POSITOR
_
PRE-AMPLIFIER AND POSITION I
VIEW A-A
Figure 8-55 Horizon Sensor Scanner Head 8-204 CONFIDENTIAL
DETECTOR
CONFIDENTIAL
PROJEC'T
EI_CTRONICS
vide azimuth
sensor used
head,
Electrical
levels
a_d optical
for the Positor.
the azimuth
yoke
from the constantly
error
signals
from the
direction,
Signals
from limit
to pro-
and attitude
systems.
radiation signals
required
are also
to l_m_t.
changing
Positor
during
pre-launch
are
Attitude
position
signal
is tracking.
OPERATION
initiation staging
Horizon
Sensor
radiation.
to acquire
and lock-on
system
Operation tracking horizon.
PRI-OFF-SEC
the JETT FAIR
switch,
acquisition
the horizon) lO seconds.
an_ retrograde
80 m_11 _secomds
is energized
and S_
Initial
time is approximately staging
System
of the SCAN HTR
the pilot presses
infrared
the
drive
are derived
system
The primary
plus
drive
the circuitry
to the sensor head
control
infrared
elevation
contains
signals
and platform
to constantly
the
8-56)
drive
representing
to generate
SYSTEM
(Figure
and elevation
error signals
_
package
to spacecraft
generated
when
I
PACKAGE
The electronics
signals
GEMI
section
time
switches.
exposing
Immediately
the sensor heads
(the t_me required
is approximately The system
by pilot
120
seconds;
after to
for the sensor reacqulsitlon
can be used any time between
separation.
the sensor heads
At retrograde section separation i i are automatically Jettisoned, rendering
imoperative.
of the Horizon the
infrared
Sensor
radiation
To accomplish
System
depends
gradient
the above,
on receiving, i
between
the system
earth
and
employ_
detecting space,
infrared
at
and
the
optics,
infrared
i •
detection
and three closely
of the Horizon Sensor System
related is
servo
provided
loops. in
Figure
A functional 8"-57.
CONFIDENTIAL i i
block
diagram
CONFIDENTIAL
I
PROJECT
/
GEMINI
_AUTOMATIC
RELIEF VALVE
TEST RECEPTACLE
SENSOR HEAD RECEPTACLE
Figure
8-56 Horizon
Sensor 8-206
CONFIDENTIAL
Electronic
Package
_
CONFIDENTIAL
SEDR300
I_FRAP_
OPTICS
Infrared
optics
(Figure
and an azimuth head.
8-58)
&rive yoke.
The Positor
consists
All of these
has a movable
field of view about
of a Positor,
mirror
the horizon.
components which
Radiation
a telescope-filter a#e located I
in the sensor
I
is used Ito position t
is reflected i
assembly
the system
by the Positor
mirror
I
into the telescope-filter assembly,
directs
assembly
infrared
conta$us
radiation,
microns the
of undesired (80,000
infrared
radiation
i
lens!, an infrared
The
reflected
objective
lens
by the mirrors,
The infrared
frequencies.
to 220,000
mirror,
objective
bolometer.
_,,,ersion lens of the bolometer. radiation
_n the telescope-filter i into the telescope. The telescope-filter i
meniscus
thermistor
all the _n_rared
A fixed
radiation
a germanium
a gerry+_ium-immersed direct
assembly.
filter
is used
on an immersed
and
to
on the germanium
is used to eliminate
The filter has a! band pass
angstroms).
filter
The germaniu_
immersion
of 8 to 22 lens focuses
thermistor. i
The horizon
sensor
field
of view
is deflected
throug_
160 degrees
(+_80) in
i i
azimuth
and 70 degrees
(12 up and 58 down)
in elevat_ on by rotating
the Positor
I
mirror.
The Positor
an axis which
is rotated
runs through
in azimuth
the center
by a driv
; 1
of the infrarec
yoke.
Rotation
ray bundle
is about
on the surface
! i
of the Positor circuitry
mirror.
The yoke is driven at a one dycle per second rate by +I
in the electronics
package.
The center
of ithe azimuth
scan is i_
i
degrees
forward
of the
spacecraft
pitch
axis.
This
Is due to the mounting
of
I
the
scanner
tilts
heads.
the Positor
Elevation mirror
deflection
as required
is provided
to search
iby the Positor which i for o_ track the horizon.
8-207 CONFIDENTIAL !
The
CONFIDENTIAL
j :__
I __,_-
PROJECT
SEDR 300
__r_l
GEMINI
I
r- ........
AZIMUTH
DRIVE AMPLITUDE
1
SWITCH
I J
.....O_EERS_OOT t
1
II
ROLL 8YNC SWITCH
I
--_ ,
,'
EXCITATION
J
I AZ'MUT" I
J .....
l
,=.,.....l._
I I •
( _
_
EXC'TAT'°N_*C P,ED CO,L
I
5KC EXCITATION
POSITOR DRIVE SIGNAL
_
POSITOR DRIVE)
/
I =i
_"
, ,
I
SWITCH
SWiTCN ,,, t
I
_5KC
OVERSHOOI
CLOCKWISE DRIVE
I
ROLL SYNC
AZIMUTH
.....
J I
AZIMUTH
POSiTiON PHASE
POSITION ;
POSITOR
_._"
POS,T,ON DETECTOR MIRROR I_S,TOR SIGNAL I
J
AMPLIFIER
PHASE SH,ETED POSITOR
FIELD COlt
(5KCSIGNAL FROM
THERMISTO
ASSEMBLY
PASS FILTER
I
J J
D_ FIXED
_j_
TELESCOPE-FILTER ACTIVIRoN _ 8-22 __, MICRON _IL_-BOLOMETER
M IRROR
_"
J
I
-
Figure
8-57
Horizon
PRE-AMPLIFIER
I
G ERMAN' U_v_ ER-_" MENISCUS LENS z._ THERMISTOR PASSIVE
- "-_°'_°
Sensor
RADIATION
System
Functional 8-208
CONFIDENTIAL
-
Block
- I
+28V DC SPACECRAFT POWER
Diagram
(Sheet
t
1 of 2)
J
CONFIDENTIAL SEDR 300
:-.
____"
PROJECT
GEMINI
I
I AZIMUTH CONTROL CIRCUIT
AZIMUTH DRIVE CIRCUIT
I
AZIMUTH MULTIVIBRATOR
I J
PII
PHASE PITCH DETECTOR
J
J
AZIMUTH
I f--.
SI(
FILTER AND PITCH OUTPUT AMPLIFIER
--
Z O
SYNC SIGNAL
I t_;'a_URRENT I
o
PITCH AMPLIFIER ERROR
J
J
TRACK
POSITOR POSITRON SIGNAL TRACK CHECK
CHECK CIRCUIT
_IGNAL
i
J
ROLL
o_I
ERROR
AMPLIFIER
J
SEARCH GENERATOR
_( Z O
AND
I
INTERLOCK
SIGNAL AMPLIFIER
_
PHASE DETECTOR
_
PHASE DETECTOR
DRIVE AMPLIFIER
O_]
FILTER AND AMPLIFIER
EARTH-SPACE
_
LOCK-OUT m R_ g
FREQUENCY DOUBLER
_
ROLL MULTI-
DITHER OSCILLATOR
I
_.
(30CPS) ROLL SYNC SIGNAL
E u
ELECTRONICS PACKAGE
TO SCANNER LIGHT, ACME AND IMU
/
Figure
8-57
Horizon
Sensor
System
Fur_ctional 8-209
CONFIDENTIAL
Block
Diagram
TO ACME AND
(Sheet
2 of 2)
IMU
CONFIDENTIAL SEDR300
t_!_
PROJECT
/
GEMINI
\
/
\
/
\\
/
\
i F-/ b /,
.j
F ,_t
L
-x.,
z
_
_
HOEIZON
AXIS OF ROTATION
J"_ I
" "'_ "-
AZIMUT.
(REF)
""%..%._%
i
<
t.._
ii
_
i
FO_.OE
\\, \...
t ......... "! I
POSITOR
{
I
AXIS OF
"\.
!
ROTAT,ON
:
i
MIRROR
i
I
'
FILTER
i_i::Ni::i_ >"
)LOMETER INFRARED
I
RADIATION (REF)
/
i ! i
t
I FIXED
MIRROR
_
THERMISTOR
i
!
, GERMANIUM MENISCUS LENS
Figure
8-58
Infrared 8-210
CONFIDENTIAL
LENS
Optics
THERMISTOR
CONFIDENTIAL
PROJECT GEMI, I
rate at which tion
the Positor
(track or search).
cps search rate moves
the mirror
In search mode,
plus a 30 cps dither
spacecraft
DETECTION
Infrared
radiation
The bolometer
is detected
contains
radiation
circuit.
and unbalances
an output voltage
which
If only one thermistor caused
by conduction
reference)
moves
at a two
on the direction
thermistor
l_.stor,
a given
The
ensltive
bolometer.
resistors)
which
(active) is exposed to i second thermistor (passive) is located
but it is separated
the bridge
circuit.
is proportional
f_om
used,
infrared
t_ermlstor
the bridge
which
The unbalanced
to the intensity would
to prevent
a_so
this,
radiation. changes
bridge
produces
of the infrared
radiation.
sense temperature
changes
a passive
(temperature
is used.
changes
ambient
thermistor
thermistor
resistance
temperature
is not exposed
the same amount i change,
keeping i
to infrared
as the active
the
ra_ation
bridge
ther-
balanced.
and allows
the
l
bridge
to
become
of
One of the thermistors
or convection;
The passive
The passive
(temperature
is sensed by the active
were
thermistor
for
rate depends
by the germanium-lmmezsed
from the horizon.
from the horizon
resistance
mirror
of opera-
In track imode, the Positormlrror i if there is any!attltude error, a one or
two thermistors
near the first thermistor
Radiation
of the mode
error.
are part of a bridge infrared
the Positor
The one or two cps track
attitude
INFRARED
is a function
rate.
at a 30 cps dither rate, plus,
two cps track rate.
very
tilts
unl_.lm_ced
when
the
active
ther_J.stdr
is
from the horizon.
8-211 CONFIDENTIAL
i !
struck
by
radiation
CONFIDENTIAL
PROJECT
_VO
LOOPS
The three
servo loops used
the azimuth is used
Track
with
by the Horizon
Sensor
drive loop and the signal processing
by more
than one servo loop and provides
System
are:
the track
loop,
loop.
Some of the circuitry
synchronization.
Loo_
The track loop respect
are used the
GEMINI
(Figure
8-59) is used to locate
to the elevation
in the track loop.
axis.
track mode
is located
of operation
(search
and track)
is selected
automatically
and used until
the horizon
is located.
and the signal built
is automatically
the earth horizon
The search mode
system is first energized
the horizon
Two modes
and track
up to the required
level,
when After the _.-_
selected.
Search Mode The search mode
is automatically
selected
by the system
any time
is not in the field of view.
The purpose
of the search mode
system line of sight through
its elevation
scan range until
located. positor signal
mirror. )
When the
drive amplifier. junction.
causing
is initially
which
is applied
(The dither voltages
This drive
the horizon
to a summing
to oscillate
Junction
mirror. about
is
The dither
its elevation 8-212
position a two
in the Positor to the
any time the system
to the drive
CONFIDENTIAL
produces
is also applied
are summed and amplified is applied
the Positor
The generator
signal is present
signal
it to tilt the Positor
causes the mirror
energized,
A second signal (30 cps dither)
The search and dither signal.
system
to turn on a search generator.
cps ac search voltage
drive
is to move the
(The system llne of sight is moved by changing the angle of the
is used
summing
the horizon
is energized. )
to create a Positor coils
portion
of the Fosltor
of the signal
axis at a 30 cps rate and
CONFIDENTIAL SEDR300
_-_._
PGSITOR DRIVE SIGNAL
i
5KC RIEPERENCE .___
POSITOR SIGNAL
i
PHASEI SHIFTED
POSITION PHASE DETECTOR
POSITION AMPLIF]ER
EXCITATION
]
TRACK CHECK
GENERATOR AND INTERLOCK
TRACK CHECK
EARTH SPACE
t
SEARCH
POSITOR MIRROR
LOCK'.OUT
POSITOR POSITION )AMPING
LOOP)
' F
TEUESCOPE/ I FILTER
I
FIXED
I
MIRROR
J
BOLOMETER
I
l
_r
LEVEL
PRE-AMP
AMPLIFIER
-_
PHASE DETECTOR
60CPS
DRIVE AMPLIFIER
T
30CPS
SIGNAL REFEiENCE
DOUBLER
Figure
8-59 Track
Loop Block Diagram 8-213
CONFIDENTIAL
DITHER
OSCILLATOR
CONFIDENTIAL
PROJECT
GEMINI
through an angle which represents approximately four degrees change in the line of sight.
The search portion of the signal will drive the Positor mirror
up to an angle which represents a llne of sight 12 degrees above the spacecraft azimuth plane.
During the up scan (earth to space) a lock-out signal is
applied to the servo loop to prevent the system from locking on to false horizon indications.
When the positive limit of the search voltage (12 degrees up) is
reached, the voltage changes phase and the system begins to scan from 12 degrees up to 58 degrees down.
During the down scan (space to earth), the lock-out
signal is not used and the system is free to select track mode if the horizon comes within the field of view.
The bolometer output (indication of infrared radiation) is used to determine when the horizon comes within view and to initiate the track mode of operation. As the system line of sight crosses the horizon (from space to earth), a sharp increase in infrared radiation is detected by the bolometer. bridge output now produces a 30 cps ac signal.
The bolometer
(The 30 cps is caused by the
dither signal driving the line of sight back and forth across the horizon.) The bolometer bridge output is amplified and applied to the track check circuit.
When the 30 cps signal reaches the track check circuit, it causes a
tracking relay to be energized indicating that the horizon is in the field of view.
Contacts of the relay apply a bias to the search generator, turning it
off and removing the search voltage from the Posltor drive signal. the system in the track mode of operation.
8-21. CONFIDENTIAL
Thls places
CO_:ID_NTJAL
PROJECT
GEMINI
Track Mode The bolometer output signal is used to determine the direction of the horizon from the center of the system line of sight.
A Positor drive voltage of the
proper phase is then generated to move the system line of sight until the horizon is centered in the field of view.
The bolometer output signal is
phase detected with respect to a 60 cps reference signal.
The 60 cps signal
is obtained by doubling the frequency output of the dither oscillator.
Since
both signals (30 cps dither and 60 cps reference) come from the same source, the phase relationship
should be a constant.
However, when the horizon is not
in the center of the field of view, the bolometer output is not symmetrical. The time required for one complete cycle is the same as for dither but the zero crossover is not equally spaced, in time, from the beginning and end of each cycle.
The direction the zero crossover is shifted from center depends
on whether the horizon is above or below the center of the field of view. phase detector determines
The
the direction of shift (if any) and produces dc pulses
of the appropriate polarity.
The output of the signal phase detector is applied
to the Positor drive amplifier where it is S_,mmed with the dither signal.
The
composite signal is then amplified and used to drive the Positor mirror in the direction required to place the horizon in the center of the field of view.
A pickup coil, wound on the permanent magnet portion of the Positor drive mechanism,
produces an output signal which is proportional
tude) to the position of the Positor mirror.
(in phase and ampli-
This Posltor position signal is
phase detected to determine the actual position of the mirror.
The detector
output is then amplified and used for two purposes in the track loop:
8-215 CONFIDENTIAL
to activate
CONFIDENTIAL
PROJ
EC---'T--G'EM I N I
_____
the
SEDR300
search generator
d_mp_ng
feedback
energized,
Azimuth
when
to the Positor
it biases
Drive
the tracking
the
search
drive
control
synchronization
a 160 degree
loop (Figure
required
drive
coils and an azimuth
Azimuth
Overshoot
detector,
azimuth
detector
scan overshoot.
generator.
Two iron slugs, mounted
control
drive loop
circuit,
consists
azimuth
the yoke
signal
on the azimuth
reaches
passes
multivibrator,
signal
pulse occurs
to the azimuth
control
circuit.
8-216 CONFIDENTIAL
drive yoke
pickup,
drive yoke,
reaches
located
near
pass very near
The slugs
are posi-
each end of the scan.
pickup,
to be modulated
at a two pps rate.
detect the
from the field current
the scan limit.
near the magnetic
excitation
implies,
is a magnetic
scan rate is one cps and the modulation
is applied
overshoot
llne of sight through
the azimuth
apart on the yoke to represent
one of the iron slugs the 5 kc
detects when
and excited by a 5 kc
pickup when
160 degrees
the overshoot
system
The azimuth
The detector
drive yoke
azimuth
the
does not, as the name
It instead
end of its scan limit.
and causes
is
drive yoke.
the azimuth
tioned
relay
Detector
overshoot
the magnetic
(When the tracking
the drive voltage,
to move
scan angle at a one cps rate.
azimuth
either
and as a rate
to cutoff. )
8-60) provides
overshoot
azimuth
amplifier.
generator
of an azimuth
The azimuth
is de-energized
Loop
The azimuth and
drive
relay
occurs Output
it changes with
When
the inductance
a pulse.
Since the
at each end of the scan, of the overshoot
detector
CONFIDENTIAL SEDR 300
_. r
_
I
t_!_
_'_,-
i
PROJECT
,,_._.___,_
GEMINI
_
__j_,..i
CCW AZIMUTH DRIVE AMPL[FIER
,_
CW AMPLITUDE
_dl
CONTROL
i
AZIMUTH MULTIVIBRATOR (I CPS)
AZIMUTH CONTROL
,f-_. SYNC SIGNAL
/ CLOCKWISE
DRIVE
/ AZIMUTH SYNC SWITCH
COUNTERCLOCKWISE DRIVE
/
/
:
_.
/ / / / F
/
//
__ RL°_ AMPLITUDE
OVERSHOOT _IG._L /i
SWITCH
,
/
/
Z_
_/ Figure
8-60
Azimuth
Drive
i :
Loop Block
CONFIDENTIAL
i !
_
AZIMUTH OVERSHOOT DETECTOR
Diagram
8-217
// ,KC <
EXCITATION
CONFIDENTIAL
PROJE
GEMINI
Azimuth Control Circuit The azimuth control circuit generates two types of azimuth control voltages (coarse and fine) based on the azimuth overshoot signal. shoot detector develop adc
output is rectified,
filtered, peak detected and integrated to
control voltage proportional
overshoot pulse.
The azimuth over-
to the amplitude and width of the
This control voltage serves two purposes:
to provide con-
tlnuous, fine control of the azimuth drive pulse and, when the control voltage reaches a hlgh enough level (indicating a large overshoot), provide a coarse (step) control of the reference voltage on the azimuth drive coils.
The fine
control is obtained by applying the control voltage, as a bias, to the azimuth drive amplifier.
The coarse control is obtained by energizing a relay, which
switches the reference voltage on the azimuth drive coils when the control voltage reaches a high enough level.
The level at which the relay energizes is
determined by a zener diode which breaks down and biases a relay driver into conduction.
The relay driver then energizes a relay which switches the _c
voltage on the reference winding of the azimuth drive coils.
Azimuth
Multlvibrator
The azimuth multlvibrator
provides the direction control signal for the az_,th
drive.
is synchronized
The multivlbrator
by pulses from the azimuth sync switch.
The sync switch is located next to the azimuth drive yoke and is closed each t_me the yoke passes through the center of its 160 degree scan.
The switch
produces a two pps output which is used to switch the state of the multlvlbrator.
The multivihrator
then produces a one cps square wave signal which is
8-218 CONIFIDIENTIAL
CO_Fi_DENTIAL
PROJEC Ni SEDR 300
symchronized with the motion of the azimuth drive yoke.
The positive half of
the square wave controls the azimuth drive in one direction and the negative half controls the drive in the other direction. applied to the azimuth
Azimuth
Output of the multlvibrator is
drive amplifier.
Drive Amplifier
The azimuth drive amplifier
adjusts the width
to control the azimuth drive yoke.
of multivibrator
The output pulse width, from the drive
amplifier# depends on the amount of control voltage azimuth control circuit.
output pulses
(bias) provided by the
When the amount of azimuth yoke overshoot
the control voltage is high and the output pulse width is narrow. _-_
is large, As the
amount of overshoot decreases, the control bias decreases and the output pulse width increases. and consequently
Azimuth
This provides a continuous, fine control over the drive pulse the amount of azimuth drive yoke travel.
Drive Coils
The azimuth drive coils convert drive signals into a magnetic
force.
The
coils are mounted next to, and their magnetic force exerted on, the azimuth drive yoke.
The direction of magnetic force is determined by which drive coil
is energized.
Azimuth Drive Yoke The azimuth drive yoke is a means of mechanically moving the system llne of sight through a scan angle.
(The Positor is mounted inside the azimuth drive yoke and
the rotation is around the center line of the infrared ray bundle on the Positor mirror.)
The azimuth drive yoke is spring loaded to its center position and
the mass adjusted to give it a natural frequency of one cps.
8-219 CONFIDENTIAL
Mounted on the yoke
CONFIDENTIAL
PROJECT
are two iron slugs and a permanent with
the azimuth
activate
overshoot
sync switches
mechanical
motion
the
signal
Signal
processing
Processin_
servo
(Attitude
Control
signals,
Control
command
attitude
comes within
c_ds. llm_ts, thrust
error signals.
loop is obtained and Maneuver
generated
The switches
synchronize
signals.
The function
of the azimuth
paragraph,
in the phase
thruster
The function
detectors
as indicated
by error
paragraph
is automatically
applied
System
and generate
to produce
of
attitude
spacecraft
_hen the
8-220 CONFIDENTIAL
System).
scan mode)
Attitude
to select
in the desired
the ACME
The fire direction.
direction,
spacecraft
in pitch
the
attitude
and + 5 degrees
stops generating
remains within
the error.
systems
a fire command.
If the attitude
to correct
local vertical. )
are used by the Attitude
thrust
(0 to -i0 degrees
scan in-
can be used to align
in the appropriate
in amplitude.
freely.
and azimuth
and the Propulsion
signal amplitude,
to drift
two other
Sensor
attitude,
As long as the spacecraft it is allowed
signals
(ACME) (in the horizon
System
limits
tracking
System to the earth
by utilizing
(or thrusters)
decrease
preselected
(The error
Guidance
by the Horizon
spacecraft
signals
converts
Electronics
Electronics
changes
error
be described
is used to
yoke.
multivlbrator
(Figure 8-61)
causes the Propulsion
As the thrust
roll),
loop
and Maneuver
the appropriate
will
and/or the Inertial
A complete
error
electrical
The magnet
Loo_
into attitude
the spacecraft
previously.
in conjunction
loop.
The signal processing formation
mentioned
in the azimuth
sync switches
The iron slugs are used
next to the drive
of the yoke with
sync switch was described the two roll
magnet.
detector
located
GEMINI
fire
the preselected
exceeds
in
the l_m_ts,
of
CONFIDENTIAL ...-'-_ _
SEDR 300
/
HORIZON
INFRARED RAY BUNDLE
J
_F.ARTH SYNC
/
-
(_?B
\_.___-
,AZ,MDT,I
SPACECRAFT CHANGE ATTITUDE
I
TRACK CHECK
_'
POSITION MODU LATE{} SIGNAL POSITOR
ERROR AMP LIFIER ROLL
ROLL SYNC SIGNAL
AZIMUTH SIGNAL
SYNC
ERROR AMPLIFIER
LOSS OF TRACK SIGNAL
PITCH
I
l,o.H,o,H-..,q,..i
PROPULSION SYSTEM
PHASE DETECTOR
MULTIVIBRATOR (2 CPS)
MULTIVIBRATOR (] CPS)
PHASE DETECTOR
I
XE_?_OR_ENT SIGNAL ROLL ERROR SIGNAL
FIRE
COMMAND
,_........... I
Figure
8-61
Signal
Processing
Loop
!_ C ERRORI I
..
l
;
i Block
CONFIDENTIAL i
I
LO SS-OF-I"RACK
Diagram
8-221
I
,._
._,--iTl-,
AND MANEUVER ELECTRONICS :
L
r
_
SIGNAL
CONFIDENTIAL SEDR 300
PROJEEMINI
An indirect
method
controlling
the
horizon
8 through
12)
(Inertial
Guidance).
inertial
with
of
vertical. platform method
torque
unit. gyros
The platform
in
sensor
error
fire
attitude
in all three
The inertial
platform
can also be aligned
loop.
manually sensor
attitude
horizontal
spacecraft
attitude with
are then used
to torque
platform
are then used
by the horizon a closed
fine align
the
are now used to to the local
by the ACME System.
(in the
Using
this
+ i.i degrees
sensor without
servo loop,
of
to the earth gyros
when
Attitude
and have no direct
must
(The horizon
the spacecraft
surface.)
using
the pilot
as near null as possible.
are most accurate
respect
to
them
is held to within
without
attitude
error signals
system
signals
ali_-_
6 and
axes.
To align the platform
maintain
error
platform,
the spacecraft
5,
spacecraft
for the Propulsion
the platform
a servo
spacecraft
it is desire_
attitude
signals
c_ds
(on
a third
can be used when
the inertial
attitude
control,
attitude
involves
Horizon
mode) to generate
of attitude
sensor
This method
measurement
continuously
spaceera_
is in a error
effect
signals
on spacecraft
attitude.
The Horizon AC_E
Sensor
and Inertial
or platform
degrees
also provides
Guidance
from aligning
used to illuminate the system
System
System.
The signal
to a false horizon.
the SCANNER
is not tracking.
of the horizontal
a loss of track
light
indication
is used to prevent The loss of track
on the pedestal s informing
(Spacecraft
attitude
the ACME signal
is also
the pilot
must be held within
for the system to track. )
8-222 CONFIDENTIAL
to both the
+ 20
that
....
CONFIDENTIAL SEDR 300
•
"_L i
AZIMUTH SCAN
4_AZIMUTH LIMIT 0°
SCAN
ii
1
SPACECRAFT ROLL
.....
--
AXIS EXTENSION
204*
AZIMUTH LIMIT 284=
SCAN
I I 270 °
AX,SEXTENS,O,.,O_ON S.SO__T_. J VIEW A-A
AHxis EXTENSION
f
-t
A
A
/ /
\
SCANNER
/ INSTANTANEOUS
x
/
LINE OF SIOHI_/
\
X i_J
\
/
;
S,'_ECRAET ','A',,' AXIS EXTENSION
\
/
)... I /_z.__
1
I/
/I //
J
II I
DITheR _
HORIZON OF EARTH
AZIMUTH fLOCA I- VER'TICAL
Figure
8-62 Horizon
Sensor 8-223
CONFIDENTIAL
Tracking
Ge[ ,merry
CONFIDENTIAL
PROJECT
GEMINI
Tracking Geometry Horizon sensor tracking geometry (Figure 8-62)
is composed of the elevation
angles (e) generated by the track loop and the azimuth angles (_) generated by the azimuth drive loop.
Angles are compared in time and phase to generate
an error signal proportional to the elevation angle change with respect to the azimuth
scan angle.
As explained in the track loop paragraph, the system will lock on in elevation and track the earth horizon.
A dither signal causes the Posltor to move
the system llne of sight about the horizon at a 30 cps rate.
The track loop
will move the Posltor mirror such that the horizon is always in the center of the dither pattern.
It was also explained, in the azimuth drive loop para-
graph, that the system line of sight is continuously moved through a 160 degree azimuth scan angle at a one cps rate.
When the spacecraft is in a horizontal attitude, the azimuth scan has no effect on the elevation angle of the Positor as it tracks the horizon.
If the space-
craft is in a pitch up attitude, the elevation angle (0) will decrease as the azimuth angle (_) approaches 80 degrees forward and increase as angle _ approaches 80 degrees aft.
If the spacecraft is in a pitch down attitude, the elevation
angle will increase as the azimuth angle approaches 80 degrees forward and decrease as the azimuth angle approaches 80 degrees aft.
This produces a one
cps pitch error signal which is superimposed on the SO eps Positor dither.
If the spacecraft has a roll right attitude, the elevation angle will increase as the azimuth angle approaches either limit and decrease as the azlm_th angle approaches zero from either llm_t.
If the spacecraft is In a roll left attitude
CONFIDENTIAL
CONFIDENTIAL
.._____
SEDR300
the elevation angle will decrease as the azimuth angle approaches either l_m_t and increase as the azimuth angle approaches zero from either limit.
This pro-
duces a two cps error signal which is superimposed on _he 30 cps Positor dither. Position Phase Detector The Positor position phase detector compares the PositOr pickoff signal with a 5 kc reference to determine the angle of the Positor mirror. will be chang_
(The mirror angle
at a 30 cps dither rate, plus, if there is any spacecraft atti-
tude error3 a one and/or two cps error signal rate.)
he phase detector output is
then amplified and applied to the track check circuit.
Track Check _
The track check circuit determines when the horizon is in the field of view. the horizon is in the field of view,
the
track
check
circuit
energizes
If
a relay.
Contacts of this relay connect the Positor position signal to the pitch and roll error amplifiers°
A second
relay
in the
track
check circuit,
energized
when the
i
system is not tracking, provides a loss of track indication to the inertial measurement unit and the ACME.
The loss of track signal is 28 volts dc obtained
through the ATT IND CNTL-LDG circuit breaker and switched by the track check circuit.
Error Amplifiers In order to obtain individual pitch and roll attitude error outputs, error signal i separation must be accomplished. fiers.
This function is performed by two error ampli-
The Positor position signal input to the error amplifiers is a composite
30 cps dither, one cps pitch error and two cps roll error signal.
The pitch error
amplifier is tuned to one cps and selects the pitch error signal only for 8-225 CONFIDENTIAL
CONFIDENTIAL
PROJECT
amplification.
The roll error amplifier is tuned to two cps and selects the roll
error signal only for amplification. their respective
GEMINI
Each amplifier
signals, producing two outputs each.
then amplifies
and inverts
The outputs are 180 degrees
out of phase and of the same frequency as their input circuits were tuned. of each error amplifier
is coupled to its respective
Output
phase detector.
Phase Detectors Phase detectors compare the phase of pitch and roll error signals with one and two cps multivibrator
reference
The multivibrators sync switches.
signals to determine the direction of attitude
are synchronized
error.
with motion of the azimuth drive yoke by three
Two sync switches, located at 57 degrees on either side of the cen-
ter position of the yoke_ synchronize the roll multivibrator with the motion of the yoke and set its frequency at two cps. passes, in either direction,
The sync switches close each time the yoke
producing four pulses for each cycle of the yoke.
Each time a pulse is produced it changes the state of the multivibrator in a two cps output.
The azimuth multivibrator
resulting
operates in the same manner except
that it only has one sync switch, located at the center of the drive yoke scan, resulting
in a one cps output frequency.
The azimuth multivibrator
a phase lock signal to the roll multivibrator ronization but correct phasing as well.
also provides
to assure not only frequency synch-
The phase detectors themselves
are act-
ually reed relays, two for each detector, which are energized alternately by their respective multivibrator
output signals.
Contacts of these relays combine the two
input signals in such a manner that two full wave rectified output signals are produced.
The polarity of these pulsating dc outputs indicates the direction and
the amplitude indicates the amount of attitude error about the horizon sensor pitch and roll axes.
Since the sensor head was mounted at a l_ degree angle with 8-226 CON FI DENTIAL
--
s_
-_
SEDR 300
400 CPS ACME POWER (FROM SCANNER
Jl
SWITCH)
1
POWER TRANSFORMER
RECTIFIER
31V DC
_. "
20V AC
30V AC
BRIDGE RECTIFIER_ FILTER
FILTER
WAVE RECTIFIER_ FILTER
J -20V
DC
FULL
+20V DC
BRIDGE RECTIFIERFILTER
:
+30V DC
-27VDC
REGULATOR
REGULATOR
_1_
-27V DC REGULATED ÷25V OC REGULATED II_ +15V OC REGULATED Ib -15VDC REGULATED IP'
_20V DC
I_
-20V DC
m +31V DC
Figure
8-63
Horizon
Sensor
Power 8-227
CONFIDENTIAL
Supply
Block
Diagram
CONFIDENTIAL
PROJEC---'T--'G-EMINI ___
$EDR300
respect to the spacecraft, the mounting error must be compensated for. rotation of the horizon sensor axes, to correspond with spacecraft
Electrical
axes, is accom-
plished by cross coupl_ng a portion of the pitch and roll error signals.
Output Amplifier
and Filter
The output amplifier-filter rectified
removes most of the two and four cps ripple from the
attitude error signals and amplifies
the signals to the required level.
The identical pitch and roll operational amplifiers,
used as output stages for the
Horizon Sensor System, are highly stable and have a low frequency response.
The
output signal amplitude is four tenths of a volt for each degree of spacecraft attitude error
The signals are supplied to the A(_E for spacecraft alignment and
to the inertial measurement
HORIZON
unit for platform ali6_ent.
SENSOR POWER
Horizon sensor power (Figure
8-6B)is obtained from the 28 volt dc spacecraft bus
and the 26 volt ac, 400 cps ACME power.
The 28 volt dc power, supplied through the
SCAN HTR switch_ is used to maintain temperature in the sensor head and as power for She SCANNER lamp.
Sensor head heaters are thermostatically
operate any time the SCAN RTR switch is on.
controlled and
The 26 volt ac, 400 cps ACME po_er is
provided by either the IGS or ACME inverter, depending on the position of the ac POWER selector.
The 26 volt ac is used to produce seven different levels of dc
voltage used in the horizon sensor.
One of the voltages (31 volts dc) is obtained
by rectifying and filtering the 26 volt ac input. obtained by transforming
The remaining six levels are
the 26 volts to the desired level, then rectifying,
tering and regulating it as required.
fil-
The minus 27 volts dc output is used to
excite one side of the bolometer bridge.
The other side of the bridge is excited
8-228 CONFIDENTIAL
CONFIDENTIAL SEDR300
i
by plus 25 volts dc.
Plus 25 volts dc is also used for transistor power in the ! The 31 volt dc unregulated output is Used as excitation for the
error amplifiers. azimuth drive yoke.
The remaining four voltages (+15, -15, +20, -20) are all used
for transistor
in
power
the
various
electronic
modules.
SYST_UNITS The Horizon Sensor System (Figure 8-54) consists of two major units and five minor units.
The minor units are:
three switches, an indicator light and a fiberglass
i fairing.
The three switches are mounted on the control ipanels for pilot actuation.
The indicator light is mounted on the pedestal and, whe_ Illuminated, loss of track. _
The fiberglass fairing is dust proof an_ designed to protect the i
sensor heads, which it covers, from accidental ground _age ing launch.
indicates a
The two major units are:
the sensor head
or thermal _mage
dur-
_nd the electronics package.
SENSOR _D The sensor head (Figure 8-55) is constructed a Positor,
a telescope-filter
assembly,
from a mag_eslum casting and contains i a signal preampZ.ifier, a position detector,
an active filter and an azimuth drive yoke. positioning mirror
assembly designed to position
The Positor (Figure 8-64)
a mlrrorabou_
is a mlrror
its elevation axis.
is polished beryllium and is pivoted on ball bearings by a magnetic i
The
drive.
The Posltor also includes a position pickoff coll for determining the angle of the Positormirror.
The telescope-filter assembly (see Figure 8-58) contains a f_xedmirror, nium meniscus lens, an infrared filter and a germanium _mersed eter.
a germa-
thermistor l_l_m-
The fixed mlrror is set at a _5 degree angle to _eflect radiatiom from the
8-z29 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
J
_
AC POSITION
COIL
_,cKoPP co,L_ POSITION PtCKOFF COIL 11hl/
ELECTRICAL CONNECTION TO R
PERMANENT MAGNET
SINGLE-AXIS
Figure
8-64
Horizon
POSITOR
Sensor 8-230
CONFIDENTIAL
Single-Axis
Positor
CONFIDENTIAL
__
SEDR300
Positor mirror into the telescope.
The germanium meniscus objective lens of the
telescope is designed to focus incoming infrared radiation on the bolometer. ;
The
infrared filter, located immediately behind the objective lens, Is designed to pass infrared radiation in the 8 to 22 micron range. bolometer
contains a culminating
directs all incoming radiation
The germanium _ersed
lens and two thermistors.
on one of the thermistors.
thermistor
The culminating
The two thermistors are
bonded to the rear of, and effectively i_,ersed in, the culminating lens. thermistors
are identical; however, one of the thermistors
the focal point of the culminating lens. to one side of the focal point.
lens
Both
(active) is located at
The other thermistor
(passive) is located
The passive thermistor is used as an ambient
temperature reference and does not react to direct infrared radiation.
Signal Preamplifier The signal preamplifier is a low noise, high gain, four stage, direct coupled transistor
amplifier.
The preamplifier
is made in modular form and potted
in
epox_ for thermal conductivity and protection from shock and vibration.
Position
Detector
The position detector is a five kc phase detector designed to determine position of the Posltor mirror.
The circuit produces a voltage which
proportional to the angle of the Positor mirror. adc
the
is
Output of the detector is
voltage which varies at the same rate as th_ Positor mirror moves.
The
detector is made in modular form and potted in epoxy for thermal conductivity and protection from shock and vibration.
8-231 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
Azimuth Drive Yoke The azimuth drive yoke provides a means of moving the Positor mirror about its azimuth axis.
The yoke is magnetically
driven and pivots on ball bearings.
The Positor is mounted inside the azimuth drive yoke and is rotated through an azimuth scan angle of 160 (+80) degrees by the yoke.
The azimuth axis of
rotation is through the center line of the infrared ray bundle on the surface of the Positor mirror.
Drive coils, located directly in front of the yoke,
supply magnetic impulses to drive the yoke.
Mounted on the edge of the yoke
(see Figure 8-60) are two iron slugs and a permanent magnet.
The iron slugs
are used to induce an overshoot signal in the azimuth overshoot detector. The permanent magnet is used to synchronously
close contacts on three sync switches,
mounted around the periphery of the yoke.
_T._,CTRC_ICS PACKAGE The electronics package (Figure 8-56) contains the circuitry necessary to control the azimuth yoke and Positor in the sensor head, as well as process attitude error signals.
The package also contains adc
five kc field current generator.
power supply and a
The solid-state circuitry is made in modular
form an_ potted in epoxy for thermal conductivity and protection from shock and vibration.
8-2_. CONFIDENTIAL
CONFIDENTIAL
RENDEZVOUS RADAR SYSTEM
TABLE OF CONTENTS TITLE
_"
PAGE
SYSTEM DESCRIPTION . . . . . . . . . SYSTEM OPERATION OIIIOeOIIO. RADAR . , . . . ........... TRANSPONDER ......... INTEGRATED OPERATION_ . o . o . COMMANDLINK OPERATION_ . . . =. . SYSTEM UNITS • i RADAR MODULATOR AND TRANSM{TTER : TRANSPONDER ANTENNA . SUFFICIENT AMPLITUDE DETECTOR i" • _ TRANSPONDER CIRCULATOR... o .... RECEIVER. , . TRANSPONDER HODUZATOR AND " =" " TRANSMITTER oeoooooo.oo RADAR RECEIVING ANTENNA SYSTEM. . GATE GENERATOR, . . . , , , • • • ELEVATION TWO-MICROSECOND MULTIVIBRATOR FUNCTIONS. . i. . DITHER BISTABLE MULTIVIBRATOR FUNCTION .eeooooe.:,,o SPIRAL ANTENNA IN ANGULAR MEASUREMENT...... . .... DITHER SWITCHES ......... RANGE AND RANGE RATE (R/R HETEiR).. RANGE SWEEP CIRCUIT ..... . . DIGITAL RANGE COUNTER ........ RADAR POWER SUPPLY...... i, • TRANSPONDER POWER SUPPLY... !...
8-233 CONFIDENTIAL
.
8-235 8-238 8-238 8-239 _ 8-239 . 8-241 : :
8"243 8-243 8-245 8-247 8-247 8-247
" . •
8-254 8"255 8-257
.
8-261 8-261
. . •
8-261 8-263 8-263 8-265 8-266 8-267 8-270
CONFIDENTIAL
PROJECT
GEMINI
RO_,C,_P I _, , RANGE/RANGE
RATE
METER
FLIGHT DIRECTOR
FLIGHT DIRECTOR
CONTROLLER'(REF)
INDICATOR I(REF)
DETAIL
A
ON _LOCK
O ON
(COMMAND IPILOT PANEL) TBY _S
RADA_ OFF DETAIL B
(PEDESTAL PANEL)
DIpOLE
(REF)
DETAILD (RIGHTWITCH/CIRCUIT BREAKERPANEL)
IREF)
DETAILC (iPILOTPANEL) REFERENCE ANTENNA
ELEVATION ANTENNA i
RDRt CMP
..... i
FLIGHT DIRECTOR INDICATOR
j
DETAIL C (REF)
ANTE_ SPfJRPAL
DETAIL D
Figure
8-65 Rendezvous 8-234 CONFIDENTIAL
Radar
System
GONFIDENTIAL SEDR 300
RENDEZVOUS
RADAR
SYSTEM
SYSTEM DESCRIPTION The Rendezvous Radar System (Figure 8-65) is incorporated in the Gemini Project to facilitate a rendezvous maneuver of the Gemini Spacecraft with the target vehicle.
The system is comprised primarily of two units, a radar located in the i
rendezvous and recovery section of the Gemini and a transponder located in the target docking adapter of the target vehicle.
The co-operative operation of the
two units enables the detection of the target vehicle by the Gemini and the determination of the range, relative velocity, and angular relationship of the two craft.
The radar transmission is also used as a carrier for the command link
intelligence; refer to the co_and
link portion of Section VIII for a description
of this system.
The Rendezvous Radar System, as described herein is applicable to the rendezvous mission of spacecraft six and those planned for spacecrafts eight through twelve. Spacecraft five utilized a rendezvous evaluation pod tO simulate the rendezvous mission.
The difference between the rendezvous mission and the rendezvous evalu-
tion mission will be discussed in the rendezvous evaluation pod portion of Section VIII.
The Rendezvous Radar System is capable of acquiring lOck-on when the target vehicle is within 180 nautical miles of the Gemini and is within 8.5 degrees of the radar boresight axis.
The angular acquisition capability increases to 25
degrees relative to the radar boresight when the range decreases to within 130 nautical miles.
The radar provides bi-level, analog, and digital outputs for
use during the catch-up and rendezvous portion of the Gemini flight (Figure 8-66). The Gemini crew is provided with visual indications of radar lock-on and Co_and
8-235 OONP'IOIENlrlAL
CONFIDENTIAL SEDR 300
,=..oJcT DIPOLE ARRAY
LOCK ( ON
R
R
AZ
ANALOGo "_
EL
OUT
, Pi2L:21 S RADAR DATA READY
_
R E NDEZVOUS RADAR INTERROGRATO8
1528 MC
RADAR TRANSPONDER
1428 MC
PRIMARY 91'_
POWER
READOUT
COMMAND R, AZ, EL_
..__j
t
PRIMARY POWER
_
_L
HOLD-OFF SIGNAL
SPIRAL
RADAR
I.
TRANSMITSA
]-USEC
2. RECEIVES THE 6-USEC AZIMUTH,AND
1528MC
PULSE ATAPRF
TRANSPONDER
ELEVATION ANGLE
TRANSPONDER
OF 250PPS.
REPLY AND
iNFORMATION
I.
EXTRACTS RANGE r FROM EACH PULSE.
3.
PROVIDES ANALOG OU'IrPUTS TO THE INDICATORS RANGEr RANGE RATE, AZiMUTH, AND ELEVATION.
4.
PROVIDES BINARY DIGITAL OUTPUTS REPRESENTING RANGE,AZIMUTH, AND ELEVATION ANGLES TO THE COMPUTER.ON COMMANO.
Figure
8-66
RECEIVES THE INTERROGATING 1528-MC I-USEC PULSES FROM THE RADAR; DELAYS 2-USEC AND TRANSMITS A 6-USEC PULSE AT A FREQUENCY OF 1428MC FOR EACH PULSE RECEIVED.
Basic
REPRESENTING
Functions
of Rendezvous
8-236 CONFIDENTIAL
Radar
System
(;ONImlDEENTIAL
PROJECT%EM, Link message acceptance.
,
Analog indications of the target vehicle range and
differential velocity are presented on the Range and Range Rate Indicator. Analog indications of the elevation and azimuth position of the target vehicle,with respect to the Gemini,are presented on the flight director indicators. indications of range, elevation, and az_,th calculating
the corrective
thrusts required
Digital
are available to the com_uter for for the rendezvous
The radar is contained within a pressurized module.
maneuver.
The module dimensions are
approximately 17 by 29 by 9 inches, the module area is l.8 cubic feet, and the weight is 72 pounds. Spacecraft
_
The radar is installed in the small end of the Gemini
on the forward face of the Rendezvous
and Recovery
Section.
The radar antenna system consists of four spiral antennas, one uncovered transmit antenna and three covered receive antennas, mounted on the radar face plate. installed
in the spacecraft, the radar is covered with the nose fairing for
thermal protection
The transponder
during the launch phase of the mission.
is contained within an unpressurized
are approximately
module.
The module dimensions
9 by 10 by 2_ inches, the module area is 1.25 cubic feet, and
the _eight is 3_ pounds. Adapter
When
The transponder
is installed in the Target Docking
of the target vehicle.
The transponder electronically
antenna system consists of one dipole and t_o spiral antennas connected by coaxial cables.
The dipole antenna
is mounted on
an extendable boom which is recessed until the extend command is given via the Digital Command System.
The spiral antennas are mounted flush with the skin of
i
the Target Docking Adapter and are mounted 180 degrees apart from each other.
8-237 CONFIDENTIAL
CONImlIDINTIAL
PROJECT
GEMINI
SEDR 300*
SYSTEM OPERATION RADAR The rendezvous
radar will,
will be covered with
the nose fairing
45 seconds the pilot will the nose fairing
During
catch up with target range
and
the initial
portion
miles
crew will
initiate
The radar
is placed
breaker, switch,
located located
to ON.
megacycles.
and twelve output
miles
After
instrument
the spacecraft w111 place
The Gemini
and closing
completing
panel
is interfaced
is allowed
six, seven,
plus
Jettisoning
will _neuver
the Gemini
to
and the
will be lagging
at a
at a rate of approximately
the catch-up
maneuver
breaker
panel,
center
console,
for warm up prior
interrogation
the Gemini
at 240 pulses
per second.
at a frequency
8-238 CONIWlOIENTIAI.
width
in spacecraft
The transmitter
Those A time
the RADAR
second for radars
those
of 1150 watts.
to STBY.
at this time.
signal has a pulse
and nine, while
circuit
to ON and the RADAR
to positioning
transmission
rate of 250 pulses per
eight,
the RADAR _
are _nergized
ON, the radar commences
The transmitted
operate
switch, thereby
in the standby mode by switching
on the main
turned
At staging
tran_mlssion.
second, a pulse repetition craft five,
orbits.
on the rig_ht switch/circuit
of 60 seconds When
phase
This mnneuver
125 nautical
radar
and the radar
radar.
circular
per m_nute.
protection.
the JETT FAIRING
vehicle.
systems with which the radar delay
the
be deenergized
for thermal
of the orbital
in co-planar,
of appro_Imatel_
1.5 nautical
depress
exposing
the target
vehicle
at the time of launch,
switch
of 1528
of i microin spaceten 2 eleven,
has a peak power
OONIFIDIENTIAL
TRANSPONDER The transponder will, at the time of launch, be deenergized dipole antenna will be retracted.
phase the transponder
is placed
and the extendable
After the target veBicle enters the orbital i
in a standby condition i and the dipole antenna
is extended via the Digital Co,_nd
System.
At this time the transponder is in
standby and is connected to the dipole antenna.
A sufficient amplitude
detector
I
is incorporated
in the transponder,
this circuit detects the initial pulses from
the interrogate radar and enables the high voltage power supply. required for the transponder
to become operational
is approximately
The period 12 interrogate
i pulses or 50 milliseconds.
When the high voltage is energized the transponder
is fully operational and will respond to the interroga;e pulses of the radar.
INTEGRATED
OPERATION
The initial pulses of the radar will energize the transponder supply.
Now energized,
the transponder
pulse repetition
frequency.
the illumination
of the LOCK ON lamp.
The rendezvous
responds to th_ radar at the interrogate
The initial reply pulses
radar determines
reply.
cause
and receipt of the reply pulse
This period of time is co_mence_ by the time zero pulse,
a pulse which occurs simultaneously mission,
From the transponder
the range to the trans x>nder by observing the
events which occur between radar transmission from the transponder.
high voltage power
with the leading edge of the radar trans-
and is terminated by the receiver video pulse!, the detected transponder The radar determines analog range by the initi stion of a ramp voltage
with the time zero pulse.
The ramp voltage continues until stopped by the
8-Z39 CONIBIOINTIAL.
CONFIDtNTIAL
PROJECT [__
leading
edge of the transponder
and the resultant are differentiated rate voltages of a voltage digital which
dc voltage
are provided divider,
occur during
reference
antenna
corresponds
provided group.
rotation,
to the flight
to indicate
and range
and are, by means
computer
clock
data is stored
position
pulses
in the shift
of the target
of the rf received
at each of the _wo angle
to nullify
the incoming
to the position used to provide shafts.
error.
required
An
needles
vehicle
antennas.
Each
difference. to achieve
this
potentlometer
intelligence,
information
of the attitude to serial binary
the latest
display and stored
to the computer.
a request
the radar data pulse,
readings
information.
which
three
are continuously
The computer
for radar information. obtains
is
is
range and angle data is stored in the shift register. of three
to
at the
induction
analog and digital
is converted
for transmission
phase
The analog angle
indicator
information
stores a series
as to indicate
pulses
The radar measures
from a zero position,
director
The Gray binary
rate meter
of 50 megacycle The digital
Succeeding
analog range
purposes.
the angular
_o each of the antenna
The radar digital register
gate.
rotate
directly
in the shift register
The radar
the phase difference
and a Gray Binary Encoder, connected
the number
to the rf received
of antenna
rate.
is peak detected
to the computer.
of the two angle antennas The amount
to the range.
for telemetry
determines
the Gemini by observing
The ramp voltage
to the range and range
the range
radar
pulse.
the range
utilized
for transmission
The rendezvous
reply
is proportional
to obtain
range by counting
register
result
GEMINI
SEDR300
complete
The radar
8-21_0 CONfflDINTIAI..
The
updated
so
sends a radar data pulse
shift register, readouts
after
receiving
and discontinues
CONFIDENTIAL
updating the information.
The radar now transmits a data ready pulse.
The com-
puter, upon detecting that the radar data is ready, transmits a series of three bursts of 500 kc pulses to shift the radar data into the computer.
The radar at
this time returns to the state of continuous data updating.
CO_4AND _
OPERATION
The radar is utilized during the rendezvous maneuver with the target vehicle as a carrier for the co.m_nd link information. system refer to the c_aand
For information concerning this
llnk portion of Section VIII.
The operation of the
radar, as a carrier, is explained herein.
The C_d
Link System, when energized, d/sables the radar pulse repetition
frequency generator and interconnects the radar and the Time Reference System. The radar now operates at a pulse repetition rate of 256 pulses per second. radar transmits data by pulse position aodulation.
The
The modulation is controlled
by a portion of the Command Dink System, the encoder.
The normal pulse repetition
time of 3900 _Icroseconds is indicative of a zero; a one is transmitted by lengthening this time to 3915.2 microseconds.
The transponder received information is provided to the sub-bit detector, a portion of the C_nd
Link System.
The sub-bit detector converts the pulse
position modulation to binary form and sends the message to the _arget vehicle progra-w,er. The proEr-ww,er verifies that an acceptable message is received and provides a message acceptance pulse to the transponder.
The message acceptance
pulse, when received by the transponder, causes the transponder transmitted pulse to lengthen from 6 to i0 microseconds and remain in this condition for three
8-241 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
i
I
256 TiMEPPS
j
TRANSMITTING SPIRAL
|
I i SY_EM 250 PPSREFERENCE ON S/C 5 THRU P rum]
I
MULTI.I
I
-
1-USEC PULSES
1150 WT , FK.
; MODUaTOR
1240PpS ONS/C to,11,_,12
TO RANGE ANALOGSTART AND INPUTS DIGITAL
_, MULTI J DELAy 2"_sEcJ
<
AZ SPIRAL
SPIRAL
SPIRAL
ELEVATION _ jv I
:>
'lt
SWITCHING ANTENNA
J'
TI
I
AZ SERVO MOTOR
:
r
I
AZ SERVO AMPLIFIER
1 ENCODER
DEMOD,
' I
'
AZGATE
_
AZ BOXCAR
J
RP
STOP
I ELSERVO I MOTOR
RCVR
I i
ENCODER
:TI
i VIDEO
--
T
L.O.
! I
DEMOD.
]
AZ INDUCTION POTENTIOMETER
I
EL SERVO AMPLIFIER
SWITCH DITHER
i
,L EL ZERO DRIVE ¥
I
REFERENCE - ! I
(
I
GEN
I
EL GATE
l
l
EL. INDUCTION POTENTIOMETER
EL BOXCAR
TARGET VERIFICATION
TO FLIGHT DIRECTOR
_
DETECTOR J AZ OFF-ZERO
SWITC H AZ PREACQ.
J AZ ZERO DRIVE
SWHC H EL PREACQ
DETECTOR EL OFF-ZERO
_ PREACQ. LOOP DISABLE
400 CPS REF.
TO R/_ METER R_ AZ_ EL TO COMPUTER
E STOP SHIFT REGISTER
DIGITAL RANGE
ANALOG RANGE
RANGE START FROM RADAR
2-USEC MULTI
TRANSPONDER
2 USEC DELAy
RECEIVER
)
ANTENNA SELECT SWITCH
. SPIRALS
I AMPLITUDE DETECTOR
I
)
l
C'RCO_TOR iTr ENABLE
Figure
MODULATOR
)
k Ill TRANSMITTER 1428 ME
8-67
Rendezvous
Radar 8-242
CONFIDENTIAL
System
Block
Diagram
>
SWITC HING
?
CONFIDENTIAL
PROJECT
GEMI
I I
tranmnissions.
The radar detects the additional pulse width and effects
the illumination of the Message Acceptance (P_qGACPT) lamp.
The previously described system operation affects onl_ the radar pulse repetition frequency.
This operation results in no alteration or inter-
ruption to the radar system.
SYSTEM UNITS RADAR MO_UIATOR AND TRANSMUTER When the RADAR switch is in the STBY position a hold Off signal is applied to i the high voltage portion of the radar power supply to iprevent it from producing ii the high voltage required by the transmitter tube.
When the pilot places the
RADAR switch to the ON position, (Figure 8-67) the hold off signal is removed, i the 1650 volts dc is produced and applied to the transmitter tube, and the radar co._ences transmitting in the search mode.
In the search mode the pulse I repetition frequency trigger multivibrator oscillates fat 250 cycles per second for radars on spacecraft five, six, seven, eight and nine, while on spacecraft ten, eleven, and twelve the trigger _Lltivibrator oscillates at 240 cycles per second, generat_-E a square wave which is used to triter
the modulator.
The mod_,latoroutput is a series of one m_crosecond positive pulses which tri_ers
the transmitter tu_e.
The tranm_tter
tube Output is a 1528 megacycle,
i microsecond_ 1150 watt pulse at a repetition rate e(_al to the output of the pulse repetition frequency trigger umltivlbrator. pulse
is
coupled
to
the
tranm_ _tting
_
spiral
to interrogate the transponder.
8-2_5 CONFIDENTIAL
Th, tranm_tter ante
_a and radiated
outlout in order
.-_
CONFIDENTIAL SEDR 300
.
,, ,__
PROJECT
/
/
/
GEMINI
/
\
X \
\
/ /
\
I
'_o
\ \
\
k \
\
/
/
ll,,//
.\
/
/
\
I / / /
\\
/
I
..//_/ !
/
x
\
/
", \\
/ I I
/
\ \ \
-;
i I
I
/ \ \ \
\
%
N
Figure
8-68
/
Transponder
Antenna
8-244 CONFIDENTIAL
/
/
/
/ /
System
Coverage
CONFIDENTIAL
PROJNI SEDR 300
TRANSPONDER
ANTENNA
The transponder
utilizes
two antenna
array and two dual spiral to the transponder located enters
the orbit phase
side of the Target the adapter
(Figure
the target
the horizontal
The
select
boom which
Adapter
(Figure
selected switch.
is retracted
of the mission.
Docking
8-68)
antenna
a dipole
system
The dipole until
The spiral antennas
and are mounted
is connected
antenna
after
antenna
array
the target are located
flush with
is
vehicle on either
the surface
of
8-65).
The dual transponder about
antennas.
by an antenna
on an extendable
systems,
antenna
vehicle.
plane.
systems
are designed
to provide
The dipole will provide
The dipole
pattern
spherical
omnidirectional
is doughnut
shaped
coverage
coverage
with
in
the dipole
i
located
in the center.
is plus
or minus 25 degrees
gain
of S.5 db.
will operate width
The
connected
In order to provide
or minus
condition
area.
The initial
amplitude mitter
operation,
strength. causes greater
radar pulses
detector.
Should
direction
has a minimum
coverage
gain of each
the spirals
The spiral beam spiral
will be with ithe internal
is 7.5 db.
circuitry
ldisconnected.
The dipole
coverage
received
The detector
turns
thereafter
it monitors
the signal
level
the transponder
spherical !
array and the spiral antennas
since this provides
The array
the dipole _attern.
and the minimum
of the transponder
in any horizontal
points.
effectively
and below
35 degrees
to the dipole
array is selected
considered
at the half power
in the space above
is plus
initial
The beam width
for the anticipated acquisition i by the transponder enables the sufficient
on the high
voltage i
required
for trans-
the received isignal to ensure
decrease
below
to switch to the opposite
strength. 8-245 CONFIDENTIAL
adequate
a s!0ecific level the detector antenna
system
in search
of
CONFIDENTIAL SEDR 300
_._-_ _
P.oJ c• o f-AND LOAD
I
J
RADARONLY
I
CIRCULATOF_
SW._ I ERGMAZ-0LANT.
I
H¥::,:_W, TCH I_ ._FRO_H_0R,OS
I
I
TRANSPONDERONLY
--J ) 1528MC TO BANDPASS FILTER
J
CIRCULATOR
J
))J
FROM XMTR, SELECT
.
_ FROM ANT.
SWITCH DRIVER
DIPOLE
FILTER
CONTROLLED ATTENUATOR
MIXER-PREAMP
OSCILLATOR
l SIG NAL DETECTOR
AMP AND DETECTOR
AMPLIFLER
VARACTOR AND SWEEP
-
VERIF, OR STOP SWEEP
I
GATE SELECTOR
AND DETECTOR
1
AMPLWtER
TGT.
I
AND GATE I-USEC
l 11 1 _i CIRCUITS
(REFERTO FIGURE 8-32)
AMP AND DETECTOR
SELECTOR
VIDEO
DELAY
T
SIGNAL
Figure
8-69 Radar/Transponder
8-246 CONFIDENTIAL
Receiver
Block
Diagram
GATE
LIMtTER
l
CONFIDENTIAL SEDR 300
PROJECT SUFFICT_T AMPLXItr_ The
signal
from
the
transponder
Ampli%m_le
Detector
(SAD).
transponder
is
stan_by_
interrogate
pulse
in
the transponder transponder decreases
below
signal
portion!of
SAD monitors
the
mode by activating
level
strength.
Should
to continually
system
pulses
mission,
when
for
the
signal
it places
the interrogate one
While
strength;
antenna
system
system
the
if it in order
signal be lost,
mtenna
the
initial
are received
the opposite
cycle from
Sufficient
th_ high voltage.
the received
it selects
the
the
antenna
When the first
the SAD monitors
circulator
(Figure
8-67) is a transmit/receive
and transmitter
provides
to the antenna
a low attenuation
and a low attenuation
The dlrectivity blocking
initial
to
the SAD
to the other
CIRCULATOR
the receiver
circulator
the
applied
re-occurs.
The transponder permits
the
During
a specific
the transponder
TRANSPC_R
is
from the radar.
is operating
until lock-on
circuit
in the transmit
to seek greater causes
Video
of the circulator
of the main
to operate
device
which
by the same antenna.
The
path for the rf from the transmitter
tube
path
from the antenna to the receiver. i provides a high attenuation and enables the
bang fr_n the receiver.
R_C_XV_R The transponder
and radar receivers
most
There are some differences,
The
respects. receiver
will he explained
input circuitry the bandpass and aut_atic
gain
to the video control
will
8-69)
first, circuits conclude
arei practically
principally
in the fo11_wing
will be discussed
filter
(Figure
way.
in the input
;The difference
then the portion output.
in
circuit. in the
of the receiver
Automatic
the discussion
8-24.7 CONFIDENTIAL
identical
frequency
of the receiver.
from
control
CONFIDENTIAL SEDR 300
PROJEEMINI Radar
Receiver
Figure
Input
8-67 shows the three receiving
the rf is connected receiving
antenna
two receiving compares
As will
system paragraph, at a time
relationships
are different. hybrid
to the receiver.
antenn-s
phase
spiral
the radar
during
while
8-69).
tor, the bandpass
filter,
The load associated
with
compares
the transponder
The signal path the voltage
compared
controlled
the radar circulator
(Refer to the discussion
attenuator
below,
its operation
load associated
with the radar hybrid
in which
in the radar
relationships Because
in phase
are combined
rf is through
attenuator
circuits in the
the circula-
and into the mixer. because
of the voltage
of the voltage
controlled
is explained. )
is explained
on
the radar
does not, the input
in both receivers switch
phese
is required
attenuator.
later
pulse.
of the combined
controlled
where
and the manner
be discussed
each return
The two rf signals being
(Figure
antennas
The
in the gate generator
discussion.
Transponder As Figure
Receiver 8-69
Input
shows, both
spirals
spiral at a time will be directed either
one will pass through
signal
is passed
controlled hybrid
attenuator
are required
was directed passed
through
toward
through
toward
the hybrid
the circulator,
to the mixer. for equal power
the radar,
the antenna
as was described
are connected
the radar,
the bandpass
select filter,
The loads associated division
switch
be received
and on to the mixer
8-248 CONFIDENTIAL
only one
switch.
on The
and the voltage-
with the transponder
in the hybrid.
for the spiral.
Since
the signal received
to the antenna
the signal would
select
to a hybrid.
If neither
spiral
on the dipole, in the same way
_
CONFIDENTIAL
PROJECT
GEMI
I
B_udpassFilters The bandpass
filters
in the transponder
the frequencies
to which
at the transmit
frequency
magacycles provide
they are tuned
are different i
of the other unit.
and the transponder
the required
and the radar iare identical;
is tuned
interference
Each
The radar
rejection
filter
is tuned
to 1528 megaclvcles. and help keep
however, is tuned
to 1428
These
filters
the transmitter
i
main
bang
out of the receiver.
Voltage-_ontrolledAttenuators
The voltagecontrolled attenuators in the radarand the transponder are identl; cal.
The purpose
holding
of the attenuator
the mixer
at far and middle power
input to a minus ranges.
is to prevent 12 _
Operation
msY4_,m.
commences
increases.
The attenuator
a _a_n
attenuation
of 2It dh.
The attenuation
automatic
gain control
The voltage-controlled the
attenuator
In the
radar,
i_pedance
input,
which is the eirovlator.
circulator
described
circulator
the sam
which
produces
mismatch
earlier, _y
varies
tends
_e
is controlled
attenuation
the
Due to the directional
it m_ters.
by a delayed
6 volts.
wave
The pa_h
mismatching.
hack
to
c_racteristic
wave will! not back
the reflected
and the
device with
by impedance
reflecti
by
is inoperative
decreases
is a! solid-state
from 0 to! minus
_o
of the m!_er
attenuator
as thei range
at the receiver
voltage
saturation
up
that thel reflected
the of the
through
the
wave takes
!
through
the circulator
_ermiuatas
wave
prevented
becoming
the
is radar
measurements
because
froa
standing
waves
in a load resistance; a standing could
wave.
upset
inaccurate.
8-249 OONWIDEIMT_I_
This
stability
thus
the reflected
precaution
is
an,_ render
the
taken angular
in
OONFIOUNTIAL
SEOn soo
The voX_e-controXled manner;
however,
effective,
attenuator standing
and the
measurements
mixer
waves is
are made in the
in the transponder are
not avoided.
pre_ented
_
functions Newer the
saturating.
transponder
the
standing
less,
Since _ves
in a s_/_r attentmtion
is
no critical produce
no
_m_avorable effects.
Automatic _reQuency Control (AFC) The automatic frequency control circuit in the transponder and radar is comprised of the local oscillator, the m_xer preamplifier, the narrow band amplifiers and detector, the amplifier limiter, the discr4m_nator _ varactor and sweep circuit (Figure 8-69).
gate, and the AFC
The varactor, a solid-state voltage-
controlled variable capacitor, is the heart of the AFC circuit.
A 0.2 cycle
per second sweep voltage is applied to the varactor when the receiver is turned on.
This voltage causes the local oscillator frequency to vary over a 1-mega-
cycle band about its operating frequency.
In the transponder, when the 1528 megacycle interrogation pulse is received, it is applied to the mixer.
Here the 1557.5 to 1558.5 megacycle output of the
local oscillator beats with it, and the 30 megacycle Intermediate Frequency (IF) is prodnced.
The IF is applied to the wide band and narrow band amplifiers.
The
signal selector gate initially selects the narrow band output since it is larger. Five pulses in 16 milliseconds produce the stop sweep pulse which ends the local osc_11-tor sweeping. crlw_-ator.
This prepares the varactor to be controlled by the dis-
The narrow band signal is amplified, limited, and discriminated.
If
the video exceeds the predetermined threshold, a I microsecond pulse is supplied which opens the discriminator gate and allows the discr_,_nator output to control
8-250 CONFIDENTIAL
CONFIDENTIAL SEDR 300
.s- _-_.
___'
PROJECT
GEMINI AFC
AZIMUTH
8ANGEL"_
//_
1 USEC
2 USEC
F
ELEVATION
2 USEC
I USEC
i
SWITCH
SWITCH
SWITCH AND STUBS
i
AND
LOAD
HYBRID
AND
RECEIVED 6 USEC PULSETIME SHARING
LOAD
FILTER
CONTROLLED ATTENUATOR
t DITHER MULTI
GATE GENERATOR
_
RANGE THRESHOLD
F
_
RECEIVER
t
AND MULTI
i /'x.
i
FROM DELAy
TOAFC VARACTOR (I USEC GATE)
SWITCH DRIVER
I USEC MULTI
2 USBC MULTI
2 USEC MULTI
H "OR" GATE
ir I I
j
-
AZ
I
RF
EL
RF
DRIVER
DRIVER
SWITCH
SWIICH
i Figure 8-70 Radar RF Switching and Return Pu kseTime Sharing 8-251 CONFIDENTIAL
J
I
CONFIDENTIAL
PROJECT
the varactor.
The dlscr_nator
it if it is high. exactly
There
increases
is no output
the frequency
from the discriminator
the 1428 megacycle
to i_58.5 megacycle 48 milliseconds the varactor
are required
gate which
Receiver
Gain gain
pulse
enables
the IF is
the discriminator
Control
pulse which
8-70)
to control
pulses
produces
in stops the
the varactor.
(AGC)
_,
a wide range
and the wide band
of input channels
are controlled
Since the signal
selector
the higher
output
to operate
at the distant
band noise feedback
the video ranges.
voltage.
band gain_ the outputs are both applied
input signals
and the decreasing
predeterm_-ed
level,
The wide band
by noise
(Figure
levels,
8-69) will
the narrow
the narrow
band
ban_
selector.
signal
noise
The AGC
As the side-_and
to the AGC
8-252 CONFIDENTIAL
input
gain than the select
circuit
band gain will be controlled
5y the signal
signal applied
automati-
8-71 shows
detector
selector
will by the
assumes
signal has also been increasing
range.
it is selecte_
gate
of the narrow band
to the AGC
The wide band
band gain.
Narrow
Figure
has 14 db higher
circuits,
When
must be adjusted
signal levels.
channel.
control.
the 1457.5 Twelve
(Figure
wide band
the narrow
it.
multivibrator
channel
nal detector
with
verification
The narrow band
of the narrow
beats
the target
and range.
control
is received,
in both the radar and the transponder
how the narrow
narrow
when
to 30 megacycles.
to acco_uodate
signals_
to produce
The I microsecond
The IF is maintained
_utcmatic
return
output from the oscillator
sweep.
discriminator
have
if it is low, decreases
30 megacycles.
In the radar, when
cally
GEMINI
control
and sig-
controls with
signal reaches
the the
selector
gate and assumes
selector
along with
the
CONFIDENTIAL
%_-
PROJECT
GEMINI
f
/
/
/
//
/ ÷o/ "_'_
1o-
/
/ I
/
/
/ / /
/
I I
o
/
/
/ ....
/
//,_/7 _
/
25-
J
40--_
'
/
_
=E
-_ I00 -
z
II/ //
%
='
//I
(
16o-
I I
\
? _z
250 --
L "%,_,..'_,,
;71
I I
, I o
RELATIVE OUTPUT SIGNAL IN DB
Figure 8-71 Receiver Operation 8-253 CONFIDENTIAL
Versus Range
CONFIDENTIAL
PRO,JECT
narrow
band noise
band noise.
detector
output
GEMINI
further
reduces
narrow
band gain
and narrow
As range continues to diminish and input signal to increase, a
greater AGO voltage is developed to hold the signal at the predetermined level. The AGC delay is overc_ne and AGC is applied to the voltage-controlled attenuator and the mixer preamplifier at near range.
AGC in these receivers is capable
of malntalnlng a constant output level with input signals weaker than -83.3 at 160 nautical miles to signals of +12 d1_nat a range of 20 feet.
MOU/LATOR AND TRAN_ The transponder
transmit_er
is
1_nk.
A hold
off
signal
is
ponder
power
supply
to
prevent
the transmitter tube.
placed
applied it
in the to
the
standby
high
mode by the
from producing
voltage the
portion high
uhf
command
of the
trans-
voltage
required
by
The initial interrogate pulses from the radar surpass
the threshold of the sufficient s_plltude detector and cause the renoval of the hold off signal.
The 15_0 volts _c is produced when the signal is removed
and the transmitter c_ences
transmitting.
In the transit
mode the inter-
rogate pulse from the radar is received at the transponder, delayed for 2 microseconds, and used to trigger the modulator.
The modulator output is a
6 microsecond positive pulse which triggers the transmitter tube.
The trans-
mitter output is a IM28 megacycle, 6 microsecond_ i150 watt pulse at the interrogate pulse repetition frequency.
The transmitter output pulse is
coupled through an rf switch to either the pair of spiral antennas or the dipole ante-_--array and radiated.
8-25_, CON
FIDENTIAL
CONFIDENTIAL
PROJECT
I_CEIV_G A_tenna
S_stem
GEMI
AI_J_NA SYST_ Description
The radar receiving antenna system consists of three dual spiral antennas 6.5
i inches in d/ameter.
The receiving antennas, along with the transmitting antenna,
form a square array spaced 0.82 wave length apart. are:
The three receiving antennas
the azimuth antenna, the elevation antenna, andlthe reference antenna.
The azimuth and elevation antennas are rotatable and @re pressurized to aid i lubrication in the space environment. They are returned to zero rotation by a preacqulsltlon loop.
The reference antenna and the itransmitting antenn- do
not rotate and are not pressurized.
The spirals are ralsed about a quarter
wave length (2-1/8 inches) above the radar face plate i and have a circumference of 2._ wave lengths (20.5 inches).
Their characteristic impedance is i
75 ohms.
The receiving antennas are operated in pair_, using the reference
ant_--a as the common element, to measure the target bearing angle. uses time sharing of the 6_nlcrosecond return pulse,
The radar
nterferometer measurement
techniques, an_ phase dither to obtain complete tracking information.
Azimuth
and Elevation
Antenna
Zeroin_
The amount that the azimuth and/or elevation antenna is rotated is the measure
of target position. When the radar is tracking a ta_eti and these antennas are following the target's changing position, lock on maylbe Inte_=_pted. When this II
happens_ it is desirable to return the antennas to zero rotation. l
A circuit
called the preacquisltion loop is provided to do this iwhen the target pulse I
is not being received.
The loop consists of the preaCquisition switch, a _00 l
cps reference voltage, output from the induction potentiemeters , a detector, the servo amplifiers, and the servo motors.
I
8-255 CONFIDENTIAL ;
CONFIDENTIAL
PROJECT
GEMINI $EDR300
The loop
compares
reference voltase.
the
output
of the
Induction
potentiometer
with
a _00 cps
If the antenna is off zero, an error voltage is produced
in the detector output. turns the servo motor.
The error voltage drives the servo amplifier which As the rotation -n_le _ecreases, so does output of
the indlctlon potentiometer; and when the potentlometer output is zero the error voltage and the rotatio_ angle are zero.
As soo_ as lock on is estab-
lished, this loop is disabled by the target verification signal.
There is a reason why the transponder transmits a 6 microsecond pulse in reply to 1-mlcrosecond interrogation pulse.
If only range data and automatic frequency
control voltages were obtained from the pulse a eimillar I microsecond pulse would _e wide enough; _,t the azimuth and elevation angle of the target must be obtained from the s_ne pulse.
The interfer_neter technique of angular measure-
ment (which will be described later) required that two antennas in the horizontel plane receive the return signal.
The signal on the two horizontal antennas
must _e present for an interval long enough to compare their phase relationship. Next 2 two antennas in the vertical plane must receive components of the return signal lo=8 enou6h to compare their phase relationship.
In this system, the
optlmum interval for the phase comparison is 2 microseconds.
For this reason
the transponder sends hack a 6-microsecond pulse.
_Ise
D1vlslon
The return pulse must be divided into 3 parts each time it is received. 8-70).
(Figure
The first part_ one microsecond, will be used for range measurement
and aut_atlc
frequency control of the local osc_11ator and receiver inter-
8-256 CONFIDENTIAL
CONFIDENTIAL
PROJECT
mediate frequency.
GEMINI
The second part will be used for azimuth angular measurement,
and the third part will be used for elevation an_arl
measurement.
The first
interval will be made i microsecond; the second and third, 2 microseconds each. These intervals add up to 5 microseconds; the remaini_
i microsecond is not
used.
GATE GENERATOR The key circuit which controls pulse divisionj switching and time sharing is the gate generator.
Figure 8-70 illustrates how the gates which perform the
required switching are generated.
To understand the iswitchingthat is done,
the gates that are generated and used, and how the return pulse time is shared, it is necessary to know the static conditions before _he pulse is returned, i the return signal path, and the sequence in which the gates and switches operate.
Static Conditions _efore Arrival of Return While
pulse
the radar is waiting for the return pulse
from _he transponder, the i
The azimuth RF switch,!the elevation RF switch,
following conditions prevail" and the hybrid switch are open.
i
The open az_--Ithand elevation switches pre!
vent rf, which arrives on these antennas, from being iconnectedto the hybrid and receiver.
Tlr_sthis rf cannot "be mt'sred with the !referenceantenna rf I
until the proper gate voltage is applied.
The open hybrid=switch keeps the I
hybrid load dlsconnec_.edfrom the hybrid.
The dlthe_ switch is closed in one Ii
of its two positions. multtvibrator)
are
Alt
one-kick
of the multlvibrators (exCept the dither bistable i multtvibrators, and in the quiescent state. They
are waiting for the return pulse to tri_er
the_ in
8- 57 CONFIDENTIAL
uccession.
CONFIDENTIAL.
PROJEC'-G-EMINI
Return
Signal
The reference
Path antenna
is the
receive the return pulse.
only
receiving
ante_ne
initially
connected
to
Following the ar_;owsfrom the reference antenna to
the input to the gate generator on Figure 8-70, the signal flow is as follows. The 6-microsecond pulse enters the reference antenna and flows through the dither switch and selected stub, the hybrid, the circulator, the bandpass filter, the voltage-controlled atenuator, and the receiver, and enters the gate generator.
Gate and Switching Sequence When the transponder pulse arrives at the antenna system, it enters the reference antenna and follows the described path to the gate generator.
Here, it is
applied as a 6-microsecond video pulse to the range threshold and multivibrator. If the pulse amplitude is large enough, the leading edge of the video pulse triggers the multivibrator.
Range
Threshold
Then the whole process of gating and switching begins.
Multivibrator
Functions
The on-period of the range threshold multivibrator is 12 microseconds.
This
threshold multivibrator has four functions : First, the leading edge of this 12 microsecond pulse terminates the range measurement in both the digital and analog range circuits.
Second, five of these pulses are integrated by the target veri-
fication circuit to produce the target verification signal.
The target verification
signal stops the AFC sweep (Figure 8-69), and disables the preacquisition loop. Third, the leading edge of the threshold multivibrator output has no effect on the dither bistable multivibrator.
The dither multivibrator
in position throughout the return pulse.
and switch remain locked
Fourth, the one-microsecond multivibrator
is triggered by the leading edge of the threshold multivibrator output.
8-258 CONFIDENTIAL.
_ONFIDENTIAL
PROJECT _@_
GEMINI
SEDR300
One-Microsecond
Multivibrator
Functions
The l-microsecond multivibrator has three functions: criminator output into the AFC varactor (Figure 8-69).
First, it gates the disThis gate permits the
output of the discriminator to continually correct the local oscillator frequency to 1458 megacycles.
Second, the 1-microsecond gate is applied to the azimuth and
elevation boxcar detectors simultaneously.
The gate dumps the charges built up
in these detectors during the preceding sampling interval.
Third, the trailing
edge of the l-microsecond gate triggers the R-microsecond multivibrator. (Figure 8-70)
Azimuth
Two-Microsecond
The R-microsecond gate. driver.
Multivibrator
Functions
pulse generated by the azimuth multivibrator
This gate performs five functions :
First it excites the azimuth rf switch
The driver closes the azimuth rf switch.
antenna to the hybrid (Figure 8-70).
is the azimuth
The switch connects the azimuth
Second, the gate enters the hybrid or
gate and excites the hybrid switch driver.
The driver closes the hybrid
The switch connects the load during the azimuth angle measurement. flattens the line and prevents ments.
standing waves from producing
switch.
This load
erratic measure-
Third, the gate permits the video received during this interval to
develop a charge voltage in the azimuth boxcar detector (Figure 8-72). charge voltage is later demodulated azimuth servo motor. is opened. the trailing
to provide
The
the control voltage for the
Fourth, when the azimuth gate ends, the azimuth rf switch
The switch disconnects the azimuth antenna (Figure 8-70). edge of the azimuth gate triggers
multivibrator.
8-259 CONFIDENTIAL
Fifth,
the elevation R-microsecond
CONFIDENTIAL SEDR 300
._ _=__
RETURN PULSE FROM TRANSPONDER ANTENNA
A
I
X
_'\\
ANTENNA
ANTENNA O
AZIMUTH
"[ I
_'_
AND ROTARY JOINT AZ RF SWITCH
I
REFERENCE
AND [
STUBS
DITHER SWITCH
H
I I
I l
DIGITAL ENCODER
i
DRIVE MOTOR
(A & B)
± 15VDC
1
RECEIVER
]
--_
L INDUCTION POTENTIOMETER
SERVO CONTROL AMPLIFIER
VIDEO GATE AND BOX CAR DETECTOR
REGISTER
_\
DRIVE AND ± REF. GEN.
ULAIOB
//
F
ELEVATION
" IA + B
\ iiii
0 I_ L_
,.._"GET
RANGE
OFF BORESIGHT
Ist
I
I +B
,
I
PULSE
-R
I
!
ALTERNATE PULSE
TARGET ON BORESIGHT
I.)
DETECTOR OUTPUT
2.)
Figure
8-72
RECEIVER6 USEC PULSE TIME SHARING
Interferometer
Measurement 8-260
CONFIDENTIAL
3.)
of Target
Angle
OUTPUT OF HYBRID WITH DITHER (TARGET ON BORESIGHT)
CONIFIOtNTIAL
PROJECT _.
GEMINI
SEDR300
ELEVATION TWO-MICROSECOND _LTIVIBRATOR
The
FUNCTIONS
output of the multivibrator is the elevation gate i
functions: hybrid.
It performs five
First, it keeps the hybrid switch closed and the load applied to the
Second, it closes the elevation rf switch and connects the elevation
antenna to the hybrid.
Third, it permits the video received during this interval
to charge the elevation boxcar detector.
This voltage charge is later demodulated
to become the control voltage for the elevation servo motor.
Fourth, the end of
the azimuth gate opens the elevation rf switch and disconnects the elevation antenna.
Fifth, the end of the gate also ends the drive to the hybrid switch
and disconnects
the hybrid load.
DIT_I_ BISTABLE MULT_TOR
FUNCTION
The dither bistable multivibrator has one function: the double-pole double-throw dither switch.
to change the position of
The dither multivibrator is insensi-
tive to the leading edge of the 12-microsecond threshold multivibrator pulse. However, the trailing edge of this pulse will trigger lthe dither multivibrator. Hence, the dither switch and stub are changed 6 m_croSeconds after every return pulse ends.
SPIRAL _
IN AN_
Interferometer'Meas_ement
MEASUREMENT of Am_ar
Displacement
The method of measuring angular displacement employed fin the Rendezvous Radar System uses rf waves from a point source, the operating transponder antenna (Figure 8-72).
These waves are received simultaneously by two of the three
spiral receiving antennas of the Rendezvous Radar.
The length of the rf path
to the reference antenna is compared first with the length to the azimuth antenna, then with the length to the elevation antenna. 8-261
CONFiDENT'A"
The transmission
lines
CONFIDINTIAI-
from the three receiv4_n_antennas are wired so that rf voltage induced in the azimuth and elevation antennas will be 180 degrees out of phase with rf voltage induced in the reference antenua, if the transponder is on the radar boresight axis.
The sum of two co_ared
voltages will be zero.
If, however, the trans-
ponder is off the boresight axis, in azimuth for instance, the path lengths to the reference antenna and to the azimuth antenna will be different.
There-
fore, the phase difference between the RF voltage induced in the two antennas will not be 180 degrees. (or a n11_I) as before.
As a result, there will not be complete cancellation
A voltage proportional to the displacement from the
boresight axis will result.
_Iral
Rotation
This voltage is called the error voltage.
_ulls _rror Volts_e
The method used to _111 out the error volta@e constitutes the interferometer method of angular measur_nent. spiral antenna.
This method depends upon a pe_,3_arlty of the
The spiral antenna shifts the phase of the rf voltage induced
in it as it is rotated about its center.
Therefore, the 180-degree phase
difference hetweeu the azimuth and reference antennas can be obtained by rotating the az_--,thantenna. the n,,11is pr_lo_Ll
The amount of azimuth anten-a rotation required to get to the target displacelent in a_th.
If the error
voltage is used to drive a motor which rotates the azimuth antenna, then when the null is reached, the error voltage is zero, and the motor stops rotating. The antenna also stops rotating.
If a sens_n5 device is put on the azimuth
antenna which counts the -_-ular rollsof rotation or generates a voltage proportional to the rotation, a digital or analog measure of the target's angular displacement in azimuth from boreslght is provided. is what Is done.
Figure 8-72 shows that this
Displacement in elevation is measured in a s_m_lar manner.
8-Z6_
CONFIDENTIAL.
PROJECT
QEMII
SEDR 300
i
DTq'm_ _r_ Interferometer ferometer
measurement
measurement
not _n which
tells how much
direction.
and
two
are
installed
hybrid.
the
ponder
pulses
transponder changed.
of
of
the
are received
diode
the dither
position
dither
on the pilot's
switches,
dither
the is
Inter-
axis but
is added.
the long
or above
these
can detect
target
antenna
stub.
of three
the
Signals signals signal
short
Successive
of the dither
left
switches switches
and the
switches.
stub trans-
After
switches
or from below the short
the boresight
a relnforced
diode
The diode
with
stub, weskenedlby
polarized; with
stubs.
r,:ference
positions
stub.
throw
assoc:_ted
with
by the long
is associated
callq:d
on the pilot's
right
double
the positions
by the long
stubs but oppositely position
dlrecti_m,
between
switches
received,
by the short stub, weakened
target
line
from the target
sight axis are reinforced
on both
data.
is o: :f the boresight
line,
in alternate
pulse has been
from the target
target
transmission
line, the other
Signals
direction
I
two sln@le-pole,
transmission
One position
of transmission f-
contains
lengths in
does not yield
the target
To establish
circuit
different
angle
Direction
DitherSensesAn_r The phase dither
of target
each
are
the bore-
stub.
Signals
axis are reinforced
along average
the axis are equal out to zero.
in a given
Since
position
of
directions.
O
• During
the catch-up
phase,
equal to or less than feet. range
This means,
the closing
the square
for instance,
range
rate ini feet per second may be
root of the numerical that at
rate is 547 feet per second;
value
of the range
300,000 feet, the maximum
at 30,000
8-263 CONFIDENTIAL.
feet,
173.2
in
closing
feet per second;
but
CONFIDENTIAL SEDR 300
_-._'_
_
PROJECT
GEMINI
30V -
2or-
10V -
3,000 FT 6.1 USEC
1/
30,000 FT 6,[ USEC
300,000 FT 61OUSEC
RANGE IN FEET RANGE SWEEP TiME IN MICROSECONDS
Figure
8-73
Range/Range
Rate
Meter
8-264 CONFIDENTIAL
and
Operating
Curve
CONPlDENTIAL
PROJECTSEDR 300GEMINI
__
at 3,000 feet, 51;.7feet per second is maximum.
The range and range rate
scales are arranged concentrically on the R/_ meter so that the range is on a radius directly adjacent to the maximum closing rate.
!Figure 8-73) Hence, as I !
jtoward zero, the closing long as the range rate needle precedes the range needle i I rate is not excessive.
When the indicatln5 edges of the= needles coincide as the i needles move toward zero, the maximum tolerable clos_n5 irate is ind/cated. If the range needle precc_lesthe range rate needle toward
ero_ the clos_n_ rate
Is excessively high.
Vernier range rate is indicated in one foot-per-second increments from plus 5 to minus 5 feet per second on the scale located above center on the R_
meter.
The indicating needle for the vernier meter is usually _ff scale and out of sight until the spacecraft is within very near range of the target.
RANGE SW_m
CIRCUIT
Compression
and _xpansion of Meter Scales
The range and range rate meter scales are clearly nonlinear. are compressed, minimum values are expanded.
Maximum values
This is done because precision J J
indications of range and range rate become far more critical as the range to target closes.
Ra_e
Sweep Expansion and Compression
In order to ma_.e a current-operated meter indicate the irange and range rate with high accuracy, a special range sweep circuit is used (Figure 8-73)• The i rate of voltage change with time d_ring the first 6.1 microseconds of sweep is the most rapid.
Thus the range indication from 0 to 3;000 feet is the most
8-_5 OONF|DEN'riAL
....
j
_
CONFIDENTIAL
PROJECMINI __
SEDR300
expanded.
During the next .54.9microseconds of the sweep, the volta6e increased
with time at about i/gth the rate of the first 6.0 microseconds.
The range
indication from 3,000 to 30,000 feet is expanded to a reduced extent. the last _9
During
microseconds of the sweep, the voltage increases at 1/90th the
rate of the first 6.1 microseconds.
The range between 30,000 and 300,000 feet
is compressed into a small portion of the scale.
Thus the near range is 9 times
more sensitive than the middle range and 90 times more sensitive than the far range.
Range Measurement Range is measured by sampling the sweep voltage at a time coincident with the leading edge of the transponder return pulse. into adc
The sampled voltage is stretched
voltage, and applied to the range meter winding.
Range Rate Measurement R_ge
rate is a function of the difference in range voltages on successive
transponder pulses.
This voltage difference is monitored, shaped and amplified
in a circuit controlled by the same logic that changes the range sweep slope. It is applied as a dc voltage to the range rate meter coil on the far and intermediate ranges, and to the vernier range rate meter coil on the near range.
DIGITAL RANGE COUNT__ _R
Range Gated Clock Pulse Count A high-speed digital counter counts lO-megacycle clock pulses during the range gate to generate the digital range count.
(Figure 8-67 and 8-69).
The clock
pulses are produced by a I0 megacycle crystal-controlled oscillator in the
8-265 CONFIDENTIAL
CONIFIDI[NTIAL SEDR300
PROJECT GEMINI spacecraft edge
radar.
of
the
a s_m_lar leading
The
range
interrogating
edge of the transponder
range supplied
(whichever
equals
delay
The range
Oo I microsecond
to the computer
is larger)
the
leading
compensates
gate is closed
for by the
Power Requirement
Primary
power
source.
to operate
Voltage
and transients
available
Filtering
operated
power v_Its_e
Input Filter Unregulated
Accuracies
are obtained
within
of radar
range.
of four
successive
50 feet
or O.l percent
for ranges
radar
digital
up to 250 nautical
is obtained
source may vary between
by various
spacecraft
of the primary
equipment
from the source.
is reduced
is the average
the rendezvous
from this
produced
in this power.
Electrically
or 50 feet
of
miles
SUPPLY
primar_
filter
2-microsecond
after
pulse.
of the range to the target.
RADAR POWER
primary
This
2 microseconds
of Range to Clock Time
the range
_
started
the transponder,
One cycle at lO megacycles
counts
is
pulse.
delay through
Relation
Digital
gate
at a high
requires
and constant
30 volts
de,
Noise
will also be present
is essential.
in the spacecraft
The radar
22 and
equipment
power
from the spacecraft
wil_ reduce
a means
level_
the voltage
of maintaining
eVen though
its
source voltage
considerably.
and Boost Regulator primary
removes
power
is applied
to the radar
the noise and transients.
A boost
8-267 CONFIOINTIAI.
p_r
supply
regulator
input.
An input
uses a portion
of
CONFIDENTIAL SEDR 300
-_
136.5 VAC >
RECTIFIER
RADAR
>
REGULATOR
> +I20VDC
REGULATOR
_
AT 8 MA
F_ER
PRIMARY POWER 22 to 30VDC
-40VDC RECTIFIER
45. BVAC
(UNiEO)
J
]
-40VDC AT 75 MA
FILTER ) _40VDC AT 80 MA
REACTOR
RECTIFIER FILTER
REGULATOR
FILTER
BOOST REGULATOR
D_ - AC INVERT•
RECTIFIER FILTER
REGULATOR
), +20VDC AT 184 MA
RECTIFIER _6.3VDC FILTER
REGULATOR
) ¢6.3VDC
AF 1093 MA
> -6.3VDC
AT 1137 MA
30.4VAC
PROM CONTROL
--
LIMITER AND SWITCH TRANSISTORS
PANEL
TRANSFORMER
l
3_.vAc
_,
-6,3VDC H.V. INVERTER
H.V. ;('FORMER
24.9VAC "
RECTIFIER FILTER
REGULATOR
RECTIFIER FILTER
REGULATOR
RECTIFIER DOUBLER
'
_ -20VDC
b' +ISVDC
FILTER
16VAC
RECTIFIER FILTER -15VDC
t
_
AT 237 MA
360 MA FOR EACH VOLTAGE SEPARATELY BUT NOT
-15V
I
SIMULTANEOUSLY _' +1650VDC AT 0.5 MA
136,5VAC
)
RECTIFIER
REGULATOR
_ +12OVDC AT 8 MA
RECTIFIER FILTER
REGULATOR
_ -40VDC
RECTIFIER FILTER
REGULATOR
)
RECTIFIER
REGULATOR
TRANSPONDER
FILTER
SATURABLE REACTOR
45. 7VAC"
_NVERT. DC-AC
• :kl% l
BOOST
) Aj
j
POWER
, I J
24.9VAC
I
_.
J
h
FILTER
_.3 J RECPIE,ER F'LPER
HOLD-OFF SIGNAL FROM S.A, D, AND
)
AND SWITCH TRANSISTORS
ENABLE CIRCUIT
DOUBLER
_
/_
I NVERTER
8-74 Radar
and
I
)-20VDC
REGU_TOR
12.6VAC_
Pigure
+20VDC AT 106 MA
24.7VAC
9.2,vAc 2" VOC UNREG
AT 40
>_.3VOC A,_206 _
I
) _1200VDC AT3MA
X'FORMER
Transponder 8-268
CONFIDENTIAL
Power
Supply
Block
AT227MA
Diagrams
CONFIDENTIAL
PROJECT ___
GEMINI
SEDR300
the filtered pri_a_y
primary
voltage.
power
to generate
The voltage
a voltage
generated
31.7 volts dc (the boost regulator
:
depends
output)
to add in series with on the difference
and the primary
the
between
voltage.
The boost
i
regulator
generates
1.7 volts
dc and adds
it in series when
the pr/m_ry
voltage
i
is 30 volts dc.
As the primary
voltage
decreases,
the boost
regulator
output
i
increases
DC-to-AC
_--_
by an equal amount
(Figure
8-7_).
Inverter
The dc to ac inverter
changes
The saturable
which is connected
reactor
output.
The inverter
windings
provide
output
voltages
energizes
are rectified
outputs
each regulator.
are
which
high
enough
higher
voltage
voltages
from the power
these,
The remaining
of the plus
120 volts
20 volts
The plus and minus
to operate
requires.
Two of
their
ac.
stabilizes
the
secondary
Nine
6.3 volts
of the ac
the plus
seven
circuit
and minus
rectified
and
is built
into
dc, the plus
dc are each operated
regulators.
transformer
31 volts
Multiple
A short-circuit-proof
The regulators
they regulate.
the inverter
the radar
regulation.
regulated.
dc into
transformer.
and filtered.
40 volts dc, and the plus and minus voltages
31.7 volts
across
the power
all the voltages
15 volts dc, are used without filtered
the regulated
and minus by the
dc do not provide
Therefore,
are provided
a
additional
to operate
these
regulators.
High Voltage
Power
The transmitter llSO-watt
requires
pee2power
of generating
Supply plus
1650 volts
interrogator
this voltage
pulse.
is therefore
dc plate
voltage to produce the ! A high-voltage power supply capable
provided.
8-269 CONFIDENTIAL
Although
another
winding
CONFIDENTIAL
PROJ
could
EC-T GEMINI
have been added to the power transformer
needed,
transients
would be applied
transmitter was fired.
the high
common transformer
ac voltage
each time
the
Consequently, a separate de to ac inverter and high-
voltage transformer were used. high-voltage
to the
to supply
Only a 6.B volt ac switch voltage for the
inverter was taken from the common transformer.
In the standby
state, the regulated 31.7 volts dc is applied to the high-voltage inverter. The s_-Itchingvoltage is applied through the current limiters to the highvoltage inverter, but is grounded out by the switching transistors which are conducting.
The holdoff signal applied by the RADAR switch in the STBY
position to the switching transistors causes them to conduct, preventing the high-voltage inverters from operating.
When the pilot puts the radar in the
search mode, he places the RADAR switch to ON.
This action removes the hold
off voltage, and permits the 6.3 volts ac to switch the inverter on and off. As the inverter is switched, the ac voltage is generated and applied to the hlgh-voltage transformer. it to a voltage doubler.
The transformer steps up this voltage and applies The voltage doubler rectifies and doubles the ac
output of the transformer, and delivers plus 1650 volts dc to the transmitter tube plate.
TRANSPONDER
No high-voltage regulation is required.
POWER SUPPLY
Power Supply Similarities By comparing the block diagrams (Figure 8-74) of the radar and transponder power supplies, the similarities will be apparent. boost regulator, adc
Both power supplies use a
to ac inverter, a power transformer, rectifier, filters,
and regulators to provide plus 120, minus _0, plus and minus 20, and plus 6.3
8-270 CONFIDENTIAL
....
CONFiOENTIAL
volt dc outputs.
The same high-voltage circuitry is also used.
T n-pcnder P er SuppiV Di Terences Certain differences, of course, between the two power supplies do exist. i
The
i
following are the differences: minus
on
6.3, and plus
individual
and
supplies
minus
differ
The transponder doe_ not require the plus _0, I_
volt
owing
to
dc power
the
suppiles.
peculiar
ineeds i
The
of
cu/Tent
the
two
drains
units.
The transponder high-voltage power supply is turned ionwhen the sufficient amplitude detector triggers the enable delay circui_ and removes the hold off voltage. solid-state
Less
transmitter
antenna
select
power switch
is
used
in
(Figure
the
8-69).
f_
8-z71/ 2 CONFIDRNTIAL
transponder
to protect
the
COMMAND
LINK SYSTEM
TABLE OF CONTENTS TITLE
PAGE
SYSTEM DESCRIPTION .... SYSTEM OPERATION eeeeoeooeooe SYSTEM UNITS ..... SUB BIT DETECTOR COMMAND LINK ENCODER
. . . 8-275 8 " 281 • • • • • • 8-283 • • •. • • • 8-283 : . . . :.... 8-287
8-273 CONPIDRNTIAL
. . .
.
CONFIDENTIAL
ENCODER CIRCUIT
_ENCODER
CONTROLLER
Figure
_'_RIGHT
8-75
Command 8-274
CONFIDENTIAL
Link
System
SWITCH AND.CIRCUIT BREAKER PANEL (REF)
CONF|DENTIAL
PROJECT _@
GEMINI SEDR300
CO_AND
SYSTEM
DESCRIPTION
The Cow,hand Link craft link
to allow control
or off,
System
hardline
is used as a means of positioning
the target
vehicle
in the de-
monitoring.
path,
after
8-3.
Prior
to docking
radar
aboard
by the pilot,
the radar
docking,
messages
the command
of the
•target
vehicle
progrsn_f_er.
After
docking,
the command
rf transmission
Commands
onto the radar The desired
controller,
panel.
radar
_e
transmission
link messages
by which
method
the pilot
unchanged.
The
cof._and li'_k olso provides
inserts
8-275 CONFIDENTIAL.
are listed
located
message
and
with
in
is inserted,
slightly
the transponder
through
in
the rendezvous
aft of the by pulse to the
the hardline
the desired
the pilot
at the completion
allocated
is then transmitted
through
and a
of transmitting
transponder
below
on
required
to docking
presently
command
are routed
_e
_ehicle
located message
w.ubilical.
from the target
prior
link is capable
8-76).
lights
Systems
for each of the comnmnds
vehicle.
into the encoder
modulation
number
and approach
and Instrumentation
command
is locked
breaker
acquisition
lir_ may be used any time that
of the target
right switch/circuit
the
(Figure
three digit
the spacecraft
adapter
of turning
Communications
Using
128 command
Table
_11atch
Space-
Command
and a corresponding
position
into the Gemini vehicle.
and orbital
pilot
is incorporated
the target
t_bilical
a possible
8-75)
to control
and for controlling
for ground
docking
(Figure
the spacecraft
sired attitude
_
LII_K SYSTEM
the
message
remains
cap8bility
of the mission.
to
CONFIDENTIAL
._T-.._ _
SEDR 300
__
_8 ON i_'8
'
J
"°
-_
T
_ E o2_ NZ_ Z_U
ds_
,
NZ
_
a
OO_ _
z
_ Zo
_--"
0
Z
91
i
Figure
8-76
Command
Link
8-276 CONFIDENTIAL
System
Block
Diagram
N_ _ Z
CONFIDIINTIAL
PINI ._
m
SEDR300
,
TABLE 8-3 COMMAND FUNCTION LIST AGENA TARGET VEHICLE SPACECRAFT COMMAND _R
REAL TI}_ CO_D
CO_ND
T_
001
0_i
C-Band Beacon
010
_010
S-Band Beacon On
011
0000011
Modulation Bus SelelctNormal i i i
020
0000100
Modulation Bus SelelctReverse
021
0000101
Telemetry On
030
0000110
TelemetryOff
031
O000111
Stored Data Readout
041
0001001
Record Data
050
O001010
C and S-Band Beacons Off
060
0001100
Reset Timer Reset
061
0001101
Time Word Reset
070
O001110
L-BandBeaconOff
071
O001111
L-Band Beacon On
140
_ii_0
Approach Lights Of_i
141
0011001
Approach Lights On_
151
OOllOll
160
0OlllO0
Extend Boom Antenna i Antenna Transfer, _scent
161
OOlllOl
Antenna Transfer, Orbit
200
01_
201
01_i
Agena Status Display Off i Agena Status _sp_ i On Bright
211
01_iI
Agena Status _sp_
i
8-_ CONFIDENTIAL.
On Dim
CONFIDENTIAL
PROJECT _.
GEMINI
SEDR300
TAm 8-3 (Continued) CO_a4AND FUNCTION LIST AGENA TARGET VEHICLE SPACECRAFT CO_4A_D NUMBER
REAL TD_ CO_
CO_AND
TITLE
220
0100100
Adapter
Unrigidize
221
OIOO101
Adapter
Ridlgize
240
0101000
Stored
Program
Commands
Disable
241
0101001
Stored
Program
Co_nds
Enable
250
0101010
Acquisition
Lights
Off
251
OlOlOll
Acquisition
Lights
On
260
0101100
Dipole
Select
270
0101110
Spiral
Select
271
0101111
Power Relay Reset
300
OllOOOO
Horizon
Sensor
Off
._01
0110001
Horizon
Sensor
On
310
0110010
Roll Horizon Sensor to Yaw, Inertial Reference Package On
311
0110011
Pitch Horizon Sensor to Yaw 3 Inertial Reference Package On
320
0110100
Horizon
Sensor
to Yaw Out of Phase
321
0110101
Horizon
Sensor
to Yaw in Phase
340
0111000
Velocity
341
0111001
Gyrocompass ing On
350
0111010
Geocentric
Rate Off
351
0111011
Geocentric
Pate On
Meter
8-t 8 CONFIDENTIAL
Interrogate
CONFIDENTIAL
SEDIt 300
TABLE 8-3 (Continued) C0_4AND FUNCTION LIST AGENA TARGET VEHICLE SPACECRAFT COMMAND NU_.R
REAL COMMAND
COMMAND TITLE
360
0111100
Geocentric Rate Reverse
361
0111101
Geocentric Rate Normal
370
0111110
Attitude Control S "stem Pressure Low
371
0111111
Attitude Control S "stem Pressure High
400
i000000
Attitude Control S 'stem Off
4Ol
lOO0001
Attitude Control S 'stem On
410
i000010
Pitch/Yaw Minus
411
i000011
Pitch/Yaw Plus
420
i000100
Pitch/Yaw Low Rate
421
I000101
Pitch/Yaw High Rate
4_0
iO00110
Pitch Rate Off
431
i000111
Pitch Rate On
440
I001000
Yaw Off
b2_l
i001001
Yaw On
450
I001010
Attitude Control System I_adband Narrow
451
i001011
Attitude Control S "stem Deadband Wide
460
iO01100
Attitude Control S 'stemGain Low
470
i001110
Attitude Control S "stemGain High - Undocked
471
i001111
Attitude Control S "stem Gain High - Docked
8-279 CONI:IOINTIAL.
CONFIDENTIAL
D TA_E 8-3 (Continued) C0_M_D AGE_A SPACECRAFT C0_D NUMHER
FUNCTICB LIST TARGET VEHICLE
REAL TIME C0_AND
COMMAND
TITLE
_00
i010000
Primary
Propulsion
System
Cutoff
501
i010001
Primary
Propulsion
System
Start
520
1010100
Velocity
Meter
Disable
521
i010101
Velocity
Meter
Enable
530
10lOll0
Velocity
Meter
Load
531
1010111
Velocity
Meter
Load l
540
1011000
Velocity
Meter
to Mode
IV Off
541
I011001
Velocity
Meter
to Mode
IV On
550
1011010
Secondary
Propulsion
System
551
i011011
Secondary Initiate
Propulsion
System
16 Thrust
560
lOlllO0
Secondary Initiate
Propulsion
System
200 Thrust
561
i011101
Secondary
Propulsion
System
570
1011110
Hydraulics
Gain
- Undocked
571
i011111
Hydraulics
Gain
- Docked
8-280 CONFIDENTIAL
0
Thrust
Ready
Cutoff
CONFIDENTIAL
,EOOO .
PROJECT ._-_
SYSTEM
GEMI
i
I
OPERATION
The C_and
Link System is energized by placing the ENCDR circuit breaker in
the ON position.
The ENCDR circuit breaker is locatedlon the right switch/
circuit breaker panel.
The cu_,and link may now be used for the transmission
of messages.
To initiate a c_nd
the Gemini pilot selects a co_and
Inserts the corresponding
from a list provided.
three digit number into the encoder
controller.
i
For example; Target Docking Adapter Acquisition LightsiOn command number is 251°
To transmit this message the Gemini pilot adjusts the encoder controller
to the following positions:
the outer octal dial is turned to 2, the inner
octal dial is turned to 5, and the binary switch (XMIT_ is positioned to I and held until the message effect of the co_and
cycle described in this sectionlis completed. link message transmission
changing of the radar pulse repetition
The only
on the! rendezvous radar is the
frequency.
During the message trans-
mission the radar is switched from the internal generated pulse to the more stable Time Reference
System generated
256 pulses per Second.
The encoder controller output is a seven binary digit (bit) binary word, three blnarybits XMIT switch.
indicating
each octal number and one blnarybit
The co_and
two binaryblts,
corresponding
to the
message is added to the vehicle address, consisting of
and the system address, consisting ofithree binary blts.
The
vehicle address used is the two binary numbers I l, the system address is i O i. It is therefore seen that the complete c_nd
8-281 CONFIDENTIAL
function word is as follows:
CONFIDENTIAL
PROJECT
GEMINI
VEHICLE ADDRESS
SYSTEM ADDRESS
2
ii
101
010
CO_@L_ND 5
i
010
1
The positioning of the _MIT switch to either the I or the 0 position also initiates a one time transmission
of the command.
The command llnk data transmission is accomplished in the following manner.
The
Time Reference System provides two trigger pulses to the encoder, both having a repetition rate of 256 pulses per second.
One pulse will be referred to as
occurring at Time Zero (To) and the other at time zero plus 15.2 microseconds (TO + 15.2).
At the time the ENCDR ON circuit breaker is turned ON the radar
commences being pulsed by the TO pulse from the Time Reference System. transmit co_ud,
The
initiated by the XMIT switch, causes the information bit to be
taken, one at a time commencing with the vehicle address, and further encoded into five binary sub-bits.
The encoder affects pulse position modulation
of the
radar interrogate transmission by allowing the TO or TO + 15.2 pulse to trigger the radar, indicating a 0 or a 1 respectively.
The interrogate transmission, at the repetition rate of 256 pulses per second, is received at the radar transponder. applied to the sub-blt detector.
The transponder
The sub-bit detector
receiver video signal is contains an oscillator
which is synchronized with the received interrogate 0 pulse.
The oscillator
provides two gates, one which occurs in synchronism wlth the TO pulse and another with the TO + 15.2 pulse.
The coincidence of the received pulse with one of the
above gates results in the identification of the pulse modulation.
A decoded 0
generates a 25 microsecond pulse across the message complement output and a
8 -282 CONFIDENTIAL
CONFIDENTIAL
PROJI
___ decoded pulses
I generates are provided
SEDR300
a 25 microsecond
pulse
across
the message
output.
These
to the progra_m_er.
The programmer
converts
the 60 sub-bits
back
The programmer
verifies
that the sub-bit
into the 12 information
code is correct,
bits.
that the vehicle
and
;
system
address
aforementioned tance
pulse
is correct,
message was received. If the i are met the progr_a,erwill provide a message accep-
requirements
to the transponder.
consecutive
transmissions
microsecond
pulse
width
pulse width and causes encoder
and that an acceptable
controller
The message
from the transponder to ten microseconds.
the Message
to illuminate
Accept
of the MSG ACPT light
message
received
the
XMIT
SYSTDi SUB-BIT
three
light,
located
on the
to the pilot
At this time
that an acceptable
the pilot may release
switch.
UNITS DETECTOR
The purpose
of the sub-bit
transmitted
pulse modulation
bit code. message
causes
of 2.5 seconds.
indicates
by the progrs_er.
pulse
to shif_ from the normal six i The radar detects the additional
(MSG ACPT)
for a period
The illumination has been
acceptance
The sub-bit
acceptance
Prior to lock-up standby frequency
detector
to a pulse
detector
pulse
Link
state by the incorporation driven
8-77)
is the conversion
form indicative
is also used to control
to the Gemini
of the Command
oscillator,
(Figure
of the radar
of the 0 and i subthe sending
of the
Spacecraft.
System
the sub-bit
of a pre-acquisition
detector loop.
8-28B CONFIDENTIAL
in a
The variable
at a rate of 253 cycles p_r second,
F
is held
is insensitive
CONFIDENTIAL SEDR 300
"__
PROJECT
_"_7T7-_
GEMINI
_0
W_. Figure 8-77
Decoide,r Block Diagram 8-284
CONFIDENTIAL
___
_
-_
CONFIDENTIAL
PROJECT
GEMINI i
to lesser frequencies.
The modulated radar transmission is applied to the detector l in two forms, the transponder receiver video pulse and a pulse in synchronism with the leading edge of the video.
The sync pulse iS applied to the oscillator
thereby causing the frequency to increase to 256 cycles per second and synchronizing the early and late gates to the incoming video pulse.
The early gate and late gate, initiated by the variable
frequency oscillator,
for tracking the interrogate
and detecting
mission
pulse repetition
frequency
of the pulse corresponding to the binary sub-bit 0.
each 0-75 microseconds
are
the trans-
The two gates are
in width and are so related that the trailing edge of the
early gate abuts on the leading edge of the late gate. gates is slightly more than the video pulse.
The combined width of the
The video pulse is to be centered
equally between the two gates; any deviation frsm this condition will result in an appropriate
control voltage
The radar modulation
applied to the variable frequency
is determined by observing the presence
oscillator.
of the radar trans-
mission in either the combined early and late gate or ithe one gate, a 1.5 microsecond gate occurring The continuous variable
15.2 microseconds
transmission
from the leading edge of the early gate.
of the sub-blt 0 enables the synchronization
frequency oscillator.
of the
A slow frequency control loop provides memory so
that a command message may be sent and the oscillator iwill maintain the correct 0 and i time relationship.
The sub-bit detector provides a 25 microsecond pulse over the message line to i indicate a i and a 25 microsecond pulse over the message complement line to indicate a O.
These pulses, along, with a sync pulse iwhich occurs for either
f
0 or l, are then coupled to the computer.
8-285 CONFIDENTIAL
Figure 8-78EncoderBlock 8-286 CONFIDENTIAL
Diagram
CONFIDENTIAL
PROJECT
GEMI
J
C(X4WAND LINK ENCODER The command
link
encoder
into the encoder
(Figure
controller,
via two completely
communication
the rf link using
the rendezvous
after
maneuver
The co-_and address,
link message
a system
the message, system
128 possible
The task
word
is undesirable
entered
by two octal pilots.
encoder
controller
breaker
panel.
through
a twelve
into the infobit
switches The pilot
located
word.
bits,
vehicle used
is
the link used
bits,
The initial bits
are fixed
information
is provided digit
below
bits,
switches
a particular
c_nd
shift register current
switch,
a vehicle portion
of
and the
in content.
thereby
switches,
The
allowing
number.
magnetic
each having
An octal
is selected
with a list showing
establish
c_nds.
seven
standpoint.
and slightly
bit multiaperture
of the ET
factors
and a binary
three
The encoder
of the interrogate
actuation
initially
as a carrier,
of two information
information
from a human
of the 128 possible
which represent
means
The channel
information
function
by manipulating
and the corresponding
for each
of 12 binary
up of seven
a c_nd
states,
mands
is made
to the target
umbilical
consisting
of three
entered
c...... _nds.
of entering
spacecraft
address
pilot,
channels.
and a c<mmnd
consisting
c<.-_._ndfunction
Sgacecraft
is the hardline
address,
to link the c_nds
radar transmission
is comprised
the vehicle
address
is provided
by the Gemini
separate
the docking
8-78)
The message
core sh_ft
form of coding,
for use by the the individual
is entered
aft of the right a unique
current register
word, are J as magnetization states pulse
generated
by the
routing
switch.
8-287 CONFIDENTIAL l;
into the
path
in the encoder
interrogated of magnetic encoder
com-
switch/circult
The setting iof the encoding function
binary
switches, and encoded cores by
subsequent
to
CONFIDENTIAL
PROJECT GEMINI
The twelve information bits are shifted sequentially in information bit message (1) and message complement (0) form from the information bit shift register and further encoded, pseudo-random
one at a time, into another shift register in accordance with
sub-bit code.
Each is encoded into five sub-bits which are
shifted sequentially in sub-bit message (i) and message complement (0) form at a 256 pulses per second rate to the hardline waveform coder.
The complete
message format, as a consequence of the encoding process, is a serial group of 60 sub-bits.
For the hardline link the binary coded message is presented to the
sub-bit detector,
located in the transponder,
as bipolor return-to-zero
signals.
For the rf link, the sub-bit message and message complement signals are pulse position modulated by the rf waveform coder in the encoder and are connected to the grid modulator of the radar.
The method of pulse position modulation used
will cause a normal radar pulse, indicative of the sub-bit message O, to be transmitted in the first defined time slot while a sub-bit message I will cause transmission
of the rf pulse delayed 15.2 microseconds
position.
8-288 CONFIDENTIAL
from the normal, or 0
--_
_ONFIDEN_flAL
RENDEZVOUS
EVALUATION
POD
TABLE OF CONTENTS T I TLE
PAGE
SYSTEM DESCRIPTION. . . SYSTEM OPERATION ............ SYSTEM UNITS. . . _
. ......
8-291 8-291 8-294
ANTENNA SYSTEM FLASHING LIGHT BEACONS . . . =.... SQUIB BATTERIES ....... .... RENDEZVOUS POD COVER .... i. • • •
8-289 CONFIDENTIAL i
8-294 8-295 8-296 8-298
.-
CONFIDENTIAL SEDR 300
: .
IL_,,,j_,,_
PROJECT
GEMINI
BEACON
HINO
ASSEMBLY
LIGHT
-
-._/
) BOOST REGULAIC
BATTERY
SQUIB
_
_b PIRAL ANT ENNA
BATTERY
_ I
i
/
J ANTENNA
SPIRAL ANTENNA
F LASHLNG LIGHT BEACON
TRANSPONDER
Figure
8-79 Rendezvous 8-290 CONFIDENTIAL
Evaluation
Pod
CONFIDENTIAL
PROJEC
I
3ON
__
SEDR RENDEZVOUS
EVALUATION
POD i
i SYSTEM DESCRIPTION The Rendezvous Evaluation Pod (REP) (Figure 8-79) is _n i assembly used during Gemini Spacecraft mission number five to simulate the!Agena Target Vehicle. The t
REP consists of a transponder, two antenna systems, t@o flashing light beacons, i I and two squib batteries.
The transponder is nearly i_entieal to the transponder
to be installed in the Agena.
The flashing light beacons, which emit 80 + 1
flashes per minute, are visible for approximately
twenty miles.
These beacons
are to enable the crew of the Gemini to gain tracking t experience by visually observing the REP in space.
Observations are at meas i zred distances from the i
spacecraft against both earth and sky background.
This experience is used in i
determining the placement and intensity required for the Agena acquisition lights. The REP also provides a means of studying the man/equipment interface problems i
l
which might be encountered
during an actual rendezvou_ mission with the Agena.
The REP was installed in the center of the equipment spacecraft
(Figure 8-79).
Thermal protection
provided by the rendezvous pod cover.
_dapter section of the
for the REP prior to ejection is
The REP is eje _ted into orbit by a
pyrotecbnlc charge, after the spacecraft has been ins _rted into a satisfactory orbit.
SYSteM OPERATION During the first 65 minutes after lift-offt the EEP remains stationary in the
iI
equipment adapter of the spacecraft (Figure 8-80). spacecraft near the end of the first orbit.
The REP is ejected from the
Other ac _.ivltiesrelated to the
EEP occur primarily during the second orbit.
8-291 CONFIDENTIAL
CONFIDENTIAL SEDR300
:S.,_ _
D COVER
iii::::ili!ii!'_ii::_iii!_ _!::
':
_.,":::_L_ _:_:!::.:.. "_:_ RIGHT
SWITCH
'CIRCUIT
BREAKER
PANEL
i !i!i _!
_11|
THB RENDEZVOUS POD COVER IS SHOWN IN THE MOUNTED POSITION SkIIELDING THE REP. THE COVER PROTECTS THE REP FROM THE EXTREME HEAT OF THE SUN IN SPACE.
!iii :::!:i:: :::;::
:
;:;::; ::
:
...
;::
POD COVER (OPF WHEN COMPRESSED)
REP TURN-ON REP
SWITCH
:i::i:: :! :iii
SWITCH
[]
ASSEMBLY
THE RENDEZVOUS POD COVER IS SHOWN LEAVING THE ADAPTER SECTION. EJECTION THE GUILLOTINE CUT THE CABLES SPRING HASASSEMBLY HOLDING DIE COVER AGAINST THE TUBULAR POSTS. THE VELOCITY WI',ICH THE SPRINGS IMPART TO THE COVER IS 100 FEET PER SECOND.
(REP PYROTECHNIC CHAR GE INSIDE)
RBP
EJECTION
[] lATELY AS THE REP IS EJECTED, THE MO PLUNGER TYPE SWITCHES ON THE REAR OF THE REP ARE RELEASED CAUSINg THE BEACON LIGHTS AND THE TRANSPONDER RE-
Figure
8-80
Mounting
and
Ejection
of Cover 8-292
CONFIDENTIAL
and
Rendezvous
Evaluation
Pod
CONF|DENT_AL
....
PROJECT GEM! so. 300 Nl! i
The REP has two spring-loaded, the battery
plunger-type
power to the beacon
these normally conserved.
closed
The pilot
switches will
to the first perigee.
lights
depressed
the REP
The spacecraft
(Figure
8-80) which
and the transponder.
are held
eject
switches
(ope_)
Prior
to ejection
so that power
approximately!fifteen
control
minutes
is prior
will yaw left 900 and the POD EJECT i
switch located
on the right
be depressed.
Pushing
(Figure
8-80).
the POD EJECT
One charge
the two cables
switch/circuit
drives
shown in Figure
breaker
switch
activates
a guillotine
8-80.
pan@l
type
The cables,
(Figure
8-80) will
_wo pyrotecbn_ c charges cable
cutter which
when released,
allow
severs the two
i
compressed
springs
to expand,
the rear of the spacecraft. I00 feet per second. delay, propells
thereby
propelling
The relative
The other
charge,
the rendezvous
ejection
initiated
the REP from the spacecraft
with
velocity after
pod cover
of the cover
from is
an 80 millisecond
the relative
velocity
time
of S._
i
feet per second. since the ejection the ejection
The cover will velocity
of the cover
If the retrograde
of the REP,
no tumbling
in locating
the exact
is expected.
is much
the ejection I
great@r
would
center
For successful
one revolution
the earth's
conditions.
of the REP is desirable
the mission.
between
outside
hot and cold temperature
or tumble
with
of the REP
than and is prior
to
of the REP.
Since the REP will be orbiting extreme
not interfere
to allow
Therefore, uniform
thrust were result.
operation,
per minute
applied
Since
of gravity,
atmosphere,
experience
a slow rate of rotation
hea_ing
and cooling
throughout
to the
exact
center
a very minute
error
is anticipated
a slow tumble within the rate of tumbling
and one revolution
8-293 CONFIDENTIAL
it will
of gravity
the required
limits
of the REP will
per hour.
be
CONPIOENTIAL
PROJECT GEMINI
Immediately upon ejection the compressed, sprlng-loaded, plunger-type switches are released causing the transponder receiver and the two flashing light beacons to become operational.
It is estlmated that the flashing lights on the REP at
20 nautical miles are equivalent to the intensity of a third magnitude star. Thus, a z_.nge of 30-35 nautical miles between the I_ desired to assure exceeding the visible _mlt
and the spacecraft is
Of the _EP lights.
The _
and
the spacecraft trajectories will be designed so that the crew can make visual observations of the REP up to the -_m and darkness.
observational distance in both daylight
The ejection of the REP and the maneuvering of the spacecraft is
performed over ground tracking stations to provide gro_
monitoring capability.
SYSm_M UNITS TRAWSPO_R The transponder of the _
(Figure 8-79) is nearl_videntical to the transponder
of the Agena Target Vehicle. l=_gest c_onent
of the REP.
The transponder, i0 by lO by 20 inches, is the For this reason, the transponder serves as the basic
cowponent to which all other components are attached.
For a detailed discussion
of the operation of the transponder, refer to the Rendezvous Radar System portion of this section.
AFtrA
SYS_
The REP radar antenna systems (Figure 8-79) consist of two clrcularly polarized double-spiral antennas and one dipole antenruaarray. same t_e
and size as the ante-ms
anten_
are the
used on the Agena, however, there are several
slight differences in the manner in which the anten_ ante-hAs of the I_
The _
are mounted.
The spiral
extend outward approximately two inches from the case of the
CONFIDENTIAL
CONFIDENTIAL SEDR300
_-
'_"
i
transponder.
In
comparison,
the
spiral
antennas
of
the
A_ena
are
mounted
flush
i with
the
outer
surface
of
the
Asena.
The
dipole
antenna
of
the
REP is
mounted
i
c_ the Agena
end is
of
a Wo-foot
mounted
long
fixed
on an elect_call_r
operations
of the two antenna
capability
of transmitting
in this manusl
FLAS_
boom,
whereas
old,ted,
systems
are the same. Refer
discussion
(_ipole
retractable
and receiving.
for a detailed
the
antenna
boom.
the
The electrical
All antennas
have the
to the Rendezvous
of the antenna
of
system
Radar
_stem
operation.
LIGHT _C_S
The REP has two toroid-shaped, are the same t_pe
target
of the REP so that at beast lights
The flashing each mounting
25-watt
lights as the I00 candlepower
are used on the Agena
The beacon
xenon-filled,
assist
The lights
one light
is visible
the crew in _-euvering
of the lights case.
vehicle.
Agena
is regulated
The chargin8
beacon
lights.
acquisition
are located
lights
lights which
on opposite
sides
tot he crew from any direction. the spacecraft !
by a resistor-capacitor
circuit
These
is designed
relative
circuit
So that both
to the
located
Lights
operate
i simultaneously
and ass_ne
of flash.
This rate
per minute
however
can be manuall_
the optim_
have
a life expectanc7
more
th_n sufficient
one A__nd_ one half
the flashing
of the li_t
adjusted
i i
within
having
_ range
the higher
flashes,
since the R_
rate
of 75 to 90 flashes
rate is _0 .+ I flashes
of 2_,000
time,
rate
_r minute. The lights ! or approxima_e_7 5 hours. This is
will
be used ifor approx_mtel_
hOUrS.
8-295 CONFIDENTIAL
in
CONFIDENTIAL
PROJEC---T--G
Each
beacon
light has a thermal
strap is a ¼ inch thick the heat generated plunger-type
by the light.
switches
to flash the zenon filled
the lighting
SQUIB
system
is shown
lamps.
in Figure
through
two redundant
The flashing
voltage
dissipate
circuit
to the 2500 volts
The electrical
schematic
diagram
of
8-81.
BA_r_RIES
The REP utilizes batteries
two low impedance,
24-volt,
are the same type of squib battery
8-79 shows one of the squib batteries The other battery
The squib batteries
ponder
and the two beacon
served
from a separate
During
spacecraft
lights.
mission
number
that the batteries
the lights
is the limiting
of the batteries
the internal entitled
structure
Electrical
The battery
supplying
The operating
used
attached
The
squib batteries.
in the spacecraft.
Figure
to the case of the transponder.
serve
as the power
The transponder
squib battery
a very small time, approximately necessary
silver-zinc
is on the other side of the REP and cannot be identified
the illustration.
weight
battery.
the battery
bonding
is used to help
are connected
silver-zinc
to increase
The thermal
copper which
The lights
to a 24 volt
-_
strap attached.
strap of laminated
uses a dc to dc converter required
bonding
EMINi
and operate
5 the REP will one orbit
possess factor.
be required
or 90 minutes.
an exceptionally
lights are each
of one another.
to function Therefore,
long life.
of the squib
For a detailed battery,
refer
for only
it is not
The life of
Due to the short usage period,
and operation
power
for the trans-
and the beacon independently
can be held to a minimum.
Power System
source
in
the size and discussion
of
to the section
.
to the transponder
level of the transponder
is augmented
is 28.3 volts
8-296 CONFIDENTIAL
by a boost
and the rated
regulator.
voltage
CONFIDENTIAL
,f_.: ___,__
_,_
PROJECT SEDR300GEMINI,,
o
o_
_-'_'_'-'_J
TRANSPONDER J
SPIRAL ANTENNA
J7_
R'[ 02
XBT:
I
:_
_ _ B A1
_ _ s a _ _
_0_
P7a3
J701 BT70! 24V TRANSPONDER BATTERY
A70I BOOST REGULATOR
XDS7_
_XDS702
I II I Figure
8-81 Rendezvous
Evaluation 8-297 CONFIDENTIAL
Pod
Schematic
Diagram
CONFIDENTIAL. _.
SEDR300
PROJECTGEMINI
of
the
squib
resulator is
to
be
As the
the
is
_e_riss
so
times.
squib
that
to
the
_zVOUS
PODCOVER
directly
craft.
The cover
intense
heat
has
over a
sun's the
is the
which
.00035
inch thereby
required
limits.
cover.
tuhu]A_
posts,
Two Of the pins
are
used
for
the
voltage
the
to
a_d
like
necessary of
that
the
maintain
a beost
boost it
at
regulator the
required
in
in
extend
of to
the
the
8-81
the
voltage Boost
in
regulator
transponder
for
which
past
is
at
further
all
_nformation
structure
This
to
cover
the
the
protect
is
made
I_P,
The
silvered
temperature
Of
are
8-298 CONFIDENTIAL
the
in The
of the
of
a
outer
surface
to guide
other
two
the
is space-
REP from tubular face
the metal
of
reflects
REP remains
provided
terminate cover.
which
section
stretched.
located align
plane
serves T_e
cloth
the
oval,
equipment-adapter
space.
diagonally properly
input
decreases,
a variable
voltage
an
surface. that
battery
adding
Figure
is
the
umbrella
rays
ensuring
to
8-80)
silvered
which
by
volts of
squib
employed.
fiberglass
thick
posts
28.3
are
I_P an
sun's
the
decrease
diagram I_P
the
of
The additional
(Figure
a thin
rays,
Four
guide
of
behind
of
is
it
The purpose
voltage
a constant
pod cover
located
the
sehematic
batteries
frame
and
is
on how the
The rendezvous
system.
input
battery.
there
Refer
the
therefore
level.
compensates the
2_ volts,
into
cons,,wd
regulator with
only
transponder
operating
power
series
is
incorporated
increase
28.3 volt
Boost
battery
support pins. posts
the the
within
the These terminate
cover
CONFIDENTIAL.
....
SEDR 300
in sockets
which
house the spring
by two cables which pass through The
other
and
a nut.
tension
Ejection
a pyrotechnic
end
of
This
to
the
each screw
cable,
guillotine
cable
is
and
nut
causing
the pilot
the guillotine-type
attached serves the
cables allows
to as
spring
to the cover of iOO feet
sockets,
the
a
and tubes.
to
be
Both cables
and
pod is
cover used
by to
springs
a pyrotechnic
the two cables.
to expan&,
per second.
a
assembly. screw
apply
compressed.
switch,
severs
in place
to the l_P support
rendezvous
turnbuckle
Is held
in the same m_--er as the ejection
cutter which
the two compressed
The cover
and are anchored
pushes the POD EJECT cable
assembly.
the springs,
of the cover is initiated
REID. When
velocity
Pass through
ejection
thus
The cables
after ejection.
8-299/300 CONFII)ENTIAL.
charge Cutting
imparting
of the activates the
a relative
remain with
the cover
TIME REFERENCE SYSTEM
TABLE OF CONTENTS TITLE
PAGE
SYSTEM DESCRIPTION ooooooooooo 8-303 SYSTEM OPERATION oeooeoeoooeo 8-304 ELECTRONIC TIMER oeooooomoo 8-306 TIME CORRELATION BUFFER..... 8-324 MISSION ELAPSED TIME DIGITAL : CLOCK .......... ,...... 8-326 EVENT TIMER ooooooooo4ooe 8-333 ACCUTRON CLOCK ....... • • • 8-339 MECHANICAL CLOCK .......... 8-340
8-301 CONFIDENTIAL
CONFIDENTIAL SEDR300
•_
--MISSION DIGITAL
ELAPSED TIME CLOCK
(s/c6, 8a uP) TIMER
MECHANICAL
Figure
8-82
Time
Reference
System 8-302
CONFIDENTIAL
Equipment
Locations
CLOCK
CONFIDENTIAL
PROJEC
i , i
SYBT_M DESCRIPTION ,i , ,,,, The Time Reference System (TP_) (Figure 8-82) provides _he facilities for perform-
i
ing all timing functions aboard the spacecraft.
The s_tem
is comprised of an
electronic timer, a time correlation buffer, a mission elapsed time digital clock, an event timer, an Accutron clock and a mechanical clock.
The event timert mission
elapsed time digital clock, Accutron clock and mechanic_l clock are all mounted on |J
the spacecraft instrument panels.
The electronic timeX is located in the area i
behind the center instrument panel and the time correl_tion buffer is located in back of the pilot's seat.
_..
The electronic timer provides (I) an accurate countdow_i of Time-To-Go to retrofire (TTG to TR) and Time-To-Go to equipment reset (_G tion for the P_
to TX)_ (2) time correla-
d_ta system (Instrumentation) and the bio-med tape recorders,
and (3) a record of Elapsed Time (ET) from lift-off.
The Time Correlation Buffer (TCB), conditions certain Output signals from the electronic timer, making them cempatible with bio-med_ I
voice tape recorders.
Provision is included to supply buffered signals for Del_nt
of Defense (DOD)
experiments if required.
The mission elapsed time digital clock (on spacecraft 6 thro__gh12) provides a digital indication of elapsed time from lift-off. fr_
The i_igital clock counts pulses l the electronic timer and is therefore started and istoppe_ by operation of the
electromlc
timer.
8-3o3 CONFIOWNTIAI.
CONFIDENTIAL
PROOECT
The event timer provides aboard
the spacecraft.
with a visual electronic
the facilities
for t_m_ng
It is also started
display
timer
GEMINI
of ET during
at lift-off
the ascent
should fail, the event
various
phase
timer
short-term
to provide
functions
the pilots
of the mission.
In case the
may serve as a back-up
method
of
timing out TR. The Accutron c_nd
clock provides
pilot.
of external
The clock is powered
power
The mec_n_cal date.
SYS_ Four
clock provides
method
of Greenwich
by an internal
Mean
Time (G_T)
battery
for the
and is independent
or signals.
In addition,
emergency
an indication
the pilot
it has a stopwatch
of performing
with an indication capability.
the functions
of GMT and the calendar
The stopwatch
provides
an
of the event timer.
OP_TION components
Accutron
of the Time Reference
clock and mechanical
two _ining
components
are dependent
diagram
of the Time Referemce
The electronic time-of-day spacecraft
portion mission.
elapsed
on ou.tput signals
timer, mission
System
of the mechanical The mechanical
clock clo_k
period.
The electronic
a reaote
signal from the Sequential
operate
starts
System
CONFIDENTIAL
The
conciliation
A functional
8-83.
clock, Accutron continuously,
and Accutron
timer
timer.
timer,
other.
clock and time
in Figure
time digital
event
of each
the electronic
is provided
elapsed
timer,
independently
time digital
from
the pre-launch s_rt
(electronic
clock) function
(mission
buffer)
System
clock
operating
clock during
are started
and the the during
upon receipt
at the time of lift-off.
of
CONFIDENTIAL SEDR 300
"_
I-
,MEREEE'ENCES_';;7_C_ "--I TR (EMERGENCY), ACCUTRO N CLOCK
GROSS TIME,
ELAPSED TIME (SHORT TERM)
[ J
JI '
J
• O.M.T. DISPLAY CLOCK • STOP WATCH
._MMISSION ELAPSED TiME
L
TR (BACK-UP),
CREW
ELAPSED TiME (SHORT TERM)
TR-2B,_ SEC, TR-30SEC
J
SECONDS)
J
• CALENDAR DAY I (MINUTES AND MECHANICAL
1
I I
--Z _O
E,ME O,G,TAL --
_
I_
NOTE
* GROSS TIME FROM LIFT OFF
CLOC_.._.______ b,.,.,ss,oN ELAPSED
D
I
EFFECTIVE SPACECRAFT 6, 8 AND
I
UP.
Ji
INSERTION
• DECIMAL DISPLAY _AINUTES AND SECONDS) • COUNT UPOR DOWN
--
,
--
UNIT
--
L IFT-OFF SIG NAL
SEQUENTIAL SYSTFJv_
O
gz__
J |
T R (AUTOMATIC FIRE SIGNAL) TR -256 SEC, TR -30 SEC
J
TIME-TO-GO
TO TRAND
1
I
TX UPDATE ON-BOARD
•
ELECTRONIC
J l
_DATA REQUEST
TIMER
TIME-TO-GO
• COUNT DOWN TO • COUNT DOWN COUNT UP ELAPSED TIME FROM LAUNCH
COMPUTER
TO TR ELAPSED TIME
|
I
INSTRb_ENTATION ELAPSED TIME AND TIME-TO-GO
TO T R
D,
SYSTEM
RECORDER TIME CORRELATION BUFFER
ELAPSED TiME l
L
I " .
1
_..I
Figure
8-83 Time
Referenee
System 8-305
CONFIDENTIAL
Punetional
Diagram
VOICE TAPE RECORDER
CONFIDENTIAL
PROJ
If the lift-off timer
can be
mission
signal is not received
started by actuation
elapsed
upon receipt
time digital
of output
During the mission, the mechanical crew.
however,
from the Sequential
of the START-UP
started
Accutron
System,
buffer
timer
timer.
The
start operating
timer.
clock
and the stopwatch
and stopped, manually,
the event
the electronic
switch on the event
from the electronic
the event timer,
At lift-off,
IN I
clock and time correlation
signals
clock can be
the Sequential
EC---'T'-GEM
portion
at the descretion
is started by a remote
of of the
signal from
System.
ELECTRONIC
General At the time elasped
of lift-off,
time and counting
zero to a maximum functions
the electronic
by insertion
station,
throu6h
Data Insertion mature update,
Unit
countdown
duration.
the tiuer will
Updating
not accept
of counting
(DCS),
of equilment
any new time-to-go
to be loaded with
8-306
CONFIDENTIAL
the
via the Manual
inadvertent,
or personnel
error
pre-
during
of less than 128 seconds
of new data of less than the inhibit
cause itself
during
either by a ground
To prevent
failure
are written T_G to T R from
at any time
or by the crew,
computer.
reset
of two hours.
may be accomplished
Co_=_and System
of TR as a result
Upon receipt
is capable
up
up from
and equipment
of time which
reset from a maximum
(MDIU) and the digital
the timer will
values
by the timer may be updated
of new data.
the Digital
certain
of counting
ET is counted
The retrofire
The timer
of 2_ days and to equipment
The TTG to T R data contained mission
2_ days.
down to zero from
into the timer prior to lift-off. a maximum
its processes
down TTG to TR and TTG to T X.
of approximately
are counted
timer begins
time mentioned
a time in excess
of two weeks.
above,
CONFIDENTIAL
__.
SEDR300
The
TTG to
operates
T X function
while
telemetry. via
the
the
range
is
is
As the
spacecraft
comes
a TTG to
of
the
done
from
If by
the
the
within
crew,
_G
using
is
operation computer
reset
certain
a ground
range, Then,
timer
of satisfactory
to over
ground
electronic
use of the digital
passing
the
the
the
serves
timer.
station,
reset.
confirmation through
TX in
ground
may be
Information
timer
spacecraft
DCS,
it
the
the
automatically
data,
of
station
spacecraft
TX reaches
station
is
the
MDIU and
and
to
insert
d_ltal
continuously
inserts, out
the
equipment the
displayed;
readout
of
time
computer.
may be made by the readout
MDIU display
with
moves
zero,
unable
which
equipped
ground
the
to
not
I station
the
as
equipment
however, of _
data
capability.
NOTE The mission pulses
elapsed
time
digital
from the electronic
no loss of pulses,
will
clock
timer
and, ass_ning
indicate
time recorded
in the electronic
digital
clock
does not, however,
elapsed
time word
counts
the elapsed timer.
The
read out the
from the electronic
timer.
Construction The electronic
timer
inches an_ weighs
(Figure
8-8_)
is approxlmately
about ten pounds.
6 inches
It has two external
x 8 3/4 inches
connectors
x 5 1/2
for interface
i i
its associated
systems.
The enclosure
for the unit
is! sealed
to keep
out moisture
I
but is not pressurized.
The timer
utilizes
a modular
Construction,
containing
I i
eight modules (I)
crystal
which
are wired
oscillator,
(2)
directly t4m_.g
into the enclosure.
assembly,
8-3o7 CONFIDENTIAL
(3)
register
The modules control
are:
assembly.
with
CONFIDENTIAL SEDR 300
EVENT TIMER
[DMISSION ELAPSEDTIME DIGITAL CLOCK
A
//
ljill
MECHANICAL CLOCK
10
oI
ACCUTRONCLOCK
NOTE [_EFFECTIVE
SPACECRAFT 6s 8 AND UP.
TIME CORRELATIONBUFFER
ELECTRONICTIMER
Figure
8-84
Time
Reference
System
8-308 CONFIDENTIAL
Components
CONFIDENTIAL
:@ (4)
memory
control
relay assembly, components
_oo
PROJECT
assembly,
and
(8)
(5)
power
GEMINI
memory
supply.
are used in all modules
assembly,
Printer
except
(6)
driver
circuit
the crystal
boards
assembly,
(7)
and solid-state
oscillator.
Operatlon The electronic counting
timer
operation
an add/subtract 8-85).
is basically
for each
program
ET or a TTG, is modified
A storage
register
is provided
controlled pulses
oscillator
provides
operations
take
pulses
It performs
the
every
i/8 seconds.
operation,
a binary
of time. words
of the three
(Refer to Figure representing
Magnetic
between
timer
for data transfer
word,
counting
funtions
between
core storage cycles.
and another
the timer
oscillator
necessary
place in very of toggle
for the timer
of the timer.
of accuracy
small fractions flip flops
standard
required
outputs
The type
of
for the timer
of a second.
whose
for developing
whose
The oscillator
provide
the actual
is timing
operation.
timer
of time is further 32 bit times,
for the operation
the high degrees
to a series
The electronic
is used as a frequency
utilizes
divided
a 32-word
into
time program.
32-word
times.
and each bit time is divided
the shortest
pulses
used in the timer
One bit time
is equal
into
operation
to 122 m4eroseeoz_s
That is, each
32
S pulses
8-_9
times.
into
S pulses
and are 3.8 microseconds
and one word time
CONFIOI=NTIAI.
I/8 second
Each word time is divided
is
and the
computer.
the t_mlng
coupled
counter.
(ETj TTG to TX, and TTG to TX) by
the binary
for each
register
binary
a new amount
or remember
for use as a buffer
A crystal
....
to represent
are used to store
digital
is repeated
of the counting
registers
provided
of its functions
which
In each repetition
an electronic
are
long.
3.9 milliseconds.
CONFIDENTIAL SEDR300
:-
___._,_
PROJECT
GEMINI
_j
TIMED EVENTS (RELAY CLOSURES)
8 0 Z
_o
k
0 Z
_
o
A
8
'_
'
u
N
_
2 1'
_ _
e 5
8_
_
8
0
Figure
8-85
Electronic
Timer
Functional
8-310 CONFIDENTIAL
Block
Diagram
-
CONFIDENTIAL.
PROJECT _.
SEDR 300
It is pulses toggle
of these
Start Circuit
Timer
operation
spacecraft System
durations,
and their multiples,
is initiated
Sequential
when a 28 vdc start
System
is transmitted
or the event
to the electronic
the event timer is generated
the unit is placed causes
when
umbilical.
pz_maturely
to the countdown
Countdown
and
The countdown
and time
operation
controlled
oscillator
(Refer to Figure
every
the output
switch
of a signal
by a clock-hold
control
the
the Sequential the one
on the face
from either Until
of
source
lift-off,
the
s: gnal from the AGE via the
that th t timer
of lift-off.
signal
either
to be applied
of the crystal
will
not be started
Actuation
of the clock-
to a gate
controlled
in the timing
oscillator
to be
flip flops.
decoding
network,
operations
is initiated, is coupled
8-86).
Twelve
and five in the register each
take place iprimarily
the 1.048576 to the first
megacycle
of a series
of the flip flops control
stage of which
two input pulses.
eight pulses
toggle
from
Time Decodin 6
When timer
dividing
by the
at liftoff;
to be ac ;uated.
is done to assure
a positive
This gate allows
coupled
module
This
relay
is received
automatically,
Receipt
and will be at zero at the time
start relay causes module.
are produced
The signal from
the UP/DN
in the UP position.
relay is held in the reset position
signal
timer.
timer,
the set side of the clock-start
spacecraft
which
in the timing module.
flip flops
Timer
from
GEMINI
The output
module.
output of
are contained
one square wave of the final
per second.
8-311 CON FI DENTIAL.
module.
of the crystal-
17 toggle flip flops in the timing
The flip flops
produces
frequency
in the timing
form a frequency output
stage
pulse
for
in the series
is
CONFIDENTIAL SEDR300
_.--_ _ "_E. • _
_,_'_
"
PROJECT
_=_-_
GEMINI
__
8 P.P.S.
16 P.P.S.
_l _l
__
F_ r_
NO.
17
NO.
16
___
_
V--1
t NO.
32,768 P.P.S, 65s 536 P.P.S.
_
C_
J I_FO
V-q
/_
GATE (TYPICAL)
TIME DECODING
5
t_F1
_l
131 _072 P.P.S.
NO.3
262t |44 P.P.S.
S
GATE INPUT
_
Z O
-
z 3
Figure8-86 Schematic Diagram,
Frequency Division & Time 8-312
CONFIDeNTIAl
Decoding
CONFIDENTIAL
PROJECT __.
GEMINI
SEDR300
Outputs of all but the first two stages of the countdown circuitry are utilized to develop the timing pulses necessary for timer operations.
Output pulses from
either the i or the 0 side of an individual flip flop may be used; however, the polarity of the pulses from one side will be 180° out of phase with those from the other side.
Pulses from the flip flop outputs are supplied, in certain
combinations, to gate circuits in the time decoding section. receives
Each gate circuit
several input pulse trains and produces
outPut pulses which are usable i for the timer circuitry (Refer to Figure 8-87e). Basi_ally, a gate will produce output pulses which will have the pulse width of the
_rrowest
input pulses and
the frequency of the input pulse train with the wides_ pulses.
If the polarity
of one input is reversed, the time at which the outpu_ pulse occurs, will chs_e F_
(Refer to Figure 8-87b).
Operational
Control
Two complete modules are required to encompass all of ithe circuitry necessary to perform the control functions
in the electronic
timeri
The register
control
module primarily controls the transfer of data into and out of the timer. memory control module
directly controls the operatiom
of the magnetic
The
storage
registers in the memory module.
The register control module supplies the control signals which are required to perform the operations directly associated with the transfer of time data. utilizes the various c_d
and clock signals from the other spacecraft systems
to produce its control signals. appropriate circuitry to: (i) process), (2)
It
The control signals are then supplied to the receive a new binary data word (as in the updating
initiate the shifting operations of the proper storage registers l
to write in or read out the desired time data (ET, TX, or TX), and (3)
8-313" CONFIDENTIAL
supply
CONFIDENTIAL
PROJECT
GEMINI
data, read out of the storage registers, to the proper timer output termlnal(s) to be transferred
to the system requesting
it.
The memory control module directly controls the operation of the magnetic storage registers
and performs
the arithmetic
computations
of the counting process.
Inputs
from the timing and register control modules are utilized to develop the shift 8nd transfer output pulses ters.
for shifting data words into and out of the storage regis-
These pulses are developed separately for each register.
Both control modules are made up of rather complex and overlapping logic circuitry. and transfer
networks of
The memory control module also employs shift current generators
switches, as output stages, to develop the required power capabili-
ties.
Storage Register Operation The magnetic storage register to ET, TX, and TX are used to store or remember binary words of time data. registers, as required, spacecraft systems. accomplished,
These data words may be shifted out of their respective
for the counting operations
and for transfer to other
The transfer of data into and out of a storage register is
serially, with the Least Significant
Bit (LSB) first.
A storage register is comprised of a series of magnetic memory cores, each of which is capable of storing one binary bit of time data.
This capability is based upon
the characteristic of a magnetic core to saturate in one of two directions when a cu_ent
pulse is applied to one of its windings
(Figure 8-88).
Saturation in
one direction represents a binary I and indicates the presence of a data bit. Saturation in the other direction represents a binary 0 and indicates the absence of data bit.
The storage registers for ET and _
8-B14 CONFIDENTIAL
to TR each contain 24 magnetic
CONFIDENTIAL SEDR300
j- _ •
____
PROJ
ECT
_-'"
G EM,
,
(a) INPUT FROM F.F.
J_
_I
GATE OUIPUT
NO.
3 ("O"
SIDE)
3 ("0"
SIDE)
SIGNAL
(b) INPUT
l
l
'
I
]
J
_
_
J
_
[-I Figure 8-87 Time
[_
Decoding
--
VI Gate Inputs
FROM F.F.
NO.
'NPUTFROMF.F.
NO.4("I"SIDE)
INPUI[ FROMF.F.
NO.
5("O"SIDE)
I- oA ou u so.A and Outputs
(Typical)
::! :!:_:!: _!_ :_:!:_: _:!_:!: :!:__:_:_:i_ :i:_:_ _:!:i_:!:!:i:!:!:!:!:i:i:i: :_:_:_: :::_:_:_ :::::::::::::::::::::_:i:i_i_!_i_!_!_:_`,._:_:_:::::::::::::::::::::::::::::::::::::::::_:_!_ :!:!:!:!:!:!:!: :!:!:::::::::::::::::::::::: ::::::::::::::::::::::::::::::::::::::::: ::_:_ :::_:_: _::_:_:: ::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: :::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: _:_:::! _:!:[_:_:!:_:_:: _i:_:_:_:_:i: ::::::::::::::::::::::::: :!:: :
CURRENT PULSE _
__
Figure 8-88 Magnetic
Core Operation
8-315 CONFIDENTIAL
CONFIDENTIAL
PROJ E-E"CT"GEMINI
cores and the register ET or TR consists
for TTG to TX contains
of 211bits, while
The use of the binary which
can represent Each data bit
time.
In looking
storage
the smallest
in a binary
represent
time
data word
its 2_ individual
increment
(i/8 second)
to as the LSB in the data word.
next bit
(representing
core number
successive By adding total
i/_ of a second)
22 representing
core representing together
is stored
in core number
Core number
of the data word.
I/2 second, back
that
of time represented
ET and TR registers
have capacities
of approximately
by totaling
of the word where binary the representative
The process by
of shifting
the occurrence
control
time
of a data word
the increments
of time
ones are present.
transfer
pulses
fr_
whenever
a data word
core number
continues,
i with each
of the preceding
one.
Thus,
it is found
the that the
2_ days and the TX register, to its representative
represented
may be
by the bit positions
For the data word
shown
in Figure 8-89b
is 583 3/8 seconds.
a data word
into or out of a storage
of the shift and transfer
gate preceding
store the
by all of the cores,
can be determined.
Conversion
represents It is
The sequence
through
twice
2_.
23, then would
of
of the
The data bit which
of the register
acc_plished
of data
increment
8-89a, the 24 sections
cores.
a time increment
the increments
two hours.
the storage
one individual
time capacity
approximately
word for
of 16 bits.
permits
represents
in Figure
referred
with
for TX consists
a binary
of time as small aB i/8 second and as large as 24
at the flow diagram
register
Therefore,
system for time representation
an amount
days.
a word
16.
each register
the control
is to be written
each bit time for a duration
are supplied
in or read out.
of one word
is controlled
pulses and by the condition
and its write-in
section
register
time.
8-_.6 CONFIDENTIAL
amplifier.
The shift
to a storage These
The actual
of a
pulses
and
register occur
once
flow of data into a
CONFIDENTIAL
_
PROJECT
GEMII 'il
storage register is controlled by a logic gate precee_ing the write-in amplifier for each register (Figure 8-90).
The count enable input of the gate will have
a continuously positive voltage applie& after lift-off has occurred.
The write-
in pulse input will have a positive pulse applie_ for i7.6m!crosecon_s _uring each i
bit time (122 microseconds).
These two inputs control the gate.
The result is
;
that a positive data pulse m_y pass through the gate qnly _uring a 7.6 microsecon_ perio_ _uring each bit tl_e.
When a binary data wor_ is to Be written into a storage register, its ind/vidual bits appear at the input of core number i as a series of current pulses.
When the
first current pulse (representing I/8 second) of the _tord flows through the input winding of core number I, the core is saturate_ in the binary i direction.
It
remains in this condition until a current pulse flows ithrough the shift winding of the core.
The shift pulse causes the flux of the core to collapse an_ reform,
switching the core back to the 0 condition.
When thi_ occurs, a voltage is
1 _evelope_ across the output win_ing of the core an_ the temporary storage capacitor is
cll_rged
through
the
wind.i_
from the
_ic_le
et_l.,
_en!
the
shift
pulse
d.ecays
anc1
a groun_ potential is place& on the transfer line, the capacitor discharges through the input winding of the next core, setting it to the ibinary i condition.
Whenever
!
a bit position of the incoming data wor_ _oes not contain a pulse, core number I i
is not switche_ to I.
As a result, its shift pulse causes no change of flux; no i i voltage is _eveloped across the output and the capacitor is not charged or disi charged..
Hence,
the
next
core
is
not
set
to
the
1 condition. !
Because
the
shift
pulses are applied,to all the cores in a register, simultaneously, it is assured. that e_ch one is set to the 0 condition before the transfer pulse (also applied. to all cores, simultaneously) allows the storage capacitors to _ischarge.
8-317 CONFIDENTIAL
When
CONFIDENTIAL
__'
PROJECT
GEMINI
(a) (DATA WORD FLOW-COUNTING PROCESS) STORAGE REGISTER I
SERIAL INPUT
I
2
3
4
"O"
"O"
"O"
"O"
5 "O"
6
7
"O"
"O"
8
9
"O"
"O"
10
1]
12
13
"O"
"I"
"O"
"O"
}4 "I"
15
16
17
18
19
20
21
22
23
24 I I
"O"
"O"
"O"
"I"
"I"
"I"
"I"
"O"
"I"
"l"
NETWORK ADD (OR SUBTRACT)
j
SERIAL OUTPUT
]
(b) (DATA WORD TIMEREPRESENTATION) LEAS'/ SIGNIFICANT
k_i:/SS
BIT
I/4S
1S
_rL_J1 "I*'
2S
4S
64S
rl r!_J1 "I"
"I"
"I"
"l"
512S
rJ
n
"l"
*'I"
DATA STORED IN WORD REGISTER
Figure ::::::::::::::::::::::::::
::: ::::::::i:
8-89Time
Data
:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: ::::::::::::::::::::::::::::::::::::::::: :::!::
Word
Flow & Representation
: ::: ::: :: ::::::::i::: ::::::::::::::::::::::::::
'I
::::: :
:: :
:: :
:
::: :: :
: :
: :
:
::
:: :
:
I L
_TORAGE
_. REGISTER
SHIFT CURRENT
DATA WORD -_,_r_..._, IWR,,E A_'E'ER ,N I " -_ COUNT
ENABLE
I
_]
_,.,.J._L
_"D
_
l
R23
_
E24
_]___
IDATA
!T NSEE., --i
Figure
-
8-90
Schematic
"
Diagram-Storage 8-318
CONFIDENTIAL
Register
CONFIDENTIAL SEDR300
a complete binary
word has been
i condition
Reading
written
contain
a data word
into the register,
the binary
out of a storage
the _cores which
are in the
data bits.
register
involves
basically
the same processes
aswriting onein.
The data bits the register repetition
Counting
shift from first.
of the
left to right, with
An additional
shifting
21_ leaving
the bit in core number
bit is shifted
out of the register
with
each
process.
Operatlons
The counting data word
operation
for each
out of a storage
and writing completed
of the timer
register,
cycling
it back into the register.
in one word
time representation
The read and write
time
and is repeated
of the counting
the first data bit is shifted
consists
of reading
it throug h an arithmetic
(Refer to Figure
of the word is changed
portions
functions
every
8-89a.
i/8 s_cond.
by an increment
operation
out of a register,
a binary
network,
The operation
In the process,
is the
of I/8 second.
take place
the remaining
concurrently.
bits
As
shift one core
I
to the right, place,
leaving
the bit which
throught
core number has been
the arithmetic
is shifted 24.
shifted
circuitry
is the same for each bit
number i, completing
cycles
Before
the next
out of the register
and inserted
of the word.
out of the register,
The last bit then
I vacant.
back
Thus, when
shift
is cycled,
into core number
the bast bit
the arithmetic
the counting operation.
8-S19 CONFIDENTIAL
circuitry
takes
instantaneously, i.
The process
of the original
the first bit of the new one shifts through
operation
into
and enters
word
core number core
CONFIDENTIAL.
In the arithmetic
is supplied
separate
subtract
continues
coming
has been
produces
register
changed
time of the word. just as they were
amplifier,
output
of the new word. 0 to a binary
The remaining
to
up of combinations
similar,
the main
binary
I to the first bit position_
If there
is already
The carry
a i in that
operation
The positive
to the input a binary
0
signal is then
of the storage
i is written
into
Thus, the first bit of the word
i adding
bits
is a binary
1/8 seconds
are written
back
to the repreinto the
read out.
will be negative.
0 to be written
causing
a binary
and supplied
as the first
bit of a data word,
Upon inversion
A positive
into the first
data bits are also binary
the first binary
is quite
signal.
i is read out the ET register
causes a binary
are made
read out of the ET register
the signal will be positive.
consecutive,
operation
input to the register,
from a binary
of the add circuit
negative,
amplifier
I as the first bit
When a binary
of circuits
of adding
a positive
With a negative
sentative
time
an open bit position.
of a data word
by the write-in
core number
of the elapsed
frcm the TR and TX registers
to the next bit position.
until the i reaches
register.
Their
and those
into the add circuit.
the i is carried
the add circuit
output
circuits.
for the ET consists
When the first bit
inverted
Both types
process,
in their logic programs.
of the word
bit position,
the output
circuits.
being
(the LSB)
of the counting
to an add circuit
of logic and switching
The add process
IN I
portion
register
difference
PROUEC--T-'G'-EM
signal
core.
l's, the output
by the write-in at the register
8-320 CON FIDENTIAL.
input
If the subsequent of the add circuit
l's to be %-ritten into the register.
0 in the data word from the register,
the
remains
Upon receipt
the output
of the add
of
CONFIDENTIAL
PROJ
s o.oo _.
circuit becomes positive, causing a binary i to be written back into the register for that bit position.
For example, if the first five bits of the word being read
out of the register are binary l's (representing a total of B 7/8 seconds of ET) and the next one is a binary O, then the first five bits of the new word will be binary O's; and the sixth will be a binary I. position represents and ET of four seconds.
A binary i in the sixth bit
The remaining bits of the data
word, again, are inserted back into the register Just as they were read out.
Although the circuitry of a subtract network is much the same as that of an add network, the operation is different because of the subtract logic.
If the
LSB of a word coming into a subtract network is a binary I, the output for that bit position will be negative, causing a binary O to be written back into register.
In this case, the 1/8 second has now been subtracted, and the balance
of the word will remain the same.
If the LSB of the incoming word is a binary 0
the output of the subtract network will become positive, allowing a binary i to be written into the register.
The output of the subtract circuitry will remain
positive until the first binary I enters the circuitry.
When this occurs, the
output becomes negative and causes a binary 0 to be written into the register. The rest of the word is then written back into the register Just as it came out. Data Transfer Binary words of time data are transferred into and out of the electronic timer by several different methods.
Data words received from the ground station, via
the DCS, are inserted directly into their respective storage registers in the timer.
Data from the guidance system computer, however, is transferred into the
buffer register of the timer and then shifted into the proper storage register.
8-321 CONFIDENTIAL
CONFIDENTIAL
PROJE-E-CTG
The
same process
computer:
is involved
a word
is shifted
and then transferred Instrumentation register storage
Timer
in the transfer
Data
is accomplished
to a pulse transformer. register
of data from the timer
out of its storage
to the computer.
System
EMINI
register
transfer
by shifting
The output
in the instrumentation
to the
into the buffer
from the timer
the desired
register
to the
data out of its
of the transformer
is coupled to a
System.
Interfaces
The following
is a list of the inputs and outputs
together
a brief
with
description
of the electronic
timer
of each:
INPUTS
(a)
A continuous at lift-off
(b)
28 vdc
to start the recording
A 28 volt emergency the electronic is not received crew-ground
signal from the spacecraft
start
timer
(c)
A Read,
rite co_uand
A _
to TR address
readout (e)
A _
and would
System.
timer
System
of TR _ud TX. to initiate
that the lift-off
signal
The signal would
be initiated
by actuation
be of
switch to UP. signal
the timer as to which (d)
in the event
from the Sequential
the event timer UP/DN
of ET and countdown
signal from the event
operation
co-ordinated
Sequential
from the digital
function
si_ual
computer
to direct
is to be accomplished.
from the digital
computer
to update
TTG to TR.
to T x address signal from the digital computer to enter
a TTGtoTx.
CONFIDENTIAL
or
CONFII)ENTIAL
PROJE
(f)
An elapsed time address signal from the digital computer to readout
(g)
ET.
Twenty-four clock pulses from the digital computer to accomplish data transfer.
(25 pulses for data transfer out of the electronic
timer.) (h)
Write data for update of TTG to TX, or TTG to Tx from the digital computer.
Twenty-four
data bits will be forwarded
serially,
LSB first. (1)
A TTG to TR ready signal from the DCS to command update of TTG to
(J)
A TTG to Tx ready signal from the DCS to co,and
entry of a TTG
to TX. (k)
Serial data from the DCS to update TTG to TR, or TTG to Tx. Twenty-four
data bits will be forwarded
Clocking is provided by the electronic
serially, LSB first. timer.
(1)
TTG to TR readout signals from the Instrumentation System.
(m)
An elapsed time readout signal from the Instrumentation
(n)
An AGE/count inhibit signal from ground based equipment, via the spacecraft umbilical,
to keep the elapsed time register
System.
at zero
time prior to launch. (o)
A clock hold signal from ground based equipment, via the spacecraft umbilical,
to prevent the timer from operating
prior to
launch. .
(p)
An event relay reset signal from ground based equipment, via the spacecraft
umbilical.
8- SeB CONFIDE_NTIAL
CONFIDENTIAL
PROJECT
(q)
GEMINI
An event relay check signal from ground based equipment, via the spacecraft
umbilical.
OUTPUTS (a)
A contact closure at TR for the digital computer.
(b)
A contact closure at TR (Continuous) for the Sequential System.
(c)
A contact closure at TX for the DCS.
(d)
Read data to the digital computer for ET or TTG to TR . Data bits are forwarded
serially, LSB first.
(e)
Signal power (12 +0 -1 volts) to the DCS and Instrumentation System.
(f)
Twenty-four clock pulses to the DCS to accomplish data transfer.
(g)
Twenty-four
clock pulses to the Instrumentation
System to accomp-
lish data transfer. (h)
Serial data to the Instrumentation System for readout of ET or TTG to TR.
(1)
Data bits are forwarded serially, LSB first.
A contact closure from TR-256 seconds to TR for the Sequential System.
(J)
A contact closure from TR-30 seconds to TR for the Sequential System.
(k)
An input power monitor signal to ground based equipment via the spacecraft umbilical.
TIME COPd_ELATION_UFFER
General The Time Correlation Buffer
(TCB) supplies the time correlation signals for the
blo-medical and voice tape recorder.
Serial data and data clock output from
8-324 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
the electronic timer is applied to the TCB input.
=
Serial data contains 24 elapsed
time words, and extra elapsed time word and a time-to-go to retrograde word.
The
TCB selects the extra elapsed time word end modifies the word format to make it compatible wlth the tape recorder frequency responses.
Information to the
recorder is updated once every 2.4 seconds and has the same resolution (1/8 second) as the electronic
timer.
Construction The dimensions of the TCB (Figure 8-84) are 2.77 x 3.75 x B.80 inches and the weight is approximately B.O pounds. eatable multivibrator, provides
The TCB contains magnetic shift registers, a i00 kc
a power supply and logic circuitry.
both input end output
One 19 pin connector
connections.
Operation The operation of the TCB is dependent on signals from the Instrumentation and the electronic timer. System, the electronic
System
In response to request pulses from the Instrumentation
timer provides
elapsed time and tlme-to-go
to retrograde
words to both the Instrumentation
System and the TCB.
The elapsed time word is
supplied every I00 milliseconds.
In addition, once every 2.4 seconds it provides
an extra elapsed time word and i00 milliseconds later it provides a tlme-to-go to retrograde word.
The TCB requires elapsed time information only, therefore, the tlme-to-go to retrograde word is rejected.
The tape recorders, due to their response times,
are not capable of recording time data every I00 milliseconds end for this reason only the extra elapsed time word is accepted by the TCB.
The remaining
24 elapsed time words and the time-to-go to retrograde word are rejected by logic
8-_ CONF|OENTIAL
CONFIDENTIAL
_oo
PROJECT
circuitry in the TCB.
GEMINI
Rejection of unused words is based on their time relation-
ship to other words.
The TCB contains three 8-bit magnetic shift registers in which the 24-bit extra elapsed time word is loaded once every 2.4 seconds. at the rate of one every i00 milliseconds. pulses from the electronic timer.
The TCB then shifts out bits
The shift rate is based on data clock
The first data clock pulse in a word causes the
TCB to shift out one blt of the data and the other 23 data clock pulses are disregarded.
Each bit that is shifted out of the shift register is stretched in time and coded to make it compatible wlth tape recorder response times.
The output to the bio-
medical recorder is one positive pulse for a binary O and two positive pulses for a binary i.
The most significant bit has two additional pulses to distinguish
it from the other 23 bits in the word.
Data is shifted out of the TCB in a least
significant bit first and most significant or marker bit last.
The output to the voice tape recorder is the same basic format as for the biomedical recorders.
However,
response characteristics into two pulses, doubling
to make it compatible wlth the higher frequency
of the voice tape recorder, each output pulse is chopped the frequency.
All input and output signals are coupled through complete
isolation
transformers
providing
DC isolation.
MISSION ELAPSED TIME DIGITAL CLOCK The mission elapsed time digital clock (used on spacecraft 6 through 12) is capable of counting time up to a maximum of 999 hours, 59 minutes and 59 seconds.
8-3 CONFIDENTIAL
The time
CONFiDENTiAL
PROJECT
GEMI
I
is displayed on a decimal display indicator on the face of the unit.
The seconds
tumbler of the display is further graduated in 0.2 second increments. may be started or stopped manually.
Counting
Prior to initiating a counting operation,
the indicator should be electrically present to the desired starting time which i normally starts from zero at llft-off and counts mission elapsed time in real time.
Construction The dimensions of the digital clock are approximately 2 inches by 4 inches by 6 inches and its weight is approximately 2 pounds.
Onithe face of the clock
there are two controls and a decimal displaywlndow.
The unit contains four
electronic modules, a relay and a step servo motor.
Aigear train connects the
servo motor with the decimal display tumblers.
An electrical connector is
provided at the rear of the unit for power and signal inputs.
Operation Operation of the digital clock is dependent on timing pulses from the electronic timer.
The time base used for normal counting operations in the digital clock
is derive_ from the 8 pps t_m_ng pulse output of the electronic timer.
The
8 pps signal is buffered and used to establish the repetition rate of a step servo motor. tumblers.
The step servo motor is coupled through a gear train to display
Additional counting rates are selectable fo_! the purpose of setting
the clock to a desired starting point.
Start/Stop Operation _
Remote starting of the digital clock is accomplished h_ providing the 8 pps timing pulses from the electronic timer.
Before remote starting can be accom-
plished, the START/STOP switch must be in the START positlon and the DEC_/INCR
8- 7 CONFIDENTIAL
CONFIDENTIAL
__oo
PROJEMINI
switch must be in the 0 position. accomplished
(if timing
pulses
in the START position. latching
relay.
circuitry, removing
the
the time base
in the STOP position,
Counting
starting
are available)
This energizes
The relay
allowing
Manual
applies
counting
control
operation
voltage
clock
can be
the START/STOP
switch
side of the start/stop
and operating to begin.
(8 pps) from the clock removing
of the digital
by placing
the start
....
voltages
Counting
or by placing
and disabling
the
magnetic
to the
counting
may be stopped
the START/STOP
by
switch
circuitry.
Operations
When the start/stop
relays
are actuated
and operating
applied to the servo motor,
a plus 12 volt
count
the counting
gate.
This
and 8 pps t4mlng
initiates
signal which
dc enable
sequence.
is buffered
voltage signal
The
and supplied
of plus 28 volts
is applied
electronic
dc
to the normal
timer
provides
to the sequential
logic
section.
Sequential
logic
section
necessary
sequences
direction
of the other
consists
of output
of four set-reset
signals
(set output
pulse,
flop switches
remains
sequence resetting third
with
the preceding
one subsequently
condition
reset.
alternate one. reset,
and the sequence
timing
After
leaving pulses
the fourth
the first
is started
Then,
when
only
over again.
8-328
the
three of
and one is
of the first timing The first one also another
timing
switched
pulse
one set.
one flip flop,
flip flop has been
one is again
CONFIDENTIAL.
begins,
the second
setting
provide
to step in one
positive)
With receipt
to the set condition.
the first flip flop resets,
continues
process
(reset output
positive).
set, but the other two remain
is received,
As the counting
condition
in the set condition the next flip
to cause the servomotor
(Figure 8-91 ).
the flip flops are in the reset
flip flops which
The
then
set and the
to the set
In order to have the logic
CONFIDENTIAL
sEoR 300 _ -_'_
PROJECT
.,
-_T--_--_
GEMiNi
BUFFER
--
I
__
CONTROL SECTION I
CLOCK
FUNCTION
l
I
]
o
OSCILLATOR
Z U
OPERATING VOLTAGES
CONTROL
CONIROL
PANEL
UPDATE "FWD"
"FORWARD"
CONTROL
CONTROL l
Z
0
CONTROL
SEQUENTIAL LOGIC SECTION
l
_
0 Z$
I
CONVERSION AND DRIVER SECTION 2J I 8PPS
B
J •
2 REMOTE STOP (TEST USE ONLY)
E I
÷28V DC
D
8PPS RETURN
C
"
•
+28V
I
r--o--
POWERGND CHASSIS GND
F H
_
__ --1,,,,
+12V
_
---
__ o ? C_
I
I •
-
O
_
+28V
J I
i
Figure
8-91
Mission
Elapsed
Time
Digital
8-329 CONFIDENTIAL
Clock
Functional
Diagram
CONFIDENTIAL
PROJECT
GEMINI
section function properly, either a forward or reverse control signal must be received from the start/stop relay.
These are used as steering signals for the
t_mlng pulses which set and reset the flip flops.
For counting up, the control
signals cause the flip flop operating sequence to be in one direction.
When
counting down, they cause the sequence to reverse;
flip flop number _ is set
first, then number 3, etc., back through number 1.
The output of the sequential
logic circuit is applied to the power converison and driver section.
The power conversion
and driver section converts the voltage-pulse
outputs of the
logic section to current pulses which are used to drive the servomotor. driver section provides four separate channels, one for each input. has a logic gate and a power driver.
The
Each channel
The logic gate permits the logic section
output to be sensed at ten selected times each second.
The gate senses only the
occurence of a positive signal which will allow the power driver to conduct and send a pulse of current through one of the four se_vomotor stator windings.
The sequence of pulses from the driver section causes the servomotor to step eight times each second and 45° each step.
Figure 8-92 illustrates the step
positions relative to the sequence of operating pulses from the driver section. If pulses were applied to each of the four servomotor windings, without overlap, the unit would step 90° each repetition.
It is this overlapping of signal
applications which causes it to step 45° at a time.
The display indicator is a rotating
counter with wheels to display seconds, tens
of seconds, minutes, and tens of minutes, hours, tens of hours and hundreds of hours'
It is coupled to the servomotor through a gear train with a reduction
ratio, from the servomotor, of I0:i.
Therefore, as the servomotor rotates 360°
8-33o CONFIDENTIAL
-
CONFiDENTiAL SEDR 300
,j+,--.
/
PROJECT
GEMINI
P8 o
P7 •
"
P1
PERMANENT _2BV
S;
P6"
ROTG2R
(
i
PER_
P2
_NT/"
1
P
Ti P'CAL) 3
NoTE (I)
PI-P8 ARE ROTOR POSITIONS $4
$6
OPERATION
RESULT
GROUNDSI, GROUNDS6 OPEN $I GROUND $3 OPEN $6 GROUND $4 OPEN$3 GROUND SI OPEN $4 GROUNDS6 OPEN $6 GROUND $4 OPEN SI GROUND $3 OPEN $4 GROUND $6 OPEN $3 GROUND $I
ROTOR INDEXES TO ARBITRARy REF. POSITION ROTORSTEPS 45° C.W. (P2) ROTOR STEPS 45 ° C.W. (P3) ROTOR STEPS 45 ° C.W. (P4) ROTOR STEPS 45 ° C.W. (PS) ROTORSTEPS 45° C.W. (P6) ROTOR STEPS 45 ° C.W. (P7) ROTOR STEPS 45 ° C.W. (PS) ROTORRETURNSTO REF. POSITION (PI) ROTOR STEPS 45 ° C.C.W. (PE) ROTOR STEPS 45 = C.C.W. (P7) ROTOR STEPS 45 ° C.C.W. (P6) ROTOR STEPS 45 ° C.C.W. (FS) ROTOR STEPS 45 ° C.C,W, (P4) ROTOR STEPS 45 ° C.C.W. (P3) ROTOR STEPS 45 ° C.C.W, (P2) ROTOR RETURNS TO REF. POSITION (PI)
Figure 8-92 Step Servomotor Operation 8-331 CONFIDENTIAL
(PI)
CONFIDENTIAL SEDR300
PROJ EC--C"T-'GEMINI (in one second), the indicator shaft turns 36° or 1/8 of a rotation.
Since the
seconds wheel is directly coupled to the shaft and is calibrated from zero to nine, a new decimal is displayed each second.
As the seconds wheel moves from
nine to zero, the tens-of-seconds wheel moves to the one position.
The operations
of the other wheels are similar.
Updating The display may be returned to zero or updated to some other readout with the use of the DECR-INCR rotary switch on the face of the timer.
The rotary switch must
be in the 0 position in order to have the timer operate at a normal rate; with the switch in one of the other position, it counts at a different rate.
There are
three rate selections, each for the INCR and DECR (count-up and count-down) Ulxlating modes.
The positions on each side that are farthest from the 0 position are
utilized to make the timer count at 25 times its normal rate.
The next closer
positions are utilized to count at three times the normal rate.
The positions
nearest the 0 position are used to count at a rate 0.B times the normal one. This position
serves to more accurately
place the indicator at a desired readout.
Operationally, positioning the rotary switch in some position other than 0 causes the time base frequency from the electronic timer to be replaced in the circuitry by an update oscillator.
The frequency of the oscillator
is established by the
position of the rotary switch.
In the 25X positions, the frequency is 400 cycles
per second; in the 3Xposition,
it is 48 cps; and in the 0.3Xpositions,
approximately not critical
4.8 cycles per second. since the oscillator
it is
The accuracy of the oscillator output is
functions
only for updating
8-332 CONFIDENTIAL
purposes.
_
CONFIDENTIAL
PROJE
__.
SEDR 300
:
Operation of rotary switch supplies a stop co_-nd
____
to the electronic circuitry,
and stsrt switch must be operated to resume normal count. EVENT TIMER
General The event timer is capable of counting time, either up or down, to a ,_xlmum of 59 minutes and 59 seconds.
The time is capable of counting time down
to zero
from any preselected time, up to the maximum listed above.
NOTE When the event timer is counting down_ it will continue through zero if not manually stopped. After counting
through
zero,
the
timer will be1 gln counting down from 59 minutes and 59 seconds.
The time is displayed on a decimal display indicator Qn the face of the unit. The seconds tumbler of the display indicator Is further graduated in 0.2 second increments.
Counting, In either direction, may be started or stopped either
remotely or manually.
Prior to starting a counting operation, the indicator must I ;
be manually preset to the time from which it is deslr_d to start counting. Construction The dimensions of the event time are approximately 2 X 4 x 6 inches and the weight about two pounds.
On the face of the timer, there are two toggle switches, one i rotary switch, and a decimal display window. (Refer to Figure 8-84) In addition
to the panel-mounted controls, the unit contains four ielectronlcmodules, two relays, a tuning fork resonator, and a step servo motor. i
8-3S3 CONFIDENTIAL
A gear train connects
CONFIDENTIAL $EDR 300
the servo motor connector
with the decimal
display
tumblers.
There
is one electrical
on the back of the unit.
O e tion The operation to Figure
of the event timer
8-93)
It provides
tion of the decimal operation
display
is developed
when
a series of toggle-type
to the display
to rapidly
reset
Start/Stop
Operations
mechanism. the output
tumblers.
the same manner.
signals.
to zero or to some other
The difference
In order to initiate
counting
sary to first have the STOP-STBY off position.
counting
(Refer to Figure
switch
the repi-
through
rates may be selected desired
a gear in order
indication.
are accomplished
in almost
by either
in either
method,
it is neces-
the STHY or the center
8-8_)
NOTE When
starting
switch
- STBY
before
Manual
starting
with
in the center position,
incurred. STOP
is accomplished
To prevent
any
starting
inaccuracy
inaccuracies,
is the
in the STBY position
the timer.
may then be accomplished
either the UP or the DN position.
the STOP - STBY
a small
starting
switch is placed
by placing
This energizes
8-B CONFIDENTIAL
to
in the source of the control
operations
toggle
the opera-
is connected
is coupled,
of the timer is only
(Refer
counting
signal establishes
The servo motor
functions
for normal
for, resonator
The resulting
Additional
The remote and _manual start/stop exactly
of a tuning
timer.
is used to control
The time base used
servo motor.
the timer
of the electronic
its own time base which
flip flops.
tion rate of a stop-type train,
is independent
the UP-DN
toggle
switch
in
one of the two coils of the
CONFIDENTIAL
PROJECT j
FREQUENCY
GEMINI
STANDARD
COUNTDOWN
STAGES
SECTION
STAGES
:
I
I
L__
J
TUN,NGFO I UP KI ATE ' EVERS S OU
RESONATOR i
OSCILLATOR
OPERATINGVOLTAGE. _
RATECONTROL
"FORWARD"
SECTION
]
J
UPDATE"REV" CONTROL
=
I
I
iPDAT_"_D" CONTROL
CONTROL PANEL
POWERCONT. AND DRIVERSECTION I
j
COUNTDOWN HOLD
_oP
LMANUAL FORWARD MANUAL REVERSE
F
I
2jL
--
REMOTESTOP+28V
j_
45"
o j J
O
REMOTEFORWARD+28V REMOTEREVERSE +28V
I_1
L
___
I
+28v
I I
__
.
Figure
I 36=,/SEC'
_
8-93
Event
Timer
Functional
8-335 CONFIDENTIAL
_
Diagram
MIN.
SEC.
CONFIDENTIAL
PROJ
EC=r ' GEMINI
forward/reverse relay, also causing the start coil of the start/stop relay to be energized.
When these events take place, control and operating voltages are supplied
to the counting circuitry, thus allowing the operation to begin. to be accomplished
When starting is
remotely, either a remote forward or a remote reverse signal Is
transmitted from the ground station to energize the forward/reverse relay.
The
counting process may be stopped upon receipt of a remote stop signal or by placing the STOP-STBY
switch in the STOP position.
Either
of these functions energizes
the stop side of the start/stop relay, removing critical operating voltages from the counting
Countin_
circuitry.
Onerations
Normal counting operations begin with the actuation of the forward/reverse relay in either direction and the start/stop relay in the start direction.
When the forward/
reverse and the start/stop relays are actuated, an operating voltage of +28 vdc is applied to the servo motor and a ground level inhibit signal is removed from the toggle flip flops.
Also, a +12 vdc control signal, denoting either a forward or
reverse counting process, is transmitted to the logic circuitry preceding the servo motor.
The remainder of the timer circuitry has operating voltages applied when
the STOP/STBY switch is placed in STBY.
With the application of operating voltages, the tuning fork resonator emits and ac signal of 1280 cycles per second.
The signal is passed through a buffer to condl _
tion it for use by the series of seven toggle flip flops in the frequency standard countdown section.
Since the output frequency of each fllp flop is half that of Its
input, the final one in the series generates a signal of ten pulses per second.
The
outputs of the countdown section are connected to the sequential logic section and the power conversion
and d_iver section.
8-SS6 CONFIDENTIAL
CONFIDENTIAL.
PROJECT
Sequential
logic
necessary
section
sequences
tion or the other
consists
of output
(set output
flip flop switches other two remain fllp
alternate After
timing
leaving pulses
the fourth flip
first one Is again _-_
switched
In order to have
reverse
control
signals
The power logic driver
When
conversion
section
to current
section
section
of a positive
send a pulse
of current
four
is received, sequence
resetting
the next
set, but the the first
continues
with
the preceding
one.
down,
which
separate
function
properly,
pulses which
either
operating
the sequence
3, etc., back through
converts
are used
a forward
relay.
s_t and reset
the flip flop
they cause
section
one subsequently reset, the i and the sequence is started over
These
are
the flip
flops.
sequence
to be
to reverse: number
the voltage-pulse
or
flip
1.
outputs
to drive the servo motor.
of the The
one for each input. Each channel i has a logic gate and a power driver. The logic gate permits the logic section ! output to be sensed at ten selected times each second, i The gate senses only the occurrence
provides
pulses
pulse,
remains
from the forwmrd/reverse
cause
then number
and driver
and one is in the set
set and the third
signals
counting
The
flip flop, then
for the timing
_ is set first,
one set.
to the set condition
the logic
up, the control
in one direction. flop number
one
signal must be received
as steering
For counting
setting
flop has been
again.
used
only the second
pulse
the
three of the flip
of the first timing
timing
provide
to step in one direc-
procelss begins,
The first on_ also
when another
which
the servo motor
With receipt
to the set condition. Then,
flip flops
(reset output positive)
positive).
reset.
flop resets,
to cause
As the counting
flops are in the reset condition condition
of four set-reset
signals
(Figure 8-93).
GEMI
signal which through
channels,
will
allow
the power
one of the four servo
8- 337 CONFIDENTIAL
motor
driver
to conduct
stator windings.
and
CONFIDENTIAL
PROdGEMINI
The
sequence
of
pulses
from
the
_river
times each second and 45° each step.
section
causes
the
servomotor
to
step
ten
Figure 8-92 illustrates the step positions
relative to the sequence of operating pulses from the driver section.
If pulses
were applied to each of the four servomotor windings, without overlap, the unit would step 90° each repetition.
It is this overlapping of signal applications
which causes it to step 45° at a time.
The display indicator is a rotating counter with wheels to display seconds, tens of seconds, minutes, and tens of minutes.
It is coupled to the servomotor through
a gear train with a reduction ratio, from the servomotor, of 12.5:1.
Therefore,
as the servomotor rotates _50° (in one seconds), the indicator shaft turns 36° or i/i0 of a rotation.
Since the seconds wheel is directly coupled to the shaft
and is calibrated from zero to nine, a new decimal is displayed each second.
As
the seconds wheel from nine to zero, the tens-of-seconds wheel moves to the one position.
The operations of the other wheels are similar.
U_datin_ The display may he returned to zero or updated to some other readout with the use of the DECR-INCR rotary switch on the face of the timer.
The rotary switch must
he in the 0 position in order to have the timer operate at a normal rate; with the switch in one of the other positions, it counts at a different rate.
There
are three rate selections, each, for the INCR and DECR (count-up and countdown) updating modes.
The positions on each side that are farthest from the 0
position are utilized to make the timer count at 25 times its normal rate. The next closer positions are utilized to count at four times the normal rate. The position near_%
"'he0 position are used to count at a rate 0._ t_mes the
8-338 CONFIDENTIAL
_i
CONFIDENTIAL
the normal
one.
at a desired
This
position
serves to more accurately
place
the indicator
readout.
Operationally,
positioning
the rotary
switch
in some position
other
than
0
i
causes the tuning replaced
fork resonator
in the circuitry
osc_11Rtor
is established
positions,
the frequency
and the first
by an update
cycles
6_0 cps; and in the 0.4X positions, The accuracy tions
ACCUTRON
The clock
with
The frequency
of the rotary per second;
to be
of the
switch.
In the 25X
in the 4X position,
it is approximately
output
flip flops
64 cycles per
is not critical since
it is
second.
the oscillator
func-
purposes.
clock (Figure
is approximately
has a 24 hour
dial with
and a sweep second
of day.
toggle
CLOCK
The Accutron
hand
of the oscillator
only for updating
oscillator.
by the position is 4,000
three
The unit
major
divisions
on the co_,and
square
is capable
The
An hour hand,
indication
panel. clock minute
of the time
and has no electrical
of operating
mercury
control
and on e inch thick.
for a precise
self contained
on the internal
pilot's
on the half hour.
hand are provided
The clock
one year
located
2 3/8 inches
is completely
the spacecraft.
approximately
8-84),
continuously
interface for
battery.
Operation The Accutron
clock is provided
set and start the timer From
the depressed
clock will
with
as desired.
position,
start automatically
one control
knob.
The knob
To stop the timer,
the clock
is used
the control
can be set to the desired
when the control
8-339 CONFIDENTIAL
knob
is released.
to stop,
is depressed.
time.
The
CONFIDENTIAL
PROJEC--T-"GEMINI
The Accutron clock is a highly accurate device with an error of less than + 3 seconds per day.
This high degree of accuracy is made possible by using a tuning
fork as the time standard, instead of the conventional balance wheel and hair spring.
The tuning fork is magnetically driven at a natural frequency of 360 cps.
The tuning fork frequency is adjustable, ma_ing precise calibration of the clock possible.
The vibrational motion of the tuning fork is converted to rotational
motion to provide outputs of:
one revolution per day, one revolution per hour
and one revolution per _luute, for the clock hands.
_CHANXCAL
CLOCK
Construction The mechanical clock is shown in Figure 8-84. x 2 _4
x 3 _4
The unlt is approximately 2 1/4
inches and weighs about one pound.
increments of 0-24 and 0-60.
The dial face is calibrated in
The clock has two hands for the time of day portion
and two for the stopwatch portion.
The controls for operating both portions of
the clock are located on the face of the unit.
O_eration The clock is a mechanical device which is self-powered and required no outside inputs. minutes.
The hand and dial-face clock displays Greenwich Mean Time in hours and A control on the face provides for winding and setting the unit.
With
the passing of each 24-hour period, the calendar date indicator advances to the next consecutive number.
The stopwatch portion of the clock can be started,
stopped, and returned to zero at any time.
Two settable markers are provided on
the minute dial to provide a time memory, permitting the clock to serve as a --\
short-term back-up timer.
CONFIDENTIAL
CONF|DENTIAL.
PROPULSION
SYSTEMS
TABLE OF CONTENTS TITLE
_
PAGE
GENERAL INFORMATION ........ ORBIT ATTITUDE AND HANEUVERING SYSTEM,el. ...e.eee. SYSTEH DESCRIPTION: . ...... SYSTEM OPERATION..... ..... SYSTEM UNITS. . ...... RE-ENTRY CONTROL SYSTEM........ SYSTEM DESCRIPTION.... .... SYSTEM OPERATION ..ooeooQeeO SYSTEM UNITS eQeoeeeeeeeee
8-341 GONFIDENTIAL
. .
. . . . • , . i
.
8-343 8-343 8-343 8-349 8"352 8-369 8-369 8-374
8 376
CONFIDENTIAL
_,- "
PROJECT
GEMINI
SEDR3OO
._T _
___S
__
RI_E'_USUL_R_OR
°E__j
ORBIT ATT,TUDE MANUEVER,NG
_.¢KA_E
!QQ P',_=-' UP
e®'T 'DO N II
"A"PACKAOE
I Q Q ROLL CLOCKWISE I
"D" PACKAGE
O
"B" PACKAGE
vO_v_ZER S"UOF
SYSTEM km
Q
YAWLEFT
_@ _OLL¢OUNTE_¢LO I LEJ_) _ANS_TEAFT _NS_TE PORWARD ®® I
/_
,C°ONL ® TRANS ITEDOW OXIDIZER
TANK
(S/C 6, 8 & UP) OXIDIZER
TANK
(S/C 50NLY)_
(s/c 8&uP) FUEL TANK (S/C 8 & UP)
CUTTER/' SEALERS OXIDIZER
TANK
(s/c 6,8&9) FUEL TANK
, I (S/i0
t
8, UP)_
(s/c6, 8&uP) {S/C 5 ONLY) (2 REQ'D)
I
EQUIPMENT SECTION
_
.CABIN
RETRO SECTION
Figure
8-94
Orbit
Attitude
SEETI
Maneuvering 8-842 CONFIDENTIAL
System
and
".
'I'CA
Location
OONPIOMNTIAL
___
SEDR300
,
PROPULSIONSYSTEM @_RAL
INF0_ATION
The Gemini
Sl_cecraft
capability. spacecraft
is provided
(Figure mission,
8-94).
systems, Control
System
the time phase
of launch
vehicle
the re-entry
cal c_u_ands automatic
ORBIT ATTIT_ SY_
control
attitude
separation
during
separation
is accomplished
System
(OA_)
phase
and provides
until
The RCS provides
the entire
until
the re-
by two rocket
engine
and the l_-entry
Control
maneuver
the initiation
attitude
of the mission.
from the Attitude
mode
vehicle
and Maneuvering
the spacecraft
of the mission.
during
is used
control
(RCS).
The OAMS controls f-
and maneuvering
capability
of launch
Spacecraft
the Orbit Attitude
an attitude
This control
from the time
entry phase is completed.
with
control
capability
of the retrograde for the re-entry
The 0AMS and RCS respond
Maneuvering
or from the crew in the manual
from
Electronics
module
to electri-
(ACME)
in the
is a fixed
thrust,
mode.
AND __
DESCRXPTXON
The Orbit Attitude
Maneuvering
cold gas pressurized, propulsion
system_
System
storable
which
is
liquid,
capable
of
(OAMS)
(Figure
hypergolic operating
8-94)
hi-propellant, in
the
environment
self cont_Line_ outside
the
i
earth's
ataosphere.
chamber
assemblies
Maneuvering (TCA) singly
capability
is obtained
or in groups.
by firing
The thrust
chamber
thrust assemblies
!
are mounted modes
at various
of rotational
points
about
or translation
the adapter acceleration
8 -343 OONFIDMN'rlAI.
in locations required.
consistent
with
the
j
CONFIDENTIAL SEDR 300
:_.
COMMAND PILOT INSTRUMENT PANEL
PEDESTAL INSTRUMENT
INSTRUMENT
'_'z/
PANEL
PANEL
CENTER CONSOLE
FUEL TANK
PACKAGE t
"D"
FUEL SUPPLY SHUT OFF/ON _
VALVE
FUEL TANK S/C8&UP
THRUST CHAMBER (TYP 16 pLACES)
RESERVE
"_
HEATER
,_F ,, S/C 8 & UP "
S/C 5 & 6
OXIDIZER SUPPLY
PRESSURE---"
'RESSU_NT S_O_GB
"A" PACKAGE
_-
SHUT
"E .... I-h B" '_" o:,ON PACKAGE CKAGE PAC_GE
--
OVERHE.a SW & CIRCUIT BREAKER PANEL
T-TEMPERATURE SENSOR P-PRESSURETRANSDUCER M'_MOTOR V-PYROTECHNIC
OVERHEAD SW & CIRCUIT BREAKER PANEL
OXIDIZER NK
VALVE LEGEND INSTRUMENT
PANEL
-\
CENTER CONSOLE
Figure
8-95
j
OAMS
Control
& Indicator
8-344 CONFIDENTIAL
Schematic
CONFIOIENTIAL
SEDR300
The
OAMS provides
a means
control
axes
(roll,
(right,
left,
up,
translational
pitch, down,
space
vehicle
The primary
purpose
used, after
firing
during
the
yaw)
and
forward
and
aft).
creates in
the
charges,
launch
During
spacecraft
(except with
are mounted
The
on a structural
several
functioning
of
three
in
cumbina%ion
feed
of forged
lines
in retro
of
attitude
six
directions
attitude
rendezvous
and
in orbit.
and docking
with
(module
tubing
late
Spacecraft
(RCS).
adapter.
in _he equipment
All
from the
control
OAMS control
Each
in
cutter/sealer
are separated
"packages"
and filters.
occur
from the equipment
concept)
and welded
from the launch
may
sequence,
section)
System
The OAMS is also
the Spacecraft
of the adapter.
Control
frame
components
control
of retrograde
section
by the Re-entry
units consist
control
to separate
six TCA's located
control
its
or in case of an abort which
initiation
the equipment
are then assumed
translation
of OAMS is spacecraft
a normal
about
capability
sever and seal the propellant
of the OAMS
spacecraft
orbit.
of shaped
the launch phase. devices
rotating
and
maneuvering
another
vehicle
of
functions
_,nlts and tan_ section.
package
consists
The of
The OAMS iControl and Indicator i i
Schematic
(Figure
controls which are provided delivery
8-95) is a simplified
are directly
by the Attitude
of pressurant,
tubing
manifold
system.
group,
fuel/oxidizer
related
schematic
of the indicators
to the Propulsion
Control
and Maneuvering
fuel and oxidizer The OAMS system
group and Thrust
System. Electronics
is accomplished is divided
Chamber
and manual
Additional
(ACME) System
by a uniquely
into three
controls
groups;
brazed pressurant
Assambly i (TCA) group.
Pre.srarant Group f
The pressurantgroup (Figure 8-96) consists of a pressuranttank, "A" package,
CON_IDINTIAL
The
j
CONFIDENTIAL SEDR300
_..
PROJECT
GEMINI
PURGE
TESTVALVE
CHARGING
VALVE FUEL TANK
_,
_(ONE TANK ON TWO TANKS Orl S/C 6, 8 & 9. THREETANKS _ ON S/C 10 aUP.)
HIGHPRESSURE HIGHPRESSURE _
_
_,_ i'_
_ (S/C 8 & UP)
_
_
_ _h'_:
_
I l I I
"F" PACKAGE
RESERVE FUEL TANK
LEGEND .'.'.'.'.'.'.'.'."
PRESSURANT
k'_'_'k'_k'k_k_
FUEL
(S/C 8 & UP)
I
.'-'.'-'.'.'-.'-.'.'.•• .'-" OXIDIZER NORMALLY
CLOSED
PYROTECHNIC VALVE
•
JlBId
SOURCE _ _" PRESSURE
PACKAGE
FUEL TANK VENT VALVE
PRESSURE TRANSDUCER
'
BURST
REGULATED PRESSURE TRANSDUCER
DIAPHRAGM RELIEF CHECK VALVE
NORMALLY OPEN PYROTECHNIC VALVE
FILTERS "E" PACKAGE
FILTER CHECK VALVE
MANUAL BYPASS VALVE
BURST DIAPHRAGB
FILTERS
TWO WAY SOLENOID
CHECK
VALVE
VALVE
VALVE
I
OVERBOARD RELIER VALVE TEST PORTS
NORMALLY CLOSED PYROTECHNIC VALVE
OXIDIZER VENT VALVE SWITCH VALVE
TEST
JLATOR
E
OUT TEST
_GASUTR_i_
.......................
NORMALLY CLOSED PYROTECHNIC VALVE
;_
NOTE [_
Figure
8-96
Orbit
Attitude
ADDITIONAL
Maneuvering 8-346 CONFIDENTIAL
TANKS ARE CONNECTED
System
Schematic
PURGE FTORT
_..............................................,.. IN PARALLEL.
(Sheet
1 of 2)
i
CONFIDENTIAL SEDR 300
: _.
___¢_)'
PROJECT
GEMINI
__
"D" PACKAGE FUEL CHARGINGF_
_-
PY'ROEECHNIC VALVE
I LX
FUEL TEST VALVE
RX
VALVE _]ENO,_L_CLOSE D; P_F_/D
PROPELLANT FUEL SUPPLY SHUTOFF VALVE
LINE CUTTER/ SEALER
__.;.;__.___._._._.___._`_`___._._._._`_.___._.__:._._._._._._.___._._.:`:__.___._._`_'_._._`_ :.:.:.:.:
Figure 8-96 Orbit Attitude
Maneuvering 8-347 CONFIDENTIAL
System
Schematic
(Sheet 2 of 2)
CONFIDENTIAL
"E" tseks_e, package.
"F" package Inlet
valves,
on Spacecraft ports
and test
8 thru ports
12, are
pressure
permit servicing, venting, purging and testing.
provided
regulator, at
and "B"
accessible
points
to
Filters are provided throughout
the system to prevent cQntam4nation of the system.
The pressurant is isolated
in the storage ta-_ dur_nS pro-launch periods by a normally closed pyrotechnic actuated valve, located in the "A" package.
On Spacecraft 8 thru 12, the pressurant
is isolated from the reserve fuel tank by the "F" package.
l_el/Oxidizer Group The fuel/oxidizer (propellant) group (Figure 8-96)
consists of expulsion bladder
storage tanks, "C" and "D" packages and two propellant shut off valves.
Charging
valves and ports and test valves and ports are provided at accessible points to permit servicing, venting, purging and testing.
The propellants are isolated in
the storage tanks by normally closed, pyrotechnic actuated valves ("C" and "D" packages).
Filters are provided in the "C" and "D" packages, down stream of the
isolation valves, to guard against contamination of the thrust chamber assemblies. The propellants used are: OXIDIZER - nitrogen tetroxide (N20_ conforming to specification MIL - P - 26539 A FUEL
- monomethyl hydrazine (N2H3CH3) conforming to specification MIL - P - 27_O_
Thrust Chamber Assembl_ (TCA) Group The TCA group consists of thrust chambers and electrical solenoid valves. teen TCA's are used per spacecraft (Figure 8-9_).
Eight twenty-five pound thrust
capacity TCA's are used for attitude control, (roll, pitch and yaw).
8-3_8 CONFIDENTIAl.
Six-
Six one-
f_
CONFIDENTIAL
hundred pound and two eight-five pound thrust capacity TCA's are used for translational maneuvering.
SYST_
OPERATION
Pressurant
Group
The pressurant tank contains high pressure helium (He)istored at 3000 PSI. (Figure 8-96).
The tank is serviced through the "A" p_ckage high pressure gas
charging port.
Pressure frcm the pressurant tan_ is isolated from the remainder
of the system by a normally closed pyrotechnic actuated isolation valve located in the "A" package.
Upon command, the system isolation valve is opened and
pressurized helium flows through the "E" package, to the pressure regulator, "B" i i
f_
package and propellant tanks.
Normally, pressurant is!controlled through system
pressure regulator, and regulated pressure flows to the "B" package.
The "B"
package serves to deliver pressurant at regulated pressure to the fuel and oxidizer i
tanks, imposing pressure on the propellant tank bladder exteriors.
Relief valves
in the "B" package prevent over pressurization of the System downstream of the regulator.
Burst diaphragms are provided in series with the relief valves, in
the "B" package, to provide a positive leak tight seal between i
system pressure
and the relief valve.
The "E" package provides a secondary mode of pressure regulation in the event of regulator failure.
In the event of regulator over-preSsure failure, resulting in
excess pressure passage through the regulator, a pressure switch ("E" package) intervenes and automatically closes the normally open qartridge valve. I _
pressure
is
then
controlled
manually
by the
crew by momentary
OONPIOBNllAI.
placing
Regulated the
OAMS-
CONFIDENTIAL
PMINI SEDR 300
R_G
switch in the _
is obtained
position.
from the "B" package
and 6, the "F" package regulator
switch to S_. normally
This
open valve,
is then regulated mation
obtained
selection
ulated
a division
(Figure
In the event of regulator the required
flow of propellant affords
a safety
tank bladders.
through
sure returns
On spacecraft package. placing
vapors
transducer pressure
in the system.
into the pressurant for prevention
would
first rupture
the relief valves.
The relief
The reg-
a signal to the
of the regulator, to manually prevent
The "B" package
hack
also
on the fuel and oxidizer
downstream
diaphragms,
valves will
The "B"
tanks.
check valves
of over pressure
infor-
on spacecraft
8 thru 12.
the reading
system.
Pressure
pressure
transducer
downstream
Three
the burst
and closes the
and provides
the crew utilizes
Should
completely.
control
on spacecraft
Should the system be over pressureized
of the regulator
then he vented
reset
when
over-
system pres-
to normal.
8 thru 12, the pressurant
The normally the 0AMS RESV
pressurant
pressure
5
select the OAMS-REG
flow to the propellant
8-95) indicating
pressure
feature
the over pressure hoard
transducer
12.
closed valve
the regulator
regulated
of pressurant
failure,
8 thru
by the crew with
is sensed by the pressure
_ahin • instrument,
maintain
the normally
information
on spacecraft
the crew can manually
(OAMS-PULSE)
pressure
pressure
transducer
on spacecraft
by-passes
from the "B" package
provides pressure
opens
thus pressurant
5 and 6, the "F" package package
occur,
Control
pressure
transducer
failure
manually
8-95).
re_ulated
pressure
under-pressure
(Figure
flows
closed pyrotechnic switch
(Figure
to flow to the reserve
8-95)
from the "B" package
valve
in the "F" package
in the SQUIB
fuel tank .....
8-350 CONFIDENTIAL
to the "F" is opened by
position, allowing
r.
CONFIDENTIAL
PROJECT
GEMI141
Fuel/Oxidizer Group Fuel and oxidizer are stored in their respective tank: and are isolated from the remainder of the system by normally closed pyrotechni_ valves in the "C" (oxidizer) and "D" (fuel) packages.
Upon command, the "A" (presSurant), "C" and "D" package
isolation valves are opened.
The pressurant imposes
)ressure on the propellant
tank bladders and fuel and oxidizer are distributed through their separate tubing manifold systems to the _,let of the thrust chamber solenoid valves.
Upon c_and
on spacecraft 8 thru 12, the normally closed pyrotechnic valve in the "F" package is opened to allow pressurant to impose pressure on the reserve fuel tank bladder to distribute reserve fuel to the thrust chamber solenoid valve. i
Two electrically
operated motor control valves (Figure 8-95) are located in the propellant feed !_nes, upstream of the TCS's.
In the event of fuel or oxicizer leakage through
the TCA solenoid valves, the motor operated valves can be closed by the crew to prevent loss of propellants.
The valves can again be iactuated open by the crew,
when required, to deliver propellants to TCA solenoids.
Th_rust
Chamber Assembly
(TCA) Group
Upon co_and
from the autQmatic or manual controls, signals are transmitted ! through the Attitude Control Maneuvering Electronics (ACME) to selected TCA's to i
open simultaneously the normally closed, quick-acting ifuel and oxidizer solenoid
i valves mounted on each TCA. rected through _11
In response to these commands, propellants are di-
injector Jets into the combustio_ chamber.
The controlled
l fuel and oxidizer impinge on one another, where they ignite hypergollcally to burn and create thrust.
Heaters are connected to each TCA oxidizer solenoid valve i
to prevent freeze-up and are activated by an OAMS RTRS switch (Figure 8-95).
8-351
CONIIIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
S1rS_ UNZTS
Pressurant
Stor86e
The helium
pressurant
is
16.20
inches
The helium
Tank is
outside
stored
in
diameter
welded,
and
has
actuated
valve.
spherical
an internal
gas is stored at 3000 psi rand held
closed pyrotechnic
volume
therein
The pressurized
fuel and oxidizer
from their respective
to the pressurant
tank and outlet
ment and
titanium
tanks.
of
Tank
1696.0
helium
dJJaen_ion
cubic
by the "A" package
inches.
norm_11y
is used to expel
Temperature
line to provide
tar_.
sensors
readings
the
are affixed
for the cabin instru-
telemetry.
"A" Package The "a" package valve,
8-97) consists
two high pressure
pressure
transducer
the propellant normally
activate valves
the system
_nd test
in the cabin isolation
are provided,
"F" Package
(Spacecraft
The "F" package
(Figure
pressure
to the open position
one on each side of the isolation purging
contamination
and venting
downstream
during testing
signal to
System.
Two dual seal, high pressure
isolation
The source
an electric
is used to isolate
is actuated
valve is used to test
system
valves and filters.
and transmits
valve
The valve
for operation.
transducer,
and to the Instrumentation
valve is used for servicing,
prevent
of a source pressure
tank pressure
of the system.
the downstream
filters
monitors
indicator
and ports
upstream
gas charging
closed pyrotechnic
the remainder
while
(Figure
The from to
gas charging valve.
the pressurant
components.
The tank,
The valve
and servicing.
8 thru 12 Only) 8-97) consists
of a source pressure
8-352 CONFIDENTIAL
transducer,
isolation
__
CONFIDENTIAL
I_
PROJECT GEMI I
MANUAL
CHARGE
VALVE
MANUAL
_
CARTRIDGE
,N_._I
TEST
VALVE
_
l
OC]-_LET PRESSURE TRANSDUCER
NOTE "F" PACKAGE ON $/C 8 & UP ONLY
Figure
8-97
OAMS
and
RCS
"A"
Package
8-353 CONFIDENTIAL
and
OAMS
"F"
Package
CH,P_R
CONFIDENTIAL
PROJECT
GEMINI
valve, two high pressure gas charging and test valves and filters.
The source
pressure transducer monitors the regulated pressure and transmits an electrical signal to the cabin indicator and Instrumentation System,indicating the amount of regulated pressure for the OAMS system.
The normally closed pyrotechnic valve
is used to isolate the pressurant from the rese_ve fuel tank.
The valve is
actuated to the open position to activate the reserve fuel system for operation. Two dual seal, high pressure gas charging valves and ports are provided, one on each side of the isolation valve.
The valve filters prevent system contamination
during testing and servicing.
"E" Package The "E" package (Figure 8-98) consists of a filter, one normally open pyrotechnic actuated valve, one normally closed pyrotechnic actuated valve, a normally closed two way solenoid valve, a pressure sensing switch, and a manual by-pass valve. The input filter prevents an_ contaminants from the "A" package from entering the "E" package.
The two pyrotechnic actuated valves are activated (open to closed
and closed to open) as required to maintain regulated system pressure, in the event of system regulator malfunction.
The two way (open-close) solenoid valve
is normally closed and functions upon crew co_and
to maintain regulated system
pressure in the event of a system regulator malfunction. senses regulated pressure from the system regulator.
The pressure switch
Upon sensing over pressure,
the pressure switch intervenes and causes the normally open valve to actuate to the closed position, closing the inlet to the pressure regulator.
The solenoid
valve, when opened, allows pressurant flow through the package after the normally opened open)
valve test
is valve
actuated is
used
to
the
to
divert
closed
position.
pressure
to the
8-3 CONP'IDlSNTIAL
The manual solenoid
by-pass v_ve,
(normal_ during
system
_
CONFIDENTIAL
__
_
PROJECT GEMINI SEDR 300
_ ._..
__
INLET
CARI_RIDGE VALVE
NORMALLY-OPEN MANUAL
VALVE
NORMALLY-CLOSED CARTRIDGE VALVE
1
L_ INLEI_FROM
REGULATOR
J
REGULATOR OUTLET-TO
J J
OUTLET
Figure
8-98
OAMS
"E"
8-355 CONFIDENTIAL
Package
I_!iI
PRESSURE
OONFIOEENTIAL
test.
In the
normal mode of operation,
nic valve
gas flows
to the system regulator.
through
the
noz_al_
open pyrotech-
In the event system regulator over pressure
malfunction_ the pressure switch Lntervenes and causes the nol_ally opened pyrotechnic
valve
to
actuate
to
normally
closed
solenoid
valve.
(pulsed)
by the
crew to
maintain
regulator
(under
pressure)
system velve
can be actuated
ouitry_ vents is
the by-pass
provided
Pressure
nor_lly of the
to the
and pressure
is
closed
position,
The solenoid regulated
open
open valve solenoid
the
diverting
valve system
is manually pressure.
malfunction
3 the
position.
Simultaneously
is
activated
valve.
In this
regulated
by the
to
pressure
the
mode,
normally
closed
to
the
controlled
In the closed
event
of
pyroteohn_c
insured
by the
cir-
position.
This
pre-
a regulator
by-pass
circuit
crew.
Regulator
The pressure re_Alator (Figure 8-99) is a conventional, mechsnlcal-pneumatic type.
The regulator functions to reduce the source pressure to regulated system
pressure.
An inlet filter is provided to reduce any contaminants in the gas to
an acceptable level.
An outlet llne is provided from the regulated pressure
chamber to the pressure switch ("E" package) and activates the switch in the event of an over pressure malfunction.
"B" Pack e The "B" package (Figure 8-100) consists of filters, regulated pressure transducer, three check valves, two burst diaphra-m,, two relief valves, regulator out test port, fuel tank vent valve, Inter-check valve test port, oxidizer tank vent valve, and two relief valve test ports.
The inlet filter reduces any eonta_._nantsin
8-3 CONFIDIENTIAI.
CONFIDENTIAL
a,'_
PROJECT
GEMINI
__
AREA MULT I PLYI NG
OUTLET
(ROTAr ED FOR
-METERING VALVE
VALVE
Figure
8-99
OAMS
and
RCS
8-357 CONFIDENTIAL
Pressure
Regulator
CONFIDENTIAL i_.
SEDR300
L_y-
--
RELIEFVALVE
INLET
RELIEF VALVE GROUND
TEST
OUTLET TO FUEL TANK
OUTLET TO OXIDIZER TANK
Figure
8-100OAMS
and
RCS
8-358 CONFIDENTIAL
"B"
Package
CONFIDENTIAL
PROJECT
the gas to an acceptable taminants
from entering
the regulated
craft
5 and 6.
gas system.
devices
two relief
valves
pressure.
In the event of burst
Manual
Fuel
pressure
and ports
signa_
diaphragm
thereby,
reseats
prevents
are safety
the design
are provided
into the back-
(over pressure)
failure
pressure,
bladders.
valve
to the closed position
to vent, purge
on space-
type with preset
the relief
venting
indicator
side to prevent
on the propellant
rupture,
monitors
pressure
of fuel vapors
diaphragms
imposed
tr8nsducer
of regulated
reaches
any con-
to the cabin
mecb_nlcal-pneumatic
The valve
level is reached,
valves
from being
prevent
pressure
backflow
pressure
are conventional,
overboard.
filters
on the oxidizer
The burst
regulated
excessive
pressure
the entire
The
opening
opens
venting
when a safe
gas source.
and test the regulated
system.
Tank
The fuel storage contain
bladder surant
surant
(Figure
bladder
8-101)
is imposed
layered
Teflon,
on the exterior
to the thrust
chamber
and vent the fuel t-nk. line, fuel tank exterior
cabin indicator
is welded,
and purge
and has a fluid volume
is a triple
"D" package purge
tank
an internal
in diameter,
J_
when
prevents
are provided
preventing
pressure
the amount
check valve
into the system.
that rupture
excess
an electric
System, indicating
Two check valves
inlet
The regulated
and transmits
A single
flow of oxidizer
Test valve
the system.
pressure
and Instrumentation
level.
GEMINI
port.
The tank
spherical
_imension
capacity
of 5355.0! cubic
positive
expulsion itype.
of the bladder solenoid
Temperature and output
and Instrumentation
titanium
to expel
valves. sensors
Purge
System.
8-359 CONFIDENTIAL
is 21.13
inches.
inches
The tank
The helium
pres-
the fuel through ports
arei affixed
line to provide
tank which
the
are provided to the iaput
readings
for the
to pres-
CONFIDENTIAL
__
PROJECT
GEMINI
PRESSUREANT
¢
¢ PROPELLANT
Figure
8-101 OAMS
Propellant
8-360 CONFIDENTIAL
Tank
CONFIDENTIAL
Ii_
PROJECT
GEMINI
5.10
_=i'I
Do _%. .....
,,_
ROPELLANT
PRESSUREANT
Figure
8-102
RCS
Propellant
8-361 CONFIDENTIAL
Tanks
|
CONFIDENTIAL
PROJECT _.
GEMINI
_SEDR
Reserve
Fuel
_,_
The reserve contains
fuel an
diameter,
tank
inter-=1
30.7
cubic
inches.
expel
fuel
Oxidizer
"C" and
the
on_y)
8-102)
is
a welded
and purge end
port.
has
a
is
"D" package
8-101)
and purge port.
capacity
to
ti_n_m
The i_uid
the
cylindrica_
tank
is
5.10
tnn_
inches
capacity
of
_.0
on the
exterior
of
the
thrust
chamber
solenoid
which
outside
volume
imposed
is a welded
The tank
expulsion
type.
The helium
to expel the oxidizer
are affixed
line to provide
inches
The _nk
pressurant
through
Purge ports are provided
titanium
is 21.12
of 5355.0 cubin inches.
bladder
to
valves.
bladder
and vent the oxidizer
for the cabin
Teflon, of the
cb_ber
tanks.
oxidizer
indicator
layered
on the exterior
to the thrust
line,
contain
and has a fluid
is double
is imposed
to the i_put pressurant
readings
te_k which
in diameter,
the "C" package
to purge
spherical
solenoid
Tempera-
tank exterior
and Instrumentation
and
System.
"D" Packs_es and "D" (fuel) packages
tion and are located consists
test valve.
to isolate
downstream
of a filter,
The filter
from entering
waiting
12
pressurant
(Figure
The "C" (oxidizer)
package
8 thru
length
helium
t_nk
t_re sensors output
in
___
Tank
positive
valves.
inches
through
a bladder
bladder
(Figure bladder
The
The oxidizer
volume
(Spacecraft
3O0
propellants
period.
of the tanks
isolation
is located
the downstream
8-103) are identical
of their
valve,
The normally
from the remainder isolation
respective
propell_nt
at the outlet port
system.
The pyrotechnic
(Figure
cb_ging
8- 362 CONFIDENTIAL
valve
is actuated
Each and
contaminants
isolation
of the system during valve
system.
to prevent
closed
in func-
valve
is used
the pre-launch
to the open position
CONFIDENTIAL SEDR 300
.,._
___
s
__¢_,_-'
PROJECT
GEMINI
i!
_ .
CARTRIDGE VALVE
v_AL CHAROE
"......".+
_
{i_
-
MANUAL
:_
OUTLET
8-103
OAMS
and
RCS 8-363
CONFIDENTIAL
"C" and
!i::::i_ i
t__J....
INLET
Figure
VALWE
"ii:::!J: i:_:_:!: _'__
__._
CHARGE
"D"
Package
CONFIDENTIAL
PROJECT
for
system operation.
isolation
_/_e
and is
The propellant used for
GEMINI
chA.rglng
sez_rlci_
valve
and venting
is
located
the
upstream
system.
of the
The test
valve is located downstream of the isolation valve and is used to test the downstream
system.
Propellant Supply Shutoff Valves Propellant supply shutoff valves (Figure 8-i04) are provided for both the oxidizer and fuel system and are located downstream of the "C" and "D" packages. The motor driven shutoff valves are electrically operated and ._n-Ally controlled. The propellant valves serve as safeguards in the event of TCA leakage.
The
valves are normally in the open position, and are closed at the option of the crew to prevent loss of propellants.
The valve is thereafter reopened only when
it is necessary to actuate the TCA's for the purpose of the spacecraft control.
Thrust Chamber Assembl_ (TCA) Group Each TCA (Figure 8-i0_, 8-106 and 8-IO7) consists of two prope11_nt
solenoid valves,
an electric heater, injection system, calibrated orifices, combustion chamber and an expansion nozzle.
The propellant solenoid valves are quick acting,
normally closed valves, which open simultaneously upon application of an electric signal.
This action permits fuel and oxidizer flow to the injector system.
The
injectors utilize precise Jets to impinge fuel and oxidizer streams on one another for controlled ._img
and combustion.
used to control propellant flow. c_.ber.
The calibrated orifices are fixed devices
Hypergolic ignition occurs in the combustion
The combustion chamber and expansion nozzle are lined with ablative
materials and insulation to absorb and dissipate heat, and control wall temperature.
8-36 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEM
,I _-\\_'_'_'I
iNLET FILI_R
_tPPLE
_
I_\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\_\\\\\\\\\\\\
!
f-.
Figure
8-104
OAMS
and
RCS
Propellant
8-365 CONFIDENTIAL
Shutoff
Valve
CONFIDENTIAL
SEO,
PROJECT
GEMINI
NOTE LONG LIFETCA'SAREUSEDON MISSIONS REQUIRING EXTENSIVEMANEUVERINGOR EVA (EXTRAVEHICULARACTIVITY).
,N_E_OR
,CON,_L,_
,
i_
//
,,
(
I_ _
LONG LiFE
6° ORIENTED._r ABLATIVE
L--'CERAMIC LINER (I PIECE,)
MOUNTING
SHORT LIFE
PARALLEL WRAP (STRUCTURAL)
ABLATIVE
Figure
8-105OAMS
25 Lb. TCA
8-366 CONFIDENTIAL
_
CONFIDENTIAL
(STRUCTURAL) INJECTOR ABLATIVE WRAP f_
i
NOTE " INSERT CAN
LINER 6° ORIENTED" ABLATIVE
(1 PIECE)
LONG LIFE
CAN 90° OpJENTED -_ ABLATIVE
(SEGMENTED)
f--
SHORT LIFE Figure
8-106 OAMS 8-367 CONFIDENTIAL
85 Lb. TCA
LONG
LIFE TCA'S ARE USED ON MISSIONS
Ec_IENSIVE A TIVITY) , MANEUVERING
REQUIRING
OR EVA (EXTRA VEHICULAR
CONFIDENTIAL
PROJECT
GEMINI
NOTE LONG LIFE TCA'S ARE USED ON MISSIONS REQUIRING EXTENSIVEMANEUVERINGOR EVA (EXTRAVEHICULARACTIVITY).
(STRUCTURAL) MOUNTING CAN
F
GLASSWRAP ASBESTOS WRAP
PARALLEL WRAP ABLATIVE
PROPELLANT VALVES
.::=:__
LONG LIFE
-
I1 -
.,
CERAMICLINER-(I PIECE)
ABLATIVE
MOUNTING
(STRUCTURAL)
PROPELLANT
ABLATIVE
WRAP
!
_._
SHORT LIFE
INJECTOR' 90° ORIENTED ABLATIVE CERAMICLINER' (SEGMENTED)
'PARALLEL WRAP ABLATIVE
Figure 8-i07 OAMS
I00 Lb. TCA
8-368 CONFIDENTIAL
CONFIDENTIAL
PROJECT _.
GEMINI SEDR300
_'s with
_-e installed the
suitable
outer for
are installed
within
mo_line
the adapter
and located
the attitude on the _A
_d
with
at various
._neuveri_
oxidizer
the nozzle points
_Llves
control
exits about
required.
to prevent
tez_t-_ti_
flush
the adapter
section
Electric
the oxidizer
heaters
from freezing.
Tubing Cutter/Sealer The tubing cutter/sealer is a pyrotechnic actuated device and serves to positively seal and cut the propel!_t
feed lines.
Two such devices are provided
for each feed llne and are located downstream of the prope_A-t
supply o_off
valve, one each in the retrograde and equipment section of the adapter. retrofire, the equipment section is Jettisoned.
Prior to
The devices are actuated to
permit separation of the feed lines crossing the parting line, and to contain the propellants upon separation.
RE-EmTRY CORTROL ,Sysn_m_ , ,, ,
SYSTEM _SCRIPTION The Re-entry Control System (RCS) (Figure 8-108) is a fixed thrust, cold gas pressurized, storable liquid, hypergolic hi-propellant, self contained propulsion system used to provide attitude control of the spacecraft during re-entry.
The RCS consists of two and independent systems.
identical but entirely separate The systems i._y be operated
individual/_ or simultaneously.
One system will be des-
cribed, all data is applicable to either system.
The RCS is capable of operating outside of the earth's atmosphere.
8-369 CONFIDENTIAL
CONFIDENTIAL
I-
. -.
___,r-:,,_:_ ,
PROJECT
SEDR 300
_
GEMINI
...
RCS THRUST CHAMBER ATTITUDE CONTROL
@ ,_
@ ©© _ ©Q
_,Tc. 0o',,. Y..'.,,O.T
FUE_SOL,.O,D GQ RO,L,,G.T T.,0STC._,_,E,_,RA.GE_E.T QG RO,_LE,T
DETAIL A
"3" SYSTEM FUEL SrCUTOFF/ON VALVE "B" SYSTEM FUEL 'A"
OXIDIZER
TANK
SYSTEM
FUEL SrlUTOFF/¸ON %" SYSTEM
_COMPOix,
ENT PACKAGE "D"
OX_DIZ ER SHUTOFF/ 'A" S'fSTEM
-- "A"SYSEEM
FUEL
_
COMPONENI PACKAGE "C"_
OXIDIZER
SHUTOFF/ON
'dALVE
_. PRESSURANT TANK
"A"SYSTEM OXID
_
(REF/
#. .k VENT _TYP2
_
PRESSURANT
tJ I
4PONENT PACKAGE 'B'
PACKAGE
"A"
_IC©MPONEht
sI
Z 173 97_%_ •
/ it
COMPONEN[ PACKAGE "C"
COMPONENT PACKAGE
"9
js
-Tt_RLST ChAt45ER IEYP I_ PLACLSJ
COMPONENT
PACKAGE
"A'
_ COMPONENT
PACKAGE
"C
BY LSEE
Figure
8-108
Re- entry
DETAIL "A" (TYP 16 PLACERI
Control
"A" and "B" Systems
8-370 CONFIDENTIAL
Z
_1 97
ASSE_2LY
CONFIDENTIAL
/
.
SEDR300
Attitude control (roll, pitch and yaw) is obtained by firing the TCA's in groups.
The TCA's are mounted at various points about the RCS section of the
spacecraft consistent with the modes of rotational control required.
The entire
RCS, (ta_ks and control packages), with the exception of instrumentation, is located in the RCS section of the spacecraft.
Each package consists of several
functioning components and filters.
The delivery of pressura_ts and prope_1--ts i is accomplished by a uniquely brazed tubing manifold _ystem. The HCS is divided into three groups; pressurant group, the oxidizer/fuel (propellant) group and the Thrust Chamber Assembly (TCA) group.
Pressurant
Group
The pressurant group (Figure 8-109) consists of a pressurant tank, "A" package, pressure regulator _nd "B" package.
Valves and test _orts are provided at
accessible points to permit servicing, venting, purging and testing. provided throughout the system to prevent system cont_nation.
Filters are
The pressurant
is stored and isolated from the remainder of the system during pre-launch periods by a normally closed pyrotechnic actuated valve, located in the "A" package.
Fuel/Oxidizer Group The fuel/oxidizer (propellazr_)group (Figure 8-109) consists of expulsion bladder storage tanks, "C" (oxidizer) and "D" (fuel) packages i
Valves, ports and test
ports are provided at accessible areas to permlt servicing, venting, purgi_ testing.
Filters
The propellants by normally are
provided
are are
closed on the
provided
isolated
throughout in the
pyrotechnic "C" package
the
storage
actuated
system
tanks
valves
to maintain
the
8-371 CONFIDENTIAL
to prevent !
from the
in the"C" oxidizer
and
conta_nation.
reminder
of the
and "D" packages. at an operating
system Heaters
temperature
CONFIDENTIAL SEDR300
.--_,.
__;.,.
PROJECT
GEMINI
--.
(i OX'D'ZE " I....... U
I..........=_ E_O_LPRESS j MANUAL VALVE
HIGH PRESSURE
TEST
VALVE
NRFUELTANK ","PACKAOE
VENT VALVE j
OOR_ DIAPHRAGM
FILTER
Ig
''1_ F,LTER I HEATER
........... _ .............. _...__.o? ...........
--
)J
REL,EE
I PACKAGE
"O"RACKAGEL _ I|
VALVE
OVERBOARD ZJ_VE NT
NORMALLY CLOSED PYROTECHNIC VALVE
Z[_ RELIEF VALVE IEST PORT PRESSURE REGULATOR 'J
I TEST
' __:_' INTERCHECK VALVE TES
CLOSED
PRESSURE
MANUAL
FILTER
r_ II BURST
j _. N2OXIDIZER TANK VENT
NORMALLY
................... i"_"""f"" ........ T"-,T_NK I
VALVES ,
HIGH
_
8TEST PORT RELIEF VALVE
FILTER
DIAPHRAGM
_1_ SOURCESENSOR _ALTES_ T T_."_EB --
J--
--TEMP
RELIEF
VALVE
MAIN NORMALLY CLOSED PYROTECHNIC VALVE
VALVE
r
_] OXIDIZER
PURGE
VALVE
Figure
8-109
,_c,, PACKAGE
J
,_,............................................. ff.--..-.::.,__ :i:.:.:.,:.ii__i:i)2_.!.;....... i.............
j......._.....l
TANK
_
RCS
(Single
System)
8-372 CONFIDENTIAL
(Sheet
1 of 2)
CONFIDENTIAL SEDR300
j-_
.,.
PROJECT
GEMINI
EDRSTAL PANEL
25R
,_
--FUEL
SUPPLY
OFF/ON
OXIDIZER OFF/ON
25 #
VALVE
SUPPLY VALVE
2.5R
25t, 'ALVE (8 TYP.) )XIDIZER
J
VALVE HEATER
(8 TYP)
IL_ RIGHT SWITCH AND
CLRCUIT B,EA_,E_ PANEL
FigureS-109
RCS
(Single
System)
8-373 CONFIDENTIAL
(Sheet
2 of 2)
CONIFIDtNTIAL
PRMINI _.
SEDR300
The propel
1-_ts
used
are:
Oxidizer
- Nitrogen
Tetroxide
Specification Fuel
_
(N20_)
conforming
to
- P - 26539A
- Monomethyl _7drazine (_H3CH3)
conforming
to specification MIL - P - 27_04
,,,,T_st Chamber Assemhl_r(TCA) Gmm*_ The TCA group (Figure 8-108) consists of eight twenty-five pound TCA's used for attitude (roll, pitch and yaw) control of the re-entry module. equipped with thrust c_.ber
Each TCA is
and electric controlled solenoid valves.
are provided on the oxidizer solenoid valves to ._ntaln
Heaters
the oxidizer at an
operating temperature.
SYS_
OPERATION
Press urant Group (Figure 8-105) High pressure nitrogen (N2) (pressurant), is stored at 3000 psi in the pressurant tank. gas charging port.
The tank is serviced through the "A" package high pressure
Pressure _
the pressurant tank is isolated from the re-
,_Inder of the system, until ready for operation, by a normal/_ closed pyrotechnic actuated valve located in the "A" package.
Stored nitrogen pressure is monitored
and transmitted to the cabin indicator --4 Instrumentation System by the source pressure transducer located in the "A" package.
Upon co,_-nd, the "A" package
p_Totechnic actuated valve is opened (simultaneously with propellant "C" and "D" package pyrotechnic actuated valves) and nitrogen flows to the pressure regulator and "B" package.
The "B" package provides a division of flow to the
8-37 CONIFIDRNTIAI..
CONFIDENTIAL
PROJECT __
GEMI
SEDR300
propellaut
tanks.
transducer
("B package)
indicating
pressure
flow
The regulated
and provides
downstream
of propellant
pressure
vapors
sensed
a signal
of the
into
is
the
to
by the
the
regulator.
regulated
Instrumentation
The check
pressurant
pressure
system.
valves
System, prevent
The "B" packa6e
back-
also
pro-
i vides
a safety
bladders. over
feature
Should
pressure
thro-_h
the
Fuel
relief
prevent
system first
over
be over
rupture
pressure
of thej i fuel
and oxidizer
tank
pressurized
the
burst
downs_reem of the regulator the i diaphra_s_ then be vented overboard
valves.
Group
and oxidizer
se_v£ced
the
would
Fuel/Oxidizer
to
(propellants)
through
the
high
are
pressure
stored charging
in their ports
respective tanks, and are i in the "c" and "D" packages.
The propellants are isolated from the remainder of theisystem, until ready for I operation, by the normslly closed pyrotechnic valves i_ the "C" and "D" packages. Upon command the "A" (pressurant), "C" (oxidizer) and i"D" (fUel) package pyrotechnic actuated valves are opened and propellants areidistributed through their
! separate tubing -_nifold system to the thrust chamber _nlet solenoid valves.
Two motor
driven
shutoff
upstream
of the
TCA's.
solenoid
valves,
the
loss
the
In the motor
of propell--ts.
quired,
to
output
s,ltch
deliver lines
valves
are event
operated
The valves propellants of the
"C" and
located of fuel valves
can again to
in the
the
or oxidizer
!
feed
leakage
lines, through
the
TCA
can be closedI by the crew to prevent ! be actuate_ open by the crew, when re-
TCA solenoids.
"D" packages
8-io9).
Thrust Chamber Assemb_
propellant
,,(TCA)Grou_
8-3T5 CONFIOINllAL
and are
Heaters
!
activated
are
connected
by the
to
RCS HTR
CONFIDENTIAL SEDR 300
PROJECT GEMINI Upon crm_nd through
from the
the
Attitude
Control
open siemltaneously, valves
mounted
through oxidizer
into
freeze-up
and are
Electronics
closed,
the
are
quick
acting
_o the
they
connected
to
by the
are transmitted
(ACre)
to
fuel
signals,
combustion
where
activated
signals
controls,
In response
on one another_ Heaters
_CA's
and oxidizer
propellants
chamber.
ignite
selected
solenoid
are
dirocted
The controlled
hypergolically
each
TCA oxidizer
RCS H_
switch
to
fuel
_n_
burn and
solenoid
(Fi@ure
to
valve
to
pre-
8-10_).
UNITS
Pressurant
Stora6e
The nitrogen tank is
T=-_
(N2) pressurant
7.2_ inches
inches.
Nitrogen
pyrotecBn4c oxidizer surant
normally
Jets
thrust.
SYS_
Maneuvers
TCA.
injector
impinge
create vent
the
on each
small
or m,,_
autcmstic
from outlet
outside
gas is
valve.
This
their line
is
diameter
stored
in a welded,
and held
under pressure,
tanks.
provide
tit_nttt_
and has an inter_l
at SO00 _si
nitrogen,
respective to
stored
is
Temperature the
volume of therein used
sensors
readings
for
cabin
consists
of a source
_-k.
spherical
185.0
by the to are
instrument
The
cubic
"A" package
expel
the
affixed
fuel to
and
the
pres-
and telemetry.
"A" pachage,, The "A" package valve,
filters
transducer cabin isolation
(Figure
and two high
monitors
indicator valve
8-9?)
the
stored
indicating is
used
pressure
the to
gas
charging
pressure valves.
transducer, The source
pressure
and transmits
an electric
pressure
of the
stored
gas.
pressure
from
isolate
the
system.
the
isolation pressure
signal
The normally remainder
to
the
closed
of the _
8-$76 CON
FIDIWNTIA
/
GONFIDENTIAL
__.
SEDR300
i
The valve is pyrotechnically actuated to the open position to activate the i
system for operation.
Two dual seal, high pressure _s i
are provided, one on each side of the isolation val_.
chargim_ valves and ports The upstream valve is
I
used for servicing, venting and purging the pressuraut tank, while the downstream valve is used to test downstream components.
Filter_ are provided to prevent con-
taminants from entering the system.
Pressure,, Re_l_, tor The pressure regulator (Figure 8.99) is a conventional , mechanical-pneumatic type. i The regulator functions to reduce the source pressure to re_ated system pressure. An inlet filter is provided to reduce any contaminants in the gas to an acceptable _
level.
"B" Package The "B" package (Figure 8-100) consists of filters, regulated pressure transducer, three check valves, two burst diaphragms, two relief ivalves, regulator output i test port, fuel tank vent valve, oxidizer tank vent valve, inter-check valve test port and two relief valve test ports.
The inlet fil_r
reduces any contaminants
I
in the gas to an acceptable level. entering the system.
Valve inlet filt(_rsprevent contaminants from
The pressure transducer monito .sthe regulated pressure and l i
transmits an electrical signal to the spacecraft Ins_;rumentationSystem. i check valve prevents hackflow of fuel vapors into th_ gas system.
A single
Two check valves
are provided on the oxidizer side to prevent backflo_ of oxidizer vapor into the gas system.
The Burst diap_s
are safety devices that rupture when the reg-
ulated pressure reaches the design failure pressure, sure from being
impose_
on the
propel!e_nt
bladders.
8-3Ti" CONIIIIDIN'FIAL.
)reventing excessive pres-
CONFIDENTIAL
PROJECT
GEMINI
•he tWO relief valves are convention_! mechanical-pne--_tic type with preset opening pressure.
In the event of burst diaphragm rupture, the relief valve
opens, venting excess pressure overboard.
The valve reseats to the closed posi-
tion when a safe level is reached, preventing the entire gas source from bei_ vented overboard.
M_n,_LIvalves and ports are provided to vent, purge and test
the regulated system.
Fuel Tank The fuel tank (Figure 8-102) is a welded, titanium cylindrical tank which contains an internal bl_dder and purge port.
The tank is 5.10 inches outside diameter,
30.7 inches in length and has a fluid volume capacity of _6.0
on the exterior of the bladder to expel fuel
The nitrogen pressv_c_utis i_osed
through the "D" package to the TCA solenoid valves. to purge
and vent
the
fuel
tank
cubic inches.
bladder.
T_erature
The purge port is provided sensors
are
affixed
to the
nitrogen input line and fUel output line to transmit signals to Instrumentation System.
Oxidizer
Tank
The oxidizer tank (Figure 8-102) is a welded, titanium cylindrical ta-_ which contains a bladder and purge port.
The ta_k is 5.10 inches outside diameter,
25.2 inches in length and has a fluid volume capacity of 439.0 cubic inches. The bladder is a double layered Teflon, positive expulsion type. pressurant is i_sed
The nitrogen
on the exterior of the bladder to expel the oxidizer
through the "C" package to the TCA solenoid valve.
The purge port is provided
for purging and venting the oxidizer tank bladder.
Te_erature
sensors are
affixed to the nitrogen input line and oxidizer output line to transmit signals to Instrumentation System.
8-3 CONFIDENTIAL
GONFIDEINITIAL. SEDR 300
_ "C" and
"D" Packages
The
and
,,,
"C"
downstream
"D" packages of
filters,
the
(Figure
tanks
an isolation
of
at outlet
valve
and port
filters
mall_
closed
of the system actuated valve
venting
the pro-launch
for system
valve
P_opellant
Sup pl_ Shuto_
Valves
pr_llaut
supply
valves
system.
controlled. option when
shutoff
and are located
The motor
driven
The valves
shutoff
of the crew to prevent
the TCA's are needed
TCA (Figure
calibrated
_-ii0)
orifices,
function
valve
of The
level.
the system.
The isolation
The
The nor-
from the remainder valve
is pyro_echnlc
The prope_Rnt
and is used
downstream
located
consists
tO an acceptable
c_e_tion.
are
and test valve.
propellants
v_ive
and
package
from entering
is located
char_Ing
for servicing
and
of the isolation
valve
system.
(Figure
8-104)
downstream valves
are normally
are provided
for both
the oxidizer
of the "C" and "D" packages
are electrically
operated,
in the open position,
loss of propellants.
for spacecraft
semb Each
period.
of the isolation
The test
in Each
contaminants
contaminants
and is used to test the downstream
and fuel system,
cb_rgiDg
valve is used to isolate
upstream
the system.
identical system.
propellant
portj reduces
to the open position
is located
are
respective
prevent
isolation during
their
valve_
filter, located
8-103)
-]
in the
and w_nual_y
and are closed
The valves
at the
are reopened
onl_
control.
Qrou
consists
combustion
of two propellant chsmber
valves,
and expansion
in_ection
nozzle.
system,
The fuel and
i
oxidizer _
solenoid
simultaneously
valves
are quick acting,
upon application
normall_
of an electric
8-379 CONFIOla'NTIAL
closed
signal.
valves,
The action
which
open
permits
fUel --d
CONFIDENTIAL SEDR 300
4IF (STRUCTURAL) MOUNTING
INJECTOR PARALLEL (SEGMENTED) 90° ORIENTED' ABLATIVE
Figure
8-110
-_'_
RCS 8-380
CONFIDENTIAL
25 Lb.
TCA
CONFIDENTIAL m._mmwmmmmm_
PROJECT ______
oxidizer fuel
_.ov into
and oxidizer
The oaltbz_ted 1_ergolio
GEMINI
SEDR 300
the
injector
streams orifices
ignition
system.
on one e_other
are fixed
occurs
in the
devices
The lnJeetorm for
controlled
used to
combnstton
use precise Lt_
control
chember,
Jets
to impinge
and o_ustion.
propellant
The c_stion
flow. c_m_er
and expansion nozzle is lined with ablative materials and insulation to absorb and dissipate heat and control external wall temperature.
TCA's are installed
within the RCS section mold line, with the nozzles terminating flush with the outer mold line.
TCA's are located at fixed points in the RCS section in a
location suitable for attitude control.
Electric heaters , located on the oxidi-
zer valve, are used to prevent the oxidizer frcm freezing.
8-381/382 CONFIDENTIAL
PROJECT l
CONTROL NO. C-160063
GEMINI
SUPPLFMENT
1
!
familiarization manual
¢
-
|-
SEDR 300
COPY NO.
RENDEZVOUSand
/
DOCKING
CONFIGURATIONS THIS PUBLICATION SUPPLEMENTS SEDR300 VOLUME
IMFC I_ O lki lkl E L L THIS DOCUMENT SUPERSEDES DOCUMENT DATED 31 MAY' 1965
_
defense of the United States within the meaning of the Espionage Laws, Title 18, U.S.C., Sections contains 793 and 794, the transmission NOTICE: This material information affecting or therevelation national
_
of which in any manner to an unauthorized person is p_ohibited by law.
.,_J__ .._
DOWNGRADED GROUP-4 AT 3-YEAR INTERVALS; DECLASSIFIED AFTER12 YEARS CONFIDENTIAL
I
I JULY 1966
CONFIDENTIAL
f
GUIDA NCE and CONTROL SYSTEM
TABLE
OF
CONTENTS
TITLE
PAGE
GENERAL ....................................................... ATTITUDE CONTROL AND MANEUVER ELECTRONICS
8-3 8 15
__!_ i:._-:_'_ii_;_ _::::_-_':---_
INERTIAL GUIDANCE SYSTEM ...................... 8-43 iiiiiiiiii:_i!-";_'-..'--_ H ORIZ O N SEN SO R SYSTEM .......................... 8- 201 iiiiiiiiii_i_i!i!iiiiii-_i RENDEZV OU S RADAR SYSTEM .................... 8- 233 iii!iiiii_iiiiiii_iiiiiii ,...°.°°._...,.o.°..°°o.°°. ::::::::::::::::::::::::::: ,..o.....,.°...°°.......,.,
........._.o...°..o,°....o, •°°,°.°o ...o°o.°.°°°°._.o., .°.,.°°°.,..°°....°..,....,
CO MMA N D LIN K.......................................... REN DEZ V O US EVA LUATIO N PO D................ TIME REFERENCESYSTEM ........................... PROPULSION SYSTEM ...................................
8- 273 8- 289 8-3Ol 8- 341
iiiiiiii!!i!iiiii_iiii!!ii iiiiiiiiiiiiiiii'":'i!iiiiiiii !iiiiiiiiiii!iiiiiiiiiiiiii iiiiiiiiiiiiiiiHiiiiiii!ii
i iHi i ! i i i i !i!i i !
........ • ,.. ........... ..°. ., ....... ,.o..** ........ •., .... .......... .........•.,..o....o.. °...... ......... ., ......... • ................. ......... ° ................. ...... ..,. .................
8-1 / 2 CONFIDENTIAL
......... .........
, ................. ° .................
......... .........
° ................. . .................
......... ........... ......... ......... ......... .........
°................. °_ .............. ° ................. ° ................. ................. ,° .................
iii_iiiii_ii!'_iiiiii!_!!
CONFIDENTIAL
__
SEDR300
GUIDANCE AND CONTROL - GENERAL
GENERAL The Guidance and Control System provides the Gemini Spacecraft with the capability to maneuver in space, control its attitude in relation to the earth's surface. and effect a safe re-entry.
It also provides back-up launch vehicle guidance
during ascent and control of certain target vehicle
functions
during rendezvous
procedures.
Spacecraft attitude can be controlled about three axes:
pitch, roll, and yaw.
mode select switch permits selection of either automatic or manual control.
A
An
attitude hand controller, located for use by either pilot, is used for manual attitude control.
Translation control is provided along the longitudinal, vertical, and lateral spacecraft axes. translation
Either of two maneuver hand controllers may be used for manual
control.
No provision is made for automatic
control.
Three types of target vehicles are provided for the rendezvous missions:
the
Agena, the Rendezvous Evaluation Pod (REP), and the Augmented Target Docking Adapter (ATDA)o
Certain functions within the Agena or the ATDA can be controlled
through the Command Link of the Guidance and Control System.
In rendezvous spacecraft, the Guidance and Control System is made up of eight individual systems or subsystems.
They are:
a.
Attitude Control and Maneuver Electronics (ACME)
b.
Inertial Guidance System (IGS)
c.
Horizon Sensors
8-3 CONFIDENTIAL
J
CONFIDENTIAL SEDR 300
z--
BOOSTER SECONDARY AUTOPILOT
DMEASUREMENT INERTIAL UNIT
I
I INERTIAL GUIDANCE SYSTEM •
AUX] LIARY COMPUTER POWER UNIT
lob I POVvER
COMPUTER TURN-ON
| AC-DC
400 CPS POWER
BOOSTER MD_I
J POWER I
SUPPLY
•
SIGNAL
AC POWER
AC POWER (SELECTOR)
t
z
PO%'ER
MANUAL DATA iNSERTION UNIT
O _ O
POWER CONTROL
PLATFORM (MODE
l
SELECTOR)
_u
CONTROL --
j O
TAPE
;_LRCEI
._J
--
U
MEMORY PROGRAM
PLATFORM
COMPUTER (MODE SELECTOR)
1 • J ;
MODE CONTROL
I
RESOLVER EXCITATION GIMBAL POSITION SIGNAL
ON BOARD C_MPUTER
I I
VELOCITY l
INDICATOR IN CREMENTAL
PLAIEORM
I
DISPLAy GROUP
(INERTIAL) I
ATTITUDE
I
- -1-I| TARGET YA% AND
_ TARGET VEHICLE
SUPPLY POV, _ ER ,
I
ATTITUDE ERROR
PITCH ANGLES
_
ANTEN NA RECED/ER SYSTEM
I
"
-
/-
q
POV, ER SUPPLY
TIME REFERENCE
TRANSMITTER
INTERROGA11ON AND PDAEE INFORMATION
J
I C_MMAND_,N_I_TE'ND'CAT°R LNK I i_NO_NGR I _PTE_°°C_'NG) L & RF COMMAND
soB-B,T DETE_OR I_ Figure
XMIT ANT iNTERROGATION
l
PROGRAMMER
(ANALOG)
r_'E ND'_'_V O-US _ -RADAR J SYSTEM
'
ANTENNA SYSTEM
/TRANSPONDER I
I
_l
I_V INFORMATION
ELECTRONICS
_
I
_,V COMMAND
ENCGDER LINK
j 8-1
Guidance
I
_>
Control
Functional 8-4
CONFIDENTIAL
Block
Diagram
SPACECRAFT
8 THRU
12 ONLY.
[_AGENA AND ATDA TARGET VEHICLES ONLY.
(BEFORE DOCKING)
and
I
(Sheet
1 of 2)
CONFIDENTIAL SEDR 300
._,_.__
PROJECT
I-;O.,ZON SENSO,'--" --
GEMINil
i----" -- -- "
' cPsP°wE ' -i SUPPLY PO_'ER
I
RE-ENTRY ROLL COMMAND
MANEUVER CONTROL ELECTRONICS AND ATTITUDE I_ATE
--
I
_
I
_
ATTITUDE ELECTRONICS
'_
II
GYRO'S
_
t
_
I
I
k
FIRE COMMANDI
1
I
ATTITUDE COMMAND
'
ATTITUDE
(MODE
HAND
ACME
CONTROLLER
PO'C,'ER
(RIGHT)
INVERTER
HAND
AND MANEUVER ORBIT ATTITUDE ELECTRONICS
I
I
I
I
THRUSTERS
I,
__
I
MANEUVER THRUSTERS
L
_I
-!
I
_1 --
m TO BIO-MEDTAPE
RECORDER
TO VOICE TAPE RECORDER
I"_M E REFEI_EN_Y ST--'_ .... TIME DIGITAL CLOCK
1 CORRELATION BUFFER
I
I
DCSEECE,VER> UPOATE I_
8P.P.S.
I
-
ELECTRONIC
TIMING
SIGNAL I
r
TIMER
E.T. & T.T.G.
EVENT TIMER
ACCUTRON CLOCK
GMT CLOCK
I
I
: T X SIGNAL
AND 8.19
KC CLOCK SIGNAL
I TR-256 SEC,TR-30 SEC TR SIGNAL
Figure
8-1
I
ATTITUDE
coMMA.D j
--
E.T.
SEQUENTIAL_LIFT-OFF
CONTRoLRE-ENTRY SYSTEM
MANEUVER
....
INTERROGATION TIME REFERENCE AND
_
I
(DAME) II i
-CONTROLLER HAND (LEFT) MANEUVER
I
I
1
FIRE COMMAND
CONTROL
,EEC, OE)
"
(ACE)
I 400 CPS POWER
1'
:c j
r_TTTT'_I:
I
HEAD SENSOR
ELECTRONICS SEN SOR
I
J
Guidance
DCSRECEIVER
_
SEQUENTIAL SYSTEM
_
and Control
Functional 8-5
CONFIDENTIAL
Block
I
_
RETRO FIRE CIRCUITS
Diagram
(Sheet
2 of 2)
CONFIDENTIAl.
PROJECT
GEMINI m
__
SEDR300
d.
Rendezvous
Radar
e.
Command
f.
Rendezvous
g.
Time Reference
h.
Propulsion
System
Link Evaluation
Pod
System
(REP)
(TRS)
System
SYSTEM FUNCTIONS
The various functional
Attitude
guidance
and control
relationship
Control
The Attitude
between
and Maneuver
Control
systems each
firing
com,_nds
provided
by the attitude
of the systems
related.
is illustrated
The
in Figure
8-1.
Electronics
and M/_euver
thruster
are all functionally
Electronics
for the Propulsion hand controller,
system System.
converts Input
input
signals
signals
to
to ACME are
the IGS, or the horizon
sensors
depend-
ing on the mode of operation.
Inertial
Guidance
The Inertial mation, ation
System
Guidance
guidance
information
manual
provides
computations_
inertial
and displays.
is used for computations
are used for back-up Displays
System
are utilized
ascent
guidance,
attitude
The inertial
and display
rendezvous
by the crew for reference
control.
8-6 CONFIDENTIAL.
and acceleration attitude
purposes.
guidance
and acceler-
Computations
and re-entry
information
infor-
guidance.
and as a basis
for
_-
CONFIDENTIAL
EQ_
PROJE
=
Horlzon Sensors
The Horizon Pitch
Sensors
and roll
error
and to the
IGS for
Rendezvous
Radar
The Rendezvous Target
provide signals
are
platform
Radar
information
a reference supplied
earth
local
vertical
to ACMEfor automatic
during
attitude
orbit. control
alignment.
provides is used
to the
for
target
range,
rendezvous
range
rate,
computations
and angle and for
information.
display
A radar indicator displays target range and range-rate information.
purposes. Target eleva-
tion and yaw angles are selectable for display on the attitude indicator.
Comana TInk The Command Link provides a control capability over the Agena or ATDA target vehicle.
Coded cu.-,_ands, transmitted either through the radar or the umbilical,
allow the pilot to activate or de-actlvate the various
systems of the target
vehicle.
_e_dezvous
Evaluation
The Rendezvous
Pod
Evaluation
Pod is the target for a simulated rendezvous mission.
The pod is carried into orbit in the equipment adapter section of Gemini. in orbit, the pod is ejected and its systems activated.
Once
A radar transponder and
acquisition lights in the pod allow the Gemini pilots to perform rendezvous exerclses.
8-7 CONFIDINTIAL
CONFIDENTIAL
PROJECT __
GEMINI
SEDR300
Time Reference
System
The Time Reference functions. form.
System provides a time base for all guidance and control
Time is displayed for pilot reference in both clock and digital
The TRS also provides timing signals to the computer and the Sequential
System.
Propulsion
System
The Propulsion Thrusters
System provides the thrust required
are provided for both translational
co, hands for the Propulsion
for spacecraft
maneuvers.
and attitude control.
Firing
System are provided by AC_ME.
GUIDANCE ANDCONTROL MISSION
The functions of the Guidance
....
and Control System are dependent on mission phase.
The mission is divided into five phases for explanation purposes. are:
pre-launch,
launch, orbit, retrograde,
The phases
and re-entry.
Pre -launch Phase
Pre-launch
phase is utilized for check-out and programming
control systems.
Parameters
inserted in the computer. desired launch azimuth. selectors
of guidance and
required for insertion in the desired orbit are
The IMU is aligned to the local vertical and the Power is turned on to the various systems, and mode
are placed in their launch position.
Check-out and parameter
are performed in the last 150 m_nutes prior to launch.
8-8 CONI=IDI[NTIAL
insertlo:
CONFIDENTIAL
_;
PROJECT SEDR
___.
TRACKING
300
GEMIN!
__
DATA =.]
TELEMETRY
GROUND CONTROL
G/E BURROUGHS SELF CHECKS Vl
GEMINI CREW
DISPLAYS I
MANUAL SWITCHOVER
TITAN
CREW STATION SYSTEM ASCENT ;EMINI
9
PRIMARy BACK-UP
_|
J
GUIDANCE
I
1
J
RATE GYROS
J
I MALFUNCTIO N DETECTION SYSTEM
J
AUTOMATLC
J
SWiTC HOVER
ANGLE SENSORS I
ASCENT GUIDANCE SWlTCHOVER
GIMBAL
i
GEMINI
TRANSMITTER
RECEIVER
:[ :
O.B.C.
FI L I I
TITAN
I
I --
COMPUTERS A-I r J-1 BURROUGHS
.....
_
(PRE-LAUNCH) }
TARGET
AUTOPILOT
DATA
_
I
TI
;
1
BACK-UP
'
MOD III TRACKER
HYDRAULICS
TRACKING DATA
: MISTRAM
2rid STAGE
2
ENGINES
I'<_
NOTE STAGE _>
"
_
--
GODDARD
SPACECRAFT 6 AND 8 THRU 12 ONLY
! "mid
I I TRACKING SYSTEM
ENGINES
BACK-UP ASCENT GUIDANCE
Figure
8-2
Gemini
BACKzUP HYDRAULICS
Ascent 8-9
CONFIDENTIAL
Guidance
(Back-Up)
CONFIDENTIAL
PROJECT __
GEMINI
SEDR300
Launch Phase
Guidance and control from lift-off through SSECO is provided by the booster guidance system. control.
However, in case of booster guidance malfunction the IGS can assume Provision
(Gemini) guidance.
is made for either automatic or manual switchover to back-up Figure 8-2 indicates both methods of s_itchover and the back-
up method of controlling and acceleration information remaining
the booster during ascent.
parameters throughout
Is used to continuously
the launch phase.
use the Propulsion
is displayed.
System to increase
required for insertion in the desired orbit. approxlm_tely
Ground tracking
update computer parameters.
velocity required for insertion
after separation,
The IGS monitors attitude
At SSECO, the
The command pilot will, spacecraft velocity as
Insertion will take place
580 miles down range at an inertial velocity of approximately
25,YTO feet per second.
Orbit Phase
Orbit phase is utilized for checkout and alignment maneuvers
and preparation
of systems, rendezvous
for retrograde and re-entry.
Immediately
after
insertion a series of system checks will be performed to assure the capability of guidance and control systems.
Guidance
computations
for accuracy against ground tracking information. aligned by ground command or by the pilot.
and measurements
are checked
Systems are updated and
After completion of system
=hecks, the catch-up and rendezvous maneuvers
can be performed.
During the final
orbit, guidance and control systems are re-allgned in preparation for retrograde and re-entry.
8-IO CONIFIDRN'rlAL
CONFIOIENTIAL S|DIt300
Retrograde
Phase
Retrograde
phase begins
is placed
in re-entry
approximately
mode
and begins
The Time Reference
System provides
and TR.
At TR-256
seconds,
needle.
The Propulsion
re-entry
control.
Retrograde changes
are
Re-Entry
Phase
Re-entry
phase
through
heads
are
held
until
the
CMD.
flight c_nds.
Shortly
attitude
computer
re-entry
control.
For automatic
control,
controls
of touchdown
from orbit
is referenced
The computer computations.
seconds,
TR-30
seconds,
on the pitch
attitude manually !
attitude
and maneuver during
by the IGS, and
retrograde
adapter
retrograde,
to
retrograde.
velocity
orients Re-entry
starts_ and the pilot
the RE-ENT mode
Is utilized.
roll attitude. computer
and
8-11 CONIFIDINTIAL,
attitude _00,000
a choice
selects
mode
indicates program
spaceis
feet of
RE-ENT
EATE
In the automatic
For either
re-entry
heating.
the pilot
has
during
scanner
the
At approximately
control,
counts
and horizon
the pilot
starts.
timer
sixty minutes
180 ° roll, 0° yaw).
For manual
re-entry
event
down from
program
to the
The
counting
of the computer
and to control
retrofire.
program
spacecraft
The purposes
the
after
re-entry
computer
director
re-entry
at TR-256
are monitored
after
(0 ° pitch,
or automatic
the computer
data for
is controlled
and will be
retrofire,
Jettisoned.
altltl,de, the manual
immediately
After
craft to re-entry
retrofire.
for reference.
begins
phase_
attitude
and attitude
zero at retrograde
re-entry
before
16 degree bias is placed
is switched
Spacecraft
displayed
collecting
indications
a minus
System
acceleration
five minutes
of control,
computed
the
attitude
are to control
By controlling
mode,
the point
the spacecraft
CONFIDENTIAL
PROJECT S_
_@_
G s,oR 300 EMINI
roll attitude and rate, it is possible to change the down-range touchdow,,point by approximately right.
500 miles and the cross-range touchdown
by 40 miles left or
The relationship between roll attitude or rate and direction of lift is
illustrated
in Figure 8-3.
and ends at 90,000 feet. cow,ands an attitude
The roll control starts at approximately
400,000 feet
Re-entry phase ends at 80,000 feet when the computer
suitable for drogue
chute deployment.
8-13/l_. CONFIDENTIAL
CONFIDENTIAL
ATTITUDE CONTROL AND MANEUVERING
ELECTRONICS
TABLE OF CONTENTS TITLE
_
PAGE
SYSTEM DESCRIPTION ......... SYSTEM OPERATION...... ...... GENERAL, , .... FUNCTIONAL OPERATION _ACME)_ , . MODE OPERATION ...... , . . SYSTEM UNITS..... , . . . ATTITUDE CONTROL ELECTRONICS(ACE). ORBIT ATTITUDE AND MANEUVER ELECTRONICS (OAME) . . . . . . , RATE GYRO PACKAGE (RGP) . . , • • POWER INVERTER PACKAGE , ......
8-15 CONFIDENTIAL
, , 8-17 8-17 8-17 . . 8-18 . . 8"21 • 8-30 Z 8-30 . . 8-38 • • 8-39 8-_2
CONFIDENTIAL SEDR 300
_-_-.
ACME BIAS POWER ROLL JETS ACME LOGIC (3) ATT. DRIVERS ACME CONTROL (2) MANEUVER THRUSTERS(8)' ATTITUDE THRUSTERS(8) RCSA THRUSTERS(3) OVERHEAD CONTROLS _ RCS B THRUSTERS(3)
NEUVER
.-
L_
\"--...L_ \- POWER SW,TCHES
',
_ CONTROLLER
CONTROLLER ATTITUDE HAND
i_
ATTITUDE CONTROL
\\
MODE SELECTOR ATTITUDE CONTROL
_--
\\
,
/
INVERTER
ATTITUDE CONTROL
_
/'-_
I ELECTRONICS PACKAGE
_.
TTITUDE AND
RATE GYRO PACKAGES
%
PACKAGEMANEUVER ELECTRONICS
Figure
8-4
Attitude
""
Control
and
8-16 CONFIDENTIAL
Maneuver
Electronics
/
'7
,
CONFIDENTIALSEDR 300
PRO ACME
SYSTEM
DESCRIPTION
The Attitude
Control
and Maneuver
the control
circuitry
to attain
velocity. horizon
The ACME accepts sensors,
firing
command
composed
platform,
of four
cal rate stalled
and Maneuver
in the equipment
the
solenoid
8-4) provides attitude
and applies
valves.
Electronics
a power
inverter
ACME
is
and two identi-
The O_ME package
Total weightof
s
(ACE),
and rate gyro packages
module.
or
controller,
Control
inverter
bay of the re-entry
capability
selectable
or the computer hand
attitude
control.
solenoid
valves
SYSTEM
(OAME),
hand
the signal(s);
System
Attitude
of the adapter.
spacecraft
from the attitude
Propulsion
Electronics
(Figure
are in-
is located
the ACME System
is
40 pounds.
separate,
The attitude
a desired
processes
The ACE, power
section
The ACME provides
platform
inputs
suosystems:
Kyro packages.
approximately
signal
(ACME) System
maintain
or computer;
separate
in the center
Electronics
and/or
to the appropriate
Orbit Attitude
seven
SYSTEM
of automatic
modes provide
controller
of operation. the
reference
provides
The maneuver
for translational
or manual
the input
hand
controller
attitude
control,
The horizon
sensor,
for automatic
modes
signals
for manual
supplies
signals
with
the inertial of operation. modes
of
to the maneuver
maneuvers.
OPERATION
GENERAL The ACME provides
attitude
of the spacecraft
mission.
attitude
rates.
Signal
commands
for the Prc_Isic_
control,
automatic
Rate gyro
inputs
inputs
are modified
System.
8-17 CONFIDENTIAl.
or manual,
during
to ACE are used by ACME
logic
all flight
to dampen
and converted
phases
spacecraft to firing
CONFIDENTIAL
PRiNI __
SEDR300
The ACME functional pulse,
re-entry
different routing
rate co_and,
signal input
to Re-entry
modes
of control
modes
(horizon
from control utilized.
comms_ds mental
are separated
direct,
panel
ACME power
Control
ACME
by guidance
the control
and attitude redundant
attitude control
Display
control
and control
rate
switches control
increments
mode,
control modes
modes
are
subsystems and roll
(from the incre-
(from the radar necessary
The
information
rates, bank angle
velocity
and range
by ACE for drivers.
attitude
when manual
a
indicator).
for selection
along with
of
selection
options.
(AC_) (Figure
8-5)
signals
and attitude commauds.
group),
and range
and logic circuits
COW,hands or error
firing
display
valve
automatic
command).
attitude
direct,
Each mode provides
and manual
is supplied attitude,
also contain
for the various
types;
rate
rate co_nand,
to be processed
is used as reference
information
indicator),
FOWC_ONALO_ON Attitude
and platform)
indicators
scan,
(RCS) or OAME solenoid
pulse and re-entry
(from the attitude
The control panels
of inputs)
into two basic
of the following:
velocity
switches
System
are horizon and platform.
(or combination
Control
Reference
and consists
re-entry,
scan, re-entry
(rate commaud,
gyros
modes of the control
from the computer,
hand controllers The firing
are converted
commands
to the RCS or the Orbit Attitude
platform,
horizon
System
rate
by the ACE into thruster
are routed by a valve
Maneuver
sensors,
driver
(OAMS) attitude
select system
solenoid
valve
drivers. Signal
inputs
signals,
to the ACE are of three
and ac attitude
rate
by ACE mode logic switching the proportional
circuitry
signals.
circuits. which
types : These
ac attitude
signals,
dc attitude
signals
selected
and distributed
Selected
amplifies,
are
signals are channeled
sums and demodulates
8-18 CONFIDENTIAL
through
the signal
inputs
....
CONFIDENTIAL
PROJECT
GEMINI SPACECRAFT
INVERTER
CONTROL MODE
BIAS
JAC II SW,TCH
PC
_
POWER
LI OCPOW,R
C POWER
SPACECRA
I
RING
"A"
VALVE DRIVERS ANE_
T ACME INVERIER
ATTITUDE POWER SOLENOID VALVES
J
SPIK_ SUPPRESSION
(REF)
THEUSIER RCS DIRECT TO
COMMANDS FIRING BIAS
J
RCS RING AANDB-"7 SOLENOID VALVES j
I
J !
DIRECTION
THRUSTER FIRING COMMANDS
STEERING ATTITUDE
PULSE/DIRECT
SWITCH PULSE
HAND CONTROLLER
j
INITIATE SWITCH
BIAS
SIGNALS
_
J
THRUSTER
--|PULSE
L,-
7Z .,:ZEM;:TNORr
PICK OFF
J
J
I
I
I
L
SIGNALS
AND
SPIKE
SUPPRESSION
FIRING COMMANDS
MANEUVER SPIKE SUPPRESSION
|
I I | i J
RING "B" VALVE DRIVERS
DC POWER
_-_
I OAME ATTITUDE VALVE DRIVERS
l
J
OAME
J
ANO SPIKE SUPPRESSION
HORIZON
PITCH & ROLL ATTITUDE
SENSOR
SIGNALS
l
8BMj _BM
HORIZON
J
T
oAC
POWER
R, rE r RO
RATE SIGNALS
I 0F C F
RATE SIGNALS SIGNALS
I
",_Y,"_',,c_-_'_ ] P
P
SPACECRAFT DC POWER
SENSOR SIGNALS AC POWER
r_
=
RE-ENTRY ATTITUDE RING"B"
ATT,TOOES,GNALS _ C,RCDITR_ _:
RATE DC COMMAND POWER
_=
_
SPACECRAFT
RATE SIGNALS TO
HAND CONTROLLER L/H MANEUVER
STSER,NGD'R SWITCHES
POWER
DISPLAY
I
:
_IAS
I
o_s VALVES
i_
_
J
--GSE
TORQUER INPUT
JJ
PROPORTIONAL
ATTITUDE ERROR SIGNALS
(KEF)
(PITCH, ROLL, YAW)
,
i 1
"
STEER/NO
R/H SWITCHES MANEUVER HAND
I
I
I I DIGITAL COMPUTER (REF)
(REF)
I
I
INERTIAL plATFORM
SOLENOID
ROLL ATTITUDE ERROR SIGNAL I
i •
IL_ Figure
i
I
8-5
ACE ACME
Functional 8-19
CONFIDENTIAL
Block
Diagram
CONImlDINTIAL
PROJECT
into adc ac prior
analog
output.
to entering
converted
by
discrete,
the output
c_ds.
torque
suppression
circuits
limit the voltages
generated
thruster
select
across
Zener
firing
system to the valve
diode
drivers
spike
the solenoid
valves
Controller
attitude
signals,
upon the control handle
may be manually reference.
(plus a hand mode
movements
controller
and/or pulse
signals
are produced
or deadband.
a calibrated
position
Output
of control
before
on time. another
outputs
signals
signals
The control
control mode may be found in the MODE
Rate
signals
controller
handle
or
produced
are
deadband.
generator
must be returned
can be commanded.
OPERATION
depending
is displaced
a pulse
con-
or direct
by positive
from a center
trigger
hand
to telemetry)
are produced
position.
the hand
single pulse
are rate, pulse
output
displacement
when
Pulse
by use of the attitude
position
from the centered
to the amount
threshold
controlled
Controller
selection.
proportional
neutral
valves.
are then
interruptions.
comm_nd
to produce
driver
to
or negative
or to the OAMS attitude
thruster
and a visual
preset
signals
or negative
from the valve
drivers,
are converted
to a positive
of either positive
are routed
signals
The analog
switch circuitry
ring B) valve
troller
negative
_rcuitry.
to the appropriate
Hand
Spacecraft
(dc attitude)
command
current
Attitude
logic
consisting
These commands
for a firing
sensor
the proportional
control
RCS (ring A and/or
during
Horizon
GEMINI
Direct
past
a
in ACE to a
Details
of each
paragraph.
RCS Direct _le RCS direct mode RCS thrusters,
is selectable
and by-passes
RING A or RING B switches
as an alternate
the ACE.
provides
means
of manually
The DIRECT position
a circuit
8-20
the
of each of the RCS
ground to 12 attitude
OONFIDESNTIAL.
firing
hand
con-
CONFIDENTIAL
PRNI [_
SEDR300 The ground is then applied directly to the
troller RCS direct switches.
required thruster solenoid valves through appropriate hand controller displacements.
This RCS mode of operation is intended for backup or emergency control
only •
Ns_euver
Hand Controllers
Tra_-lational maneuvers of the spacecraft in the horizontal, longitudinal and vertical planes may be c_nded
by either of the maneuver hand controllers.
Displacement of a hand controller, fr_n the centered or neutral position in any of the six translational directions produces a direct-on c.-,-_ndto the respective solenoid valves.
Rate Gyros The function of the rate _ro yaw and roll
axes
of the
that sensed rate.
package is to sense angular rate about the pitch,
spacecraft
and provide
an o_tput
signal
proportional
to
Selection of certain control modes provides gyro inputs to ACE
for angular rate damping.
Additional information concerning the rate gyros may be
found in the paragraph under SYST_
U_TS
RATE GYR0 PAC_%GE.
Power Inverter The power inverter provides the ACME and horizon sensors with ac power. craft primary
dc power is source
Measuresent may be found
converted
to
26V,
of ac excitation).
_it in
(IMU) is the
off.
paragraph
400
cps
(The IGS !inverter provides the i The ACE inverter is utilized when the Inertial
Additional under
Space-
SYST_
information
regarding
the
power
inverter
UNITS POWERINVERTER PACI_GE.
MC_E OPERATIO_ _trol
of spacecraft attitude is acconplished through the selection of seven
8-21 CONFIDENTIAL.
CONFIDENTIAL
PMINI _.
SEDR300
functional
control
or type of AC_ mode
provides
signals
circuits
serve power.
Each
operation either
ing of input all unused
modes.
relays at the power
mode
in conjunction
automatic to ACE. within
Switching
control
level.
with various
or manual
spacecraft
In addition,
for a specific
mission
control
the mode
the ACE during
is performed
is utilized
logic
through
circuits
use of the horizon
by transistors
The operation
phases.
of each control
Each
the switchde-energlze
scan mode
at the signal mode
purpose
to con-
level
and by
is explained
in
the following.
Direct
Mode
(MII
In this mode, attitude direct voltage
solenoid switches
firing
valve
(Figure 8-6).
a circuit
switches.
Six normally-open
commands
drivers
to a transistor
completes direct
thruster
by actuation Selection
designated
The transistor
to the RCS or OAME
of the attitude
switch
is common
remains
contacts
directly
of the direct
ground
to ground which
switch
are applied
A.
hand
controller
mode applies
Conduction
a bias
of the transistor
to one side of the hand
on as long as the direct mode
provide
the command
signals
controller
is moved
threshold
Deflection
in the desired
applies
a ground
direction
which,
travel.
from switch A directly in turn,
as long as the hand This mode
of handle
fires
controller
of operation
to the valve
the proper is displaced
is optional
beyond
beyond
driver relative
thruster(s).
Thrusters
the _.5
is selected.
in the pitch,
and roll axes and will close when the hand (2.5 degrees)
controller
degree
a preset direction to that
continue threshold.
at all times.
P se In this mode,
the attitude
commands
initiated
8-22 @ONPIOIIN'rlAI.
by hand
controller
yaw
displacement
firing
CONFIDENTIAL
__j-
I
__
SEDR300 PROJECT GEMINI r
__
_
"1
I=_
i= °-
I OPo>
O>
°-
-
i
LL-_2TL_, ...... I I _
...... -T-t
II
-' 0
=
I
I
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0
=' >=u= '-" _>
I
_
==
ID
,.__ ,.=.
o_z
u_>
:_Zo
t
_OS_z z_ or_ _
I o__o
I _7"{
....
I I _ __ o I _ I
I I_, I I I
I I
_ 2 _
I
I I
,-, ,_
I I
;.
I;-;..........
L .11 / _=s i_, 4 ,& 4 & & /_
_
I=
Figure
8-6
ACME
I ]
Simplified
Block
Diagram
8-23 CONFIDENTIAL
(Direct
& Pulse
Command
Modes)
CONFIDENTIAL
PROJECT
GEMINI
$EDI 30O
fire a single pulse generator in the ACE (Figure 8-6). activates the generator, command is received.
The pulse mode logic
allowing it to fire for a fixed duration when a pulse
Commands originate every time one of the six normally-
open pulse switch contacts of the hand controller is closed. the generator
This triggers
and applies a bias voltage pulse for a 20 millisecond
to ground switch A.
This ground is then applied to the RCS or 0A_
valve drivers, through the actuated hand controller for thruster firing.
direct switches,
duration attitude as a command
Commands may be initiated in the pitch, yaw or roll axis
by moving the control handle in the desired direction beyond a preset threshold (3.5 degrees).
Thrusters fire for 20milliseconds
placed beyond S.5 degrees.
each time the handle is dis-
This mode is optional at all times and will normally
be usedduring platform alignment.
Rate Com-_nd Mode (MB) In this mode, spacecraft attitude rate about each axis is proportional attitude hand controller
displacement
from the neutral deadband
(The output remains at zero for displacements providing
a non-operational
handle displacements,
area or deadband).
less than I degree of handle travel, Command signals, generated by
thruster firing occurs.
in the hand controller
handle displacement.
(Figure 8-7)
are compared with rate gyro outputs, and when the difference
exceeds the damping deadband, potentiometers
to the
Signals originate
from
and outputs are directly proportional
to
A maximum command signal to ACE produces an angular rate
of i0 degrees/second about the pitch and yaw axis and 15 degrees/second about the roll axis.
Automatic, closed-loop stabilization of spacecraft rates is provided by the sensing of angular rates by the rate gyro package.
8-24 CONFIOENTIAL
With the absence of hand
CONFIDENTIAL SEDIt 300
controller within
command
signals,
+ 0.2 degrees/second
degrees/second
control. until
about
control
Output
dampened
and to wlthin
signals
the rate signal
at all times
or attitude
each axis are
_ 0.5
from the rate gyros
is within
and will
to
normally
the damping
be used
during
changes.
Scan Mode (M4)
processed
during
to within
orbit
_5 degrees
maintained null.
the pitch
sensor
firing
repetition
pitch
is also
command.
deadband.
available
is summed with
control
deadband,
The pulse
without
having
within
attitude
a desired
is maintained
mode.
to supplement
sensor
upon how much
Pulse
control
control.
(pitch
or roll) logic
is a
and the pulse
the attitude
to use the power-consumlng
about
to the ACE to maintain
of the ACE on-off
in this mode provides
zero degree
the automatic
input
is
from the attitude
the attlt!ude error
the output
automatically
and roll attitude
by commands
time is 18 milliseconds
is dependent
A lag network
are
of thehorlzon
the pitch
When
(pitch and roll)
-5 degree!output,
as in the pulse
down orientation.
frequency
rate damping
attitude
+5 degrees
in the same manner
the 5 degree
i
of the horizon to withln
outputs
the spacecraft
Pitch
bias voltage
the 5 degree
and hold
sensor
8-8).
and roll axes
A -5 degree
Re-entry i
(Figure
horizon
about the yaw axis is accomplished
controller
degree
mode,
automatically
Control
exceeds
command
by the ACE to orient
deadband
pulse
attitude
is optional
thrusting
In this automatic
hand
with OAME
fire commands
This mode
translational
Horizon
rates
with RCS attitude
are used to produce deadband.
spacecraft
error
a pseudo
exceeds
the 5
rate feedback
for
rate gyros.
Mode (M_)
In this automatic
co_m_nd
mode,
spacecraft
angular
8"25 OONFIDBNT|AL,
rates
about
the pitch
and yaw
CONFIDENTIAL SEDR 300
.I -_.
i
1
IL.
Ze_
i
uJ
O_
2=
='_"
°_o>
r
r-
,
I I I
u
o>
I
-3
Ii iL_ I ,
_@_
I
II0-0 I
i o@ I _@ I
li
a
l---1
I
_-_
" =_ Oo_oO
z
m_
_
I
_
_
_g:
L
_I
I
/\_
_
_
Z
o_
O_
zo__
_
_
a gg_
m_
O
.,x. Figure
8-7
ACME
Simplified
Block
Diagram
(Rate 8-26
CONFIDENTIAL
Cmd.
and
Re-entry
Rate
Cmd.
Modes)
Figure
8-8
ACME
Simplified
Block
Diagram
8-27 CONFIDENTIAL
(Horizon
Scan
Mode)
CONFIDENTIAL
Z axes are _ampened
to within
about the roll axis de&Tees
(Figure
of the attitude
computer
a fixed roll rate comm_nd
provided
to minimize
Mode
command
from the attitude
depending
re-entry
The computer
control
a reference
spacecraft
point.
With
rate damping
the spacecraft
for initiating
a bank
rates
to the rate command
Angular
cally
computer
input
a_le
Roll
to within
+2
to ACE.
The
attitude between
command
or
the predicted
to yaw crosseoupling
is
lift vector.
controller.
crosscoupling. mode.
controlled
upon the relationship
touchdown
+2 degrees/second
(M_)
mode,
hand
is identical
of either
the spacecraft
Command
In this manual
Roll attitude is
consists
point and the desired
Re-entry/Rate
method
8-9).
and to within
colmnanded by the digital
roll input to A_E
touchdown
+4 degrees/second
bank
the exception mode
about
angle
are controlled
of wider
with the addition
the three
re-entry
on the control
roll
deadbands,
the
of roll-yaw
rate
axes is identical
and roll rate commands
but are provided
manual
by rate commands
to the
do not automati-
panel
displays
as
commands.
Platfo(M61 This attitude axes, with matically
control
respect
mode
is used to maintain
to the inertial
to within * I.i degrees
tude,
with respect
to the earth,
orbit
rate or alignment
+ 0.5 degrees/second.
matically
hold
an inertial
spacecraft
can be held
during
attitude
attitude.
Spacecraft purpose
attitude. fine
attitude,
if the inertial
The primary
spacecraft
attitude
Spacecraft
of the platform
mode of operation.
to within
maintaining
platform.
spacecraft
alignment
8-10). 8 -28 CONF_DEN'T'JAL
is held
auto-
A horizontal
atti-
platform
attitude
rates
of this mode
This mode
in all three
is in the are dampened
is to auto-
is also useful
of the platform
for
(Figure
CONFIDENTIAL
a>
i
I
.J
i
oQo
z
[
_
N o _
u
,N o
_
J
/\
/
L__ Figure
8-9
ACME
Simplified
Block
8-29 CONFIDENTIAL
Diagram
/\
/\
;
]
(Re-entry
Mode)
CONFIDENTIAL
PROMINI SEDR300
- ACME/RCS
Aborts
The rate
command
abort modes. abort
mode of ACME will be utilized
Control
CONTROL
The ACE package
ELECTRONICS (Figure
cover and contains logic circuitry processing
(+20, +I0, perform
signal
inputs
solenoid
three
for a mode 2
sequential
relays.
module
boards.
axis
logic boards,
driver
These
processing
firing
for the RCS
boards,
These
an
ac signal
a powe_
replaceable
control,
commands.
solenoid
make up the ACE
logic board,
relay
board.
has a removable
boards
for the three-axis
thruster
circuits
a mode
three
-I0 vde) and a lag network
17 pounds,
module
and
They also
supply
convert contain
the
valves.
Operation
signals
A functional
to ACE
represented control
are dependent
schematic
ing to thai mode.
transistor
switching
input
Additional
signal
ACE mode logic
on mode
8-30
logic
to are
of an atti-
circuits
is then switches
may be found in the Mode Logic bwltchingpsragraph.
CONFIDENTIAL
circuits
The selection
in the logic
information
rate correction.
8-11 and is sectioned
at the left of the figure.
The appropriate
for processing.
axes.
rate requirements
or attitude
in Figure
for each of the three
initiates
or attitude
an attitude
of the ACE is shown
by the blocks mode
upon altitude
and are used to obtain
show signal processing
channel
approximately
of the following:
into appropriate
of the spacecraft
ACE
all
(ACE)
ten removable
the signal
valve
Functional
tude
to ACME by the abort
8-4) weighs
and consist
board,
boards
Input
switched
during
UNITS
ATTITUDE
board
control
over the RCS ring A and ring B switches
is automatically
SYSTEM
for attitude
pertain-
into the proper switching
CONFIDENTIAL SEDR 300
..,<:_..
PROJECT
GEMINI I
--
--
'
I=_1 = =_I =_'-='=> I°_1"-
I, o I r ---1 I _ < I I i _ I
I
I
..... I_
]
I I
_..z.>.
I_ o>o 1 I ' --
f .......
" I
I
_ I °
I I
II_
L___
_l
I
z U
_
l -
oo-
_
ul.-
___._ )_..__
1 /\
z_
Figure 8-10 ACME Simplified Block Diagram (Platform Mode) 8-31 CONFIDENTIAL
I J
CONFIDENTIAL
PROJGEMINI __.@
SEDR300
Proportional switch
circuits
amplifiers
consist
The outputs
put of the switch
amplifier
verted
to a positive
either
the positive
torque
logic section.
a minimL_ signals
are chopped
The valve
driver
low-hysteresis
The switches
select
circuits
control
valve drivers.
drivers
Transistor along
consist
with ACE power
explained ground.
sensor
and rate The out-
stage _here
it is con-
The dc signal
then energizes
switch
in the control
and ya_ axes are held generators.
amplifiers_
Horizon
on for sensor
then modulated
dc
in
power
and signal
distribution
The normally-closed Power
contacts
may then be a_plied
for ECS sltitude
of relays
relay
system_
energized
control.
to 0AME power
forward
is the
to the RCS ring
The ring A and ring B
by transistor
relay
drivers.
Switching switching
represented
of horizon
amplifiers.
To turn off the OAME control
relays.
ring B valve drivers
Logic
pulse
by the switch
power and signal inputs to the OAME.
Mode
and rate signals
by the attitude
transistor
for the pitch
by the minimum
and amplified
to de-energized
RCS valve
signal.
and rate),
as ac signals.
and RCS attitude
A and/or
levels
to the demodulator
dc analog
or negative,
of 18 milliseconds
the same manner
s_plied
or negative
Attitude
and fed to the s_tch
is coupled
(attitude
(with the exception
to operational
are summed
stages
stages.
yaw and roll channels
are ac and are amplified
al_lifiers.
amplifier
and the demodulator/filter
to each of the pitch, signals)
of the signal
by blocks
provides
the
distribution in Figure
control
in the horizon 8-I1.
The logic
in the truth table at the right Figure
8-12
for attitude
shows how mode
mode
signal
scan mode.
These
function
of Figure
control
8-32 CONFIDENTIAL
switches
for each block
8-i1 as being
of signal
selections,
selections
are
is
ground or not is accomplished.
CONFIDENTIAL SEDR 300
PROJECT The transistor signals#
switches
provide
a grounded
by being in a conducting
and command position.
signals
it to cut off.
applied
to the ACE amplifiers. (horizon
application mands.
by selecting
This ungrounded
scan) logic
of +20 vdc,
switches
This provides
The pulse generator
or orbit modes.
Signal Processing
(Figure
_ne type
signal
selected
Attitude
the desired
are I_N transistors, a ground
circuit
for hand
to be and one with the
controller
com-
8-11) for each mode
establish
of control
ca n be determined
logid
table.
by referring
The P and I blocks, stages.
Signals
to the ACE are either
in-phase
or out-of-phase
exception
of the de horizon
sensor
input).
generates
an in-phase
signal
which,
A negative positive
switch
the bias !voltage to turn on switch A
the gain for rate[amplifier
Inputs
signal
and conduct
through
Attitude
mode
land mode 2 (pulse),
and the mode
selections,
reference
control
to the logic block in each channel mode
to attitude
to thei base of a PNP transistor,
1 (direct),
signal provides
when in the pulse
state.
state allows
The mode
condition
the appropriate
a +20 vde bias voltage
biasing
of the M4
or non-conducting
are obtained
This applies
or not grounded
error
attitude
displacement,
thrusting.
By referri1_
selection
of mode
5 provides
A positive
attitude
in turn, will
generating
command
an out-of-phase
to the logic
a computer
ae signals
table,
roll input
(with
displacement negative
signal,
through
A roll attitude
is fed into the three-stage
amplifier.
The ampl_fier
valve driver.
_e
output
signal
will
selected
the function
signal
or command
for an input
8-33 CONFIOENTIAL
command
signal
of
to ACE. attitude
will be used to tur m on the appropriate
li_Jiter is used to limit attitude
thrusting.
it may be seen that the
logic block DR and is the only attitude error
the
amplitude.
solenoid _e
out-
CONFIDENTIAL SEDR 300
._-_-_.
2.O_,_._EG j PITCH BIAS
_
I
102K
21.5K
'GYRO
I ,13VRMS,/DEG/SEC
20OK
°'+VRMS'_AxI
i' _
.(L%o/
_
I_IIL
ToRo/B_cT i-'> _IIF_
2101(.
I"_ND
_I_
FRATE
_ " 1241< '222 /
*
_ 17.4K
m J_
1
( -GND
L_
pL_
_
I [PI ME° GAIN
HiGH GAIN
(IpPp) (I'pPP)
_
_
LOW GAIN
(l'pP*p)
IPPI
(B-GN_ORD'F SWA S
A)
/
57 6K ._5,_K
49 9K
,CONTROLLERI.G,S,¢ .v qvv. •
4
1:1
,9.9K .L
124K
_
T
I
'EI,DI EE :C OROONO 0 102K ,_,
.275V/ DEG
pLATFORM ]SV RMS MAX (REF)
_
,262V
41 .2K
_
I I .8K
54.9K AMp
YAw IRA'EG_O 1.13VRMS/OEG/SEC
p0K
-._.o/-
1:1
/
1:1
_ --
49.9K --
,4V DC/DEG
_,.
T 2_K []
"HIE_,
_RATE
I " ROLLER
294K
I"_C_lll.,
T DEG/SEC1 " I/" 210K
k/
MEO GAIN (Pyl'y) LOW GAIN (l'yP'y) 57.6K
102K 49.9K
ICOMPUTER26vI.SVRMS/6_b_.K
130K 1.Suq/OEGJ
_
I
'V'_--49.9K
ROLL AXIS
IpLATFGRMISV RMS MAX (REF)I _,.,,... .262V _. _
RATE GYRO
CONTROLLER
54.9K
I ,13V RMS/DEG/SEC
[]
4_2'7ua/'DEG
AMP
:v
100K
°EG/SECT I/
_IIE__
IO, R.,,0EO,,EC '"K
RATE
I HANG
,,uo,
/
_
r "m
_:_
i_.._jl_.
| _
86.6K
T 105K
15.4K 86]:6:_K_ I_
?21"SK'SK
(IRPR) ,_7!!H7.87K GAIN (PRi'R) _ ME° GAIN _ LOW GAIN (I'RP_R)
CONTROLLER(2_I_ "j
I
/
_721
t I |
U Figure 8-11 ACME Functional 8-34 CONFIDENTIAL
Schematic
(Sheet 1 of 2)
VENT MAN
l
i
I
SWITCHES LONG MAN LAT MAN SWITCHES
I MOOECM° I
CONFIDENTIAL SEDR 300
_...._=_
PROJECT GEMINI LOGIC TABLE
tim
LOGIC FUNCTIONS WHERE (') DENOTES NOT GROUND IN PHASE CHOPPER
75K
42.2K
2.2J_v_
OUT OF PHASE __ I CHOPPER
•
__ 7SK
I
A = M1 ÷ M2 PULSE + M4 PULSE B = Mt + M2 ÷ M4 C'p = M 3 +M 5 +MsD +M 6 C'R =M3 +Ms +MsD +M6
2.2
• •
I_R =RING A +RING B +M S +MsD + M 6 "P = RING A + RING B + M5 + MsD + M6 I'y=RINGA+RINGB+Ms+MsD+M6 K'p =M 6
42.2K
150K
K'R = M6 K'y = M6 M' R =M 5 +MsD P'p = M5 = MsD P'R = M5 + MsD ply=MS +MsD
* SWITCH & INVERTER SWITCH & INVERTER
C'y=M3+Ms+M5D+M6D'R =Ms
AMP
I
DAMS SVDJ . / T°SOLENO,D VALVES
PITCH HAND CONTR
M 3 = RATE M2 PULSECMD M4 = HOR SCAN M 5 =RE-ENTRY MSD = RE-ENTRY RATE CMD
r sw,TcH -
I
IMIATT'TUO PEATORE
JI
J i
150K
I
M6
10:1
tELAY DRIVERS __
AMp
_CS
F .TO SOLENOID
I 2' I
'4V_10K
CHOPPER IN PHASE
J
--
75K
DAMS SVD
SWITCH I
I
_
I
YAW HAND CONTR
42.2K
I
VALVES
J
OUT OF PHASE CHOPPER
7SK
1S0K
+ SWITCH & INVERTER TO SOLENOID
VALVES
- SWITCH & INVERTER
AMP
DAMS
SVD
--
CONTROL
FUNCTIONS
i I
•
I
VALVES VERTMAN kSOLENOID
I
SOLENOID LONGMAN VA_.VES
J
SOLENOID VALVES EAT MAN
GAME
F'i
LOGIC I
IB
"
"
JJJJl
I
ROLL HAND CONTROLLER
I
SWITCH
SUPPRESSOR SPIKE DIODES
F
I
I MODE
7
_
I
-
I . i PITCH UP, YAW RT, ROLL RT, GIVE HAND CONTROLLER COMMANDS ERROR SIGNAL.
I_
m
'
J
ALL CAPACITANCE
VALUES ARE IN MICROFARADS.
Schema
8-35 CONFIDENTIAL
ROLL LEFT,
SENSOR OUTPUT.
PHASE REVERSAL IN RATE PRE-AMP & ATTITUDE mE-AMP. BY 3 .guo PEAK TO PEAK WAVE. + SWITCH ACTIVATED BYSQUARE 3ua Pdv_S IN-PHASE SINE WAVE OR + SWITCHES DRIVE POSITIVE TORQUING
Figure 8-11 ACME Functional
RATE & ATTITUDE
PITCH DOWN,
PITCH UP & ROLL RT GIVE POE HORIZON YAW LEFT IN-PHASE.
_
TO ALL AXES
IN-PHASE
PRI/SEC ELECTRONICS
SELECT BY AXIS.
(Sheet 2 of 2)
SOLENOID
VALVES.
CONFIDENTIAL SEDR300
....
\HOE
\
DIRECT
=
SCAN
m•
i B
RATE CMD (RE.ENT)
PULSE
SINGLE PULSE
PULS Ill
ATTITUDE
PULSE COMMAND _10V DC
I
GENERATOR _t
PLAT
CONTROL
(6 pLACES)
SOLENOID
._
mRECT AND
J +2OV DC
J
IVER
PULSE COMMAND
J
-10V
DC
(6 PLACES)
I ATTITUDE HAND CONTROLLER
(M4 PULSE) MI
(_O_
DIRECT
22V DC -10V DC ( "A"
M2 kr_C)_
RATE
PULSE
GYROS
-1OV OC_
; I M3 _
RATE CMD
I M4 (..T_C)_
HOR SCAN
"B"
_,
v
C'R= M3 + M5 +MSD÷M6
_>
,1" C_Y=+MSD+M6M3 +M5
TYPICAL PNP M5 0_
(RATE
RE-ENT
M' R : M5 ; M5D
SWITCH (1) PLACES)
_,,,_
O'R= M5
(ROLL)
COMPUTER (REF)
RATE CMD bM5Dcy _
M6
O'_
Z
RE-ENT
_I
PLAT
_
I,p=RINGA+RINGB+M5
SWITCH
I'R= RING A + RING B + M5 ÷ MSD +M6
TO GND
+ MSD _b'_6 I=y: RING A +RING +M5D+M6
I_1
_ B +MS
P'R : M5 +MSD
GAIN CON-
P'y = M5 ÷MSD P'F;: M5 +MSD ACE-MODE
LOGIC
I.
IN
2.
REFERTO FIGURE 8-11 (FUNCTIONAL ACE CIRCUITRY
LOGIC FUNCTIONS
(') DENOTES-NOT
GROUND.
SCHEMATIC)
FOR
Figure 8-12 ACE Mode Logic Switching-Attitude 8-36 CONFIDENTIAL
O
Control
CONIFIDHNTIAL
P put of the three-stage in-phase
and energizes
amplifier
ator will
either
the positive the ground
a prescribed
used in the pitch
Rate Signals
to either
stage.
dc signal,
drivers_
The output
which
low-hysteresis
the of
is filtered
switch.
The minimum
Energizing
pulse
gener-
to turn off in less than 18 milliseconds, i
thruster
force.
Minimum
pulse
generators
are
only.
8-11)
rate and rsie
command
signals
Cp, Cy and Cr through
gains through
rectified
valves
minimum
coupled
of the demodula$or
for the valve
and roll channels
(Figure
is transformer
or negative
not allow the solenoid
thus assuring
Angular
section
stage is a full-wave
the switch provides
F
switch
or the out-of-phase
the demodulator
blocks
,
are provided
the selection
the rate amplifiers
of modes
by the logic M3, M5, MSD,
are varied by the functions
Ip, Iy, Ir, Pp, Py, and Pr, with the selection
functions
of
and M6.
Signal
of logic blocks
of th_ re-entry
modes
or plstform
I
mode.
Rate
control
signal
solenoid
inputs
are used
valves.
Roll
in the ssme manner
rate signals
as attitude
are summed with
signals
to
the computer
command
i
signal
and the proportional
of the logic
block
crosscoupling signals signal
MR, with
of roll rates
are proportionally for cancellation
output
is fed to the swilch
of the re-entDy modes of control, provides i into the yaw axis for r_-entry control. Roll rate coupled
of part
into yaw.
This provides
of the yaw rate command i
HorizonSensorSignals
!
pitch
and roll
to out-of-phase the pitch
horizon
signals
choppers sensor
The function
selection
bility,
Sensor
amplifiers.
are positive
in ACE. output
or negative
A -5 degree for
pitch
signal
8-37
for proper
sta-
dc and are fed directly
pitch!bias
down orientation.
CONIFIOENTIAL.
an opposite-phase
voltage
is summed with
T_e output
of
the
CONFIDENTIAL
PROJECT __
GEMINI
$EDR3O0
chopper
will be of a phase opposite
the attitude
displacement
attitude
displacement
will
result
in an out-of-phase
attitude
displacement
will
result
in an In-phase
then amplified attitude
scan mode,
energizes
the
the
along
the minimum
with
in-phase
(hunting would result control
RCS Valve
vide e circuit energized
utilized
lag feedback
is
as an
provides
by other
networks
The lag network
operation,
ground
and
choppers
discharge
anti-hunting
of the horizon
relay
sensors
rate,
control
if no anti-
when
8-4) weighs
removable
diode
thruster
boards
as well as fixed co_aponents. the fixed
suppression
compone_t_,
power
They pro-
The relays
receiving
thruster
or the attitude
suppression
are
is provided
hsnd to
is interrupted.
(OA_) 8 pounds,
(2-reley
s;_ attitude
solenoid
valves.
8-38
CONFIDENTIAL
has a re_ovsble
boards
_ue replaceable
function
for the m_neuver
upon
switches
spike
spproxin_ately
module
conduct
logic
AND _._hrEUVERELECtrONICS
(Figure
with nor_rJally-open con-
and the RCS ring switch.
which
torque
Zener
are relays
is in the ACt_ position.
drivers
from the control
8-1B)
valve
when the switch
genersted
three
(Figure
the solenoid
the voltage
tion with spike
between
by transistor
ORBIT ATTI_JDE
board)
in the same manner
circuits
signal.
generator
drivers
switches.
contains
- capacitance
from the slow response
direct
This unit
to energizing
or out-of-phase pulse
valve
co_ands
controller limit
This signal
Drivers
connected
firing
logic
output).
and a negative
were used).
The RCS solenoid tacts
in addition
resistance
for either
hunt
by the on-off
output,
signal.
The horizon modes,
and processed
(a positive
end 1-component
module v_Ive
boards, drivers
cover
and
module
in conjuncand provide
CONFIDENTIAL
PROOECT
Functional
Control
Attitude
CO,hands
to the OAi_t are either
logic cor_msmc]sto the solenoid
driver
of ACiZ (_ee Figure transistors
the solenoid
to limit
Maneuver
Control
Maneuver
cock,ands
ground
8-14-).
package
8-i_).
originate
to limit the voltage
(Figure
_nis provides
8-4) contains
three
The rate gyro package
rate inputs°
gyro may be turned Two _/ro packages mately
8
The gyros
spike
when
logic
to energize
supp_.ession is
js interrupted.
hand
controllers
obt_.ined by applying
suppression
checkout.
rate gyros,
are orthogona!ly
Application
synchronization
ground
power
to the
firing
solenoid
valve for'
is provided
thruster
a circuit
power
by the OA_._ is interrupte6.
(RGP)
three axes.
put durin_
switch
spike generated
sealed.
of spin motor
grounds
of the two maneuver are
torque
dioSc: spike
when thruster
controller
hermetically
attitude
thruster
sigr,_ls, the vc_Ivc
circuit
Zener
con_nand signals
diode
eomm_nd
the
system.
from either
Conventional
RATE GYR0 PACKAGE
receiving
generated
hand
or negative
drivez's from the cont_o!
of the propulsion
the voltegc
positi_e
Upon
conduct.
the proper
firing.
The RGP
_alve
Translatio_.]
through
thruster
will
valves
provided
(Figure
,4
Oper_tion
Attitude
section
GEMINI
provides
Each
on or off without are provided
a check
gyro
mounte8
ac analog
of a gimbal
provide
each Indi_idually
for redundancy
pounds.
8-39 CONFIDENTIAL
outputs,
torquer
current
of gyro operation
is separately
affecting
for rate
excited
the operation and have
mounted
and
sensing
in all
proportional
to
and monitoring and pickoff
out-
so that any individual of the other
a total
weight
two.
of approxi-
CONFIDENTIAL SEDR300
f_'-
F-_---
]
=o
_:._
I<_
--.vU o,.-¢ _=,-
L.2
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-
I
I
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11
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tI
jI
--
__z _
_
_z
o__z _o
Figure
Zo_ o_
8-13
RCS
& OAMS
Attitude
8-40 CONFIDENTIAL
Valve
Drivers
_
=
_.
>_ __z
CONFIDENTIAL
____-_. "__
SEOR 30° PROJECT GEMINI
I
"-_Rcu,-rl
CONTROLLER
FWD-AFT
I
I I I
I
, P,CAL I TWO
Fwo_
I
h
AFT
I
__
soV_;_os _._O_E_J
_%._ I
_
J
_J
Figure
8-14
TO OAME SPIKE SUPPRESSOR
ACME
Maneuver
Control-Simplified 8-41
CONFIDENTIAL
L
Block
Diagram
CONFIDENTIAL
PRO,JECMINI SEDR 300
POWER
INVERTER
The power
inverter
use by the AC_ 7 pounds
PACKAGE (Figure
8-4) converts
subsystems
and horizon
sensors.
and consists
of the
following:
tor, power amplifier,
output
filter,
and oscillator
starter.
spacecraft
dc power
to ac power
The unit weighs
current
and voltage
regulator-controller,
The 26 vac, 400 cps power
approximately
regulators,
switching
inverter
for
output
oscilla-
regulator
is supplied
the following: a.
b.
ACE pc_er
d.
reference
demodulators
and dc biasing
Rate
20 watts
power c.
supply:
gyros:
for motor
Horizon
starting
ll watts
for bias
voltages
Attitude
hand controller:
for the choppers,
voltages.
and piekoff
sensors:
power
power and 16 watts
excitation. operational
and pickoff
power,
as reference
excitation.
0.5 _tts
for potentiometer
excitation. e.
Telemetry:
f.
FDI:
g.
Rendezvous
1.0 watts
for demodulation
reference.
8.2 watts Radsr:
for angular
8-42 CONFIOENTIAL
runming
reference.
to
CONFIDENTIAL
INERTIAL
GUIDANCE
!
SYSTEM
TABLE OF CONTENTS TITLE
_-
PAGE
SYSTEM DESCRIPTION.. .... INERTIAL MEASUREMENT UNIT: : . AUXILIARY COMPUTER POWER UNIT: : . ON-BOARD COMPUTER.. ......... SYSTEM OPERATION. . . ....... PRE-LAUNCH PHASE .... . . .... LAUNCH PHASE . . . ......... ORBIT PHASE. .......... RETROGRADE PHASE .......... RE-ENTRY PHASE . . . .... CONTROLS AND INDICATORS_ . ..... SYSTEM UNITS. , . . ...... • • INERTIAL MEASUREMENT UNIT ...... AUXILIARY COMPUTER POWER UNIT .... DIGITAL COMPUTER.. .......... SYSTEM DESCRIPTION .... ..... SYSTEM OPERATION . . . ...... MANUAL DATA INSERTION UNIT: ...... SYSTEM DESCRIPTION ....... . SYSTEM OPERATION ..... . • . . AUXILIARY TAPE MEMORY .......... SYSTEM DESCRIPTION ......... SYSTEM OPERATION ....... INCREMENTAL VELOCITY'INDiCATOR. , . , SYSTEM DESCRIPTION ......... SYSTEM OPERATION ..........
8-43 CONFIDENTIAL
8-45 . 8-45 . 8-45 8-46 . 8-46 8-47 8-47 8-48 8-50 8-51 8-51 • 8-56 8-56 8-73 8-75 8-75 8-79 8-176 . 8-176 . 8-179 8-185 8-185 8-188 . 8-193 8-19_ 8-195
CONFIDENTIAL
PROJECT
GEMINI
JDE DISPLAY INDICATOR
_
DISPLAY
INDICATOR
ONTROLLER
INSERTION UNIT
MANUALOATA _
"_
_.
I PLATFORM CONTROLS INCREMENTAL
VELOCITY
AND
INDICATORS
/
/
J
INDICATOR
FUGHT DIRECTOR CONTROLLER
AUXILIAR
INSTRUMENTPANELS
_
//
--
_\
\\
__\
\ \
/
/
,,
il_'
NOTE [_
S,/C 8THRU 12 ONLY
/
II
f-.(\ DIGITAL
\
COMPUTER
i NERTIAL PLATFORM
INERTIAL GUIDANCE
\
,
J
SYSTEM ELECTRONICS
AUXILIARY
Figure
8-15 Inertial
Guidance
8-44 CONFIDENTIAL
COMPUTER POWER UNIT
System
SYSTEM POWER SUPPLY
CONFIDENTIAL
__
SEDR300
ims
,N_L.__
io
The Inertial Guidance System (IGS) consists of an Inertial Measurement Unit, an Auxiliary Computer Power Unit, an On-Board Computer, With Auxiliary Tape Memory and associated controls and indicators. illustrated in Figure 8-15. pressurized c_bin area.
The location !of all IGS components is
Controls and indicators are located inside the
The Inertial Measurement Unit, Auxiliary Computer Power
Unit, and the On-Board Computer are located in the un_ressurized left equipment bay.
The computer Auxiliary Tape Memory is mounted on the electronic module
coldplate located in the adapter section (spacecraft 8 through 12).
_"
_RTIAL
MEASUREMENT UNIT
The Inertial Measurement Unit (IMU) consists of three separate packages: inertial platform, system electronics, and IGS power Supply.
the
All three packages
function together to provide inertial attitude and acceleration information. Attitude measurements are utilized for automatic control, computations, and visual display.
Acceleration
measurements
are utilized
retrograde computations and displays. selector.
for insertion, rendezvous,
and
I_/ operation _s controlled by a mode
Cage, alignment, orbit rate, and inertial modes are available.
Plat-
form attitude measurements are available to each pilot on his attitude display group.
The I_
is also capable of providing _00 cps power to ACME inverter loads.
An AC POWER switch allows the pilot to select the source of 400 cps ACME power.
AUXILIARY ,
COMPUTER POWER UNIT
The Auxiliary Computer Power Unit (ACPU) provides protection for the computer,
8-45 CONFIOENTIAL
CONFIDENTIAL
PROJE-C-T _.
GEMINI
$EDR 300
from the spacecraft bus voltage variations. ACPU supplies temporary computer power. computer is automatically turned off.
If bus voltage drops momentarily, the
If bus voltage remains depressed, the The ACPU is activated by the computer
power switch. ON-BOARD COMPU_
The On-Board Cc_uter
(OBC) provides the necessary parameter storage and computa-
tion facilities for guidance and control. rendezvous, and re-entry guidance. of computations to be performed.
A computer mode selector determines the type
A START switch allows the pilot to initiate
certain computations at his discretion. completion of a computation.
Computations are utilized for insertion
The COMP light indicates the start s_d
A MAT._light indicates the operational status of
the computer and a BESET switch provides the capability to reset the computer in ease of temporary malfunctions.
A Manual Data Insertion Unit (MDIU) allows the
pilot to communicate directly with the computer.
Specific parameters can be
inserted, read out, or cleared from the cc_pater memory. Indicator (M)
displays velocity changes.
depending on computer mode.
An Incremental Velocity
Changes can be measured or computed,
An Auxiliary Tape Memory (A_4) that works in con-
Junction with the spacecraft computer is utilized in spacecraft 8 through 12.
It
provides greater memory capacity and allows in-flight loading of program modes in the computer. SYS_t
v_TION
Operation of the IGS is dependent on mission phase.
Components of IGS are util-
ized from pre-launch through re-entry phases.
Landing phase is not controllable
and therefore no IGS functions are required.
The computer and platform each have
mode selectors and can perform independent functions. 8-46 CONFIDIENTIAL
However, when computations
CONFIDENTIAL
PROJECT
GEMI
S
are to be made concerning inertial attitude or acceleration, the two units must be used together.
PHE-LAUNCH PHASE
Pre-launch phase consists of the last 150 minutes before launch.
This phase is
utilized to warm-up, check-out, prog_am, and align IGS equipment.
After warm-up
the computer performs a series of self checks to insure proper operation.
Infor-
mation not previously progr-mmed but essential to the mission is now fed into the computer.
AGE equipment utilizes accelerometer outputs to align IMU pitch and
yaw gimbals with the local vertical.
The roll gimbal is aligned to the desired
launch azimuth by AGE equipment.
LAUNCH PHASE
Launch phase starts at lift-off and lasts throush insertion.
During the first and
second stage boost portion of launch, the guidance fUnctions are performed by the booster autopilot.
If the booster radio guidance system should fail, a Malfunction
Detection System (MDS) provides automatic switchover to back-up (IGS) guidance. Back-up ascent guidance can also be selected manually at the discretion of the c_and
pilot.
The computer has been progxw,_ed with launch parameters and the
l_J provides continuous inertial reference for back-Up ascent guidance.
To mini-
mize launch errors, the computer is updated by ground stations throu@hout the launch phase.
In the back-up ascent guidance operation, the computer provides
steering and booster cut-off commands to the secondary booster autopilot. i
The
computer also supplies attitude error signals to the!flight director needles. IMU provides inertial attitude reference to the attitude ball.
At Second Sta@e
The
Engine Cut-0ff (SSECO) guidance control is switched from booster to Gemini IC_. 8-47 CONFIDENTIAL
CONFIDENTIAL
PRO,JECT
GEMINI
The con_uter starts insertion computations at SSECO and, at spacecraft separation, displays the incremental velocity change required for desired orbit insertion. When the required velocity change appears the command pilot will accelerate the spacecraft with the O_ ation the I_
thrusters to insertion velocity.
During acceler-
supplies attitude and velocity changes to the computer.
The
computer continuously subtracts measured acceleration from required acceleration on the display.
When insertion has been achieved the incremental velocity
indication will be zero along all three axes.
ORBIT PHASE
Orbit phase consists of that time between insertion and the start of retrograde sequence.
If the IGS is not to be used for long periods of time it can be turned
off to conser_T power.
If the platform has been turned off, it should be warmed
up in the 0AGE mode approximately one hour before critical alignment.
The
computer should be turned on in the PRE LN mode and allowed 20 seconds for self checks before changing modes. separate operations. ment.
IGS operation during orbit is divided into three
The initial part of orbit is used for check out and align-
The major part of orbit is used for rendezvous exercises and the final
portion is used in preparation for retrograde and re-entry.
,Check-Out& Alignment
l_ediately
after orbit confirmation the spacecraft is maneuvered to small end
forward and the platform aligned with the horizon sensors.
Horizon sensor out-
puts are used to align pitch and roll gimbals in the platform.
8-48 CONFIDENTIAL
The yaw gimbal is
._
CONFIDENTIAL
PROJECT
GEMINI
i
aligned through gyrocompassir_ techniques using the roll gyro output. i will align the yaw gyro to the orbit plane.
Platform !aligmnent will be maintained
by the horizon sensors as long as SEF or _EF modes are used. used when maneuvers are to be performed.
This
ORB RA_
ORB RA_
mode is
is ian inertially free mode
except for the pitch gyro which is torqued at approximatel_ four degrees per minute (orbit rate).
The purpose of torquing the pitch gyro is to maintain a
horizontal attitude with respect to the earth. long periods of time drift errors can occur. drift, the mode is switched back to SEF or _F
Rendezvous
_
If 01_ RA_
mode is used for
To eliminate errors due to _yro for aligr_ent.
Exercises
IGS operation during rendezvous exercises consists oflperforming inertial measurements and maneuver computations.
Radar target!information is provided i to the computer for use in rendezvous computations, platform alignment is performed in SEF or BEF mode prior to initiating a maneuver.
The co_uter
START
button is pressed to initiate computation of velocity changes and computed velocity requirements are automatically displayed on the IVI. Flight
director needles
are referenced to the computer during rendezvous exercises and indicate the attitude in which translational thrust should be applied.
When the spacecraft
is in the correct attitude for a maneuver, all of the!incremental velocity indicationwill
be along the foTward-aft translational axls_
As thrust is applied, the
supplies the computer with attitude and acceleration information to continuously update the M
indications.
When the maneuver has been completed the plat-
form can be realigned to the horizon sensors.
8-49 CONFIDENTIAl-
CONFIDENTIAL
PROJ--E-CT'-GEMINI
Preparation
for
Retrograde
& Re-Entr_
Preparation
for
retrograde
and re-entry
retrograde (requires turned
sequence. less
than
on one hour
approximately
The AS
re-entry
_0 minutes). before
one half
is
If
module IV is the
retrograde.
hour
to
stabilization and aligmnent. )
I_
(The
in the loaded
has been _ros
last into
turned
hour the
off,
it
and accelerometers
warm up and another
half
hour is
before
computer must be require
required
for
The attitude hall will indicate when platform
gimbals are aligned to spacecraft axes. to Blunt End Forward (_F)
performed
At this time the spacecraft is maneuvered
and the platform aligned with the horizon sensors.
The platform remains in B_F mode to maintain alignment until retrograde sequence. The computer retrograde initial conditions are checked and if necessary updated by either ground traok_n8 stations or the pilot.
Preparation for retrograde
and re-entry is completed by placing the computer in RE-EFt mode.
RETROGRAD_ PHASE
Retrograde phase starts 256 seconds prior to retrofire and ends approximate_v twenty-five seconds after retrofire initiation. phase
a minus
indicator. form
sixteen
degree
bias
At time-to-go-to
is placed in ORB RA_
is
placed
retrosrade mode.
At the start of retrosA_ade
on the pitch
minus
30 seconds
needle
of the
attitude
(_-30
seconds)
the
plat-
While the retrorockets are firing (approximately
22 seconds) the acceleration and attitude are monitored by the l_J and supplied to the computer for use in re-entry computations. for re-entry at retrofire. inertial
position
and attitude,
C_putations
The computer starts computations
are based on the time of retrofire,
and retrograde
8-50 CONFIDENTIAL
acceleration.
-
CONFIDENTIAL
PROJECT GiSMINI
1_-_
t_._E
Re-entry phase starts immediate_v after the retrorockets stop firing and lasts i until drogue chute deployment. After retrograde a 180° roli maneuver is perZ
formed and pitch attitude is adjusted so that the horizon can be used as a visual attitude reference.
The spacecraft attitude is controlled by visual
observation of the horizon until the computer c_anEs at approximately 400,000 feet. the flight director needles. computer during re-entry. signals to the computer.
a re-entry attitude
The spacecraft is then controlled to null Flight director needles are referenced to the
The l_J supplies inertial iattitudeand acceleration Bank angle commands are computed and displayed on
the roll needle for down range and cross range error ieorrection. The bank angle commands L_at between 0 to 500 seconds depending on the amount of down i
range and cross range error.
Pitch and yaw needles display down range and
cross range errors respectively.
Upon completion of =the bank angle commands
(spacecraft on target) a roll rate of 15 degrees per second is commanded by the computer.
At approximately 80,000 feet the computer co_nds
suitable for drogue chute deployment.
an attitude
Immediately after drogue deployment
the IGS equipment is turned off.
CONTROLS AND INDICATORS
Attitude
Display
Group
The Attitude Display Group (ADG), (Figure 8-16), consists of a Flight Director
8- 51 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
FLIGHT DIRECTORINDICATOR
FLIGHT DIRECTORCONTROLLER
COMPUTER
S,/C POSITION 5,6 AND 8 DESIGNATIONS S/C 9 THRU 12 2. 3. 1.
ASC CTCH PRELNUP
2. 3. I.
i
ASC PRELN NAV
_
I
4. RNDZ
4. RNDZ
I
5. 6.
TD PRE RE-ENT
5. 6.
PREDNAV RE-ENT
J
7.
(NOT
7.
ORB DET _
USED)
ROLL ERROR _
J
I
I
I
ROLL
!._
® I ,,_,TUD_ CO,,_NO ®l
REP_,EN_E
_ODE
2' PLAT CMPT "l_ )
; M,X R RAT_ ,,_
3. RDR
3. ATT
I
I
j
I
_)
J PITCH
®
I
@
I
(_)
_j
('_
I
,, J
Q(_)
,L
I
{ DISPLAY
_'--2c_"P'Tc"'
YAW
CROSS DOWN RANGE RANGE ERROR ERROR
I
ROLL
_
Fi
E u
ure
> _
:_ "_'I = I
_
I R 8-16 Attitude
E _
I
0 >_
RATE GYRO
Display
8-52 CONFIDENTIAL
Group
'
I
I
I
SLAVED TO GIMBAL _ATTITUDE _'_ 1 POSITIONS SPHERE OF THE
PLATFORM
_
CONFIDENTIAL
__
SEDR300
Indicator fiers.
(FDI) a Flight
Three
are provided
types of displays by the FDI.
each axis continuously the inertial needle
platform
platform,
attitude
rate,
attitude
indicates and/or
displayed
platform
and type
of signal available.
types
of signals,
schematic
the computer
FDC reference
selector
mode
determines
selector
Manual
Data
The _mnual
Insertion
determines
A scale
selector
Unit
message.
the computer
the source of signal
is slaved Three
by the
is included
in the
and indicates
of display
as
on the needles.
is c_pable
to
is provided
on the needles.
is included
The
Figure
8-16
the source
of producing
different
in the schematic. information.
The
The FDC
displayed.
(MDIU) consists
Provision
Keys are pressed
word
in a most
and a
directly
with
cancel or read out informal location in the computer
The first
location
keyboard
to enter,
a specific
for insertion.
memory
of a ten digit
the pilot to communicate
is made
is used to address
and set up coded messages address
selector
The MDIU allows
computer.
The keyboard
the computer
in
Unit
seven digit register.
tion.
the type
Data Insertion
the on-board
mode
of freedom
attitude.
on the needles
of the FIE switching Since
off)
attitude! rate information
is used to select the source and type of display a simplified
ampli-
and ADG power
The sphere
of HI or LO scale indications
includes
associated
360 _egrees
information.
and rate gyros.
FDI to allow the selection FDC
attitude
Information
radar,
(FIE) and their
axis sphere with
and always
display
by the pilot.
computer,
A three
gimbals
Controller
(attitude,
displays
type indicators
selected
Director
two keys that are pressed
and the next flve
significant
8- 53 CONFIDENTIAL
bit first
set up a coded order.
Negative
CONFIDENTIAL SEDR 300
values
are
inserted
represents
a minus
monitor button
by making
addresses switches
the messages. register.
The _
The Incremental
orbit
required
provided
a display
message
seven
digit
a 9.
The 9 then
register
is
used
panel
does not clear
to READ CUT, CI_AR,
the computer,
in the computer
Co-m_d
System
to
Push
and
it clears only the by the ground
capabilities.
Indicator
Indicator
(M)
for, or resulting
rendezvous
insert
the
into or read out of the computer.
on the register
provides fr_
computer. maneuvers
along each of the spacecraft
to manually provides
entered
of
The
can also be inserted
the on-board
correction,
number
a number.
switch
Velocity
through
first
which have Digital
Velocity
increments
not
a_d messages
Information
Incremental
and
are included
trackin 6 stations
trolled
sign
the
a display
a specific
Displays
of computed
maneuver.
are utilized
and retrograde. translational
The 1%'I is confor orbit
Velocity
axis.
insertion,
.ncrements
Controls
plus or minus velocity
increments
into the IVI.
of tape position
and module
words
words
velocity
are
are included The IVI also
from the auxiliary
tape memory.
Computer
Controls
Computer
controls
are located
the -_in instrument C_uter
controls
light, a MALF selector to be
panel consist
- center of:
light, a RESET
is a seven position
performed.
they are utilized.
on the computer
a COMPUTR_ switch, rotary
Modes of operation The CO_
console
light
controls
and indicators
(lower assy). mode
selector,
and an 0N-OFF switch which correspond
indicates
CONFIDENTIAL
See Fisure a START
switch.
selects
the type
the computer
on
8-15.
swltch,
The CO_eU_ER
to the mission
when
panel
a COMP mode
of c_,_utations
phase
in which
is running
through
CONFIDENTIAL
PROJ
its program
and provides
a means
of checking
computer
The START
_equencing. f
switch
is utilized
for manual
initiation
of certain
computations.
NOTE The START Junction and
The HALF
switch with
must be operated
the COMPUTER
mode
in coal
sel@ctor
the COMP light.
light indicates
when
a malfunction
has occurred i
and the RESET
switch
i
resets
the computer
resetting power
to
the computer the computer
IMU Controls w,
a RESET
computer
consist
switch,
is o_Y
An ION-OFF ii
capable
switch
of
controls
power! unit.
Two cage modes,
light indicates
of; a PLATFORM! mode J
rotary
The ATT light
tude portion
of the l_J.
that the IWJ has returned
switch
two align
a malfunction
of the I_J.
indicates
an ACC
s_lector. The PLATIZ0RM i which,[ in conjunction with the
on and off as we_l as control
are selectable.
when
selector,
and an AC POWER
turns the platform
rate mode of operation ACC
malfunctions.
and the auxiliary
is a seven position
AC POI_ER selector_
of operation.
for mcaentary
and indicators
an ATT light,
mode selector
The RESET Switch J
indicator.
& Indicators J
The IMU controls light,
malfunction
modes,
one _e
mode,
the mode
and an orbit
The align models are SEF and _F. has occurred
when
i_ the accelerometer
!
_ha__.a occurred
a malfunction
The RESET
switch
to nor_-I
operation.
The portion
in the atti-
will turn Qff the lights 3 indicating The ___8T
switch works
for momen-
I ;
tary _-_Ifunctions of either
type.
to
Inability
reset ithe lights i
indicates
a
!
pe _r_anent malfunction. inverter
on without
The AC POWER
operating
the
selector
platform
or
8-55 CONFIDENTIAL
allows electro_cs
_he pilot circuits.
to turn the IGS
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
SYSTEM UNITS
INERTIAL
MEASUREMENT UNIT
The Inertial Measurement
Unlt
reference
Spacecraft.
for the Gemini
the inertial packages
conform
total weight functions
and
attitude other
platform,
platform
to spacecraft
of 130 pounds. signal
routing
and acceleration
units of guidance
_ounted
(I_J) is the inertial
The IMU consists
electronics, contours
throughout
reference,
block
all
of three
separate
convenience
diagram
three
The platform
packages
All three
and have a
(Figure 8-17)
packages.
the IMU provides
and control.
and acceleration
and IGS power supply.
for mounting
A functional
on cold plates to prevent
attitude
indicates
In addition
to
ac and dc power for use in
and electronics
packages
are
overheating.
NOTE References
to x, y, and z attitude
translational guidance with
Inertial
pertain
only and should
structural
to inertial
not be confused
coordinate
axes.
Platform
The inertial miniature
platform
integrating
the gyro mounting housing
axes
and
(Figure
is a four gimbal
gyros and three
frame
moves freely
8-18)
(pitch block)
about them.
assembly
pendulous
accelerometers.
to remain
in a fixed
Major
components
8-% CONFIDENTIAL
containing
three
Gimbals
allow
attitude
of the platform
while are:
the
a housing,
CONFIDENTIAL SEDR300
c@ gimbal
structure,
accelerometers.
PROJECT
torque
motors,
The gimbals
gimbal
All gimbals,
dora. The inner roll
gimbal
occur
are used
pitch,
and 90 degrees
roll
inner
when
exists.
resolvers,
are: pitch,
roll, have
to plus
the possibility
structure
,
synchros,
to outside
except
is limited
to eliminate
on a three gimbal
angle
from inside
yaw and outer roll.
gimbals
GEMINI
_...y.;._ .___
and minus of gimbal
an attitude
gyros
inner
360 degrees
At this time the roll
Two roll
Gimbal
of 0 degrees
roll, of free-
15 degrees. lock.
and
yaw,
lock can 0 degrees
and yaw gimbals
in the same plane and the yaw gimbal
lock).
In the Gemini
between
the inner
cannot move about its axis (gimbal i an angle of 90 degrees is maintained
are
four gimbal platform
roll and yaw gimbals
thus preventing
gimbal
lock.
The inertial
compo-
i
nents are mounted F_
and shielding the pitch
from thermal
of the pitch
input axes block.
effects.
cube located
casting
The gyros
are aligned
Two sealed
for alignment
alignment
gimbal
block in a fixed relationship
accelerometer
housing
in the innermost
(Pitch block)
and associated
with the reference
with the three
optical
and testing.
quality
Both windows
on the stable
servo
loops
coordinate
mutually
windows
for rigidity
system.
perpendicular
are provided
provide
maintain
optical
axes
in the
access
to an
element.
System Electronics The system
electronics
package
of the I_.
Circuits
motor power,
accelerometer
contains
are provided logic,
the circuitry
for gyro
torque
accelerometer
necessary
control,
rebalance,
for operation
tJmlug
lOgic,
and malfunction
i
detection.
Relays
provide
remote
mode
control
8-57 CONFIDENTIAL
of the above
circuits.
spin
The
ELECTRONICS
ACC/_u_.LFLAMP ATIM_'LFLAMP _
I
RICAL I
I
El
TO COMPUTER_
0.2604CPS
GYRO MALFUNCTION LOGbC
TO COMPUTER_
ACCELEROMETER MALFUNCTION LOGIC
6*25 KC
TO COMPUTER
TO COMPUTER
TOCOMPUTER TO COMPUTER_
s
Figure 8-17 IMU Functional
Block Diagram
->
8-58 CONFIDENTIAL
(Sheet 1 of 2)
_
CONFIDENTIAL SI::DR 300
.f-==--.
I
ProJECT INERTIAL
PLATFORM--
"1
I "z" OMET
I POSITION SIGNAL
ii TocoMPu REFERENCE SIGNAL TO COMPUTER
!
i
i
=
u
=
_
_g "
I
=
pOSITION SIGNAL TO COMPU|ER
I
POSITION SIGNAL I'O COMPUTER
J•
15V 400_ FROM COMPUTER
m , • }
i
•
REFERENCE SIGNAL TO COMPUTER
I
,,
REFERENCE SIGNAL TO COMPUTER
•
O b
•
PLATFORM SIGNAL TO ADO (AT1'ITUDE POSITION DISPLAYGROUP)
HORIZON SENSOR(PITCH)'
SELECTOR(_EF) HORIZON SENSOR (ROLL)
PLATFORM POSITION "SIGNALS TO ACME
b ;
•
suPPLY
-CPS
CPSJ
'
r
ID I
>D1
I
Figure
8-17
IMU
Functional
Block 8-59
CONFIDENTIAL
Diagram
(Sheet
I
2 of 2)
+28v DC
CONFIDENTIAL f:_'_\
SEDR 300
L__V
PROJECT
GEMINI
NOTE PLATFORM CO'ORDINATES BODY CO-ORDINATES-Xb,
-Xp, Yp, Zp. Yb, Zb.
_
INERTIAL PLATFORM
_
....
I - VERTICAL ACCELEROMETER (Z AXIS) FIRST GIMBAL
(PITCH)-
ALONG COURSE ACCELEROMETER_ (X AXIS)
ACROSS CO (Y AXLS)
GIMBAL
Figure
8-18 Inertial
Platform 8-60
CONFIDENTIAL
Gimbal
Structure
(INNER ROLL)
CONFIDENTIAL
PROJECT
I GS Power
GEMINI
Supply
The IGS power supply (Figure 8-19) contains glmbal control electronics and the static power supply unit. platform.
Oimbal control electronics idrive torque motors in the
Separate control circuits are provided for leach gimbal.
The static
power supply provides the electrical power for the IMU, OBCI ACPU, MDiU_ M, ACME_ and horizon sensors.
Figure 8-19 indicates the types of power available
and the units to which they are supplied.
Attitude
Measurement
Attitude measurements are made from inertial platform igimbals and reflect the difference between spacecraft and gimbal attitudes, '
platform gimbals are main-
rained in essential_v a fixed inertial attitude by gimbal control electronics. As the spacecraft moves about the attitude axes, friction transfers some of the movement to platform gimbals.
Three miniature gyros are used to sense minute
gimbal attitude changes.
When gyros sense a change in attitude, they produce ; a signal proportional to the attitude error. Gyro outputs are then used by gimbal control circuits to drive g_mbals to their original inertial attitude. Gimbal positions relative to the spacecraft are measured by synchros and resolvers.
Synchro outputs are provided for attitude _isplay, automatic attitude i
control, and gyro alignment. transformation, are used. to the computer.
Two types of resolvers, p_-se shift and coordinate
Phase shift resolvers provide gimbal angle information
Coordinate transformation resolvers provide attitude signal
resolution for gimbal control purposes.
8.61 CONFIOENTIAL
CONFIDENTIAL
":.
PROJECT
GEMINI
INERTIAL PLATFORM ]0.SV 7.2KC
r_
I
+40V DC -40V DC -3V DC +35V DC
i,
+I2V DC +35V DC PRECISION
SYSTEM
ELECTRONICS
-40V DC PRECISION -35V OC
=
-22V DC +22V DC
! MAIN
BUS
+28v
_
÷28V DC •
AC POWER (SELECTOR) --
26V AC
400 CPS
L
IGS POWER 26vAc
SUPPLY
_ 400 CPS
•_VDC .i iv, i i MO,U I 2>
+ 28.6V DC ÷ 10.2V DC - 28.6V
DC
+ 20.7V
DC
_
+28V DC
26VAC
Figure
8-19
IGS
Power
8-62 CONFIDENTIAL
400CPS
Supply
(3
• I
26V AC 400 CPS
+28vDC +28vDc
>
I
COMPUTER
=
POWER UNIT AUXILIARY COMPUTER
J _
I"OACME, HORIZON SENSORS AND ATTITUDE DISPLAY
I
CONFIDENTIAL SEDR 300
Modes
of Operation
Seven modes
of operation
are selectable
by the astronaut.
The modes,
in order
and
The
of
;
switch position position
are:
is used
OFF,
SEF, ORB RATE,
for IMU warm-up
craft body axes.
Platform
horizon
In the
sensors.
a null is obtained
and to align
gimbals CAGE mode,
are aligned
small end forward.
synchro
outputs
horizon
sensor
with
A gyro
compass
Horizon
and the difference outputs
are balanced
loop aligns
gimbals When
is used to align the platform
flyiDg
_F,
the gimbals
spacethe
outputs
until
torquing
SEF (Small End Forward)
sensors
gimbals.
when
When
are aligned
with
CAGE
with
null,
and roll outputs
used to torque
the yaw gimbal
reach
axes_
with the horizon sensor pitch
with
by synchro
outputs
spacecraft
gimbals
to fine alignment
are torqued
synchro
FREE.
C_GE,
the platform
are caged prior
on the synchro.
stops and the gimbals mode
CAGE,
the orbit
the spacecraft are compared synehro
to earth
with
and
local
vertical.
plane.
-NOTE If horizon
sensors
SEF or _F
alignment
automatically
lose
track
modes,
switched
during
either
the platform
is
to ORB RATE mode. i
ORB RATE
(orbit
rate) mode
craft maneuvers.
ORB RATE
The pitch
gyro is torqued
a horizontal
attitude
for long periods BEF
is used to maintain mode
is inertially
at approximately
with respect
of time,
(Blunt End Forward)
drift
mode
attitude
free except
four degrees
to the earth.
can cause
reference
per minute
errors
is the same as SEF except
8-63 CON FIDENTIAL
for the pitch
If ORB RATE mode
excessive
during
spacegyro.
to maintain is used
in the platform.
that relays
is
reverse
the
CONFIDENTIAL
PROd
ECT'T--GMI
phase of horizon sensor inputs.
NI
The second CAGE mode allows the platform to
be caged in blunt end forward without switching back through other modes. mode is used during launch and re-entry phases.
FREE mode is completely
inertial and the on_v torquing employed is for drift compensation.
NOTE FREE mode is selected automatical_y by the Sequential System at retrofire.
Oimbal Control Circuits
Four separate servo loops provide gimbal attitude control. trates the signal flow through all four loops.
Figure 8-17 illus-
Gyro signal generator outputs
are used either directly or through resolvers as the reference for gimbal control. Both pbsse and amplitude of signal generator outputs are functions of gimbal attitude. output.
Gimbal number one (pitch) is controlled directly by the pitch gyro
Error signals produced by the pitch gyro are amplified, demodulated,
and compensated, then used to drive the pitch gimbal torque motor.
The first
amplifier raises the signal to the level suitable for demodulation. fication, the signal is demodulated to remove the 7.2 KC carrier.
After ampli-
A compensation
section keeps the signal within the rate characteristics necessary for loop stability.
When the signal is proper_v conditioned by the compensation section,
it goes to a power amplifier.
The power amplifier supplies the current required
to drive the gimbal torque motor.
The torque motor then drives the gimbal ma_n-
raining gyro Outputs at or very near null.
8-6_ CONFIDENTIAL
CONFIDENTIAL SEDR 300
Roll and yaw servo loops utilize resolvers to correlate gimbal angles with gyro outputs.
Inner roll and yaw gimbals are controlled by a coordinate
transformation resolver mounted on the pitch gimbal.
When the spacecraft
is at any pitch attitude other than 0 or 180 degrees, some roll motion is sensed by the yaw gyro and some yaw motion is sensed by the roll gyro.
The
amount of roll motion sensed by the yaw gyro is proportional to the pitch gimbal angle.
The resolver mounted on the pitch gimbal angle.
Resolver
output is then conditioned in the same manner as in the pitch servo loop to d_ive inner roll and yaw gimbals.
The outer roll gimbal is
servo driven from the inner roll gimbal resolver.
A
coordinate transformation resolver mounted on the inner roll gimbal, monitors the A_le
between inner roll and yaw gimbals.
If the angle is anything other
than 90 degrees an error signal is produced by the _esolver.
The error signal is
conditioned in the same manner as in the pitch servo loop to drive the outer roll gimbal.
One additional circuit (phase sensitive electronics) is incluced in the
outer roll servo loop.
The outer roll gimbal torque motor is mounted on the
platform housing and moves about the stable element with the spacecraft. i
As
the spacecraft moves through 90 degrees in yaw, the direction that the outer roll i gimbal torque motor must rotate to c_ensate
for spacecraft roll, reverses.
Phase sensitive electronics and a resolver provide the phase reversal necessary for control.
The resolver is used to measure rotation of the yaw gimbal about !
the yaw axis.
As the gimbal rotates through 90 degrees in yaw, the resolver
8-65 CONFIDENTIAL
CONFIDENTIAL
PROJECT __
output
changes
phase
sensitive
motor
drive signal
Pre-Launch
phase.
Resolver
electronics.
for that
launch azimuth.
Platform
an error
gimbal error
mounted
up attitude control
is aligned
is compe/ed
phase by the
phase, the torque
synchro
the platform
to local
vertical
is not properly
aligned output
the gimbal.
is used by AGE
The outer
output
to the launch
8-66 CONFIDENTIAL
then produces
a
by a
is in a 90 degree
is transferred
the roll gimbals
and the AGE reference
is aligned
and applied
is coordinated
all of the yaw gyro output
roll
the launch azimuth
by AGE equipment
the spacecraft
drive
If
When the gyro is torqued
Gyro output
The electronics
X and Y
and must be
The yaw gyro signal generator
Since
for local
due to gravity.
with a signal representing is conditioned
and the
to the local vertical,
for the gyros.
on the pitch gimbal.
electronics.
and must therefore
are the reference
is used to align
generator.
essentially
guidance
The accelerometer
to the input torque.
exists between
signal exists,
signals
The error signal
signal proportional
ascent
is aligned
the platform
signal which
to the yaw gyro torque
pitch
changes
sense any acceleration
signal exists. torque
output
by AGE equipment.
resolver
to a reference
output
X and Y aecelerometers
is sensed,
to generate
synchro
The platform
When the platform
until no error
it produces
for hack-up
are level and cannot
any acceleration
equipment
When the resolver
reference
purpose.
alignment.
accelerometers
torqued
is compared
Alignment
be aligned
vertical
output
is reversed.
The IMU is the inertial
gimbal
GEMINI
SEDR300
signal.
azimuth.
to roll
until
no
When no error
CONFIDENTIAL SEDR300
PROJECT
GEMINI
Orbit Alignment
Alignment of the platform in orbit is accomplished by referencing it to horizon sensors.
the
Placing the platform mode selector _n SEF or BEF position
will reference it to the horizon sensors.
Pitch and roll horizon sensor outputs
are co_pared with platform pitch -nd outer roll synchro outputs.
Differential
amplifiers produce torque control signals proportional to the difference between sensor and synchro outputs.
Torque control signals are used to drive pitch and
roll gyro torque generators.
Gyro signal generator outputs are then used by
gimbal control electronics to drive platform gimbals, i When synchro and horizon sensor outputs balance, the pitch and roll gimbals are aligned to the local verti. cal.
The yaw gimbal is aligned to the orbit plane through a gyro compass loop.
If yaw errors exist, the roll gyro will sense a component of orbit rate.
The
roll gyro output is used through a gyro compass loop %o torque the yaw gyro. Yaw gyro output is then used by gimbal control electronics to drive the yaw gimbal.
When the roll gyro no longer senses a component of orbit rate, the yaw
gimbal is aligned
to the orbit plane.
All three gimbals are now aligned
remain aligned as long as SEF or BEF modes are used.
and will
The pitch Erro will be
continuously torqued (at the orbit rate) to maintain a horizontal attitude.
If
horizon
sensors
lose
track
while
platform
is
in SEF or _F
modes,:
platform
is
automaticall_
switched
ORB RATE mode.
8-67
CONFIDENTIAL
the
the to
CONFIDENTIAL
PROJECT
Orbit
Rate
Circuit
The orbit rate circuit
is used to maintain
during
orbit maneuvers.
Local
during
m_neuvers
they
attitude
with
four
degrees
Torque
is
because no external
per
minute.
obtained
amplifier. rate.
GEMINI
The Orbit
rate
will
bias
track.
The torque
represents
a DC bias the
is
lose the
drives
pitch
adjustable
to the local vertical
cannot be provided
reference,
by placing bias
vertical
aligmnent
To maintain
pitch
gyro
and
is
the
on the gyro
by horizon
torquer can
be
torqued
of
at set
a horizontal at
spacecraft
output
approximately
orbit
the
pitch
match
rate. differential
approximatel_v
to
sensors
orbits
the
orbit
of
various
altitudes.
Phase
Angle Shift Technique
Phase
A_le
ability.
Shift Technique
(PAST) is a method
One of the factors
unbalance.
The effect
point
which affects
of unbalance
on with the synchronous different
_
motor's
each time
errors
by a factor
of spin motor excitation
will vary with field.
it is started.
Drift
of ten.
per hour. To cancel
30 degrees
now tend to cancel and become
it can be
compensated
compensation
circuits.
gyro torque
generator.
for. )
errors
a meana
All three
gyro torque
compensation
848
control
the _ro
unbalance
shifts the phase the phase
is shifted.
is predictable
loops
apply
of lock
of reducing
Shlftin@
(When drift
circuits
torques
CONFIDENTiAl-
PAST
each time the phase
predictable.
rotor
can lock on to a
due to rotor
errors,
repeat-
in the point
The spin motor
drift
The drift compensation Drift
changes
PAST provides
point
gyro drift
is spin motor
at reg,,IA_ intervals.
causes the rotor to lock on a different Drifts
gyro drift
rotatiDg
are in the order of 0.5 degrees drift
of improving
contain
drift
a dc bias to each
in the opposite
-_
CONFIDENTIAL
_
direction
Attitude
SEDR300
as predictable
Malfunction
An attitude generator
drift,
excitation, Gyro
a stable
attitude.
Detection
malfunction
voltages.
maintaining
detection gimbal
signal
circuit
control
generator
performs
signals,
excitation
self checks
logic
timing
is checked
of gyro
signals,
for presence
signal
and critical and
proper
i amplitude.
Gimbal
are present. cal voltages
operation
signals
The logic timing (+22vdc,
tion is detected, If momentary
control
signal
-3vdc, +12vdc)
an ATT
light
malfunctions
by pressing
are checked (28.8kc)
the RESET
is che,_ed
are checked
on the
occur,
for th, length
control
the ATT
for
panel
indicator
signals
for presence.
i,resence.
Criti-
If a malfunc-
is automatically cam be restored
illuminated. to normal
button.
i N-OTE If the attitude malfunction, tions are
of time
I
measurement
circuits
the acceleration
not
reliable.
indica-
Acceler_eter !
axes will indications
not be properly are along
aligne_
-n_nown
and
axes. J
Acceleration
Measurement
Acceleration
is measured
platform.
Sensing
along
devices
three
are three
mutuall_ miniature
8-69 CON FIDEN'I"IAL
perpendicular i pendulous
axes of the inertial
accelerometers.
The
CONFIDENTIAL
PROJECT
GEMINI
accelerometers are mounted in the platform pitch block and measure acceleration along gyro x, y, and z axes.
Accelerometer signal generators produce signals
whose phase is a function of the direction of acceleration. output is used to control torque rebalance
pulses.
Signal generator
The torque rebalance
drive acceleromgter pendulums toward their null position. dc current whose polarity is controlled of rebalance
Rebalance pulses are
by signal generator output.
pulses indicates the direction
of acceleration
sum of the pulses indicates the amount of acceleration.
pulses
The polarity
and the algebraic
Rebalance
pulses are
supplied to the spacecraft digital computer where they are used for computations and incremental velocity displays.
Torque Rebalance Loop
Three electrically
identical
ometer pendulum positions.
torque rebalance
loops are used to control acceler-
Normally an analog loop mould be used for this pur-
pose; however, if an analog loop were used, the output would have to be converted to digital form for use in the computer.
To eliminate the need for an analog to
digital converter, a pulse rebalance loop is used. dc current pulses drive the accelerometer passes through null.
Short duration 184 milliampere
pendulum in one direction until it
Pulses are applied at the rate of 3.6kc.
passes through null, signal generator output changes phase.
When the pendulum
The signal generator
output is demodulated to determine the direction of the pendulum from null. Demodulator output is used by logic circuits to control the polarity of rebalance pulses.
If acceleration is being sensed, there will be more pulses of one polar-
ity than the other.
If no acceleration is being sensed, the number of pulses of
8-70
CONFIDRNTIAL
CONI=IOENTIAL
PROJECT __
GEMIIII
SEDR300
each polarity pulses,
will
be equal.
logic circuits
set up precision
inputs from the t_mlng timing
is essential
the current therefore pulses.
Each
pulse is also pulses
torque
provided
are the basis
is dependent
for rebalance torque i
pulse
is applied
Algebraic
supply
provides
measurements
are based
a negative
feedback
circuit
passed
through
a precision
resistor
and the voltage
to a precision
in the feedback
A pendulous
of
sum of the applied torquer,
a
of the rebalance
pulses be as near
current i on the number
current,
voltage
circuit
both
reference.
to correct
the current
in a temperature
Accelerometer
on the length
and amplitude,
the required
stable
are housed
Precise
Supply
current
stability
depends
su,_tion
that all
enhance
frequency
pulse timing.
to the accelerometer
it is essential
used
Precision
the same _uration
only on the algebraic f
of rebalance
by the computer.
Since acceleration
compared
the polarity
of the pulses. I
of pendulum
to the computer.
Current
A pulse rebalance
timing
the amount
time a rebalance
Pulse Rebalance
to controlling !
All pulses are precisely
is performed
ance.
circuits
because
pulse.
total
In addition
identical
of torque
as possible.
is employed.
The
rebalpulses
To maintain
supply output
drop across
a
is
the resistor
Errors
detected by the comparison are i any deviations in current. To further
supply and the pre_ision
controlled
for torque
voltage
reference
oven.
Dither
accelerometer,
unlike a gyrp, has an inherent
m_ss unbalance.
The
;
mass unbalance perfect
is necessary
flotation
to obtain
of the pendulous
the pendulum
gimbal
aCtion.
cannot be achieved
8-71 CON I=IDENTIAL
Due to the unbalance, and consequently
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
pressure
is present
caused by bearing The oscillation
on the gimbal bearing.
friction, (dither)
a low amplitude
prevents
enough to cause stlctlon. a i00 cps dither imposed
signal
on the signal
the gimbal.
generator
gimbal
field
signal beats against
down.
The dither motion
oscillation
is imposed
from resting oscillation,
current.
excitation
the dc field,
is not around
causing
is super-
field
(modulator)
long
are required:
current
a magnetic
the glmbal
the output
on the g_mbal.
two signals
to a separate
effect,
on its bearing
The dc field
and creates
The I00 cps dither is applied
dither
the stlction
the gimbal
To obtain
and adc
To minimize
around
coil.
to oscillate
axis and consequently
The up end
no motion
is sensed by the signal generator.
Accelerometer
Malfunction
Detection
An acceleration
malfunction
velocity
and critical
pulses
the three axes are checked seconds,
it indicates
critical
voltage
detection
normal
occur,
operation
velocity
If pulses
for presence.
is automatically
the accelerometer
by pressing
self checks of incremental pulses
are absent
flop did not reset between
is checked panel
performs
Incremental
for presence.
an ACC light on the control malfunctions
voltage.
that a flip
(+12 vdc)
circuit
malfunction
the RESET
circuit
does not
affect
8-T2 CONFIOENTIAL
circuits
measurements.
The
is detected,
If momentary
can be restored
button.
attitude
than 0°35
set pulses.
illuminated.
of the accelerometer
longer
If a malfunction
NOTE Malfunction
from each of
to
CONFIDENTIAL
PROJ
AUXILIARY COMPU_R
i
POWER UNIT
The Auxiliary Computer Power Unit (ACPU) is used in conjunction with the IGS power supply to m-_ntain the correct dc voltades at the computer.
The computer
cannot function properly On low voltage either as a transient or a depression. Abnormal voltages can cause permanent cha_es
in the computer memory.
Three
types of circuits are provided in the ACPU to prevent a low voltage condition at the computer.
The first circuit is a transient sense and auxiliary power
control circuit.
The second circuit is a low voltage Sense and power control
circuit and the third is auxiliary power.
The .ACPUis turned on and off with
the COMPUTER ON-OFF switch.
Tr-naient Sense Circuit
The transient sense circuit is designed to sense and correct tr__n.ientlow voltage conditions.
A series type tz__-aistorvoltage regulator holds e_x_liary
power off the llne as low is normal.
as IGS power suppl_ computer voltage regulator voltage drops below a min__mu_ of 17.5 volts,
If regulator voltage _entarily
the transient sense circuit detects the drop and turns on the series regulator. The redulator the
desired
Low Voltage
then
places
auxiliary
power
on the
line,and
maintains
voltage
at
level.
Sens.e Circuit
A low voltage sense circuit prevents the computer from operatin_ on low voltage. When the computer is turned on, the low volta6e senseicircuit insures that spacecraft bus voltage is above 21 volts before allowing power to be applied to the
8-TS CONFIDENTIAL
CONFIDENTIAL
computer.
If the computer is already on when a low voltage condition occurs,
the transient sense circuit will maintain normal voltage for i00 milliseconds. If spacecraft bus voltage is not back to normal after ZOO milliseconds the low voltage sense circuit initiates a controlled shutdown of the computer.
Computer
power is controlled through contacts of a relay in the low voltage sense circuit. When the low voltage sense circuit detects a voltage depression it deenergizes the relay.
Contacts of the relay initiate a computer shutdown in a manner
identical with the computer power switch.
When the low voltage sense circuit
turns off the computer it also breaks power to all ACPU circuits except low voltage sense.
If power were not broken to the transient sense circuit it would
attempt to maintain normal voltage at the c_puter.
In attempting to maintain
normal voltage the auxiliary power capability would be exceeded.
Auxiliar_
Power
Auxiliary power consists of a battery and a trickle charger.
A O.5 ampere-hour
nickel cadmium battery is used to supply computer power during spacecraft bus low voltage transients.
The battery will supply up to 9.8 amperes for periods
of i00 milliseconds or less.
A trickle charger is provided to maintain a full
charge on the battery.
The charger consists of a transistor oscillator, trans-
former, and rectifier.
The oscillator changes static power supply dc voltage
to ac.
The ae voltage is then stepped up with a transformer and changed back to
dc by a full wave diode rectifier.
Rectifier output is then applied, through
a current limiting resistor, to the battery. to 25 milliamperes.
The resistor limits charging current
Provision is included to charge the battery from an external
source if desired.
--
8-74 CONFIDENTIAL,
CONFIDENTIAL
PROWl _._
SEDR 300
I
,DIGITALC_ER SYSTEM DESCRIPTION
General The Digital Computer, hereinafter referred to as the computer, is a binary, fixedpoint, stored-program, general-purpose computer, used to perform on-board computations. deep.
The computer is 18.90 inches high, 14.50 inches wide, and 12.75 inches It weighs 58.98 pounds.
Figure 8-20.
External views of the computer are shown in
The major external characteristics are s_arized ;
in the accompany-
ing legend.
Using inputs from other spacecraft systems, along with a stored program, the _.
computer performs the computations required during the pre-launch_ insertion, catch-up, rendezvous, and re-entry phases of the mission.
In addition, the com-
i
purer provides back-up guidance for the launch vehicle during ascent.
lu_uts and Outputs The computer is interfaced with the Inertial Platform_ System Electronics, Inertial Guidance System Power Supply, Auxiliary CompUter Power Unit, Manual Data Insertion Unit, Time Reference System, Digital Co_and
System,
Attitude Display, Attitude Control and Maneuver Eleet_onics, Titan Autopilot, ! I
Auxiliary Tape Memory (spacecraft 8 through 12), Pilots' Control and Display Panel, Incremental Velocity Indicator, Instrumentationi System, and Aerospace Ground Equipment.
In connection with these interfaceS, the computer inputs and
outputs include the following:
Inputs _0 discrete 3 incremental velocity
8-75 CONFIDENTIAL
CONFIDENTIAL
.. _-__
SEDR300
__._ LEGEND I1_M !
Q
NOMENCLATURE
MOUNTING
ACCESS COVER
CONNECTOR
J4
CONNECTOR
J5
(_
CONNECTOR
J7
Q
CONNECTOR
J3
(_
CONNECTOR
J2
Q
CONNECTOR
JI
I (_)
CONNECTOR
J6
MOUNTING
ACCESSCOVER
i _
MOUNTING
ACCESS COVER
i (_
MOUNTING
ACCESS COVER
_
ELAPSED TIME INDICATOR CONNECTOR
ACCESS COVER
(_
RELIEFVALVE
(_
MOUNTING
' (_
_)
ACCESS COVER
HANDLE
MOUNTING
ACCESS COVER
IOEN TIFICA TION (_
Figure
8-20
Digital
Computer
8-76 CONFIDENTIAL
PLATE
_
MAIN
ACCESS COVER
(_
BUS BAR ACCESS COVER
(_)
_us8at ACCESS cover
(_)
RELieFVALVE
---"
CONFIDENTIAL
SEDR 300
Inputs
:
(cont)
3 gimbal
angle
2 high-speed
data
(500 kc)
i low-speed data
(3.57 kc)
i low-speed
(182 cps)
data
i input and read-back
(99 words)
6 dc power
(5 regulated,
i ac power
(regulated)
i unregulated)
Outputs 30 discrete 3 steering
command
3 incremental I decimal
velocity
display
(7 digits)
I telemetry
(21 digital
data words)
i low-speed
data
(3-57 kc)
i low-speed
data
(182 cps)
3 dc power (regulated) i ac power
O_erational The major
(regulated,
filtered)
Characteristics operational
Binary,
characteristics
fixed-point,
of the computer_ are as follows:
stored-program,
general-purpose
8-77 CONFIDENTIAL
CONFIDENTIAL
PEMINI SEDR 300
Memo r_ Random-access, nondestructive-readout Flexible division between instruction and data storage 4096 addresses, 39 bits per address 13 bits per instruction word 26 bits per data word
Arithmetic Times Instruction cycle - 140 usec Divide requires 6 cycles Multiply requires 3 cycles All other instruction require i cycle each Other instructions can be progra=med concurrently with multiply and divide
Clock Rates Arithmetic bit rate - 500 kc Memory cycle rate - 250 kc
Controls and Indicators The computer itself contains no controls and indicators_ with the exception of the elapsed time indicator.
However, the computer can be controlled by means of four
switches located on the Pilots' Control and Display Panel:
a two-position
ON-OFF switch, a seven-position mode switch, a push-button START Computation switch, and a push-button RESET switch.
8-78 CONFIDENTIAL
CONFIDENTIAL
SYSTE_ OPerATION Power The computer IuertiR1 to
receives
Guidance
the
c_ater
the
System is
in regulation
source.
Actual and the
IGS Po_er
are
in the
for
transients
that
in
occur
operation
Power Unit.
from the
dc power
a manner that
in the
and depressions
Ccmlmter
its
The regulated
IGS Power Supply
interruptions
Auxiliary
required
Power Suppl_.
due to
power
Supply
(IGS)
buffered
any loss
Su_y
ac and dc power
eliminates
spacecraft
arel buffered
The power
supplied
inputs
prime
by the received
po_er
IGS Power from
the
as follows:
(a) 26 vacand return !-_.
(b)
+28 vdc filtered A_
return
(c) +27.2vdc andreturn (d)
-27.2 _e and return
(e)
+20 vde andreturn
(f)
+9.S "v_e_
The application
of all
Pilots'
Control
and IYispl_
e_sed
t_me indicator
the to
IGS Power Supply the
stops the
computer. operating
return
power
is
Panel.
starts by the
When the and the
controlled
_nen the
operating c_uter. s_r_teh
power
by the
control
l
switch
and a power This
is
0N-OFF switch
turned
signal off,
signal
is
is iturned control !
on the on,, the
sJj_ml
is
computer supplied
to
ca_es power to be transferred l the eCmlzlter elapsed time indicator [
l
terming=ted /
computer.
8-79 CONFIDENTIAL !
to
remove
pover
from
CONFIDENTIAL SEDR 300
PROJECT GEMINI Within the computer, the 26 vac power is used by magnetic modulators to convert de analog si_lals to ac analog signals.
This power is also used by a harmonic filter
to develop a 16 vac, _00 cps filtered gimbal angle resolver excitation signal. The +28 vdc power is used by computer power sequencing circuits.
The +27.2 vdc,
-27.2 vdc, +20 vdc, and +9-3 vdc power is used by power regulators to develop +25 vdc, - 25 vdc, and +8 vdc regulated power.
This regulated power is used by logic
circuits throughout the computer, and is supplied to some of the other spacecraft systems •
Basic Timin_ The basic computer timing is derived from an 8 mc oscillator.
The 8 mc signal is
counted down to generate four chock pulses (called W, X, Y, and Z) (Figure 8-21). These clock pulses are the basic t_m!ng pulses from which all other timing is generated.
The width of each chock pulse is O.375 usec and the pulse repetition
frequency is 500 kc.
The bit time is 2 usec, and a new bit time is considered as
starting each time the W clock pulse starts.
Eight gate signals (GI, G3, GS,
GT, @9, Gll, GI3, and Gl4) are generated, each lasting two bit times.
The first
and second bit times of a particular gate are discriminated by use of a control signal (called LA) which is on for odd bit times and off for even bit times. Fourteen bit times make up one phase time, resulting in a phase time length of 28 usec (Figure 8-22).
Five phases (PA through PE) are required to complete a
computer instruction cycle, resulting in an instruction cycle length of i_0 usec. Special phase timing, consisting of four phases (PHI through PHi) (Figure 8-23), is generated for use by the input processor and the output processor.
This timing
is independent of computer phase timing but is synchronized with computer bit timing.
8-80 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMI
I I
"_
J-_-0.375USEC
wl-I
-'_
J"_--
rl__.R _
2USEC
I"1 I-1 I"1 n
I-1 n
r-i I-1 FL__R r'b
__n n n fln n n n run n n n n n rL n n n rb_n,n,n
n__n n =n n__n n n m
n n n rL_n__nno LAJ
I
r-'-I
r'--q
n nin
r'--!
i--1
J--
G,
I
G3
I
G5
n run
n,
I----i =J
28USEC
r
I,
I
I
I
I
G7
I
I
G_
i
I
I
G.
I
G,3
i
I
:
I
I I
G14 BIT TIMING
I
TABLE
BIT TIME (BT)
LA
GATE
BIT TIME (BT)
LA
GATE
I
"1"
G1
6
"0"
G7
11
"1"
Gll
2
"0"
G3
7
"1"
G7
12
"0"
GI3
3
"1"
G3
8
"O"
G9
13
"1"
G13
4
"0"
G5
9
"1"
G9
14
"0"
G1
5
'q"
G5
_6
"0"
G11
Clock
and
Figure
8-21
Computer
8-81 CONFIDENTIAL
BIT TIME (BT)
Bit
Timing
LA
GATE
CONFIDENTIAL
SEO
PROJECT
I_
28 USEC
GEMINI
i J
_,, n
n
_I
I
_
f
n
n
L I
_o
I
Figure
,,,,n
28 USEC
n_ I
I
_
n
8-22 Computer
I
Phase Timing
L [
n
_.,J
I
P.2
I
n
n
n
n_
I
b
I
_._
I
I
I I'
P.4-]
Figure
8-23 Processor
Phase
8-82 CONFIDENTIAL
Timing
I
CONFIDENTIAL
SEDR300
The computer
memory
nondestructive
is a random-access,
readout.
The nondestructive series-parallel, a separate
The basic
read property thereby
buffer
register.
bits.
A1! memory
words
each.
Data words
(25 bits
syllables,
Once the spacecraft modify
the third
syllables
makes
Data
accomplished
Insertion
in flight,
array
removed
Unit
arit_tic
into three
syllables
stored
word.
8 through
of data
System.
12, _sing
of 13 bits two syllables.
it is not possible
site through
Co_an_
or in
or 159,7_4
in all three
Modification
at the launch
core.
serially
in the first
area,
with
unit without
can store 4096 words,
are intermixed
or the Digital
on spacecraft
a serial
array
ferrite
to read or write
from the hangar
of any memory
ferrite
is! a two-hole
are normally
(13 bits)
0 and i can be accomplished
the Manual
with
are divided
and a sign)
has been
syllable
it possible
The memory
words
element
operation
of 39 bits
and instruction
coincident-current,
storage
allowing
i
stored
interface
to
in with
It can also be
the Auxiliary
Tape
Memory(A_). As
shown on Figure
readout
elements.
Z 8_mension),
with
8-2_, the memory Physically, each plane
is logically
subdivided
efficiency.
The Z d_mension
with
each
syllable
into
consisting
is a 64 x 64 x 39 bit array
it consists consisting smaller
of a stack
is divided
to increase
into three
of 13 bits.
(SEC O0 through
SEC 07, and SEC lO through
defined
as the residual
sector.
word
of the 4096 13 bits,
is defined
possible
and is coded
as the 39 bits
along
X-Y grid positions. in either
sMllables
syllable
word
8-83
SYL 2),
into 16
sector
17 being
and is located
at one
or co_-._nd requires
O, l, or 2 Of a memory
CONFIDENTIAL
storage
is divided
the Z dimension
in the
The memory
(SYL O through
SEC 17), with
An instruction
(stacked
of cores.
the program
The X-Y plane
sectors
A memory
of 39 planes
of a 64 x 64 array
parts
of nondestructive
word.
A data word
SYL 0
SYL2
J
CONFIDENTIAL
PROJE _@
SEDR300
requires 26 bits, and is always coded in syllables O and I of a memory word.
In-
formation stored in syllable 2 can be read as a short data word by using a special mode of operation primarily used to check the contents Of the memory.
NOTE The operation codes mentioned in the subsequent paragraphs are describe_ in the Instruction and Data Words paragraph.
Instruction List The instructions which can be executed by the computer are as follows:
f
O_eration Code 0000
Instruction HOPe
The contents of the memory location specified
by the operand address are used to change the next _nstruction address.
Four bits identify the next
sector, nine bits are transferred to the instruction address counter, two bits are used to condition the syllable register, and one bit is used to select one of the
0001
two data
DIV (divide).
word modes. ! The contents of the memory location
specified by the operand address are divided by the contents of the accumulator.
The 24-bit quotient is
available in the quotient delay line during the fifth word time following the DIV.
8-85 CONFIDENTIAL
CONFIDENTIAL
PROJEMINI SEDR300
o ration c, e (cout) 0010
z t ction PRO (process specified
input by the
or output). operand
(cont,),
The input
address
loaded from, the accumulator.
is
read
or output into,
or
An output co_and
clears
the accmnulator to zero if address bit A9 is a I. The accumulator
contents
are
retained
if A9 is
a O.
(Refer to Table 8-1 for a ]ist of the PRO instructions.)
O011
RSU (reverse subtract).
The contents of the accumula-
tor are subtracted from the contents of the specified memory location.
The result is retained in the ac-
cmnulat or.
0100
ADD.
The contents
of the
memory location specified
by the operand address are added to the contents of the accumulator.
The result is retained in the ac-
cumulator.
0101
SUB (subtract).
The contents of the memory location
specified by the operand address are subtracted fr_n the contents of the accumulator.
The result is re-
tained in the accumulator.
0110
CLA (clear and add).
The contents of the memory
location specified by the operand address are transferred to the accumulator.
8-86 CONFIDENTIAL
CONFIDENTIAL
PROJECT __
GEMINI
$EDR 300
!
Operand Address X (Bits AI-AB) Y (Bits A_-A6)
Signal
0
0
Digital C_._eJ_lSystem shift pulse gate
0
i
Data Tr_ssion
0
2
Time Reference System
System control gate data and timing
pulses 0
3
Digit magnitude weight I
0
_
Reset
0
5
Digit selec_ weight I
O
6
M_ory
i
0
Cumputer ready
I
i
Drive counters to zero
i
2
Enter
1
3
Digit
i
_
Display
i
5
Digit select weight 2
1
6
Autopilot scale factor
2
0
Pitch resolution
2
i
Select X counter
2
2
Aerospace
2
3
Digit
2
5
Digit select
2
6
Reset start _omputation
Table 8-1.
data
ready,
8-87
and readout
strobe
magnitude
we_ht
2
device drive
Ground Equipment data link
magnitude
PRO Instruction Progrmlng
CONI=IDINTIAL
enter,
weight
weight
(1 of 3)
CONFIDENTIAL
PRO,JEC--E'C-T-GEMINI _.
SEDR300 0perand X (Bits A1-A3)
Address Y (Bits A_-A6)
Signal
3
0
Yaw resolution
3
I
Select Y counter
3
2
Aerospace
3
3
Digitmagnitude weight8
3
_
Read Manual
3
6
Resetradarready
0
Roll resolution
i
Elapsed
4
Ground Equipment
data clock
Data Insertion
Unit
insert data
time
control
and Time Reference
System
control
reset/A_
wind-rewlnd
Reset 3
Computer
malfunction
_
ATM verify/repro
4
6
Secondstageenginecutoff
5
0
Computer
5
i
Time to start
command
_nning re-entry
/ATM wind
calculations
command
5
2
Time to reset
5
3
Write
5
4
Read
5
5
Inputprocessor time
5
6
Time to retrofirecontrol
6
3
Read pitch
6
4
Read roll
Table 8-1.
PRO Instruction
output
8-88 CONFIDENTIAL
control/ATM
rewind
processor
delta velocity
gimbal gimbal
Programming
control
(2 of 3)
command
CONFIDBNTIAL
__
SEDR300
Operand Address
Signal
x (_tsAI-A3) Y (Bits A4-A6) 6
5
Ready yaw gimbal
7
0
Pitch error comm_d
7
I
Yaw error c_,_ud
7
2
Roll error command i
I
I
Table 8-1.
PRO Instruction Prograr_4_g (3 of 3)
8-89 CONFIDENTIAL i
CONFIDENTIAL SEDR 300
PROJECT GEMINI
ope.,ration. Code (cont)_ 0111
Instruction (cont.). AND.
The contents of the memory location specified
by the operand address are logically ANDedj bitby-bit, with the
contents of the accumulator.
The
result is retained in the accumulator.
I000
MPY (multiply).
The contents of the memory loca-
tion specified by the operand address are multiplied by the contents of the accumulator.
The 24
high-order bits of the multiplier and miltiplicand are multiplied together to form a 26-bit product which is available in the product delay line during the second word time following the MPY.
iO01
TRA (transfer).
The operand address bits (AI
through AP) are transferred to the instruction address counter to form a new instruction address. The syllable and sector remain unchanged.
I010
SHF (shift).
The contents of _he accumulator are
shifted left or right, one or two places, as specified by the operand address, according to the following table:
8-90 CONI_II_I_NTIAI
CONFIDENTIAL
PRO
'
_.
!
SEDR300
Oweration Code (cont)
Instruction (cont) Co_and
Operand Address iX (Bits AI-A_) Y (Bits A4-A6)
Shift left one place
*
3
Shift left two places
*
4
Shift right one place
I
2
Shiftrighttwoplaces
0
2
• Insignificant
If an improp@r address co_e is given, the accumulator is cleared to zero.
While shifting left,
O's are shifted into the low-order positions; f
while shifting right, the Isign bit condition is i
shifted into the high-order positions.
1011
TMI (transfer on minus accumulator sign). i
If the
sign is positive (0), theinext instruction in i sequence is chosen (no branch).
If the sign is
negative (i), the nine bits of operand address become the next instructibn address (perform branch). The syllable and sector remain unchanged.
Ii00
STO (store).
The contents of the accummlator are
stored in the memory location specified by the ! I
operand address.
The con_ents of the accumulator I I
are also retained for later use.
8-91 CONFIDENTIAL
CONFIDENTIAL
code+(cont) ii01
stru,=t, ,o. (cont,) SPQ
(store product
available MI_.
o_ The
time
is
word
on the
The product location
an
fifth
word
or quotient
specified
(clear and add discrete). input
selected
by
read into all accumulator to Table
TNZ
followin6
is
is
by the
address.
discrete
iiii
The product
time
available
a DIV.
in the memory
operand
CLD
second
quotient
following
stored
iii0
the
or quotient).
accumulator
operand
address
bit positions.
on non-zero).
are zero,
is chosen
are non-zero, become
the
of the is
(Refer
8-2 for a list of the CLD instructions. )
(transfer
sequence
The state
the next
(no branch);
instruction
The syllable
of the
in
if the contents
the nine bits of operand
the next instruction
branch).
If the contents
address
address
(perform
and sector remnln
unchanged.
NOTE The instructions paragraphs
in the subsequent
(e.g., HOP, TRA, TMI,
are described Instruction
Instruction
mentioned
more
completely
Information
and TNZ)
in the
Flow paragraph.
Sequencing
The instruction
address
is derived
from an instruction
8-92 CONFIDENTIAL
counter
and its associated
CONFIDENTIAL
PROJEII __.@
SEDR300
OperandAddress X (Bits A1-A3) Y (Bits A4-A6)
Signal
0
0
Radarready
0
1
Computer mode2
0
2
Spare
0
3
Processor
0
4
Spare
1
0
Dataready
1
1
Computer mode1
1
2
Start
1
3
X zero indication
1
4
ATM clock
2
0
Enter
2
I
Instrumentation Systemsync
2
2
Velocityerrorcountnot zero
2
3
Aerospace
2
4
Spare
3
0
Readout
3
i
Computer
3
2
Spare
3
3
ATM on
3
11.
ATM data
0
Clear
Table
8-2.
CLD Instruction
timing
phase
computation
Ground
mode
Equipment
3
channel
2
Progr_-.._ug (I of 2)
8-93 CONFIDENTIAL
i
request
CONFIDENTIAL SEDR300
PMINI Operan& Address X (Bits AI-A3) Y (Bits A_-A6
Signal
1
A_
2
Simulation mode command
3
ATM end of tape
4
ATM data channel 3
5
0
Time to start re-entry calculations
5
i
ATM mode control 2
5
2
Y zero indication
5
3
ATM data 1
5
_
Spare
6
0
Digital Co;,_nd System ready
6
i
Fade-in discrete
6
2
Z zero indication
6
3
Umbilical disconnect
6
_
Spare
7
0
Instrumentation System request
7
i
Abort transfer
7
2
Aerospace Ground Equipment input data
7
3
Spare
7
_
Spare
Table 8-2.
mode control I
CLD Instruction Progrnmm_ng (2 of 2)
CONFIDENTIAL
4
CONFIDENTIAL
__
SEDR300
address register.
To address an instruction, the syllable_ sectorj end word
position within the sector (one of 256 positions) mus_ be defined.
The syllable
and sector are defined by the contents of the syllable register (two-bit code, three com_Luations) and sector register (four-bit code, 16 combinations). registers can be cha_ged only by a HGP instruction. sector is defined by the instruction _dress
These
The word position within the l
counter.
The instruction address
count is stored serially in a delay line; and normally each time it is used to address a new instruction, a one is added to it so th@t the instruction locations within a sector can be sequentially scanned.
The humor
stored in the counter can
be changed by either a TRA, TMI, or TNZ instruction, With the operand address specifying the new n,_ber.
A HOP instruction can alsO change the count_ with the
new instruction location coming from a data word.
Instruction and Data Word.s The instruction word consists of 13 bits and can be cOded in ar_ syllable of any memory word.
The four
The word is coded as follows :
Bit Positlon
i
Z
3
4
5
6
7
8
9
Bit Code
A1
A2
A3
A4
A5
A6
A7
A8
A90PI
operation
operand
address
presently
used,
rata residual.
bits bits
(OP1 through
(A1 through
and the
residual
OP4) define
AS) define bit
(Ag)
one
i0
II
12
13
OPe
OP30P4
_f 16 instructions,
a memory
_ord within
determines
_hether
the
or not
the sector to
read
eight being the
If the A9 bit is a i, the data word aSdressed is always located i
in the !eat sector (sector 17).
If the A9 bit is a O_ the data word addressed
i is ture
read
from the
allows
data
sector locations
defined to
by the be available
contents to
8-95 CONFIOENTIAL
of the i instructions
sector
register. stored
anywhere
This
fea-
in the
CONFIDENTIAL
The data word consists of 25 magnitude bits and a sign bit.
Nmnbers are represent-
ed in t_o's-complement form, with the lc_-order bits occurring at the beginning _f the word and the sign bit occurring after the highest-order bit. point is placed between bit positions 25 and 26. denotes the binary weight of the position.
The binary
The bit magnitude n-tuberalso
For example, MI6 represents 2-16.
For the HOP instruction, the next instruction address is coded in a data word that is read from the memory location specified _
the operand address of the HOP word.
The codings of a nmnerical data word and a HOP word are as follows :
Bit Position
i
2
S
4
5
6
7
8
9
i0
II
12
13
Data Word
M25
M25
M23
M22
_i
M20
MI9
MI8
MI7
MI6
MI5
MI4
MI3
HQP Word
AI
A2
AS
A4
A5
A6
A7
A8
A9
SI
$2
$3
$4
mt PgSlt±on IS 15 16 17
18 19 2o 21 z2 23 e_ 25 26
Data Word
MI2
M8
H_ Word
-
MII
MIO
M9
_.A S'ZB
M7
)46
M5
MS
MS
M2
MI
S
....
s5
For the HOP word, eight address bits (AI through A8) select the next instruction (one of 256) within the new sector, the residual bit (Ag) determines whether or not the next instruction is located in the residual sector, the sector bits (SI through $4) select the new sector, and the syllable bits (SYA and SYB) select the new syllable according
to the following
S_able
table :
,_B
S_A
0
0
0
1
0
1
2
I
0
CONFIDENTIAL.
-
CONFIDENTIAL
_.
PROJENI
Roll
and yaw servo loops utilize
gyro outputs.
Inner
resolvers
roll and yaw gimbals
to correl_te are controlled
gimbal
angles with
by a coordinate
i
transformation
resolver
is at any pitch
mounted
attitude
other
on the pitch than
gimbal.
When
0 or 180 degrees_
the spacecraft
some roll motion
is
=
sensed by the yaw gyro and some yaw motion amount
of roll motion
gimbal
angle.
The resolver
output
is then
conditioned
drive
is sensed by the roll gyro.
sensed by the yaw gyro is proportional mounted
on the pitch
in the same manner
gimbal
The
to the pitch
angle.
as in the pitch
Resolver servo
loop to
inner roll and yaw gimbals.
The outer roll gimbal coordinate
transformation
the Anzle between than 90 degrees conditioned
inner
_
outer roll servo loop. platform
housing
from the inner
mounted
is produced
(phase
The outer
and moves
If the angle
resolver.
sensitive
roll gimbal
about the stable
electronics)
torque Imotor i
element
other
The error
servo Iloop to drive
A
monitors
is a_hing
by the resolver.
as in the pitch
circuit
roll gimbal
i on the irLUer roll gimbal,
roll a_d yaw gimbals.
error signal
additional
driven
resolver
in the same manner
One
gimbal.
is servo
signal
the outer
is incluced
is mounted
is
roll
in the
on the
with the spacecraft.
As
i
the spacecraft gimbal Phase
torque
moves through motor must
sensitive
for control. the yaw axis.
90 degrees
rotate
electronics
The resolver
in yaw, the direction
to compensate
and a resolver
As the gimbal
rotates
for sp;acecraft roll,
provide
is used to measure through
8-65 CON|=IDENTIAL
that the outer
the phase
reverses.
reversal
necessary
rotatilon of the yaw gimbal i 90 degrees
in yaw,
roll
about
the resolver
CONFIDENTIAL
PRO
M IN I SEDR 300
output changes phase.
Resolver output is compared to a reference phase by the
phase sensitive electronics.
When the resolver output changes phase, the torque
motor drive signal is reversed.
Pre-Launch Alignment
The IMU is the inertial reference for back-up ascent guidance and must therefore be aligned for that purpose. launch azimuth.
The platform is aligned to local vertical and the
Platform X and Y accelerometers are the reference for local
vertical alignment.
When the platform is aligned to the local vertical, X and Y
accelerometers are level and cannot sense any acceleration due to gravity.
If
any acceleration is sensed, the platform is not properly aligned and must be torqued until no error signal exists.
The accelerom_ter output is used by AGE
equipment to generate torque signals for the gyros.
When the gyro is torqued
it produces an error signal which is used to align the gimbal.
The outer roll
g_mhal synchro output is compared with a signal representing the launch azimuth by AGE equipment.
The error signal is conditioned by AGE equipment and applied
to the yaw gyro torque generator.
The yaw gyro signal generator then produces a
signal proportional to the input torque. resolver mounted on the pitch gimbal.
Gyro output is coordinated by a
Since the spacecraft is in a 90 degree
pitch up attitude essentially all of the yaw gyro output is transferred to roll gimbal control electronics.
The electronics drive the roll gimbals until no
error exists between synchro output and the AGE reference signal. signal exists, the platform is aligned to the launch azimuth.
8-66 CONFIDENTIAL
When no error
CONFIDENTIAL
PROJEI
O_ItAlig_e_
_1_gnment of the platform in orbit is accomplished by referencing it to the horizon sensors.
Placing the platform mode selector £n SEF or ]_F position
will reference it to the horizon sensors.
Pitch and roll horizon sensor outputs
are compared with platform pitch and outer roll synchro outputs.
Differential
amplifiers produce torque control signals proportional to the difference between sensor and synchro outputs.
Torque control signals are used to drive pitch and
roll gyro torque 6enerators.
Gyro signal generator o_tputs are then used by
gimbal control electronics to dri_,_platform gimbals.
When synchro and horizon
sensor outputs balance, the pitch and roll gimbals are aligned to the local verti. i
cal.
The yaw gimbal is aligned to
the orbit plane through a @yro compass loop.
If yaw errors exist, the roll @yro will sense a component of orbit rate.
The
roll @yro output is used through a _Fro compass loop _o torque the yaw _ro. Yaw gyro output is then used by gAmbal control electronics to drive the yaw i gimbal.
When the roll gyro no longer senses a component of orbit rate, the yaw
gimbal is aligned to the orbit plane.
All three gimbals are now aligned and will
remain aligned as long as SEF or BEF modes are used.
!The pitch gyro will be
continuously torqued (at the orbit rate) to maintain a horizontal attitude.
NOTE If
horizon
platform
sensors is
lose
track
w_'.le
in SEF or _RF modes,
the
the
platform is automaticallp switched to ORB RA_
mode.
8-67 CONFIDENTIAL
CONFIDENTIAL
PROJECT
Orbit
Rate Circuit
The orbit rate durin@
circuit
attitude
with
four degrees
Local
because
per minute.
vertical
they will
no external
is obtained
amplifier. rate.
is used to ,_intain
orbit maneuvers.
during maneuvers
TOrque
GEMINI
alig_nent
cannot be provided
lose track.
reference,
the pitch
The torque
represents
by placing
The bias drives
to the local
Orbit rate bias is adjustable
at approximately
the spacecraft
8Yro torquer
sensors
a horizontal
is torqued
a DC bias on the output
the pitch
by horizon
TO maintain gyro
vertical
orbit
of the pitch
differential
at approximately
and can be set to match
rate.
the orbit
orbits
of various
altitudes.
Phase
Angle Shift Technique
Phase
Ar_le Shift Technique
ability.
One of the factors
unbalance.
which affects
The effect of unbalance
on with the synchronous different
(PAST) is a method
point
motor's
will vary with field.
each time It is started.
Drift
errors by a factor
of spin motor
8Yro drift
rotating
are in the order of O. 5 degrees drift
of improving
excitation
per hour.
of ten.
30 degrees
drift
Drifts
now tend to cancel and become predictable.
compensation
circuits.
gyro torque
generator.
for. )
All three
The drift Drift
point
e_,_rs t PAST
compensation
compensation
circuits
torques
848 CONFIDENTIAL
controX
unbBIAnce
the phase
is shifted.
is predictable
loops
apply
on to a
of reducing
Shifting
(_nen drift
of lock
shifts the phase
each time the phase
8yro torque
rotor
can lock
a means
at re_p_lar intervals.
repeat-
in the point
errors due to rotor
the rotor to lock on a different
compensated
changes
The spin motor
causes
it can be
is spin motor
PAST provides
TO cancel
gyro drift
contain
drift
a dc bias to each
the 8Yro in the opposite
....
CONFIDENTIAL
PROJECT _.
GEMINI
SEDR300
direction as predictable drift, maintaining a stable attitude.
Attitude
Malfunction
Detection
i An attitude malfunction generator
excitation,
voltages.
detection
glmbal control
Gyro signal generator
amplitude.
circuit performs
se_f checks of gyro signal i logic timing signals, and critical
signals,
excitation
is checked for presence and proper
Gimbal control signals are checked for th( length of time signals
are present.
The logic timing signal (28.8kc) is che(_ed for presence.
cal voltages (+22vdc, -3vdc, +12vdc) are checked for tion is detected,
,resence.
Criti-
If a malfunc-
an ATT light on the control panel is automatically
illuminated.
If momentary malfunctions occur, the ATT indicator cam be restored to normal operation
by pressing the RESET button.
NOTE If the attitude measurement malfunction,
the acceleration
tions are not reliable.
circuits indica-
Accelerometer
axes will not be properly alignedland indications are along _n_uown axes.
Acceleration
Measurement
Acceleration is measured along three mutually perpendicular axes of the inertial platform.
Sensing devices are three miniature pendulOus accelerometers.
8-69 CONFIDENTIAL
The
CONFIDENTIAL
PROJEC'T
GEMINI
accelerometers are mounted in the platform pitch block and measure acceleration along gyro x, y, and z axes.
Accelerometer
signal generators produce signals
whose phase is a function of the direction of acceleration. output is used to control torque rebalance pulses.
Signal generator
The torque rebalance pulses
drive accelerometer pendulums toward their null position.
Rebalance pulses are
dc current whose polarity is controlled by signal generator output.
The polarity
of rebalance pulses indicates the direction of acceleration and the algebraic sum of the pulses indicates the amount of acceleration.
Rebalance pulses are
supplied to the spacecraft digital computer where they are used for computations and incremental velocity displays.
Torque
Rebalance
Loop
Three electrically identical torque rebalance loops are used to control accelerometer pendulum positions.
Normally an analog loop would be used for this pur-
pose; however, if an analog loop were used, the output would have to be converted to digital form for use in the computer.
To eliminate the need for an analog to
digital converter, a pulse rebalance loop is used.
Short duration 184 milliampere
dc current pulses drive the accelerometer pendulum in one direction until it passes through null.
Pulses are applied at the rate of 3.6kc.
passes through null, signal generator output changes phase.
When the pendulum
The signal generator
output is demodulated to determine the direction of the pendulum from null. Demodulator output is used by logic circuits to control the polarity of rebalance pulses.
If acceleration is being sensed, there will be more pulses of one polar-
ity than the other.
If no acceleration is being sensed, the number of pulses of
8-70
CONFIDENTIAL
CONFIDENTIAL
_.
SEDR300
each polarity will be equal.
In addition to controlling the polarity of rebalance
pulses, logic circuits set up precision timing of the pulses. !
Precision frequency
inputs from the timing circuits are the basis for rebalance pulse t_m_ng.
Precise
timing is essential because the amount of pendulum torgue depends on the length of the current pulse.
All pulses are precisely the sar_ duration and amplitude,
therefore total torque is dependent only on the algebraic sum of the applied pulses.
Each time a reba]ence pulse is applied to the accelerometer torquer, a
pulse is also provided to the computer.
Algebraic su_=_tion of the rebalance
pulses is performed by the computer.
Pulse
Rebalance
Current
Supply
A pulse rebalanee current supply provides the required current for torque rebalance.
Since acceleration
measurements
are based on the number of torque pulses i
it is essential that all pulses be as near identical as possible. stable current, a ne_tive
feedback circuit is employed.
To maintain a
The supply output is
passed through a precision resistor and the voltage drop across the resistor compared to a precision voltage reference. Errors detected by the comparison are i used in the feedback circuit to correct any deviations enhance
in current. To further
stability both the current supply and the precision
are housed in a temperature
controlled
voltage reference
oven.
Accelerometer Dither
A pendulous aecelerometer, unlike a gyrp, has an inherent mass unbalance. mass unbalance is necessary to obtain the pendul,]maction.
The
Due to the unbalance,
perfect flotation of the pendulous glmbal cannot be achieved and consequently
8-71 CONFIDENTIAL
CONFIDENTIAL m_mmmmq
PROJECT _.
SEDR3O0
pressure
is present
caused by bearing
on the gimbal
friction,
The oscillation
(dither)
enough
stiction.
to cause
a i00 cps dither imposed
prevents
signal and adc
dither
signal beats against
down.
The dither motion
Accelerometer
pulses
gimbal
field
the stlction
oscillation
is imposed
from resting oscillation,
current.
is applied
to a separate
the dc field,
causing
the output
on its bearing
The dc field
and creates
a magnetic
coil.
the glmbal to oscillate axis and consequently
detection
and critical
voltage.
circuit
performs
Incremental
self checks
up and
no motion
velocity
pulses
from each of
it indicates
a flip flop did not reset
between
critical
voltage
is checked
If a malfunction
that
(+12 vdc)
an ACC light on the control
for presence.
panel is automatically
the accelerometer
by pressing
If pulses are absent
of incremental
seconds,
operation
The
Detection
for presence.
normal
around
generator.
malfunction
occur,
is super-
field
(modulator)
long
are required:
current
the three axes are checked
malfunctions
effect,
on the g_mbal.
two signals
excitation
is not around
Malfunction
acceleration
velocity
signal
To minimize
the gimbal
To obtain
The I00 cps dither
is sensed by the
bearing.
a low amplitude
on the signal generator
the gimbal.
An
GEMINI
malfunction
the RESET
button.
of the accelerometer
does not affect
attitude
8-72 CONFIDENTIAL
circuits
measurements.
The
is detected,
If momentary
can be restored
NOTE Malfunction
than 0.35
set pulses.
illuminated. circuit
longer
to
--
CONFIDENTIAL SEDR 300
PROJECT
AUXILIARY
COM_
The Auxiliary power
POWER UNIT
Computer
supply
properly
voltages
(ACPU)
can cause permanent are provided
at the computer.
The first circuit
control
circuit.
The second
circuit
and the third is auxiliary ON-OFF
Tr-nsient
power
as a transient
che_es
in the ACPU
at the computer.
is a trsnaient
circuit
senSe
The ACTU
memory.
_ low voltage
is a low voltage
power.
The computer
or a depression.
in the computer
to prevent
the IGS
Three
condition
and auxiliary
_ense
and power
is turned
power control
on and off with
switch.
sense circuit
conditions.
is designed
A series type
If regulator
voltage
the transient
sense circuit
The regulator
then places
the desired
level.
Low Volta_e
Sense
A low volta6e
craft bus volta6e
detects
auxiliary
regulator
c_uter
volta@e
drops
i below
the drop and turns power
transient
voltage
supply
momentarily
and correct
holds
low auxiliary
regulator
a minimum
of 17.5 volts,
on the series
on the line land mlntains
voltage
regulator. voltage
at
Circuit
sense
the computer
to sense
transistor
off the line as long as IGS power
is normal.
When
either
with
Sense Circuit
The transient volta@e
is used in eo_Junction
dc voltages
on low voltage
types of circuits
the C_
"-
Power Unit
to realntain the correct
cannot function Abnormal
GEMIN
circuit
is turned
prevents
the computer
on, the low volta@e
is above 21 volts
before
from operating
sense icircuit insures
a!l_lir_pOwer
8-73 CONFIDENTIAL
on low voltage. that
to be applied
space-
to the
GONFIDENTIAL
PROJECT
computer.
If the computer
is already
the transient
sense circuit
If spacecraft
bus voltage
voltage power
sense circuit
is controlled
on when
will maintain
is not back
initiates
through
GEMINI
normal
to normal
a controlled
contacts
sense circuit
the relay.
of the relay initiate
identical turns
with the computer
off the computer
voltage
sense.
attempt
to maintain
normal voltage
If power were
normal voltage
the auxiliary
Power
Auxiliary
power consists
cadmium
low voltage
battery
of i00 milliseconds charge
and rectifier.
to ac.
The ac voltage
limiting
to 25 milliamperes. source
and a trickle
will
A trickle
The charger
former,
a current
The battery
or less.
on the battery.
dc by a full wave
would
consists
The oscillator is then
stepped
diode rectifier. resistor,
in a manner
sense
circuit
charger.
of a transistor
a transformer
if desired.
8-74 CONFIDENTIAL.
it would
to maintain
A O. 5 ampere-hour
during
is provided
spacecraft
to maintain
a full
oscillator, supply
the battery
trans-
dc voltage
and changed
limits
bus
for periods
is then applied,
The resistor
to charge
low
be exceeded.
power
output
circuit
except
In attempting
up with
is included
sense
circuits
static power
Rectifier
circuit.
it deenergizes
shutdown
changes
to the battery.
Provision
depression
Computer
sense
supply up to 9.8 amperes
charger
the low
of the computer.
to the transient
is used to supply computer
transients.
i00 milliseconds
to all ACPU
power capability
occurs,
for lO0 milliseconds.
When the low voltage
at the computer.
of a battery
condition
in the low voltage
a computer
power
not broken
after
a voltage
power switch.
it also breaks
Auxiliar_
nickel
detects
voltage
shutdown
of a relay
When the low voltage Contacts
a low voltage
back
to
through
charging
current
from an external
CONFIDENTIAl.
_@
SEDR 300
DIGITAL
COMPUTER
SYSTEM DESCRIPTION
General The Digital
Computer,
point#
stored-program,
tions.
The computer
deep.
It weighs
Figure
8-20.
hereinafter
referred
general-purpose is 18.90
inches
58.98 pounds.
The major
computer, high,
External
external
to as the computer,
used to perform
i_.50
views
is a Binary,
inches wide,
and 12.75
of the computer
characteristics
on-hoard
fixed-
computa-
inches
are shown
in
are s_t-_arized in the accompany-
in6 legend.
Using _.
inputs
computer
performs
catch-up, puter
from other
along
the computations
required
during
back-up
and re-entry guidance
phases
with
a stored
thei: pre-launch,
of the mission.
for the Bunch
program,
the
insertion,
In addition,
the com-
vehicl(
during
ascent.
Platform_
System
Electronics,
and Outputs
The computer Inertial Manual
systems,
rendezvous,
provides
Y_ts
spacecraft
is interfaced
Guidance
Data
Attitude
System
Insertion
Display,
Auxiliary
with the Inertial
Power
Unit,
Attitude
Tape Memory
Supply,
Auxiliary
Time Reference Control
(spacecraft
System,
and Maneuver 8 through
Computer
Power
Digital
C_and
Electronics,
12), PiloSs'
Unit, System,
Titan Autopilot,
Control
and Display
!
Panel, Ground outputs
Incremental Equipment. include
Velocity
Indicator,
In connection
with
Instrumentatio_ these
System,
l interfaceS,
the following:
Inputs i _0 discrete 3 incremental
velocity
8-V5 CONFIDRNTIAL i
and Aerospace
the computer
inputs
and
CONFIDENTIAL
LEGEND ITEM
- -"
NOMENCLATURE
Q
MOUNTING
ACCESS COVER
(_
CONNECTOR
J4
Q
CONNECTOR
J5
(_
CONNECTOR
J7
CONNECTOR
J3
CONNECTORJR
Q
CONNECTOR
(_
CONNECTOR J6
(_
MOUNTING
ACCESS COVER
(_
MOUNTING
ACCESS COVER
MOUNTING
ACCESS COVER
)
JI
ELAPSED EIME INDICATOR CONNECTOR
(_)
RELIEF VALVE
(_
I'_OUNTING
(_
HANDLE
(_
MOUNTING
ACCESS COVER
ACCESS COVER
"_
ACCESS COVER
IDENTIFICATION
_
MAIN
PLATE
ACCESS COVER
BUS BAR ACCESS COVER (_
BUS BAR ACCESS COVER
(_
RELIEFVALVE II
Figure 8-20 Digital Computer 8-76 CONFIDENTIAL
CONFIDENTIAL
PRO SEDR 300
Inputs
i
(cont)
3 gimbal
angle
2 high-speed
data
(500 kc)
i low-speed
data
(3.57 kc)
i low-speed
data
(182 cps)
i input
and read-back
(99 words)
6 dc power
(5 regulated,
i ac power
(regulated)
i unregulated)
Outputs 30 discrete i--
3 steering
command
3 incremental I decimal
display
(7 digits)
i telemetry
(21 digital
i low-speed
data
i low-speed
data (182 cps)
data words)
(3.57 kc)
3 dc power
(regulated)
i ac power
(regulated,
Operational The major
velocity
filtered)
Characteristics operational
Binary,
characteristics
fixed-point,
of the computer
stored-program,
_re as follows:
general-purpose
f
8-77 CON FIDENTIAL.
CONFIDENTIAL SEDR300
PROJECT GEMINI Memo r_ Random-access, nondestructive-readout Flexible division between instruction and data storage 4096 addresses, 39 bits per address 13 bits per instruction word 26 bits per data word
Arithmetic Times Instruction cycle - 140 usec Divide requires 6 cycles Multiply requires 3 cycles All other instruction require I cycle each Other instructions can be progrn..nedconcurrently with multiply and divide
Clock tes Arithmetic bit rate - 500 kc Memory cycle rate - 250 kc
Controls
and Indicators
The computer itself contains no controls and indicators, with the exception of the elapsed time indicator.
However, the computer can be controlled by means of four
switches located on the Pilots' Control and Display Panel: ON-OFF switch, a seven-position and a push-button
mode
switch, a push-button
RESET switch.
8-78 CONFIDI.rNTIAL
a two-position START Computation
switch,
CONFIDENTIAL
;_
PROJECT
GEMINI
SYSTEM 0PE%_TION
The computer
receives
the
ac and dc I_wer
required
for
its
operation
from the
The regulated dc power supplied
Inertial Guidance System (IGS) Power Supply.
to the computer is buffered in the IGS Power Supply in a manner that eliminates any loss in regulation due to transients that occur in %he spacecraft prime power source.
Actual power interruptions and depressions areibuffered by the IGS Power
Supply and the Auxiliary Ccm_uter Power Unit.
The power inputs received from the
IGS Power Suppl7 are as follows:
(a)
26 vac and return
(b)
+28 vdc filtered and return
(e)
+27.2 wle A-d return
(d)
-27.2 _c
Ce)
+20 vdc and return
(f)
+9.3 _e an_return
and return
The applieatlon of all power is controlled by the ON-0FF switch on the Pilots'
Control
elapsed
time
the to
indicator
IGS Power Supply the
stops the
and Displ_
eom_uter. operating
Panel.
starts by the
When the and the
When the
operating computer. s_rltch
power
is
control
switch
and a power This turned
signal off,
signal
is
is iturned cox trol ca_les
the
eompute_.
8-79 CONFIDENTIAL .....
stKnal power
e, mputer
termi_Lted
i
on_ the
to
is
computer supplied
to
be tr.n-ferred
elapsed
time
to remove
power
indicator from
CONFIDENTIAL
PROJECT GEMINI
Within the computer, the 26 vac power is used by magnetic modulators to convert dc analog signals to ac analog signals.
This power is also used by a harmonic filter
to develop a 16 vac, _00 cps filtered gimbal angle resolver excitation signal. The +28 vdc power is used by computer power sequencing circuits.
The +27.2 vdc,
-27.2 vdc, +20 vdc, and +9.3 vdc power is used by power regulators to develop +25 vdc, - 25 vdc, and +8 vdc regulated power.
This regulated power is used by logic
circuits throughout the computer, and is supplied to some of the other spacecraft systems •
Basic Timln_ The basic computer timing is derived from an 8 mc oscillator.
The 8 mc signal is
counted down to generate four clock pulses (called W, X, Y, and Z) (Figure 8-21). These clock pulses are the basic timing pulses from which all other timing is generated.
The width of each clock pulse is 0.375 usec and the pulse repetition
frequency is 500 kc.
The bit time is 2 usec_ and a new bit time is considered as
starting each time the W clock pulse starts.
Eight gate signals (Gl, G3, GS,
GT, Gg, GII, GI3, and Gl_) are generated, each lasting two bit times.
The first
and second bit times of a particular gate are discriminated by use of a control signal (called LA) which is on for odd bit times and off for even bit times. Fourteen bit tlmes make up one phase time, resulting in a phase time length of 28 usec (Figure 8-22).
Five phases (PA through PE) are required to camplete a
computer instruction cycle, resulting in an instruction cycle length of 140 usec. Special phase tlmlng, consisting of four phases (PHI through PHi) (Figure 8-23), is generated for use by the input processor and the output processor.
Thls timing
is independent of computer phase timing but is synchronized with computer bit timing.
8-80 CONFIDENTIAL
CONFIDENTIAL
s o 3oo
PROJECT
GEMINI
!
--_ _- o.37B USEC
--"1
[-----2USEC
wn n n n n n_n
n n n n n n FUJI n_
x_n n n n n rL_n n n__n n n n,n I"I
n
I"I ,,I-I I-L_FI
,,_
n
n
I
G_
I
G5
rl.__R
rl
II
n
n
I-
n,, n n n n n n!run n n n 28USEC
!=
G_
i-I
n rE
:
-I
! I
I
I
:
I
I
G7
I
G,
I
! I
:
I
I I
G,, G,3
I i
I
GI,
I I
BIT TIMING BIT TIME (BT)
LA
GATE
BIT TIME (BT)
1
Iili'
G1
6
II0'1
G7
2
"0"
G3
7
"1"
3
"1"
G3
8
"0"
¢
5
_IOII
"I"
Figure
G5
G5
_
10
8-21 Computer
I
TABLE LA
Ill
GATE
"
"0"
_JT TIME (BT)
CONFIDENTIAL
GATE
I'1"
Gll
G7
1'2
"0"
GI3
G9
13
"1"
G13
]4
1'0"
G_
Gll
Clock and Bit :Timing 8-81
LA
lj
G_
l
CONFIDENTIAL
_
s,=oR 300
i"
BT'4 El
28 USEC
•
I
R
P_ I
1
_
I
n
n
I I
I
_°
I
Figure
_,,,n
28 USEC
rb I
_
I •
n
8-22 Computer
I
Phase Timing
I_l
n
_.,J
I
_._
I
n
n
n
n_
I
S
I
_H_
r-
I'
I
_ -I
I'
Figure
8-23 Processor
Phase Timing
8-82 CONFIDENTIAL
I
CONFIDENTIAL
_.
SEDR300
Me:o_ The computer
memory
nondestructive
is a random-access,
readout.
The nondestructive
read
The basic property
series-para_ _el, thereby a separate
buffer
bits.
_1! memory
words
each.
Data words
(25 bits
syllables,
modify
the thir_
syllables
makes
Data
accomplished
Insertion
in flight,
array
and a sign)
can store
_096 words,
into three
syllables
Stored
with
ferrite
toi read or write i
core.
serially unit
or in
without
or 159,7_4 of 13 hits
in the first
are intermixed
word.
in all three
Mod/flcation
two syllables.
of data stored
i
at the launch
or the Digital
on spacecraft
isi a two-hole
array
from the hangar iarea, it is not possible
of any memory
Unit
ferrite
a serial arithmetic
are normally
(13 hits)
O and i can he accomplished
the Manual
with
are divided
has been removed
syllable
it possible
The memory
words
element
operation
of 39 bits
and instruction
Once the spacecraft
storage
allowing
register.
coincident-current, i
site through
C_nd
8 through
System.
12, using
to
in
interface
with
It can also be
the Auxiliary
Tape
emory As
shown on Figure
readout
elements.
8-24, the memory Physically_
is a 64 x 64 x 39 bit array
it consists
of nondestructive
of a stack of 39 planes
(stacked
in the
I
Z dimension),
with
each plane
is logically
subdivided
efficiency.
The Z dimension
with each
syllable
into
consisting
consisting smaller
of a 64 x 6_ array
parts
is divided
to increase
into three
of 13 bits.
of cores.
the program
syllables
The X-Y plane
The memory
storage
(SYL 0 through
is divided
SYL 2),
into 16
i
sectors
(HEC O0 through
SEC 07, and SEC i0 through
defined
as the residual
sector.
A memory
word
is defined
as the 39 bits
along
SEC 17), with
the Z ilmenslon
sector
17 being
and is located
at one
!
of the _096 13 hits,
possible
X-Y grid positions.
and is coded in either
An instrucSion
syllable
word
or command
O, I, or 2 Of a memory J
8-83 CONFIDENTIAL
word.
requires
A data word
CONFIDENTIAL SEDR 300
0
y
32
40
skt o
15
11f
11 ,---
Sp_ !
Figure
8-24
Computer
Memory 8-8i4
CONFIDENTIAL
Functional
Organization
CONFIDENTIAL SEDR 300
PROJECT
GEMIN
requires 26 bits, and is always coded in syllables 0 and I of a memory word. Ini formation stored in syllable 2 can be read as a short data word by using a special mode of operation primarily used to check the contents of the memory.
_0TE The operation codes mentioned in the subsequent paragraphs are described in the Instruction and Data Words paragraph.
I truction
Ist
The instructions which can be executed by the computer are as follows: !
._
O_eration ,Code 0000
ilnstruction HOP.
The contents of t_e memory location specified iI
by the
operand
address
instruction address.
are
used
to
change
the
next
FQur bits identify the next i
sector, nine bits are transferred to the instruction address counter, two bi_s are used to condition the syllable register, and one bit is used to select one of the
o001
two data
DIV (divide).
word modes.
The contents
of the
memory location
specified by the operandi address are divided by the i
contents of the accumulator.
The 24-bit quotient is
i
available in the quotient del_y line during the fifth i word time following the DXV.
8-85 CONFIDENTIAL
i
I
CONFIDENTIAL
PROJEMINI _.
SEDR300
O_eration 0010
Code(cont)
(cont)
Instruction PRO (process specified
input by the
or output). operand
The input
address
loaded fr_n, the accumulator.
is
read
or output into,
or
An output command clears
the accumulator to zero if address bit A9 is a i. The accumulator contents are retained if A9 is a O. (Refer to Table 8-1 for a llst of the PRO instructions.)
0011
RSU (reverse subtract).
The contents of the accumula-
tor are subtracted from the contents of the specified memory location.
The result is retained in the ac-
cu_ulator.
0100
ADD.
The contents of the memory location specified
by the operand address are added to the contents of the accumulator.
The result is retained in the ac-
cumulator.
0101
SUB (subtract).
The contents of the memory location
specified by the operand address are subtracted from the contents of the accumulator.
The result is re-
tained in the accmnulator.
0110
CLA (clear and add).
The contents of the memory
location specified by the operand address are transferred to the accumulator.
8-86 CONFIDENTIAL
CONFIDENTIAL
PROJECT ___
GEMI
SEDR 300
_erand X (Bits A1-AS) 0
Address Y (Bits A_-A6) 0
Signal
Digital Cum_nd i
System shift pulse gate
i
0
i
Data Transmission System control gate i
0
2
_me
Reference System data and timing pulsesi
p-
0
3
Digit magnitude weight I
0
1_
Reset
0
5
Digit select weight I
0
6
Memory strobe
1
O
C_put
I
i
Drive counters to zero
I
2
Enter
i
3
Digit magnitude
i
_
Display device
i
5
Digit select weight 2
i
6
Au_opilot scale factor
2
0
Pitch resol_ion
2
i
Select X counter
2
2
Aerospace
2
3
Digit
2
5
Digit selec_ weight
2
6
Reset start !computation
Table 8-1.
data
er
ready,
8-87
and readout
ready
we_t
2
drive
Oround Equipment data link
magnitude
PRO Instruction Progrvm_ng
CONFIDENTIAL
enter,
weight
(i of 3)
CONFIDENTIAL
PROJEMINI SEDR 300 Operand A_ress X (Bits AI-A3) Y (Bits A_-A6)
Signal
3
O
Yaw resolution
3
i
Select Y counter
3
2
Aerospace Ground Equipment data clock
3
3
Digitmagnitude weight8
3
_
Read Manual Data Insertion Unit insert data
3
6
Reset radar ready
4
0
Roll resolution
4
i
Elapsed time control and Time Reference System control reset/A_
wind-rewind
Reset 4
3
Computer malfunction
_
ATM verify/repro command
6
Second stage engine cutoff
5
0
Computer x.m_ing
5
1
Time to startre-entrycalculations control /ATM wind co_and
5
2
Time to reset control/ATM rewind command
5
3
Write output processor
5
4
Readdelta velocity
5
5
Inputprocessor time
5
6
Timeto retrofire control
6
3
Read pitch gimbal
6
4
Readrollgimbal
Table 8-1.
PRO Instruction Programming (2 of 3)
8-88 CONFIDENTIAL
CONFIDENTIAL
_.
SEDR 300
Operand Address X (Bits AI-A3) X BitsA4-A6)
_
Signal
6
5
Ready yaw glm_al
7
0
Pitcherror Co.m_nd
7
i
Yaw error command
7
2
Roll
Table 8-1.
error c_nd
PRO Instruction Programm4!ug(3 of 3)
8-89 CON
FIDUNTIAL
CONFIDENTIAL
,%_-_
SEDR300
___
Operation COde (cont) 0111
Instruction (cont) AND.
The contents of the memory location specified
by the operand address are logically ANDed, bitby-bit, with the contents of the accumulator.
The
result is retained in the accumulator.
I000
MPY (multiply).
The contents of the memory loca-
tion specified by the operand address are multiplied by the contents of the accumulator.
The 24
high-order bits of the multiplier and miltiplicand are multiplied together to form a 26-bit product which is available in the product delay line during the second word time following the MPY.
i001
TRA (transfer).
The operand address bits (AI
through Ag) are transferred to the instruction address counter to form a new instruction address. The syllable and sector remain unchanged.
i010
SHF (shift).
The contents of _he accumulator are
shifted left or right, one or two places, as specified by the operand address, according to the following table :
8-90 CONPIDIEN'rlAL
CONFIDENTIAL
s.)t
i i
O_eration Code _ont)
Instruction (cont) Command
O_erandAddress iX (Bits AI-A_) Y (_BitsAM-A6)
Shift left one place
*
3
Shift left two places
*
4
Shift right one place
i
2
Shiftrighttwoplaces
0
2
• Insignificant
If an improp@r address co_e is given, the accumui lator is cleared to zero. While shifting left, O's are shifted into the Low-order positions; while shifting right, theisign bit condition is shifted into the high-order positions.
i011
_I
(transfer on minus a_cumulator sign).
If the
sign is positive (9)_ the next instruction in i sequence is chosen (no b_anch). If the sign is negative (i), the nine b_ts of operand address become the next Instruction address (perform branch). i The syllable an_ sector remaln unchanged.
Ii00
STO (store).
The contents of the accumulator are f
stored in the memory location specified, by the ! 1 operand address. The co_tents of the accumulator are also retained for la1_eruse.
8-91 CONFIDIENTIAL.
CONFIDENTIAL
PROJECT
GEMINI
Si:DR 300
o tlm,
code+(cont)
str, uctl,m ,(era, +,,) SI_ (store
Ii01
product
available _Y.
or
on the
second
quotient
is
The
time following
IIi0
CLD
time
available
The product
an
fifth
word
or quotient
specified
(clear and add discrete). input
selected
is
by the
to Table
accumulator
bit positions.
on non-zero).
are zero,
is chosen
are non-zero, become
address
is
(Refer
8-2 for a list of the CLD instructions. )
(transfer
sequence
The state of the
by the operand
read into all accumulator
TNZ
following on the
location
is
address.
discrete
iiii
The product
word
a DIV.
stored in the memory operand
quotient).
the next
(no branch);
instruction
The syllable
of the
in
if the contents
the nine bits of operand
the next instruction
branch).
If the contents
address
and sector
address
(perform
remain
unchanged.
NOTE The instructions paragraphs
mentioned
in the subsequent
(e.g., HOP, TRA, TMI, and TNZ)
are described Instruction
more
completely
Information
in the
Flow paragraph.
I nstructio n Sequencing The instruction
address
is derived
from an instruction
8-92 CONFIDENTIAL
counter
and its associated
CONFIDENTIAL.
PROJEI __.
SEDR 300
0perand Address X (Bits AI-A3) Y (Bits A4-A6)
_
Signal
0
0
Radar ready
0
1
Computer mode2
0
2
Spare
0
3
Processor timing phase i
0
_
Spare
i
0
Data ready
I
i
Computer modei
i
2
Start computation
I
3
X zero indication
1
4
ATM clock
2
0
Enter
2
i
Instrumentation System sync
2
2
Velocity error count not zero
2
3
Aerospace Ground Equil_nentrequest
2
4
Spare
3
0
Readout
3
i
Computer mode 3
3
2
Spare
3
3
ATM on
3
h
A_4 data channel 2
0
Clear
Table 8-2.
CLD Instruction Progrs..._ng (i of 2)
8-93 CON FIDENTIAL
CONFIDENTIAL
Operand Address X (Bits AI-A3) Y (Bits A4-A6)
Signal
1
A_
2
Simulation
3
ATM end of "tape
4
ATM data channel
5
0
Time
5
i
ATM mode
5
2
Y zero indication
5
3
A_ deta 1
5
_
Spare
6
0
Digital
Command
6
i
Fade-in
discrete
6
2
Z zero indication
6
3
Umbilieal
6
_
Spare
7
0
Instrumentation
7
i
Abort
7
2
Aerospace
7
3
Spare
7
_
Spare
4
Table
8-2.
mode
CLD Instruction
CON I=IDENTIAL
control mode
to start
1 co._aand
3
re-entry
control
calculations
2
System
ready _--
disconnect
System request
transfer Ground
progrsmm_ng
Equil_nent input
(2 of 2)
data
CONFIDENTIAL
PNI
address register.
,o,,oo
i
To address an instruction, the syllable, sector, and word
position within the sector (one of 256 positions) must be defined. and sector
are defined
by the
contents
of the
The syllable
syllabl
e register (t_o-bit code, i three combinations) and sector register (four-bit code, 16 combinations). These registers can be cha_ged only by a HGP instruction. sector is defined by the instruction _dress
The word position within the
counter.
The instruction address
count is stored serially in a delay line; and normally each time it is used to address a new instruction, a one is added to it so that the instruction locations within a sector can be sequentially scanned.
The number stored in the counter can
be changed by either a TRA, TMI_ or TNZ instruction, With the operand address specifying the new n,_her.
A HOP instruction can alsO change the count, with the
new instruction location coming from a data word.
Instruction and Data Words The instruction word consists of 13 bits and can be coded in any syllable of any m_nory word.
The word is coded as follows :
Bit Position
l
2
3
4
5
6
7
8
9
Bit Code
AI
A2
AS
A4
A5
A6
A7
AS!A9
i0
Ii
12
GPI
OP20PS
13 OP4
The four operation bits (0PI thro,_h 0P4) define one iof16 instructions, the eight e_erand address bits (AI through AS) define a memory _ord within the sector being presentl_ used, and the residual bit (Ag) determines whether or not to read the data _esidual.
If the A9 bit is a i, the data word addressed is always located
in the last sector (sector 17). F
If the A9 bit is a 0, the data word addressed
is read from _he sector defined by the contents of the sector register. ture alloss data
locations to be available
to
instru(tions
8-95 CONIWIOIKNl"lAI. i
stored
anywhere
This feain the
CONFIDENTIAL
SEDR 300
The data
of 25 man,rude
word consists
ed in t_o's-complement _f the point
ward is
denotes
and the
placed the
form, sign
between
binary
with
bit bit
the
of the
and a sign
low-order
occurring positions
weight
bits
after
the
2_ and 26.
position.
bits
bit.
Numbers
occu_,;ing
highest-order The bit
For example,
at
are
the
represent-
beginning
bit.
The binary
magnitude
number also
M16 represents
2 -16.
For the HC_ instruction, the next instruction address is coded in a data word that is read from the memory location specified by the operand address of the HOP word. The codings of a nmmerical data word and a HOP word are as follows :
BitP, ositloni
2
3
_
5
6
7
8
9
1o
11
12
13
Data Word
M25
M24
M23
M22
M21
M20
MI9
MI8
MI7
MI6
MI5
MI4
MI3
HOP Word
AI
A2
A3
A4
A5
A6
A7
A8
A9
Sl
S2
S3
S4
Bit Positic_
14
15
16
17
18
19
20
21
22
23
2_
25
26
Data Word
MI2
MII
MIO
M9
M8
M7
M6
M5
M4
M3
_
MI
S
SYA
SYB
-
S5
HOP Word
.......
For the HOP word, eight address bits (AI through A8) select the next instruction (one of 256) within the new sector, the residual bit (A9) determines whether or not the next instruction is located in the residual sector, the sector bits (SI through $4) select the new sector, and the syllable bits (SYA and SYB) select the new syllable according to the following table :
S_Uab,le
_B
sYA
0
0
0
i
0
i
2
I
0
8-96 CONFIDENTIAL.
_-
CONFIDENTIAL
PRO __
SEDR300
The special syllable bit ($5) determines the mode in which data words are to be read.
If the $5 bit is a 0, normal operation of reading data words from sylI
lables 0 and 1 is followed; however, if the $5 bit is a l, data words are read from syllable 2 only.
These data words contain infoE_tion
from syllable 2 in
bit positions 1 through 13, but contain all O's in bi_ positions 14 through 26. This special mode is foISowed until a new HOP c_and the normal mode of reading data words.
places the computer back in
(While in the ispecial mode, amy HOP word
addressed always has O's coded in the SYA_ SYB, and $5 positions due to the short data word that is read; therefore,
any HOP word!coded
while in this mode
terminates the mode and operation is resumed In syllable 0.).
The computer itself
i
does not have the capability to store information in Syllable 2; therefore, ST0 i and SPQ commands are not executed while in the special mode. The mode Is used ;
only to allow the computer arithmetic circuits to check the entire memory contents i to verify the fact that the proper information is in storage.
In a HOP word, the residual bit (A9) overrides the sector bits (S1 through S_). If the A9 hit Is a l, the next instruction is read frOm the residual sector.
If,
however, the A9 bit is a 0, the S1 through $4 blts determine the sector from which the next instruction is read.
For convenience, the data and instruction words can be coded in an octal form that is easily converted to the machine hlnary representat$on.
The order in which the
bits are written is reversed to conform to the normal imethod of placing lowersignificance blts to the left so that, while perform_pg arithmetic, the low-order bits are accessed first.)
The coding structure Is as follows:
8-97 CONFIDENTIAL
CONIFIDISNTIAL
PROJECT
GEMINI
_SEDR
300
____
Instruction Word 0Ph
OP3
0F2
0P1
A9
AB
A7
A6
A5
A4
A3
*Y Address
A2
A1
*X Address
*Addresses for CLD and PRO instructions
Data Word
s
_I
M2
M3
M4
M5
M6.......... M20
N21
M22
.23
M24 N25
where each group of three bits is expressed as an octal character (from 0 to 7). An instruction word is thus expressed as a five-character octal number.
The opera-
tion code can take on values from 00 to 17, and the operand address can take on
777. Any operand address larger than 377 addresses the residual
values from 000 to
sector (sector 17) because the highest-order address bit (Ag) is also the residual identification bit.
A data word is expressed as a nine-character octal number,
taking on values from 000000000 to 777777776.
The low-order character can take on
only the values of O, 2, 4, and 6.
Arithmetic Elements The computer has two arithmetic elements: and a multiply-divide element.
an add-subtract element (accumulator),
Each element operates independently of the other;
however, both are serviced by the same program control circuits.
Computer oper-
ation times can be conveniently defined as a number of cycles, where a cycle time represents the time required to perform an addition (140 usec).
All operations
except MPY and DIV require one cycle; MPY requires three cycles, and DIV requires six cycles.
Each cycle, the program control is capable of servicing one of the
arithmetic elements with an instruction.
An MPY or a DIV instruction essentially
starts an operation in the multiply-divide element, and the program control must
8-98 CONFIDINTIAL
CONFIDENTIAL
PROJECT
GEMINI
obtain the answer at the proper time since the multlply-divide element has no means of completing an operation by itself.
When an MPY is co_m_nded, the
product is obtainable from the multlply-dlvide element two cycle times later by an SPQ instruction.
When a DIV is commanded, the quotient is obtainable five
cycle times later by an SPQ instruction.
It is possible to have one other instruction run concurrently between the MPY and the SPQ during multiply, and four other instructions run concurrently between the DIV and the SPQ during divide.
However, an MPY or a DIV is always followed with an
SPQ before a new MPY or DIV is given.
Basic Information
Flow
Refer to Figure 8-25 for the following description of _nformation flow during the i five computer phase times.
The description
is l_m4tedl to those operations I
requir-
ing only one cycle time, and thus does not pertain to MPY and DIV. i During phnse A, the 13-bit instruction word is read from memory and stored in the instruction address register.
The address of the instruction is defined by the
contents of the memory address register, the sector r_gister, and the sy11-ble register.
The four operation code bits (OP1 through 0P4) are stored in the
operation register.
During phase B, the operand address bits (AI through AS) are
seri-1:lytransferred from the instruction address register to the memory address l register.
S_,,_Itaneously,the instruction address stored in the memory address
register is incremented by plus one and stored in the iinstruction address register. The operation specified by the operation code bits is !performed during phases C and D.
During phase E, the next instruction address Stored in the instruction
address register is transferred to the m_ory
8-99 CONFIDENTIAL
address register.
CONFIDENTIAL
PROJECT ,,
GEMINI
'=.,
_J
D
X DRIVERS
REGISTER
Y D MEMORY
R I
PHASE B (INSTRUCTION ADDRESS)
E
• INSTRUCTION ADDRESS
REGISTER
PHASES C & D
MEMORY ADDRESS
!'
J_ J REGISTER j _PHASE B (OPER AND ADDRESS) PHASE E (INSTRUCTION ADDRESS)
i _ !
i
OPERATION REGISTER
SENSE AND INHIBIT DRIVERS
REGISTER PHASE
J
SYLLABLE
J
1
PHASE C&D
[ Figure
l
8-25
Basic
Information 8-100
CONFIDENTIAL
T Flow
OUTPUTS
J
CONFIDENTIAL $EDR 300
Four of the one-cycle operations do not strictly adhere to the above information flow.
These operations are HOP, TRA, T_I, and _FZ.
For the HOP instruction, data
read from memory during phases C and D is transferred directly to the instruction address register, the sector register, and the syll,ble register.
For the TRA,
S_I, and TNZ operations, the transfer of the next instruction address from the instruction address register during phase E is inb_bited to allow the operand address to become the next instruction address.
Instruction Information Flow Flow Diagram:
The instruction information flow diagram (Figure 8-26) should be
used along with the following descriptions.
CLA Operation During phases C and D, the data that was contained in the accumulator A and B is destroyed.
S_multaneously,
during phases
new data from the selected memory location
is transferred through the sense amplifiers and into the ace_tor. i
During
phases E and A, the new data is recirculated so as to be available in the accumulator during phases A and B.
ADD Operation During phases C and D, new data from the selected m_ry through the sense amplifiers
and into the accumulator_
location is transferred Here, the new data is
added to the data that was contained in the acctamulator during phases A and B. During phases E and A, the sum data is recirculated sO as to be available in the accumulator
during phases A and B.
SUB Operation During phases C and D, new data from the selected memory location is transferred
8-iOl CONFIDENTIAL
CONFIDENTIAL SEDR 300
"TRA" ACCUMULATOR SIGN CONTROL
DRIVERS
_
.oP
,N.IS,T
Y
R I V
_
MEMORY _
S
HOI
"TRA"
HOP _
a
TNZ TMI ACCUMULATOR
•
PRO
(16
r
INSTRUCTIONS) --
INSTRUCTION
t OR
TIME)
A_
m
_I =
(OPERATE __
ADD
--I
(ADD-SUBTRACT
-
|
i
INPUT PRO _ OUTPUT ADDRESS _
IN%:T£_T_ = PRO
_ _
(OP_RATETI_E)
l
NOTE A---- AND;
Figure
m OUTPUT DATA
8-26
I --- INVERTER
Instruction 8-102 CONFIDENTIAL
Information
Flow
CONFIDENTIAL SEDR 300
PROJECT
GEMINI
through the sense amplifiers and into the accumulator.! Here, the new data is subtracted from the data that was contained in the accumulator durlngphases and B.
A
During phases E and A, the difference data is recirculated so as to be
available in the accumulator duringphases
A and B.
RSU Operation Duringphases
C and D, new data from the selected memory location is transferred
through the sense amplifiers and into the accumulator.! Here, the data that was contained in the accumulator during phases A and B is isubtracted from the new data.
Duringphases
E and A, the difference data is recirculated so as to be
available in the accumulator during phases A and B.
AND Operation During phases C and D, new data from the selected memory location is transferred through the sense amplifiers and into the accumulator_
Here, the new data is
ANDed with the data that was contained in the accumulator during phases A and B.
i During phases E and A, the ANDed data is reelrculatedlso as to be available in the accumulator during phases A and B.
SHF Operation During phases C and D, the data that was contained inithe ac_tor
during
phases A and B is shifted left or right, one or two places, as specified by the operand address.
During phases E and A, the shifted _ta
is recirculated so as
to be available in the accumulator during phases A an_ B.
f
STO Operation During phases C and D, the data that was contained inithe phases A and B is transferred thr_sh
accumulator during
the inhibit drivers and stored in the memory
8-lO3 ¢ONPIDENTIAL
CONFIDENTIAL
PROJECT
location
selected
reeirculated
by the
operand
address.
so as to be available
in the
GEMINI
During
__
phases
accumulator
E and A, the
during
phases
same data
is
A and B.
H0P Operation During
phases
C and D, new data
from the
selected
memory location
is
transferred
through the sense --_lifiers and into the address, sector, and syllable registers. Here, the new data is used to select the address, sector, and syllable of the memory location from which the next instruction will be read.
TRA Operation During phases A and B, the instruction from the selected memory location is transferred through the sense an_lifiers and into the address register.
Here, the
instruction is ttsedto select the address of the m_zory location from which the next instruction will be read.
The sector and syl1.ble remain unchanged.
TMI Operation During phases A and B, the instruction from the selected memory location is transferred thro_,_hthe sense amplifiers and into the address register.
Here, if the
accumulator sign is negative, the instruction is used to select the address of the memory location from which the next instruction will be read.
However, if the
acc_._lator sign is positive, the next instruction address in sequence is selected in the normal m_nner.
The sector and syllable remain unchanged.
TNZ Operation During phases A and B, the instruction from the selected memory location is transferred through the sense A_lifiers
and into the address register.
Here, if the
contents of the accumulator are not zero, the instruction is used to select the address of the memory location from which the next instruction will be read.
8-1o4 CONFIDENTIAL
.....
CONFIDENTIAL
PR FNI _.
SEDR300
However,
if the contents
in sequence
of the accumulator
is selected
in the normal
are zero
manner.
The
the next instruction
s@ctor and syllable
address
remain
un-
changed.
CLD Operation During
phases
C and D, the data that was contained
A and B is destroyed. the operand
address
Simultaneously, is transferred
phases E and A, the new data lator during
the state
in the accumulator
of the discrete
into all accumulator
is reeirculated
during
input
bit positions.
so as to be available
phases
selected
by
During
in the accumu-
phases A and B.
PRO Operation
(Inputs;
During
phases
C and D, the data that was contained
phases
A and B is destroyed.
by the operand
address
when A_I)
Simultaneously,
is transferred
the new data is recirculated
in the accumulator
during
the data on the input
into the accumulator.
so as to be available
channel
During
phases
in the accumulator
selected E and A,
during
i
phases
A and
B.
PRO Operation
(Inputs; when
During
C and D, the data on the input
phases
transferred
Ag=O)
into the accumulator.
Here,
channel
selected
the new data
by the operand
is ORed with
is
the data that
i
was contained ORed data
in the accumulator
is recirculatad
during
phases
so as to be available
A and B.
During
phases
in the accumulator
E and A, the
during
phases
A
and B.
.
PRO Operation
(Outl_tS)
During
C and D, the data that was contained
phases
A end B is tr_sferred
to the output
channel
in the accumulator
selected
8-I05 CONFIDENTIAL
:
by the operand
during
phases
address.
If
CONFIDENTIAL
PROJECT
GEMINI
the A9 bit of the operand address is a i, the data that _¢as contained in the accumulator during phases A and B is then destroyed.
However, if the A9 bit is
a 0, the data is reclrculated so as to be available in the accumulator during phases A and B.
MPY Operation During phases A and B of the first instruction cycle, the data that is contained in the accumulator is transferred into the multiply-divide element as the multiplier.
During phases C and D of the same cycle, new data from the selected
memory location is transferred through the sense amplifiers and into the multiplydivide element as the multiplicand.
During the remainder of the first instruction
cycle and the next tw_ instruction cycles, the multiplicand is multiplied by the multiplier.
The product is available in the multiply-divide element during phases
C and D of the third instruction cycle.
DIV Operation During phases A and B of the first instruction cycle, the data that is contained in the accumulator is transferred into the multiply-divide element as the divisor. During phases C and D of the same cycle, new data from the selected memory address is transferred through the sense amplifiers and into the multiply-divide element as the dividend.
During the remainder of the first instruction cycle and the next
five instruction cycles, the dividend is divided by the divisor.
The quotient is
available in the multiply-divide element during phases C and D of the sixth instruction cycle.
8-106 CONFIDINTIAL
....
CONFIDENTIAL.
__
SEDR300
SPQ Operation During phases C and D, the product or quotient that is contained in the multiplydivide element is transferred through the inhibit dr_vers and stored in the memory location selected by the operand address.
In the subsequent program and interface descriptions, the signals that are
pro-
grammed by CLD and PRO instructions are sometimes referred to as DI (Discrete i
Input) or DO (Discrete Output)isignals. I
The two digits
following
the
DI or DO
are the Y and X addresses, respectively, of the instructions.
OPERATIONAL PROGRAM
General Two different programs are used with the rendezvous configuration of the spacecraft.
For spacecraft 6, the sixth operational program is utilized.
craft 8 and up, the seventh operational program is used.
For space-
The primary difference
between the two is that the latter is a modular program and is used in conjunction with the Auxiliary Tape Memory (ATM).
Sixth Operational
Program
The sixth operational program consists of six basic routines, called executor, pre-launch, ascent, catch-up, rendezvous, and re-entry. of several subroutines.
Eech routine is made up
Some of the subroutines are common to all routines while
8-io7 CONFIDENTIAL.
CONFIDENTIAL
PROJECT
GEMINI
SEDR300
SODIe are l__n4_queto a particular of pros_m
instructions
to operate.
which,
The initiation
PUTER mode
switch
initiated,
the subroutines
Executor
dividual
when
Each
executed,
of a particular
on the Pilots'
Control
within
subroutine cause
specific
routine
Panel.
are executed
of a series
computer
is controlled
and Display
the routine
consists
circuits
by the CCM-
Once a routine
is
automatically.
Routine
The executor routines.
routine.
routine
selects,
The program blocks
(a)
and handles
the functions
flow for this routine
is shown on Figure
shown on the figure are explained
Block
1.
co-_on to, all other
When the computer
8-27.
as follows:
is turned
on, the first memory
tion addressed is address 000, sector 00, syllable O. location routine
(b)
is the first memory
The operational
locations
dresses.
addresses
on whether
instructions
utilized
This memory
by the executor
computer
scale factor,
utilizes
special
as Logical
predetermined
Choice
(LC) ad-
the sign bits at these LC addresses
(0).
The sign bits
during
the execution
of specific of the
they are plus or minus,
are
The following
computation, pilot
times,
are then checked
of program
3.
program
are designed
(I) or plus
and, depending
Block
which
At certain
are set minus
(c)
address
loca-
•
Block 2. memory
The in-
LC
routines
special
series
executed.
discrete
running,
AGE data
8-i08 CONFIDENTIAL
outputs
second
clock,
are set plus:
stage
engine
start
cutoff,
and Time Reference
auto-
System
gate.
CONFIDENTIAL SEDR 300
1 LC ADDRESSES
' I
TIME
YES
TIME
I
NO
YES
i
I
REiD C)
I
,r
Figure
8-27
r
I
EXECUTE ASCENT
EXECUTE CAICCH -Ul
ROUTINE
ROITINE
Executor
Routine
Program
8-109 CONFIDENTIAL
!
Flow
O
CONFIDENTIAL
PROJECT
(d)
Block 4.
The processor
the individual
(e)
Block
5-
Block
The accelerometer
6.
A special
determine
If these
this
Program
instruction
subroutine
signals
is executed
the GO path
causes
program
arithmetic
fail,
instruction
to verify
from the accelerometers
computer
circuits
there is no failure,
Block 7.
is read for utilization
go, no-go diagnostic
if the basic
properly.
(g)
real time count
by
routines.
the X, Y and Z velocity
(f)
GEMINI
that
equal
is executed
circuits
zero.
to
are functioning
the NO GO path is followed;
if
is followed.
PR03_
is executed.
the computer
malfunction
The execution circuit
of
to be con-
ditioned.
(h)
Block 8.
The processor
utilization
(i)
real time count
by the individual
Block 9-
Program
condition
of the AGE request
for
routines.
instruction
l, the YES path is followed;
is read and updated
C_ID32 is executed discrete
input.
to determine
If the input
the
is a
if the input is a O, the NO path
is followed.
(J)
Block
i0.
Special
check-out
the Gemini T.aunch Vehicle
(k)
Blocks
II through
determine mode
i_.
the condition
switch.
This
tests are executed
and the computer
Program
instructions
of the discrete
switch is manually
8-110 CONFIDm'NTIAL
by the AGE.
can be checked
CLDIO,
inputs
controlled
CLDII,
Both
out.
and CLDI3
frcm the CCMPb_/_ by the pilot and,
CONFIDENTIAL
SEDR 300
depending routine
upon which
until
to the
mode is
be execute_ cce_uter
is
mode switch
discrete
routtne
as follows.
are
selected,
until
the
turned
off.
inputs
icauses
switcl
is
The combinations
required
Routine
setting
a particular
t(
select
changed
or
of COMPUTER
a particular
Discrete Inputs i
Pre-launch
0
0
0
Ascent
1
0
0
Catch-up
i
0
i
Rendezvous
0
1
0
Re -entry
0
1
1
(i)
Blocks 15 through 19.
Depending on the setting of the COMPUTER
mode switch, one of these operationaliroutines is selected. l ;i individual routines are discussed in Subsequent paragraphs.
The
Pre-launchRoutine The pre-launch routine provides the instructions required to check out the com! i
purer prior to launch and to read in special data forifuture use. This routine i performs sum-checks on all sectors within the computer memory. These checks are |i
performed by adding the contents of all memory addresses within a sector and i comparing
the sum with a pre-stored constant.
If theiconstant and the sum are ;
not equal, the computer malfunction latch is set by program instruction PR03_. If the sum check is successful, special data is store@ in predetermined memory addresses hythe
co--nonsubroutines.
These subroutines are discussed in later
paragraphs. 8-iii CONFIDENTIAL
CONFIDENTIAL
PROJ E'-E'C"T-G-EM I N I SEDR 300
Ascent
Routine
The ascent routine provides the computations required for back-up ascent guidance. After the computer has been placed in the ascent mode, special data is transferred to the computer via the Digital Command System.
This data is then continually up-
dated and used to keep track of the orbit plane and the platform attitude with respect to Earth.
Thirty second_ after the special data is first transferred to
the c_nputer, the Inertial Guidance System is placed in the inertial mode. computer continually this time.
monitors
The
and stores the platform gimbal angle values during
After lift-off, the co_puter performs a back-up guidance function.
If necessary, however, the computer can he used to perform prlmary guidance during ascent.
Catch-up Routine The catch-up routine provides the computations required to properly position the spacecraft for rendezvousing.
During the catch-up mode, gimbal angle values and
incremental velocity values are computed.
Calculated data is then supplied to
the Attitude Display so that the spacecraft can be properly positioned for rendezvousing.
Rendezvous Routine The rendezvous routine provides the computations required for achieving a rendezvcus.
The routine performs essentially the same function as the catch-up routine,
with the addition of radar data computations.
The radar data is transferred to
the conjurer from the rendezvous radar and utilizc_lin computations.
These compu-
tations are used to achieve a rendezvous between the spacecraft and the target.
Re-entry Routine The re-entry routine provides the computations required for re-entry guidance. 8-112 CONFID'rNTIAL
CONFIDENTIAL
SEDR 300
During
the re-entry
velocity respect
errors
mode, the retrograde
are calculated.
to the desired
landing
velocity
The distance
is monitored
and heading
site are calculated,
and retro_rade
of the spacecraft
a_d the down
with
range travel
to
i
touchdown craft
is predicted.
roll
maneuvers
The routine
during
also provides
re-entry
signA]_
and provides
to com_ana
a d_aplay
of
the space-
attitude
errors.
NOTE The following previously
subroutines
described
accelerometer, mentation
a description
Gimbal
Angle
The glmbal
angle
subroutine
cessing
operation
than
System,
angle, Instru-
Therefore,
subroutines
follows.
Platform.
the glmbal
During angle
value
axis were
the processing angle
glmbal
value.
for the pitch,
a computer word
time,
and transfers
This method
for each
angles
enables
processed,
the
a previously
a faster
pro-
individually.
of lone gimbal angle
value
(The igimbal angle value
and
is the
angle. )
Subroutine
Unit.
subroutine These
spacecraft,
adjustment
between
of the actual
The acceleremeter
of the
and processes
if the angle
of the next gimbal
equivalent
Measuring
reads
reads in one gimbal
5 ms elapses
the processing
Accelerometer
gimbal
data.
of each of these
angle value to the acc_-mllator.
Approximately
binary
and manual
of the Inertial
angle processor
read glmbal
Command
to the
Subroutine
yaw, and roll axes glmbal
routines:
Digital
System,
are co_nn
processes
signals,
are generated
of the accelerometers,
which
velocity represent
signal
velocity
by accelerometers. the signals
8-i13 CONFIDENTIAL
inputs
contain
Due
from the Inertial
for the X, Y_ and Z axes to the construction
inherent
bias
and
and alignment
CONFIDENTIAL
PROJECT
GEMINI
__
SEDR300
errors. values
The
subroutine
corrects
in predeterm_ued
the X, Y, and Z velocity
line.
The delay line ,is then
depend
on the selected
Co,_and
The Digital Digital
Co._and
Co,_nd
consisting
where
the data bits
then
signals,
locations.
read by the subroutine
System subroutine (DCS).
of 6 address
reads
input processor
them to the processor at periodic
The data bits
bits
intervals
in the computer
this
stored
data furnished
the computer with
and 18 data bits.
from the DCS.
are then
After
and processes
The DCS furnishes
are to be stored
bits.
velocity
delay which
or routine.
if data is available
by the address
The computer
and transfers
reads the data into the ac_1,.,lator.
separated.
and stores the corrected
Subroutine
System
wor_s
determines
mede
System
errors
computer memory
reads
Digital
these
The address memory.
special bits
the address
in the computer
data is stored,
24-bit
indicate
The subroutine
If data is available,
Next,
by the
first
the subroutine
and data bits are
memory
address
it is used as constants
specified by other
subroutines.
The DCS subroutine (Address
100-117).
operational tendsd
program
address
accomplished first
recognized address words
contains
it is necessary order
and the associated With
order
the DCS extended
20 first,
low order
address,
into the computer.
8-ll CONFIDENTIAL
the proper
and this must be
21 next).
20 is recognized
On the second
DCS addresses.
For each DCS ex-
two transmissions
address
data yields
extended
in the computer.
to make
data.
provide
20 and 21 exercises
(i.e., DCS address
the DCS subroutine,
is stored as high
which
of addresses
loops to store the data
in the proper
word.
instructions
The recognition
insert,
cycle through
ciated data
also
and the asso-
cycle, address
data plus
it is possible
On the
21 is
the DCS extended to insert
26-bit
CONFIDENTIAL
PRO SEDR3OO
Instrumentation
System
Subroutine
The Instrumentation
System
the Instrumentation
System.
to the Instrumentation the stored include pitch,
velocity roll,
mentation words
results
of other
address
in the Instrumentation mentation
MAnual
21 data words
for the X, Y, and Z axes,
input
are assembled
Once
occurs.
in a special
of 21 predetermined
as a word System
selection
memory
the input
values
seconds,
for the
the Instru-
occurs,
the data
System
addresses.
tO determine
are
transferred
l_strumentation
memory
counter
buffer
angle
every 2.4
When
data words
of data words gimbal
it to
are transferred
The transferred
The types
range.
data and transfers
A special
which
are to be transferred
memory
data words
to the Instru-
System.
Data
The manual
Subroutine data
Data Keyboard Readout
subroutines.
consists
is used
special
by the subroutine.
sync discrete
The buffer
assembles
2._ seconds,
and yaw axes, and radar
to be transferred
memory
Every
System
changes
System
buffer.
subroutine
subroutine
determines
(MDK) to the computer
(MDR).
The subroutine
are used to govern
when
and from the computer i
consists
the generation
data is transferred
of approximately
of signals
that
control
from the Manual
to the Manual
Data
I000 instructions circuit
operation
which in
the MDK and MDR.
Seventh
Operational
The seventh
Program
operational
program
craft 8 and 9 are scheduled to use all six modules. discussed I
Module
I represents
of six modules.
to use modules
Each module
below and under Sixth
Module
consists
that portion
I, IV and V.
contains
,Operational
certain
At this time, Spacecraft
routines
space-
i0 is scheduled
and subroutines
' Prog_.
of the program 8-115 CONFIDENTIAL
which
is always
maintained
in
as
CONFIDENTIAL
PROJECT--GEMINI SEDR 300
the computer memory.
It contains the programming required for the pre-launch
mode as well as that associated with the executer functions,
diagnostic
sub-
routines, computational subroutines and the ATM read programs.
Module II Module II consists of the ascent computer mode, a simplified catch-up mode (no radar interface) and that portion of the re-entry mode required for ascent/abort re-entry guidance.
For ascent/abort re-entry, the computer mode selector remains
in ASC.
Module III Module III consists of the catch-up and rendezvous modes as described under Sixth Operational
Program.
Module IV Module IV contains the touchdown predict and re-entry modes.
The touchdown
predict mode provides an on-board capability for predicting the half-llft touchdown point on the basis of ground-computed orbital initial condition data and a selected trial retrograde time.
The calculated time-to-go to retrograde and
the associated retrograde initial conditions may be automatically transferred to the Time Reference System (TRS) and re-entry program, respectively, for subsequent initialization of the re-entry mode.
The re-entry mode is generally
the same as that described for the Sixth Operational Program.
Module V Module V contains the ascent mode of module II, without the ascent/abort capability, and the catch-up and rendezvous modes of module III without the rendevous self test.
The purpose of modnle V is to insure that ATM load failure
8-116 OONFIDIENTIAL
CONFIDENTIAL
SEDIt 3OO
will
not
Jeopardize
Module
VI
Module
VI contains
completion
of rendezvous
the orbit predict,
mission
orbit
objectives.
navigation,
and orbit
determination
tootles.
The orbit predict position
mode
provides
of the spacecraft
position)
as much
This mode
also provides
in the spacecraft inputs
the capability
or target
as three orbits
The orbit navigation
axes while
velocity
and position
computer
equations
provides
changes
or 0ne orbit i
by
to
the orbit
computation
the means
including
the velocity
relative
s_,,_late _isive i is accomplished by accepting
This
mode
(or thei_
into the future
the capability
orbit.
in the guidance
vehicle
to calculate
and
velocity
and
into the past.
velocity
changes
velocity
change
is not in progress.
to navigate il
the spacecraft
the accelerometer
outputs
during
in the
of motion.
The orbit determination
mode
provides
the capability
to improve
the on-board
i
navigation star
to
accuracy
local
by processing
vel'q_icle
angle
the measurements
taken
aboard
the
of! star to horizon
angle
or
spacecraft.
I_I'I_WACE S Figure also
8-28
shows the equipment
contains
references
which
interfaces
to the individual
with
equipment
the computer. interface
The diagram
diagrams.
i
InertialPlatform (Figure8-29) The computer on the pitch, rotors
supplies roll,
_00 cps excitation
and yaw gimbal
of any of these
resolvers
to the rotors
axes of the !nertial
away from their
of three Platform.
resolvers
Movement
zero! (platform-caged) i
8-117 CONFIDENTIAL.
i
located of the
reference
CONFIDENTIAL SEDR 300
__.
4,
PROJECT
GEMINI
INERTIAL MEASURING
PLATFORM (FIGURE 8-29)
UNIT
ELECTRONICS (FIGURE 8-30)
POWER SUPPLY (FIGURE 8-31)
J
N IMENTAL
VELOCITY INDICATOR (FIGURE 8-40)
:
-'-
AEIOSACE GROUND EQUIPMENT (FIGURE 8-42)
I
TITAN AUTOPILOT
•
I
DIGITAL
_
(FIGURE 8-37)
_=
_
_
COMPUTER
IPLOT I CONTROL AND DISPLAY PANEL (FIGURE 8-39)
!
NI
I
I ...
SYSTEM (FIGURE 8-41)
DIGITAL COM/CU_,ND SYSTEM (FIGURE 8-34)
i NDEzv°us .
IT ISY ME E EM
(FIGURE 8-38)
(FIGURE 8-33)
IA TUDECONT I OL I AND MANEUVER ELECTRON] CS
I
_=
(FIGURE 8-36)
NOTE []_
i
SPACECRAFT 8 THRU 12 ONLY.
Figure
8-28
READOUT
KEYBOARD
(FIGURE 8-32)
(FIGURE 8-32)
MANUAL
Computer 8-118
CONFIDENTIAL
DATA INSERTION
Interfaces
UNIT
I
C_ AUXI LIARY TAPE MEMORY (FIGURE 8-38)
I
CONFIDENTIAL SEDR 300
j_
_L___._'_
PROJECT
GEMINI
! INERTIAL PLATFORM
_
DIGITAL
COMPUTER
I
RETURN (XCEGAEG)
ROLL GIMBAL
ANGLE
FILTER
(XPR4PPSRRC)
REFERENCE (XPR4PCRPRC)
YAW GIMBAL
ANGLE
l
(XPR3PPSRVC) GIMBAL ANGLE
REFERENCE (XPR3PCRPYC)
PITCH GIMBAL ANGLE
•
PROCESSOR
(XPR1PPSRPC)
REFERENCE (XPR1PCRPPC)
J ACCELEROMETER
-X VELOCITY
Y
PLATFORM
ACCE LEROMETER
-Y VELOCITY
ACCELEROMETER
-Z VELOCITY
Figure
8-29
•
Computer-Platform 8-119 CONFIDENTIAL
ACCUMULATOR
ELECTRONICS
Interface
CONFIDENTIALSEDR300
PROJEC--'-G
EM I N I
causes the output voltage of the stator winding to be phase-shifted the reference 400 cps voltage inputs to the computer: the compensalor winding
_e
a reference voltage from
(pitch, ya_, and roll references),
voltage from the stator winding
following PRO instruction
relative to
and a phase-shifted
(pitch, yaw, and roll gimbal angles).
programming
is associated with the Inertial Platform
interface : Signal
Address X
Y
Readpitchgimbal
6
3
Readrollgimbal
6
4
Readyawgimbal
6
5
The gimbal angles are read no sooner than 5 ms from each other, and the total reading time for all three angles is no greater than 30 ms. once per computation
in the catch-up, rendezvous,
every 50 ms in the ascent mode.
The angles are read
and re-entry modes, and once
These angles are gated, as true magnitude, into
the accumulator S, and I through 14 bit positions with the 15 through 25 bit positions being zero. discarded.
The accumulator value from the first PRO instruction is
Each of the next three PRO instructions
results in an accumulator
value of the glmbal angle read by the previous PRO instruction, as follows:
(a)
PROS6 (read pitch; process previously read angle)
(b)
Discard previously read angle
(c)
Wait 5 ms
(d)
PR046 (read roll; provess pitch)
(e)
STO pitch
8-12o CONIFIOENTIAL
CONIFIIDiENTIAL
SEDIt 300
(f)
waAt
(g)
PRO56 (read yaw;
(h)
STO roll
process
ii
roll)
(i) wait5 ms (J)
PRO36 (read pitch; process yaw)
yaw The computer inputs frcm the Inertial Platform are
s_...-_._ized as follows:
(a)
Roll gimbal angle
(b)
Yaw _mbal
(c)
Pitch gimbal angle (XPRLPPSRPC) andlreference (XPRIPCRPPC)
(XPR4PPSRRC) and
._ference (XPR_PCRPRC)
angle (XPR3PPSRYC) and reference ((XPR3PCRPYC)
The computer output to the Inertial Platform is _._rized
as follows:
Gimbal angle excitation (XCEGAE) and return (XCEGAEG)
System Electronics (Figure
8-30)
Outputs derived from each of the three platform accele_eters computer as incidental
are supplied to the
velocity pulses (+X and -X delta velocity, +Y and -Y delta
velocity, and +Z and -Z delta velocity).
An up level on one Line denotes a posi-
tive increment of velocity while an up level on the _ther line denotes a negative increment of velocity.
The following PRO instruction programming is associated with the System Electronics interface:
8-121 CONFIDENTIAL. iI
CONFIDENTIAL •_._
_
SEDR 300
PLATFORM ELECTRONICS
DIGITAL
COMPUTER
+ X VELOCITY
FROM PLATFORM
+ X DELTA VELOCITY CONVERSION CIRCUIT
-X DELTA VELOCITY I
-X VELOCITY
(XEDVPL) (XEDVML)
INERTIAL
+ Y VELOCITY
FROM PLATFORM
+ Y DELTA VELOCITY
(XEDVPY)
CONVERSION
INPUT
CIRCUIT
-Y DELTA VELOCITY
____
J
-Y VELOCITY
(XEDVMY)
PROCESSOR
INERTIAL
+ Z VELOCITY
FROM
+ Z DELTA VELOCITY CONVERSION CIRCUIT
-Z DELTA VELOCITY
(XEDVPZ)
,
(XEDVMZ)
ACCUMULATOR
Figure
8-30
Computer-Platform 8-122 CONFIDENTIAL
Electronics
Interface
CONFIDENTIAL.
SEDR 300
Signal
Address
Processor
X
Y
PHASETIME
Read X delta velocity
5
4
2
ReadY deltavelocity
5
4
3
ReadZ deltavelocity
5
_
The input processor accumulates the incremental velocity pulses on the processor delay line in two 's-complement form.
The velocity p_aes
have a mnximum frequency
of 3.6 kc per channel with a minimum separation of 135 usec between any plus and minus pulse for a given axis.
Three input circuits are used to buffer the plus
and minus pulses, one circuit for each axis. /-
The buffered velocity p_11ae inputs i
are sampled during successive processor phases and read into a control circuit. This control circuit synchronizes the inputs with the processor timing and establishes an add, subtract, or zero control for thelprocessor carry-borrow circuit.
The Bccumulated velocity quantities are read into the accumulator S, and
1 through 12 bit positions in two's-complement form via a single PRO45 instruction, as follows:
(a)
Processor phase 2 - read accumulated X velocity
(b)
Processor phase 3 - read accumulated Y velocity
(c)
Processor phase 4 - read accumulated Z velocity
As the accelerometer values are read into the accumulator, the delay llne is automaticslly zeroed so that each reading represents the cb,_e
in velocity from the
previous reading.
The cow,purer inputs from the System Electronics
are s_-_rized
8-123 CONIFIOI!NTIAL
as follows:
CONFIDENTIAL
PROJ':-'t--'6EM,NI SEDR300
(a)
+X delta
velocity
(]IED_L)
(_) -xde1_ velocity (X_) (c) +_del_ velocity (_) (d) -_del_ veloclty (_) (e)
+Z delta
velocity
(3_DVFZ)
(r) -zael_ veloclty (x_z)
The computer
supplies
a filtered
the dc power
supplied
to the cumpu_er.
computer
within
the cumpu%er
28 vdc si_l
The IGS Power
0.3 second after receivlng
power
control
dc power frum the computer
signal drops within
to the IGS Power Supply
the 28 vdc power
Supply
is not controlled
control
present
at the computer
Supply
and is therefore
control
to control power
signal.
Supply
by the computer whenever
inputs
from the IGS Power
(a) -_7.z vdc(m_7_)
Supply are m,_lzed
as follows:
a_ ret=n(_mT_m_)
(b) -_.2_c (xs_7_c)_d retu= (Xm_TVDC_) (c) -_ _c (Xm_O_) _
ret=.(_0_)
(d) +9.3_e (XSmV_)_
ret=n(X_VDm_)
(e)
The e_mpuT_r
26 vac (XS26VAC)and return (X_9.6VACI_)
ou%19ut to the IGS Power
Power e_rol
Supply is m_-vlzed
(XCEP)
CONFIDENTIAL
When
furnished power
the IGS Power
is operating.
The computer
to the
removes
The 26 vac, _OO cps power
to the eumputer by the IGS Power signal,
supplies
to 2 vdc, the IGS Power
0.3 secomd.
Supply
as follows:
CONFIDENTIAL
PROJECT
GEMINI
IGS POWER SUPPEY
DIGITAL
+ 27.2 VDC (XSP27VDC)
J
i
i
RETURN (XSP27VDCRT)
!=
-27.2VDC CXSM2_'DC_
COMPUTER
i Ii
RETURN (XSM27VDCRT)
I
+ 20 VDC (XSP20VDC)
l
!
RETURN (XSP2OVDCRT)
REGULATORS POWER
J |
+ 9.3 VDC (XSP9VDC)
i
J
RETURN (XS P9VDCRT)
i
J
I "
i 26 VAC (XS26VAC) RETURN (XS26VACRT)
_ I I i
i
400 CPS FILTER
I
i i ROWER CONTROL
(XCEP) i ! I
RETURN (XS P28VDCRT)
_
+ 28 VDC FILTERED (XSP28VDC) POWER SEQUENCING CIRCUITS
I
AUXILIARY COMPUTER POWERUNIT
1
Figure
POWERLOSSSENSING(XQBND) +28 VDC FILTERED (XSP28VDC)
8-31 Computer-Power 8-125 CONFIDENTIAL
Supply
:Interface
J
I
CONFIDENTIAL
PROJECT
Auxiliar_
com_uter
Power
The ACPU functions interruptions
in
and
pression,
it
cuits
in
until
the
The
computer
The computer
power
to
the
the
by inserting capability
the
sensing
into,
crew
with
new data to verify
into
sensing maintains
ends
to
a power
signal
s--_arized
ACPU is
to
the
buffer
computer
(up
to
power
interruption power
the
as
su_tzed
sequencing
power
a -_wlmum
or
decir-
constant of
lO0 msee).
follows:
as
follows:
(XQBHD)
(_IU) and/or
(Figure 8-32) read
a means of the
out
of,
updating
appropriate
the data stored
Two of the quantities Time Reference
ACPU senses
depression
ACPU is
Supply
filtered
can insert
provides
IGS Power
(_CEP)
from
loss
8-B1)
the
loss
or
Data Insertion Unit
The HDIU
with
The ACPU then
Control
+28
(Figure
When the
interruption
input
Power
It
the
output
Power
Manual
depressions.
computer.
power
(ACPU)
conjunction
supplies
the
Unit
GEMINI
the
cerl_sin
up to
dat_
which may be inserted
99 det_
stored
memory location.
in a number
System by the computer,
computer
Zt
of additional
in also
the
computer
provides
memory
(TR and _X) are transferred
following
words.
a
locations. to the
insertion.
The NDIU consistsof two units: The Manual Data Keyboard (MDK) and the Manual Data Readout used during presses
(KDR).
The MDK has a keyboard
data insertion
seven data-insert
of the computer
memory
and readout. push-button
location
containing
To insert
switches;
in which
I0 push-button
data,
the first
the pilot
8-126
always
de-
two set up the address
data is to be stored,
CONFIDENTIAL
switches
and the last
five
CONFIDENTIAL
s o,oo
PROJECT
MANUAL
DATA READOUT
DIGITAL
GEM
COMPUTER
!
READOUT (XNZRC)
CLEAR (XNZCC)
NI
ECDPOSAX) I
CCUMUL&.TOR SIGN NEG,
J_
_CDNEGAX)SIGN POS. _CCUMULATOR
_
ADDRESS XI
(XCSAXI)
DISCRETE iNPUT
! -
ADDRESS X2(XCSAX2)
LOGIC
ENTER (XNZJC)
ADDRESS SELECTION I
ADDRESS X3 (XCSAX3)
•
ADDRESS Y4(XCSAY4) ACCUMULATOR
ADDRESS Y5 (XCSAY5) ADDRESS Y3 (XCSAY3)
LOGIC
DATA READY (XMZDA)
l
-25 VDC (XCP25VDC)
,NSERT DATA 1_×N_B,, L
_OWER
•
INSERT SERIALIZER
_--_
DEVICE
B" -ZTURN (XCPM25VDCRT)
! I
_
INSERT DATA 4 (XMZB4)
=8 VDC (XCPBVDC)
C"
:ETURN (XC PBVDCRT)
i
E"
DiSPLaY DEVICES
INSERT DATA 8 (XMZB8)
MANUAL
NUMBER SELECT CIRCUIT
DATA KEYBOARD
INSERT DATA BUFFERS
RESET CIRCUIT
DATA READY CIRCUIT
INSERT ENCODER
Figure
8-32 Computer-MDIU 8-127 CONFIDENTIAL
r
-_VOC I×CMB_VDC, C,RCD,T ! A" SELECT
, IEGULATORS:, INSERT DATA 2 (XMXB2)
I
Interface
DISPLAY DEVICE DRIVE CONTROL
CONFIDENTIAL
PROJECT _.
GEMINI SEDR300
set
up the
FollorJJIK
the
_n
JJumr_io_
mrltoh
is
verification and the
(1eta.
8_tua_
Each
presse_
to
ve_lfi_ti_
the
8_
dat_
d_tts
store
_t
be set
the
the
and verifying
up e4_in.
READ 0_T push-button
catien.
switch.
The M_ This
switch,
two
The select_l
a two-digit the
seven
The following
a_ress,
sxlAress digits
prior
to
displayed
CLD instruction
programming
zero
is
_
meuo_
unit
mrltoh
is
be use_
is
then
and then display_
for
prusse_ for to
_epressing verifi-
than seven dAglts, or fails to
the
ERT_
or READ 0_T push-button
indicating
associated
a pilot
with
the
error.
_)IU
interfaces
_dress Y
Data _
1
0
Enter
2
0
Readout
3
0
Clee_
_
0
programming
is
associate_
with
the
MD1U interface.
Address
Signal
Digit magnitude weight i
8-128 CONFIDENTIAL
re-
attempts _o
X
PRO instruction
If
displ_s
oaa also
_tgtts
Si_
The following
l_sh-
lo_tto=.
in an invalid _ress,
depress___-_ all
the
sequentially
(adAress)
inserts _re
are
verification.
This operation is aee_lishe_
_ata
Tf the pilot at-temptsto insert d_a
read data out of an inv_ insert
first
for
push-button
by the pt1_.
ceLly the
digit,
seleot_1
_
check quantities s_ore_ in the computer memorT. _y inserting
displa_ed
seventh
dAt_ in the
be _--_,
4-ger_e_
also
of the
the
onnnot
is
inserts&
8na verification
of 8_y digit
8_&ress
dAgit
X
Y
0
3
.....
CONFIDENTIAL
P........
x
!
Dl_t magnitude vetgbt 2
i
3
Digit
me_.t"_(le vetgbt _
2
3
Digit
_.tude
3
3
weight
Reset DIOI, Display
off.
is
device
0
drive
1 i
0
5
Digit
select weight
2
1
5
Digit
select
h
2
5
Read MDIU insert data
3
_J.ght
_epress
the CIRAR push-button
or displayed.
Thls
results then
& &igit
entereA
Upon
4-to
DI01_
ana DI03,i and elearlng I the display drivers.
switch Is _epressed,
the bv_Cer
ema DIOI is
blt positions
The progr_
quantity
DI02,
sets DO_I off to reset
then
t_trned
1 through
sends out a code by means
be _Isp]_ye_.
switch for the first
the reeo_wn_tlon of DI0_ ion, the progran Ii
in resetting
push-button
into a_omallator
program
DI02, ana DI03
select weight
The pro_Im
When
8
Digit
The pilot must Inserted
I
on.
D051,
oode_
The program
_ an_ sets _0
of D050,
sets _0_l
the ht_7
ofT.
to be
sets DO_O
the MDIU buffer.
e(xle
aec_ml
(B_D)
re_ls
the hurter
Fo]_oeln_
and iD052 to select
on to turn ion the 41spla_ i
this,
the 4/glt _rIvers,
the
to a_1
senAs a BCD dl_It to the buffer by means of D030, D0_, D032, and D033. The pro_m
walts
the atgit
0.5
seoo_d
is atspl_ea
and sets
D0_O and D0_l
before enterin_
have been entereA and at_,
The pilot
the next dtgt%. /
the pilot
This remLlts in _IO_ beta_ set on.
off.
The _
After
must
all
nit
until
seven atgtts
aepresses ithe _ l_sh-button mrlteh. i then Isets D0_0 ofT, sad eon_s
8o129 CONFIDENTIAl.
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
the
flve
eordlu8
_
d£81ts
to the
to binary.
This
data
is
sealed
the 1M.lot enters
queatit¥
depresses
to be dtspla3_
results
in DI03 being
quested
quantlty
a_l set
the
The ccml_t_r
on.
the
then
BeD data
the _vo-_:I.l_Lt a(1.___-ess of the
READ OUT lmsh-but_on sets to
D0_O off_
the
svttch.
converts
dtsp]_y
buffer
This
the
re-
one digit
at
intervals.
_prts
fr_
Readout
the _1_
are sumanlzed as follovs_
(I(ZRC) - The up level
prevt_s]_
(h)
then
to BeD, and sends
a fine in 0.5-sec_l
(a)
in memory ae-
two-d£E_Lt exldress.
'1'o read (h_ta out of the ecmputer_
The eo_u_
an_ stored
inserted
dL_tts
are
_i_
to be _tepl_e_.
Clear
(]NZCC) - The _p level
Wlously
4-serte_
dt_ts
of this to
signal
be used
of this
are
incorreot
(XWZZC) - The up level
of this
si_
denotes
as the
ad_ess
denotes
and the
that
rye
of a
that
insert
the
the
pre-
sequence
must
be repeated.
(c)
Enter l_masl_ the
(_)
tnser_e_
rea_
d_git
b_
20 times
(e)
Znsert four
have
been
denotes
verified
that
and should
the
pre-
be stor_l
in
memoz.y.
e_ter
D_te
digits
si_
(_W_.r_) been per
data si_3.s,
- The up level
inserted.
secon_
to
of this
The computer al_o_
continuous
signal
samples insertion
1, 2_ }_ an¢_ 8 (_'A_B1, X/wz.w, ]1,_ d.enott__ one _CD chaz.a_er,
8-_3o CONFIDENTIAL
denotes this
that
line
at
a least
of data.
and. ]3_8)
are mrj_lte_
- These
to the cam-
CONFIDENTIAL
__
SEDIt300
i
puter for each decimal digit inserted.
The computer outputs to the _IU
(a)
_ccumulator sign positive (XCDPOSAX) - The up level of this signal on a set
(b)
ir_ut
causes
the
addressed
la_ch
to be set.
Accumulator sign negative (XCDNEG_X) -!The up level of this signal on a reset
(c)
are sur_narized as foli_s:
input
causes
the
addressed
ilatch
to be reset.
Addressing - Seven lines provide the Q_pability of addressi_ lslches in the _IU.
all
The following X iand Y address lines are pro-
vided:
(i)
MDIU address XO (XCSAXO)
(2)
_IU
(3)
MDIU address X2 (XCSAX2)
(4)
MDIU address XB (XCSAX3)
(5)
MDIU address Y3 (XCSAY3)
(6)
_IU
address Y4 (XCSAY4)
(7)
_IU
address Y5 (XCSAYS)
address Xl (XCSAX1)
By selecting one X and one Y address line at a time, a total of 12 addressescan be formed.
(d)
Power - Regulated dc power is supplied to the MDIU as follows: (i) (2)
+25 vdc (XCP 25VDC) and return (XCPM25VDCRT) i -25 vdc (XC_5VDC) and return (XCPR225qfDCRT)
(3)
+8 vdc (xcPSVDC) and r@turn (XCP8VDCRT)
8-131 CONFIDENTIAL
CONFIDENTIALSEDR 300
The TRS counts Elapsed Time (ET) from ].ift-offthrough impact, counts down time to
retrograde
(TR) on c¢_mand,
and counts
cnmmand, all in I/8-second increments.
down time
to
equipment
The computer receives TR
words from the MDIU end automatically transfers them to the TRS.
reset
(Tx)
on
and TX data When the com-
puter receives a display request from the MDIU for TR, or when the computer program requires ET_ the TRS transfers them to the computer.
The following CLD instruction progr_mming is associated with the TRS interface.
Signal
Address
TR discrete
X
Y
5
0
The following PRO instruction programming is associated with the TRS interface:
Signal
Address X
Y
ET control
4
1
TX control
5
2
TR control
5
6
Enter
1
2
TRS data 8nd
0
2
4
1
timing pulses TRS control reset
In the readout mode, the computer transfers TR or TX data words to the TRS. mode is initiated by setting DO21 on.
The
The 24 bits of data to be sent to the TRS
8-132 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMI
I I
DIGITAL
COMPUTER
TIME REFERENCE SYSTEM
TR EXCITATION +8V
INPUT DISCRETE
LOGIC DATA INPUT
i
LOGIC
(XCDGTRE)
C
"_
C
I
AI
TR DISCRETE (XGT£)
I
I
TRS DATA INPUT (XGDAT)
_
,-_"
TR=0
TRS DATA OUTPUT (XCDXRCD) ENTER (XCD[NT)
1
!
=
O
.... I A
I _
-
I
I
I
.
I Ai _-
:
: A
TRS TIMING
PULSES (XCDTRT)
TRCONTROL XCDT G
DISCRETE OUTPUT
Tx CONTROL
(XCDTXG)
.I TT,0G,MSEITE I i l
Figure
8-33
Computer-TRS 8-133 CONFIDENTIAL
Interface,
Tx TIME REGISTER
C
=
CONFIDENTIAL
PROJECT-'GEMINI $EDR 300
are
then
(shift is
¢- the
placed right
one place)
aut_atlca_y
timing been
pulse sent
e_cumu_tor
is
to
the
by 2_ consecutive
instructions.
With each
_-_tiate_
70 usee
after
terminated
so that
its
TRS_ the
progr_
the
of PRO20 and S'HR1
PRO instruction,
beginn_n 5 of the
up level
generates
sets
is
139 usec.
one of two control
a tt-_ug
pulse
data
pulse.
The
Ai_r
bit
gates
2_ has
(_
or TX).
Between 9 and 15 ms later, the computer terminates the TRS control gate.
The enter mode is initiated by setting D021 off.
One of two control gates (E_ or
TR) is generated by the pro£_ramen_ terminated between 9 an_ 15 ms later.
After
termination of the control gate, the program enters a subroutine consisting of consecutive sets of PROIO an_ _
instructions.
Every time a PRO operation is
called for, a timing pulse is generated by the same logic as in the readout mode. The t_4"5
pulse
the coaster.
is
sent
to the
TRS to
cause
the
addressed
data
to be supplied
The flrst bit reeeived is aiscarded wlth the final _
to
instruction.
The seeon_ bit received is the least significant bit and is shifted into ace_at the e_letion
lator bit position _ instructions. line
to
the
of the tvont¥-fifth set of PRO20 an_
When TR equals zero, a relay in the TRS connects the _
TR discrete
14,e.
The TR discrete
signal
then
causes
the
excitation ecmz_ater
to
start re-entry calculatlons.
The computer
(a)
inputs
from the
TR di_rete
TRS are
(_JSt)
smmm_ized
as follovs:
- The up level of this signal signifies that the
e
eo_puter shou_
begin re-entry calculations.
o
the
ee_puter occur on this line. mined by _hieh eontrol _te
CON
tothe
The _ata word on the llne is deterthe eaaputer actuates prior to the
FID_NTIAL
CONFIDENTIAL
_@
SEDR300
actual
The computer
outputs
(a)
data transfer.
The up level
to the TRS are sum-rized
TR excitation resistor
is a binary
I.
as foll_)ws:
(SCDG_I_E) - The computer
supplies
+8 vde through
to the _RS as the _R excitati6ni input.
When
a
TR equals
i
zero, the _R relay to the computer
(b)
Enter
(XCI_)
causes
the TR excitation
as the _R discrete
- The up level
input
to be transferred
signal.
of this _ignal
signifies
that
data
i
is to be transferred
from the TRS to the computer when the transfer i The down level signifie_ that data is to be trans-
clocks occur. feted
(c)
from
TRS data
the
computer
output
(XCDXRCD)
to the TRS occur mimed by which
to
control
TRS timing computer
pulses
gate
(e)
TR control
(TR
The da_a word or _)
from the computer on the line
the computer
is deter-
has actuated.
i.
(XCSYI_)
data to be shifted
for transfer
_IS.
- All data transfers
on this lime.
The up level is a binary
(d)
the
- These
3.57 kc timing
pulses
cause the
into or ou_ of the _RS buffer
register
to or from the computer.
(XC_)
- The up level of _his
fer of data between
the TRS buffer
ter.
of transfer
The direction
signal
re_ister i
is determined
causes
and the _
the transTR regis-
by the level
of the
|!
entersignal.
(f)
TX control
(XCI_)
- The up level
8o135 CON FIDINTIAL
of ithis signal
causes
the trans-
CONFIDENTIAL SEDR 300
fer of data between the _RS buffer register and the TRS TX register.
The direction of transfer Is determined by the level of the
enter signal.
(g)
ET control (_)
- The up level of this signal causes the trans-
fer of data between the TRS buffer register and the TRS ET register.
The direction of transfer is determined by the level of the
enter signal.
Diglt, cond s st,@cs)(Figure The DCS accepts BCD messages from the ground stations at a I ke rate, decodes the messages, and routes the data to either the TRS or the computer.
In addition,
the DCS can generate up to 6_ discrete commands.
Sign% l
Address
DCS ready
X
Y
6
0
The following PRO instruction programming is associated with the DCS interface:
Signal
Address X
Y
Computer ready
I
0
DCS shift pulse gate
0
0
When data is to be sent to the computer, the DCS supplies the computer with a DCS ready discrete input (DI06).
This input is sampled every 50 ms or less in all com-
puter modes except during the I/8-second interval in the ascent mode when reading ET at lift-off.
To receive DCS data, the computer supplies a series of 2_ DCS
8-136 CONFIDENTIAL
CONFIDENTIAL
__
PROJECT
GEMINI
i=
D'G'TALCO ICONT CSRETU O iD'G C, i
1
J
ACCUMULATOR
J
t RETURN (XDDATG)
INPUT LOGIC
DATA BUFFER
RETURN (XCDCSPG)
Figure
8-34
Computer-DCS 8-137
CONFIDENTIAL
:
Interface
DISCRETE OUTPUT LOGIC
CONFIDENTIAL
PROJEMINI __
SEDR300
shift pulses at a 500 kc repitition rate by setting D001 off and programming a PRO0 instruction. register
to
positions dress Bit
These shift pulses cause the data contained in the DCS buffer
be shifted
1 through
of the
out 2_,
associated
position
19 (address
with
on the
DCS data
position
quantity portion)
line
and read
19 through
and position and bit
2_ containing
1 through
position
into
accumulator the
18 containing
1 (data
portion)
bit
assigned the are
adquantity.
the
most
significant bits.
The computer inputs fro_ the DCS are s,_rized
(a)
as follows:
DCS ready (XDRD) and return (XDRDG) - The down level of this signal signifies that the DCS is ready tO transfer data to the computer.
(b)
DCS data (XDDAT) and return (XDDATG) - This serial data from the DCS consists of 2_ bits, with 6 being address bits and 18 being data bits.
The computer output to the DCS is su_,_rized as follows:
DCS shift pulses (XCDCSP) and return (XCDCSI_) - The computer supplies these 2_ shift pulses to the DCS to transfer data contained in the DCS buffer register out on the DCS data llne.
Rendezvous Radar (Figure 8-35) The Rendezvous Radar supplies the computer with three data inputs: range to target, sine of azimuth, and sine of elevation.
line-of_sight
In the rendezvous mode,
the computer uses radar data to compute and display velocity to be _ined body coordinates).
8 -138 CONI=UDENTIAL
(in
_
CONFIDENTIAL SEDR300
_- __ _
ENDEZVOUSRAOARI I I LD'G'TALCOM CONTROL
-
CIRCUITS
l
RETURN (XREDG)
DISCRETE INPUT LOGIC
RADAR READY (XRED)
REGISTER
AZIMUTH REGISTER
ACCUMULATOR
SINE
ELEVATION REGISTER _
SINE
t RAOAR SERIAL DATA C×RDAT_
OUTPUT REGISTER
ij
LOGIC
DATA
RADAR SHIFT PULSES (XCDRSP) RETURN (XRDATG) RETURN (×CDRSPG)
INPUT
DISCRETE OUTPUT
I coNTroL I: CO PUTERREAO LOO,C CIRCUITS
RETURN (XCDCRDG)
Figure
8-35
Computer-Radar 8-139
CONFIDENTIAL
Interface
CONFIDENTIAL
PROJ
E'-E-C-T--GEM
IN I
SEDR300
The following
CLD instruction
progr_mlng
is associated
with the Rendezvous
Radar
with the Rendezvous
Radar
interface:
Addre,s,s
Radar
The following
ready
PRO instruction
x_
x_
0
0
prosr-_mir_
is associated
interface:
sisal
x_
X
I
0
Reset radar ready
3
6
DCS shift pulse gate
0
0
C_puter
When the e_puter is supplied radar signal
_,_,e,ss
ready
requires
radar data, the computer
to the Rendezvous
ready discrete
Radar.
input buffer
completion
sets of PR000
register
500 kc pulses
output
The computer
data and to enter The program
sequence:
8-1ho CONFIDENTIAL
ready
a hold
waits
If the test is negative,
are given.
(IDOl)
has reset the
20 ms three
Each PRO instruction
to be sent to the radar to shift
of the radar data output register.
in the following
instruction.
cycle.
(DI00).
and STO instructions
a burst of fifth-two
the contents
input
discrete
the progr_n
its internal
of a data acquisition
and tests the radar ready discrete consecutive
to this,
with the PR063
causes the radar to stop updating
mode following
causes
Prior
ready
The data appears
out
in the output
CONFIDENTIAL
PROJE ___
SEDR 30_
(a)
Range - 15 bits
(b)
Sine azimuth - iO bits
(c)
Sine elevation - i0 bits
i
i
A del_y of 280 usec occurs before the leading pulse of each 500 kc burst to enable the computer to store the data it has received and to allow the next data word to be inserted into the radar data output register in preparation for transmission to the computer.
Radar range data is read in true
magnitude form into accumulator bit positions 8 i
through 24.
If bit positions 8 through Ii (four mostIsignificant bits) are l's, I
the radar r-_e
data is considered unreliable and is _nored.
Sine azimuth and
sine elevation data are read into accumulator bit positions 15 through 24. iI
The computer inputs from the Rendezvous Radar are s,m_arized as follows: I
(a)
Radar ready (X_)
and return (XREDG) -iThe up level of this signal I
signifies that the radar has recognizedlthe computer ready signal and is ready to transfer data.
The radar ready pulse occurs between i
0 and 4000 usec after the c_uter has
(b)
rea_
pulse, if radar lock-on
occurred.
Radar serial data (XRDAT) and return (_) - This data consists i of three words which occur in a fixed format as determined by the
iI
radar shift pulses.
The first word is _ange to target (15 bits), I I
the second word is sine of azimuth angle (i0 bits), and the third _ord
is sine of elevation angle
8-l_l CONFIDINTIAL
(I0 bit_).
CONFIDENTIAL
PROJECT __
GEMINI
SEDR300
The computer
outputs
to the Rendezvous
Radar
(a) Radarshiftpulses(X_)
groups
the radar
of 52 pulses
are _.._rized
as follows!
and return(XC_S_) - These500 kc
pulses are issued between puter receives
______j
280 usec and _ millisec read_
signal.
each I with
after
the com-
They are sent out as three
a 280 usec delay
_efore
the leading
edge of each group.
(b) Computerready(XCDCRD)and return(XCDCRDG)- The up levelof this signal
$$ti_ude During
_Isplay/Attit_xde
the ascent mode_
signals
and supplies
Attitude
During
Display
that the computer
add Maneuver
the computer
and rendezvous
modes,
and is capable
(A_)
roll,
(Figure
the computer
inputs.
8-36)
and yaw attitude
The pilot utilizes
of the ascent
of supplying
radar data
guidance
generates
error
the
equil_nent.
pitch
th_n to the Attitude
and yaw Display
AC_.
the re-entry
signal and supplies
mode,
the computer
it to the Attitude
with
zero lift is equal to the computed
hank
rate
comnsnd
roll attitude equal
pitch,
Display.
the performance
requires
Electronics
generates
th_n to the Attitude
attita_de error signals
During
_ontrol
to monitor
the catch-up
and. the
signifies
equivalent
error output
signal is supplie_
the oomputer
generates
Display range
to a IS _egree
line.
to that for the deslre_
attitude
generates
a roll attitude
and the ACME. to the desired
per second
point,
on the output
cross range end down range
8-Z_,2 CONFIDENTIAL
Also, error
duri_
rate
If range to touchdown touchdown
with
the appropriate
line.
or bank
point,
roll rate is provided
If the range to touchdown
touch_own
error
a on the
zero lift is not
roll rate or ro_1 the re-entry
signals
mode,
and supplies
CONFIDENTIAL SEDR300
f_"
•
them to the Attitude
Display
re-entry
of the spacecraft.
flight
The following
path
i
for the pilots'
PRO instruction
progrs_ng
use in _nu,S1y
is associated
controlling
the
with the Attitude
Display
and ACME interfaces:
Signal
Address
x
X
7
0
Yaw error command
7
i
Roll error
7
2
Pitchresolution
2
0
Yaw resolution
B
0
Roll resolution
4
0
Pitch
error cc_nand
ccmnand
f_
The pitch, accumulator address
yaw,
is sampling
previously time
sampled
is 48 ms.
adc
is then
commands
are written
S, and 8 through
The outputs
generate
analog voltage circuit
error
bit positions
of 7.
works which
and roll
of the register voltage
sampled
equivalent
output,
The minimum
The Y address
a seven-bit
to ladder
to the buffered
is 2 ms,
mentioned
the one sample
and hold
circuit
that
digital
error.
of each sample
and hold
circuit
is fed into an individual
and the maximum
PRO instruction
is to ssmple the ladder
8-14B
decoding
an X netThis
and hold circuits; while one i two circuits are holding their
ssmple time
CONFIDENTIAL
having
from
ssmple
the other
of the previously
register
_ PRO instruction
are connected
by one of three
the ladder value.
13_ with
i_to
output.
ladder
hold
selects
The output
amplifier
where
CONFIDENTIAL
PROJECGEMINI .___
SEDR300
the DC analog voltage for each channel is made available for interfacing with the Titan Autopilot.
The dc analog outputs are also fed through individual range switches and magnetic modulators
where the dc voltages are converted to 400-cycle analog voltages.
The
range switches, which are controlled by means of discrete outputs, can attenuate the dc voltages being fed into the magnetic modulators by a factor of 6-to-l. addressing
of the discrete
The
outputs for controlling the range switches is as fol-
lows:
(a) (b)
Pitch or down range error (DO02) - _ Yaw or cross range error (DO03) -
(c)
Roll error (DO0_) -
plus for low range; minus for high range.
The error commands are written every 50 ms or less.
_
is dependent upon the computer mode of operation.
The updating period, however, For the catch-up, rendezvous,
and re-entry modes (and the orbital insertion phase of ascent guidance), the error co_ands
are updated once per computation cycle or every 0.5 second or less.
For first and second stage ascent guidance, the error co_nds
are updated every
50 ms or less.
The computer outputs to the Attitude Display and ACHE are s_:mmarizedas follows:
(a)
Pitch attitude error (SCLPDRM) and return (XCIPDRMG) Two identical sets of outputs (A and B) are time-shared between pitch attitude error (during ascent, catch-up and rendezvous)
8-i_4 CONFIDENTIAL
CONFIDENTIAL
__
SEDR30O
and down range
error
(during Re-entry).
(i)
Pitch
attitude
error
(ascent) !
(2)
Pitch
attitude
error
(cat'h-up
Attitude (3)
(b)
Roll
!
(XCIROLMG)
Display
Down range
attitude
error
error/bank
rate
- Two identical
shared between
!
to Attitude
Display
and rendezvous)
to
i (re-entry)
to Attitude
I(XC_OLM) command i
Display
and return
sets of ou/;puts (A and B) are time-
roll attitude
error
an_ bank rate
command.
Dur-
i
ing ascent, entry,
it represents
hc:_ever,
it
only roll attitude i I
represents
roll
attitude
error. error
During
re-
when the
I
_--
computed
range
is less than the desired i
range,
and a 20 degree
I
per second bank rate exceeds
the
desired
command when range.
the computed !
range
equals
or
i l
(i)
Roll
attitude
error
(ascent)
to Attitude
Display
(2)
Roll attitude
error
(re-e:itry) to Attitude
Display
and ACME (3)
Bank
rate comand and
(c)
Yaw attitude
error
(re-ent ._j)to Attitude
Display
ACI_
(XCLYCRM)
and retum
(XCLYCRMG)
- Two identical
!
sets of outputs
(A and B) are time-shlred
between
yaw attitude
i
error
(during ascent,
catch-up,
I and rendezvous)
error (during re-entry). f
8-i_5 CONFIDENTIAL I
and cross
range
CONFIDENTIAL
PROJ E--E'CT-'M
IN I
SEDR300
(I)
Yaw attitude error (ascent) to Attitude Display
(2)
Yaw attitude error (catch-up and rendezvous) to Attitude Display
(3)
Cross range error (re-entry) to Attitude Display
During ascent, the computer performs guidance computations in parallel with the Titan guidance and control system.
If a malfunction occurs in the Titan system,
the pilot can switch control to the Inertial Guidance System.
For a description
of the program requirements and operation associated with the Tital Autopllot interface, refer to the Attitude Display and ACME interface description.
The computer outputs to the Tital Autopilot are summarized as follows:
(a)
Pitch error (X_)
(c)
Yaw error (XCLYDC) -
(d) (b)
Comzon return (XC_) Roll error (XCIA_DC)-
(e)
Autopilot scale factor (XCI_SF) pilot dyn_cs
-,-
-
backup ascent guidance. __
These signals are provided during - This signal cha_es
the auto-
after the point of maximum dynamic pressure is
reached. (f)
Second ste_e engine cutoff (XCDSSCF) - This signal is generated when velocity
to
be gained
equals
8 OONFIDINTIAL
zero.
CONFIDENTIAL
_---_
PROJECT
DIGITAL
GEMINI
i
ATTITUDE CONTROL AND MANEUVER ELECTRONICS
COMPUTER
ACCUMULATOR
J
1 RETURN (XCLROLMG
-A)
CIRCUITS
LADDER LOGIC
I
Ji . jI ATT,TU_ D,SPLA¥
ROLL ATTITUDE ERROR (XCLROLM-B)
I
I
RETURN (XC LROLMG -B)
i
YAW ATTITUDE ERROR (XCLYCRM-B)
i
PITCH ATTITUDE ERROR (XCLPDRM-B)
i
RETURN (XCLPDEMG -B)
p_.
_ :
'Jl
DISPLAY
i
=
RETORN_XCL_CRMG_ Jl =I i
i Figure 8-36 Computer-Attitude
DIGITAL
Display/ACME
Interface
COMPUTER
TITAN AUTOPILOT
ROLL ERROR (XCLRDC) LADDER
I YAW ERROR (XCLYDC)
!
RETURN (XC LDCG)
L
I
LOGIC I
DISCRETE OUTPUT
J
SEC. AUTOPILOT STAGE ENGINE SCALE FACTOR CUTOFF(XCDAPSF) (XCDSSCE)
Figure
8-37
Computer-Autopilot 8-147 CONFIDENTIAL
i
Inte rface
CONTROL CIRCUITS
CONFIDENTIAL
PROJ--3-EC-f--G
E M IN I
Auxiliary Tape Memory ,(A_) (Figure 8-38) The A_4 is interfaced with the Digital Computer and the following controls and indicators on the Pilots' Control and Display Panel (PCDP):
A_
mode switch
A_
0N/R_SET switch
ATM ERROR indicator A_I_RUN indicator
The crew, via the PCDP and the computer, controls the modes of A_ The Incremental Velocity Indicator (M)
operation.
are used to provide information on A_
ani the ATM ERROR and RUN indicators status.
The crew also uses the Manual
Data Insertion Unit (MDIU) for co..._uicationwith the computer and subsequent computer co-_.-__uication with the A_.
The following CID instruction progra_-_n_ is associated with the A_
Signal
Address
x_
Y_
ATM clock
i
A_4on
3
3
A_M d_ta channel 2
3
4
A_
4
i
4
3
mode control number i
A_4 beginning
or end of tape
A_
data channel 3
It
I_
A_
mode control number 2
5
i
A_
data channel i
5
3
8-148 CONFIDIENTIAL
interface:
....
/
CONFIDENTIAL SEDR 300
_
AIM
COMPUTER
REPRODUCE
--ATM
DATA 3 (XLDAT 3)
ELECTRONICS
--ATM
DATA 2 (XLDAT
--ATM --ATM
DATA 1 (XLDAT 1) CLOCK (XLOCK)
f
2)
DISCRETE INPUT CIRCUITRY
END OF TAPE (XLEOT) i
ATM ON (XLON)
:
POWER SUPPLY
_
AUTO VERIFY/REPRO
AND CONTROL CIRCUITRY
=
AUTO WIND
-
-
(XCDVR)
ATM MODE
I (XHMSAI)
ATM MODE
2 (XHMSA2)
•AUTO VERIFY/REPRO (XCDVR)-
(XCDWD)
(XCDWD) --
AUTOREWIND (XCDRW) AUfO
(XCDRW)--
WRITE (XCDWT)
(XCDWT)--
AGE WRITE ENABLE (XHDWEN) MANUAL --MANUAL
VERIFY/REPRO ( REWIND (XHDRD)
• -
-
MANUAL WIND i
-
-
ATM MODE SWITCHEXCITATION (XLSVDC)
DISCRETE OUTPUT CIRCUITRY
i WRITE ELECTRONICS
COMP.
SHIFT (XCDSH)
COMP.
CLOCK
COMP.
DATA (XCDAT)
(XCDCLK)
J
PCDP
SWITCH
ATMMODE I ATM ERRO_ LIGHT
TO CONTROL CIRCUITRY
_
_ ATMATM ON/RESEToFF 11
ON/RESET SWITCH ATM
(XLERR) ! :
l _ATM
INDICATION ERROR INDICATION AIMRUNNING (XLRN)
i 28V MAIN BUS
CIRCUITRY -
LIGHT
f
Figure
8-38
FROM CONTROL
Computer-ATM-PCDP
Interface
(S/C
8-149 CONFIDENTIAL i
8 thru
12 Only)
CONI=mDENTIAL
PROJECT ..
GEMINI SEDR30O
_"-_
The following PRO instruction programming is associated with the ATM interface:
A_4 wind/rewind reset
_
i
ATM verify/reprogram cc_and
_
4
ATM wind c_J,.,and
5
1
ATM rewind command
5
2
The computer inputs from the ATM are m_mrized
(a)
as follows:
ATM clock (XLOCK) - A two millisecond pulse for each three-bit parallel data output frame, delayed 1520 microseconds from the nominal beginning of each frame. down level less than one volt.
Up level six to twelve volts;
Rise and fall times less than 20
microseconds each.
(b)
A_4 data 1 (XI_tT 1), data 2 (x_.n&T2), data 3 (_.n&T 3) Parallel NRZ data output on three lines at a rate of 200 bits per second on each line. + 2_ of normal.
(c)
Individual bit periods are written
Other specifications same as for data outputs.
End-of-tape (XLEOT) - A logic level from the A_d to the computer. An up level indicates that either end of the tape has been reached.
(d)
A_4 on (XLON) - A logic signal from the ATM to the computer.
An
up level indicates that the A_4 has reached proper operating speed in the read and write modes.
8-15o
This signal appears approximately
(;ON lelO_NTIAL
CONFIDENTIAL
SEDR 300
five seconds write.
after
a command
It is inhibited
when
is given!
to the AS
to read or
either lend of the tape
is reached.
!
The computer
outputs
(a)
Auto
to the AS
are summarized
verify/reprogram
through ATM.
(XCDVR)
the AUTO position
An 8 vdc signal
the record
or write
as follows:
- A c_and
of the AT
on this
line from the computer,
i
TAPE mode
llne _auses
mode in the forward I
switch,
the AS
direction
to the
to operate
in
at a nominal
i
tape
speed of i. 5 ips. i
(b)
Auto wind AUTO
(X_)
position
signal
- An 8 vdc signal 1from the computer of the AUX TAPE mode
causes
the tape to move
witch,
through
to the AS.
in the forward
the
This
direction
at a
i
nominal
tape
speed of 12 ips.
the read mode
(c)
Auto
rewind
during
(XCDRW)
the AUTO position signal
(d)
Auto
write
position used
tape
- An 8 vdc signal
of the AUX TAPE m_e !
speed
of 12 ips.
(XCDWT)
- A signal
of the AUXTAPEmode
Computer
data
internally
(XCDAT)
from the computer, switch,
in the reverse
in
switch,
through
to the AS. direction
from the computer,
by the A_M to set up internal
data can be recorded
(e)
functions
this operation_
causes the tape to move
nominal
The AS
to the A_.
This
at a
through
the AUTO
The signal
_ontrols such that
is
computer
on the tape.
- Groups
of fQur serial
NRZ data bits,
each
i group or frame totaling 1120 microsecondsduration at a rate of i
8-151 CONFIDENTIAL
OONFUDENTIAL
PRMINI SEDR 300
200
frames
level
per
Up level
less than one volt.
fall time
(f)
second.
Com_uter having
shift (XCDSH)
a period
microseconds;
frame.
(a)
(b)
14 volts;
down
pulses.
begin
Rise
- Serial pulses
than
seven
time less than
having
a duration
per second
15
of 18
or one per
280 or 560 microseconds
four in each frame.
Up level
after
is seven
the to
Rise time less than ten
fall time less than O. 5 microseconds.
- Computer
switch excitation
interfaces (XL8VDC)
are summarized - A nominal
from the ATM to the AUX TAPE mode
AGE write enable
(]C_]_N)
position
it to send a write
Manual
verify/reprogram switch
(XHDVR)
to the A_
at a nominal
command
tape speed
8-152 CONFmDENTIAL
8 vdc excitation
from the ATM, through
switch,
to the AGE to
to the ATM.
- An 8 vdc discrete
which
as follows :
switch on the PCDP.
- An 8 vdc discrete
of the AUX TAPE mode
enable
write mode
70 microseconds
Up level greater
level less than one volt.
- PCDP and PCDP
TAPE mode
each pulse
and spaced 141 microseconds
input pulses
are delayed
of bit number
the STANDBY
(c)
(XCDCLK)
beginning
voltage
down
fall time less than 0.4 microseconds.
These pulses
ATM mode
volts;
of four serial pulses,
each at a rate of 200 pulses
microseconds;
A_
Shift
of the da_
clock
microseconds
Additional
- Groups
down level less than one volt.
Computer
seven
time less than 15 microseconds;
of 139 microseconds
after the s_rt
(g)
than
less than ten microseconds.
from the next pulse.
volts;
Rise
greater
causes the A_ of 1.5 ips.
from the AUX
to operate
in the
CONFIDENTIAL
(d)
Manuel
wind
(X_WD)
- An 8 vac
discrete
from
the
AUX TAPE mode
l
switch
to
the
direction
(e)
Manual
ATM which
causes
at a nominal
rewind
tape
(XHDRD)
the
_e
to
move
in
a forward
speed of 112 ips.
- An 8 vdc diserete
from
the AUX TAPE mode
l
switch
to the ATM which
causes
the tape to move
in the reverse
;
direction
(f)
A_
on/reset
ON/RESET A_
switch
(a_ly
A_ When
(j)
This
power)
the ADX TAPE ERROR
sil hal will
or re-i_tiate
28 vdc signal
It causes
error indication
(XLERR)
ever the error
detection
between
- A signal logic
parity i
tape
speed.
causes
PCI_
to illuminate.
transmitted
(XI_)
to the PCDP
extin-
from the ATM to the PCDP
circuits
from the data
running indication
while
from the AUX TAPE OFF-ON/RESET i
bits that are generated
A_
operation
initiate
the AT_ to cease operation.
the recorded
The signal
either
indicato r on the PCDP.
to the A_.
a disagreement
of if2 ips.
28 vdc si_hal from the AUX TAPE OFF-
to the A_.
ATM OFF - A momentary switch
(h)
tape speed
- A momentary
operation
guishing
(g)
at a nominal
the AS
in the A_I_ indicate
bits and the parity
during playback ERROR
indicator
at either on the
- A signal from the ATM which is
five seconds
after
the A_
is comm_nded
i
to operate indicator signal
in any mode. on
the
P_DP
is terminated
This
whenever when
signal iilluminates the A_ RUN i the tape is in motion. The
either
8-153 CONFIDISNTIAL
end of the tape is reached.
CONFIDENTIAL
PROJECT" __
GEMINI
SEDR300
(k)
Two mode controls (XHMSAI and XHMSA2) - Mode control signals supplied to the computer from the AUX TAPE mode switch on the PCDP.
The signals define the A_
mode selection.
MODE POSITION
XHMSAI
XH_A2
AUTO
i
i
REPRO
0
i
All Others
0
0
pilots' Control and Display Panel (PCS)P),(Figure8-39 ) The following CLD instruction programming is associated with the PCDP interface:
Signal
Address X
Y
Computer modei
i
I
Computer mode2
0
i
Computer mode 3
3
I
Startcomputation
i
2
Abort transfer
7
1
Fade-in discrete
6
1
8-19_ CONFIDENTIAL
CONFIDENTIAL
I
!_-_
PROJECT
PI LOTS' CONTROL DISPLAY PANEL
GEMINI
AND
DIGITAL
COMPUTER
POWER
COMPUTER
COMPUTER ON (XHONP)
ON-OFF SWITCH
COMPUTER OFF (XHOFF)
I
CIRCUITS I
SEQUENCING
COMPUTER MODE
COMPUTER MODE
2 (XHMS2)
SWITCH
COMPUTER MODE
3 (XHMS3)
!
i START COMPUTATION SWITCH
COMPUTER MALF. RESET SWITCH
/_--"
I J
START COMPUTATION
(XHSTC)
j DISCRETE iNPUT LOGIC
MALFUNCTION
RESET (XHRST)
I
RELAYS
FADE_IN
DISCRETE (XHSFI)
RUNNING LAMP J
COMPUTER
COMPUEER RUNNING
I
TO COMPUTER CONTROL SWITCHER _
(XCDCOMP)
DISCRETE OUTPUT LOGIC
SWITCHEXCITATION (XCDHSME) _ +8VDC
Figure
8-39
Computer-PCDP
Interface
8-]55 CONFIDENTIAL
i
i
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
The following PRO instruction programming is associated with the PCDP interface:
Si_/e-I
Address X
Y
Computer malfunction
4
3
Computer running
5
0
Reset start computation
2
6
The computer inputs from the PCDP are m_._,_rizedas follows:
(a)
Computer on (XHONP) and computer off (XHOFF) - These signals from the COMPUTER ON-OFF switch control computer power.
(b)
Computer mode - The computer receives three binary coded discrete signals from the COMPUTER mode switch, to define the following operational modes:
Mode
Computer Mode i (m_Sl)
Computer Mode 2 ,(XHMS2)
Computer Mode 3 _Xm_3)
Pre -launch
0
0
I
Ascent
0
i
0
Catch-up
0
i
i
Rendezvous
i
0
0
Re -entry
i
0
i
(c)
Start computation (NNSTC) - This signal from the START pushbutton switch starts the closed-loop rendezvous operation and initiates re-entry calculations.
8-1% CONFIDENTIAL
CONFIDENTIAL
SEDR 300
Id)
Malfunction function pilot
(e)
reset
(_ST)
SESET switch uses
the
- This
signal
the
c_uter
resets
swit@h to
Abort transfer (XH_T)
test
for
fr_
the
c_puter
malfunction
a _ransient
mal-
latch.
The
failure.
- The signal aut_natlcally switches the
cc_puter from the ascent mode to the re-entry mode.
(f)
Fade-in descrete (_HS_) to the ac_ulator
(g)
The computer
via the discrete i_Lputlogic.
28 vdc unfiltered (_P28rmF)
outputs
(a)
- This signal fron a relay is supplied
to
the
PCDP are
s,_m_-_rized
as follows:
- This pr(,_-controlled
CcRputer r-n_Ing (_)
signal lights
the computer r,_nningl_mp which is tu:edas follows:
(1)
Pre-launch:
The COMP (c_]_uter x-m-_ng) lamp re_ains
off during this mode, except during m_ssion simulation I when its operation is governed by the mode being simu_ted,
(2)
Ascent:
i
The CaMP lamp turns on following Inertial i
Pl_tform release.
The lamp remains on for the duration
of the mode, and then turns off.
(3)
Catch-up: button duration
The caMP lamp l_ghts [
switch
is
of the
depressed
the
START push-
i The lamp remains ! mode_ ana then turns off.
8-157 CONFIDENTIAL
after
on for
the
CONFIDENTIAL
PROJECT
(4)
Rendezvous: button
GEMINI
The COMP
switch is depressed.
mode, operation readings when
(5)
Re-entry:
in this mode.
switch
is depressed
calculations
malfunction
built-in
(c)
Switch
lamp.
timing
the COMPUTER malfunction
Incremental
Velocity
The IVI contains
three
along the s_acecraft
Power
is
applied
to
the
IVI
- This
the computer
(SXDHSME) switch,
RESET
switch.
off
- This
and then turns
signal turns diagnostic
computation
off.
on the com-
program,
actuates
dc excitation
the START
The lamp remains
a
the signal.
is suppled
to
switch and the
(M),,, (,Figure 8-_0),
incremental
ments
The lamp turns
to zero.
of the mode,
check, or an AGE command
mode
Indicator
by the radar
or when time to start
is equal
(XCDMAL-A)
Either
excitation
of the
is terminated.
on for the duration
puter MALF
For the remainder
The COMP lamp lights when the START push-
re-entry
Computer
the START push-
of the 1Amp is dictated
that occur
the mode
button
(b)
lamp lights after
velocity
counters
that display
velocity
incre-
(body) axes.
whenever
the
computer
the
application
is
turned
on.
During
the
first
\
30-second cally
period
references
recognizing
(or
less)
its
counters
computer
following to
zero.
After
signals.
8-158 CONFIDENTIAL
this
of period,
power, the
the
IVI
M
is
aut_ticapable
of
CONFIDENTIAL .V-_
SEDR300
DIGITAL
COMPUTER
INCREMENTAL INDICATOR
VELOCITY
xwxwI -X DELTA VELOCITY
(XCWXVM)
X SET ZERO (XCDVIXZ)
I I J
CHANNEL
I
PROCESSOR
CHANNEL Y SET ZERO (XCDVIYZ) +Y
DELTA VELOCITY
-Z DELTA VELOCITY
(XCWYVP)
|
I
(XCWZVM)
Z AXIS CHANNEL
Z SET ZERO (XCDVIZZ)
'
DISCRETE OUTPUT LOGIC
-I
.--_
' DISCRETE INPUT LOGIC
1-
I
I !
Y ZERO INDICATION
(XVVYZ)
Z ZERO INDICATION
(XVVZZ)
X ZERO iNDICATION
(XWXZ)
I = _'
1 I
DC RETURN (XCDCRT)
1
+27.2
i
VDC (XSP27VDC-B)
RETURN (XSSVDCRT) I
J
I
+5 VDC (XS5VDC)
PROM IGS POWER SUPPLY
Figure
8-40
Computer-IVI
Interface i !
8-159 CONFIDENTIAL
i
I
m
CONFIDENTIAL
PROJECT-'G'EMINI ____
SECIR 300
The M _it,
counters
by means
or they can be set aut_atic-1_y
i_it_1_y These
can be set manually
set, _ey
p-!_es
cca_uter
l_rmits
set zero lines.
t_le computer
tion and dlspl_
The followi_
counters
A feed-back
CI_ instruction
velocity
kuobs
on the front
of the
After
the counters
are
pulses
displ_ed
signal, counter
from the c_er.
by the counter.
to zero by providing
to test for the proper
of a computed
velocity
the indications
can set the individual
each of three
by the cc_puter.
are driven by incremental
are used to _date
of control
denoting
The
a 20 usec pulse zero counter
reference
prior
on
position,
to the inser-
increment.
progr_-.,i.ng is associated
Signal
with the IVI interface:
Address
x_ X zero indication
i
3
¥ zero indication
5
2
Z zero indication
6
2
Velocity
2
2
The following
error count not zero
PRO instruction
progr_m_
is associated
Sisal
with the M
A_dress
x_
X
X counter
2
i
Select Y counter
3
I
Drive
counters
1
i
Write
output
5
3
Select
to zero
processor
8-16o CONFIOENTIAL
interface:
CONFIDIENTIAL
SEDR 300
_| i
i
The computer
supplies
_hree
s_nAl_
to
I1/I,
the
one
_or
each
counter,
that
are
i i
used
to
position
the
sets DOll minus
counters
to
zero.
To generate
and sets DO12 and D013
these
signals,
the
as follows:
X set zero
Minus
Plus
Y set zero
Plus
Minus
Z set zero
Minus
Minus
The IVI provides
three
feed-back
program
signals
to the cc_uter
D.125,
(DI31,
and D126)
!
to indicate
that the counters
are zeroed.
The program i
tests
the individual
i counters
for zero position
before
attempting
to drive
them to zero.
; The output processor increments line
provides
a timed
along the spacecraft
is time-shared
two's-co_-_lement
output to the IVI that
axes.
One output
c_annel i
represents
velocity
(phase 2) on the dels_
among the X, Y_ and Z counters.
form)
are written
on the del_y
! Incremental velocities (in i I line during phase 2 from acct_-
J ulator
bit positions
are set no more than
S_ and i through i ms before
12.
Discrete joutputs DOI2
the PROB5
operation,
select
and DOI3,
the proper
which
velocity
signal as follows:
S
nal
X velocity
MinUs
Plus
Y velocity
Plus
Minus
Z velocity
M_nv_
Minus
s
Once data is written for data during
on the del_
line,
bit times BTI through
the output
BTI2.
Of the del_y
Any bit sensed
8-161 CONFIDENTIAL
i
line
during
is sensed
this
time in-
CONFII)imNTIAL
PROJECT
GEMINI
SEDR 300
dicates bit
the
presence
(BTI_)
during
and a pulse
is
phase
Zf the is
_
buffer
the is
recirculated
addressed
set
The c_uter
zero
(a)
if
the
data during
affecting
velocity
se_
s_proximate_y
either
and a count
plus
the
_0_ate
cycle,
the
data
The zero
During
this
offt
velocity
added to
on the
output data
sign
ms
by a count
magnitude
the
21.5
either
the
is
every
of one is
decrease
_
with
or minus.
to
magnitude.
alcag
of
dels_
of the has
one. line
buffer
been
or
is
count-
can be processed.
is at the zero position.
Y zero indication (XVVYZ) - The down level signifies that the Y chanis at the zero position.
Z zero indication (XVVZZ) - The down level signifies that the Z channel of the M
is at the zero position.
The cc_puter outputs to the M
(a)
s_led
a buffer
X zero indication (XVVXZ) - The down level signifies that the X chan-
nel _f the M
(c)
is
into
inputs fr_n the IVX are su_aarlzed as follows:
nel of the M
(b)
its
discrete
next
is
buffer
line zero
t"_en gated
buffer
initiated
When this
and the
is
is
delay to
which This
cycle
without
as DI_.
ed down to
2.
generated
ssme time 2 an update subtracted
of data
are s_narized
sa follows:
+X delta velocity (XCWXVP) - The up level denotes that the X channel should change by one foot per second in the fore direction.
(b)
-X delta velocity (XCWXVM) - The up level denotes that the X channel should change by one foot per second in the aft direction.
8-162 CONFIDIKNTIAL.
CONIFIDI_NTIAL
SEDR 300
(c)
X set zero
(XCDVIXZ)
- The up level
drives
the X channel
to the
zero position.
(d)
+Y delta velocity nel should
(e)
(f)
(XCg_/VP) - The up level
change by one foot per second
-Y delta velocity
(XC_T/VM) - The up level
nel should
by one foot per
change
denotes
that the Y chan-
in the right
denotes
direction.
that
the Y chan-
second in the left direction.
Y set zero (XCDVIYZ) - The up level drives the Y channel to the zero position.
(g)
-Z delta velocity
(XC]¢ZVP) - The up level
denotes
that the Z chan-
i
_-_
nel should change by one foot per second in the down direction.
(h)
-Z delta velocity channel
(i)
should
(XC%IZVM) - The up level
denotes
change by one foot pe r second
that
the Z
in the up direction.
Z set zero (XCDVIZZ) - The up level drives the Z channel to the zero position.
Instrumentatlon The
computer
ditioning provided
S_stem
is interfaced
equipment
computer
8-41)
with the multiplexer
of the Instrumentation
to the signal
sent upon request
Certain
(Figure
conditioning
data,
System.
equipment,
to the multiplexer
as described
encoder
encoder
and
unit and the signal
COntinuous stored
analog
digital
con-
data is
quantities
are
unit.
below,
is continually
signal
conditioning
made
available
to the
i
signal
conditioning
data for multiplexing
equipment.
_e
and analo6-to-digital
conversion
unit. 8-163 CONI=IDI=NTIAL
equipment
conditions
by the multiplexer
this
encoder
CONFIDENTIAL i_.-_
SFDR 300
DIGITAL
COMPUTER
INSTRUMENTATION SYSTEM
PITCH ERROR (XCLPMBD)
=
RETURN (XCLPMBDG) ROLL ERROR (XCLRMBD) LADDER LOGIC
m
RETURN (XCLRMBDG)
m
YAW ERROR (XCLYMBD)
l
RETURN (XCLYMBDG)
SEQUENCING CIRCUITS J
=
POWER
I
SIGNAL CONDITIONING EQUIPMENT
COMPUTER OFF tXCEOPFD)
COMPUTER MALFUNCTION SEC. STAGE ENGINE
(XCDMALD)
CUTOFF (XCDSSCRT)
COMPUTER MODE I (XCDMSID) COMPUTER MODE
2 (XCDMS2D)
COMPUTER MODE 3 (XCDMS3D) + 27.2 VDC (XCDP27D) DISCRETE OUTPUT LOGIC
+ 9.3 VDC (XCDP9D)
SSHFT ULS S XCOAS:1P
RETURN (XC DASSPG) IS DATA (XCDASD)
RETURN IXC DAS DG)
-F 8 VDC
•
+8VDC
•
J
ENCODRR 15DATA SYNC EXCIT. (XCDTDSE)
INPUT LOGIC
IS DATA SYNC
(XTDS)
IS REQUEST EXCIT. (XCDTRQE)
Figure
8-41
Computer-IS 8-164
CONFIDENTIAL
i
Interface
J
MULTIPLEXER
CONFIDENTIAL
PROJEI (a)
Computer
modes -
monitored
The mode
to determine
signals
that the computeri
for a partlcularoperational
(b)
Computer
input power
the computer
(c)
Computer
mission
- The 27.2
by the IGS Power
running
transmitted
was in the correct
are
mode
phase.
vdc and 9.3 vdc inputs
Supply
- The computer
to the computer
are monitored
running
discrete
supplied
to
via the computer.
output
is monitored
and recorded.
(d)
Computer
malfunction
monitored
(e)
Attitude
data word
of Instrumentation the computer
The following System
mode
malfUnction
errors:
yaw,
and roll ac analog
and recorded.
locations
System
The pitch,
output
in the computer
data.
Data
attitude
errors
stored
memoryiare
in these
allocated
locations
for the storage
is dependent
upon
of operation.
CLD instruction
programming
is associated
with the Instrumentation
interface: Address X m
Y
Instrumentation
System
request
7
0
Instrumentation
System
sync
2
1
The following
is
!
Signal
PRO instruction
progr_ng
is associated
f
System
discrete
and recorded.
are monitored
Twenty-one
- The computer
interface:
8-165
CONFIDENTIAL
with
the Instrumentation
CONFIDENTIAL
PRINI SEDR 300
Si_al
Address
Instrumentation control
Every
System
input
gate
(DI07).
sync discrete
(a)
program
If the discrete
input
DII2 m_nus
- The program
21 locations.
mode,
input
is given.
This instruction bit positions
supplied
by one and the contents
(a)
buffer
location
instructions.
advance
the program
quantities
System
are placed correin o con-
shift pulses
System.
sequential
counter
counter buffer
is incremented location
Instrumentation
until
all
are
System System
21 Instrumentation
are tranmuitted.
System
request
8 -166 CONFIDENTIAL
System
(XTRQ)
of
23 to be
Twenty-four
program
Subsequent
inputs from the Instrumentation
Instrumentation
buffer
Then a PROIO
S, and i through
System.
of the next
according
of the data word
in the accu_nulator and sent to the Instrumentation
via the PROI0
The computer
request
causes the information
to the Instrumentation
- An Instrumentation
values,
System memory
of the accumulator.
are also
System
System
the Instrumentation
specified
so that the sign position
to the Instrumentation
requests
current
of the first
supplied
placed
minus,
in an Instrumentation
in accumulator
DII2 plus
is tested
stores
sponds to the sign position
(b)
i
tests the Instrumentation
The contents
in the accumulator
tained
0
(DII2) is tested as follows:
to the computer
struction
Y
System
50 ms or less, the computer
discrete
x_
are svmmarized
- An up level
as follows:
on this line
CONFIDENTIAL
PROJECT
GEM!
..,oo
N| ;
signifies that the Instrumentation System requires a computer data i word.
The word is transferred from the computer within 75 ms of i the request. Requests can occur at rases up to I0 times per second.
(b)
Instrumentation System data sync (XTDS
- An up level on this line
signifies the beginning of the Instrumentation System data transfer operation.
The computer outputs to the Instrumentation System are summarized as follows:
(a)
Instrumentation System shift pulses (XCDASSP) and return (SCDASSPG) ! This series of 2_ pulses causes Instrusentation System data to be I !
transferre_
(b)
to the Instrumentation
System buffer.
Instrumentation System data (SCDASD) and return (XCDASDG) - These ! l 2_ hits of data are transferred1in synchronism with the Instrumentation System shift pulses.
(c)
Instrumentation
System request excitatlon (SCDTRQE) - This +8 vdc
signal is the excitation
for the Instr _entation
System request
signal.
(d)
Instr_aentation System data sync excitation (SCIEDSE) - This +8 i vdc signal is the excitation for the Tnstrumentation System data sync signal.
(e)
Monitored signals - The following signals are supplie& to the iI Instrumentation System for monitoring purposes: i (i)
Pitch error
(X_)
an_ return (XCI_MBDG) i
8-167 CONFIDENTIAL
i !
CONFIDENTIAL SEDR 300
PROJECT GEMINI
DIGITAL COMPUTER
AEROSPACE GROUND EQUIPMENT
DIGITAL
COMPUTER
AGE REQUEST (XURQT)
AGE INPUT DATA (XUGED)
DISCRETE INPUT LOGIC
MARGINAL
TEST (XUMRG)
m UMBILICAL DISCONNECT
,¢
CONTROL LOGIC J
SIMULATION
(XUMRDC)
MODE COMMAND
(XUSIM)
COMPUTER HALT (XUHLI) _
RETURN (XS26VAC RT)
I
26 VAC (XS26VAC) +28 VDC FILTERED (XSP28VDC)
AGE DATACLOCK(XCDGSEC)
,
RETURN (XSP28VDCRT) FROM IGS
AGE DATA LINK (XCDGSED) DISCRETE OUTPUT LOGIC
COMPUTER MALFUNCTION
AUTOPILOT
SCALE FACTOR
• (XCDMALT)
•
(XCDAPSF)
=l
SEC. STAGE ENGINE CUTOFF (XCDSSCF) m i
+27.2
VDC (XSP27VDC)
RETURN (XSM27_/DCRT)
+20 VDC (XSP20VDC)
+9.3
VDC (XSPgVDC)
POWER LOSS SENSING
PITCH ERROR (XCLPDC)
ROLL ERROR (XCLRDC)
LOGIC LADDER
m
YAW ERROR (XCLYDC)
POWER SUPPLY
(XQBNEI)
FROM AUX. COMP. POWER UNIT
+28 VDC UNFILTERED (XSP28UNF)
11
,_
ABORT TRANSFER (XHABT)
(
CONTROL AND FROM PILOT'S
_
FADE-IN
I
DISPLAY PANEL
DISCRETE (XHSFI)
RETURN (XCLDCG)
+25 VDC (XCP25VDC)
-25 VDC (XCM25VDC) POWER REGULATORS
+8 VDC (XCPSVDC)
RETURN (XCSRT)
=--
A
m
Figure
8-42
Computer-AGE 8-168
CONFIDENTIAL
Interface
CONFIDENTIAL
_.
SEDR300
(2)
Roll
error
(SCIP_BD)
and retur_
(X_)
(3) Y_ e_or(xcT.-_mD) andre_i (X_) i
(_)
Computer off
(XCEOFFD)
i
(_) C_ter ma_u_otlon(XC_T_)i (6)
Second stage engine cutoff (XCDSSCPr)
(T)
Computer mode i (XCDMSID)
(8)
Computer mode 2 (XCDMS2D)
(9)
Computer mode 3 (XCSMSSD)
(zo)+zr.2 vdc(XCDPZrD) (ll) +9.3 vdc (XCDPgD) Aerospace
,Grcund Equipment
(AGE) Figure 8-_2)
The AGE determines spacecraft-installed computer stat_s by being able to read and i display the contents of any memory location, initiate i _nd terminate marginal tests of the memory timing, and co._and the computer to con_tion
the computer malfunc-
i
tion circuit.
These tests are accomplished by a hard-wlred computer/AGE data !
llnk. i
In conjunction with a voice link to the spacecraft, the AGE can control the I various computer modes of operation to determine the _tatus of the computer and its interfaces. computer
To aid in localizing failures, the AGE monitors the following
signals: (a)
All input and output voltages _
(b)
Second stage engine cutoff
(c)
Autopilot scale factor
(d)
Roll error command
(e)
Yaw errorcommand
(f)
Pitch error command
(g)
Computermalfunction
(to _tan
_.
Autopilot)
i!
In addition, the AGE provides two hard-wlred inputs to the computer to reset the malfunction memory
circuit and halt the computer and to forcei a marginal
t_m!ng.
check of the
Early and late strobing of the memory iis effected using the corn8 -169 CONFIDENTIAL
CONFIDENTIAL
PROJEMINI _.
$EDR300
puter/AGE data link.
The following CLD instruction progra_n_ng is associated with the AGE interfaces: Signal
The following
Address X
Y
AGErequest
2
3
AGEinput data
7
2
Simulation mode CO.And
_
2
Umbilicaldisconnect
6
3
PRO instruction
progr_-._ng
is associated with the AGE interface:
Signal
Address X
Y
AGEdatalink
2
2
AGEdataclock
3
2
Computer m_ifUnction
4
3
Memory strobe
0
6
Autopilotscalefactor
1
6
Second stage engine cutoff
4
6
The AGE program commences when the AGE request (C132) is tested minus.
To receive
the 18 bit AGE data word, the program repeats the following sequence of operations 18 times:
(a) Turn on AGE data clock (D023)
(b) Wa t
8-17o CON FIDINTIAL
CONFIDmNTIAL
SEDR300
(c)
Reset AGE data clock
(D023)
(d) w_t Z._mB (e) _eadAG_inputdata(Dx2?) (f) w._tz._ ms The
above sequence
causes
the 18-blt
ter and Into the computer. the r_ining
i_ bits
The first _ bits
are data.
The coding
of the _E
out of the AGE regis-
word
of the _ mode
are mode
bits
Bits
0
0
0
0
None
0
0
0
1
Read ar_ word
0
0
i
0
Set marginal
earl)-
0
0
i
i
Set cumputer
malfunction
0
I
0
0
Set marginal
late
0
i
0
i
Set pitch
0
i
i
0
Set yaw ladder
0
i
i
i
Set roll ladder
i
0
0
0
Set all ladder
the I_ data bits
ladder
of the AGE word
output output outputs
are as follows:
15
Z_ 13
12
LI
l0
9
s5
s3
s2
Sl
A8
A7
A6
A5 A_ A3 A2
A9
A8 define the address
clock pulse
timing,
of the requested
Sl throush
S_ define
8
8-ZTZ i
7
6
5 A1
data, A9 sets up AGE
the sector
CONI_IO=NTIAL
on
output
16
where A1 through
s/id
Mode
Z8 lT s_
bits,
is as follows:
Mode
In the read any word mode,
internal
AGE word to be shifted i
of the requested
CONFIDENTIAL
SEDR300
data,
and
S5 defines
mines
the
requested
located bit
in
of
syllable
data
the is
times.
data
syllables
requested and
the
and
is
last
13
bits
sent
to
the
There
is
(a)
Set
(b)
Turn
it
are
syllable
data
from
_-5
requested
the
sent
AGE.
to
the 2_
the
the
data. the
If
bit
the
13 bits
first
following
of
the
syllable
bit
clock
to
18
If
AGE are
first). of
is
high-order
0.
sent
deter-
data
with
sequence
resetting
computer
requested
2 (high-order
ms between
The
AGE starting
iOn-order
syllable
executing
of
the
to
with
in
AGE by
a dels_
it is
finishing
located
of
sends
0 and 1,
1 and
data
syllable(s)
____
O's,
Requested
operations and
the
setting
26 clock
19. AGE data
link
on AGE data
(D022) clock
from
accumulator
sign
position
(D023)
....
(c) wait2.5 ms Reset AGEdataclock(D023)
(d)
(e) waitz ms (f)
Reset
AGE data
link
(I)022)
(g) waiti ms In the set marginal _unction
with the marginal
of the co_uter
malfunction
test
sets DO60 on.
signal provided
This
signal,
by the AGE, causes
early
in constrobing
memory.
In the set computer
m-leunction
on mode_
the computer
sets D03_
on to check the
indication.
In the set marginal Junction
earl_ mode, the computer
late mode, the computer
with the marginal
test signal,
sets D060 off.
causes late strobing
memory.
8-m72 CONFIDENTIAL
This
signal,
in con-
of the computer
CONFIDENTIAL
SEDR 300
In the set ladder outputs modes, the i_ data bits of the AGE word are as follows:
18
17
16
15
i_
13
12
S
D6
D5
D4
D3
D2
D1
]I
io
9
8
7
6
5
0
0
0
0
0
0
0
where D1 throuEh D6 are data bits and S is the sign bit.
The data and sign bits
are used to control the ladder outlmr_indicated by the i4 associated mode bits. The nmnber is in t_o's-cumplement form where DI is the iow-°rder data bit.
The computer inputs from the AGE are su_.arized as follows:
(a)
AGE request (_)
- An up level signifies that the AGE is read_ to
transfer a message to the computer.
(b)
AGE input data (XUGED) - An up level denotes a binary i being tr,n-ferred from the AGE to the cumputeri
(c)
Marginal test (XI_dRG)- An up level, in conjunction with the proper AGE message_ causes the ccm_uter m_mory Liming to be m-_gin-lqy tested.
(d)
Umbilical dlscomnect (_DC)
- An open circuit on this line signi-
fies that the Inertial Platform has beenireleased (or that the torquing signals have been removed).
The Inertial Platform then
enters the inertial mode of oper_ion
and the ccmrputerbegins to
perform the navigation guidance portion of its ascent routine.
_-
(e)
Simulation
mode ec_ud
(XUSIM) - This
c_end
causes
the
c_uter
to operate in a slmulated ,-ode as determined by the COMP_I_R mode switch. 8-173 CON_'IDENTIAL
CONFIDENTIAL
SEDR 300
(f)
Computer halt (XU}_T) - An up level resets the computer malfunction circuit and sets the computer halt circuit.
The computer outputs to the AGE are summarized as follows:
(a)
AGE data clock (XCDGSEC) - This line reads out the AGE register and synchronizes
(b)
AGE data link (XCDGSED) - An up level denotes a binary l being transferred
(c)
the AGE with the AGE data link.
from the computer to the AGE.
Computer malfunction (XCDMALT) - An up level indicates that the computer malfunction latch is set.
The latch can be set by the computer
diagnostic program, a timing error, program looping, or an AGE command.
(d)
Monitored signals - The following signals and voltages are supplied to the AGE for monitoring or recording purposes:
(i)
Autopilot scale factor (XCDAPSF)
(2)
Second stage engine cutoff (SCDSSCF)
(3)
Pitch error (XCLPI_)_ l
(5) (4)
Rollerror error(XCLYDC) (XCLRDC) Yaw
_
and common return (XCLDCG)
(6) +25v c(x P2mc (8) +8 c (xcPSV ) (7) -25vde (XCM25VDC)_
8-1"_ CONFIOIEN'rlAL.
and co_on return (XCSRT)
8-175 CONFIDENTIAL
CONFIDENTIAl-
PROJECT
GEMINI
_SEDR 300
__
SYSTEM _SCRXPA_ _ Purpose... The Manual Data consists
Insertion
of the Manual
(Figure 8.dl_), The MI_U
Unit, hereinafter
Data Keyboard
hereinafter
enables
referred
the pilot
referred
(Figure
8-43)
to as the _fl_U, physically
and the Manual
Data Readout
to as the MDK and the MIIR, respectively.
to insert data into,
and read data from, the com-
puter memory.
rfo ee Data Insertion Before cleared
data is set up for insertion from the _
by pressing
Then the data
insert push-button
digit decl,ml
nmaber.
of the computer five digits
cally supplied the address on the MDR. pressed
Data Before
to
the CLEAR switches
The first two
memory
specify
into the computer,
location
the data itself.
to the computer
store
the
data
in
from
the
the
on the _
switch
the data
data
is
on the MDR.
are used to set up a 7-
from the left specify
the address
is to be stored,
and the last
As the data is set up, it is automati-
accumulator.
and data is made by means After verification,
push-button
digits
in which
all existing
A digit-by-digit
of the ADDRESS
and MESSAGE
the ENTER push-button selected
memory
verification
switch
display
of devices
on the MDR is
location.
Readout data
is
MD_U by pressing
read the
computer,
CT._AR push-button
all
existing
switch.
CONIPlOIN'rlAI..
data Then
the
is data
cleared insert
from push-
the
CONFIDENTIAL __.
SEDR 300
PROJECT
____
GEMINI
•,=,"_
=
LEGEND
t1_Mi
NOMENCLATURE
_
DATA INSERT PUSH-BUTTON
CONNECTOR J1
Q
Figure
8-43 Manual
Data
IDENTIFICATION
Keyboard
8-177 CONFIDENTIAL i
PLAI'E
SWITCHES
CONFIDENTIAL
__
PROJECT
SERIALW0
GEMINI
PARTN0
L_I_'ERNAT_NAL BUSINESS MACHINES CORP U¢0ONNKU. SCO MOe_L CONTACT MANUAL ....
_--]
iTEM
DATA uS READOUT
NOMENCLATURE
LEGEND DISPLAy DEVICES MESSAGE
0
ADDRESS AND
Q
ENTER PUSH-BUTTON
(:_ 0
READ OUT RUSH-BUTTON SWITCH CLEAR PUSH-BUTTON SWITCH PWR (POWER) TOGGLE
Figure
8-44 Manual
(_
CONNECTOR
O
IDENTIFICATION I
Data Readout
8-178 CONFIDENTIAL
SWITCH
SWITCH
JI PLATE
CONFIDENTIAL-
SEDR 300
button
switches
specify
the
read.
are
used
address
of
the
A digit-by-digit
ADDR_S on the
display MDR is
and
displayed
__
Physical
devices. pressed by the
computer
memory
After and
the
of
is
The _
the
dlspl_
address
from
External
Controls
and
and describes
made
READ _'_ the
data
digits
is
by moans
to
of
push-button
Selected
be
the switch
memory
location
devices.
wide, and 5.51 inches
inches high,
characteristics
8-45.
which
two
deep.
on Figure
It weighs
8-43.
The
1.36 pounds.
major
external
charac-
legend.
Description
external
The controls
is
The
Description
is 3.26
3.15 pounds.
from
the
read
n_mber.
location
verification, data
_n_SAGE
deelual
are s,,,,_rized in the accompanying
Physical
SYSTEM
up a 2-digit
views of the MEK are shown
teristics
Figure
set
verification
The MIE is 3.38 inches External
to
5.01 inches wide,
views
and 6+41 inches
of the MDR are shown
are s,-m-rized
on Figure
in the accompanying
deep.
8-44.
It weighs
The major
legend.
Indicators and indicators
located
The accompanying
on the MDK and MDR are illustrated
legend
identifies
the controls
on
and indicators,
their purposes.
OPERATION
Power The MDIU This
receives
all of the power
power consists
required
of th e following
for its operation
regulated
8-179 CONFIDENTIAL.
dc voltages :
from the computer.
CONFIDENTIAL SEDR300
.,----.
o c•o
LEGEND ITEM
NOMENCLATURE
PURPOSE D_SPLAY ADDRESS AND MESSAGE SENT TO COMPUTER DURING
O
Q
Q
ADDRESS AND MESSAGE DISPLAy
ENTER PUSH-BUTTON
SWITCH
CLEAR PUSH-BUTTON
SWITCH
READ OUT PUSH-BUTTON
Q
(_
PWR (POWER) TOGGLE
DEVICES
SWITCH
Figure 8-45
DURING OPERATION TO BE STORED IN MEMORY. PROVIDESENTER MEANS FOR CAUSING MESSAGE SENT TO COMPUTER UP BY MDKMEANS TO BE CLEARED OR CANCELED. PROVIDES FOR CAUSING ADDRESS AND MESSAGE SET
SWITCH
DATA INSERT PUSH-BUTTON
ENTER OPERATION; DISPLAY DURING ADDRESS READOUT SENT TO, OPERATION. AND MESSAGE RECEIVED FROM, COMPUTER
SWITCHES
Manual
OF COMPUTER ANDFOR DISPLAYED MESSAGETODISPLAY PROVIDES MEANS CAUSING BY MESSAGE BE READDEVICES. OUT POWER TO MEANS MDK AND PROVIDES FORMDR, CONTROLLING
APPLICATION
OF
PROVIDE MEANS FOR CAUSING ADDRESS AND MESSAGE TO BE SENT TO COMPUTER TO BE DISPLAYED BY ADDRESS AND MESSAGE DISPLAY AND DEVICES.
Data Insertion Unit Front Panels 8-180 CONFIDENTIAL
CONFIDENTIAL
PROJECT
.,
(a)
+25 vdc
_
(b) -25 (c)
it is not actually
filtered
on.
and common
return
J
+8 vac and return
This power is available
is turned
GEMI
SEDR300
at the MDIU whenever
applied
When
to the MDIU
power is turned
by a capacitor
network
the computer
circuits
until, the PWR
on at the MDR,
and supplied
is turned
on.
However,
switch on the MDR
the regulated
dc voltages
are
to the MDK and MIR circuits.
Flow (n re 8-6) The MDK has ten data select
the address
or from which are numbered
insert
of a computer
to binary
values,
called the insert
in the computer.
coOed decimal
(Figure
values
button
display
devices
push-button
switches
data
insert
push-button
switches
The command
push-button
switches,
the
data
switches
that
has
all
supply
are used to
data is to be stored
data, !the push-button
encoder
is used
switches
to convert
their
can be used by the computer.
are supplied Ito the insert
encooer
also
input
devices
are used to display on the MDK,
develops
logic of
set
inputs
up is to
the
and three
These
serializer
the data available
the computer.
called H_TER, into be
discrete
input
8-181 CONFIDIENTIAL
switches. insert
the data set up by the
from a computer
memory
location.
READ !OUT, and CT._4R, are used
or read
cleared
push-button
Set up by the data
either
or the data read
to
Cnmm"nd
the address
and to display
data is entered
been
in Which
that
switches
8-47)
The display
whether
location
to the discrete
The I_R has seven digital
to determine
These
For storing
data signals,
The insert
is supplied
Flow
switches.
the insert button
outputs
M_R.Data
memory
data is to be read. decimally,
signal which
push-button
(or
out of the computer, canceled). logic
of
These the
computer.
or whether
push-button Since
CONFIDENTIAL
_-_
PROJECTSEDR 3OOGEMINI
_,_.._.
DATA INSERT SWITCHES
J_
O
;
_
2
,
_-
/
ZERO
C
_
C
_
C
_
I
AVAILABLE CIRCUIT DATA
__1
• I
INPUT LOGIC TO DISCRETE
|
_
CIRCUITINSERT DATA l
_
INSERT DATA 2 CIRCUIT
3
:
•
4
• 5 ;
•
O
INSERT BUTTON ENCODER
L
I 1
8
O
C
_
Figure
_
8-46
Manual
INSERT DATA 8 CIRCUIT
Data
Keyboard
8-182 CONFIDENTIAL
Data
Flow
_, "--" TO INSERT ' SERIALIZER
CONFIDENTIAL
PROJECT
GEMINI
DRIVE
i
CONTROL CIRCUIT
i
i DEVICE SELECT CONTROL
I _
i
INSERT DATA 2
i
CirCUIT
I
CIRCUIT
U
J i
_
O_
_" U w O _ _ _- _ _
DEVICE b
_, N MBER
DEVICE
SELECT CONTROL 2 CIRCUIT
_
SELECT CIRCUIT
DISPLAY DEVICES
_
SE ECT CI CUlT
DEVICE SELECT CONTROL CIRCUIT
INSERT _
DATA 4 CIRCUIT
iNSE'RT 4
:
DATA 8 CIRCUIT
i I i I
i i
Ji READOUT
i rZZl
O
C
_ J CIRCUIT
J
CLEAR
O
C
-_
I
CIRCUIT
L
_
INPUT
LR_c_IC
TO D,SCR TE
ENTER
0
Figure
C
_
8-47 Manual
l,
Data Readout
Dat a Flow
8-183 CONFIDENTIAL
i I
CONFIDENTIAL
the
display
received
from
values and to
devices
from three
the
the the
device display
drive
is
outputs
number
display
control
The manual the MDIU
to
is
used
of
data circuits
device.
control
This
device
signal
from
coded
can
be
select the
conjunction
with
display
values
outputs
from
the
outputs
of
with
a particular by means
of the device received
is presented
supplied the
the
device.
A combination
is accomplished
coded decimal
is
of
is used in conjunction
operations
These circuits
display
selector.
values
displayed.
computer
a particular
to select
dect._l
control
A combination
device
selection
decimal
they
three
select
the
binary
before
circuit
the combined
the binary
in to
by means
drive
the
circuit.
circuit
and an equivalent
Data
decoded
Another
control
Thus, through
selector,
decoded
Manuel
device
be
display,
supplied
circuits
accomplished
of the display
selector.
are
drive
from the insert
selected
must
circuits.
control
device
selection
data device
select
a decimal
computer computer
insert
display
provide
This of
the outputs number
on the
of the number
selector
and the
from the computer
are
on the display
devices.
is transferred
between
Subroutine data subroutine,
and the computer,
in the DIGITAL
CC_ER
which
determines
is described
SYSTEM
when data
under
OPERATION
part
the Operational of this
Program
heading
section.
Interfaces The MDIU under
interfaces,
the Interfaces
all of which heading
are made with the computer,
in the DIGITAL
CC_fl_u_ERSYSTEM
this section.
8-184 CONFIDENTIAL
are described
OPERATION
part
of
CONFIDENTIAL
PROJMINISEDR300
___
AUXILIARY SYSTEM
TAPE M_MORY
DESCRIPTION
General The Auxiliary system. program
It is used storage
over 85,000 puter
Tape Memory
in spacecraft
thirteen-bit
of the spacecraft
The ATM
is a self-contained
for the digital
core memory.
Physical
(ATM)
(Figure
through
computer.
words.
The ATM
eight
twelve
tape
to provide
It has a total
This is about
is mounted
magnetic
seven
on a cold plat(
additional
storage
;linesthat
recording
capacity
of
of the com-
in the adapter
section
8-15).
Characteristics is i0 inches
x i0 inches
It has three external
connectors
x 7 inches and weigh_ for its interfaces
25.7 pounds (Figure 8-48). i with the digital computer and
! the Pilots' initial
Display
and Control
pressurization
Panel
(PCDP).
of one atmosphere,
The AT M is hermetically
gage,
at ambient
room
sealed with
temperature
and
pressure.
Internally,
the AM
electronics
for the read, write
Functional
contains
a tape transport, an_ control
a driv, motor,
and the necessary
functions
Characteristics
The functional Tape
characteristics
of the ATM are _,-_nriZed
length
as follows:
525 feet I
i Tape type
3M type m-1353 i Heavy-du_
high
resolution
i _-
Instrumentation
tape
i
Tape
Read/write
speed.
- 1.5 ips +.0.5_
Wind/re'rid !
8-18_ CONFIDENTIAL
i
!
- 8 times
r/w speed
CONFIDENTIAL SEDR300
-_
__'__
PROJECT
ACCESS HOLES FOR MOUNTING
GEMINI
SCREWS
CONNECTOR
GROUNDING
)MPUTER AND CONTROL MOUNTING
SURFACE' NNECTC_
Figure
8-48
Auxiliary
8-186 CONFIDENTIAL
Tape
Memory
HOLE
CONNECTOR
CONFIDENTIAL
SEOR 300
Channels
16 (9 data, 3 parity, 3 clock, i spare)
Storage capacity
Total 12i.5x 106 bits (15 channels) Effective 90,000 iS-bit computer words
Storage density
133 bits_inch/channel
Data transfer rate
600 bits_second
Ready tide-per max program
i0 m_nutes (verify 3 syllables)
i
7 minutes
(reprogram 2 syllables)
Total rea_ time
67 minu_es
Total wind/rewind time Voltage
i0 minu_es max. i 21 - 30 v&c
Voltage interrupts
115 milliseconds
Controls and Indicators The controls and indicators associated with the ATM are _...arized as follows: (a)
AUX TAPE OFF - ON/RESET - A toggle
,vitch on the PCDP, used to i !
apply power to the A_
(b)
AUX _
or to reset St.
mode selector - A five - position rotary switch used
i to select an operational control mode for the ATM.
The five
mo_sare- (l) _BY, (2)A_O, (B)W_m, (_)RE_D _d (5)PROG (reprogram).
(c)
Manual Data Insertion Unit (MDIU) -iUsed to select one of three ATM operational sequences stored in!the computer memory. are:
(i) reprogram, (2) verify, an_ (3) reprogram/verify.
These
8-187 CONFIDENTIAL
CONFIDENTIAL
PROJE--C'-GEM __
IN I
SEDR 300
(d)
- Display tape position
Incremental Velocity Indicator (M)
words (on the IVl LEFT/RIGHT channel) and module words (on the M
(e)
FORE/AFT channel) during the A_
AUX TAPE RUN indicator - A lamp on the PCDP which ill_im_nates whenever A_
(f)
search operation.
motor power is applied.
AUX TAPE ERROR indicator - A lamp on the PCDP which illuminates when incorrect frame parity is detected by the ATM.
SYSTEM OPERATION
9eneral The A_4 is used to store operational program modules for in-flight loading of the spacecraft digital co_puter.
It is capable of replacing the majority of the data
in syllables zero and one of the computer memory (approx 8,000 thirteen-bit wor_s) in approximately seven m_nutes.
The program data is stored in the A_
by recording it on magnetic recording tape.
Normally, this data is supplied by the Aerospace Ground Equipment (AGE) and recorded (written) on the tape prior to launch time.
It is also possible, however,
to write data onto the tape using the MDIU and digital computer.
There are two methods of load_ng the computer memory from the ATM. the auto m_le and is considered to be the primary one.
The first is
The second is the manual
mode and is provided as a hack-up metho_ for loading the computer memory.
The
•asic difference between the two is that the auto mode requires fewer manual operations.
8-188 CONFIDENTIAL
CONFIDENTIAL
PROJECT s,o.3OGEMINI
The A_
employs
a reel-to-reel
combination
read/write
drive motor
accomplishes
head having speed
the phase
of one winding
(n_._nal)
is provided
wind/rewind
operation.
which
are eight
The oscillator The frequency
transport
with
by using
by
!A tape
modes
those
for the read/write by 8:1 through
speed
of i. 5 ips High
the drive motor
speed
a binary
speed
with a fre-
used for the read/write
the frequency
The
switch to switch
of operation.
by a tic-to-de inverter
output provides
and a single-
per track.
a s_lid-state
supplying
times
assembly
two windings
to the other.
read and write
is provided
source hut it is reduced
Write
respect
is accomplished
The drive system power oscillator.
with
drive
16 tracks
reversal
for both
operation
quency and voltage
peripheral
and a fixed
speed. frequency
for high-speed
o_iginates
from this
same
chain.
Electronics
Figure
8-_9
shows the A_
(Hon-Return-to-Zero)
write
data in serial
a parity bit)
together
with
The recording
circuits
convert
four-bit
frames
electronics.
in parallet
shift
form
pulses
input
accepts
four-bit
(one his in each four-bit
and frame
the serial
NRZ format
The A_
input
synchronizing i
clock
frame
is
pulses.
into iparallel form and record
on the m_netlc
tape.
Each four-bit
the
frame
i
plus a frame
synchronizing
tape by triple width
redundant
to minimize
errors
clock
pulse
is recorded
head drivers. introduced
Each
redundantly
on the magnetic
data bit is spread across
by tape flaws
or foreign
matter
the tape
on the tape
surface.
_ead
Electronics
The play-back
(read) electronics
write electronics.
Each data
(Figure
channel
8-50)
uses the same tape head as the
is read by a play-hack
8-189 CONF|DENTIAL
amplifier/level
CONFIDENTIAL
_REOGLISTE R
F_ou'_JT 7 REGISTER
POUR .'13"_U_FEr
_ __
J
INTERFACE
:
TRIPLE
TRACK 1
REDUNDANT
TR6
_ m
Dl D1
DRIVER HEAD
TRI1
_"
DI
DRIVER
TR12
•
D2
TR8
_
D3
TRI5
_
P
TR5
_
P
|
SHIFT
-
j
HEAD i
REDUNDANT
DRIVER HEAD
I
__,._
I
1
0I" I
L
NRZ DATA
ERAM/ [D3D2 ' l PARITY BIT
DI l_l
--
_n
FF
j_
TRWLE
J
COMPUTER
REDUNDANT --HEAD
DATA INTERFACE
DRIVER
CLOCK
t COMPUTER J J
INTERFACE
Figure
8-49
ATM
Write
Electronics 8-190
CONFIDENTIAL
Block
Diagram
_
IR4
=
C
TR9
_
C
TR14 READ/WRITE TAPE HEAD
_
C
CONFIDENTIAL SEDR 300
._ _
l_
Po,JcT VOTER
DI
_
D2
L
DATA I
_
_
PARITY _J
TAPE HEAD READ/WRITE
D2
_
D3
_
DAITA I
VOEER DATA 3
DATA 2
GENERATOR
_
: DA=TA 3
P_ p
PARITY VOTER
--
PAilTY COA_PARATOR
SET TAPE ERROR
i
P
_
t
ERROR INHIBIT
VOTER C _
-
CLOCK'
C
•
C
8-50
ATM
Read
Electronics 8-191
CONFIDENTIAL
Block
=
_
= CLOCK
I
Figure
_
Diagram
CONFIDENTIAL
PROJECT
detector, voted
and each redundantly
on (2 out of 3 majority
outputs
recorded vote)
data bit (DI, D2, D 3, P, C) is majority
by the A_
(DI, D 2, and ])3) and clock voters
amplifiers supplied
and,
subsequently,
to the computer).
generator.
The output
Each
bit read from the tape.
generated
parity
bit, the A_
the AUX TAPE ERROR
lamp on the PCI_.
those developed
computer output
generator
an A_
logic.
error
to output
is also
from the voted
bit is not
supplied
to a parity
wlth
parity bit differs discrete
by comparing
data bits
voted
interface
(the parity
which
A check for tape errors
of operation
Three
is then compared
If the recorded
issues
the wind and rewind modes
bits with
data voter
of the parity
voting
are supplied
to the digital
on parity
during
GEMINI
the votedfrom the
will ill-m4nate
is also performed
the recorded
parity
during playback.
Im_RFAC_S The A_I_ interfaces DIGITAL
CO_F_
|H,
with the digital
IN_FACES
co_uter
part of this
and the PCDP
section.
8-192 CONFIDENTIAL
are described
in the
CONFIDENTIAL
PROWl
___
YS_
VELOCIT_ INDICATOR
i i
SYS_
SEDR 300
IESCRIPTION
Purpose The primary
purpose
after referred velocity
of the Incremental
to as the IVI,
Velocity
is to provide
Indicator i
visual
(Figure
indications
8-51),
herein-
of incremental
!
for the longitudinal(forward-aft),laterall(left-rlght), and vertical l
(up-down)
axes
of the spacecraft.
sent the amount and direction achieve
correct
by means
_
mation
of additional
concerning part
velocities
to the existing
repre-
necessary
spacecraft
to
velocities
thrusters.
Tape Memory
the tape position
during
this usage can be found
of this
incremental
velocity !or thrust
use of the IVI is to display
from the Auxiliary
OPERATION
indicated
and thus are added
of the maneuver
An additional words
orbit,
These
words
its oper@tion.
and module
Additional
infor-
in the AI/_ [LIARY TAPE MEMORY
SYS_
section.
Performance A three-diglt
decimal
used to display
display
incremental
device
velocity
Both the lamps and the display
iiI
indication
for each of the ithree i
1.mps are
spacecraft
axes.
devices
switches
on the IVI or automatically
maneuver
thrusters
correct
and two direction
can be set up ieither manually by rotary J by inputs from the computer. Then, as the
the spacecraft
velocities i pulses
are received
from
i
the computer
which
drive the display
devices
toward
Zero.
If a display
device
is
! driven
beyond
zero, indicating
an overcorrection
of the spacecraft
velocity
for
i the respective
axis, the opposite
direction
indication
lamp lights
and the display
i
device
indication
increases
in magnitude
to show a velocity
direction.
8-193 CONFIDENTIAL
i
error
in the opposite
CONFIDENTIAL SEDR300
..___
_,--lrT'_t __
LEGEND
,_M
NO_NCLA_"
(_ Q
FWD_FORWARD_ DI_CTIO. ,NO,CATION L--P _O.ARO-APT O.F_AY.V'CE
Q
LEFT-RIGHT
Q
R (RIGHT) DIRECTION
(_
UP-DOWN
Q
UP DIRECTION
DISPLAY DEVtCE INDICATION
LAMP
DISPLAY DEVICE
INDICATION
LAMP
L-R ROTARY SWITCH
(_)
AFT-FWD ROTARY SWITCH
(_
AFT DIRECTION
(_) _
CONNECTOR IDENTIFICATIONJI
iNDICATION
O
O
LAMP
_0,
CONTRACT
'_/
PLATE
j_
_
,)
Figure
8-51
Incremental 8-194 CONFIDENTIAL
Velocity
Indicator
CONFIDENTIAL
PROJECII
Physics1
Description
The IVI is 3.25 inches B.25 pounds. summarized
Controls
The major
;.0_ inches wide,
external
in the accompanying
and 5.99 inches
characteristics
are
deep.
;hown in Figure
It weighs $-51 and
legend.
and Indicators
The controls
and indicators
The accompanying their
C
high,
legend
located
identifies
on the IVI are illustrated i the
controls
on Figure
i and indicators,
8-52.
and describes
purposes.
SYSTEM
OPERATION
Power The _Dower required Supply whenever
During
for operation
the computer
of the IVI is supplied
is turned
(a)
+27.2 vde and return
(b)
+5 vdc and return
the first BO seconds
(or less)
on.
by the IGS Power
The powerl inputs
following
are as follows :
the application
of power,
the
i
incremental
velocity
Thereafter,
the IVI is capable
Basic
counters
on the
IVI are automatihally
of normal
driven
to zero.
operation.
Operation
The IVI pulses display
includes
three
identical
channels,
for one of the spacecraft device
error pulses
axes
and its two associated
are either
received
each
of
and processes direction
which
accepts
them
indication
from the computer
velocity
error
for use by a decimal lamps.
o4 i generated
The velocity
within
the M,
i l
as determined With
by the position
the spring-loaded
of the rotary
switches
in their
switch aslsociated with 1
neutral
8-195 CONFIDENTIAL
center positions,
each the M
channel.
CONFIDENTIAL SEDR 300
"FWD"" J 1
I
[0oo1 [olc)lol [oool
LEGEND ITEM
(_
NOMENCLATURE
FWD (FORWARD) DIRECTION FORWARD-AFT
INDkCATION
UP-DOWN
LAMP
LAMP
LAMP
DISPLAY DEVICE
DN (DOWN)
DIRECTION
THAT PLUS X AXIS VELOCITY
INDICATES
INDICATES
OF INSUFFICIENT
OF INSUFFICIENT
THAT PLUS Y AXIS VELOCITY
INDICATES PLUS OR MINUS AMOUNT Z AXIS. OF INSUFFICIENT
LAMP
INDICATION
IS INSUFFICIENT. VELOCITy
FOR PLUS
THAT MINUS Y AXIS VELOCLFY IS INSUFFICIENT.
OR MLNUS YAMOUNT AXIS. INDICATES
iNDICATION
UP DIRECTION iNDICATiON
INDICATES
INDICATES OR MINUS XAMOUNT AXIS.
DISPLAY DEVICE
R (RIGHT) DIRECTION Q
INDICATION
DISPLAY DEVICE
L (LEFT) DIRECTION
LEFT-RIGHT
PURPOSE
VELOCITY
FOR PLUS
iS INSUFFICIENT. VELOCITY
FOR
INDICATES THAT MINUS Z AXIS VELOCITY IS INSUFFICIENT, LAMP
THAT PLUS Z AXiS VELOCITY
IS INSUFFICIENT.
Q
DN-UP
(_
L-R ROTARY SWITCH
VELOaEY ERROR ON PROVIDES MEANS FC_ LEFT-RIGHT MANUALLY DISPLAY SETTING DEVICE. UP Y AXIS
AFT-FWD ROTARY SWITCH
VELOCITY ERROR ON DISPLAYUP DEVICE. PROVIDES MEANS FOREC_WARD-AFT MANUALLY SETTING X AXIS
@
ROTARY SWITCH
INDICATES
VELOCITY ERROR ON DEVICE PROVIDES MEANS FORUP-DOWN MANUALLY DISPLAY SETTING UP Z AXIS
AFT DIRECTION INDICATION
Figure
8-52
LAMP
INDICATES THAT MINUS X AXIS VELOCITY IS INSUFFICIENT.
Incremental
Velocity 8-196
CONFIDENTIAL
Indicator
Front
Panel
CONFIDENTIAL
__
SEDR300
processes
only the pulses
switches
in either
replaces
them with pulses
pulses
beyond
direction
are generated
of rotation
until
generated
the rate reaches
fixed oscillator.
and replaces
oscillator
per second.
removes
them with
Rotation
the pulses
pulses
These
of the switches
generated
generated
and
13.5 degrees
by the
by an internal
at a rate
of the switches
beyond
the 50 pulses
per second position
of 50 pulses
per second.
is limited
by
stops.
pulse received causes
Simultaneously,
this
same pulse
lamps to light right,
on any channel,
the appropriate
the pulse;
count depending
or up direction
Each additional
A pulse having
a count
depending
of one.
direction
on a positive
is indicated,
pulse between pulse
the same
a pulse having
to display
or one of the
input
on which
indi-
line,
a
channel
and if the pulse was ireceived on a negative i
on the relationship
conversely,
received
is indicated,
and the sign of the added
is received.
device
the computer
one of the two associated
If the pulse _as
input line, an aft, left, the pulse.
from either
display
causes
or down direction
(X, Y, or Z) received
count;
variable
per second for every
I0 pulses
of the
from the computer
are generated
oscillators,
counters
rotation
pulses
The first
received
received
by an internal
position
However,
These
mechanical
forward,
the pulses
at a rate of one pulse
oscillator
Rotation
from the computer.
removes
the i0 pulse per second
variable
cation
received
either
depending
increases i
on which
or decreases
the sign Of the existing
as determine(
the
value
on the
by the line on which
sign as the existing
the opposite
channel
error
increases
sign ofi the existing
error
it the
decreases
i
the count.
A series
of pulses
having
the opposite
sign indicates
a corrective
i
thrusting causing direction
and eventually still more
reduces
pulses,
indication
causes
the indicated the count
error
to zero.
to increase
lamp lit.
8-197 CONt_IDIENTIAL
again
An overcorrection, but with
the opposite
CONFIDENTIAL SIDR 300
X CHANNEL
ROTARY -X DELTA VELOCITY
_ Z
SWITCH
fXDELTAVELOCJTY
_:
AFT
COUNTER
FWD
' J
_i ' ]
_ PULSE
_g_NR
MOTOR
[
I SET ZERO CONTROL
X ZERO INDICATION
I I I
D,S_Y Iololol
I
DEVICE
I OSCILLATOR
÷27.2v
J I I
X SET ZERO
I
DRIVERS
- l
J
=
I
DRIVER
FIXED
t
l
I
[
il
li I
I 1 I
EORWARD-AE, "
X ZERO IND.
l
_+27.2V
FWD
VARIABLE OSCILLATOR
|
LAMP DRIVER "l-SV
-"
_
J
SELECTOR
AFT
i "_
_ LAMp
_'
kAMP DRIVER _
+SV
IO'4:_OM Y AND Z CHANNELS
NOTE Y AND Z CHANNELS ARE SAME AS X CHANNEL, EXCEPT Y CHANNEL CONTROLS AND INDICATORS ARE LEFT-RIGHT AND Z CHANNEL CONTROLS AND INDICATORS ARE UP-DOWN.
Figure
8-53
Incremental
Velocity 8-198
CONFIDENTIAL
Indicator
Data
Flow
-_
CONFIDENTIAL
....
PRMINI Zero
SEDR 300
Indication 8-53, three
As shown on Figure forward-aft however,
display
device.
series-connected (The same thing
since the three channels
When the display
device
+27.2 vdc signal
is then applied
the X zero indication indicates
indicates
signal
is true
are operated
for the Y an_
are identical,
only the X channel
000, all three
switches
to the X zero indication
that is supplied
that the respective
switches
counter
by
the
Z channels; is shown. )
are closed.
A
driver
develops
to the computer.
which
This signal
is at zero.
• coun,t Velocity
error
pulses
via the AFT-FWD pulses
rotary
are received
-X delta velocity are received previously
switch.
operate
of the error,
the fixed
to be driven
the same. which
and the motor 90 degrees
The motor drives
the
velocity
is not in the!center
depends
The lamp selector be lit.
lamp driver.
counter drivers
operate
for each pulse is determined
error
count
the display
position,
these
line and the the pulses
oscillator.
As
position
the lamp selector determines,
and
by means
is then supplied
Meanwhile,
drivers.
that causes
is counted.
by the relationship
the
The direction between
the sign
and the sign of the added
velocity
device
by a count
8-199 CONFIDENTIAL
to
the same pulses
to the motor
in a manner
that
counter
on the exact
Power
and supplied
pulse
position,
or the variable
that is used
lamp should
by the pulse
velocity
and
of the source of the pulses,
in which the motor is driven of the existing
selector
on the +X delta
oscillator
lamp via the associated
The pulse counter
lamp
If the switch is in the center
If the switch
Regardless
are being processed
the
from the computer
line.
counter
the selected
pulse.
to
explained 3 the oscillator
of the sign
motor
applied
from either
of the switch. the pulse
are
so that it changes
error of one
CONFIDENTIAL
for each 90 degrees of motor rotatlon.
_hus the display device maintains an
up-to-date count of the size of the veloci_
error for the assocleted axis
(in this case_ the X axis), and the direction indication lamps maintain an up-to-date Zero
indication
of _
direction
of the
error.
C_=and
The IVI counters can be individual_V driven to zero by means of set zero signals (X set zero, on Fi6ure 8-53) supplied by the discrete output logic of the computer.
The set zero signal is supplied to the set zero control circuit which
gates the 50 pps output from the fixed oscillator into the pulse counter, provided the display device counter is not already at zero.
The pulses from
the fixed oscillator then drive the motor in the normal manner until the counter is zeroed.
The pulses are applied in such a manner that the count always
decreases, regardless of the initial value.
Interfaces The IVI interfaces, which are made with the computer and the IGS Power Supply, are described under the Interfaces heading in the DIGITAL COMPUTER SYSTEM OPERATION part of this section.
8-200 CONFIDENTIAL
CONFIDENTIAL
HORIZON
SENSOR SYSTEM
TABLE OF CONTENTS TITLE
PAGE
SYSTEM DESCRIPTION ........... SENSOR HEAD ......... ELECTRONICS PACI_AGE_ ........ SYSTEM OPERATION . . • • • • • F
8-203 8-203 8-205 • • • 8-205 8-207 INFRARED OPTICS'o'I INFRARED DETECT N .......... • • • • • .... 8-211
SERVO LOOPS. HORIZON SENSOI_ I_0 W EI_ •..... • • • .
8-212 •• •• •• 8-228
SYSTEM UNITS...... . . . . , . . . 8-229 SENSOR HEAD .... , o o ° o o . o o 8-229 ELECTRONICS PACKAGE° ..... • • • 8-232
8-201 CONFIDENTIAL
CGNFIDENTIAL
PROJECT
DETAIL A
_(_i_)_
GEMINi
OFF DETAIL C
SEC DETAIL B
SEE
RIGHT SWITCH/CIRCUiT
\
BREAKER PANEL_
SEE DETAIL R
TRONIC PACKAGES
FT EQUIPMENT ' HORIZON -PRIMARY
HORIZON
Figure8-54 Horizon Sensor System 8-202 CONFIDENTIAL
SENSOR HEA0
SENSOR HEAD
IN SENSOR PAIRING
BAY
CONFIDENTIAL
PROJE
HORIZON
SYST_4
I
SENSOR
SYSTEM
DESCRIPTION
The Horizon
Sensor
System
(Figure
8-5_)
consists
of a isensor head,
an electronics
i
I package
and their associated
establish error
a spacecraft
signals
controls
attitude
proportional
horizontal
attitude.
spacecraft
or the inertial
and indicators.
reference
to earth
to the difference
Attitude
error
The system
local vertical
is used to and generates
between
signals
spacecraft attitude and a I can be u_ed to align either the
i platform
to earth
local
vertical.
The system
has a
i
null accuracy
of O.1 degree
nautical
miles.
altitude
range, measurable
spacecraft
When
attitude
and is capable
the system
errors
of operating
is operating
spacecraft
of 50 to 900
in the 50 to 550 nautical
attitude
are between
at altitudes
error
_s + 14 degrees.
i_ and 20 degrees,
the sensor
mile When
output
i becomes
non-linear
but the direction
slope of the attitude
error.
When
of its slope
always corresponds with the i attitud_ errors exceed 20 degrees,
spacecraft
i the system may lose track. The second
system
TWo complete
is provided
systems
as a backup
are _ustalled i
on the
in case of! primary
spacecraft.
system malfunction.
SENSOR HEAD The sensor head track
the
(Figure
infrared
8-55)
gradient
contains
between
equipment
earth
and
requlred
space,
_t
to scan,
the
detect
horizon.
The
and sensor
i
heads are mounted
on the left side of the spacecraft
_d
canted
I_ degrees
for-
the azl_,th
axis
!
ward
f
of the spacecraft
by a yoke assembly assembly).
Scanning
and about the elevation
Infrared
servo loop which
pitch axis.
detection
positions
is provided
the Positor
is provided
about
axis by a _sitor by a bolometer
mirror.
8-203 CONFIDENTIAL
(mlrror
positioning
and tracking
by a
CONFIDENTIAL
_
PROJECT
PYROTECHNIC
GEMINi
ELECTRICAL CONNECTOR
/
)
J5 POSITOR
_
PRE-AMPLIFIER AND POSITION I
VIEW A-A
Figure 8-55 Horizon Sensor Scanner Head 8-204 CONFIDENTIAL
DETECTOR
CONFIDENTIAL
PROJEC'T
EI_CTRONICS
vide azimuth
sensor used
head,
Electrical
levels
a_d optical
for the Positor.
the azimuth
yoke
from the constantly
error
signals
from the
direction,
Signals
from limit
to pro-
and attitude
systems.
radiation signals
required
are also
to l_m_t.
changing
Positor
during
pre-launch
are
Attitude
position
signal
is tracking.
OPERATION
initiation staging
Horizon
Sensor
radiation.
to acquire
and lock-on
system
Operation tracking horizon.
PRI-OFF-SEC
the JETT FAIR
switch,
acquisition
the horizon) lO seconds.
an_ retrograde
80 m_11 _secomds
is energized
and S_
Initial
time is approximately staging
System
of the SCAN HTR
the pilot presses
infrared
the
drive
are derived
system
The primary
plus
drive
the circuitry
to the sensor head
control
infrared
elevation
contains
signals
and platform
to constantly
the
8-56)
drive
representing
to generate
SYSTEM
(Figure
and elevation
error signals
_
package
to spacecraft
generated
when
I
PACKAGE
The electronics
signals
GEMI
section
time
switches.
exposing
Immediately
the sensor heads
(the t_me required
is approximately The system
by pilot
120
seconds;
after to
for the sensor reacqulsitlon
can be used any time between
separation.
the sensor heads
At retrograde section separation i i are automatically Jettisoned, rendering
imoperative.
of the Horizon the
infrared
Sensor
radiation
To accomplish
System
depends
gradient
the above,
on receiving, i
between
the system
earth
and
employ_
detecting space,
infrared
at
and
the
optics,
infrared
i •
detection
and three closely
of the Horizon Sensor System
related is
servo
provided
loops. in
Figure
A functional 8"-57.
CONFIDENTIAL i i
block
diagram
CONFIDENTIAL
I
PROJECT
/
GEMINI
_AUTOMATIC
RELIEF VALVE
TEST RECEPTACLE
SENSOR HEAD RECEPTACLE
Figure
8-56 Horizon
Sensor 8-206
CONFIDENTIAL
Electronic
Package
_
CONFIDENTIAL
SEDR300
I_FRAP_
OPTICS
Infrared
optics
(Figure
and an azimuth head.
8-58)
&rive yoke.
The Positor
consists
All of these
has a movable
field of view about
of a Positor,
mirror
the horizon.
components which
Radiation
a telescope-filter a#e located I
in the sensor
I
is used Ito position t
is reflected i
assembly
the system
by the Positor
mirror
I
into the telescope-filter assembly,
directs
assembly
infrared
conta$us
radiation,
microns the
of undesired (80,000
infrared
radiation
i
lens!, an infrared
The
reflected
objective
lens
by the mirrors,
The infrared
frequencies.
to 220,000
mirror,
objective
bolometer.
_,,,ersion lens of the bolometer. radiation
_n the telescope-filter i into the telescope. The telescope-filter i
meniscus
thermistor
all the _n_rared
A fixed
radiation
a germanium
a gerry+_ium-immersed direct
assembly.
filter
is used
on an immersed
and
to
on the germanium
is used to eliminate
The filter has a! band pass
angstroms).
filter
The germaniu_
immersion
of 8 to 22 lens focuses
thermistor. i
The horizon
sensor
field
of view
is deflected
throug_
160 degrees
(+_80) in
i i
azimuth
and 70 degrees
(12 up and 58 down)
in elevat_ on by rotating
the Positor
I
mirror.
The Positor
an axis which
is rotated
runs through
in azimuth
the center
by a driv
; 1
of the infrarec
yoke.
Rotation
ray bundle
is about
on the surface
! i
of the Positor circuitry
mirror.
The yoke is driven at a one dycle per second rate by +I
in the electronics
package.
The center
of ithe azimuth
scan is i_
i
degrees
forward
of the
spacecraft
pitch
axis.
This
Is due to the mounting
of
I
the
scanner
tilts
heads.
the Positor
Elevation mirror
deflection
as required
is provided
to search
iby the Positor which i for o_ track the horizon.
8-207 CONFIDENTIAL !
The
CONFIDENTIAL
j :__
I __,_-
PROJECT
SEDR 300
__r_l
GEMINI
I
r- ........
AZIMUTH
DRIVE AMPLITUDE
1
SWITCH
I J
.....O_EERS_OOT t
1
II
ROLL 8YNC SWITCH
I
--_ ,
,'
EXCITATION
J
I AZ'MUT" I
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I I •
( _
_
EXC'TAT'°N_*C P,ED CO,L
I
5KC EXCITATION
POSITOR DRIVE SIGNAL
_
POSITOR DRIVE)
/
I =i
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, ,
I
SWITCH
SWiTCN ,,, t
I
_5KC
OVERSHOOI
CLOCKWISE DRIVE
I
ROLL SYNC
AZIMUTH
.....
J I
AZIMUTH
POSiTiON PHASE
POSITION ;
POSITOR
_._"
POS,T,ON DETECTOR MIRROR I_S,TOR SIGNAL I
J
AMPLIFIER
PHASE SH,ETED POSITOR
FIELD COlt
(5KCSIGNAL FROM
THERMISTO
ASSEMBLY
PASS FILTER
I
J J
D_ FIXED
_j_
TELESCOPE-FILTER ACTIVIRoN _ 8-22 __, MICRON _IL_-BOLOMETER
M IRROR
_"
J
I
-
Figure
8-57
Horizon
PRE-AMPLIFIER
I
G ERMAN' U_v_ ER-_" MENISCUS LENS z._ THERMISTOR PASSIVE
- "-_°'_°
Sensor
RADIATION
System
Functional 8-208
CONFIDENTIAL
-
Block
- I
+28V DC SPACECRAFT POWER
Diagram
(Sheet
t
1 of 2)
J
CONFIDENTIAL SEDR 300
:-.
____"
PROJECT
GEMINI
I
I AZIMUTH CONTROL CIRCUIT
AZIMUTH DRIVE CIRCUIT
I
AZIMUTH MULTIVIBRATOR
I J
PII
PHASE PITCH DETECTOR
J
J
AZIMUTH
I f--.
SI(
FILTER AND PITCH OUTPUT AMPLIFIER
--
Z O
SYNC SIGNAL
I t_;'a_URRENT I
o
PITCH AMPLIFIER ERROR
J
J
TRACK
POSITOR POSITRON SIGNAL TRACK CHECK
CHECK CIRCUIT
_IGNAL
i
J
ROLL
o_I
ERROR
AMPLIFIER
J
SEARCH GENERATOR
_( Z O
AND
I
INTERLOCK
SIGNAL AMPLIFIER
_
PHASE DETECTOR
_
PHASE DETECTOR
DRIVE AMPLIFIER
O_]
FILTER AND AMPLIFIER
EARTH-SPACE
_
LOCK-OUT m R_ g
FREQUENCY DOUBLER
_
ROLL MULTI-
DITHER OSCILLATOR
I
_.
(30CPS) ROLL SYNC SIGNAL
E u
ELECTRONICS PACKAGE
TO SCANNER LIGHT, ACME AND IMU
/
Figure
8-57
Horizon
Sensor
System
Fur_ctional 8-209
CONFIDENTIAL
Block
Diagram
TO ACME AND
(Sheet
2 of 2)
IMU
CONFIDENTIAL SEDR300
t_!_
PROJECT
/
GEMINI
\
/
\
/
\\
/
\
i F-/ b /,
.j
F ,_t
L
-x.,
z
_
_
HOEIZON
AXIS OF ROTATION
J"_ I
" "'_ "-
AZIMUT.
(REF)
""%..%._%
i
<
t.._
ii
_
i
FO_.OE
\\, \...
t ......... "! I
POSITOR
{
I
AXIS OF
"\.
!
ROTAT,ON
:
i
MIRROR
i
I
'
FILTER
i_i::Ni::i_ >"
)LOMETER INFRARED
I
RADIATION (REF)
/
i ! i
t
I FIXED
MIRROR
_
THERMISTOR
i
!
, GERMANIUM MENISCUS LENS
Figure
8-58
Infrared 8-210
CONFIDENTIAL
LENS
Optics
THERMISTOR
CONFIDENTIAL
PROJECT GEMI, I
rate at which tion
the Positor
(track or search).
cps search rate moves
the mirror
In search mode,
plus a 30 cps dither
spacecraft
DETECTION
Infrared
radiation
The bolometer
is detected
contains
radiation
circuit.
and unbalances
an output voltage
which
If only one thermistor caused
by conduction
reference)
moves
at a two
on the direction
thermistor
l_.stor,
a given
The
ensltive
bolometer.
resistors)
which
(active) is exposed to i second thermistor (passive) is located
but it is separated
the bridge
circuit.
is proportional
f_om
used,
infrared
t_ermlstor
the bridge
which
The unbalanced
to the intensity would
to prevent
a_so
this,
radiation. changes
bridge
produces
of the infrared
radiation.
sense temperature
changes
a passive
(temperature
is used.
changes
ambient
thermistor
thermistor
resistance
temperature
is not exposed
the same amount i change,
keeping i
to infrared
as the active
the
ra_ation
bridge
ther-
balanced.
and allows
the
l
bridge
to
become
of
One of the thermistors
or convection;
The passive
The passive
(temperature
is sensed by the active
were
thermistor
for
rate depends
by the germanium-lmmezsed
from the horizon.
from the horizon
resistance
mirror
of opera-
In track imode, the Positormlrror i if there is any!attltude error, a one or
two thermistors
near the first thermistor
Radiation
of the mode
error.
are part of a bridge infrared
the Positor
The one or two cps track
attitude
INFRARED
is a function
rate.
at a 30 cps dither rate, plus,
two cps track rate.
very
tilts
unl_.lm_ced
when
the
active
ther_J.stdr
is
from the horizon.
8-211 CONFIDENTIAL
i !
struck
by
radiation
CONFIDENTIAL
PROJECT
_VO
LOOPS
The three
servo loops used
the azimuth is used
Track
with
by the Horizon
Sensor
drive loop and the signal processing
by more
than one servo loop and provides
System
are:
the track
loop,
loop.
Some of the circuitry
synchronization.
Loo_
The track loop respect
are used the
GEMINI
(Figure
8-59) is used to locate
to the elevation
in the track loop.
axis.
track mode
is located
of operation
(search
and track)
is selected
automatically
and used until
the horizon
is located.
and the signal built
is automatically
the earth horizon
The search mode
system is first energized
the horizon
Two modes
and track
up to the required
level,
when After the _.-_
selected.
Search Mode The search mode
is automatically
selected
by the system
any time
is not in the field of view.
The purpose
of the search mode
system line of sight through
its elevation
scan range until
located. positor signal
mirror. )
When the
drive amplifier. junction.
causing
is initially
which
is applied
(The dither voltages
This drive
the horizon
to a summing
to oscillate
Junction
mirror. about
is
The dither
its elevation 8-212
position a two
in the Positor to the
any time the system
to the drive
CONFIDENTIAL
produces
is also applied
are summed and amplified is applied
the Positor
The generator
signal is present
signal
it to tilt the Positor
causes the mirror
energized,
A second signal (30 cps dither)
The search and dither signal.
system
to turn on a search generator.
cps ac search voltage
drive
is to move the
(The system llne of sight is moved by changing the angle of the
is used
summing
the horizon
is energized. )
to create a Positor coils
portion
of the Fosltor
of the signal
axis at a 30 cps rate and
CONFIDENTIAL SEDR300
_-_._
PGSITOR DRIVE SIGNAL
i
5KC RIEPERENCE .___
POSITOR SIGNAL
i
PHASEI SHIFTED
POSITION PHASE DETECTOR
POSITION AMPLIF]ER
EXCITATION
]
TRACK CHECK
GENERATOR AND INTERLOCK
TRACK CHECK
EARTH SPACE
t
SEARCH
POSITOR MIRROR
LOCK'.OUT
POSITOR POSITION )AMPING
LOOP)
' F
TEUESCOPE/ I FILTER
I
FIXED
I
MIRROR
J
BOLOMETER
I
l
_r
LEVEL
PRE-AMP
AMPLIFIER
-_
PHASE DETECTOR
60CPS
DRIVE AMPLIFIER
T
30CPS
SIGNAL REFEiENCE
DOUBLER
Figure
8-59 Track
Loop Block Diagram 8-213
CONFIDENTIAL
DITHER
OSCILLATOR
CONFIDENTIAL
PROJECT
GEMINI
through an angle which represents approximately four degrees change in the line of sight.
The search portion of the signal will drive the Positor mirror
up to an angle which represents a llne of sight 12 degrees above the spacecraft azimuth plane.
During the up scan (earth to space) a lock-out signal is
applied to the servo loop to prevent the system from locking on to false horizon indications.
When the positive limit of the search voltage (12 degrees up) is
reached, the voltage changes phase and the system begins to scan from 12 degrees up to 58 degrees down.
During the down scan (space to earth), the lock-out
signal is not used and the system is free to select track mode if the horizon comes within the field of view.
The bolometer output (indication of infrared radiation) is used to determine when the horizon comes within view and to initiate the track mode of operation. As the system line of sight crosses the horizon (from space to earth), a sharp increase in infrared radiation is detected by the bolometer. bridge output now produces a 30 cps ac signal.
The bolometer
(The 30 cps is caused by the
dither signal driving the line of sight back and forth across the horizon.) The bolometer bridge output is amplified and applied to the track check circuit.
When the 30 cps signal reaches the track check circuit, it causes a
tracking relay to be energized indicating that the horizon is in the field of view.
Contacts of the relay apply a bias to the search generator, turning it
off and removing the search voltage from the Posltor drive signal. the system in the track mode of operation.
8-21. CONFIDENTIAL
Thls places
CO_:ID_NTJAL
PROJECT
GEMINI
Track Mode The bolometer output signal is used to determine the direction of the horizon from the center of the system line of sight.
A Positor drive voltage of the
proper phase is then generated to move the system line of sight until the horizon is centered in the field of view.
The bolometer output signal is
phase detected with respect to a 60 cps reference signal.
The 60 cps signal
is obtained by doubling the frequency output of the dither oscillator.
Since
both signals (30 cps dither and 60 cps reference) come from the same source, the phase relationship
should be a constant.
However, when the horizon is not
in the center of the field of view, the bolometer output is not symmetrical. The time required for one complete cycle is the same as for dither but the zero crossover is not equally spaced, in time, from the beginning and end of each cycle.
The direction the zero crossover is shifted from center depends
on whether the horizon is above or below the center of the field of view. phase detector determines
The
the direction of shift (if any) and produces dc pulses
of the appropriate polarity.
The output of the signal phase detector is applied
to the Positor drive amplifier where it is S_,mmed with the dither signal.
The
composite signal is then amplified and used to drive the Positor mirror in the direction required to place the horizon in the center of the field of view.
A pickup coil, wound on the permanent magnet portion of the Positor drive mechanism,
produces an output signal which is proportional
tude) to the position of the Positor mirror.
(in phase and ampli-
This Posltor position signal is
phase detected to determine the actual position of the mirror.
The detector
output is then amplified and used for two purposes in the track loop:
8-215 CONFIDENTIAL
to activate
CONFIDENTIAL
PROJ
EC---'T--G'EM I N I
_____
the
SEDR300
search generator
d_mp_ng
feedback
energized,
Azimuth
when
to the Positor
it biases
Drive
the tracking
the
search
drive
control
synchronization
a 160 degree
loop (Figure
required
drive
coils and an azimuth
Azimuth
Overshoot
detector,
azimuth
detector
scan overshoot.
generator.
Two iron slugs, mounted
control
drive loop
circuit,
consists
azimuth
the yoke
signal
on the azimuth
reaches
passes
multivibrator,
signal
pulse occurs
to the azimuth
control
circuit.
8-216 CONFIDENTIAL
drive yoke
pickup,
drive yoke,
reaches
located
near
pass very near
The slugs
are posi-
each end of the scan.
pickup,
to be modulated
at a two pps rate.
detect the
from the field current
the scan limit.
near the magnetic
excitation
implies,
is a magnetic
scan rate is one cps and the modulation
is applied
overshoot
llne of sight through
the azimuth
apart on the yoke to represent
one of the iron slugs the 5 kc
detects when
and excited by a 5 kc
pickup when
160 degrees
the overshoot
system
The azimuth
The detector
drive yoke
azimuth
the
does not, as the name
It instead
end of its scan limit.
and causes
is
drive yoke.
the azimuth
tioned
relay
Detector
overshoot
the magnetic
(When the tracking
the drive voltage,
to move
scan angle at a one cps rate.
azimuth
either
and as a rate
to cutoff. )
8-60) provides
overshoot
azimuth
amplifier.
generator
of an azimuth
The azimuth
is de-energized
Loop
The azimuth and
drive
relay
occurs Output
it changes with
When
the inductance
a pulse.
Since the
at each end of the scan, of the overshoot
detector
CONFIDENTIAL SEDR 300
_. r
_
I
t_!_
_'_,-
i
PROJECT
,,_._.___,_
GEMINI
_
__j_,..i
CCW AZIMUTH DRIVE AMPL[FIER
,_
CW AMPLITUDE
_dl
CONTROL
i
AZIMUTH MULTIVIBRATOR (I CPS)
AZIMUTH CONTROL
,f-_. SYNC SIGNAL
/ CLOCKWISE
DRIVE
/ AZIMUTH SYNC SWITCH
COUNTERCLOCKWISE DRIVE
/
/
:
_.
/ / / / F
/
//
__ RL°_ AMPLITUDE
OVERSHOOT _IG._L /i
SWITCH
,
/
/
Z_
_/ Figure
8-60
Azimuth
Drive
i :
Loop Block
CONFIDENTIAL
i !
_
AZIMUTH OVERSHOOT DETECTOR
Diagram
8-217
// ,KC <
EXCITATION
CONFIDENTIAL
PROJE
GEMINI
Azimuth Control Circuit The azimuth control circuit generates two types of azimuth control voltages (coarse and fine) based on the azimuth overshoot signal. shoot detector develop adc
output is rectified,
filtered, peak detected and integrated to
control voltage proportional
overshoot pulse.
The azimuth over-
to the amplitude and width of the
This control voltage serves two purposes:
to provide con-
tlnuous, fine control of the azimuth drive pulse and, when the control voltage reaches a hlgh enough level (indicating a large overshoot), provide a coarse (step) control of the reference voltage on the azimuth drive coils.
The fine
control is obtained by applying the control voltage, as a bias, to the azimuth drive amplifier.
The coarse control is obtained by energizing a relay, which
switches the reference voltage on the azimuth drive coils when the control voltage reaches a high enough level.
The level at which the relay energizes is
determined by a zener diode which breaks down and biases a relay driver into conduction.
The relay driver then energizes a relay which switches the _c
voltage on the reference winding of the azimuth drive coils.
Azimuth
Multlvibrator
The azimuth multlvibrator
provides the direction control signal for the az_,th
drive.
is synchronized
The multivlbrator
by pulses from the azimuth sync switch.
The sync switch is located next to the azimuth drive yoke and is closed each t_me the yoke passes through the center of its 160 degree scan.
The switch
produces a two pps output which is used to switch the state of the multlvlbrator.
The multivihrator
then produces a one cps square wave signal which is
8-218 CONIFIDIENTIAL
CO_Fi_DENTIAL
PROJEC Ni SEDR 300
symchronized with the motion of the azimuth drive yoke.
The positive half of
the square wave controls the azimuth drive in one direction and the negative half controls the drive in the other direction. applied to the azimuth
Azimuth
Output of the multlvibrator is
drive amplifier.
Drive Amplifier
The azimuth drive amplifier
adjusts the width
to control the azimuth drive yoke.
of multivibrator
The output pulse width, from the drive
amplifier# depends on the amount of control voltage azimuth control circuit.
output pulses
(bias) provided by the
When the amount of azimuth yoke overshoot
the control voltage is high and the output pulse width is narrow. _-_
is large, As the
amount of overshoot decreases, the control bias decreases and the output pulse width increases. and consequently
Azimuth
This provides a continuous, fine control over the drive pulse the amount of azimuth drive yoke travel.
Drive Coils
The azimuth drive coils convert drive signals into a magnetic
force.
The
coils are mounted next to, and their magnetic force exerted on, the azimuth drive yoke.
The direction of magnetic force is determined by which drive coil
is energized.
Azimuth Drive Yoke The azimuth drive yoke is a means of mechanically moving the system llne of sight through a scan angle.
(The Positor is mounted inside the azimuth drive yoke and
the rotation is around the center line of the infrared ray bundle on the Positor mirror.)
The azimuth drive yoke is spring loaded to its center position and
the mass adjusted to give it a natural frequency of one cps.
8-219 CONFIDENTIAL
Mounted on the yoke
CONFIDENTIAL
PROJECT
are two iron slugs and a permanent with
the azimuth
activate
overshoot
sync switches
mechanical
motion
the
signal
Signal
processing
Processin_
servo
(Attitude
Control
signals,
Control
command
attitude
comes within
c_ds. llm_ts, thrust
error signals.
loop is obtained and Maneuver
generated
The switches
synchronize
signals.
The function
of the azimuth
paragraph,
in the phase
thruster
The function
detectors
as indicated
by error
paragraph
is automatically
applied
System
and generate
to produce
of
attitude
spacecraft
_hen the
8-220 CONFIDENTIAL
System).
scan mode)
Attitude
to select
in the desired
the ACME
The fire direction.
direction,
spacecraft
in pitch
the
attitude
and + 5 degrees
stops generating
remains within
the error.
systems
a fire command.
If the attitude
to correct
local vertical. )
are used by the Attitude
thrust
(0 to -i0 degrees
scan in-
can be used to align
in the appropriate
in amplitude.
freely.
and azimuth
and the Propulsion
signal amplitude,
to drift
two other
Sensor
attitude,
As long as the spacecraft it is allowed
signals
(ACME) (in the horizon
System
limits
tracking
System to the earth
by utilizing
(or thrusters)
decrease
preselected
(The error
Guidance
by the Horizon
spacecraft
signals
converts
Electronics
Electronics
changes
error
be described
is used to
yoke.
multivlbrator
(Figure 8-61)
causes the Propulsion
As the thrust
roll),
loop
and Maneuver
the appropriate
will
and/or the Inertial
A complete
error
electrical
The magnet
Loo_
into attitude
the spacecraft
previously.
in conjunction
loop.
The signal processing formation
mentioned
in the azimuth
sync switches
The iron slugs are used
next to the drive
of the yoke with
sync switch was described the two roll
magnet.
detector
located
GEMINI
fire
the preselected
exceeds
in
the l_m_ts,
of
CONFIDENTIAL ...-'-_ _
SEDR 300
/
HORIZON
INFRARED RAY BUNDLE
J
_F.ARTH SYNC
/
-
(_?B
\_.___-
,AZ,MDT,I
SPACECRAFT CHANGE ATTITUDE
I
TRACK CHECK
_'
POSITION MODU LATE{} SIGNAL POSITOR
ERROR AMP LIFIER ROLL
ROLL SYNC SIGNAL
AZIMUTH SIGNAL
SYNC
ERROR AMPLIFIER
LOSS OF TRACK SIGNAL
PITCH
I
l,o.H,o,H-..,q,..i
PROPULSION SYSTEM
PHASE DETECTOR
MULTIVIBRATOR (2 CPS)
MULTIVIBRATOR (] CPS)
PHASE DETECTOR
I
XE_?_OR_ENT SIGNAL ROLL ERROR SIGNAL
FIRE
COMMAND
,_........... I
Figure
8-61
Signal
Processing
Loop
!_ C ERRORI I
..
l
;
i Block
CONFIDENTIAL i
I
LO SS-OF-I"RACK
Diagram
8-221
I
,._
._,--iTl-,
AND MANEUVER ELECTRONICS :
L
r
_
SIGNAL
CONFIDENTIAL SEDR 300
PROJEEMINI
An indirect
method
controlling
the
horizon
8 through
12)
(Inertial
Guidance).
inertial
with
of
vertical. platform method
torque
unit. gyros
The platform
in
sensor
error
fire
attitude
in all three
The inertial
platform
can also be aligned
loop.
manually sensor
attitude
horizontal
spacecraft
attitude with
are then used
to torque
platform
are then used
by the horizon a closed
fine align
the
are now used to to the local
by the ACME System.
(in the
Using
this
+ i.i degrees
sensor without
servo loop,
of
to the earth gyros
when
Attitude
and have no direct
must
(The horizon
the spacecraft
surface.)
using
the pilot
as near null as possible.
are most accurate
respect
to
them
is held to within
without
attitude
error signals
system
signals
ali_-_
6 and
axes.
To align the platform
maintain
error
platform,
the spacecraft
5,
spacecraft
for the Propulsion
the platform
a servo
spacecraft
it is desire_
attitude
signals
c_ds
(on
a third
can be used when
the inertial
attitude
control,
attitude
involves
Horizon
mode) to generate
of attitude
sensor
This method
measurement
continuously
spaceera_
is in a error
effect
signals
on spacecraft
attitude.
The Horizon AC_E
Sensor
and Inertial
or platform
degrees
also provides
Guidance
from aligning
used to illuminate the system
System
System.
The signal
to a false horizon.
the SCANNER
is not tracking.
of the horizontal
a loss of track
light
indication
is used to prevent The loss of track
on the pedestal s informing
(Spacecraft
attitude
the ACME signal
is also
the pilot
must be held within
for the system to track. )
8-222 CONFIDENTIAL
to both the
+ 20
that
....
CONFIDENTIAL SEDR 300
•
"_L i
AZIMUTH SCAN
4_AZIMUTH LIMIT 0°
SCAN
ii
1
SPACECRAFT ROLL
.....
--
AXIS EXTENSION
204*
AZIMUTH LIMIT 284=
SCAN
I I 270 °
AX,SEXTENS,O,.,O_ON S.SO__T_. J VIEW A-A
AHxis EXTENSION
f
-t
A
A
/ /
\
SCANNER
/ INSTANTANEOUS
x
/
LINE OF SIOHI_/
\
X i_J
\
/
;
S,'_ECRAET ','A',,' AXIS EXTENSION
\
/
)... I /_z.__
1
I/
/I //
J
II I
DITheR _
HORIZON OF EARTH
AZIMUTH fLOCA I- VER'TICAL
Figure
8-62 Horizon
Sensor 8-223
CONFIDENTIAL
Tracking
Ge[ ,merry
CONFIDENTIAL
PROJECT
GEMINI
Tracking Geometry Horizon sensor tracking geometry (Figure 8-62)
is composed of the elevation
angles (e) generated by the track loop and the azimuth angles (_) generated by the azimuth drive loop.
Angles are compared in time and phase to generate
an error signal proportional to the elevation angle change with respect to the azimuth
scan angle.
As explained in the track loop paragraph, the system will lock on in elevation and track the earth horizon.
A dither signal causes the Posltor to move
the system llne of sight about the horizon at a 30 cps rate.
The track loop
will move the Posltor mirror such that the horizon is always in the center of the dither pattern.
It was also explained, in the azimuth drive loop para-
graph, that the system line of sight is continuously moved through a 160 degree azimuth scan angle at a one cps rate.
When the spacecraft is in a horizontal attitude, the azimuth scan has no effect on the elevation angle of the Positor as it tracks the horizon.
If the space-
craft is in a pitch up attitude, the elevation angle (0) will decrease as the azimuth angle (_) approaches 80 degrees forward and increase as angle _ approaches 80 degrees aft.
If the spacecraft is in a pitch down attitude, the elevation
angle will increase as the azimuth angle approaches 80 degrees forward and decrease as the azimuth angle approaches 80 degrees aft.
This produces a one
cps pitch error signal which is superimposed on the SO eps Positor dither.
If the spacecraft has a roll right attitude, the elevation angle will increase as the azimuth angle approaches either limit and decrease as the azlm_th angle approaches zero from either llm_t.
If the spacecraft is In a roll left attitude
CONFIDENTIAL
CONFIDENTIAL
.._____
SEDR300
the elevation angle will decrease as the azimuth angle approaches either l_m_t and increase as the azimuth angle approaches zero from either limit.
This pro-
duces a two cps error signal which is superimposed on _he 30 cps Positor dither. Position Phase Detector The Positor position phase detector compares the PositOr pickoff signal with a 5 kc reference to determine the angle of the Positor mirror. will be chang_
(The mirror angle
at a 30 cps dither rate, plus, if there is any spacecraft atti-
tude error3 a one and/or two cps error signal rate.)
he phase detector output is
then amplified and applied to the track check circuit.
Track Check _
The track check circuit determines when the horizon is in the field of view. the horizon is in the field of view,
the
track
check
circuit
energizes
If
a relay.
Contacts of this relay connect the Positor position signal to the pitch and roll error amplifiers°
A second
relay
in the
track
check circuit,
energized
when the
i
system is not tracking, provides a loss of track indication to the inertial measurement unit and the ACME.
The loss of track signal is 28 volts dc obtained
through the ATT IND CNTL-LDG circuit breaker and switched by the track check circuit.
Error Amplifiers In order to obtain individual pitch and roll attitude error outputs, error signal i separation must be accomplished. fiers.
This function is performed by two error ampli-
The Positor position signal input to the error amplifiers is a composite
30 cps dither, one cps pitch error and two cps roll error signal.
The pitch error
amplifier is tuned to one cps and selects the pitch error signal only for 8-225 CONFIDENTIAL
CONFIDENTIAL
PROJECT
amplification.
The roll error amplifier is tuned to two cps and selects the roll
error signal only for amplification. their respective
GEMINI
Each amplifier
signals, producing two outputs each.
then amplifies
and inverts
The outputs are 180 degrees
out of phase and of the same frequency as their input circuits were tuned. of each error amplifier
is coupled to its respective
Output
phase detector.
Phase Detectors Phase detectors compare the phase of pitch and roll error signals with one and two cps multivibrator
reference
The multivibrators sync switches.
signals to determine the direction of attitude
are synchronized
error.
with motion of the azimuth drive yoke by three
Two sync switches, located at 57 degrees on either side of the cen-
ter position of the yoke_ synchronize the roll multivibrator with the motion of the yoke and set its frequency at two cps. passes, in either direction,
The sync switches close each time the yoke
producing four pulses for each cycle of the yoke.
Each time a pulse is produced it changes the state of the multivibrator in a two cps output.
The azimuth multivibrator
resulting
operates in the same manner except
that it only has one sync switch, located at the center of the drive yoke scan, resulting
in a one cps output frequency.
The azimuth multivibrator
a phase lock signal to the roll multivibrator ronization but correct phasing as well.
also provides
to assure not only frequency synch-
The phase detectors themselves
are act-
ually reed relays, two for each detector, which are energized alternately by their respective multivibrator
output signals.
Contacts of these relays combine the two
input signals in such a manner that two full wave rectified output signals are produced.
The polarity of these pulsating dc outputs indicates the direction and
the amplitude indicates the amount of attitude error about the horizon sensor pitch and roll axes.
Since the sensor head was mounted at a l_ degree angle with 8-226 CON FI DENTIAL
--
s_
-_
SEDR 300
400 CPS ACME POWER (FROM SCANNER
Jl
SWITCH)
1
POWER TRANSFORMER
RECTIFIER
31V DC
_. "
20V AC
30V AC
BRIDGE RECTIFIER_ FILTER
FILTER
WAVE RECTIFIER_ FILTER
J -20V
DC
FULL
+20V DC
BRIDGE RECTIFIERFILTER
:
+30V DC
-27VDC
REGULATOR
REGULATOR
_1_
-27V DC REGULATED ÷25V OC REGULATED II_ +15V OC REGULATED Ib -15VDC REGULATED IP'
_20V DC
I_
-20V DC
m +31V DC
Figure
8-63
Horizon
Sensor
Power 8-227
CONFIDENTIAL
Supply
Block
Diagram
CONFIDENTIAL
PROJEC---'T--'G-EMINI ___
$EDR300
respect to the spacecraft, the mounting error must be compensated for. rotation of the horizon sensor axes, to correspond with spacecraft
Electrical
axes, is accom-
plished by cross coupl_ng a portion of the pitch and roll error signals.
Output Amplifier
and Filter
The output amplifier-filter rectified
removes most of the two and four cps ripple from the
attitude error signals and amplifies
the signals to the required level.
The identical pitch and roll operational amplifiers,
used as output stages for the
Horizon Sensor System, are highly stable and have a low frequency response.
The
output signal amplitude is four tenths of a volt for each degree of spacecraft attitude error
The signals are supplied to the A(_E for spacecraft alignment and
to the inertial measurement
HORIZON
unit for platform ali6_ent.
SENSOR POWER
Horizon sensor power (Figure
8-6B)is obtained from the 28 volt dc spacecraft bus
and the 26 volt ac, 400 cps ACME power.
The 28 volt dc power, supplied through the
SCAN HTR switch_ is used to maintain temperature in the sensor head and as power for She SCANNER lamp.
Sensor head heaters are thermostatically
operate any time the SCAN RTR switch is on.
controlled and
The 26 volt ac, 400 cps ACME po_er is
provided by either the IGS or ACME inverter, depending on the position of the ac POWER selector.
The 26 volt ac is used to produce seven different levels of dc
voltage used in the horizon sensor.
One of the voltages (31 volts dc) is obtained
by rectifying and filtering the 26 volt ac input. obtained by transforming
The remaining six levels are
the 26 volts to the desired level, then rectifying,
tering and regulating it as required.
fil-
The minus 27 volts dc output is used to
excite one side of the bolometer bridge.
The other side of the bridge is excited
8-228 CONFIDENTIAL
CONFIDENTIAL SEDR300
i
by plus 25 volts dc.
Plus 25 volts dc is also used for transistor power in the ! The 31 volt dc unregulated output is Used as excitation for the
error amplifiers. azimuth drive yoke.
The remaining four voltages (+15, -15, +20, -20) are all used
for transistor
in
power
the
various
electronic
modules.
SYST_UNITS The Horizon Sensor System (Figure 8-54) consists of two major units and five minor units.
The minor units are:
three switches, an indicator light and a fiberglass
i fairing.
The three switches are mounted on the control ipanels for pilot actuation.
The indicator light is mounted on the pedestal and, whe_ Illuminated, loss of track. _
The fiberglass fairing is dust proof an_ designed to protect the i
sensor heads, which it covers, from accidental ground _age ing launch.
indicates a
The two major units are:
the sensor head
or thermal _mage
dur-
_nd the electronics package.
SENSOR _D The sensor head (Figure 8-55) is constructed a Positor,
a telescope-filter
assembly,
from a mag_eslum casting and contains i a signal preampZ.ifier, a position detector,
an active filter and an azimuth drive yoke. positioning mirror
assembly designed to position
The Positor (Figure 8-64)
a mlrrorabou_
is a mlrror
its elevation axis.
is polished beryllium and is pivoted on ball bearings by a magnetic i
The
drive.
The Posltor also includes a position pickoff coll for determining the angle of the Positormirror.
The telescope-filter assembly (see Figure 8-58) contains a f_xedmirror, nium meniscus lens, an infrared filter and a germanium _mersed eter.
a germa-
thermistor l_l_m-
The fixed mlrror is set at a _5 degree angle to _eflect radiatiom from the
8-z29 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
J
_
AC POSITION
COIL
_,cKoPP co,L_ POSITION PtCKOFF COIL 11hl/
ELECTRICAL CONNECTION TO R
PERMANENT MAGNET
SINGLE-AXIS
Figure
8-64
Horizon
POSITOR
Sensor 8-230
CONFIDENTIAL
Single-Axis
Positor
CONFIDENTIAL
__
SEDR300
Positor mirror into the telescope.
The germanium meniscus objective lens of the
telescope is designed to focus incoming infrared radiation on the bolometer. ;
The
infrared filter, located immediately behind the objective lens, Is designed to pass infrared radiation in the 8 to 22 micron range. bolometer
contains a culminating
directs all incoming radiation
The germanium _ersed
lens and two thermistors.
on one of the thermistors.
thermistor
The culminating
The two thermistors are
bonded to the rear of, and effectively i_,ersed in, the culminating lens. thermistors
are identical; however, one of the thermistors
the focal point of the culminating lens. to one side of the focal point.
lens
Both
(active) is located at
The other thermistor
(passive) is located
The passive thermistor is used as an ambient
temperature reference and does not react to direct infrared radiation.
Signal Preamplifier The signal preamplifier is a low noise, high gain, four stage, direct coupled transistor
amplifier.
The preamplifier
is made in modular form and potted
in
epox_ for thermal conductivity and protection from shock and vibration.
Position
Detector
The position detector is a five kc phase detector designed to determine position of the Posltor mirror.
The circuit produces a voltage which
proportional to the angle of the Positor mirror. adc
the
is
Output of the detector is
voltage which varies at the same rate as th_ Positor mirror moves.
The
detector is made in modular form and potted in epoxy for thermal conductivity and protection from shock and vibration.
8-231 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
Azimuth Drive Yoke The azimuth drive yoke provides a means of moving the Positor mirror about its azimuth axis.
The yoke is magnetically
driven and pivots on ball bearings.
The Positor is mounted inside the azimuth drive yoke and is rotated through an azimuth scan angle of 160 (+80) degrees by the yoke.
The azimuth axis of
rotation is through the center line of the infrared ray bundle on the surface of the Positor mirror.
Drive coils, located directly in front of the yoke,
supply magnetic impulses to drive the yoke.
Mounted on the edge of the yoke
(see Figure 8-60) are two iron slugs and a permanent magnet.
The iron slugs
are used to induce an overshoot signal in the azimuth overshoot detector. The permanent magnet is used to synchronously
close contacts on three sync switches,
mounted around the periphery of the yoke.
_T._,CTRC_ICS PACKAGE The electronics package (Figure 8-56) contains the circuitry necessary to control the azimuth yoke and Positor in the sensor head, as well as process attitude error signals.
The package also contains adc
five kc field current generator.
power supply and a
The solid-state circuitry is made in modular
form an_ potted in epoxy for thermal conductivity and protection from shock and vibration.
8-2_. CONFIDENTIAL
CONFIDENTIAL
RENDEZVOUS RADAR SYSTEM
TABLE OF CONTENTS TITLE
_"
PAGE
SYSTEM DESCRIPTION . . . . . . . . . SYSTEM OPERATION OIIIOeOIIO. RADAR . , . . . ........... TRANSPONDER ......... INTEGRATED OPERATION_ . o . o . COMMANDLINK OPERATION_ . . . =. . SYSTEM UNITS • i RADAR MODULATOR AND TRANSM{TTER : TRANSPONDER ANTENNA . SUFFICIENT AMPLITUDE DETECTOR i" • _ TRANSPONDER CIRCULATOR... o .... RECEIVER. , . TRANSPONDER HODUZATOR AND " =" " TRANSMITTER oeoooooo.oo RADAR RECEIVING ANTENNA SYSTEM. . GATE GENERATOR, . . . , , , • • • ELEVATION TWO-MICROSECOND MULTIVIBRATOR FUNCTIONS. . i. . DITHER BISTABLE MULTIVIBRATOR FUNCTION .eeooooe.:,,o SPIRAL ANTENNA IN ANGULAR MEASUREMENT...... . .... DITHER SWITCHES ......... RANGE AND RANGE RATE (R/R HETEiR).. RANGE SWEEP CIRCUIT ..... . . DIGITAL RANGE COUNTER ........ RADAR POWER SUPPLY...... i, • TRANSPONDER POWER SUPPLY... !...
8-233 CONFIDENTIAL
.
8-235 8-238 8-238 8-239 _ 8-239 . 8-241 : :
8"243 8-243 8-245 8-247 8-247 8-247
" . •
8-254 8"255 8-257
.
8-261 8-261
. . •
8-261 8-263 8-263 8-265 8-266 8-267 8-270
CONFIDENTIAL
PROJECT
GEMINI
RO_,C,_P I _, , RANGE/RANGE
RATE
METER
FLIGHT DIRECTOR
FLIGHT DIRECTOR
CONTROLLER'(REF)
INDICATOR I(REF)
DETAIL
A
ON _LOCK
O ON
(COMMAND IPILOT PANEL) TBY _S
RADA_ OFF DETAIL B
(PEDESTAL PANEL)
DIpOLE
(REF)
DETAILD (RIGHTWITCH/CIRCUIT BREAKERPANEL)
IREF)
DETAILC (iPILOTPANEL) REFERENCE ANTENNA
ELEVATION ANTENNA i
RDRt CMP
..... i
FLIGHT DIRECTOR INDICATOR
j
DETAIL C (REF)
ANTE_ SPfJRPAL
DETAIL D
Figure
8-65 Rendezvous 8-234 CONFIDENTIAL
Radar
System
GONFIDENTIAL SEDR 300
RENDEZVOUS
RADAR
SYSTEM
SYSTEM DESCRIPTION The Rendezvous Radar System (Figure 8-65) is incorporated in the Gemini Project to facilitate a rendezvous maneuver of the Gemini Spacecraft with the target vehicle.
The system is comprised primarily of two units, a radar located in the i
rendezvous and recovery section of the Gemini and a transponder located in the target docking adapter of the target vehicle.
The co-operative operation of the
two units enables the detection of the target vehicle by the Gemini and the determination of the range, relative velocity, and angular relationship of the two craft.
The radar transmission is also used as a carrier for the command link
intelligence; refer to the co_and
link portion of Section VIII for a description
of this system.
The Rendezvous Radar System, as described herein is applicable to the rendezvous mission of spacecraft six and those planned for spacecrafts eight through twelve. Spacecraft five utilized a rendezvous evaluation pod tO simulate the rendezvous mission.
The difference between the rendezvous mission and the rendezvous evalu-
tion mission will be discussed in the rendezvous evaluation pod portion of Section VIII.
The Rendezvous Radar System is capable of acquiring lOck-on when the target vehicle is within 180 nautical miles of the Gemini and is within 8.5 degrees of the radar boresight axis.
The angular acquisition capability increases to 25
degrees relative to the radar boresight when the range decreases to within 130 nautical miles.
The radar provides bi-level, analog, and digital outputs for
use during the catch-up and rendezvous portion of the Gemini flight (Figure 8-66). The Gemini crew is provided with visual indications of radar lock-on and Co_and
8-235 OONP'IOIENlrlAL
CONFIDENTIAL SEDR 300
,=..oJcT DIPOLE ARRAY
LOCK ( ON
R
R
AZ
ANALOGo "_
EL
OUT
, Pi2L:21 S RADAR DATA READY
_
R E NDEZVOUS RADAR INTERROGRATO8
1528 MC
RADAR TRANSPONDER
1428 MC
PRIMARY 91'_
POWER
READOUT
COMMAND R, AZ, EL_
..__j
t
PRIMARY POWER
_
_L
HOLD-OFF SIGNAL
SPIRAL
RADAR
I.
TRANSMITSA
]-USEC
2. RECEIVES THE 6-USEC AZIMUTH,AND
1528MC
PULSE ATAPRF
TRANSPONDER
ELEVATION ANGLE
TRANSPONDER
OF 250PPS.
REPLY AND
iNFORMATION
I.
EXTRACTS RANGE r FROM EACH PULSE.
3.
PROVIDES ANALOG OU'IrPUTS TO THE INDICATORS RANGEr RANGE RATE, AZiMUTH, AND ELEVATION.
4.
PROVIDES BINARY DIGITAL OUTPUTS REPRESENTING RANGE,AZIMUTH, AND ELEVATION ANGLES TO THE COMPUTER.ON COMMANO.
Figure
8-66
RECEIVES THE INTERROGATING 1528-MC I-USEC PULSES FROM THE RADAR; DELAYS 2-USEC AND TRANSMITS A 6-USEC PULSE AT A FREQUENCY OF 1428MC FOR EACH PULSE RECEIVED.
Basic
REPRESENTING
Functions
of Rendezvous
8-236 CONFIDENTIAL
Radar
System
(;ONImlDEENTIAL
PROJECT%EM, Link message acceptance.
,
Analog indications of the target vehicle range and
differential velocity are presented on the Range and Range Rate Indicator. Analog indications of the elevation and azimuth position of the target vehicle,with respect to the Gemini,are presented on the flight director indicators. indications of range, elevation, and az_,th calculating
the corrective
thrusts required
Digital
are available to the com_uter for for the rendezvous
The radar is contained within a pressurized module.
maneuver.
The module dimensions are
approximately 17 by 29 by 9 inches, the module area is l.8 cubic feet, and the weight is 72 pounds. Spacecraft
_
The radar is installed in the small end of the Gemini
on the forward face of the Rendezvous
and Recovery
Section.
The radar antenna system consists of four spiral antennas, one uncovered transmit antenna and three covered receive antennas, mounted on the radar face plate. installed
in the spacecraft, the radar is covered with the nose fairing for
thermal protection
The transponder
during the launch phase of the mission.
is contained within an unpressurized
are approximately
module.
The module dimensions
9 by 10 by 2_ inches, the module area is 1.25 cubic feet, and
the _eight is 3_ pounds. Adapter
When
The transponder
is installed in the Target Docking
of the target vehicle.
The transponder electronically
antenna system consists of one dipole and t_o spiral antennas connected by coaxial cables.
The dipole antenna
is mounted on
an extendable boom which is recessed until the extend command is given via the Digital Command System.
The spiral antennas are mounted flush with the skin of
i
the Target Docking Adapter and are mounted 180 degrees apart from each other.
8-237 CONFIDENTIAL
CONImlIDINTIAL
PROJECT
GEMINI
SEDR 300*
SYSTEM OPERATION RADAR The rendezvous
radar will,
will be covered with
the nose fairing
45 seconds the pilot will the nose fairing
During
catch up with target range
and
the initial
portion
miles
crew will
initiate
The radar
is placed
breaker, switch,
located located
to ON.
megacycles.
and twelve output
miles
After
instrument
the spacecraft w111 place
The Gemini
and closing
completing
panel
is interfaced
is allowed
six, seven,
plus
Jettisoning
will _neuver
the Gemini
to
and the
will be lagging
at a
at a rate of approximately
the catch-up
maneuver
breaker
panel,
center
console,
for warm up prior
interrogation
the Gemini
at 240 pulses
per second.
at a frequency
8-238 CONIWlOIENTIAI.
width
in spacecraft
The transmitter
Those A time
the RADAR
second for radars
those
of 1150 watts.
to STBY.
at this time.
signal has a pulse
and nine, while
circuit
to ON and the RADAR
to positioning
transmission
rate of 250 pulses per
eight,
the RADAR _
are _nergized
ON, the radar commences
The transmitted
operate
switch, thereby
in the standby mode by switching
on the main
turned
At staging
tran_mlssion.
second, a pulse repetition craft five,
orbits.
on the rig_ht switch/circuit
of 60 seconds When
phase
This mnneuver
125 nautical
radar
and the radar
radar.
circular
per m_nute.
protection.
the JETT FAIRING
vehicle.
systems with which the radar delay
the
be deenergized
for thermal
of the orbital
in co-planar,
of appro_Imatel_
1.5 nautical
depress
exposing
the target
vehicle
at the time of launch,
switch
of 1528
of i microin spaceten 2 eleven,
has a peak power
OONIFIDIENTIAL
TRANSPONDER The transponder will, at the time of launch, be deenergized dipole antenna will be retracted.
phase the transponder
is placed
and the extendable
After the target veBicle enters the orbital i
in a standby condition i and the dipole antenna
is extended via the Digital Co,_nd
System.
At this time the transponder is in
standby and is connected to the dipole antenna.
A sufficient amplitude
detector
I
is incorporated
in the transponder,
this circuit detects the initial pulses from
the interrogate radar and enables the high voltage power supply. required for the transponder
to become operational
is approximately
The period 12 interrogate
i pulses or 50 milliseconds.
When the high voltage is energized the transponder
is fully operational and will respond to the interroga;e pulses of the radar.
INTEGRATED
OPERATION
The initial pulses of the radar will energize the transponder supply.
Now energized,
the transponder
pulse repetition
frequency.
the illumination
of the LOCK ON lamp.
The rendezvous
responds to th_ radar at the interrogate
The initial reply pulses
radar determines
reply.
cause
and receipt of the reply pulse
This period of time is co_mence_ by the time zero pulse,
a pulse which occurs simultaneously mission,
From the transponder
the range to the trans x>nder by observing the
events which occur between radar transmission from the transponder.
high voltage power
with the leading edge of the radar trans-
and is terminated by the receiver video pulse!, the detected transponder The radar determines analog range by the initi stion of a ramp voltage
with the time zero pulse.
The ramp voltage continues until stopped by the
8-Z39 CONIBIOINTIAL.
CONFIDtNTIAL
PROJECT [__
leading
edge of the transponder
and the resultant are differentiated rate voltages of a voltage digital which
dc voltage
are provided divider,
occur during
reference
antenna
corresponds
provided group.
rotation,
to the flight
to indicate
and range
and are, by means
computer
clock
data is stored
position
pulses
in the shift
of the target
of the rf received
at each of the _wo angle
to nullify
the incoming
to the position used to provide shafts.
error.
required
An
needles
vehicle
antennas.
Each
difference. to achieve
this
potentlometer
intelligence,
information
of the attitude to serial binary
the latest
display and stored
to the computer.
a request
the radar data pulse,
readings
information.
which
three
are continuously
The computer
for radar information. obtains
is
is
range and angle data is stored in the shift register. of three
to
at the
induction
analog and digital
is converted
for transmission
phase
The analog angle
indicator
information
stores a series
as to indicate
pulses
The radar measures
from a zero position,
director
The Gray binary
rate meter
of 50 megacycle The digital
Succeeding
analog range
purposes.
the angular
_o each of the antenna
The radar digital register
gate.
rotate
directly
in the shift register
The radar
the phase difference
and a Gray Binary Encoder, connected
the number
to the rf received
of antenna
rate.
is peak detected
to the computer.
of the two angle antennas The amount
to the range.
for telemetry
determines
the Gemini by observing
The ramp voltage
to the range and range
the range
radar
pulse.
the range
utilized
for transmission
The rendezvous
reply
is proportional
to obtain
range by counting
register
result
GEMINI
SEDR300
complete
The radar
8-21_0 CONfflDINTIAI..
The
updated
so
sends a radar data pulse
shift register, readouts
after
receiving
and discontinues
CONFIDENTIAL
updating the information.
The radar now transmits a data ready pulse.
The com-
puter, upon detecting that the radar data is ready, transmits a series of three bursts of 500 kc pulses to shift the radar data into the computer.
The radar at
this time returns to the state of continuous data updating.
CO_4AND _
OPERATION
The radar is utilized during the rendezvous maneuver with the target vehicle as a carrier for the co.m_nd link information. system refer to the c_aand
For information concerning this
llnk portion of Section VIII.
The operation of the
radar, as a carrier, is explained herein.
The C_d
Link System, when energized, d/sables the radar pulse repetition
frequency generator and interconnects the radar and the Time Reference System. The radar now operates at a pulse repetition rate of 256 pulses per second. radar transmits data by pulse position aodulation.
The
The modulation is controlled
by a portion of the Command Dink System, the encoder.
The normal pulse repetition
time of 3900 _Icroseconds is indicative of a zero; a one is transmitted by lengthening this time to 3915.2 microseconds.
The transponder received information is provided to the sub-bit detector, a portion of the C_nd
Link System.
The sub-bit detector converts the pulse
position modulation to binary form and sends the message to the _arget vehicle progra-w,er. The proEr-ww,er verifies that an acceptable message is received and provides a message acceptance pulse to the transponder.
The message acceptance
pulse, when received by the transponder, causes the transponder transmitted pulse to lengthen from 6 to i0 microseconds and remain in this condition for three
8-241 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
i
I
256 TiMEPPS
j
TRANSMITTING SPIRAL
|
I i SY_EM 250 PPSREFERENCE ON S/C 5 THRU P rum]
I
MULTI.I
I
-
1-USEC PULSES
1150 WT , FK.
; MODUaTOR
1240PpS ONS/C to,11,_,12
TO RANGE ANALOGSTART AND INPUTS DIGITAL
_, MULTI J DELAy 2"_sEcJ
<
AZ SPIRAL
SPIRAL
SPIRAL
ELEVATION _ jv I
:>
'lt
SWITCHING ANTENNA
J'
TI
I
AZ SERVO MOTOR
:
r
I
AZ SERVO AMPLIFIER
1 ENCODER
DEMOD,
' I
'
AZGATE
_
AZ BOXCAR
J
RP
STOP
I ELSERVO I MOTOR
RCVR
I i
ENCODER
:TI
i VIDEO
--
T
L.O.
! I
DEMOD.
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AZ INDUCTION POTENTIOMETER
I
EL SERVO AMPLIFIER
SWITCH DITHER
i
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I
REFERENCE - ! I
(
I
GEN
I
EL GATE
l
l
EL. INDUCTION POTENTIOMETER
EL BOXCAR
TARGET VERIFICATION
TO FLIGHT DIRECTOR
_
DETECTOR J AZ OFF-ZERO
SWITC H AZ PREACQ.
J AZ ZERO DRIVE
SWHC H EL PREACQ
DETECTOR EL OFF-ZERO
_ PREACQ. LOOP DISABLE
400 CPS REF.
TO R/_ METER R_ AZ_ EL TO COMPUTER
E STOP SHIFT REGISTER
DIGITAL RANGE
ANALOG RANGE
RANGE START FROM RADAR
2-USEC MULTI
TRANSPONDER
2 USEC DELAy
RECEIVER
)
ANTENNA SELECT SWITCH
. SPIRALS
I AMPLITUDE DETECTOR
I
)
l
C'RCO_TOR iTr ENABLE
Figure
MODULATOR
)
k Ill TRANSMITTER 1428 ME
8-67
Rendezvous
Radar 8-242
CONFIDENTIAL
System
Block
Diagram
>
SWITC HING
?
CONFIDENTIAL
PROJECT
GEMI
I I
tranmnissions.
The radar detects the additional pulse width and effects
the illumination of the Message Acceptance (P_qGACPT) lamp.
The previously described system operation affects onl_ the radar pulse repetition frequency.
This operation results in no alteration or inter-
ruption to the radar system.
SYSTEM UNITS RADAR MO_UIATOR AND TRANSMUTER When the RADAR switch is in the STBY position a hold Off signal is applied to i the high voltage portion of the radar power supply to iprevent it from producing ii the high voltage required by the transmitter tube.
When the pilot places the
RADAR switch to the ON position, (Figure 8-67) the hold off signal is removed, i the 1650 volts dc is produced and applied to the transmitter tube, and the radar co._ences transmitting in the search mode.
In the search mode the pulse I repetition frequency trigger multivibrator oscillates fat 250 cycles per second for radars on spacecraft five, six, seven, eight and nine, while on spacecraft ten, eleven, and twelve the trigger _Lltivibrator oscillates at 240 cycles per second, generat_-E a square wave which is used to triter
the modulator.
The mod_,latoroutput is a series of one m_crosecond positive pulses which tri_ers
the transmitter tu_e.
The tranm_tter
tube Output is a 1528 megacycle,
i microsecond_ 1150 watt pulse at a repetition rate e(_al to the output of the pulse repetition frequency trigger umltivlbrator. pulse
is
coupled
to
the
tranm_ _tting
_
spiral
to interrogate the transponder.
8-2_5 CONFIDENTIAL
Th, tranm_tter ante
_a and radiated
outlout in order
.-_
CONFIDENTIAL SEDR 300
.
,, ,__
PROJECT
/
/
/
GEMINI
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X \
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\
I
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k \
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Figure
8-68
/
Transponder
Antenna
8-244 CONFIDENTIAL
/
/
/
/ /
System
Coverage
CONFIDENTIAL
PROJNI SEDR 300
TRANSPONDER
ANTENNA
The transponder
utilizes
two antenna
array and two dual spiral to the transponder located enters
the orbit phase
side of the Target the adapter
(Figure
the target
the horizontal
The
select
boom which
Adapter
(Figure
selected switch.
is retracted
of the mission.
Docking
8-68)
antenna
a dipole
system
The dipole until
The spiral antennas
and are mounted
is connected
antenna
after
antenna
array
the target are located
flush with
is
vehicle on either
the surface
of
8-65).
The dual transponder about
antennas.
by an antenna
on an extendable
systems,
antenna
vehicle.
plane.
systems
are designed
to provide
The dipole will provide
The dipole
pattern
spherical
omnidirectional
is doughnut
shaped
coverage
coverage
with
in
the dipole
i
located
in the center.
is plus
or minus 25 degrees
gain
of S.5 db.
will operate width
The
connected
In order to provide
or minus
condition
area.
The initial
amplitude mitter
operation,
strength. causes greater
radar pulses
detector.
Should
direction
has a minimum
coverage
gain of each
the spirals
The spiral beam spiral
will be with ithe internal
is 7.5 db.
circuitry
ldisconnected.
The dipole
coverage
received
The detector
turns
thereafter
it monitors
the signal
level
the transponder
spherical !
array and the spiral antennas
since this provides
The array
the dipole _attern.
and the minimum
of the transponder
in any horizontal
points.
effectively
and below
35 degrees
to the dipole
array is selected
considered
at the half power
in the space above
is plus
initial
The beam width
for the anticipated acquisition i by the transponder enables the sufficient
on the high
voltage i
required
for trans-
the received isignal to ensure
decrease
below
to switch to the opposite
strength. 8-245 CONFIDENTIAL
adequate
a s!0ecific level the detector antenna
system
in search
of
CONFIDENTIAL SEDR 300
_._-_ _
P.oJ c• o f-AND LOAD
I
J
RADARONLY
I
CIRCULATOF_
SW._ I ERGMAZ-0LANT.
I
H¥::,:_W, TCH I_ ._FRO_H_0R,OS
I
I
TRANSPONDERONLY
--J ) 1528MC TO BANDPASS FILTER
J
CIRCULATOR
J
))J
FROM XMTR, SELECT
.
_ FROM ANT.
SWITCH DRIVER
DIPOLE
FILTER
CONTROLLED ATTENUATOR
MIXER-PREAMP
OSCILLATOR
l SIG NAL DETECTOR
AMP AND DETECTOR
AMPLIFLER
VARACTOR AND SWEEP
-
VERIF, OR STOP SWEEP
I
GATE SELECTOR
AND DETECTOR
1
AMPLWtER
TGT.
I
AND GATE I-USEC
l 11 1 _i CIRCUITS
(REFERTO FIGURE 8-32)
AMP AND DETECTOR
SELECTOR
VIDEO
DELAY
T
SIGNAL
Figure
8-69 Radar/Transponder
8-246 CONFIDENTIAL
Receiver
Block
Diagram
GATE
LIMtTER
l
CONFIDENTIAL SEDR 300
PROJECT SUFFICT_T AMPLXItr_ The
signal
from
the
transponder
Ampli%m_le
Detector
(SAD).
transponder
is
stan_by_
interrogate
pulse
in
the transponder transponder decreases
below
signal
portion!of
SAD monitors
the
mode by activating
level
strength.
Should
to continually
system
pulses
mission,
when
for
the
signal
it places
the interrogate one
While
strength;
antenna
system
system
the
if it in order
signal be lost,
mtenna
the
initial
are received
the opposite
cycle from
Sufficient
th_ high voltage.
the received
it selects
the
the
antenna
When the first
the SAD monitors
circulator
(Figure
8-67) is a transmit/receive
and transmitter
provides
to the antenna
a low attenuation
and a low attenuation
The dlrectivity blocking
initial
to
the SAD
to the other
CIRCULATOR
the receiver
circulator
the
applied
re-occurs.
The transponder permits
the
During
a specific
the transponder
TRANSPC_R
is
from the radar.
is operating
until lock-on
circuit
in the transmit
to seek greater causes
Video
of the circulator
of the main
to operate
device
which
by the same antenna.
The
path for the rf from the transmitter
tube
path
from the antenna to the receiver. i provides a high attenuation and enables the
bang fr_n the receiver.
R_C_XV_R The transponder
and radar receivers
most
There are some differences,
The
respects. receiver
will he explained
input circuitry the bandpass and aut_atic
gain
to the video control
will
8-69)
first, circuits conclude
arei practically
principally
in the fo11_wing
will be discussed
filter
(Figure
way.
in the input
;The difference
then the portion output.
in
circuit. in the
of the receiver
Automatic
the discussion
8-24.7 CONFIDENTIAL
identical
frequency
of the receiver.
from
control
CONFIDENTIAL SEDR 300
PROJEEMINI Radar
Receiver
Figure
Input
8-67 shows the three receiving
the rf is connected receiving
antenna
two receiving compares
As will
system paragraph, at a time
relationships
are different. hybrid
to the receiver.
antenn-s
phase
spiral
the radar
during
while
8-69).
tor, the bandpass
filter,
The load associated
with
compares
the transponder
The signal path the voltage
compared
controlled
the radar circulator
(Refer to the discussion
attenuator
below,
its operation
load associated
with the radar hybrid
in which
in the radar
relationships Because
in phase
are combined
rf is through
attenuator
circuits in the
the circula-
and into the mixer. because
of the voltage
of the voltage
controlled
is explained. )
is explained
on
the radar
does not, the input
in both receivers switch
phese
is required
attenuator.
later
pulse.
of the combined
controlled
where
and the manner
be discussed
each return
The two rf signals being
(Figure
antennas
The
in the gate generator
discussion.
Transponder As Figure
Receiver 8-69
Input
shows, both
spirals
spiral at a time will be directed either
one will pass through
signal
is passed
controlled hybrid
attenuator
are required
was directed passed
through
toward
through
toward
the hybrid
the circulator,
to the mixer. for equal power
the radar,
the antenna
as was described
are connected
the radar,
the bandpass
select filter,
The loads associated division
switch
be received
and on to the mixer
8-248 CONFIDENTIAL
only one
switch.
on The
and the voltage-
with the transponder
in the hybrid.
for the spiral.
Since
the signal received
to the antenna
the signal would
select
to a hybrid.
If neither
spiral
on the dipole, in the same way
_
CONFIDENTIAL
PROJECT
GEMI
I
B_udpassFilters The bandpass
filters
in the transponder
the frequencies
to which
at the transmit
frequency
magacycles provide
they are tuned
are different i
of the other unit.
and the transponder
the required
and the radar iare identical;
is tuned
interference
Each
The radar
rejection
filter
is tuned
to 1528 megaclvcles. and help keep
however, is tuned
to 1428
These
filters
the transmitter
i
main
bang
out of the receiver.
Voltage-_ontrolledAttenuators
The voltagecontrolled attenuators in the radarand the transponder are identl; cal.
The purpose
holding
of the attenuator
the mixer
at far and middle power
input to a minus ranges.
is to prevent 12 _
Operation
msY4_,m.
commences
increases.
The attenuator
a _a_n
attenuation
of 2It dh.
The attenuation
automatic
gain control
The voltage-controlled the
attenuator
In the
radar,
i_pedance
input,
which is the eirovlator.
circulator
described
circulator
the sam
which
produces
mismatch
earlier, _y
varies
tends
_e
is controlled
attenuation
the
Due to the directional
it m_ters.
by a delayed
6 volts.
wave
The pa_h
mismatching.
hack
to
c_racteristic
wave will! not back
the reflected
and the
device with
by impedance
reflecti
by
is inoperative
decreases
is a! solid-state
from 0 to! minus
_o
of the m!_er
attenuator
as thei range
at the receiver
voltage
saturation
up
that thel reflected
the of the
through
the
wave takes
!
through
the circulator
_ermiuatas
wave
prevented
becoming
the
is radar
measurements
because
froa
standing
waves
in a load resistance; a standing could
wave.
upset
inaccurate.
8-249 OONWIDEIMT_I_
This
stability
thus
the reflected
precaution
is
an,_ render
the
taken angular
in
OONFIOUNTIAL
SEOn soo
The voX_e-controXled manner;
however,
effective,
attenuator standing
and the
measurements
mixer
waves is
are made in the
in the transponder are
not avoided.
pre_ented
_
functions Newer the
saturating.
transponder
the
standing
less,
Since _ves
in a s_/_r attentmtion
is
no critical produce
no
_m_avorable effects.
Automatic _reQuency Control (AFC) The automatic frequency control circuit in the transponder and radar is comprised of the local oscillator, the m_xer preamplifier, the narrow band amplifiers and detector, the amplifier limiter, the discr4m_nator _ varactor and sweep circuit (Figure 8-69).
gate, and the AFC
The varactor, a solid-state voltage-
controlled variable capacitor, is the heart of the AFC circuit.
A 0.2 cycle
per second sweep voltage is applied to the varactor when the receiver is turned on.
This voltage causes the local oscillator frequency to vary over a 1-mega-
cycle band about its operating frequency.
In the transponder, when the 1528 megacycle interrogation pulse is received, it is applied to the mixer.
Here the 1557.5 to 1558.5 megacycle output of the
local oscillator beats with it, and the 30 megacycle Intermediate Frequency (IF) is prodnced.
The IF is applied to the wide band and narrow band amplifiers.
The
signal selector gate initially selects the narrow band output since it is larger. Five pulses in 16 milliseconds produce the stop sweep pulse which ends the local osc_11-tor sweeping. crlw_-ator.
This prepares the varactor to be controlled by the dis-
The narrow band signal is amplified, limited, and discriminated.
If
the video exceeds the predetermined threshold, a I microsecond pulse is supplied which opens the discriminator gate and allows the discr_,_nator output to control
8-250 CONFIDENTIAL
CONFIDENTIAL SEDR 300
.s- _-_.
___'
PROJECT
GEMINI AFC
AZIMUTH
8ANGEL"_
//_
1 USEC
2 USEC
F
ELEVATION
2 USEC
I USEC
i
SWITCH
SWITCH
SWITCH AND STUBS
i
AND
LOAD
HYBRID
AND
RECEIVED 6 USEC PULSETIME SHARING
LOAD
FILTER
CONTROLLED ATTENUATOR
t DITHER MULTI
GATE GENERATOR
_
RANGE THRESHOLD
F
_
RECEIVER
t
AND MULTI
i /'x.
i
FROM DELAy
TOAFC VARACTOR (I USEC GATE)
SWITCH DRIVER
I USEC MULTI
2 USBC MULTI
2 USEC MULTI
H "OR" GATE
ir I I
j
-
AZ
I
RF
EL
RF
DRIVER
DRIVER
SWITCH
SWIICH
i Figure 8-70 Radar RF Switching and Return Pu kseTime Sharing 8-251 CONFIDENTIAL
J
I
CONFIDENTIAL
PROJECT
the varactor.
The dlscr_nator
it if it is high. exactly
There
increases
is no output
the frequency
from the discriminator
the 1428 megacycle
to i_58.5 megacycle 48 milliseconds the varactor
are required
gate which
Receiver
Gain gain
pulse
enables
the IF is
the discriminator
Control
pulse which
8-70)
to control
pulses
produces
in stops the
the varactor.
(AGC)
_,
a wide range
and the wide band
of input channels
are controlled
Since the signal
selector
the higher
output
to operate
at the distant
band noise feedback
the video ranges.
voltage.
band gain_ the outputs are both applied
input signals
and the decreasing
predeterm_-ed
level,
The wide band
by noise
(Figure
levels,
8-69) will
the narrow
the narrow
band
ban_
selector.
signal
noise
The AGC
As the side-_and
to the AGC
8-252 CONFIDENTIAL
input
gain than the select
circuit
band gain will be controlled
5y the signal
signal applied
automati-
8-71 shows
detector
selector
will by the
assumes
signal has also been increasing
range.
it is selecte_
gate
of the narrow band
to the AGC
The wide band
band gain.
Narrow
Figure
has 14 db higher
circuits,
When
must be adjusted
signal levels.
channel.
control.
the 1457.5 Twelve
(Figure
wide band
the narrow
it.
multivibrator
channel
nal detector
with
verification
The narrow band
of the narrow
beats
the target
and range.
control
is received,
in both the radar and the transponder
how the narrow
narrow
when
to 30 megacycles.
to acco_uodate
signals_
to produce
The I microsecond
The IF is maintained
_utcmatic
return
output from the oscillator
sweep.
discriminator
have
if it is low, decreases
30 megacycles.
In the radar, when
cally
GEMINI
control
and sig-
controls with
signal reaches
the the
selector
gate and assumes
selector
along with
the
CONFIDENTIAL
%_-
PROJECT
GEMINI
f
/
/
/
//
/ ÷o/ "_'_
1o-
/
/ I
/
/
/ / /
/
I I
o
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/
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//,_/7 _
/
25-
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40--_
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z
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16o-
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250 --
L "%,_,..'_,,
;71
I I
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RELATIVE OUTPUT SIGNAL IN DB
Figure 8-71 Receiver Operation 8-253 CONFIDENTIAL
Versus Range
CONFIDENTIAL
PRO,JECT
narrow
band noise
band noise.
detector
output
GEMINI
further
reduces
narrow
band gain
and narrow
As range continues to diminish and input signal to increase, a
greater AGO voltage is developed to hold the signal at the predetermined level. The AGC delay is overc_ne and AGC is applied to the voltage-controlled attenuator and the mixer preamplifier at near range.
AGC in these receivers is capable
of malntalnlng a constant output level with input signals weaker than -83.3 at 160 nautical miles to signals of +12 d1_nat a range of 20 feet.
MOU/LATOR AND TRAN_ The transponder
transmit_er
is
1_nk.
A hold
off
signal
is
ponder
power
supply
to
prevent
the transmitter tube.
placed
applied it
in the to
the
standby
high
mode by the
from producing
voltage the
portion high
uhf
command
of the
trans-
voltage
required
by
The initial interrogate pulses from the radar surpass
the threshold of the sufficient s_plltude detector and cause the renoval of the hold off signal.
The 15_0 volts _c is produced when the signal is removed
and the transmitter c_ences
transmitting.
In the transit
mode the inter-
rogate pulse from the radar is received at the transponder, delayed for 2 microseconds, and used to trigger the modulator.
The modulator output is a
6 microsecond positive pulse which triggers the transmitter tube.
The trans-
mitter output is a IM28 megacycle, 6 microsecond_ i150 watt pulse at the interrogate pulse repetition frequency.
The transmitter output pulse is
coupled through an rf switch to either the pair of spiral antennas or the dipole ante-_--array and radiated.
8-25_, CON
FIDENTIAL
CONFIDENTIAL
PROJECT
I_CEIV_G A_tenna
S_stem
GEMI
AI_J_NA SYST_ Description
The radar receiving antenna system consists of three dual spiral antennas 6.5
i inches in d/ameter.
The receiving antennas, along with the transmitting antenna,
form a square array spaced 0.82 wave length apart. are:
The three receiving antennas
the azimuth antenna, the elevation antenna, andlthe reference antenna.
The azimuth and elevation antennas are rotatable and @re pressurized to aid i lubrication in the space environment. They are returned to zero rotation by a preacqulsltlon loop.
The reference antenna and the itransmitting antenn- do
not rotate and are not pressurized.
The spirals are ralsed about a quarter
wave length (2-1/8 inches) above the radar face plate i and have a circumference of 2._ wave lengths (20.5 inches).
Their characteristic impedance is i
75 ohms.
The receiving antennas are operated in pair_, using the reference
ant_--a as the common element, to measure the target bearing angle. uses time sharing of the 6_nlcrosecond return pulse,
The radar
nterferometer measurement
techniques, an_ phase dither to obtain complete tracking information.
Azimuth
and Elevation
Antenna
Zeroin_
The amount that the azimuth and/or elevation antenna is rotated is the measure
of target position. When the radar is tracking a ta_eti and these antennas are following the target's changing position, lock on maylbe Inte_=_pted. When this II
happens_ it is desirable to return the antennas to zero rotation. l
A circuit
called the preacquisltion loop is provided to do this iwhen the target pulse I
is not being received.
The loop consists of the preaCquisition switch, a _00 l
cps reference voltage, output from the induction potentiemeters , a detector, the servo amplifiers, and the servo motors.
I
8-255 CONFIDENTIAL ;
CONFIDENTIAL
PROJECT
GEMINI $EDR300
The loop
compares
reference voltase.
the
output
of the
Induction
potentiometer
with
a _00 cps
If the antenna is off zero, an error voltage is produced
in the detector output. turns the servo motor.
The error voltage drives the servo amplifier which As the rotation -n_le _ecreases, so does output of
the indlctlon potentiometer; and when the potentlometer output is zero the error voltage and the rotatio_ angle are zero.
As soo_ as lock on is estab-
lished, this loop is disabled by the target verification signal.
There is a reason why the transponder transmits a 6 microsecond pulse in reply to 1-mlcrosecond interrogation pulse.
If only range data and automatic frequency
control voltages were obtained from the pulse a eimillar I microsecond pulse would _e wide enough; _,t the azimuth and elevation angle of the target must be obtained from the s_ne pulse.
The interfer_neter technique of angular measure-
ment (which will be described later) required that two antennas in the horizontel plane receive the return signal.
The signal on the two horizontal antennas
must _e present for an interval long enough to compare their phase relationship. Next 2 two antennas in the vertical plane must receive components of the return signal lo=8 enou6h to compare their phase relationship.
In this system, the
optlmum interval for the phase comparison is 2 microseconds.
For this reason
the transponder sends hack a 6-microsecond pulse.
_Ise
D1vlslon
The return pulse must be divided into 3 parts each time it is received. 8-70).
(Figure
The first part_ one microsecond, will be used for range measurement
and aut_atlc
frequency control of the local osc_11ator and receiver inter-
8-256 CONFIDENTIAL
CONFIDENTIAL
PROJECT
mediate frequency.
GEMINI
The second part will be used for azimuth angular measurement,
and the third part will be used for elevation an_arl
measurement.
The first
interval will be made i microsecond; the second and third, 2 microseconds each. These intervals add up to 5 microseconds; the remaini_
i microsecond is not
used.
GATE GENERATOR The key circuit which controls pulse divisionj switching and time sharing is the gate generator.
Figure 8-70 illustrates how the gates which perform the
required switching are generated.
To understand the iswitchingthat is done,
the gates that are generated and used, and how the return pulse time is shared, it is necessary to know the static conditions before _he pulse is returned, i the return signal path, and the sequence in which the gates and switches operate.
Static Conditions _efore Arrival of Return While
pulse
the radar is waiting for the return pulse
from _he transponder, the i
The azimuth RF switch,!the elevation RF switch,
following conditions prevail" and the hybrid switch are open.
i
The open az_--Ithand elevation switches pre!
vent rf, which arrives on these antennas, from being iconnectedto the hybrid and receiver.
Tlr_sthis rf cannot "be mt'sred with the !referenceantenna rf I
until the proper gate voltage is applied.
The open hybrid=switch keeps the I
hybrid load dlsconnec_.edfrom the hybrid.
The dlthe_ switch is closed in one Ii
of its two positions. multtvibrator)
are
Alt
one-kick
of the multlvibrators (exCept the dither bistable i multtvibrators, and in the quiescent state. They
are waiting for the return pulse to tri_er
the_ in
8- 57 CONFIDENTIAL
uccession.
CONFIDENTIAL.
PROJEC'-G-EMINI
Return
Signal
The reference
Path antenna
is the
receive the return pulse.
only
receiving
ante_ne
initially
connected
to
Following the ar_;owsfrom the reference antenna to
the input to the gate generator on Figure 8-70, the signal flow is as follows. The 6-microsecond pulse enters the reference antenna and flows through the dither switch and selected stub, the hybrid, the circulator, the bandpass filter, the voltage-controlled atenuator, and the receiver, and enters the gate generator.
Gate and Switching Sequence When the transponder pulse arrives at the antenna system, it enters the reference antenna and follows the described path to the gate generator.
Here, it is
applied as a 6-microsecond video pulse to the range threshold and multivibrator. If the pulse amplitude is large enough, the leading edge of the video pulse triggers the multivibrator.
Range
Threshold
Then the whole process of gating and switching begins.
Multivibrator
Functions
The on-period of the range threshold multivibrator is 12 microseconds.
This
threshold multivibrator has four functions : First, the leading edge of this 12 microsecond pulse terminates the range measurement in both the digital and analog range circuits.
Second, five of these pulses are integrated by the target veri-
fication circuit to produce the target verification signal.
The target verification
signal stops the AFC sweep (Figure 8-69), and disables the preacquisition loop. Third, the leading edge of the threshold multivibrator output has no effect on the dither bistable multivibrator.
The dither multivibrator
in position throughout the return pulse.
and switch remain locked
Fourth, the one-microsecond multivibrator
is triggered by the leading edge of the threshold multivibrator output.
8-258 CONFIDENTIAL.
_ONFIDENTIAL
PROJECT _@_
GEMINI
SEDR300
One-Microsecond
Multivibrator
Functions
The l-microsecond multivibrator has three functions: criminator output into the AFC varactor (Figure 8-69).
First, it gates the disThis gate permits the
output of the discriminator to continually correct the local oscillator frequency to 1458 megacycles.
Second, the 1-microsecond gate is applied to the azimuth and
elevation boxcar detectors simultaneously.
The gate dumps the charges built up
in these detectors during the preceding sampling interval.
Third, the trailing
edge of the l-microsecond gate triggers the R-microsecond multivibrator. (Figure 8-70)
Azimuth
Two-Microsecond
The R-microsecond gate. driver.
Multivibrator
Functions
pulse generated by the azimuth multivibrator
This gate performs five functions :
First it excites the azimuth rf switch
The driver closes the azimuth rf switch.
antenna to the hybrid (Figure 8-70).
is the azimuth
The switch connects the azimuth
Second, the gate enters the hybrid or
gate and excites the hybrid switch driver.
The driver closes the hybrid
The switch connects the load during the azimuth angle measurement. flattens the line and prevents ments.
standing waves from producing
switch.
This load
erratic measure-
Third, the gate permits the video received during this interval to
develop a charge voltage in the azimuth boxcar detector (Figure 8-72). charge voltage is later demodulated azimuth servo motor. is opened. the trailing
to provide
The
the control voltage for the
Fourth, when the azimuth gate ends, the azimuth rf switch
The switch disconnects the azimuth antenna (Figure 8-70). edge of the azimuth gate triggers
multivibrator.
8-259 CONFIDENTIAL
Fifth,
the elevation R-microsecond
CONFIDENTIAL SEDR 300
._ _=__
RETURN PULSE FROM TRANSPONDER ANTENNA
A
I
X
_'\\
ANTENNA
ANTENNA O
AZIMUTH
"[ I
_'_
AND ROTARY JOINT AZ RF SWITCH
I
REFERENCE
AND [
STUBS
DITHER SWITCH
H
I I
I l
DIGITAL ENCODER
i
DRIVE MOTOR
(A & B)
± 15VDC
1
RECEIVER
]
--_
L INDUCTION POTENTIOMETER
SERVO CONTROL AMPLIFIER
VIDEO GATE AND BOX CAR DETECTOR
REGISTER
_\
DRIVE AND ± REF. GEN.
ULAIOB
//
F
ELEVATION
" IA + B
\ iiii
0 I_ L_
,.._"GET
RANGE
OFF BORESIGHT
Ist
I
I +B
,
I
PULSE
-R
I
!
ALTERNATE PULSE
TARGET ON BORESIGHT
I.)
DETECTOR OUTPUT
2.)
Figure
8-72
RECEIVER6 USEC PULSE TIME SHARING
Interferometer
Measurement 8-260
CONFIDENTIAL
3.)
of Target
Angle
OUTPUT OF HYBRID WITH DITHER (TARGET ON BORESIGHT)
CONIFIOtNTIAL
PROJECT _.
GEMINI
SEDR300
ELEVATION TWO-MICROSECOND _LTIVIBRATOR
The
FUNCTIONS
output of the multivibrator is the elevation gate i
functions: hybrid.
It performs five
First, it keeps the hybrid switch closed and the load applied to the
Second, it closes the elevation rf switch and connects the elevation
antenna to the hybrid.
Third, it permits the video received during this interval
to charge the elevation boxcar detector.
This voltage charge is later demodulated
to become the control voltage for the elevation servo motor.
Fourth, the end of
the azimuth gate opens the elevation rf switch and disconnects the elevation antenna.
Fifth, the end of the gate also ends the drive to the hybrid switch
and disconnects
the hybrid load.
DIT_I_ BISTABLE MULT_TOR
FUNCTION
The dither bistable multivibrator has one function: the double-pole double-throw dither switch.
to change the position of
The dither multivibrator is insensi-
tive to the leading edge of the 12-microsecond threshold multivibrator pulse. However, the trailing edge of this pulse will trigger lthe dither multivibrator. Hence, the dither switch and stub are changed 6 m_croSeconds after every return pulse ends.
SPIRAL _
IN AN_
Interferometer'Meas_ement
MEASUREMENT of Am_ar
Displacement
The method of measuring angular displacement employed fin the Rendezvous Radar System uses rf waves from a point source, the operating transponder antenna (Figure 8-72).
These waves are received simultaneously by two of the three
spiral receiving antennas of the Rendezvous Radar.
The length of the rf path
to the reference antenna is compared first with the length to the azimuth antenna, then with the length to the elevation antenna. 8-261
CONFiDENT'A"
The transmission
lines
CONFIDINTIAI-
from the three receiv4_n_antennas are wired so that rf voltage induced in the azimuth and elevation antennas will be 180 degrees out of phase with rf voltage induced in the reference antenua, if the transponder is on the radar boresight axis.
The sum of two co_ared
voltages will be zero.
If, however, the trans-
ponder is off the boresight axis, in azimuth for instance, the path lengths to the reference antenna and to the azimuth antenna will be different.
There-
fore, the phase difference between the RF voltage induced in the two antennas will not be 180 degrees. (or a n11_I) as before.
As a result, there will not be complete cancellation
A voltage proportional to the displacement from the
boresight axis will result.
_Iral
Rotation
This voltage is called the error voltage.
_ulls _rror Volts_e
The method used to _111 out the error volta@e constitutes the interferometer method of angular measur_nent. spiral antenna.
This method depends upon a pe_,3_arlty of the
The spiral antenna shifts the phase of the rf voltage induced
in it as it is rotated about its center.
Therefore, the 180-degree phase
difference hetweeu the azimuth and reference antennas can be obtained by rotating the az_--,thantenna. the n,,11is pr_lo_Ll
The amount of azimuth anten-a rotation required to get to the target displacelent in a_th.
If the error
voltage is used to drive a motor which rotates the azimuth antenna, then when the null is reached, the error voltage is zero, and the motor stops rotating. The antenna also stops rotating.
If a sens_n5 device is put on the azimuth
antenna which counts the -_-ular rollsof rotation or generates a voltage proportional to the rotation, a digital or analog measure of the target's angular displacement in azimuth from boreslght is provided. is what Is done.
Figure 8-72 shows that this
Displacement in elevation is measured in a s_m_lar manner.
8-Z6_
CONFIDENTIAL.
PROJECT
QEMII
SEDR 300
i
DTq'm_ _r_ Interferometer ferometer
measurement
measurement
not _n which
tells how much
direction.
and
two
are
installed
hybrid.
the
ponder
pulses
transponder changed.
of
of
the
are received
diode
the dither
position
dither
on the pilot's
switches,
dither
the is
Inter-
axis but
is added.
the long
or above
these
can detect
target
antenna
stub.
of three
the
Signals signals signal
short
Successive
of the dither
left
switches switches
and the
switches.
stub trans-
After
switches
or from below the short
the boresight
a relnforced
diode
The diode
with
stub, weskenedlby
polarized; with
stubs.
r,:ference
positions
stub.
throw
assoc:_ted
with
by the long
is associated
callq:d
on the pilot's
right
double
the positions
by the long
stubs but oppositely position
dlrecti_m,
between
switches
received,
by the short stub, weakened
target
line
from the target
sight axis are reinforced
on both
data.
is o: :f the boresight
line,
in alternate
pulse has been
from the target
target
transmission
line, the other
Signals
direction
I
two sln@le-pole,
transmission
One position
of transmission f-
contains
lengths in
does not yield
the target
To establish
circuit
different
angle
Direction
DitherSensesAn_r The phase dither
of target
each
are
the bore-
stub.
Signals
axis are reinforced
along average
the axis are equal out to zero.
in a given
Since
position
of
directions.
O
• During
the catch-up
phase,
equal to or less than feet. range
This means,
the closing
the square
for instance,
range
rate ini feet per second may be
root of the numerical that at
rate is 547 feet per second;
value
of the range
300,000 feet, the maximum
at 30,000
8-263 CONFIDENTIAL.
feet,
173.2
in
closing
feet per second;
but
CONFIDENTIAL SEDR 300
_-._'_
_
PROJECT
GEMINI
30V -
2or-
10V -
3,000 FT 6.1 USEC
1/
30,000 FT 6,[ USEC
300,000 FT 61OUSEC
RANGE IN FEET RANGE SWEEP TiME IN MICROSECONDS
Figure
8-73
Range/Range
Rate
Meter
8-264 CONFIDENTIAL
and
Operating
Curve
CONPlDENTIAL
PROJECTSEDR 300GEMINI
__
at 3,000 feet, 51;.7feet per second is maximum.
The range and range rate
scales are arranged concentrically on the R/_ meter so that the range is on a radius directly adjacent to the maximum closing rate.
!Figure 8-73) Hence, as I !
jtoward zero, the closing long as the range rate needle precedes the range needle i I rate is not excessive.
When the indicatln5 edges of the= needles coincide as the i needles move toward zero, the maximum tolerable clos_n5 irate is ind/cated. If the range needle precc_lesthe range rate needle toward
ero_ the clos_n_ rate
Is excessively high.
Vernier range rate is indicated in one foot-per-second increments from plus 5 to minus 5 feet per second on the scale located above center on the R_
meter.
The indicating needle for the vernier meter is usually _ff scale and out of sight until the spacecraft is within very near range of the target.
RANGE SW_m
CIRCUIT
Compression
and _xpansion of Meter Scales
The range and range rate meter scales are clearly nonlinear. are compressed, minimum values are expanded.
Maximum values
This is done because precision J J
indications of range and range rate become far more critical as the range to target closes.
Ra_e
Sweep Expansion and Compression
In order to ma_.e a current-operated meter indicate the irange and range rate with high accuracy, a special range sweep circuit is used (Figure 8-73)• The i rate of voltage change with time d_ring the first 6.1 microseconds of sweep is the most rapid.
Thus the range indication from 0 to 3;000 feet is the most
8-_5 OONF|DEN'riAL
....
j
_
CONFIDENTIAL
PROJECMINI __
SEDR300
expanded.
During the next .54.9microseconds of the sweep, the volta6e increased
with time at about i/gth the rate of the first 6.0 microseconds.
The range
indication from 3,000 to 30,000 feet is expanded to a reduced extent. the last _9
During
microseconds of the sweep, the voltage increases at 1/90th the
rate of the first 6.1 microseconds.
The range between 30,000 and 300,000 feet
is compressed into a small portion of the scale.
Thus the near range is 9 times
more sensitive than the middle range and 90 times more sensitive than the far range.
Range Measurement Range is measured by sampling the sweep voltage at a time coincident with the leading edge of the transponder return pulse. into adc
The sampled voltage is stretched
voltage, and applied to the range meter winding.
Range Rate Measurement R_ge
rate is a function of the difference in range voltages on successive
transponder pulses.
This voltage difference is monitored, shaped and amplified
in a circuit controlled by the same logic that changes the range sweep slope. It is applied as a dc voltage to the range rate meter coil on the far and intermediate ranges, and to the vernier range rate meter coil on the near range.
DIGITAL RANGE COUNT__ _R
Range Gated Clock Pulse Count A high-speed digital counter counts lO-megacycle clock pulses during the range gate to generate the digital range count.
(Figure 8-67 and 8-69).
The clock
pulses are produced by a I0 megacycle crystal-controlled oscillator in the
8-265 CONFIDENTIAL
CONIFIDI[NTIAL SEDR300
PROJECT GEMINI spacecraft edge
radar.
of
the
a s_m_lar leading
The
range
interrogating
edge of the transponder
range supplied
(whichever
equals
delay
The range
Oo I microsecond
to the computer
is larger)
the
leading
compensates
gate is closed
for by the
Power Requirement
Primary
power
source.
to operate
Voltage
and transients
available
Filtering
operated
power v_Its_e
Input Filter Unregulated
Accuracies
are obtained
within
of radar
range.
of four
successive
50 feet
or O.l percent
for ranges
radar
digital
up to 250 nautical
is obtained
source may vary between
by various
spacecraft
of the primary
equipment
from the source.
is reduced
is the average
the rendezvous
from this
produced
in this power.
Electrically
or 50 feet
of
miles
SUPPLY
primar_
filter
2-microsecond
after
pulse.
of the range to the target.
RADAR POWER
primary
This
2 microseconds
of Range to Clock Time
the range
_
started
the transponder,
One cycle at lO megacycles
counts
is
pulse.
delay through
Relation
Digital
gate
at a high
requires
and constant
30 volts
de,
Noise
will also be present
is essential.
in the spacecraft
The radar
22 and
equipment
power
from the spacecraft
wil_ reduce
a means
level_
the voltage
of maintaining
eVen though
its
source voltage
considerably.
and Boost Regulator primary
removes
power
is applied
to the radar
the noise and transients.
A boost
8-267 CONFIOINTIAI.
p_r
supply
regulator
input.
An input
uses a portion
of
CONFIDENTIAL SEDR 300
-_
136.5 VAC >
RECTIFIER
RADAR
>
REGULATOR
> +I20VDC
REGULATOR
_
AT 8 MA
F_ER
PRIMARY POWER 22 to 30VDC
-40VDC RECTIFIER
45. BVAC
(UNiEO)
J
]
-40VDC AT 75 MA
FILTER ) _40VDC AT 80 MA
REACTOR
RECTIFIER FILTER
REGULATOR
FILTER
BOOST REGULATOR
D_ - AC INVERT•
RECTIFIER FILTER
REGULATOR
), +20VDC AT 184 MA
RECTIFIER _6.3VDC FILTER
REGULATOR
) ¢6.3VDC
AF 1093 MA
> -6.3VDC
AT 1137 MA
30.4VAC
PROM CONTROL
--
LIMITER AND SWITCH TRANSISTORS
PANEL
TRANSFORMER
l
3_.vAc
_,
-6,3VDC H.V. INVERTER
H.V. ;('FORMER
24.9VAC "
RECTIFIER FILTER
REGULATOR
RECTIFIER FILTER
REGULATOR
RECTIFIER DOUBLER
'
_ -20VDC
b' +ISVDC
FILTER
16VAC
RECTIFIER FILTER -15VDC
t
_
AT 237 MA
360 MA FOR EACH VOLTAGE SEPARATELY BUT NOT
-15V
I
SIMULTANEOUSLY _' +1650VDC AT 0.5 MA
136,5VAC
)
RECTIFIER
REGULATOR
_ +12OVDC AT 8 MA
RECTIFIER FILTER
REGULATOR
_ -40VDC
RECTIFIER FILTER
REGULATOR
)
RECTIFIER
REGULATOR
TRANSPONDER
FILTER
SATURABLE REACTOR
45. 7VAC"
_NVERT. DC-AC
• :kl% l
BOOST
) Aj
j
POWER
, I J
24.9VAC
I
_.
J
h
FILTER
_.3 J RECPIE,ER F'LPER
HOLD-OFF SIGNAL FROM S.A, D, AND
)
AND SWITCH TRANSISTORS
ENABLE CIRCUIT
DOUBLER
_
/_
I NVERTER
8-74 Radar
and
I
)-20VDC
REGU_TOR
12.6VAC_
Pigure
+20VDC AT 106 MA
24.7VAC
9.2,vAc 2" VOC UNREG
AT 40
>_.3VOC A,_206 _
I
) _1200VDC AT3MA
X'FORMER
Transponder 8-268
CONFIDENTIAL
Power
Supply
Block
AT227MA
Diagrams
CONFIDENTIAL
PROJECT ___
GEMINI
SEDR300
the filtered pri_a_y
primary
voltage.
power
to generate
The voltage
a voltage
generated
31.7 volts dc (the boost regulator
:
depends
output)
to add in series with on the difference
and the primary
the
between
voltage.
The boost
i
regulator
generates
1.7 volts
dc and adds
it in series when
the pr/m_ry
voltage
i
is 30 volts dc.
As the primary
voltage
decreases,
the boost
regulator
output
i
increases
DC-to-AC
_--_
by an equal amount
(Figure
8-7_).
Inverter
The dc to ac inverter
changes
The saturable
which is connected
reactor
output.
The inverter
windings
provide
output
voltages
energizes
are rectified
outputs
each regulator.
are
which
high
enough
higher
voltage
voltages
from the power
these,
The remaining
of the plus
120 volts
20 volts
The plus and minus
to operate
requires.
Two of
their
ac.
stabilizes
the
secondary
Nine
6.3 volts
of the ac
the plus
seven
circuit
and minus
rectified
and
is built
into
dc, the plus
dc are each operated
regulators.
transformer
31 volts
Multiple
A short-circuit-proof
The regulators
they regulate.
the inverter
the radar
regulation.
regulated.
dc into
transformer.
and filtered.
40 volts dc, and the plus and minus voltages
31.7 volts
across
the power
all the voltages
15 volts dc, are used without filtered
the regulated
and minus by the
dc do not provide
Therefore,
are provided
a
additional
to operate
these
regulators.
High Voltage
Power
The transmitter llSO-watt
requires
pee2power
of generating
Supply plus
1650 volts
interrogator
this voltage
pulse.
is therefore
dc plate
voltage to produce the ! A high-voltage power supply capable
provided.
8-269 CONFIDENTIAL
Although
another
winding
CONFIDENTIAL
PROJ
could
EC-T GEMINI
have been added to the power transformer
needed,
transients
would be applied
transmitter was fired.
the high
common transformer
ac voltage
each time
the
Consequently, a separate de to ac inverter and high-
voltage transformer were used. high-voltage
to the
to supply
Only a 6.B volt ac switch voltage for the
inverter was taken from the common transformer.
In the standby
state, the regulated 31.7 volts dc is applied to the high-voltage inverter. The s_-Itchingvoltage is applied through the current limiters to the highvoltage inverter, but is grounded out by the switching transistors which are conducting.
The holdoff signal applied by the RADAR switch in the STBY
position to the switching transistors causes them to conduct, preventing the high-voltage inverters from operating.
When the pilot puts the radar in the
search mode, he places the RADAR switch to ON.
This action removes the hold
off voltage, and permits the 6.3 volts ac to switch the inverter on and off. As the inverter is switched, the ac voltage is generated and applied to the hlgh-voltage transformer. it to a voltage doubler.
The transformer steps up this voltage and applies The voltage doubler rectifies and doubles the ac
output of the transformer, and delivers plus 1650 volts dc to the transmitter tube plate.
TRANSPONDER
No high-voltage regulation is required.
POWER SUPPLY
Power Supply Similarities By comparing the block diagrams (Figure 8-74) of the radar and transponder power supplies, the similarities will be apparent. boost regulator, adc
Both power supplies use a
to ac inverter, a power transformer, rectifier, filters,
and regulators to provide plus 120, minus _0, plus and minus 20, and plus 6.3
8-270 CONFIDENTIAL
....
CONFiOENTIAL
volt dc outputs.
The same high-voltage circuitry is also used.
T n-pcnder P er SuppiV Di Terences Certain differences, of course, between the two power supplies do exist. i
The
i
following are the differences: minus
on
6.3, and plus
individual
and
supplies
minus
differ
The transponder doe_ not require the plus _0, I_
volt
owing
to
dc power
the
suppiles.
peculiar
ineeds i
The
of
cu/Tent
the
two
drains
units.
The transponder high-voltage power supply is turned ionwhen the sufficient amplitude detector triggers the enable delay circui_ and removes the hold off voltage. solid-state
Less
transmitter
antenna
select
power switch
is
used
in
(Figure
the
8-69).
f_
8-z71/ 2 CONFIDRNTIAL
transponder
to protect
the
COMMAND
LINK SYSTEM
TABLE OF CONTENTS TITLE
PAGE
SYSTEM DESCRIPTION .... SYSTEM OPERATION eeeeoeooeooe SYSTEM UNITS ..... SUB BIT DETECTOR COMMAND LINK ENCODER
. . . 8-275 8 " 281 • • • • • • 8-283 • • •. • • • 8-283 : . . . :.... 8-287
8-273 CONPIDRNTIAL
. . .
.
CONFIDENTIAL
ENCODER CIRCUIT
_ENCODER
CONTROLLER
Figure
_'_RIGHT
8-75
Command 8-274
CONFIDENTIAL
Link
System
SWITCH AND.CIRCUIT BREAKER PANEL (REF)
CONF|DENTIAL
PROJECT _@
GEMINI SEDR300
CO_AND
SYSTEM
DESCRIPTION
The Cow,hand Link craft link
to allow control
or off,
System
hardline
is used as a means of positioning
the target
vehicle
in the de-
monitoring.
path,
after
8-3.
Prior
to docking
radar
aboard
by the pilot,
the radar
docking,
messages
the command
of the
•target
vehicle
progrsn_f_er.
After
docking,
the command
rf transmission
Commands
onto the radar The desired
controller,
panel.
radar
_e
transmission
link messages
by which
method
the pilot
unchanged.
The
cof._and li'_k olso provides
inserts
8-275 CONFIDENTIAL.
are listed
located
message
and
with
in
is inserted,
slightly
the transponder
through
in
the rendezvous
aft of the by pulse to the
the hardline
the desired
the pilot
at the completion
allocated
is then transmitted
through
and a
of transmitting
transponder
below
on
required
to docking
presently
command
are routed
_e
_ehicle
located message
w.ubilical.
from the target
prior
link is capable
8-76).
lights
Systems
for each of the comnmnds
vehicle.
into the encoder
modulation
number
and approach
and Instrumentation
command
is locked
breaker
acquisition
lir_ may be used any time that
of the target
right switch/circuit
the
(Figure
three digit
the spacecraft
adapter
of turning
Communications
Using
128 command
Table
_11atch
Space-
Command
and a corresponding
position
into the Gemini vehicle.
and orbital
pilot
is incorporated
the target
t_bilical
a possible
8-75)
to control
and for controlling
for ground
docking
(Figure
the spacecraft
sired attitude
_
LII_K SYSTEM
the
message
remains
cap8bility
of the mission.
to
CONFIDENTIAL
._T-.._ _
SEDR 300
__
_8 ON i_'8
'
J
"°
-_
T
_ E o2_ NZ_ Z_U
ds_
,
NZ
_
a
OO_ _
z
_ Zo
_--"
0
Z
91
i
Figure
8-76
Command
Link
8-276 CONFIDENTIAL
System
Block
Diagram
N_ _ Z
CONFIDIINTIAL
PINI ._
m
SEDR300
,
TABLE 8-3 COMMAND FUNCTION LIST AGENA TARGET VEHICLE SPACECRAFT COMMAND _R
REAL TI}_ CO_D
CO_ND
T_
001
0_i
C-Band Beacon
010
_010
S-Band Beacon On
011
0000011
Modulation Bus SelelctNormal i i i
020
0000100
Modulation Bus SelelctReverse
021
0000101
Telemetry On
030
0000110
TelemetryOff
031
O000111
Stored Data Readout
041
0001001
Record Data
050
O001010
C and S-Band Beacons Off
060
0001100
Reset Timer Reset
061
0001101
Time Word Reset
070
O001110
L-BandBeaconOff
071
O001111
L-Band Beacon On
140
_ii_0
Approach Lights Of_i
141
0011001
Approach Lights On_
151
OOllOll
160
0OlllO0
Extend Boom Antenna i Antenna Transfer, _scent
161
OOlllOl
Antenna Transfer, Orbit
200
01_
201
01_i
Agena Status Display Off i Agena Status _sp_ i On Bright
211
01_iI
Agena Status _sp_
i
8-_ CONFIDENTIAL.
On Dim
CONFIDENTIAL
PROJECT _.
GEMINI
SEDR300
TAm 8-3 (Continued) CO_a4AND FUNCTION LIST AGENA TARGET VEHICLE SPACECRAFT CO_4A_D NUMBER
REAL TD_ CO_
CO_AND
TITLE
220
0100100
Adapter
Unrigidize
221
OIOO101
Adapter
Ridlgize
240
0101000
Stored
Program
Commands
Disable
241
0101001
Stored
Program
Co_nds
Enable
250
0101010
Acquisition
Lights
Off
251
OlOlOll
Acquisition
Lights
On
260
0101100
Dipole
Select
270
0101110
Spiral
Select
271
0101111
Power Relay Reset
300
OllOOOO
Horizon
Sensor
Off
._01
0110001
Horizon
Sensor
On
310
0110010
Roll Horizon Sensor to Yaw, Inertial Reference Package On
311
0110011
Pitch Horizon Sensor to Yaw 3 Inertial Reference Package On
320
0110100
Horizon
Sensor
to Yaw Out of Phase
321
0110101
Horizon
Sensor
to Yaw in Phase
340
0111000
Velocity
341
0111001
Gyrocompass ing On
350
0111010
Geocentric
Rate Off
351
0111011
Geocentric
Pate On
Meter
8-t 8 CONFIDENTIAL
Interrogate
CONFIDENTIAL
SEDIt 300
TABLE 8-3 (Continued) C0_4AND FUNCTION LIST AGENA TARGET VEHICLE SPACECRAFT COMMAND NU_.R
REAL COMMAND
COMMAND TITLE
360
0111100
Geocentric Rate Reverse
361
0111101
Geocentric Rate Normal
370
0111110
Attitude Control S "stem Pressure Low
371
0111111
Attitude Control S "stem Pressure High
400
i000000
Attitude Control S 'stem Off
4Ol
lOO0001
Attitude Control S 'stem On
410
i000010
Pitch/Yaw Minus
411
i000011
Pitch/Yaw Plus
420
i000100
Pitch/Yaw Low Rate
421
I000101
Pitch/Yaw High Rate
4_0
iO00110
Pitch Rate Off
431
i000111
Pitch Rate On
440
I001000
Yaw Off
b2_l
i001001
Yaw On
450
I001010
Attitude Control System I_adband Narrow
451
i001011
Attitude Control S "stem Deadband Wide
460
iO01100
Attitude Control S 'stemGain Low
470
i001110
Attitude Control S "stemGain High - Undocked
471
i001111
Attitude Control S "stem Gain High - Docked
8-279 CONI:IOINTIAL.
CONFIDENTIAL
D TA_E 8-3 (Continued) C0_M_D AGE_A SPACECRAFT C0_D NUMHER
FUNCTICB LIST TARGET VEHICLE
REAL TIME C0_AND
COMMAND
TITLE
_00
i010000
Primary
Propulsion
System
Cutoff
501
i010001
Primary
Propulsion
System
Start
520
1010100
Velocity
Meter
Disable
521
i010101
Velocity
Meter
Enable
530
10lOll0
Velocity
Meter
Load
531
1010111
Velocity
Meter
Load l
540
1011000
Velocity
Meter
to Mode
IV Off
541
I011001
Velocity
Meter
to Mode
IV On
550
1011010
Secondary
Propulsion
System
551
i011011
Secondary Initiate
Propulsion
System
16 Thrust
560
lOlllO0
Secondary Initiate
Propulsion
System
200 Thrust
561
i011101
Secondary
Propulsion
System
570
1011110
Hydraulics
Gain
- Undocked
571
i011111
Hydraulics
Gain
- Docked
8-280 CONFIDENTIAL
0
Thrust
Ready
Cutoff
CONFIDENTIAL
,EOOO .
PROJECT ._-_
SYSTEM
GEMI
i
I
OPERATION
The C_and
Link System is energized by placing the ENCDR circuit breaker in
the ON position.
The ENCDR circuit breaker is locatedlon the right switch/
circuit breaker panel.
The cu_,and link may now be used for the transmission
of messages.
To initiate a c_nd
the Gemini pilot selects a co_and
Inserts the corresponding
from a list provided.
three digit number into the encoder
controller.
i
For example; Target Docking Adapter Acquisition LightsiOn command number is 251°
To transmit this message the Gemini pilot adjusts the encoder controller
to the following positions:
the outer octal dial is turned to 2, the inner
octal dial is turned to 5, and the binary switch (XMIT_ is positioned to I and held until the message effect of the co_and
cycle described in this sectionlis completed. link message transmission
changing of the radar pulse repetition
The only
on the! rendezvous radar is the
frequency.
During the message trans-
mission the radar is switched from the internal generated pulse to the more stable Time Reference
System generated
256 pulses per Second.
The encoder controller output is a seven binary digit (bit) binary word, three blnarybits XMIT switch.
indicating
each octal number and one blnarybit
The co_and
two binaryblts,
corresponding
to the
message is added to the vehicle address, consisting of
and the system address, consisting ofithree binary blts.
The
vehicle address used is the two binary numbers I l, the system address is i O i. It is therefore seen that the complete c_nd
8-281 CONFIDENTIAL
function word is as follows:
CONFIDENTIAL
PROJECT
GEMINI
VEHICLE ADDRESS
SYSTEM ADDRESS
2
ii
101
010
CO_@L_ND 5
i
010
1
The positioning of the _MIT switch to either the I or the 0 position also initiates a one time transmission
of the command.
The command llnk data transmission is accomplished in the following manner.
The
Time Reference System provides two trigger pulses to the encoder, both having a repetition rate of 256 pulses per second.
One pulse will be referred to as
occurring at Time Zero (To) and the other at time zero plus 15.2 microseconds (TO + 15.2).
At the time the ENCDR ON circuit breaker is turned ON the radar
commences being pulsed by the TO pulse from the Time Reference System. transmit co_ud,
The
initiated by the XMIT switch, causes the information bit to be
taken, one at a time commencing with the vehicle address, and further encoded into five binary sub-bits.
The encoder affects pulse position modulation
of the
radar interrogate transmission by allowing the TO or TO + 15.2 pulse to trigger the radar, indicating a 0 or a 1 respectively.
The interrogate transmission, at the repetition rate of 256 pulses per second, is received at the radar transponder. applied to the sub-blt detector.
The transponder
The sub-bit detector
receiver video signal is contains an oscillator
which is synchronized with the received interrogate 0 pulse.
The oscillator
provides two gates, one which occurs in synchronism wlth the TO pulse and another with the TO + 15.2 pulse.
The coincidence of the received pulse with one of the
above gates results in the identification of the pulse modulation.
A decoded 0
generates a 25 microsecond pulse across the message complement output and a
8 -282 CONFIDENTIAL
CONFIDENTIAL
PROJI
___ decoded pulses
I generates are provided
SEDR300
a 25 microsecond
pulse
across
the message
output.
These
to the progra_m_er.
The programmer
converts
the 60 sub-bits
back
The programmer
verifies
that the sub-bit
into the 12 information
code is correct,
bits.
that the vehicle
and
;
system
address
aforementioned tance
pulse
is correct,
message was received. If the i are met the progr_a,erwill provide a message accep-
requirements
to the transponder.
consecutive
transmissions
microsecond
pulse
width
pulse width and causes encoder
and that an acceptable
controller
The message
from the transponder to ten microseconds.
the Message
to illuminate
Accept
of the MSG ACPT light
message
received
the
XMIT
SYSTDi SUB-BIT
three
light,
located
on the
to the pilot
At this time
that an acceptable
the pilot may release
switch.
UNITS DETECTOR
The purpose
of the sub-bit
transmitted
pulse modulation
bit code. message
causes
of 2.5 seconds.
indicates
by the progrs_er.
pulse
to shif_ from the normal six i The radar detects the additional
(MSG ACPT)
for a period
The illumination has been
acceptance
The sub-bit
acceptance
Prior to lock-up standby frequency
detector
to a pulse
detector
pulse
Link
state by the incorporation driven
8-77)
is the conversion
form indicative
is also used to control
to the Gemini
of the Command
oscillator,
(Figure
of the radar
of the 0 and i subthe sending
of the
Spacecraft.
System
the sub-bit
of a pre-acquisition
detector loop.
8-28B CONFIDENTIAL
in a
The variable
at a rate of 253 cycles p_r second,
F
is held
is insensitive
CONFIDENTIAL SEDR 300
"__
PROJECT
_"_7T7-_
GEMINI
_0
W_. Figure 8-77
Decoide,r Block Diagram 8-284
CONFIDENTIAL
___
_
-_
CONFIDENTIAL
PROJECT
GEMINI i
to lesser frequencies.
The modulated radar transmission is applied to the detector l in two forms, the transponder receiver video pulse and a pulse in synchronism with the leading edge of the video.
The sync pulse iS applied to the oscillator
thereby causing the frequency to increase to 256 cycles per second and synchronizing the early and late gates to the incoming video pulse.
The early gate and late gate, initiated by the variable
frequency oscillator,
for tracking the interrogate
and detecting
mission
pulse repetition
frequency
of the pulse corresponding to the binary sub-bit 0.
each 0-75 microseconds
are
the trans-
The two gates are
in width and are so related that the trailing edge of the
early gate abuts on the leading edge of the late gate. gates is slightly more than the video pulse.
The combined width of the
The video pulse is to be centered
equally between the two gates; any deviation frsm this condition will result in an appropriate
control voltage
The radar modulation
applied to the variable frequency
is determined by observing the presence
oscillator.
of the radar trans-
mission in either the combined early and late gate or ithe one gate, a 1.5 microsecond gate occurring The continuous variable
15.2 microseconds
transmission
from the leading edge of the early gate.
of the sub-blt 0 enables the synchronization
frequency oscillator.
of the
A slow frequency control loop provides memory so
that a command message may be sent and the oscillator iwill maintain the correct 0 and i time relationship.
The sub-bit detector provides a 25 microsecond pulse over the message line to i indicate a i and a 25 microsecond pulse over the message complement line to indicate a O.
These pulses, along, with a sync pulse iwhich occurs for either
f
0 or l, are then coupled to the computer.
8-285 CONFIDENTIAL
Figure 8-78EncoderBlock 8-286 CONFIDENTIAL
Diagram
CONFIDENTIAL
PROJECT
GEMI
J
C(X4WAND LINK ENCODER The command
link
encoder
into the encoder
(Figure
controller,
via two completely
communication
the rf link using
the rendezvous
after
maneuver
The co-_and address,
link message
a system
the message, system
128 possible
The task
word
is undesirable
entered
by two octal pilots.
encoder
controller
breaker
panel.
through
a twelve
into the infobit
switches The pilot
located
word.
bits,
vehicle used
is
the link used
bits,
The initial bits
are fixed
information
is provided digit
below
bits,
switches
a particular
c_nd
shift register current
switch,
a vehicle portion
of
and the
in content.
thereby
switches,
The
allowing
number.
magnetic
each having
An octal
is selected
with a list showing
establish
c_nds.
seven
standpoint.
and slightly
bit multiaperture
of the ET
factors
and a binary
three
The encoder
of the interrogate
actuation
initially
as a carrier,
of two information
information
from a human
of the 128 possible
which represent
means
The channel
information
function
by manipulating
and the corresponding
for each
of 12 binary
up of seven
a c_nd
states,
mands
is made
to the target
umbilical
consisting
of three
entered
c...... _nds.
of entering
spacecraft
address
pilot,
channels.
and a c<mmnd
consisting
c<.-_._ndfunction
Sgacecraft
is the hardline
address,
to link the c_nds
radar transmission
is comprised
the vehicle
address
is provided
by the Gemini
separate
the docking
8-78)
The message
core sh_ft
form of coding,
for use by the the individual
is entered
aft of the right a unique
current register
word, are J as magnetization states pulse
generated
by the
routing
switch.
8-287 CONFIDENTIAL l;
into the
path
in the encoder
interrogated of magnetic encoder
com-
switch/circult
The setting iof the encoding function
binary
switches, and encoded cores by
subsequent
to
CONFIDENTIAL
PROJECT GEMINI
The twelve information bits are shifted sequentially in information bit message (1) and message complement (0) form from the information bit shift register and further encoded, pseudo-random
one at a time, into another shift register in accordance with
sub-bit code.
Each is encoded into five sub-bits which are
shifted sequentially in sub-bit message (i) and message complement (0) form at a 256 pulses per second rate to the hardline waveform coder.
The complete
message format, as a consequence of the encoding process, is a serial group of 60 sub-bits.
For the hardline link the binary coded message is presented to the
sub-bit detector,
located in the transponder,
as bipolor return-to-zero
signals.
For the rf link, the sub-bit message and message complement signals are pulse position modulated by the rf waveform coder in the encoder and are connected to the grid modulator of the radar.
The method of pulse position modulation used
will cause a normal radar pulse, indicative of the sub-bit message O, to be transmitted in the first defined time slot while a sub-bit message I will cause transmission
of the rf pulse delayed 15.2 microseconds
position.
8-288 CONFIDENTIAL
from the normal, or 0
--_
_ONFIDEN_flAL
RENDEZVOUS
EVALUATION
POD
TABLE OF CONTENTS T I TLE
PAGE
SYSTEM DESCRIPTION. . . SYSTEM OPERATION ............ SYSTEM UNITS. . . _
. ......
8-291 8-291 8-294
ANTENNA SYSTEM FLASHING LIGHT BEACONS . . . =.... SQUIB BATTERIES ....... .... RENDEZVOUS POD COVER .... i. • • •
8-289 CONFIDENTIAL i
8-294 8-295 8-296 8-298
.-
CONFIDENTIAL SEDR 300
: .
IL_,,,j_,,_
PROJECT
GEMINI
BEACON
HINO
ASSEMBLY
LIGHT
-
-._/
) BOOST REGULAIC
BATTERY
SQUIB
_
_b PIRAL ANT ENNA
BATTERY
_ I
i
/
J ANTENNA
SPIRAL ANTENNA
F LASHLNG LIGHT BEACON
TRANSPONDER
Figure
8-79 Rendezvous 8-290 CONFIDENTIAL
Evaluation
Pod
CONFIDENTIAL
PROJEC
I
3ON
__
SEDR RENDEZVOUS
EVALUATION
POD i
i SYSTEM DESCRIPTION The Rendezvous Evaluation Pod (REP) (Figure 8-79) is _n i assembly used during Gemini Spacecraft mission number five to simulate the!Agena Target Vehicle. The t
REP consists of a transponder, two antenna systems, t@o flashing light beacons, i I and two squib batteries.
The transponder is nearly i_entieal to the transponder
to be installed in the Agena.
The flashing light beacons, which emit 80 + 1
flashes per minute, are visible for approximately
twenty miles.
These beacons
are to enable the crew of the Gemini to gain tracking t experience by visually observing the REP in space.
Observations are at meas i zred distances from the i
spacecraft against both earth and sky background.
This experience is used in i
determining the placement and intensity required for the Agena acquisition lights. The REP also provides a means of studying the man/equipment interface problems i
l
which might be encountered
during an actual rendezvou_ mission with the Agena.
The REP was installed in the center of the equipment spacecraft
(Figure 8-79).
Thermal protection
provided by the rendezvous pod cover.
_dapter section of the
for the REP prior to ejection is
The REP is eje _ted into orbit by a
pyrotecbnlc charge, after the spacecraft has been ins _rted into a satisfactory orbit.
SYSteM OPERATION During the first 65 minutes after lift-offt the EEP remains stationary in the
iI
equipment adapter of the spacecraft (Figure 8-80). spacecraft near the end of the first orbit.
The REP is ejected from the
Other ac _.ivltiesrelated to the
EEP occur primarily during the second orbit.
8-291 CONFIDENTIAL
CONFIDENTIAL SEDR300
:S.,_ _
D COVER
iii::::ili!ii!'_ii::_iii!_ _!::
':
_.,":::_L_ _:_:!::.:.. "_:_ RIGHT
SWITCH
'CIRCUIT
BREAKER
PANEL
i !i!i _!
_11|
THB RENDEZVOUS POD COVER IS SHOWN IN THE MOUNTED POSITION SkIIELDING THE REP. THE COVER PROTECTS THE REP FROM THE EXTREME HEAT OF THE SUN IN SPACE.
!iii :::!:i:: :::;::
:
;:;::; ::
:
...
;::
POD COVER (OPF WHEN COMPRESSED)
REP TURN-ON REP
SWITCH
:i::i:: :! :iii
SWITCH
[]
ASSEMBLY
THE RENDEZVOUS POD COVER IS SHOWN LEAVING THE ADAPTER SECTION. EJECTION THE GUILLOTINE CUT THE CABLES SPRING HASASSEMBLY HOLDING DIE COVER AGAINST THE TUBULAR POSTS. THE VELOCITY WI',ICH THE SPRINGS IMPART TO THE COVER IS 100 FEET PER SECOND.
(REP PYROTECHNIC CHAR GE INSIDE)
RBP
EJECTION
[] lATELY AS THE REP IS EJECTED, THE MO PLUNGER TYPE SWITCHES ON THE REAR OF THE REP ARE RELEASED CAUSINg THE BEACON LIGHTS AND THE TRANSPONDER RE-
Figure
8-80
Mounting
and
Ejection
of Cover 8-292
CONFIDENTIAL
and
Rendezvous
Evaluation
Pod
CONF|DENT_AL
....
PROJECT GEM! so. 300 Nl! i
The REP has two spring-loaded, the battery
plunger-type
power to the beacon
these normally conserved.
closed
The pilot
switches will
to the first perigee.
lights
depressed
the REP
The spacecraft
(Figure
8-80) which
and the transponder.
are held
eject
switches
(ope_)
Prior
to ejection
so that power
approximately!fifteen
control
minutes
is prior
will yaw left 900 and the POD EJECT i
switch located
on the right
be depressed.
Pushing
(Figure
8-80).
the POD EJECT
One charge
the two cables
switch/circuit
drives
shown in Figure
breaker
switch
activates
a guillotine
8-80.
pan@l
type
The cables,
(Figure
8-80) will
_wo pyrotecbn_ c charges cable
cutter which
when released,
allow
severs the two
i
compressed
springs
to expand,
the rear of the spacecraft. I00 feet per second. delay, propells
thereby
propelling
The relative
The other
charge,
the rendezvous
ejection
initiated
the REP from the spacecraft
with
velocity after
pod cover
of the cover
from is
an 80 millisecond
the relative
velocity
time
of S._
i
feet per second. since the ejection the ejection
The cover will velocity
of the cover
If the retrograde
of the REP,
no tumbling
in locating
the exact
is expected.
is much
the ejection I
great@r
would
center
For successful
one revolution
the earth's
conditions.
of the REP is desirable
the mission.
between
outside
hot and cold temperature
or tumble
with
of the REP
than and is prior
to
of the REP.
Since the REP will be orbiting extreme
not interfere
to allow
Therefore, uniform
thrust were result.
operation,
per minute
applied
Since
of gravity,
atmosphere,
experience
a slow rate of rotation
hea_ing
and cooling
throughout
to the
exact
center
a very minute
error
is anticipated
a slow tumble within the rate of tumbling
and one revolution
8-293 CONFIDENTIAL
it will
of gravity
the required
limits
of the REP will
per hour.
be
CONPIOENTIAL
PROJECT GEMINI
Immediately upon ejection the compressed, sprlng-loaded, plunger-type switches are released causing the transponder receiver and the two flashing light beacons to become operational.
It is estlmated that the flashing lights on the REP at
20 nautical miles are equivalent to the intensity of a third magnitude star. Thus, a z_.nge of 30-35 nautical miles between the I_ desired to assure exceeding the visible _mlt
and the spacecraft is
Of the _EP lights.
The _
and
the spacecraft trajectories will be designed so that the crew can make visual observations of the REP up to the -_m and darkness.
observational distance in both daylight
The ejection of the REP and the maneuvering of the spacecraft is
performed over ground tracking stations to provide gro_
monitoring capability.
SYSm_M UNITS TRAWSPO_R The transponder of the _
(Figure 8-79) is nearl_videntical to the transponder
of the Agena Target Vehicle. l=_gest c_onent
of the REP.
The transponder, i0 by lO by 20 inches, is the For this reason, the transponder serves as the basic
cowponent to which all other components are attached.
For a detailed discussion
of the operation of the transponder, refer to the Rendezvous Radar System portion of this section.
AFtrA
SYS_
The REP radar antenna systems (Figure 8-79) consist of two clrcularly polarized double-spiral antennas and one dipole antenruaarray. same t_e
and size as the ante-ms
anten_
are the
used on the Agena, however, there are several
slight differences in the manner in which the anten_ ante-hAs of the I_
The _
are mounted.
The spiral
extend outward approximately two inches from the case of the
CONFIDENTIAL
CONFIDENTIAL SEDR300
_-
'_"
i
transponder.
In
comparison,
the
spiral
antennas
of
the
A_ena
are
mounted
flush
i with
the
outer
surface
of
the
Asena.
The
dipole
antenna
of
the
REP is
mounted
i
c_ the Agena
end is
of
a Wo-foot
mounted
long
fixed
on an elect_call_r
operations
of the two antenna
capability
of transmitting
in this manusl
FLAS_
boom,
whereas
old,ted,
systems
are the same. Refer
discussion
(_ipole
retractable
and receiving.
for a detailed
the
antenna
boom.
the
The electrical
All antennas
have the
to the Rendezvous
of the antenna
of
system
Radar
_stem
operation.
LIGHT _C_S
The REP has two toroid-shaped, are the same t_pe
target
of the REP so that at beast lights
The flashing each mounting
25-watt
lights as the I00 candlepower
are used on the Agena
The beacon
xenon-filled,
assist
The lights
one light
is visible
the crew in _-euvering
of the lights case.
vehicle.
Agena
is regulated
The chargin8
beacon
lights.
acquisition
are located
lights
lights which
on opposite
sides
tot he crew from any direction. the spacecraft !
by a resistor-capacitor
circuit
These
is designed
relative
circuit
So that both
to the
located
Lights
operate
i simultaneously
and ass_ne
of flash.
This rate
per minute
however
can be manuall_
the optim_
have
a life expectanc7
more
th_n sufficient
one A__nd_ one half
the flashing
of the li_t
adjusted
i i
within
having
_ range
the higher
flashes,
since the R_
rate
of 75 to 90 flashes
rate is _0 .+ I flashes
of 2_,000
time,
rate
_r minute. The lights ! or approxima_e_7 5 hours. This is
will
be used ifor approx_mtel_
hOUrS.
8-295 CONFIDENTIAL
in
CONFIDENTIAL
PROJEC---T--G
Each
beacon
light has a thermal
strap is a ¼ inch thick the heat generated plunger-type
by the light.
switches
to flash the zenon filled
the lighting
SQUIB
system
is shown
lamps.
in Figure
through
two redundant
The flashing
voltage
dissipate
circuit
to the 2500 volts
The electrical
schematic
diagram
of
8-81.
BA_r_RIES
The REP utilizes batteries
two low impedance,
24-volt,
are the same type of squib battery
8-79 shows one of the squib batteries The other battery
The squib batteries
ponder
and the two beacon
served
from a separate
During
spacecraft
lights.
mission
number
that the batteries
the lights
is the limiting
of the batteries
the internal entitled
structure
Electrical
The battery
supplying
The operating
used
attached
The
squib batteries.
in the spacecraft.
Figure
to the case of the transponder.
serve
as the power
The transponder
squib battery
a very small time, approximately necessary
silver-zinc
is on the other side of the REP and cannot be identified
the illustration.
weight
battery.
the battery
bonding
is used to help
are connected
silver-zinc
to increase
The thermal
copper which
The lights
to a 24 volt
-_
strap attached.
strap of laminated
uses a dc to dc converter required
bonding
EMINi
and operate
5 the REP will one orbit
possess factor.
be required
or 90 minutes.
an exceptionally
lights are each
of one another.
to function Therefore,
long life.
of the squib
For a detailed battery,
refer
for only
it is not
The life of
Due to the short usage period,
and operation
power
for the trans-
and the beacon independently
can be held to a minimum.
Power System
source
in
the size and discussion
of
to the section
.
to the transponder
level of the transponder
is augmented
is 28.3 volts
8-296 CONFIDENTIAL
by a boost
and the rated
regulator.
voltage
CONFIDENTIAL
,f_.: ___,__
_,_
PROJECT SEDR300GEMINI,,
o
o_
_-'_'_'-'_J
TRANSPONDER J
SPIRAL ANTENNA
J7_
R'[ 02
XBT:
I
:_
_ _ B A1
_ _ s a _ _
_0_
P7a3
J701 BT70! 24V TRANSPONDER BATTERY
A70I BOOST REGULATOR
XDS7_
_XDS702
I II I Figure
8-81 Rendezvous
Evaluation 8-297 CONFIDENTIAL
Pod
Schematic
Diagram
CONFIDENTIAL. _.
SEDR300
PROJECTGEMINI
of
the
squib
resulator is
to
be
As the
the
is
_e_riss
so
times.
squib
that
to
the
_zVOUS
PODCOVER
directly
craft.
The cover
intense
heat
has
over a
sun's the
is the
which
.00035
inch thereby
required
limits.
cover.
tuhu]A_
posts,
Two Of the pins
are
used
for
the
voltage
the
to
a_d
like
necessary of
that
the
maintain
a beost
boost it
at
regulator the
required
in
in
extend
of to
the
the
8-81
the
voltage Boost
in
regulator
transponder
for
which
past
is
at
further
all
_nformation
structure
This
to
cover
the
the
protect
is
made
I_P,
The
silvered
temperature
Of
are
8-298 CONFIDENTIAL
the
in The
of the
of
a
outer
surface
to guide
other
two
the
is space-
REP from tubular face
the metal
of
reflects
REP remains
provided
terminate cover.
which
section
stretched.
located align
plane
serves T_e
cloth
the
oval,
equipment-adapter
space.
diagonally properly
input
decreases,
a variable
voltage
an
surface. that
battery
adding
Figure
is
the
umbrella
rays
ensuring
to
8-80)
silvered
which
by
volts of
squib
employed.
fiberglass
thick
posts
28.3
are
I_P an
sun's
the
decrease
diagram I_P
the
of
The additional
(Figure
a thin
rays,
Four
guide
of
behind
of
is
it
The purpose
voltage
a constant
pod cover
located
the
sehematic
batteries
frame
and
is
on how the
The rendezvous
system.
input
battery.
there
Refer
the
therefore
level.
compensates the
2_ volts,
into
cons,,wd
regulator with
only
transponder
operating
power
series
is
incorporated
increase
28.3 volt
Boost
battery
support pins. posts
the the
within
the These terminate
cover
CONFIDENTIAL.
....
SEDR 300
in sockets
which
house the spring
by two cables which pass through The
other
and
a nut.
tension
Ejection
a pyrotechnic
end
of
This
to
the
each screw
cable,
guillotine
cable
is
and
nut
causing
the pilot
the guillotine-type
attached serves the
cables allows
to as
spring
to the cover of iOO feet
sockets,
the
a
and tubes.
to
be
Both cables
and
pod is
cover used
by to
springs
a pyrotechnic
the two cables.
to expan&,
per second.
a
assembly. screw
apply
compressed.
switch,
severs
in place
to the l_P support
rendezvous
turnbuckle
Is held
in the same m_--er as the ejection
cutter which
the two compressed
The cover
and are anchored
pushes the POD EJECT cable
assembly.
the springs,
of the cover is initiated
REID. When
velocity
Pass through
ejection
thus
The cables
after ejection.
8-299/300 CONFII)ENTIAL.
charge Cutting
imparting
of the activates the
a relative
remain with
the cover
TIME REFERENCE SYSTEM
TABLE OF CONTENTS TITLE
PAGE
SYSTEM DESCRIPTION ooooooooooo 8-303 SYSTEM OPERATION oeooeoeoooeo 8-304 ELECTRONIC TIMER oeooooomoo 8-306 TIME CORRELATION BUFFER..... 8-324 MISSION ELAPSED TIME DIGITAL : CLOCK .......... ,...... 8-326 EVENT TIMER ooooooooo4ooe 8-333 ACCUTRON CLOCK ....... • • • 8-339 MECHANICAL CLOCK .......... 8-340
8-301 CONFIDENTIAL
CONFIDENTIAL SEDR300
•_
--MISSION DIGITAL
ELAPSED TIME CLOCK
(s/c6, 8a uP) TIMER
MECHANICAL
Figure
8-82
Time
Reference
System 8-302
CONFIDENTIAL
Equipment
Locations
CLOCK
CONFIDENTIAL
PROJEC
i , i
SYBT_M DESCRIPTION ,i , ,,,, The Time Reference System (TP_) (Figure 8-82) provides _he facilities for perform-
i
ing all timing functions aboard the spacecraft.
The s_tem
is comprised of an
electronic timer, a time correlation buffer, a mission elapsed time digital clock, an event timer, an Accutron clock and a mechanical clock.
The event timert mission
elapsed time digital clock, Accutron clock and mechanic_l clock are all mounted on |J
the spacecraft instrument panels.
The electronic timeX is located in the area i
behind the center instrument panel and the time correl_tion buffer is located in back of the pilot's seat.
_..
The electronic timer provides (I) an accurate countdow_i of Time-To-Go to retrofire (TTG to TR) and Time-To-Go to equipment reset (_G tion for the P_
to TX)_ (2) time correla-
d_ta system (Instrumentation) and the bio-med tape recorders,
and (3) a record of Elapsed Time (ET) from lift-off.
The Time Correlation Buffer (TCB), conditions certain Output signals from the electronic timer, making them cempatible with bio-med_ I
voice tape recorders.
Provision is included to supply buffered signals for Del_nt
of Defense (DOD)
experiments if required.
The mission elapsed time digital clock (on spacecraft 6 thro__gh12) provides a digital indication of elapsed time from lift-off. fr_
The i_igital clock counts pulses l the electronic timer and is therefore started and istoppe_ by operation of the
electromlc
timer.
8-3o3 CONFIOWNTIAI.
CONFIDENTIAL
PROOECT
The event timer provides aboard
the spacecraft.
with a visual electronic
the facilities
for t_m_ng
It is also started
display
timer
GEMINI
of ET during
at lift-off
the ascent
should fail, the event
various
phase
timer
short-term
to provide
functions
the pilots
of the mission.
In case the
may serve as a back-up
method
of
timing out TR. The Accutron c_nd
clock provides
pilot.
of external
The clock is powered
power
The mec_n_cal date.
SYS_ Four
clock provides
method
of Greenwich
by an internal
Mean
Time (G_T)
battery
for the
and is independent
or signals.
In addition,
emergency
an indication
the pilot
it has a stopwatch
of performing
with an indication capability.
the functions
of GMT and the calendar
The stopwatch
provides
an
of the event timer.
OP_TION components
Accutron
of the Time Reference
clock and mechanical
two _ining
components
are dependent
diagram
of the Time Referemce
The electronic time-of-day spacecraft
portion mission.
elapsed
on ou.tput signals
timer, mission
System
of the mechanical The mechanical
clock clo_k
period.
The electronic
a reaote
signal from the Sequential
operate
starts
System
CONFIDENTIAL
The
conciliation
A functional
8-83.
clock, Accutron continuously,
and Accutron
timer
timer.
timer,
other.
clock and time
in Figure
time digital
event
of each
the electronic
is provided
elapsed
timer,
independently
time digital
from
the pre-launch s_rt
(electronic
clock) function
(mission
buffer)
System
clock
operating
clock during
are started
and the the during
upon receipt
at the time of lift-off.
of
CONFIDENTIAL SEDR 300
"_
I-
,MEREEE'ENCES_';;7_C_ "--I TR (EMERGENCY), ACCUTRO N CLOCK
GROSS TIME,
ELAPSED TIME (SHORT TERM)
[ J
JI '
J
• O.M.T. DISPLAY CLOCK • STOP WATCH
._MMISSION ELAPSED TiME
L
TR (BACK-UP),
CREW
ELAPSED TiME (SHORT TERM)
TR-2B,_ SEC, TR-30SEC
J
SECONDS)
J
• CALENDAR DAY I (MINUTES AND MECHANICAL
1
I I
--Z _O
E,ME O,G,TAL --
_
I_
NOTE
* GROSS TIME FROM LIFT OFF
CLOC_.._.______ b,.,.,ss,oN ELAPSED
D
I
EFFECTIVE SPACECRAFT 6, 8 AND
I
UP.
Ji
INSERTION
• DECIMAL DISPLAY _AINUTES AND SECONDS) • COUNT UPOR DOWN
--
,
--
UNIT
--
L IFT-OFF SIG NAL
SEQUENTIAL SYSTFJv_
O
gz__
J |
T R (AUTOMATIC FIRE SIGNAL) TR -256 SEC, TR -30 SEC
J
TIME-TO-GO
TO TRAND
1
I
TX UPDATE ON-BOARD
•
ELECTRONIC
J l
_DATA REQUEST
TIMER
TIME-TO-GO
• COUNT DOWN TO • COUNT DOWN COUNT UP ELAPSED TIME FROM LAUNCH
COMPUTER
TO TR ELAPSED TIME
|
I
INSTRb_ENTATION ELAPSED TIME AND TIME-TO-GO
TO T R
D,
SYSTEM
RECORDER TIME CORRELATION BUFFER
ELAPSED TiME l
L
I " .
1
_..I
Figure
8-83 Time
Referenee
System 8-305
CONFIDENTIAL
Punetional
Diagram
VOICE TAPE RECORDER
CONFIDENTIAL
PROJ
If the lift-off timer
can be
mission
signal is not received
started by actuation
elapsed
upon receipt
time digital
of output
During the mission, the mechanical crew.
however,
from the Sequential
of the START-UP
started
Accutron
System,
buffer
timer
timer.
The
start operating
timer.
clock
and the stopwatch
and stopped, manually,
the event
the electronic
switch on the event
from the electronic
the event timer,
At lift-off,
IN I
clock and time correlation
signals
clock can be
the Sequential
EC---'T'-GEM
portion
at the descretion
is started by a remote
of of the
signal from
System.
ELECTRONIC
General At the time elasped
of lift-off,
time and counting
zero to a maximum functions
the electronic
by insertion
station,
throu6h
Data Insertion mature update,
Unit
countdown
duration.
the tiuer will
Updating
not accept
of counting
(DCS),
of equilment
any new time-to-go
to be loaded with
8-306
CONFIDENTIAL
the
via the Manual
inadvertent,
or personnel
error
pre-
during
of less than 128 seconds
of new data of less than the inhibit
cause itself
during
either by a ground
To prevent
failure
are written T_G to T R from
at any time
or by the crew,
computer.
reset
of two hours.
may be accomplished
Co_=_and System
of TR as a result
Upon receipt
is capable
up
up from
and equipment
of time which
reset from a maximum
(MDIU) and the digital
the timer will
values
by the timer may be updated
of new data.
the Digital
certain
of counting
ET is counted
The retrofire
The timer
of 2_ days and to equipment
The TTG to T R data contained mission
2_ days.
down to zero from
into the timer prior to lift-off. a maximum
its processes
down TTG to TR and TTG to T X.
of approximately
are counted
timer begins
time mentioned
a time in excess
of two weeks.
above,
CONFIDENTIAL
__.
SEDR300
The
TTG to
operates
T X function
while
telemetry. via
the
the
range
is
is
As the
spacecraft
comes
a TTG to
of
the
done
from
If by
the
the
within
crew,
_G
using
is
operation computer
reset
certain
a ground
range, Then,
timer
of satisfactory
to over
ground
electronic
use of the digital
passing
the
the
the
serves
timer.
station,
reset.
confirmation through
TX in
ground
may be
Information
timer
spacecraft
DCS,
it
the
the
automatically
data,
of
station
spacecraft
TX reaches
station
is
the
MDIU and
and
to
insert
d_ltal
continuously
inserts, out
the
equipment the
displayed;
readout
of
time
computer.
may be made by the readout
MDIU display
with
moves
zero,
unable
which
equipped
ground
the
to
not
I station
the
as
equipment
however, of _
data
capability.
NOTE The mission pulses
elapsed
time
digital
from the electronic
no loss of pulses,
will
clock
timer
and, ass_ning
indicate
time recorded
in the electronic
digital
clock
does not, however,
elapsed
time word
counts
the elapsed timer.
The
read out the
from the electronic
timer.
Construction The electronic
timer
inches an_ weighs
(Figure
8-8_)
is approxlmately
about ten pounds.
6 inches
It has two external
x 8 3/4 inches
connectors
x 5 1/2
for interface
i i
its associated
systems.
The enclosure
for the unit
is! sealed
to keep
out moisture
I
but is not pressurized.
The timer
utilizes
a modular
Construction,
containing
I i
eight modules (I)
crystal
which
are wired
oscillator,
(2)
directly t4m_.g
into the enclosure.
assembly,
8-3o7 CONFIDENTIAL
(3)
register
The modules control
are:
assembly.
with
CONFIDENTIAL SEDR 300
EVENT TIMER
[DMISSION ELAPSEDTIME DIGITAL CLOCK
A
//
ljill
MECHANICAL CLOCK
10
oI
ACCUTRONCLOCK
NOTE [_EFFECTIVE
SPACECRAFT 6s 8 AND UP.
TIME CORRELATIONBUFFER
ELECTRONICTIMER
Figure
8-84
Time
Reference
System
8-308 CONFIDENTIAL
Components
CONFIDENTIAL
:@ (4)
memory
control
relay assembly, components
_oo
PROJECT
assembly,
and
(8)
(5)
power
GEMINI
memory
supply.
are used in all modules
assembly,
Printer
except
(6)
driver
circuit
the crystal
boards
assembly,
(7)
and solid-state
oscillator.
Operatlon The electronic counting
timer
operation
an add/subtract 8-85).
is basically
for each
program
ET or a TTG, is modified
A storage
register
is provided
controlled pulses
oscillator
provides
operations
take
pulses
It performs
the
every
i/8 seconds.
operation,
a binary
of time. words
of the three
(Refer to Figure representing
Magnetic
between
timer
for data transfer
word,
counting
funtions
between
core storage cycles.
and another
the timer
oscillator
necessary
place in very of toggle
for the timer
of the timer.
of accuracy
small fractions flip flops
standard
required
outputs
The type
of
for the timer
of a second.
whose
for developing
whose
The oscillator
provide
the actual
is timing
operation.
timer
of time is further 32 bit times,
for the operation
the high degrees
to a series
The electronic
is used as a frequency
utilizes
divided
a 32-word
into
time program.
32-word
times.
and each bit time is divided
the shortest
pulses
used in the timer
One bit time
is equal
into
operation
to 122 m4eroseeoz_s
That is, each
32
S pulses
8-_9
times.
into
S pulses
and are 3.8 microseconds
and one word time
CONFIOI=NTIAI.
I/8 second
Each word time is divided
is
and the
computer.
the t_mlng
coupled
counter.
(ETj TTG to TX, and TTG to TX) by
the binary
for each
register
binary
a new amount
or remember
for use as a buffer
A crystal
....
to represent
are used to store
digital
is repeated
of the counting
registers
provided
of its functions
which
In each repetition
an electronic
are
long.
3.9 milliseconds.
CONFIDENTIAL SEDR300
:-
___._,_
PROJECT
GEMINI
_j
TIMED EVENTS (RELAY CLOSURES)
8 0 Z
_o
k
0 Z
_
o
A
8
'_
'
u
N
_
2 1'
_ _
e 5
8_
_
8
0
Figure
8-85
Electronic
Timer
Functional
8-310 CONFIDENTIAL
Block
Diagram
-
CONFIDENTIAL.
PROJECT _.
SEDR 300
It is pulses toggle
of these
Start Circuit
Timer
operation
spacecraft System
durations,
and their multiples,
is initiated
Sequential
when a 28 vdc start
System
is transmitted
or the event
to the electronic
the event timer is generated
the unit is placed causes
when
umbilical.
pz_maturely
to the countdown
Countdown
and
The countdown
and time
operation
controlled
oscillator
(Refer to Figure
every
the output
switch
of a signal
by a clock-hold
control
the
the Sequential the one
on the face
from either Until
of
source
lift-off,
the
s: gnal from the AGE via the
that th t timer
of lift-off.
signal
either
to be applied
of the crystal
will
not be started
Actuation
of the clock-
to a gate
controlled
in the timing
oscillator
to be
flip flops.
decoding
network,
operations
is initiated, is coupled
8-86).
Twelve
and five in the register each
take place iprimarily
the 1.048576 to the first
megacycle
of a series
of the flip flops control
stage of which
two input pulses.
eight pulses
toggle
from
Time Decodin 6
When timer
dividing
by the
at liftoff;
to be ac ;uated.
is done to assure
a positive
This gate allows
coupled
module
This
relay
is received
automatically,
Receipt
and will be at zero at the time
start relay causes module.
are produced
The signal from
the UP/DN
in the UP position.
relay is held in the reset position
signal
timer.
timer,
the set side of the clock-start
spacecraft
which
in the timing module.
flip flops
Timer
from
GEMINI
The output
module.
output of
are contained
one square wave of the final
per second.
8-311 CON FI DENTIAL.
module.
of the crystal-
17 toggle flip flops in the timing
The flip flops
produces
frequency
in the timing
form a frequency output
stage
pulse
for
in the series
is
CONFIDENTIAL SEDR300
_.--_ _ "_E. • _
_,_'_
"
PROJECT
_=_-_
GEMINI
__
8 P.P.S.
16 P.P.S.
_l _l
__
F_ r_
NO.
17
NO.
16
___
_
V--1
t NO.
32,768 P.P.S, 65s 536 P.P.S.
_
C_
J I_FO
V-q
/_
GATE (TYPICAL)
TIME DECODING
5
t_F1
_l
131 _072 P.P.S.
NO.3
262t |44 P.P.S.
S
GATE INPUT
_
Z O
-
z 3
Figure8-86 Schematic Diagram,
Frequency Division & Time 8-312
CONFIDeNTIAl
Decoding
CONFIDENTIAL
PROJECT __.
GEMINI
SEDR300
Outputs of all but the first two stages of the countdown circuitry are utilized to develop the timing pulses necessary for timer operations.
Output pulses from
either the i or the 0 side of an individual flip flop may be used; however, the polarity of the pulses from one side will be 180° out of phase with those from the other side.
Pulses from the flip flop outputs are supplied, in certain
combinations, to gate circuits in the time decoding section. receives
Each gate circuit
several input pulse trains and produces
outPut pulses which are usable i for the timer circuitry (Refer to Figure 8-87e). Basi_ally, a gate will produce output pulses which will have the pulse width of the
_rrowest
input pulses and
the frequency of the input pulse train with the wides_ pulses.
If the polarity
of one input is reversed, the time at which the outpu_ pulse occurs, will chs_e F_
(Refer to Figure 8-87b).
Operational
Control
Two complete modules are required to encompass all of ithe circuitry necessary to perform the control functions
in the electronic
timeri
The register
control
module primarily controls the transfer of data into and out of the timer. memory control module
directly controls the operatiom
of the magnetic
The
storage
registers in the memory module.
The register control module supplies the control signals which are required to perform the operations directly associated with the transfer of time data. utilizes the various c_d
and clock signals from the other spacecraft systems
to produce its control signals. appropriate circuitry to: (i) process), (2)
It
The control signals are then supplied to the receive a new binary data word (as in the updating
initiate the shifting operations of the proper storage registers l
to write in or read out the desired time data (ET, TX, or TX), and (3)
8-313" CONFIDENTIAL
supply
CONFIDENTIAL
PROJECT
GEMINI
data, read out of the storage registers, to the proper timer output termlnal(s) to be transferred
to the system requesting
it.
The memory control module directly controls the operation of the magnetic storage registers
and performs
the arithmetic
computations
of the counting process.
Inputs
from the timing and register control modules are utilized to develop the shift 8nd transfer output pulses ters.
for shifting data words into and out of the storage regis-
These pulses are developed separately for each register.
Both control modules are made up of rather complex and overlapping logic circuitry. and transfer
networks of
The memory control module also employs shift current generators
switches, as output stages, to develop the required power capabili-
ties.
Storage Register Operation The magnetic storage register to ET, TX, and TX are used to store or remember binary words of time data. registers, as required, spacecraft systems. accomplished,
These data words may be shifted out of their respective
for the counting operations
and for transfer to other
The transfer of data into and out of a storage register is
serially, with the Least Significant
Bit (LSB) first.
A storage register is comprised of a series of magnetic memory cores, each of which is capable of storing one binary bit of time data.
This capability is based upon
the characteristic of a magnetic core to saturate in one of two directions when a cu_ent
pulse is applied to one of its windings
(Figure 8-88).
Saturation in
one direction represents a binary I and indicates the presence of a data bit. Saturation in the other direction represents a binary 0 and indicates the absence of data bit.
The storage registers for ET and _
8-B14 CONFIDENTIAL
to TR each contain 24 magnetic
CONFIDENTIAL SEDR300
j- _ •
____
PROJ
ECT
_-'"
G EM,
,
(a) INPUT FROM F.F.
J_
_I
GATE OUIPUT
NO.
3 ("O"
SIDE)
3 ("0"
SIDE)
SIGNAL
(b) INPUT
l
l
'
I
]
J
_
_
J
_
[-I Figure 8-87 Time
[_
Decoding
--
VI Gate Inputs
FROM F.F.
NO.
'NPUTFROMF.F.
NO.4("I"SIDE)
INPUI[ FROMF.F.
NO.
5("O"SIDE)
I- oA ou u so.A and Outputs
(Typical)
::! :!:_:!: _!_ :_:!:_: _:!_:!: :!:__:_:_:i_ :i:_:_ _:!:i_:!:!:i:!:!:!:!:i:i:i: :_:_:_: :::_:_:_ :::::::::::::::::::::_:i:i_i_!_i_!_!_:_`,._:_:_:::::::::::::::::::::::::::::::::::::::::_:_!_ :!:!:!:!:!:!:!: :!:!:::::::::::::::::::::::: ::::::::::::::::::::::::::::::::::::::::: ::_:_ :::_:_: _::_:_:: ::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: :::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: _:_:::! _:!:[_:_:!:_:_:: _i:_:_:_:_:i: ::::::::::::::::::::::::: :!:: :
CURRENT PULSE _
__
Figure 8-88 Magnetic
Core Operation
8-315 CONFIDENTIAL
CONFIDENTIAL
PROJ E-E"CT"GEMINI
cores and the register ET or TR consists
for TTG to TX contains
of 211bits, while
The use of the binary which
can represent Each data bit
time.
In looking
storage
the smallest
in a binary
represent
time
data word
its 2_ individual
increment
(i/8 second)
to as the LSB in the data word.
next bit
(representing
core number
successive By adding total
i/_ of a second)
22 representing
core representing together
is stored
in core number
Core number
of the data word.
I/2 second, back
that
of time represented
ET and TR registers
have capacities
of approximately
by totaling
of the word where binary the representative
The process by
of shifting
the occurrence
control
time
of a data word
the increments
of time
ones are present.
transfer
pulses
fr_
whenever
a data word
core number
continues,
i with each
of the preceding
one.
Thus,
it is found
the that the
2_ days and the TX register, to its representative
represented
may be
by the bit positions
For the data word
shown
in Figure 8-89b
is 583 3/8 seconds.
a data word
into or out of a storage
of the shift and transfer
gate preceding
store the
by all of the cores,
can be determined.
Conversion
represents It is
The sequence
through
twice
2_.
23, then would
of
of the
The data bit which
of the register
acc_plished
of data
increment
8-89a, the 24 sections
cores.
a time increment
the increments
two hours.
the storage
one individual
time capacity
approximately
word for
of 16 bits.
permits
represents
in Figure
referred
with
for TX consists
a binary
of time as small aB i/8 second and as large as 24
at the flow diagram
register
Therefore,
system for time representation
an amount
days.
a word
16.
each register
the control
is to be written
each bit time for a duration
are supplied
in or read out.
of one word
is controlled
pulses and by the condition
and its write-in
section
register
time.
8-_.6 CONFIDENTIAL
amplifier.
The shift
to a storage These
The actual
of a
pulses
and
register occur
once
flow of data into a
CONFIDENTIAL
_
PROJECT
GEMII 'il
storage register is controlled by a logic gate precee_ing the write-in amplifier for each register (Figure 8-90).
The count enable input of the gate will have
a continuously positive voltage applie& after lift-off has occurred.
The write-
in pulse input will have a positive pulse applie_ for i7.6m!crosecon_s _uring each i
bit time (122 microseconds).
These two inputs control the gate.
The result is
;
that a positive data pulse m_y pass through the gate qnly _uring a 7.6 microsecon_ perio_ _uring each bit tl_e.
When a binary data wor_ is to Be written into a storage register, its ind/vidual bits appear at the input of core number i as a series of current pulses.
When the
first current pulse (representing I/8 second) of the _tord flows through the input winding of core number I, the core is saturate_ in the binary i direction.
It
remains in this condition until a current pulse flows ithrough the shift winding of the core.
The shift pulse causes the flux of the core to collapse an_ reform,
switching the core back to the 0 condition.
When thi_ occurs, a voltage is
1 _evelope_ across the output win_ing of the core an_ the temporary storage capacitor is
cll_rged
through
the
wind.i_
from the
_ic_le
et_l.,
_en!
the
shift
pulse
d.ecays
anc1
a groun_ potential is place& on the transfer line, the capacitor discharges through the input winding of the next core, setting it to the ibinary i condition.
Whenever
!
a bit position of the incoming data wor_ _oes not contain a pulse, core number I i
is not switche_ to I.
As a result, its shift pulse causes no change of flux; no i i voltage is _eveloped across the output and the capacitor is not charged or disi charged..
Hence,
the
next
core
is
not
set
to
the
1 condition. !
Because
the
shift
pulses are applied,to all the cores in a register, simultaneously, it is assured. that e_ch one is set to the 0 condition before the transfer pulse (also applied. to all cores, simultaneously) allows the storage capacitors to _ischarge.
8-317 CONFIDENTIAL
When
CONFIDENTIAL
__'
PROJECT
GEMINI
(a) (DATA WORD FLOW-COUNTING PROCESS) STORAGE REGISTER I
SERIAL INPUT
I
2
3
4
"O"
"O"
"O"
"O"
5 "O"
6
7
"O"
"O"
8
9
"O"
"O"
10
1]
12
13
"O"
"I"
"O"
"O"
}4 "I"
15
16
17
18
19
20
21
22
23
24 I I
"O"
"O"
"O"
"I"
"I"
"I"
"I"
"O"
"I"
"l"
NETWORK ADD (OR SUBTRACT)
j
SERIAL OUTPUT
]
(b) (DATA WORD TIMEREPRESENTATION) LEAS'/ SIGNIFICANT
k_i:/SS
BIT
I/4S
1S
_rL_J1 "I*'
2S
4S
64S
rl r!_J1 "I"
"I"
"I"
"l"
512S
rJ
n
"l"
*'I"
DATA STORED IN WORD REGISTER
Figure ::::::::::::::::::::::::::
::: ::::::::i:
8-89Time
Data
:::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::::: ::::::::::::::::::::::::::::::::::::::::: :::!::
Word
Flow & Representation
: ::: ::: :: ::::::::i::: ::::::::::::::::::::::::::
'I
::::: :
:: :
:: :
:
::: :: :
: :
: :
:
::
:: :
:
I L
_TORAGE
_. REGISTER
SHIFT CURRENT
DATA WORD -_,_r_..._, IWR,,E A_'E'ER ,N I " -_ COUNT
ENABLE
I
_]
_,.,.J._L
_"D
_
l
R23
_
E24
_]___
IDATA
!T NSEE., --i
Figure
-
8-90
Schematic
"
Diagram-Storage 8-318
CONFIDENTIAL
Register
CONFIDENTIAL SEDR300
a complete binary
word has been
i condition
Reading
written
contain
a data word
into the register,
the binary
out of a storage
the _cores which
are in the
data bits.
register
involves
basically
the same processes
aswriting onein.
The data bits the register repetition
Counting
shift from first.
of the
left to right, with
An additional
shifting
21_ leaving
the bit in core number
bit is shifted
out of the register
with
each
process.
Operatlons
The counting data word
operation
for each
out of a storage
and writing completed
of the timer
register,
cycling
it back into the register.
in one word
time representation
The read and write
time
and is repeated
of the counting
the first data bit is shifted
consists
of reading
it throug h an arithmetic
(Refer to Figure
of the word is changed
portions
functions
every
8-89a.
i/8 s_cond.
by an increment
operation
out of a register,
a binary
network,
The operation
In the process,
is the
of I/8 second.
take place
the remaining
concurrently.
bits
As
shift one core
I
to the right, place,
leaving
the bit which
throught
core number has been
the arithmetic
is shifted 24.
shifted
circuitry
is the same for each bit
number i, completing
cycles
Before
the next
out of the register
and inserted
of the word.
out of the register,
The last bit then
I vacant.
back
Thus, when
shift
is cycled,
into core number
the bast bit
the arithmetic
the counting operation.
8-S19 CONFIDENTIAL
circuitry
takes
instantaneously, i.
The process
of the original
the first bit of the new one shifts through
operation
into
and enters
word
core number core
CONFIDENTIAL.
In the arithmetic
is supplied
separate
subtract
continues
coming
has been
produces
register
changed
time of the word. just as they were
amplifier,
output
of the new word. 0 to a binary
The remaining
to
up of combinations
similar,
the main
binary
I to the first bit position_
If there
is already
The carry
a i in that
operation
The positive
to the input a binary
0
signal is then
of the storage
i is written
into
Thus, the first bit of the word
i adding
bits
is a binary
1/8 seconds
are written
back
to the repreinto the
read out.
will be negative.
0 to be written
causing
a binary
and supplied
as the first
bit of a data word,
Upon inversion
A positive
into the first
data bits are also binary
the first binary
is quite
signal.
i is read out the ET register
causes a binary
are made
read out of the ET register
the signal will be positive.
consecutive,
operation
input to the register,
from a binary
of the add circuit
negative,
amplifier
I as the first bit
When a binary
of circuits
of adding
a positive
With a negative
sentative
time
an open bit position.
of a data word
by the write-in
core number
of the elapsed
frcm the TR and TX registers
to the next bit position.
until the i reaches
register.
Their
and those
into the add circuit.
the i is carried
the add circuit
output
circuits.
for the ET consists
When the first bit
inverted
Both types
process,
in their logic programs.
of the word
bit position,
the output
circuits.
being
(the LSB)
of the counting
to an add circuit
of logic and switching
The add process
IN I
portion
register
difference
PROUEC--T-'G'-EM
signal
core.
l's, the output
by the write-in at the register
8-320 CON FIDENTIAL.
input
If the subsequent of the add circuit
l's to be %-ritten into the register.
0 in the data word from the register,
the
remains
Upon receipt
the output
of the add
of
CONFIDENTIAL
PROJ
s o.oo _.
circuit becomes positive, causing a binary i to be written back into the register for that bit position.
For example, if the first five bits of the word being read
out of the register are binary l's (representing a total of B 7/8 seconds of ET) and the next one is a binary O, then the first five bits of the new word will be binary O's; and the sixth will be a binary I. position represents and ET of four seconds.
A binary i in the sixth bit
The remaining bits of the data
word, again, are inserted back into the register Just as they were read out.
Although the circuitry of a subtract network is much the same as that of an add network, the operation is different because of the subtract logic.
If the
LSB of a word coming into a subtract network is a binary I, the output for that bit position will be negative, causing a binary O to be written back into register.
In this case, the 1/8 second has now been subtracted, and the balance
of the word will remain the same.
If the LSB of the incoming word is a binary 0
the output of the subtract network will become positive, allowing a binary i to be written into the register.
The output of the subtract circuitry will remain
positive until the first binary I enters the circuitry.
When this occurs, the
output becomes negative and causes a binary 0 to be written into the register. The rest of the word is then written back into the register Just as it came out. Data Transfer Binary words of time data are transferred into and out of the electronic timer by several different methods.
Data words received from the ground station, via
the DCS, are inserted directly into their respective storage registers in the timer.
Data from the guidance system computer, however, is transferred into the
buffer register of the timer and then shifted into the proper storage register.
8-321 CONFIDENTIAL
CONFIDENTIAL
PROJE-E-CTG
The
same process
computer:
is involved
a word
is shifted
and then transferred Instrumentation register storage
Timer
in the transfer
Data
is accomplished
to a pulse transformer. register
of data from the timer
out of its storage
to the computer.
System
EMINI
register
transfer
by shifting
The output
in the instrumentation
to the
into the buffer
from the timer
the desired
register
to the
data out of its
of the transformer
is coupled to a
System.
Interfaces
The following
is a list of the inputs and outputs
together
a brief
with
description
of the electronic
timer
of each:
INPUTS
(a)
A continuous at lift-off
(b)
28 vdc
to start the recording
A 28 volt emergency the electronic is not received crew-ground
signal from the spacecraft
start
timer
(c)
A Read,
rite co_uand
A _
to TR address
readout (e)
A _
and would
System.
timer
System
of TR _ud TX. to initiate
that the lift-off
signal
The signal would
be initiated
by actuation
be of
switch to UP. signal
the timer as to which (d)
in the event
from the Sequential
the event timer UP/DN
of ET and countdown
signal from the event
operation
co-ordinated
Sequential
from the digital
function
si_ual
computer
to direct
is to be accomplished.
from the digital
computer
to update
TTG to TR.
to T x address signal from the digital computer to enter
a TTGtoTx.
CONFIDENTIAL
or
CONFII)ENTIAL
PROJE
(f)
An elapsed time address signal from the digital computer to readout
(g)
ET.
Twenty-four clock pulses from the digital computer to accomplish data transfer.
(25 pulses for data transfer out of the electronic
timer.) (h)
Write data for update of TTG to TX, or TTG to Tx from the digital computer.
Twenty-four
data bits will be forwarded
serially,
LSB first. (1)
A TTG to TR ready signal from the DCS to command update of TTG to
(J)
A TTG to Tx ready signal from the DCS to co,and
entry of a TTG
to TX. (k)
Serial data from the DCS to update TTG to TR, or TTG to Tx. Twenty-four
data bits will be forwarded
Clocking is provided by the electronic
serially, LSB first. timer.
(1)
TTG to TR readout signals from the Instrumentation System.
(m)
An elapsed time readout signal from the Instrumentation
(n)
An AGE/count inhibit signal from ground based equipment, via the spacecraft umbilical,
to keep the elapsed time register
System.
at zero
time prior to launch. (o)
A clock hold signal from ground based equipment, via the spacecraft umbilical,
to prevent the timer from operating
prior to
launch. .
(p)
An event relay reset signal from ground based equipment, via the spacecraft
umbilical.
8- SeB CONFIDE_NTIAL
CONFIDENTIAL
PROJECT
(q)
GEMINI
An event relay check signal from ground based equipment, via the spacecraft
umbilical.
OUTPUTS (a)
A contact closure at TR for the digital computer.
(b)
A contact closure at TR (Continuous) for the Sequential System.
(c)
A contact closure at TX for the DCS.
(d)
Read data to the digital computer for ET or TTG to TR . Data bits are forwarded
serially, LSB first.
(e)
Signal power (12 +0 -1 volts) to the DCS and Instrumentation System.
(f)
Twenty-four clock pulses to the DCS to accomplish data transfer.
(g)
Twenty-four
clock pulses to the Instrumentation
System to accomp-
lish data transfer. (h)
Serial data to the Instrumentation System for readout of ET or TTG to TR.
(1)
Data bits are forwarded serially, LSB first.
A contact closure from TR-256 seconds to TR for the Sequential System.
(J)
A contact closure from TR-30 seconds to TR for the Sequential System.
(k)
An input power monitor signal to ground based equipment via the spacecraft umbilical.
TIME COPd_ELATION_UFFER
General The Time Correlation Buffer
(TCB) supplies the time correlation signals for the
blo-medical and voice tape recorder.
Serial data and data clock output from
8-324 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
the electronic timer is applied to the TCB input.
=
Serial data contains 24 elapsed
time words, and extra elapsed time word and a time-to-go to retrograde word.
The
TCB selects the extra elapsed time word end modifies the word format to make it compatible wlth the tape recorder frequency responses.
Information to the
recorder is updated once every 2.4 seconds and has the same resolution (1/8 second) as the electronic
timer.
Construction The dimensions of the TCB (Figure 8-84) are 2.77 x 3.75 x B.80 inches and the weight is approximately B.O pounds. eatable multivibrator, provides
The TCB contains magnetic shift registers, a i00 kc
a power supply and logic circuitry.
both input end output
One 19 pin connector
connections.
Operation The operation of the TCB is dependent on signals from the Instrumentation and the electronic timer. System, the electronic
System
In response to request pulses from the Instrumentation
timer provides
elapsed time and tlme-to-go
to retrograde
words to both the Instrumentation
System and the TCB.
The elapsed time word is
supplied every I00 milliseconds.
In addition, once every 2.4 seconds it provides
an extra elapsed time word and i00 milliseconds later it provides a tlme-to-go to retrograde word.
The TCB requires elapsed time information only, therefore, the tlme-to-go to retrograde word is rejected.
The tape recorders, due to their response times,
are not capable of recording time data every I00 milliseconds end for this reason only the extra elapsed time word is accepted by the TCB.
The remaining
24 elapsed time words and the time-to-go to retrograde word are rejected by logic
8-_ CONF|OENTIAL
CONFIDENTIAL
_oo
PROJECT
circuitry in the TCB.
GEMINI
Rejection of unused words is based on their time relation-
ship to other words.
The TCB contains three 8-bit magnetic shift registers in which the 24-bit extra elapsed time word is loaded once every 2.4 seconds. at the rate of one every i00 milliseconds. pulses from the electronic timer.
The TCB then shifts out bits
The shift rate is based on data clock
The first data clock pulse in a word causes the
TCB to shift out one blt of the data and the other 23 data clock pulses are disregarded.
Each bit that is shifted out of the shift register is stretched in time and coded to make it compatible wlth tape recorder response times.
The output to the bio-
medical recorder is one positive pulse for a binary O and two positive pulses for a binary i.
The most significant bit has two additional pulses to distinguish
it from the other 23 bits in the word.
Data is shifted out of the TCB in a least
significant bit first and most significant or marker bit last.
The output to the voice tape recorder is the same basic format as for the biomedical recorders.
However,
response characteristics into two pulses, doubling
to make it compatible wlth the higher frequency
of the voice tape recorder, each output pulse is chopped the frequency.
All input and output signals are coupled through complete
isolation
transformers
providing
DC isolation.
MISSION ELAPSED TIME DIGITAL CLOCK The mission elapsed time digital clock (used on spacecraft 6 through 12) is capable of counting time up to a maximum of 999 hours, 59 minutes and 59 seconds.
8-3 CONFIDENTIAL
The time
CONFiDENTiAL
PROJECT
GEMI
I
is displayed on a decimal display indicator on the face of the unit.
The seconds
tumbler of the display is further graduated in 0.2 second increments. may be started or stopped manually.
Counting
Prior to initiating a counting operation,
the indicator should be electrically present to the desired starting time which i normally starts from zero at llft-off and counts mission elapsed time in real time.
Construction The dimensions of the digital clock are approximately 2 inches by 4 inches by 6 inches and its weight is approximately 2 pounds.
Onithe face of the clock
there are two controls and a decimal displaywlndow.
The unit contains four
electronic modules, a relay and a step servo motor.
Aigear train connects the
servo motor with the decimal display tumblers.
An electrical connector is
provided at the rear of the unit for power and signal inputs.
Operation Operation of the digital clock is dependent on timing pulses from the electronic timer.
The time base used for normal counting operations in the digital clock
is derive_ from the 8 pps t_m_ng pulse output of the electronic timer.
The
8 pps signal is buffered and used to establish the repetition rate of a step servo motor. tumblers.
The step servo motor is coupled through a gear train to display
Additional counting rates are selectable fo_! the purpose of setting
the clock to a desired starting point.
Start/Stop Operation _
Remote starting of the digital clock is accomplished h_ providing the 8 pps timing pulses from the electronic timer.
Before remote starting can be accom-
plished, the START/STOP switch must be in the START positlon and the DEC_/INCR
8- 7 CONFIDENTIAL
CONFIDENTIAL
__oo
PROJEMINI
switch must be in the 0 position. accomplished
(if timing
pulses
in the START position. latching
relay.
circuitry, removing
the
the time base
in the STOP position,
Counting
starting
are available)
This energizes
The relay
allowing
Manual
applies
counting
control
operation
voltage
clock
can be
the START/STOP
switch
side of the start/stop
and operating to begin.
(8 pps) from the clock removing
of the digital
by placing
the start
....
voltages
Counting
or by placing
and disabling
the
magnetic
to the
counting
may be stopped
the START/STOP
by
switch
circuitry.
Operations
When the start/stop
relays
are actuated
and operating
applied to the servo motor,
a plus 12 volt
count
the counting
gate.
This
and 8 pps t4mlng
initiates
signal which
dc enable
sequence.
is buffered
voltage signal
The
and supplied
of plus 28 volts
is applied
electronic
dc
to the normal
timer
provides
to the sequential
logic
section.
Sequential
logic
section
necessary
sequences
direction
of the other
consists
of output
of four set-reset
signals
(set output
pulse,
flop switches
remains
sequence resetting third
with
the preceding
one subsequently
condition
reset.
alternate one. reset,
and the sequence
timing
After
leaving pulses
the fourth
the first
is started
Then,
when
only
over again.
8-328
the
three of
and one is
of the first timing The first one also another
timing
switched
pulse
one set.
one flip flop,
flip flop has been
one is again
CONFIDENTIAL.
begins,
the second
setting
provide
to step in one
positive)
With receipt
to the set condition.
the first flip flop resets,
continues
process
(reset output
positive).
set, but the other two remain
is received,
As the counting
condition
in the set condition the next flip
to cause the servomotor
(Figure 8-91 ).
the flip flops are in the reset
flip flops which
The
then
set and the
to the set
In order to have the logic
CONFIDENTIAL
sEoR 300 _ -_'_
PROJECT
.,
-_T--_--_
GEMiNi
BUFFER
--
I
__
CONTROL SECTION I
CLOCK
FUNCTION
l
I
]
o
OSCILLATOR
Z U
OPERATING VOLTAGES
CONTROL
CONIROL
PANEL
UPDATE "FWD"
"FORWARD"
CONTROL
CONTROL l
Z
0
CONTROL
SEQUENTIAL LOGIC SECTION
l
_
0 Z$
I
CONVERSION AND DRIVER SECTION 2J I 8PPS
B
J •
2 REMOTE STOP (TEST USE ONLY)
E I
÷28V DC
D
8PPS RETURN
C
"
•
+28V
I
r--o--
POWERGND CHASSIS GND
F H
_
__ --1,,,,
+12V
_
---
__ o ? C_
I
I •
-
O
_
+28V
J I
i
Figure
8-91
Mission
Elapsed
Time
Digital
8-329 CONFIDENTIAL
Clock
Functional
Diagram
CONFIDENTIAL
PROJECT
GEMINI
section function properly, either a forward or reverse control signal must be received from the start/stop relay.
These are used as steering signals for the
t_mlng pulses which set and reset the flip flops.
For counting up, the control
signals cause the flip flop operating sequence to be in one direction.
When
counting down, they cause the sequence to reverse;
flip flop number _ is set
first, then number 3, etc., back through number 1.
The output of the sequential
logic circuit is applied to the power converison and driver section.
The power conversion
and driver section converts the voltage-pulse
outputs of the
logic section to current pulses which are used to drive the servomotor. driver section provides four separate channels, one for each input. has a logic gate and a power driver.
The
Each channel
The logic gate permits the logic section
output to be sensed at ten selected times each second.
The gate senses only the
occurence of a positive signal which will allow the power driver to conduct and send a pulse of current through one of the four se_vomotor stator windings.
The sequence of pulses from the driver section causes the servomotor to step eight times each second and 45° each step.
Figure 8-92 illustrates the step
positions relative to the sequence of operating pulses from the driver section. If pulses were applied to each of the four servomotor windings, without overlap, the unit would step 90° each repetition.
It is this overlapping of signal
applications which causes it to step 45° at a time.
The display indicator is a rotating
counter with wheels to display seconds, tens
of seconds, minutes, and tens of minutes, hours, tens of hours and hundreds of hours'
It is coupled to the servomotor through a gear train with a reduction
ratio, from the servomotor, of I0:i.
Therefore, as the servomotor rotates 360°
8-33o CONFIDENTIAL
-
CONFiDENTiAL SEDR 300
,j+,--.
/
PROJECT
GEMINI
P8 o
P7 •
"
P1
PERMANENT _2BV
S;
P6"
ROTG2R
(
i
PER_
P2
_NT/"
1
P
Ti P'CAL) 3
NoTE (I)
PI-P8 ARE ROTOR POSITIONS $4
$6
OPERATION
RESULT
GROUNDSI, GROUNDS6 OPEN $I GROUND $3 OPEN $6 GROUND $4 OPEN$3 GROUND SI OPEN $4 GROUNDS6 OPEN $6 GROUND $4 OPEN SI GROUND $3 OPEN $4 GROUND $6 OPEN $3 GROUND $I
ROTOR INDEXES TO ARBITRARy REF. POSITION ROTORSTEPS 45° C.W. (P2) ROTOR STEPS 45 ° C.W. (P3) ROTOR STEPS 45 ° C.W. (P4) ROTOR STEPS 45 ° C.W. (PS) ROTORSTEPS 45° C.W. (P6) ROTOR STEPS 45 ° C.W. (P7) ROTOR STEPS 45 ° C.W. (PS) ROTORRETURNSTO REF. POSITION (PI) ROTOR STEPS 45 ° C.C.W. (PE) ROTOR STEPS 45 = C.C.W. (P7) ROTOR STEPS 45 ° C.C.W. (P6) ROTOR STEPS 45 ° C.C.W. (FS) ROTOR STEPS 45 ° C.C,W, (P4) ROTOR STEPS 45 ° C.C.W. (P3) ROTOR STEPS 45 ° C.C.W, (P2) ROTOR RETURNS TO REF. POSITION (PI)
Figure 8-92 Step Servomotor Operation 8-331 CONFIDENTIAL
(PI)
CONFIDENTIAL SEDR300
PROJ EC--C"T-'GEMINI (in one second), the indicator shaft turns 36° or 1/8 of a rotation.
Since the
seconds wheel is directly coupled to the shaft and is calibrated from zero to nine, a new decimal is displayed each second.
As the seconds wheel moves from
nine to zero, the tens-of-seconds wheel moves to the one position.
The operations
of the other wheels are similar.
Updating The display may be returned to zero or updated to some other readout with the use of the DECR-INCR rotary switch on the face of the timer.
The rotary switch must
be in the 0 position in order to have the timer operate at a normal rate; with the switch in one of the other position, it counts at a different rate.
There are
three rate selections, each for the INCR and DECR (count-up and count-down) Ulxlating modes.
The positions on each side that are farthest from the 0 position are
utilized to make the timer count at 25 times its normal rate.
The next closer
positions are utilized to count at three times the normal rate.
The positions
nearest the 0 position are used to count at a rate 0.B times the normal one. This position
serves to more accurately
place the indicator at a desired readout.
Operationally, positioning the rotary switch in some position other than 0 causes the time base frequency from the electronic timer to be replaced in the circuitry by an update oscillator.
The frequency of the oscillator
is established by the
position of the rotary switch.
In the 25X positions, the frequency is 400 cycles
per second; in the 3Xposition,
it is 48 cps; and in the 0.3Xpositions,
approximately not critical
4.8 cycles per second. since the oscillator
it is
The accuracy of the oscillator output is
functions
only for updating
8-332 CONFIDENTIAL
purposes.
_
CONFIDENTIAL
PROJE
__.
SEDR 300
:
Operation of rotary switch supplies a stop co_-nd
____
to the electronic circuitry,
and stsrt switch must be operated to resume normal count. EVENT TIMER
General The event timer is capable of counting time, either up or down, to a ,_xlmum of 59 minutes and 59 seconds.
The time is capable of counting time down
to zero
from any preselected time, up to the maximum listed above.
NOTE When the event timer is counting down_ it will continue through zero if not manually stopped. After counting
through
zero,
the
timer will be1 gln counting down from 59 minutes and 59 seconds.
The time is displayed on a decimal display indicator Qn the face of the unit. The seconds tumbler of the display indicator Is further graduated in 0.2 second increments.
Counting, In either direction, may be started or stopped either
remotely or manually.
Prior to starting a counting operation, the indicator must I ;
be manually preset to the time from which it is deslr_d to start counting. Construction The dimensions of the event time are approximately 2 X 4 x 6 inches and the weight about two pounds.
On the face of the timer, there are two toggle switches, one i rotary switch, and a decimal display window. (Refer to Figure 8-84) In addition
to the panel-mounted controls, the unit contains four ielectronlcmodules, two relays, a tuning fork resonator, and a step servo motor. i
8-3S3 CONFIDENTIAL
A gear train connects
CONFIDENTIAL $EDR 300
the servo motor connector
with the decimal
display
tumblers.
There
is one electrical
on the back of the unit.
O e tion The operation to Figure
of the event timer
8-93)
It provides
tion of the decimal operation
display
is developed
when
a series of toggle-type
to the display
to rapidly
reset
Start/Stop
Operations
mechanism. the output
tumblers.
the same manner.
signals.
to zero or to some other
The difference
In order to initiate
counting
sary to first have the STOP-STBY off position.
counting
(Refer to Figure
switch
the repi-
through
rates may be selected desired
a gear in order
indication.
are accomplished
in almost
by either
in either
method,
it is neces-
the STHY or the center
8-8_)
NOTE When
starting
switch
- STBY
before
Manual
starting
with
in the center position,
incurred. STOP
is accomplished
To prevent
any
starting
inaccuracy
inaccuracies,
is the
in the STBY position
the timer.
may then be accomplished
either the UP or the DN position.
the STOP - STBY
a small
starting
switch is placed
by placing
This energizes
8-B CONFIDENTIAL
to
in the source of the control
operations
toggle
the opera-
is connected
is coupled,
of the timer is only
(Refer
counting
signal establishes
The servo motor
functions
for normal
for, resonator
The resulting
Additional
The remote and _manual start/stop exactly
of a tuning
timer.
is used to control
The time base used
servo motor.
the timer
of the electronic
its own time base which
flip flops.
tion rate of a stop-type train,
is independent
the UP-DN
toggle
switch
in
one of the two coils of the
CONFIDENTIAL
PROJECT j
FREQUENCY
GEMINI
STANDARD
COUNTDOWN
STAGES
SECTION
STAGES
:
I
I
L__
J
TUN,NGFO I UP KI ATE ' EVERS S OU
RESONATOR i
OSCILLATOR
OPERATINGVOLTAGE. _
RATECONTROL
"FORWARD"
SECTION
]
J
UPDATE"REV" CONTROL
=
I
I
iPDAT_"_D" CONTROL
CONTROL PANEL
POWERCONT. AND DRIVERSECTION I
j
COUNTDOWN HOLD
_oP
LMANUAL FORWARD MANUAL REVERSE
F
I
2jL
--
REMOTESTOP+28V
j_
45"
o j J
O
REMOTEFORWARD+28V REMOTEREVERSE +28V
I_1
L
___
I
+28v
I I
__
.
Figure
I 36=,/SEC'
_
8-93
Event
Timer
Functional
8-335 CONFIDENTIAL
_
Diagram
MIN.
SEC.
CONFIDENTIAL
PROJ
EC=r ' GEMINI
forward/reverse relay, also causing the start coil of the start/stop relay to be energized.
When these events take place, control and operating voltages are supplied
to the counting circuitry, thus allowing the operation to begin. to be accomplished
When starting is
remotely, either a remote forward or a remote reverse signal Is
transmitted from the ground station to energize the forward/reverse relay.
The
counting process may be stopped upon receipt of a remote stop signal or by placing the STOP-STBY
switch in the STOP position.
Either
of these functions energizes
the stop side of the start/stop relay, removing critical operating voltages from the counting
Countin_
circuitry.
Onerations
Normal counting operations begin with the actuation of the forward/reverse relay in either direction and the start/stop relay in the start direction.
When the forward/
reverse and the start/stop relays are actuated, an operating voltage of +28 vdc is applied to the servo motor and a ground level inhibit signal is removed from the toggle flip flops.
Also, a +12 vdc control signal, denoting either a forward or
reverse counting process, is transmitted to the logic circuitry preceding the servo motor.
The remainder of the timer circuitry has operating voltages applied when
the STOP/STBY switch is placed in STBY.
With the application of operating voltages, the tuning fork resonator emits and ac signal of 1280 cycles per second.
The signal is passed through a buffer to condl _
tion it for use by the series of seven toggle flip flops in the frequency standard countdown section.
Since the output frequency of each fllp flop is half that of Its
input, the final one in the series generates a signal of ten pulses per second.
The
outputs of the countdown section are connected to the sequential logic section and the power conversion
and d_iver section.
8-SS6 CONFIDENTIAL
CONFIDENTIAL.
PROJECT
Sequential
logic
necessary
section
sequences
tion or the other
consists
of output
(set output
flip flop switches other two remain fllp
alternate After
timing
leaving pulses
the fourth flip
first one Is again _-_
switched
In order to have
reverse
control
signals
The power logic driver
When
conversion
section
to current
section
section
of a positive
send a pulse
of current
four
is received, sequence
resetting
the next
set, but the the first
continues
with
the preceding
one.
down,
which
separate
function
properly,
pulses which
either
operating
the sequence
3, etc., back through
converts
are used
a forward
relay.
s_t and reset
the flip flop
they cause
section
one subsequently reset, the i and the sequence is started over
These
are
the flip
flops.
sequence
to be
to reverse: number
the voltage-pulse
or
flip
1.
outputs
to drive the servo motor.
of the The
one for each input. Each channel i has a logic gate and a power driver. The logic gate permits the logic section ! output to be sensed at ten selected times each second, i The gate senses only the occurrence
provides
pulses
pulse,
remains
from the forwmrd/reverse
cause
then number
and driver
and one is in the set
set and the third
signals
counting
The
flip flop, then
for the timing
_ is set first,
one set.
to the set condition
the logic
up, the control
in one direction. flop number
one
signal must be received
as steering
For counting
setting
flop has been
again.
used
only the second
pulse
the
three of the flip
of the first timing
timing
provide
to step in one direc-
procelss begins,
The first on_ also
when another
which
the servo motor
With receipt
to the set condition. Then,
flip flops
(reset output positive)
positive).
reset.
flop resets,
to cause
As the counting
flops are in the reset condition condition
of four set-reset
signals
(Figure 8-93).
GEMI
signal which through
channels,
will
allow
the power
one of the four servo
8- 337 CONFIDENTIAL
motor
driver
to conduct
stator windings.
and
CONFIDENTIAL
PROdGEMINI
The
sequence
of
pulses
from
the
_river
times each second and 45° each step.
section
causes
the
servomotor
to
step
ten
Figure 8-92 illustrates the step positions
relative to the sequence of operating pulses from the driver section.
If pulses
were applied to each of the four servomotor windings, without overlap, the unit would step 90° each repetition.
It is this overlapping of signal applications
which causes it to step 45° at a time.
The display indicator is a rotating counter with wheels to display seconds, tens of seconds, minutes, and tens of minutes.
It is coupled to the servomotor through
a gear train with a reduction ratio, from the servomotor, of 12.5:1.
Therefore,
as the servomotor rotates _50° (in one seconds), the indicator shaft turns 36° or i/i0 of a rotation.
Since the seconds wheel is directly coupled to the shaft
and is calibrated from zero to nine, a new decimal is displayed each second.
As
the seconds wheel from nine to zero, the tens-of-seconds wheel moves to the one position.
The operations of the other wheels are similar.
U_datin_ The display may he returned to zero or updated to some other readout with the use of the DECR-INCR rotary switch on the face of the timer.
The rotary switch must
he in the 0 position in order to have the timer operate at a normal rate; with the switch in one of the other positions, it counts at a different rate.
There
are three rate selections, each, for the INCR and DECR (count-up and countdown) updating modes.
The positions on each side that are farthest from the 0
position are utilized to make the timer count at 25 times its normal rate. The next closer positions are utilized to count at four times the normal rate. The position near_%
"'he0 position are used to count at a rate 0._ t_mes the
8-338 CONFIDENTIAL
_i
CONFIDENTIAL
the normal
one.
at a desired
This
position
serves to more accurately
place
the indicator
readout.
Operationally,
positioning
the rotary
switch
in some position
other
than
0
i
causes the tuning replaced
fork resonator
in the circuitry
osc_11Rtor
is established
positions,
the frequency
and the first
by an update
cycles
6_0 cps; and in the 0.4X positions, The accuracy tions
ACCUTRON
The clock
with
The frequency
of the rotary per second;
to be
of the
switch.
In the 25X
in the 4X position,
it is approximately
output
flip flops
64 cycles per
is not critical since
it is
second.
the oscillator
func-
purposes.
clock (Figure
is approximately
has a 24 hour
dial with
and a sweep second
of day.
toggle
CLOCK
The Accutron
hand
of the oscillator
only for updating
oscillator.
by the position is 4,000
three
The unit
major
divisions
on the co_,and
square
is capable
The
An hour hand,
indication
panel. clock minute
of the time
and has no electrical
of operating
mercury
control
and on e inch thick.
for a precise
self contained
on the internal
pilot's
on the half hour.
hand are provided
The clock
one year
located
2 3/8 inches
is completely
the spacecraft.
approximately
8-84),
continuously
interface for
battery.
Operation The Accutron
clock is provided
set and start the timer From
the depressed
clock will
with
as desired.
position,
start automatically
one control
knob.
The knob
To stop the timer,
the clock
is used
the control
can be set to the desired
when the control
8-339 CONFIDENTIAL
knob
is released.
to stop,
is depressed.
time.
The
CONFIDENTIAL
PROJEC--T-"GEMINI
The Accutron clock is a highly accurate device with an error of less than + 3 seconds per day.
This high degree of accuracy is made possible by using a tuning
fork as the time standard, instead of the conventional balance wheel and hair spring.
The tuning fork is magnetically driven at a natural frequency of 360 cps.
The tuning fork frequency is adjustable, ma_ing precise calibration of the clock possible.
The vibrational motion of the tuning fork is converted to rotational
motion to provide outputs of:
one revolution per day, one revolution per hour
and one revolution per _luute, for the clock hands.
_CHANXCAL
CLOCK
Construction The mechanical clock is shown in Figure 8-84. x 2 _4
x 3 _4
The unlt is approximately 2 1/4
inches and weighs about one pound.
increments of 0-24 and 0-60.
The dial face is calibrated in
The clock has two hands for the time of day portion
and two for the stopwatch portion.
The controls for operating both portions of
the clock are located on the face of the unit.
O_eration The clock is a mechanical device which is self-powered and required no outside inputs. minutes.
The hand and dial-face clock displays Greenwich Mean Time in hours and A control on the face provides for winding and setting the unit.
With
the passing of each 24-hour period, the calendar date indicator advances to the next consecutive number.
The stopwatch portion of the clock can be started,
stopped, and returned to zero at any time.
Two settable markers are provided on
the minute dial to provide a time memory, permitting the clock to serve as a --\
short-term back-up timer.
CONFIDENTIAL
CONF|DENTIAL.
PROPULSION
SYSTEMS
TABLE OF CONTENTS TITLE
_
PAGE
GENERAL INFORMATION ........ ORBIT ATTITUDE AND HANEUVERING SYSTEM,el. ...e.eee. SYSTEH DESCRIPTION: . ...... SYSTEM OPERATION..... ..... SYSTEM UNITS. . ...... RE-ENTRY CONTROL SYSTEM........ SYSTEM DESCRIPTION.... .... SYSTEM OPERATION ..ooeooQeeO SYSTEM UNITS eQeoeeeeeeeee
8-341 GONFIDENTIAL
. .
. . . . • , . i
.
8-343 8-343 8-343 8-349 8"352 8-369 8-369 8-374
8 376
CONFIDENTIAL
_,- "
PROJECT
GEMINI
SEDR3OO
._T _
___S
__
RI_E'_USUL_R_OR
°E__j
ORBIT ATT,TUDE MANUEVER,NG
_.¢KA_E
!QQ P',_=-' UP
e®'T 'DO N II
"A"PACKAOE
I Q Q ROLL CLOCKWISE I
"D" PACKAGE
O
"B" PACKAGE
vO_v_ZER S"UOF
SYSTEM km
Q
YAWLEFT
_@ _OLL¢OUNTE_¢LO I LEJ_) _ANS_TEAFT _NS_TE PORWARD ®® I
/_
,C°ONL ® TRANS ITEDOW OXIDIZER
TANK
(S/C 6, 8 & UP) OXIDIZER
TANK
(S/C 50NLY)_
(s/c 8&uP) FUEL TANK (S/C 8 & UP)
CUTTER/' SEALERS OXIDIZER
TANK
(s/c 6,8&9) FUEL TANK
, I (S/i0
t
8, UP)_
(s/c6, 8&uP) {S/C 5 ONLY) (2 REQ'D)
I
EQUIPMENT SECTION
_
.CABIN
RETRO SECTION
Figure
8-94
Orbit
Attitude
SEETI
Maneuvering 8-842 CONFIDENTIAL
System
and
".
'I'CA
Location
OONPIOMNTIAL
___
SEDR300
,
PROPULSIONSYSTEM @_RAL
INF0_ATION
The Gemini
Sl_cecraft
capability. spacecraft
is provided
(Figure mission,
8-94).
systems, Control
System
the time phase
of launch
vehicle
the re-entry
cal c_u_ands automatic
ORBIT ATTIT_ SY_
control
attitude
separation
during
separation
is accomplished
System
(OA_)
phase
and provides
until
The RCS provides
the entire
until
the re-
by two rocket
engine
and the l_-entry
Control
maneuver
the initiation
attitude
of the mission.
from the Attitude
mode
vehicle
and Maneuvering
the spacecraft
of the mission.
during
is used
control
(RCS).
The OAMS controls f-
and maneuvering
capability
of launch
Spacecraft
the Orbit Attitude
an attitude
This control
from the time
entry phase is completed.
with
control
capability
of the retrograde for the re-entry
The 0AMS and RCS respond
Maneuvering
or from the crew in the manual
from
Electronics
module
to electri-
(ACME)
in the
is a fixed
thrust,
mode.
AND __
DESCRXPTXON
The Orbit Attitude
Maneuvering
cold gas pressurized, propulsion
system_
System
storable
which
is
liquid,
capable
of
(OAMS)
(Figure
hypergolic operating
8-94)
hi-propellant, in
the
environment
self cont_Line_ outside
the
i
earth's
ataosphere.
chamber
assemblies
Maneuvering (TCA) singly
capability
is obtained
or in groups.
by firing
The thrust
chamber
thrust assemblies
!
are mounted modes
at various
of rotational
points
about
or translation
the adapter acceleration
8 -343 OONFIDMN'rlAI.
in locations required.
consistent
with
the
j
CONFIDENTIAL SEDR 300
:_.
COMMAND PILOT INSTRUMENT PANEL
PEDESTAL INSTRUMENT
INSTRUMENT
'_'z/
PANEL
PANEL
CENTER CONSOLE
FUEL TANK
PACKAGE t
"D"
FUEL SUPPLY SHUT OFF/ON _
VALVE
FUEL TANK S/C8&UP
THRUST CHAMBER (TYP 16 pLACES)
RESERVE
"_
HEATER
,_F ,, S/C 8 & UP "
S/C 5 & 6
OXIDIZER SUPPLY
PRESSURE---"
'RESSU_NT S_O_GB
"A" PACKAGE
_-
SHUT
"E .... I-h B" '_" o:,ON PACKAGE CKAGE PAC_GE
--
OVERHE.a SW & CIRCUIT BREAKER PANEL
T-TEMPERATURE SENSOR P-PRESSURETRANSDUCER M'_MOTOR V-PYROTECHNIC
OVERHEAD SW & CIRCUIT BREAKER PANEL
OXIDIZER NK
VALVE LEGEND INSTRUMENT
PANEL
-\
CENTER CONSOLE
Figure
8-95
j
OAMS
Control
& Indicator
8-344 CONFIDENTIAL
Schematic
CONFIOIENTIAL
SEDR300
The
OAMS provides
a means
control
axes
(roll,
(right,
left,
up,
translational
pitch, down,
space
vehicle
The primary
purpose
used, after
firing
during
the
yaw)
and
forward
and
aft).
creates in
the
charges,
launch
During
spacecraft
(except with
are mounted
The
on a structural
several
functioning
of
three
in
cumbina%ion
feed
of forged
lines
in retro
of
attitude
six
directions
attitude
rendezvous
and
in orbit.
and docking
with
(module
tubing
late
Spacecraft
(RCS).
adapter.
in _he equipment
All
from the
control
OAMS control
Each
in
cutter/sealer
are separated
"packages"
and filters.
occur
from the equipment
concept)
and welded
from the launch
may
sequence,
section)
System
The OAMS is also
the Spacecraft
of the adapter.
Control
frame
components
control
of retrograde
section
by the Re-entry
units consist
control
to separate
six TCA's located
control
its
or in case of an abort which
initiation
the equipment
are then assumed
translation
of OAMS is spacecraft
a normal
about
capability
sever and seal the propellant
of the OAMS
spacecraft
orbit.
of shaped
the launch phase. devices
rotating
and
maneuvering
another
vehicle
of
functions
_,nlts and tan_ section.
package
consists
The of
The OAMS iControl and Indicator i i
Schematic
(Figure
controls which are provided delivery
8-95) is a simplified
are directly
by the Attitude
of pressurant,
tubing
manifold
system.
group,
fuel/oxidizer
related
schematic
of the indicators
to the Propulsion
Control
and Maneuvering
fuel and oxidizer The OAMS system
group and Thrust
System. Electronics
is accomplished is divided
Chamber
and manual
Additional
(ACME) System
by a uniquely
into three
controls
groups;
brazed pressurant
Assambly i (TCA) group.
Pre.srarant Group f
The pressurantgroup (Figure 8-96) consists of a pressuranttank, "A" package,
CON_IDINTIAL
The
j
CONFIDENTIAL SEDR300
_..
PROJECT
GEMINI
PURGE
TESTVALVE
CHARGING
VALVE FUEL TANK
_,
_(ONE TANK ON TWO TANKS Orl S/C 6, 8 & 9. THREETANKS _ ON S/C 10 aUP.)
HIGHPRESSURE HIGHPRESSURE _
_
_,_ i'_
_ (S/C 8 & UP)
_
_
_ _h'_:
_
I l I I
"F" PACKAGE
RESERVE FUEL TANK
LEGEND .'.'.'.'.'.'.'.'."
PRESSURANT
k'_'_'k'_k'k_k_
FUEL
(S/C 8 & UP)
I
.'-'.'-'.'.'-.'-.'.'.•• .'-" OXIDIZER NORMALLY
CLOSED
PYROTECHNIC VALVE
•
JlBId
SOURCE _ _" PRESSURE
PACKAGE
FUEL TANK VENT VALVE
PRESSURE TRANSDUCER
'
BURST
REGULATED PRESSURE TRANSDUCER
DIAPHRAGM RELIEF CHECK VALVE
NORMALLY OPEN PYROTECHNIC VALVE
FILTERS "E" PACKAGE
FILTER CHECK VALVE
MANUAL BYPASS VALVE
BURST DIAPHRAGB
FILTERS
TWO WAY SOLENOID
CHECK
VALVE
VALVE
VALVE
I
OVERBOARD RELIER VALVE TEST PORTS
NORMALLY CLOSED PYROTECHNIC VALVE
OXIDIZER VENT VALVE SWITCH VALVE
TEST
JLATOR
E
OUT TEST
_GASUTR_i_
.......................
NORMALLY CLOSED PYROTECHNIC VALVE
;_
NOTE [_
Figure
8-96
Orbit
Attitude
ADDITIONAL
Maneuvering 8-346 CONFIDENTIAL
TANKS ARE CONNECTED
System
Schematic
PURGE FTORT
_..............................................,.. IN PARALLEL.
(Sheet
1 of 2)
i
CONFIDENTIAL SEDR 300
: _.
___¢_)'
PROJECT
GEMINI
__
"D" PACKAGE FUEL CHARGINGF_
_-
PY'ROEECHNIC VALVE
I LX
FUEL TEST VALVE
RX
VALVE _]ENO,_L_CLOSE D; P_F_/D
PROPELLANT FUEL SUPPLY SHUTOFF VALVE
LINE CUTTER/ SEALER
__.;.;__.___._._._.___._`_`___._._._._`_.___._.__:._._._._._._.___._._.:`:__.___._._`_'_._._`_ :.:.:.:.:
Figure 8-96 Orbit Attitude
Maneuvering 8-347 CONFIDENTIAL
System
Schematic
(Sheet 2 of 2)
CONFIDENTIAL
"E" tseks_e, package.
"F" package Inlet
valves,
on Spacecraft ports
and test
8 thru ports
12, are
pressure
permit servicing, venting, purging and testing.
provided
regulator, at
and "B"
accessible
points
to
Filters are provided throughout
the system to prevent cQntam4nation of the system.
The pressurant is isolated
in the storage ta-_ dur_nS pro-launch periods by a normally closed pyrotechnic actuated valve, located in the "A" package.
On Spacecraft 8 thru 12, the pressurant
is isolated from the reserve fuel tank by the "F" package.
l_el/Oxidizer Group The fuel/oxidizer (propellant) group (Figure 8-96)
consists of expulsion bladder
storage tanks, "C" and "D" packages and two propellant shut off valves.
Charging
valves and ports and test valves and ports are provided at accessible points to permit servicing, venting, purging and testing.
The propellants are isolated in
the storage tanks by normally closed, pyrotechnic actuated valves ("C" and "D" packages).
Filters are provided in the "C" and "D" packages, down stream of the
isolation valves, to guard against contamination of the thrust chamber assemblies. The propellants used are: OXIDIZER - nitrogen tetroxide (N20_ conforming to specification MIL - P - 26539 A FUEL
- monomethyl hydrazine (N2H3CH3) conforming to specification MIL - P - 27_O_
Thrust Chamber Assembl_ (TCA) Group The TCA group consists of thrust chambers and electrical solenoid valves. teen TCA's are used per spacecraft (Figure 8-9_).
Eight twenty-five pound thrust
capacity TCA's are used for attitude control, (roll, pitch and yaw).
8-3_8 CONFIDENTIAl.
Six-
Six one-
f_
CONFIDENTIAL
hundred pound and two eight-five pound thrust capacity TCA's are used for translational maneuvering.
SYST_
OPERATION
Pressurant
Group
The pressurant tank contains high pressure helium (He)istored at 3000 PSI. (Figure 8-96).
The tank is serviced through the "A" p_ckage high pressure gas
charging port.
Pressure frcm the pressurant tan_ is isolated from the remainder
of the system by a normally closed pyrotechnic actuated isolation valve located in the "A" package.
Upon command, the system isolation valve is opened and
pressurized helium flows through the "E" package, to the pressure regulator, "B" i i
f_
package and propellant tanks.
Normally, pressurant is!controlled through system
pressure regulator, and regulated pressure flows to the "B" package.
The "B"
package serves to deliver pressurant at regulated pressure to the fuel and oxidizer i
tanks, imposing pressure on the propellant tank bladder exteriors.
Relief valves
in the "B" package prevent over pressurization of the System downstream of the regulator.
Burst diaphragms are provided in series with the relief valves, in
the "B" package, to provide a positive leak tight seal between i
system pressure
and the relief valve.
The "E" package provides a secondary mode of pressure regulation in the event of regulator failure.
In the event of regulator over-preSsure failure, resulting in
excess pressure passage through the regulator, a pressure switch ("E" package) intervenes and automatically closes the normally open qartridge valve. I _
pressure
is
then
controlled
manually
by the
crew by momentary
OONPIOBNllAI.
placing
Regulated the
OAMS-
CONFIDENTIAL
PMINI SEDR 300
R_G
switch in the _
is obtained
position.
from the "B" package
and 6, the "F" package regulator
switch to S_. normally
This
open valve,
is then regulated mation
obtained
selection
ulated
a division
(Figure
In the event of regulator the required
flow of propellant affords
a safety
tank bladders.
through
sure returns
On spacecraft package. placing
vapors
transducer pressure
in the system.
into the pressurant for prevention
would
first rupture
the relief valves.
The relief
The reg-
a signal to the
of the regulator, to manually prevent
The "B" package
hack
also
on the fuel and oxidizer
downstream
diaphragms,
valves will
The "B"
tanks.
check valves
of over pressure
infor-
on spacecraft
8 thru 12.
the reading
system.
Pressure
pressure
transducer
downstream
Three
the burst
and closes the
and provides
the crew utilizes
Should
completely.
control
on spacecraft
Should the system be over pressureized
of the regulator
then he vented
reset
when
over-
system pres-
to normal.
8 thru 12, the pressurant
The normally the 0AMS RESV
pressurant
pressure
5
select the OAMS-REG
flow to the propellant
8-95) indicating
pressure
feature
the over pressure hoard
transducer
12.
closed valve
the regulator
regulated
of pressurant
failure,
8 thru
by the crew with
is sensed by the pressure
_ahin • instrument,
maintain
the normally
information
on spacecraft
the crew can manually
(OAMS-PULSE)
pressure
pressure
transducer
on spacecraft
by-passes
from the "B" package
provides pressure
opens
thus pressurant
5 and 6, the "F" package package
occur,
Control
pressure
transducer
failure
manually
8-95).
re_ulated
pressure
under-pressure
(Figure
flows
closed pyrotechnic switch
(Figure
to flow to the reserve
8-95)
from the "B" package
valve
in the "F" package
in the SQUIB
fuel tank .....
8-350 CONFIDENTIAL
to the "F" is opened by
position, allowing
r.
CONFIDENTIAL
PROJECT
GEMI141
Fuel/Oxidizer Group Fuel and oxidizer are stored in their respective tank: and are isolated from the remainder of the system by normally closed pyrotechni_ valves in the "C" (oxidizer) and "D" (fuel) packages.
Upon command, the "A" (presSurant), "C" and "D" package
isolation valves are opened.
The pressurant imposes
)ressure on the propellant
tank bladders and fuel and oxidizer are distributed through their separate tubing manifold systems to the _,let of the thrust chamber solenoid valves.
Upon c_and
on spacecraft 8 thru 12, the normally closed pyrotechnic valve in the "F" package is opened to allow pressurant to impose pressure on the reserve fuel tank bladder to distribute reserve fuel to the thrust chamber solenoid valve. i
Two electrically
operated motor control valves (Figure 8-95) are located in the propellant feed !_nes, upstream of the TCS's.
In the event of fuel or oxicizer leakage through
the TCA solenoid valves, the motor operated valves can be closed by the crew to prevent loss of propellants.
The valves can again be iactuated open by the crew,
when required, to deliver propellants to TCA solenoids.
Th_rust
Chamber Assembly
(TCA) Group
Upon co_and
from the autQmatic or manual controls, signals are transmitted ! through the Attitude Control Maneuvering Electronics (ACME) to selected TCA's to i
open simultaneously the normally closed, quick-acting ifuel and oxidizer solenoid
i valves mounted on each TCA. rected through _11
In response to these commands, propellants are di-
injector Jets into the combustio_ chamber.
The controlled
l fuel and oxidizer impinge on one another, where they ignite hypergollcally to burn and create thrust.
Heaters are connected to each TCA oxidizer solenoid valve i
to prevent freeze-up and are activated by an OAMS RTRS switch (Figure 8-95).
8-351
CONIIIDENTIAL
CONFIDENTIAL
PROJECT
GEMINI
SEDR 300
S1rS_ UNZTS
Pressurant
Stor86e
The helium
pressurant
is
16.20
inches
The helium
Tank is
outside
stored
in
diameter
welded,
and
has
actuated
valve.
spherical
an internal
gas is stored at 3000 psi rand held
closed pyrotechnic
volume
therein
The pressurized
fuel and oxidizer
from their respective
to the pressurant
tank and outlet
ment and
titanium
tanks.
of
Tank
1696.0
helium
dJJaen_ion
cubic
by the "A" package
inches.
norm_11y
is used to expel
Temperature
line to provide
tar_.
sensors
readings
the
are affixed
for the cabin instru-
telemetry.
"A" Package The "a" package valve,
8-97) consists
two high pressure
pressure
transducer
the propellant normally
activate valves
the system
_nd test
in the cabin isolation
are provided,
"F" Package
(Spacecraft
The "F" package
(Figure
pressure
to the open position
one on each side of the isolation purging
contamination
and venting
downstream
during testing
signal to
System.
Two dual seal, high pressure
isolation
The source
an electric
is used to isolate
is actuated
valve is used to test
system
valves and filters.
and transmits
valve
The valve
for operation.
transducer,
and to the Instrumentation
valve is used for servicing,
prevent
of a source pressure
tank pressure
of the system.
the downstream
filters
monitors
indicator
and ports
upstream
gas charging
closed pyrotechnic
the remainder
while
(Figure
The from to
gas charging valve.
the pressurant
components.
The tank,
The valve
and servicing.
8 thru 12 Only) 8-97) consists
of a source pressure
8-352 CONFIDENTIAL
transducer,
isolation
__
CONFIDENTIAL
I_
PROJECT GEMI I
MANUAL
CHARGE
VALVE
MANUAL
_
CARTRIDGE
,N_._I
TEST
VALVE
_
l
OC]-_LET PRESSURE TRANSDUCER
NOTE "F" PACKAGE ON $/C 8 & UP ONLY
Figure
8-97
OAMS
and
RCS
"A"
Package
8-353 CONFIDENTIAL
and
OAMS
"F"
Package
CH,P_R
CONFIDENTIAL
PROJECT
GEMINI
valve, two high pressure gas charging and test valves and filters.
The source
pressure transducer monitors the regulated pressure and transmits an electrical signal to the cabin indicator and Instrumentation System,indicating the amount of regulated pressure for the OAMS system.
The normally closed pyrotechnic valve
is used to isolate the pressurant from the rese_ve fuel tank.
The valve is
actuated to the open position to activate the reserve fuel system for operation. Two dual seal, high pressure gas charging valves and ports are provided, one on each side of the isolation valve.
The valve filters prevent system contamination
during testing and servicing.
"E" Package The "E" package (Figure 8-98) consists of a filter, one normally open pyrotechnic actuated valve, one normally closed pyrotechnic actuated valve, a normally closed two way solenoid valve, a pressure sensing switch, and a manual by-pass valve. The input filter prevents an_ contaminants from the "A" package from entering the "E" package.
The two pyrotechnic actuated valves are activated (open to closed
and closed to open) as required to maintain regulated system pressure, in the event of system regulator malfunction.
The two way (open-close) solenoid valve
is normally closed and functions upon crew co_and
to maintain regulated system
pressure in the event of a system regulator malfunction. senses regulated pressure from the system regulator.
The pressure switch
Upon sensing over pressure,
the pressure switch intervenes and causes the normally open valve to actuate to the closed position, closing the inlet to the pressure regulator.
The solenoid
valve, when opened, allows pressurant flow through the package after the normally opened open)
valve test
is valve
actuated is
used
to
the
to
divert
closed
position.
pressure
to the
8-3 CONP'IDlSNTIAL
The manual solenoid
by-pass v_ve,
(normal_ during
system
_
CONFIDENTIAL
__
_
PROJECT GEMINI SEDR 300
_ ._..
__
INLET
CARI_RIDGE VALVE
NORMALLY-OPEN MANUAL
VALVE
NORMALLY-CLOSED CARTRIDGE VALVE
1
L_ INLEI_FROM
REGULATOR
J
REGULATOR OUTLET-TO
J J
OUTLET
Figure
8-98
OAMS
"E"
8-355 CONFIDENTIAL
Package
I_!iI
PRESSURE
OONFIOEENTIAL
test.
In the
normal mode of operation,
nic valve
gas flows
to the system regulator.
through
the
noz_al_
open pyrotech-
In the event system regulator over pressure
malfunction_ the pressure switch Lntervenes and causes the nol_ally opened pyrotechnic
valve
to
actuate
to
normally
closed
solenoid
valve.
(pulsed)
by the
crew to
maintain
regulator
(under
pressure)
system velve
can be actuated
ouitry_ vents is
the by-pass
provided
Pressure
nor_lly of the
to the
and pressure
is
closed
position,
The solenoid regulated
open
open valve solenoid
the
diverting
valve system
is manually pressure.
malfunction
3 the
position.
Simultaneously
is
activated
valve.
In this
regulated
by the
to
pressure
the
mode,
normally
closed
to
the
controlled
In the closed
event
of
pyroteohn_c
insured
by the
cir-
position.
This
pre-
a regulator
by-pass
circuit
crew.
Regulator
The pressure re_Alator (Figure 8-99) is a conventional, mechsnlcal-pneumatic type.
The regulator functions to reduce the source pressure to regulated system
pressure.
An inlet filter is provided to reduce any contaminants in the gas to
an acceptable level.
An outlet llne is provided from the regulated pressure
chamber to the pressure switch ("E" package) and activates the switch in the event of an over pressure malfunction.
"B" Pack e The "B" package (Figure 8-100) consists of filters, regulated pressure transducer, three check valves, two burst diaphra-m,, two relief valves, regulator out test port, fuel tank vent valve, Inter-check valve test port, oxidizer tank vent valve, and two relief valve test ports.
The inlet filter reduces any eonta_._nantsin
8-3 CONFIDIENTIAI.
CONFIDENTIAL
a,'_
PROJECT
GEMINI
__
AREA MULT I PLYI NG
OUTLET
(ROTAr ED FOR
-METERING VALVE
VALVE
Figure
8-99
OAMS
and
RCS
8-357 CONFIDENTIAL
Pressure
Regulator
CONFIDENTIAL i_.
SEDR300
L_y-
--
RELIEFVALVE
INLET
RELIEF VALVE GROUND
TEST
OUTLET TO FUEL TANK
OUTLET TO OXIDIZER TANK
Figure
8-100OAMS
and
RCS
8-358 CONFIDENTIAL
"B"
Package
CONFIDENTIAL
PROJECT
the gas to an acceptable taminants
from entering
the regulated
craft
5 and 6.
gas system.
devices
two relief
valves
pressure.
In the event of burst
Manual
Fuel
pressure
and ports
signa_
diaphragm
thereby,
reseats
prevents
are safety
the design
are provided
into the back-
(over pressure)
failure
pressure,
bladders.
valve
to the closed position
to vent, purge
on space-
type with preset
the relief
venting
indicator
side to prevent
on the propellant
rupture,
monitors
pressure
of fuel vapors
diaphragms
imposed
tr8nsducer
of regulated
reaches
any con-
to the cabin
mecb_nlcal-pneumatic
The valve
level is reached,
valves
from being
prevent
pressure
backflow
pressure
are conventional,
overboard.
filters
on the oxidizer
The burst
regulated
excessive
pressure
the entire
The
opening
opens
venting
when a safe
gas source.
and test the regulated
system.
Tank
The fuel storage contain
bladder surant
surant
(Figure
bladder
8-101)
is imposed
layered
Teflon,
on the exterior
to the thrust
chamber
and vent the fuel t-nk. line, fuel tank exterior
cabin indicator
is welded,
and purge
and has a fluid volume
is a triple
"D" package purge
tank
an internal
in diameter,
J_
when
prevents
are provided
preventing
pressure
the amount
check valve
into the system.
that rupture
excess
an electric
System, indicating
Two check valves
inlet
The regulated
and transmits
A single
flow of oxidizer
Test valve
the system.
pressure
and Instrumentation
level.
GEMINI
port.
The tank
spherical
_imension
capacity
of 5355.0! cubic
positive
expulsion itype.
of the bladder solenoid
Temperature and output
and Instrumentation
titanium
to expel
valves. sensors
Purge
System.
8-359 CONFIDENTIAL
is 21.13
inches.
inches
The tank
The helium
pres-
the fuel through ports
arei affixed
line to provide
tank which
the
are provided to the iaput
readings
for the
to pres-
CONFIDENTIAL
__
PROJECT
GEMINI
PRESSUREANT
¢
¢ PROPELLANT
Figure
8-101 OAMS
Propellant
8-360 CONFIDENTIAL
Tank
CONFIDENTIAL
Ii_
PROJECT
GEMINI
5.10
_=i'I
Do _%. .....
,,_
ROPELLANT
PRESSUREANT
Figure
8-102
RCS
Propellant
8-361 CONFIDENTIAL
Tanks
|
CONFIDENTIAL
PROJECT _.
GEMINI
_SEDR
Reserve
Fuel
_,_
The reserve contains
fuel an
diameter,
tank
inter-=1
30.7
cubic
inches.
expel
fuel
Oxidizer
"C" and
the
on_y)
8-102)
is
a welded
and purge end
port.
has
a
is
"D" package
8-101)
and purge port.
capacity
to
ti_n_m
The i_uid
the
cylindrica_
tank
is
5.10
tnn_
inches
capacity
of
_.0
on the
exterior
of
the
thrust
chamber
solenoid
which
outside
volume
imposed
is a welded
The tank
expulsion
type.
The helium
to expel the oxidizer
are affixed
line to provide
inches
The _nk
pressurant
through
Purge ports are provided
titanium
is 21.12
of 5355.0 cubin inches.
bladder
to
valves.
bladder
and vent the oxidizer
for the cabin
Teflon, of the
cb_ber
tanks.
oxidizer
indicator
layered
on the exterior
to the thrust
line,
contain
and has a fluid
is double
is imposed
to the i_put pressurant
readings
te_k which
in diameter,
the "C" package
to purge
spherical
solenoid
Tempera-
tank exterior
and Instrumentation
and
System.
"D" Packs_es and "D" (fuel) packages
tion and are located consists
test valve.
to isolate
downstream
of a filter,
The filter
from entering
waiting
12
pressurant
(Figure
The "C" (oxidizer)
package
8 thru
length
helium
t_nk
t_re sensors output
in
___
Tank
positive
valves.
inches
through
a bladder
bladder
(Figure bladder
The
The oxidizer
volume
(Spacecraft
3O0
propellants
period.
of the tanks
isolation
is located
the downstream
8-103) are identical
of their
valve,
The normally
from the remainder isolation
respective
propell_nt
at the outlet port
system.
The pyrotechnic
(Figure
cb_ging
8- 362 CONFIDENTIAL
valve
is actuated
Each and
contaminants
isolation
of the system during valve
system.
to prevent
closed
in func-
valve
is used
the pre-launch
to the open position
CONFIDENTIAL SEDR 300
.,._
___
s
__¢_,_-'
PROJECT
GEMINI
i!
_ .
CARTRIDGE VALVE
v_AL CHAROE
"......".+
_
{i_
-
MANUAL
:_
OUTLET
8-103
OAMS
and
RCS 8-363
CONFIDENTIAL
"C" and
!i::::i_ i
t__J....
INLET
Figure
VALWE
"ii:::!J: i:_:_:!: _'__
__._
CHARGE
"D"
Package
CONFIDENTIAL
PROJECT
for
system operation.
isolation
_/_e
and is
The propellant used for
GEMINI
chA.rglng
sez_rlci_
valve
and venting
is
located
the
upstream
system.
of the
The test
valve is located downstream of the isolation valve and is used to test the downstream
system.
Propellant Supply Shutoff Valves Propellant supply shutoff valves (Figure 8-i04) are provided for both the oxidizer and fuel system and are located downstream of the "C" and "D" packages. The motor driven shutoff valves are electrically operated and ._n-Ally controlled. The propellant valves serve as safeguards in the event of TCA leakage.
The
valves are normally in the open position, and are closed at the option of the crew to prevent loss of propellants.
The valve is thereafter reopened only when
it is necessary to actuate the TCA's for the purpose of the spacecraft control.
Thrust Chamber Assembl_ (TCA) Group Each TCA (Figure 8-i0_, 8-106 and 8-IO7) consists of two prope11_nt
solenoid valves,
an electric heater, injection system, calibrated orifices, combustion chamber and an expansion nozzle.
The propellant solenoid valves are quick acting,
normally closed valves, which open simultaneously upon application of an electric signal.
This action permits fuel and oxidizer flow to the injector system.
The
injectors utilize precise Jets to impinge fuel and oxidizer streams on one another for controlled ._img
and combustion.
used to control propellant flow. c_.ber.
The calibrated orifices are fixed devices
Hypergolic ignition occurs in the combustion
The combustion chamber and expansion nozzle are lined with ablative
materials and insulation to absorb and dissipate heat, and control wall temperature.
8-36 CONFIDENTIAL
CONFIDENTIAL
PROJECT
GEM
,I _-\\_'_'_'I
iNLET FILI_R
_tPPLE
_
I_\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\_\\\\\\\\\\\\
!
f-.
Figure
8-104
OAMS
and
RCS
Propellant
8-365 CONFIDENTIAL
Shutoff
Valve
CONFIDENTIAL
SEO,
PROJECT
GEMINI
NOTE LONG LIFETCA'SAREUSEDON MISSIONS REQUIRING EXTENSIVEMANEUVERINGOR EVA (EXTRAVEHICULARACTIVITY).
,N_E_OR
,CON,_L,_
,
i_
//
,,
(
I_ _
LONG LiFE
6° ORIENTED._r ABLATIVE
L--'CERAMIC LINER (I PIECE,)
MOUNTING
SHORT LIFE
PARALLEL WRAP (STRUCTURAL)
ABLATIVE
Figure
8-105OAMS
25 Lb. TCA
8-366 CONFIDENTIAL
_
CONFIDENTIAL
(STRUCTURAL) INJECTOR ABLATIVE WRAP f_
i
NOTE " INSERT CAN
LINER 6° ORIENTED" ABLATIVE
(1 PIECE)
LONG LIFE
CAN 90° OpJENTED -_ ABLATIVE
(SEGMENTED)
f--
SHORT LIFE Figure
8-106 OAMS 8-367 CONFIDENTIAL
85 Lb. TCA
LONG
LIFE TCA'S ARE USED ON MISSIONS
Ec_IENSIVE A TIVITY) , MANEUVERING
REQUIRING
OR EVA (EXTRA VEHICULAR
CONFIDENTIAL
PROJECT
GEMINI
NOTE LONG LIFE TCA'S ARE USED ON MISSIONS REQUIRING EXTENSIVEMANEUVERINGOR EVA (EXTRAVEHICULARACTIVITY).
(STRUCTURAL) MOUNTING CAN
F
GLASSWRAP ASBESTOS WRAP
PARALLEL WRAP ABLATIVE
PROPELLANT VALVES
.::=:__
LONG LIFE
-
I1 -
.,
CERAMICLINER-(I PIECE)
ABLATIVE
MOUNTING
(STRUCTURAL)
PROPELLANT
ABLATIVE
WRAP
!
_._
SHORT LIFE
INJECTOR' 90° ORIENTED ABLATIVE CERAMICLINER' (SEGMENTED)
'PARALLEL WRAP ABLATIVE
Figure 8-i07 OAMS
I00 Lb. TCA
8-368 CONFIDENTIAL
CONFIDENTIAL
PROJECT _.
GEMINI SEDR300
_'s with
_-e installed the
suitable
outer for
are installed
within
mo_line
the adapter
and located
the attitude on the _A
_d
with
at various
._neuveri_
oxidizer
the nozzle points
_Llves
control
exits about
required.
to prevent
tez_t-_ti_
flush
the adapter
section
Electric
the oxidizer
heaters
from freezing.
Tubing Cutter/Sealer The tubing cutter/sealer is a pyrotechnic actuated device and serves to positively seal and cut the propel!_t
feed lines.
Two such devices are provided
for each feed llne and are located downstream of the prope_A-t
supply o_off
valve, one each in the retrograde and equipment section of the adapter. retrofire, the equipment section is Jettisoned.
Prior to
The devices are actuated to
permit separation of the feed lines crossing the parting line, and to contain the propellants upon separation.
RE-EmTRY CORTROL ,Sysn_m_ , ,, ,
SYSTEM _SCRIPTION The Re-entry Control System (RCS) (Figure 8-108) is a fixed thrust, cold gas pressurized, storable liquid, hypergolic hi-propellant, self contained propulsion system used to provide attitude control of the spacecraft during re-entry.
The RCS consists of two and independent systems.
identical but entirely separate The systems i._y be operated
individual/_ or simultaneously.
One system will be des-
cribed, all data is applicable to either system.
The RCS is capable of operating outside of the earth's atmosphere.
8-369 CONFIDENTIAL
CONFIDENTIAL
I-
. -.
___,r-:,,_:_ ,
PROJECT
SEDR 300
_
GEMINI
...
RCS THRUST CHAMBER ATTITUDE CONTROL
@ ,_
@ ©© _ ©Q
_,Tc. 0o',,. Y..'.,,O.T
FUE_SOL,.O,D GQ RO,L,,G.T T.,0STC._,_,E,_,RA.GE_E.T QG RO,_LE,T
DETAIL A
"3" SYSTEM FUEL SrCUTOFF/ON VALVE "B" SYSTEM FUEL 'A"
OXIDIZER
TANK
SYSTEM
FUEL SrlUTOFF/¸ON %" SYSTEM
_COMPOix,
ENT PACKAGE "D"
OX_DIZ ER SHUTOFF/ 'A" S'fSTEM
-- "A"SYSEEM
FUEL
_
COMPONENI PACKAGE "C"_
OXIDIZER
SHUTOFF/ON
'dALVE
_. PRESSURANT TANK
"A"SYSTEM OXID
_
(REF/
#. .k VENT _TYP2
_
PRESSURANT
tJ I
4PONENT PACKAGE 'B'
PACKAGE
"A"
_IC©MPONEht
sI
Z 173 97_%_ •
/ it
COMPONEN[ PACKAGE "C"
COMPONENT PACKAGE
"9
js
-Tt_RLST ChAt45ER IEYP I_ PLACLSJ
COMPONENT
PACKAGE
"A'
_ COMPONENT
PACKAGE
"C
BY LSEE
Figure
8-108
Re- entry
DETAIL "A" (TYP 16 PLACERI
Control
"A" and "B" Systems
8-370 CONFIDENTIAL
Z
_1 97
ASSE_2LY
CONFIDENTIAL
/
.
SEDR300
Attitude control (roll, pitch and yaw) is obtained by firing the TCA's in groups.
The TCA's are mounted at various points about the RCS section of the
spacecraft consistent with the modes of rotational control required.
The entire
RCS, (ta_ks and control packages), with the exception of instrumentation, is located in the RCS section of the spacecraft.
Each package consists of several
functioning components and filters.
The delivery of pressura_ts and prope_1--ts i is accomplished by a uniquely brazed tubing manifold _ystem. The HCS is divided into three groups; pressurant group, the oxidizer/fuel (propellant) group and the Thrust Chamber Assembly (TCA) group.
Pressurant
Group
The pressurant group (Figure 8-109) consists of a pressurant tank, "A" package, pressure regulator _nd "B" package.
Valves and test _orts are provided at
accessible points to permit servicing, venting, purging and testing. provided throughout the system to prevent system cont_nation.
Filters are
The pressurant
is stored and isolated from the remainder of the system during pre-launch periods by a normally closed pyrotechnic actuated valve, located in the "A" package.
Fuel/Oxidizer Group The fuel/oxidizer (propellazr_)group (Figure 8-109) consists of expulsion bladder storage tanks, "C" (oxidizer) and "D" (fuel) packages i
Valves, ports and test
ports are provided at accessible areas to permlt servicing, venting, purgi_ testing.
Filters
The propellants by normally are
provided
are are
closed on the
provided
isolated
throughout in the
pyrotechnic "C" package
the
storage
actuated
system
tanks
valves
to maintain
the
8-371 CONFIDENTIAL
to prevent !
from the
in the"C" oxidizer
and
conta_nation.
reminder
of the
and "D" packages. at an operating
system Heaters
temperature
CONFIDENTIAL SEDR300
.--_,.
__;.,.
PROJECT
GEMINI
--.
(i OX'D'ZE " I....... U
I..........=_ E_O_LPRESS j MANUAL VALVE
HIGH PRESSURE
TEST
VALVE
NRFUELTANK ","PACKAOE
VENT VALVE j
OOR_ DIAPHRAGM
FILTER
Ig
''1_ F,LTER I HEATER
........... _ .............. _...__.o? ...........
--
)J
REL,EE
I PACKAGE
"O"RACKAGEL _ I|
VALVE
OVERBOARD ZJ_VE NT
NORMALLY CLOSED PYROTECHNIC VALVE
Z[_ RELIEF VALVE IEST PORT PRESSURE REGULATOR 'J
I TEST
' __:_' INTERCHECK VALVE TES
CLOSED
PRESSURE
MANUAL
FILTER
r_ II BURST
j _. N2OXIDIZER TANK VENT
NORMALLY
................... i"_"""f"" ........ T"-,T_NK I
VALVES ,
HIGH
_
8TEST PORT RELIEF VALVE
FILTER
DIAPHRAGM
_1_ SOURCESENSOR _ALTES_ T T_."_EB --
J--
--TEMP
RELIEF
VALVE
MAIN NORMALLY CLOSED PYROTECHNIC VALVE
VALVE
r
_] OXIDIZER
PURGE
VALVE
Figure
8-109
,_c,, PACKAGE
J
,_,............................................. ff.--..-.::.,__ :i:.:.:.,:.ii__i:i)2_.!.;....... i.............
j......._.....l
TANK
_
RCS
(Single
System)
8-372 CONFIDENTIAL
(Sheet
1 of 2)
CONFIDENTIAL SEDR300
j-_
.,.
PROJECT
GEMINI
EDRSTAL PANEL
25R
,_
--FUEL
SUPPLY
OFF/ON
OXIDIZER OFF/ON
25 #
VALVE
SUPPLY VALVE
2.5R
25t, 'ALVE (8 TYP.) )XIDIZER
J
VALVE HEATER
(8 TYP)
IL_ RIGHT SWITCH AND
CLRCUIT B,EA_,E_ PANEL
FigureS-109
RCS
(Single
System)
8-373 CONFIDENTIAL
(Sheet
2 of 2)
CONIFIDtNTIAL
PRMINI _.
SEDR300
The propel
1-_ts
used
are:
Oxidizer
- Nitrogen
Tetroxide
Specification Fuel
_
(N20_)
conforming
to
- P - 26539A
- Monomethyl _7drazine (_H3CH3)
conforming
to specification MIL - P - 27_04
,,,,T_st Chamber Assemhl_r(TCA) Gmm*_ The TCA group (Figure 8-108) consists of eight twenty-five pound TCA's used for attitude (roll, pitch and yaw) control of the re-entry module. equipped with thrust c_.ber
Each TCA is
and electric controlled solenoid valves.
are provided on the oxidizer solenoid valves to ._ntaln
Heaters
the oxidizer at an
operating temperature.
SYS_
OPERATION
Press urant Group (Figure 8-105) High pressure nitrogen (N2) (pressurant), is stored at 3000 psi in the pressurant tank. gas charging port.
The tank is serviced through the "A" package high pressure
Pressure _
the pressurant tank is isolated from the re-
,_Inder of the system, until ready for operation, by a normal/_ closed pyrotechnic actuated valve located in the "A" package.
Stored nitrogen pressure is monitored
and transmitted to the cabin indicator --4 Instrumentation System by the source pressure transducer located in the "A" package.
Upon co,_-nd, the "A" package
p_Totechnic actuated valve is opened (simultaneously with propellant "C" and "D" package pyrotechnic actuated valves) and nitrogen flows to the pressure regulator and "B" package.
The "B" package provides a division of flow to the
8-37 CONIFIDRNTIAI..
CONFIDENTIAL
PROJECT __
GEMI
SEDR300
propellaut
tanks.
transducer
("B package)
indicating
pressure
flow
The regulated
and provides
downstream
of propellant
pressure
vapors
sensed
a signal
of the
into
is
the
to
by the
the
regulator.
regulated
Instrumentation
The check
pressurant
pressure
system.
valves
System, prevent
The "B" packa6e
back-
also
pro-
i vides
a safety
bladders. over
feature
Should
pressure
thro-_h
the
Fuel
relief
prevent
system first
over
be over
rupture
pressure
of thej i fuel
and oxidizer
tank
pressurized
the
burst
downs_reem of the regulator the i diaphra_s_ then be vented overboard
valves.
Group
and oxidizer
se_v£ced
the
would
Fuel/Oxidizer
to
(propellants)
through
the
high
are
pressure
stored charging
in their ports
respective tanks, and are i in the "c" and "D" packages.
The propellants are isolated from the remainder of theisystem, until ready for I operation, by the normslly closed pyrotechnic valves i_ the "C" and "D" packages. Upon command the "A" (pressurant), "C" (oxidizer) and i"D" (fUel) package pyrotechnic actuated valves are opened and propellants areidistributed through their
! separate tubing -_nifold system to the thrust chamber _nlet solenoid valves.
Two motor
driven
shutoff
upstream
of the
TCA's.
solenoid
valves,
the
loss
the
In the motor
of propell--ts.
quired,
to
output
s,ltch
deliver lines
valves
are event
operated
The valves propellants of the
"C" and
located of fuel valves
can again to
in the
the
or oxidizer
!
feed
leakage
lines, through
the
TCA
can be closedI by the crew to prevent ! be actuate_ open by the crew, when re-
TCA solenoids.
"D" packages
8-io9).
Thrust Chamber Assemb_
propellant
,,(TCA)Grou_
8-3T5 CONFIOINllAL
and are
Heaters
!
activated
are
connected
by the
to
RCS HTR
CONFIDENTIAL SEDR 300
PROJECT GEMINI Upon crm_nd through
from the
the
Attitude
Control
open siemltaneously, valves
mounted
through oxidizer
into
freeze-up
and are
Electronics
closed,
the
are
quick
acting
_o the
they
connected
to
by the
are transmitted
(ACre)
to
fuel
signals,
combustion
where
activated
signals
controls,
In response
on one another_ Heaters
_CA's
and oxidizer
propellants
chamber.
ignite
selected
solenoid
are
dirocted
The controlled
hypergolically
each
TCA oxidizer
RCS H_
switch
to
fuel
_n_
burn and
solenoid
(Fi@ure
to
valve
to
pre-
8-10_).
UNITS
Pressurant
Stora6e
The nitrogen tank is
T=-_
(N2) pressurant
7.2_ inches
inches.
Nitrogen
pyrotecBn4c oxidizer surant
normally
Jets
thrust.
SYS_
Maneuvers
TCA.
injector
impinge
create vent
the
on each
small
or m,,_
autcmstic
from outlet
outside
gas is
valve.
This
their line
is
diameter
stored
in a welded,
and held
under pressure,
tanks.
provide
tit_nttt_
and has an inter_l
at SO00 _si
nitrogen,
respective to
stored
is
Temperature the
volume of therein used
sensors
readings
for
cabin
consists
of a source
_-k.
spherical
185.0
by the to are
instrument
The
cubic
"A" package
expel
the
affixed
fuel to
and
the
pres-
and telemetry.
"A" pachage,, The "A" package valve,
filters
transducer cabin isolation
(Figure
and two high
monitors
indicator valve
8-9?)
the
stored
indicating is
used
pressure
the to
gas
charging
pressure valves.
transducer, The source
pressure
and transmits
an electric
pressure
of the
stored
gas.
pressure
from
isolate
the
system.
the
isolation pressure
signal
The normally remainder
to
the
closed
of the _
8-$76 CON
FIDIWNTIA
/
GONFIDENTIAL
__.
SEDR300
i
The valve is pyrotechnically actuated to the open position to activate the i
system for operation.
Two dual seal, high pressure _s i
are provided, one on each side of the isolation val_.
chargim_ valves and ports The upstream valve is
I
used for servicing, venting and purging the pressuraut tank, while the downstream valve is used to test downstream components.
Filter_ are provided to prevent con-
taminants from entering the system.
Pressure,, Re_l_, tor The pressure regulator (Figure 8.99) is a conventional , mechanical-pneumatic type. i The regulator functions to reduce the source pressure to re_ated system pressure. An inlet filter is provided to reduce any contaminants in the gas to an acceptable _
level.
"B" Package The "B" package (Figure 8-100) consists of filters, regulated pressure transducer, three check valves, two burst diaphragms, two relief ivalves, regulator output i test port, fuel tank vent valve, oxidizer tank vent valve, inter-check valve test port and two relief valve test ports.
The inlet fil_r
reduces any contaminants
I
in the gas to an acceptable level. entering the system.
Valve inlet filt(_rsprevent contaminants from
The pressure transducer monito .sthe regulated pressure and l i
transmits an electrical signal to the spacecraft Ins_;rumentationSystem. i check valve prevents hackflow of fuel vapors into th_ gas system.
A single
Two check valves
are provided on the oxidizer side to prevent backflo_ of oxidizer vapor into the gas system.
The Burst diap_s
are safety devices that rupture when the reg-
ulated pressure reaches the design failure pressure, sure from being
impose_
on the
propel!e_nt
bladders.
8-3Ti" CONIIIIDIN'FIAL.
)reventing excessive pres-
CONFIDENTIAL
PROJECT
GEMINI
•he tWO relief valves are convention_! mechanical-pne--_tic type with preset opening pressure.
In the event of burst diaphragm rupture, the relief valve
opens, venting excess pressure overboard.
The valve reseats to the closed posi-
tion when a safe level is reached, preventing the entire gas source from bei_ vented overboard.
M_n,_LIvalves and ports are provided to vent, purge and test
the regulated system.
Fuel Tank The fuel tank (Figure 8-102) is a welded, titanium cylindrical tank which contains an internal bl_dder and purge port.
The tank is 5.10 inches outside diameter,
30.7 inches in length and has a fluid volume capacity of _6.0
on the exterior of the bladder to expel fuel
The nitrogen pressv_c_utis i_osed
through the "D" package to the TCA solenoid valves. to purge
and vent
the
fuel
tank
cubic inches.
bladder.
T_erature
The purge port is provided sensors
are
affixed
to the
nitrogen input line and fUel output line to transmit signals to Instrumentation System.
Oxidizer
Tank
The oxidizer tank (Figure 8-102) is a welded, titanium cylindrical ta-_ which contains a bladder and purge port.
The ta_k is 5.10 inches outside diameter,
25.2 inches in length and has a fluid volume capacity of 439.0 cubic inches. The bladder is a double layered Teflon, positive expulsion type. pressurant is i_sed
The nitrogen
on the exterior of the bladder to expel the oxidizer
through the "C" package to the TCA solenoid valve.
The purge port is provided
for purging and venting the oxidizer tank bladder.
Te_erature
sensors are
affixed to the nitrogen input line and oxidizer output line to transmit signals to Instrumentation System.
8-3 CONFIDENTIAL
GONFIDEINITIAL. SEDR 300
_ "C" and
"D" Packages
The
and
,,,
"C"
downstream
"D" packages of
filters,
the
(Figure
tanks
an isolation
of
at outlet
valve
and port
filters
mall_
closed
of the system actuated valve
venting
the pro-launch
for system
valve
P_opellant
Sup pl_ Shuto_
Valves
pr_llaut
supply
valves
system.
controlled. option when
shutoff
and are located
The motor
driven
The valves
shutoff
of the crew to prevent
the TCA's are needed
TCA (Figure
calibrated
_-ii0)
orifices,
function
valve
of The
level.
the system.
The isolation
The
The nor-
from the remainder valve
is pyro_echnlc
The prope_Rnt
and is used
downstream
located
consists
tO an acceptable
c_e_tion.
are
and test valve.
propellants
v_ive
and
package
from entering
is located
char_Ing
for servicing
and
of the isolation
valve
system.
(Figure
8-104)
downstream valves
are normally
are provided
for both
the oxidizer
of the "C" and "D" packages
are electrically
operated,
in the open position,
loss of propellants.
for spacecraft
semb Each
period.
of the isolation
The test
in Each
contaminants
contaminants
and is used to test the downstream
and fuel system,
cb_rgiDg
valve is used to isolate
upstream
the system.
identical system.
propellant
portj reduces
to the open position
is located
are
respective
prevent
isolation during
their
valve_
filter, located
8-103)
-]
in the
and w_nual_y
and are closed
The valves
at the
are reopened
onl_
control.
Qrou
consists
combustion
of two propellant chsmber
valves,
and expansion
in_ection
nozzle.
system,
The fuel and
i
oxidizer _
solenoid
simultaneously
valves
are quick acting,
upon application
normall_
of an electric
8-379 CONFIOla'NTIAL
closed
signal.
valves,
The action
which
open
permits
fUel --d
CONFIDENTIAL SEDR 300
4IF (STRUCTURAL) MOUNTING
INJECTOR PARALLEL (SEGMENTED) 90° ORIENTED' ABLATIVE
Figure
8-110
-_'_
RCS 8-380
CONFIDENTIAL
25 Lb.
TCA
CONFIDENTIAL m._mmwmmmmm_
PROJECT ______
oxidizer fuel
_.ov into
and oxidizer
The oaltbz_ted 1_ergolio
GEMINI
SEDR 300
the
injector
streams orifices
ignition
system.
on one e_other
are fixed
occurs
in the
devices
The lnJeetorm for
controlled
used to
combnstton
use precise Lt_
control
chember,
Jets
to impinge
and o_ustion.
propellant
The c_stion
flow. c_m_er
and expansion nozzle is lined with ablative materials and insulation to absorb and dissipate heat and control external wall temperature.
TCA's are installed
within the RCS section mold line, with the nozzles terminating flush with the outer mold line.
TCA's are located at fixed points in the RCS section in a
location suitable for attitude control.
Electric heaters , located on the oxidi-
zer valve, are used to prevent the oxidizer frcm freezing.
8-381/382 CONFIDENTIAL
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