The KUSHA system is an indigenous rotary servo actuation system designed to provide precise aerodynamic control for advanced underwater/aerospace vehicles. The system consists of four rotary actuators arranged orthogonally (90° apart) and a quad-channel digital controller. Through a gear-train mechanism, rotary motion of the actuators is converted into accurate fin deflections, enabling the generation of control forces and moments required for vehicle maneuvering and stability.
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Key Features :
Electro-Mechanical Actuators :
- Four independently controlled rotary actuators, positioned at 90°.
- Converts rotary actuator motion into angular fin deflection for aerodynamic control.
- Low noise anti aliasing filter.
Software & Control :
- Embedded DSP algorithms for adaptive PID-based control.
- Supports re-programmability of algorithms and limits.
- Custom GUI software for configuration, monitoring, and diagnostics.
System Specifications:
- Max Linear Command Range: ±28 mm.
- Mechanical Angular Limit: ±120 Nm.
- Max Force per Fin (at 110 mm): 9600 N.
- Max Angular Speed of Fin:
- 4000 °/sec @ No Load.
- 200 °/sec @ 100 Nm Load.
- Bandwidth: 25 Hz (20 A, -90°).
- Weight (w/o fins): < 10 kg.
- Total Backlash (Motor–Fin shaft): ≤ 0.6° (±0.3°).
- Max Overshoot: ≤ 20%.
- Moment of Inertia of Fin: < 0.6 × 10&supmin;3 kg·m².
- Actuator Load (Till Boost Phase): ~500 sec duration (simulation study ongoing).
