LEM

CES AND AGS c, brt

SEPT 1966

A. SERVICE AND PRODUCT SUPPORT DEPARTMENT/GRUMMAN AIRCRAFT ENGINEERING CORPORATION BETHPAGE/NEW YORK

VA

S-BAND STEERABLE ANTENNA

ASCENT STAGE DOCKING HATCH

DOCKING WINDOW

+.X VHF INFLIGHT ANTENNA (2)

OPTICAL ALIGNMENT TELESCOPE

RENDEZVOUS RADAR ANTENNA LANDING

) WINDOW

2

S- BAND OMNI ANTENNA (2)

+Y

PITCH

RCS THRUSTER ASSEMBLY

JIu

- EGRESS PL ATFORM

4

• PHL A

ATTCFH

INGRESS EGR

INGRESS-EGRESS

RCS NOZZLE

+Z ROLL

-x

LADDER DESCENT DESCENT ENGINE

SKIRT STAGE LANDING GEAR

T370 MAY 66

I LEM VEHICLE

DESCENT ENGINE

REACTION CONTROL

SUBSYSTEM (RCS)

ON - OFF COMMANDS

GIMBAL COMMANDS

AUTOMATIC THROTTLE COMMANDS DESCENT ENGINE CONTROL ASSEMBLY

(DECAL

ENG. ON-OFF

MANUAL ENG. CMOS.

ENG ON-OFF

CMDS.

OUT OF DETENT

TRANSLATION COMMANDS

LEM ATTITUDE GUIDANCE RATE CMOS.

COMPUTER A D OUT (LGC) OF DETENT

SIGNAL

CONTROL PANEL

ABORT ELECTRONICS

ASSEMBLY (AEA)

40

MANUAL THROTTLE COMMANDS

DESCENT

THRUST ENGINE

TRANSLATION ON-OFF

CONTROLLER COMMANDS ASSEMBLIES (TTCA'S)

CMDS.

CONTROL ASSEMBLY

AND PULSE CMDS.

al GIMBAL COMMANDS

GIMBAL DRIVE

ACTUATORS (GDA'S)

TRANSLATION COMMANDS

ATTITUDE CONTROLLER ASSEMBLIES (ACES)

ATTITUDE RATE

TRIM COMMANDS

ASCENT ENG. ON -OFF CMDS. DEVICES

STAGE AND ASCENT ENG. PRESSURIZE EXPLOSIVE

RATE GYRO ASSEMBLY

(RGA)

1

1

ATTITUDE AND TRANSLATION

CONTROL ASSEMBLY

(ATCA)

THROTTLE COMMANDS

PRIMARY SOLENOID CMDS.

DIRECT AND HARDOVER CMDS. No.

+X TRANSLATION CMDS.

ASCENT ENGINE

@ra _914 -OFF COMMANDS ATTITLJDE ERROR SIGNALS

CONTROL ELECTRONICS SECTION BLOCK DIAGRAM T 3031 2-24 MAY 66

•

•

"noraiNINOMPI PRIMARY

GN AND C PRIMARY _ MORT-

MID

CONTROL ELECTRONICS

a ABORT GUIDANCE

WINDOW

NOV

FREACTION CONTROLS

)PROPULSION

I INTEGRATED FLIGHT CONTROL SUBSYSTEM I T30312- 1T SEPT 65

COMMANDS

THROTTLE 4„ COMMANDS

REACTION CONTROL

SUBSYSTEM (RCS)

GIMBAL COMMANDS

INERTIAL MEASUREMENT

UNIT (IMU)

LANDING RADAR (LR)

LEM VELOCITIES

ALTITUDE

GIMBAL ANGLES

ACCELEROMETER DATA

LEM GUIDANCE

COMPUTER (LGC)

THROTTLE

THROTTLE COMMANDS

DESCENT ENGINE

DESCENT ENGINE

CONTROL ASSEMBLY

(DECA)

GIMBAL GIMBAL DRIVE ACTUATOR ODA'S) COMMANDS

DESCENT ENGINE ON-OFF COMMANDS

ON-OFF THRUST' COMMANDS

TRANSLATION CONTROLLER ASSEMBLIES

(TTCA'S)

MANUAL COMMANDS

COMMANDS ••■■■••■•••••••■■•••

rPRIMARY GUIDANCE AND NAVIGATION SECTION 1

TRANSLATION ..--1 COMMANDS

CONTROL ASSEMBLY

ON-OFF ASCENT ENGINE

RANGE

ENGINE ON-OFF

JET ON-OFF COMMANDS

TRACKING ANGLES

TRANSPONDER

ALIGNMENT OPTICAL

TELESCOPE (AOT)

L .J ATTITUDE

CONTROLLER ASSEMBLY

(ACAS)

RATE GYRO

ASSEMBLY (RGA)

ATTITUDE AND TRANSLATION

CONTROL ASSEMBLY

(ATCA)

ON-OFF COMMANDS

RENDEZVOUS RADAR (RR)

RANGE RATE

DATA DERIVED FROM... STAR SIGHTINGS

COMMANDS ON-OFF

PRIMARY GUIDANCE PATH SIMPLIFIED BLOCK DIAGRAM T30312-23 SEPT 66

REACTION CONTROL

SUBSYSTEM (RCS)

ABORT SENSOR

ASSEMBLY IASA1

ONO NATI

ACCELEROMETER

THRUST TRANSLATION CONTROLLER ASSEMBLIES ITTC11.11)

THROTTLE COMMANDS

DATA

DESCENT ENGINE

CONTROL ASSEMBLY MEM

-a

DESCENT ENGINE

THROTTLE COMMANDS

GIMBAL GINSAL DRIVE i COMMANDS ACTUATOR (GOA) -

FAUST swam MUM

ABORT ELECTRONICS

ASSEMBLY (AEA)

—1

ON-OFF COMMANDS

CONTROL

ASSEMBLY

MANUAL COMMANDS

ENGINE ON-OfF COMMANDS

TRIM COMMANDS

ON-OFF COMMANDS

ASCENT ENGINE

DATA ENTRY RATE GYRO

ASSEMBLY MGM

DATA READOUT

DATA ENTRY AND DISPLAY

ASSEMBLY ( DEDA)

I •

TRANSLATION COMMANDS

ON - OFF COMMANDS

ROTATION COMMANDS

ON - OFF COMMANDS

ATTITUDE ERRORS ATTITUDE AND TRANSLATION

CONTROL ASSEMBLY

(AICA)

I ABORT GUIDANCE PATH BLOCK DIAGRAM I T30312-25 SEPT 66

co If OUTER CASE OR

SUPPORT FRAME

TORQUE VECTOR AXIS OR INPUT AXIS (IA)

GYRO FLYWHEEL

VISCOUS DAMPING

BALL BEARING PRECESSION AXIS

OR OUTPUT AXIS (O.A.)

MOVABLE GIMBAL

MICROSYN PICKOFF (STATOR - ROTOR)

RESTRAINT TORSION BAR

GYRO MOTOR SPIN VECTOR AXIS (S.A.)

DIRECTION OF ANGULAR INPUT ROTATION

ow MP

IRATE GYRO-SIMPLIFIED DRAWING! T 30312-29 FEB 66

T 30312 -21 SEPT 66

RATE GYRO ASSEMBLY SCHEMATIC

HI 28V 800 CPS P1CKOFF

LO EXCITATION

NEUTRAL

A PHASE

28%800CPS 3 PHASE

13 PHASE

C PHASE

LO} X GYRO OUTPUT

HI

LO1

X GYRO TORQUER

HI

LOl Y GYRO OUTPUT

HI

LO

Y GYRO TORQUER

HI

HL°I}

Z GYRO OUTPUT

LO . Z GYRO TORQUER

HI

PI

r —21

14 —OBI

I 6 RT1-1 i

TI 1 I tSEC

15 8/ RI

270n I q I L2

101

L MPI X GYRO

CI D39 of

T R7 SELECT

R4 RIO NIAA

115n RI3 isAh

SELECT r -s r -1

is i 593n

CRI i i 1 CR2 I I

I. ..IL ..I R 1•4

Y AXIS GYRO SAME AS X AXIS

Z AXIS GYRO SAME AS X AXIS E

X

C

K

L

0

N

P

R

111111111

LIMITING ENABLE

ASS )•PaNS

SOO CPS

REGULATED

KEYED DEMODULATOR

000 CPS

FILTER

PULSE RATIO

MODULATOR

ZERO + CROSS

DIET.

ASS. VALUE CIR.

JET COMMANDS FROM LAC

PRE AMP

PRE AMP

L

ATTITUDE ERROR

FROM ASS

L RATE

COMMANDS--0 FROM ACA

RATE SIGNAL—

FROM RSA

NOTE ONLY THE PITCH ERROR CHANNEL IS SHOWN. THE ROLL AND YAW CHANNELS ARE SIMILAR TO THE PITCH CHANNEL

♦28 VDC PRIMARY POWER

KPPS • FROM

MIST RUMENTAT ION

DEAD BAND SWIM _TRANSLATION SIGNALS

FROM TCA

DECA (ROLL AND PITCH ONLY

WIDE DEADSAND

-•44IM

NORMAL PITCH.

PULSE

COMMANDS FROM ACA

ATTITUDE 2 JET-4 JET SELECT

T (PULSE MODE)

JE1>_

GNI

F;;cmel

PRM (I OF ID

•

0

AMP

PRE AMP

POWER SUPPLY

_al NARROW DEADSAND

AMP

'tree

L E C T L 0

YAW I -*PAM

PRA

TO RCS SOLENOIDS

ATTITUDE AND TRANSLATION CONTROL ASSEMBLY BLOCK DIAGRAM T30315-5

5EPT 66

TRANSLATION SELECT

VERTICAL JET SELECT LOGIC

r -

IP

+E

JET +ULU - MD -INDICATES INVERTING TERMINAL

+INDICATES NON-INVERTING TERMINAL

I'M

1 +IIIU - MD

• +IIU - IID

+ --11101

-0.---11100

+IU - ID

..

TWO JET ROTATION SELECT (VERT)

0

0

0 A

A

CONTROL PANEL TWO JET

SEW CONT ASSY.

K1

K2

730405 - 72 SEPT 66

S - IS

+ M S - EL S

P YAW

Y TRANS. + 131F - M F

Z TRANS.

+ IF - F

- INDICATES INVERTING TEPMINAL + INDICATES NON-INVERTING TERMINAL

HORIZONTAL JET SELECT LOGIC T30405 - 71 APRIL 66

THRUST CHAMBER ISOLATION VALVES „.,

vs. ffi

He THRUST CHAMBER

ASSEMBLY

BLADDER

8

r

TANK

MAIN SHUTOFF VALVES O

SYSTEM "A" TANKAGE

HELIUM PRESSURE REGULATING PACKAGE

SYSTEM "B" TANKAGE

O

AXES ORIENTATION

X

g SYSTEM "A"

11, SYSTEM "WI

- X

I RCS INSTALLATION 50312-6 JUNE 65

S a C CONTROL ASSEMBLY

LOGIC FUNCTIONS

E= (b+f ) + f B=d+e+g+a D= cf F = cg +Kclie l (g+ a At)

LGC

DECA

PYRO AND ASCENT ENG.

AEA

GU ID CONT

PGNS

956

MODE SEL. SWITCH •

(IV

NMI

AGS

MAIN PROPULSION, CONTROL ASSEMBLY LOGIC T30405-104 SEPT 66

r - LGC

TRIM FAILED

INSTR. 4 TRIM FAILED

GIMBAL OFF ON 0/

fw"1-j [ DRV

TRIM CONTROL1 'TWO CHANNELS,

I I5V 400 CPS

'328 V

1

LGC AUTO TRIM I SIGNAL TN CONDITIONER

TN

Anil TRIM !COMPARATOR' 7.

THRESHOLD TP ,/e• •

•

cj PGNS-AGS I SELECT

LGCI AUTO TRIM TP

SIGNAL CONDITIONER

TRIM FAILED

MALE LOGIC

N

TP DIFF.

TN

TP

CONTROL LOGIC AND

POWER SWITCH

EXTEND I • RETRACT , _

TRIM ,

IF EEDBACKI

DANDEMOD

FILTER ■■■11■. a■M• •••■

GDA

28 Vi L IMMM ■1110 •■•■■ =NM= ImIl■ ■■••• ••■• ••■• ma■ ■■■• ■mwm ••■■ .moir■ Imm■

THRUST 1 THRUST CMD r- — — —

CONTROL AUTO-MAN THRUST SELECT

L

INSTRUMENT PANEL

MANUAL I FILTER MANUAL THROTTLE THROTTLE

AND DEMOD

AUTO THROTTLE 28 V

DESCENT ENGINE

1 AUTO THROTTLE I

LGC INCREASE I

AUTO THROTTLE 1 DECREASE

FORWARD BACKWARD COUNTER

I -7-- RESET

•

AUTO ENGINE ON-OFF

MAN DE START-STOP DE ARM

DESCENT ENGINE

CONTROL LOGIC

ENGINE ARM

ENGINE ON CMD

DESCENT ENGINE CONTROL ASSEMBLY BLOCK DIAGRAM T30312-12 SEPT 66

--------- Namilmisi • ,.....,.................................,..

1 r, t 4,„....m.A.,..„.......,_,..„,„..... „iii,.- ------ „ - 0 A"

■ 4/ joinill)

I DESCENT ENGINE GIMBAL DRIVE ACTUATOR I

11/

130405-82 MAY 66

ATTITUDE CONTROLLER ASSEMBLY

)

I)

13° ± • PITCH PIVOT

PUSH TO TALK SWITCH NEUTRAL POSITION OF GRIP ABOUT PITCH AXIS

+ X VEHICLE DIRECTION

13° ±.1°

YAW AXIS

-PITCH

e 0

0 + Z VEHICLE DIRECTION

ROLL AXIS

1111111r

T30405-79

APML 66

ACA MANIPULATION

1 0

RATE COMMAND TO PGNS

RATE 1 COMMAND

I TO ATCA

{ 1 0 800 CPS I FROM PGNS

I 0 800 CPS

FROM ATCA

1 0

L

1 o

OUT OF DETENT

ACA PROPORTIONAL CONTROL

T30405-83 FEB 66

ATTITUDE CONT SW 1153,4,5

FROM MODE

ATCA - DC PULSE o DIRECT 0

TO LGC (PULSE)*

PULSE NEG. EXCITATION AC A

LGC COMM.*

TO ATCA (PULSE)

+28V DC 0 MODE a HARDOVER EXCITATION

DIRECT EXCITATION

TO LGC (PULSE)*

PULSE POS. EXCITATION FROM ATCA *DC

•■•••■•■••

0 0 0 0 0 0 0 0

TO RCS JETS (MODE, DIRECT B HARDOVER)

(TYPICAL DISCRETE ATTITUDE CONTROL SECTION( 130405-67 SEPT 66

)

I

(TRANSLATION CONTROLLER T30900-14 DEC 64

)

T30312 -30 JAN.66

10% THRUST POSITION

THROTTLE SOFT STOP POSIT ION

VEHICLE HORIZONTAL

REF. LINE

28 6 (REF)

X-X AXIS NEUTRAL POSITION

JET MODE

JET MODE POSITION

VEHICLE VERTICAL REF LINE

66° (REF)

I TTCA MANIPULATION

100% THRUST POSITION

IP

TTCA TRANSLATION INTERFACE 30 3 12 - 32 SEPT 66

-15 VDC

Z TRANS. CMD +15 VDC

TO ATCA X TRANS. CMD 1

D.C. RETURN

Y TRANS CMD

P.O. COMMANDER'S TTCA1

oT) —

2Kil

P.O. SYSTEMS ENGINEER'S TTCA)

POS Z CMD

NEG Z CMD

POS Y CMD

TO LGC NEG Y CMD

POS X CMD

NEG X CMD

D.C. COMM

PO COMMANDER'S TTCA

THROTTLE TRANSDUCER

C CDR MANUAL THROTTLE COMMAND

DECA MANUAL THROTTLE COMMAND RETURN

SE

ISIO MANUAL

PGS THROTTLE

PGNS {

SWITCH 28V 800 CPS LOW I :9K24

c1/4.k. 28V 800 CPS HIGH

ATCA ro

S7

A

P.O. SYSTEMS ENGINEERS TTCA

THROTTLE TRANSDUCE

C

S7

A

TTCA THROTTLE TRANSDUCER INTERFACE 130312-26 JAN 66

LGC I.024M PPS CLOCK

PSA 800CPS INST.

I.6KPPS

800CPS RGA

40_01

P. S.

ATCA AC A

TTCA

PGNS

AGS

GUID. SEL.

RATE METERS

AG S

CES 800CPS SYNCH 1 T30405-86 APRIL 66

DATA ENTRY AND DISPLAY

ASSEMBLY (DEDA)

ABORT SENSOR ASSEMBLY

(ASA)

VELOCITY INCREMENTS

ATTITUDE INCREMENTS

DATA ENTRY AND READOUT

PRIMARY NAVIGATION AND GUIDANCE SYSTEM GIMBAL ANGLES

ABORT ELECTRONICS

ASSEMBLY

(AEA)

ATTITUDE ERRORS

ATTITUDE DISPLAY

ENGINE COMMANDS

MODE DISCRETES

CLOCK --ir•

PGNS DOWNLINK —flo

ABORT GUIDANCE SECTION BLOCK DIAGRAM T30312 - 9 SEPT 66

AGS STATUS OPERATE

12517 STAND BY

OPERATOR ERROR

12DSI + 535 f321

12S1 THRU 12S16

ADDRESS

22 '1 DATA 12M2

12M1

7 9 CLEAR

4 5 6

2 3 ENTER

HOLD

■i■

0

PANEL 3/1 T30900-5 SEPT 66

1. ALIGNMENT MODE

a) SUBMODES OF THE ALIGNMENT MODE:

IMU ALIGN SUBMODE

LUNAR ALIGN SUBMODE

ORBITAL ALIGN SUBMODE

2. INERTIAL REFERENCE MODE

a) SUBMODES OF THE INERTIAL REFERENCE MODE:

FOLLOW-UP SUBMODE

ATTITUDE HOLD SUBMODE

SEMI-AUTOMATIC SUBMODE

AUTOMATIC SUBMODE

ACQUISITION SUBMODE

AGS OPERATING MODES I

T30405-105 MAY 66

•

I

o

Zi

EULER ANGLES 1 T30312-15 JUNE 65

o

ORDER COUNTER

MEMORY

ADDRESS REGISTER

INDEX

ORDER REGISTER

M REGISTER

ADDER

A REGISTER

0 REGISTER

OUT PUT BUFFERS

INPUT BUFFERS

ARITHMETIC

MEMORY CONTROL

I

INPUT OUTPUT

i SIMPLIFIED COMPUTER BLOCK DIAGRAM T30405-107 MAY 66

o

CES <

DEDA <

INSTR.

- ASA

► INST

- GSE

DISPLAY

CES AND - DISPLAY

■

CES

INST

DEDA

T30405-108 MAY 66

{

INSTR

ABORT ELECTRONICS

I AEA INTERFACE

af 0

fR

TLM STOP PULSE

SHIFT CLOCK

AUTOMATIC

ABORT

ABORT STAGE

ASC. ENG. ON

FOLLOW UP

DES. ENG. ON

READOUT

HOLD

CLEAR

SHIFT CLOCK

DATA

ENTER

1.024 MC CLOCK

128K PPS CLOCK

SERIAL DATA

SERIAL DATA

ALTITUDE

ALTITUDE RATE

TOTAL ATTITUDE

LATERAL VELOCITY

ATTITUDE ERROR

ENGINE OFF

ENGINE ON

TEST MODE FAIL

128K PPS CLOCK

SHIFT IN

SHIFT OUT

DATA

STOP PULSE

PGNS

40 SYNC PULSE DOWNLINK

51.2 KC DATA

GSE INPUTS

CDU ZERO p

IMU

PGNS ATTITUDE

IMU 0

ASA AcCELER0-,

METER AND GYRO

DATA

IMU e

av X

GV Y

AVZ

a f P

FROM I28-KPPS AEA

T30405-109 MAY 66

ASA BLOCK DIAGRAM

i X-AXIS GYRO LOOP

GYRO OUTPUT PULSE SIGNAL TORQUE

SERVO AMPLIFIER

FREQUENCY DIVIDER

GYRO

Afp

400 AND

8000 CPS TIMING

REF.

V

od +28V DC POWER SUPPLY

SUBASSEMBLY

TORQUE FDBK PULSES

• -•-1 Y-AXIS GYRO LOOP (SAME AS X-AXIS LOOP)

40-01 Z-AXIS GYRO LOOP (SAME AS X-AXIS LOOP)

afq

Air

X- AXIS ACCEL

ACCEL OUTPUT SIGNAL

PULSE TORQUE SERVO

AMPLIFIER

AVBX

TORQUE FDBK PULSES

• -•.1 Y-AXIS ACCEL (SAME AS X-AXIS ACCEL)

H Z-AXIS ACCEL (SAME AS X-AXIS ACCEL)

AV BY

AV BZ

ACCEL TEMPERATURE

CONTROL

VELOCITY INCREMENTS

TO AEA

ANGULAR INCREMENTS

TO AEA

IP

FROM AEA

TO AEA

DATA DISPLAY

ADDRESS DISPLAY

SIGN DISR

INDICATOR

OPERATOR ERROR

PLACE SELECTION

BLANKING AND ERROR

DETECTION LOGIC

ENTER 4 PUSH BUTTONS READ OUT,

ENTER, CLEAR AND HOLD

CLEAR

12 PUSH BUTTONS 0-9,+,-

DATA STORAGE DATA IN DATA OUT

SHIFT IN

SHIFT OUT

CLOCK 128 KPPS

SHIFT PULSES

DATA TRANSFER CONTROL

LOGI C

DATA

SHIFT CLOCK 64 KPPS

READ OUT

E HOLD

•••

DEDA BLOCK DIAGRAM 730405-110 MAY 66