The following specifications have been condensed from the original and include all 
pertinent subsequent changes. The weight of the total model-borne portion of the system 
compares favorably with the requirements of the original specification. Some of the chassis 
dimensions were increased but it was felt that this could be tolerated in the interest of 
reduced manufacturing costs and increased accessibility for maintenance. 
3.1 CONTROL AND POWERING CIRCUITS 
3.1.1 Rudder Channel 
Steering Controls 
Preset — Port and starboard rudder angles of zero to 45 degrees preset on 
multiturn dials plus a selector switch to be used by the operator to select either of these 
preset angles or zero degrees. 
Wheel — Continuous control 45—0—45 degrees. 
Step — 5-degree steps, 45—0—45 degrees. 
External Programming — An oscillator or function generator to be used to program 
the motion of the rudder. 
Rudder Servo 
Input signal — 
Radio control — 8—0—8 volts 
Wire control* — 5000-ohm potentiometer, excitation voltage supplied 
by the servo system. 
Range — 50—0—50 degrees 
Run-in Rate 
Standard circuit — Approximately 56 degrees per second for step changes in 
command signal, no-load. 
Velocity stabilized circuit — 0—40 degrees per second, no-load. 
Maximum running torque — 
Standard circuit — 200 inch-pounds 
Velocity stabilized circuit — 0—100 inch-pounds at 8—40 degrees per 
second, 0—200 inch-pounds at 4—20 degrees per second. 
Positioning accuracy — 
Radio control — + 0.4 degree or better 
Wire control — + 0.2 degree or better 
Position error due to loading — less than 0.15 degree for 200 inch-pound 
load change. 
*The servo amplifier has been designed for use in either wire or radio-controlled systems. 
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