Modeling, Control and Simulation of Cascade Control Servo System for One Axis Gimbal Mechanism

System Performance of an Inertially Stabilized Gimbal Platform with Friction, Resonance, and Vibration Effects

“…An angle command is generated as the system input. This angle command may be the result of an image tracking algorithm, base motion cancellation, or from other sources [1][2][3][4][5][6]. This work does not focus on the generation of the angle command but analyzes the system performance compared with the desired angle.…”

“…Values for static friction and viscous friction coefficients are taken from [4] shown in Table 6, which is using a similar camera gimbal system. The static friction values range from 0.05 to 0.45 Nm and the viscous friction coefficients range within 1.5 − 2-4.5 − 2 Nm/rad/s.…”

“…Without a structure to model and analyze, structural resonant frequencies are used from [4], which uses a similar camera gimbal system. The multimodal modeling of the system is accomplished by cascading four transfer functions with the frequencies of 140 Hz, 220 Hz, 260 Hz, and 295 Hz to represent the system structure.…”

“…These can include infrared and optical cameras used for civilian or military applications including target tracking, telescope pointing, and image capture where the line of sight (LOS) of the instrument must be held steady and pointed to a desired location [1][2][3][4][5][6]. This becomes even more essential if the instrument is mounted to a moving base such as a land vehicle, airplane, helicopter, or a moving ship under environmental vibrations.…”

“…This becomes even more essential if the instrument is mounted to a moving base such as a land vehicle, airplane, helicopter, or a moving ship under environmental vibrations. Inertial measurement units (IMUs) consisting of accelerometers and rate gyros can be used to measure the acceleration and angular movement of both the base and stabilized platform in order to compensate for the external disturbances and stabilize the instrument concerned in order to hold the LOS [1][2][3][4][5][6]. The ability to stabilize a system and hold its LOS depends on many factors including, but not limited to, the control algorithms used, the gain settings of these algorithms, and the quality of the sensor providing the measurements used to control the LOS.…”