Stabilization of Two Axis Gimbal System with Self Tuning PID Control

Abstract

Gimbal is a system that provides locking and tracking of the seeker on the target in missiles and increases the angle of view with its mobility in two axes. In this study, stabilization of a two-axis gimbal system used in the missile was carried out. In gimbal stabilization, adaptive controllers are preferred instead of classical controllers due to unbalance, cross-coupling, and unmeasurable disturbances. A Self Tuning PID controller based on Fuzzy Logic was developed for axis controls in the stabilization algorithm. Thanks to this controller, which works with the principle of choosing the most appropriate coefficient at every step, it was possible to control with less than 3% errors in the tests performed with the flight simulator. In addition, a PID controller whose coefficients are optimized with Particle Swarm Optimization is designed for comparison purposes. In experimental studies, it was seen that PID with adjustable coefficients gave better results than the fixed PID.

Modeling and Control of a Two-Axis Stabilized Gimbal Based on Kane Method

“…In order to enhance the performance of the control system, a combination of fuzzy control and PID is utilized and applied to the position tracking of the seeker inertial stabilization platform [ 14 ]. In [ 15 ], a self-tuning fuzzy PID controller for missile two-axis gimbal is proposed. Additionally, a PID controller with coefficients optimized by using the particle swarm optimization method is designed.…”