Modeling and control of a stabilization system

Afacan, Kamil
Elevation axis model of a barrel stabilization system is constructed. The nonlinearities which are considered in the model are orifice flow characteristics, coulomb friction, hard-stop limits, kinematics of the system and unbalance on the barrel. A Simulink® model for the servo valve, actuation system and barrel is constructed. Servo valve identification is made via the actual test data. Compressibility of the hydraulic fluid is taken into consideration while modeling the actuation system. Friction model is simulated for different cases. Controller of the system is constructed by two PIDs, one for each of the velocity and the position loops. Velocity feed forward can reduce the time to make a quick move by the system. The disturbance is evaluated from a given road profile and disturbance feed forward is applied to the system.


Modeling and real-time control system implementation for a Stewart Platform
Albayrak, Onur; Arıkan, Mehmet Ali Sahir; Department of Mechanical Engineering (2005)
This work focuses on modeling and real-time control of a motion simulator for dynamic testing of a two-axis gyro-stabilized head mirror used in modern tanks. For this purpose, a six-degree-of freedom Stewart Platform which can simulate disturbances on the stabilized head mirror during operation of the tank is employed. Mathematical models of the Stewart Platform are constructed using MATLAB and ADAMS. Control system infrastructure is constructed and real-time control system elements are employed. Controller...
Modeling and simulation of a navigation system with an IMU and a Magnetometer
Kayasal, Uğur; Özgören, Mustafa Kemal; Department of Mechanical Engineering (2007)
In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. ...
Angular acceleration assisted stabilization of a-2 DOF gimbal platform
Öztürk, Taha; Leblebicioğlu, Mehmet Kemal; Department of Electrical and Electronics Engineering (2010)
In this thesis work construction of the angular acceleration signal of a 2-DOF gimbal platform and use of this signal for improving the stabilization performance is aimed. This topic can be divided into two subtopics, first being the construction of angular acceleration and the second being the use of this information in a way to improve system performance. Both problems should be tackled in order to get satisfactory results. The most important output of this work is defined as the demonstration of the impr...
Simulation of motion of an underwater vehicle
Geridönmez, Fatih; Alemdaroğlu, Hüseyin Nafiz; Department of Aerospace Engineering (2007)
In this thesis, a simulation package for the Six Degrees of Freedom (6DOF) motion of an underwater vehicle is developed. Mathematical modeling of an underwater vehicle is done and the parameters needed to write such a simulation package are obtained from an existing underwater vehicle available in the literature. Basic equations of motion are developed to simulate the motion of the underwater vehicle and the parameters needed for the hydrodynamic modeling of the vehicle is obtained from the available litera...
"High precision CNC motion control"
Ay, Gökçe Mehmet; Dölen, Melik; Department of Mechanical Engineering (2004)
This thesis focuses on the design of an electrical drive system for the purpose of high precision motion control. A modern electrical drive is usually equipped with a current regulated voltage source along with powerful motion controller system utilizing one or more micro-controllers and/or digital signal processors (DSPs). That is, the motor drive control is mostly performed by a dedicated digital-motion controller system. Such a motor drive mostly interfaces with its host processor via various serial comm...
Citation Formats
K. Afacan, “Modeling and control of a stabilization system,” M.S. - Master of Science, Middle East Technical University, 2004.