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Modeling, identification and real time position control of a two-axis gimballed mirror system

Çağatay, Kartal
This work focuses on modeling, parameter estimation, and real-time position control of a two axis Gimbaled Mirror System (GMS) which is designed and manufactured to move an IR spot generated by an Infra Red Scene Generator System (IRSGS) in two orthogonal axes (elevation and azimuth) within the IR scene which is also generated by the IRSGS. Mathematical models of the GMS, the control system, and the disturbance torque originated from the movements of Flight Motion Simulator (FMS), on which the IRSGS will be mounted, are constructed using MATLAB®/Simulink® and MATLAB/Simulink/SimMechanics®. Parameter estimations of the GMS and control system elements are achieved using MATLAB/Simulink Parameter Estimation Tool®. The controller tuning is performed using the developed mathematical models in MATLAB/Simulink environment. Optimized digital PID controllers are implemented in the real-time control system. Performances of the controllers for both GMS axes are evaluated by both real system tests and simulation runs; and the results of these runs are compared. Controller performances under the effect of disturbances are analyzed by using the mathematical models developed in the MATLAB/ Simulink environment.