Show/Hide Menu
Hide/Show Apps
Logout
Türkçe
Türkçe
Search
Search
Login
Login
OpenMETU
OpenMETU
About
About
Open Science Policy
Open Science Policy
Open Access Guideline
Open Access Guideline
Postgraduate Thesis Guideline
Postgraduate Thesis Guideline
Communities & Collections
Communities & Collections
Help
Help
Frequently Asked Questions
Frequently Asked Questions
Guides
Guides
Thesis submission
Thesis submission
MS without thesis term project submission
MS without thesis term project submission
Publication submission with DOI
Publication submission with DOI
Publication submission
Publication submission
Supporting Information
Supporting Information
General Information
General Information
Copyright, Embargo and License
Copyright, Embargo and License
Contact us
Contact us
Angular acceleration assisted stabilization of a-2 DOF gimbal platform
Download
index.pdf
Date
2010
Author
Öztürk, Taha
Metadata
Show full item record
Item Usage Stats
564
views
345
downloads
Cite This
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 improvements obtained both theoretically and on experimental setup. Although the system to be studied is a two axis gimbal platform, the results obtained can be applied to other servo control problems. It is possible to define different performance criteria for a servo control problem and different techniques will be addressed with different control objectives. For this thesis work, the performance criterion is defined as the stabilization performance of the platform. As a result, disturbance rejection characteristics of the controller emerges as the main topic and methods for rejecting these disturbances such as the friction torques and externally applied moments are focused on throughout the studies. As expected, remarkable improvement is achieved as a result of the use of acceleration feedback.
Subject Keywords
Control engineering systems.
,
Automatic machinery (General)
URI
http://etd.lib.metu.edu.tr/upload/12612318/index.pdf
https://hdl.handle.net/11511/19948
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
Modeling and control of a stabilization system
Afacan, Kamil; Balkan, Raif Tuna; Department of Mechanical Engineering (2004)
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...
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. ...
GPS based altitude control of an unmanned air vehicle using digital terrain elevation data
Ataç, Selçuk; Platin, Bülent Emre; Department of Mechanical Engineering (2006)
In this thesis, an unmanned air vehicle (UAV) is used to develop a prototype base test platform for flight testing of new control algorithms and avionics for advanced UAV system development applications. A control system that holds the UAV at a fixed altitude above the ground is designed and flight tested. Only the longitudinal motion of the UAV is considered during the controller design, hence its lateral motions are controlled manually by a remote control unit from the ground. UAV’s altitude with respect ...
"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...
Control system design for a haptic device
Bideci, Süleyman; Konukseven, Erhan İlhan; Department of Mechanical Engineering (2007)
In this thesis, development of a control system is aimed for a 1 DOF haptic device, namely Haptic Box. Besides, it is also constructed. Haptic devices are the manipulators that reflect the interaction forces with virtual or remote environments to its users. In order to reflect stiffness, damping and inertial forces on a haptic device position, velocity and acceleration measurements are required. The only motion sensor in the system is an incremental optical encoder attached to the back of the DC motor. The ...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
T. Öztürk, “Angular acceleration assisted stabilization of a-2 DOF gimbal platform,” M.S. - Master of Science, Middle East Technical University, 2010.
