Platform motion disturbances decoupling by means of inertial sensors for a motion stabilized gimbal

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Date

2015

Author

Mutlu, Deniz

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In this study, a method is developed to overcome platform motion based disturbances resulting from kinematic and dynamic interactions between platform and gimbal system. The method is confined to using underlying non-linear relations in order to increase performance of the system in nearly all of its motion envelope. Sensor requirements and measurements methods are also stated for the developed method. In order to simulate real system conditions, an identification procedure is applied on the system whose outputs are later integrated into system mode. After development of the proposed disturbance rejection algorithm, wide range of simulations are performed to assess its performance with realistic data obtained from an intended base vehicle. Remarkable increases in disturbance rejection in different scenarios are obtained through simulations which indicates promising results for real life application.

Subject Keywords

Motion control devices., Tracking (Engineering)., Motion detectors., Control theory.

URI

http://etd.lib.metu.edu.tr/upload/12619607/index.pdf
https://hdl.handle.net/11511/25331

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Graduate School of Natural and Applied Sciences, Thesis

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Citation Formats

D. Mutlu, “Platform motion disturbances decoupling by means of inertial sensors for a motion stabilized gimbal,” M.S. - Master of Science, Middle East Technical University, 2015.