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
Detailed modeling and control of a 2-DOF gimbal system
Download
index.pdf
Date
2017
Author
Poyrazoğlu, Erhan
Metadata
Show full item record
Item Usage Stats
698
views
1088
downloads
Cite This
Gimbal systems are used in various engineering applications such as military systems. Their configurations are designed according to the types of application and desired performance requirements. The essential aim of these systems is to compensate the disturbance effects in order to stabilize LOS and positioning to the desired point. In this thesis, first, a detailed mathematical model of a 2-DOF gimbal system containing some nonlinear dynamic effects such as friction, static and dynamic mass unbalance is obtained by Newton-Euler approach. Next, three different controllers that are cascade proportional-integral (PI), global and local linear quadratic integral (LQI) have been constructed. The mathematical model and the controllers have been implemented in MATLAB and their performances have been investigated. In the final part of this study, in order to visualize and track a target in simulation, a 3-D virtual environment is constructed within MATLAB/Simulink 3-D Toolbox and a simple target tracking algorithm is designed to detect and track targets. All of these operations are simulated on MATLAB/Simulink environment.
Subject Keywords
Control theory.
,
Nonlinear theories.
,
Mathematical analysis.
,
Tracking (Engineering).
URI
http://etd.lib.metu.edu.tr/upload/12620689/index.pdf
https://hdl.handle.net/11511/26224
Collections
Graduate School of Natural and Applied Sciences, Thesis
Suggestions
OpenMETU
Core
DYNAMIC MODELING AND CONTROL OF AN ELECTROMECHANICAL CONTROL ACTUATION SYSTEM
Yerlikaya, Umit; Balkan, Raif Tuna (2017-10-13)
Electromechanical actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. due to their momentary overdrive capability, long-term storability, and low quiescent power/low maintenance characteristics. This work focuses on electromechanical control actuation systems (CAS) that are composed of a brushless direct current motor, ball screw, and lever mechanism. In this type of CAS, nonlinearity and asymmetry occur due to the lever mechanism itself, saturation limit...
Dynamic modeling and control of an electromechanical control actuation system
Yerlikaya, Ümit; Balkan, Raif Tuna; Department of Mechanical Engineering (2016)
Electromechanical simulators, actuators are widely used in miscellaneous applications in engineering such as aircrafts, missiles, etc. These actuators have momentary overdrive capability, long-term storability and low quiescent power/low maintenance characteristics. Thus, electromechanical actuators are applicable option for any system in aerospace industry, instead of using hydraulic actuators. In the same way, they can be used in control actuation section of missiles to deflect flight control surfaces. Mo...
Efficient analysis of large array antennas
Ovalı, Fatih; Aydın Çivi, Hatice Özlem; Department of Electrical and Electronics Engineering (2004)
Large phased array antennas are widely used in many military and commercial applications. The analysis of large arrays containing many antenna or frequency-selective (FSS) surface elements is inefficient or intractable when brute force numerical methods are used. For the efficient analysis of such structures hybrid methods (analytic and numerical, numerical and numerical) can be used. In this thesis, a hybrid method combining the uniform geometrical theory of diffraction (UTD) and the moment method (MoM) us...
Estimation of Deterministic and Stochastic IMU Error Parameters
Unsal, Derya; Demirbaş, Kerim (2012-04-26)
Inertial Measurement Units, the main component of a navigation system, are used in several systems today. IMU's main components, gyroscopes and accelerometers, can be produced at a lower cost and higher quantity. Together with the decrease in the production cost of sensors it is observed that the performances of these sensors are getting worse. In order to improve the performance of an IMU, the error compensation algorithms came into question and several algorithms have been designed. Inertial sensors conta...
Enhancement of the reliability of MEMS shock sensors by adopting a dual-mass model
Fathalilou, Mohammad; Soltani, Kamran; Rezazadeh, Ghader; Ciğeroğlu, Ender (Elsevier BV, 2020-03-01)
MEMS shock sensors are widely used with applications ranging from aircraft to electrical measurement systems. They are designed to operate at the shocks above a predefined threshold level. The conventional single-mass switches may lose their reliability at shock levels smaller than the threshold, if experience smaller unwanted pulse duration. This paper has proposed a dual-mass switch with auxiliary mass-spring attached to the main system which increases the reliability of the sensor against the unwanted pu...
Citation Formats
IEEE
ACM
APA
CHICAGO
MLA
BibTeX
E. Poyrazoğlu, “Detailed modeling and control of a 2-DOF gimbal system,” M.S. - Master of Science, Middle East Technical University, 2017.
