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Design and control of a 2 DOF stabilizer

Kılıç, Zafer
Majority of mission critical airborne, marine or land platforms and vehicles are equipped with highly accurate cameras, infra-red imagers, sighting systems, communication antennas and gun systems. While these systems function, the platforms they are attached to are in constant movement. The vibration they are subject to may cause temporary communication interruption, low image quality or other functional degradations. One of the most proven methods to eliminate these problems is utilizing gimbal stabilization. In this study, an experimental set-up to test and verify different control methods to satisfy stabilization performance of an inertial stabilization system, has been designed and manufactured. A very detailed mathematical modelling for inverse and forward kinematics of the system and dynamic analysis involving nonlinear dynamic effects such as static and dynamic mass unbalance and friction has been obtained by using Lagrange methods. Then, based on the equation of motion derived previously, the mathematical foundation for different control strategies has been developed. Finally, the theoretical background developed has been tested and verified using the experimental set-up. The results of the experiments are compared and performances of the different control methods such as PID control, LQR control and their robust and adaptive versions are compared. The results of this study will be used to design a family of stabilizers to be used with Mast systems and hence this study is supported by Figes Milmast Inc.