Compensation of Friction Effects in Gyro-Stabilized Motion Platforms

Date

2015-07-03

Author

Sincar, Eyyup
Balkan, Raif Tuna
Platin, Bülent Emre

Metadata

Show full item record

This work is licensed under a Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International License.

Item Usage Stats

224
views

0
downloads

A frequent problem encountered in the stabilization of gyro-stabilized motion platforms is the disturbance rejection associated with moving components. Due to relative motion of adjacent components, friction is induced by the destabilizing force from the base motion to the stabilized object, degrading its motion accuracy. Hence, a compensation of frictional effects is necessary in order to obtain a highly precise stabilization performance. In this paper, applications of both single-state disturbance observer and well-known LuGre friction model on gyro-stabilized motion platforms is presented to compensate for friction. The compensation techniques are described for a generalized control system and simplified for a specific case. The success of these techniques is validated via experiments and simulations by constructing a block diagram of the system stabilization loop. An added disturbance observer yields a similar improvement in the stabilization performance as the LuGre friction model does at low frequencies. However, the performance of disturbance observer degrades as the frequency of disturbances increases although it still improves the overall stabilization performance of the system.

Subject Keywords

Model

URI

https://hdl.handle.net/11511/55399

Conference Name

American Control Conference

Collections

Department of Mechanical Engineering, Conference / Seminar

Suggestions

OpenMETU
Core

Friction identification and compensation of its effects in stabilized platforms Sincar, Eyyüp; Balkan, Raif Tuna; Platin, Bülent Emre; Department of Mechanical Engineering (2013) A frequent problem encountered in the stabilization of a dynamic system supported by a moving base is the disturbance rejection associated with moving components. Due to relative motion of adjacent components, the friction induces a destabilizing force from base motion to the stabilized object, which degrades the motion accuracy. Therefore, the compensation of frictional effects is necessary in order to obtain a highly precise stabilization performance, especially, when the stabilized system undergoes low-v...
Head related transfer function filter interpolation by root displacement Hacıhabiboğlu, Hüseyin; Günel Kılıç, Banu (2005-10-16) Head-related transfer function (HRTF) filters are used in virtual auditory displays for the binaural synthesis of the direction of a sound source over headphones. Once low-order HRTF filters are designed, the interpolation of these filters becomes an important issue for the synthesis of moving sound sources. An HRTF filter interpolation method based on the displacement of HRTF filter roots is proposed. It is possible to obtain a minimum-phase interpolated filter given that the original filters are also mini...
Nonlinear modeling and vibration analysis of horizontal drum type washing machines Baykal, Cem; Yazıcıoğlu, Yiğit; Department of Mechanical Engineering (2019) Nonlinear two and three-dimensional dynamical models for horizontal drum type washing machines are developed considering rotating unbalance type excitation. Nonlinear differential equations of motion are converted into a set of nonlinear algebraic equations by using the Harmonic Balance Method (HBM). The resulting nonlinear algebraic equations are solved by using Newton’s method with arc-length continuation. Several case studies are performed in order to observe the effects of orientation angles of springs ...
Search for Gluinos in Events with Two Same-Sign Leptons, Jets, and Missing Transverse Momentum with the ATLAS Detector in pp Collisions at root s=7 TeV Aad, G.; et. al. (2012-06-15) A search is presented for gluinos decaying via the supersymmetric partner of the top quark using events with two same-sign leptons, jets, and missing transverse momentum. The analysis is performed with 2: 05 fb(-1) of integrated luminosity from pp collisions at root s = 7 TeV collected by the ATLAS detector at the LHC. No excess beyond the standard model expectation is observed, and exclusion limits are derived for simplified models where the gluino decays via the supersymmetric partner of the top quark and...
OPTIMIZATION OF ENCODING AND ERROR PROTECTION PARAMETERS FOR 3D VIDEO BROADCAST OVER DVB-H Aksay, Anil; Bugdayci, Done; Akar, Gözde (2011-05-18) In this study, we propose a heuristic methodology for modeling the end-to-end distortion characteristics of an error resilient broadcast system for 3D video overDigital Video Broadcasting -Handheld (DVB-H). We also use this model to optimally select the parameters of the video encoder and the error correction scheme, namely, Multi Protocol Encapsulation Forward Error Correction (MPE-FEC), minimizing the overall distortion. The proposed method models the RQ curve of video encoder and performance of channel c...

Citation Formats

E. Sincar, R. T. Balkan, and B. E. Platin, “Compensation of Friction Effects in Gyro-Stabilized Motion Platforms,” presented at the American Control Conference, Chicago, IL, 2015, Accessed: 00, 2020. [Online]. Available: https://hdl.handle.net/11511/55399.