J. KIMS Technol Search

CLOSE


J. KIMS Technol > Volume 21(4); 2018 > Article
Journal of the Korea Institute of Military Science and Technology 2018;21(4):508-519.
DOI: https://doi.org/10.9766/KIMST.2018.21.4.508   
A Simultaneous Experimental Disturbances Identification of Gyro Stabilized 2-Axes Gimbal System for Disturbance Feedforward Compensation Control
Sung Min Yeo, Min Sig Kang
Department of Mechanical Engineering, Gachon University
2-축 자이로 안정화 김발 시스템의 외란보상 앞먹임 제어를 위한 실험적 2-축 외란 동시 식별
여성민, 강민식
가천대학교 기계공학과
Abstract
This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.
Key Words: Mass Unbalance, Friction, Feedforward Compensation Control, Stabilzation Control, Coordinate Tranform, Simultaneous Identification
TOOLS
Share :
Facebook Twitter Linked In Google+ Line it
METRICS Graph View
  • 0 Crossref
  •    
  • 512 View
  • 3 Download
Related articles in J. KIMS Technol.


ABOUT
ARTICLE CATEGORY

Browse all articles >

BROWSE ARTICLES
FOR CONTRIBUTORS
Editorial Office
160 Bugyuseong-daero 488beon-gil, Yuseong-gu, Daejeon 34060, Korea
Tel: +82-42-823-4603    Fax: +82-42-823-4605    E-mail: kimst@kimst.or.kr                

Copyright © 2024 by The Korea Institute of Military Science and Technology.

Developed in M2PI

Close layer
prev next