Modeling and Control of Two Axis

Gimbal System with Dynamic

Unbalance

Presented By: Muhammad

Faisal Khan(MSSE 2015-17)
Supervisor: Dr. Muhammad
Abid
 Agenda
Introduction to Gimbal Systems
2-axis Gimbal
Simple Mathematical Model
Cross Coupling
Dynamic Unbalance
Detailed mathematical model
PID Controller
Conclusion
 Gimbal System
Used to isolate a pointing device linked to a
moving vehicle from disturbancesto
maintain the line of sight(LOS)
Widely used in unmanned aerial vehicles,
tanks and missiles
2-axis gimbal: Two rings allowed to rotate
about their own axis freely. Pointing
device(e.g., camera) is installed on the
stable platform mounted on the inner
gimbal.continued
 Sources of Disturbance
Bases angular motion
Dynamics of the gimbaled system
Gimbal mass unbalance
Modelling done considering:
i. Angular motion of base body
ii. Cross-coupling between gimbals
iii. Gimbals unsymmetrical mass
distribution
 Problem Formulation

Two actuators, one attached to each

gimbal provide torque so that gimbal
tracks a desired trajectory and
compensates for external disturbances.
Platform: The body to
which gimbal is attached,
e.g., UAV.
Body A: Sensor, to be stabilized
Body B: Outer Gimbal
 Problem Formulation
Control Loop for a single axis gimbal
Modelling of Gimbal System
=Angular motion of outer(azimuth/yaw) gimbal
=Angular motion of body from
LOS(Elevation/pitch)
Reference Frames: (i,j,k),(n,e,k),(r,e,d)
Inertia Matrices: Dynamic Unbalance
 Modelling continued
Transfromation Matrices:
Transformation matrix
from P to B

Transformation matrix
from B to A

Angular Velocities of platform, body

B(Azimuth) and body A(Elevation) about the
respective axis:
 Velocity Relations
Objective: To stabilize gimbals LOS, i.e., the r-axis
hence Ae and Ad must be made zero

Platform P and body B

Body B and body A

 Equations of Motion using Newtons
2nd Law(without Dynamic Unbalance)
A
body does not rotate unless acted
upon by a net torque,
(8)
=Net Torque applied
=Moment of Inertia
=Angular Acceleration
Due to disturbances is not zero,
resulting into excessive motion or
jitter of LOS.
 Net torque is obtained as,

=Net Torque
 Elevation Channel
Relationships
By above equation,
 Explanation of Cross-
coupling

Using eq.(7), TD-EL can be decomposed as:

If pi=pj=pk=0, it implies that, Bn=Be=0. Hence TB=0

but Bk and consequently, TC-EL is not zero, that is, the
motion of azimuth gimbal may influence the elvation gimbal
when the body is not rotatingthis is cross-coupling.
 Without Dynamic
Unbalance
When there is no dynamic
unbalance, the inertia matrix is
diagonal, that is,
Are=Ard=Ade=0
Eq(14) becomes,

Using equations(7-a) and (7-c) in (17)

gives,
 Final Model for Elevation Channel
without Dynamic Unbalance

Nonlinear terms are obvious

Model of Azimuth Gimbal without
Dynamic Unbalance
Models with Dynamic
Unbalance
Implementation in MATLAB
Other Approaches
 State Space Model
(For sliding mode Control)
 State Space Model
Pitch(Elevation) Gimbal

Yaw(Azimuth Gimbal)
 TD: Calculated analytically
dp=0.02*sin(5.18t)