Outline
- Abstract
- Keywords
- 1. Introduction
- 2. Problem Formulation
- 3. Equations of Gimbals Motion
- 4. Stabilization Loop Construction
- 5. Proposed Controller Design
- 6. Simulation Results
- 6.1. Validation Test and Disturbance Analysis
- 6.2. Performance Comparison of Fuzzy Pid Type and Conventional Pi Controllers
- 7. Conclusion
- Appendix A. Azimuth Channel Torque Relationships
- Appendix B. Elevation Channel Torque Relationships
- References
رئوس مطالب
- چکیده
- 1. مقدمه
- 2. فرمول بندی مسئله
- 3. معادلات حرکت طوقه ها
- 4. ایجاد حلقه تثبیت
- 5. طراحی کنترلر ارائه شده
- 6. نتایج شبیه سازی
- 6.1. آنالیز آشوب و بررسی اعتبارسنجی
- 6.2. مقایسه عملکرد کنترلرهای PI معمولی و نوع PID فازی
- 7. نتیجه گیری
Abstract
The application of inertial stabilization system is to stabilize the sensor’s line of sight toward a target by isolating the sensor from the disturbances induced by the operating environment. The aim of this paper is to present two axes gimbal system. The gimbals torque relationships are derived using Lagrange equation considering the base angular motion and dynamic mass unbalance. The stabilization loops are constructed with cross coupling unit utilizing proposed fuzzy PID type controller. The overall control system is simulated and validated using MATLAB. Then, the performance of proposed controller is evaluated comparing with conventional PI controller in terms of transient response analysis and quantitative study of error analysis. The simulation results obtained in different conditions prove the efficiency of the proposed fuzzy controller which offers a better response than the classical one, and improves further the transient and steady-state performance.
Keywords: Gimbal system - Inertia stabilization system - Line of sight - Rate gyro - Stabilization loopConclusions
A two axes gimbal system was proposed and its mathematical model derived utilizing Lagrange equation considering the base angular rates, the dynamic mass unbalance, and the cross coupling between elevation and azimuth channels. Then, the stabilization loop was introduced and a self-tuning fuzzy PID type controller was designed. The overall control system has been created and simulated using MATLAB/Simulink and SimMechanics tools to confirm the validity and correction of the proposed system. The torque disturbance has been analysed, then the performance of fuzzy PID type controller has been tested using transient response analysis and a quantitative study of error analysis. Based on the results obtained, the following observations can be remarked. First, the proposed self tuning operation provides good adaptivity to the gimbal system which offers high performance despite of the torque disturbances so that it can be utilized more efficiently in dynamical environment that usually imposes large variable base rates. Then, the proposed fuzzy controller can reduce the response settling time as compared with the conventional PI controller. Finally, the proposed fuzzy controller improves the closeness of system response and support the system relative stability by reducing the response overshoot considerably without increasing the response rise time dramatically i.e. without largely abaissement or weakening the swiftness of system response like to what usually take place when the conventional PID is used.