Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller.
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.
Malek Ashtat University of Technology, Department of Electrical Engineering, Lavizan, Tehran, Iran. Electronic address: maherabdo74@yahoo.com.
Maher Mahmoud
MM
Abdo
Malek Ashtat University of Technology, Department of Electrical Engineering, Lavizan, Tehran, Iran. Electronic address: ar.vali@aut.ac.ir.
Ahmad Reza
AR
Vali
Shahid Behechti University, Department of Aerospace, Tehran, Iran. Electronic address: toloei@sbu.ac.ir.
Ali Reza
AR
Toloei
Malek Ashtat University of Technology, Department of Electrical Engineering, Lavizan, Tehran, Iran. Electronic address: arvan@mut.ac.ar.
Mohammad Reza
MR
Arvan
Gimbal system; Inertia stabilization system; Line of sight; Rate gyro; Stabilization loop