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 derive...

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Bibliographic Details
Published in:ISA transactions 2014-03, Vol.53 (2), p.591-602
Main Authors: Abdo, Maher Mahmoud, Vali, Ahmad Reza, Toloei, Ali Reza, Arvan, Mohammad Reza
Format: Article
Language:English
Subjects:
Dynamics
Fuzzy control
Gimbal system
Gimbals
Inertia stabilization system
Line of sight
Mathematical analysis
Matlab
Proportional integral derivative
Rate gyro
Simulation
Stabilization
Stabilization loop
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Summary: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. •Two axes gimbal system using self tuning fuzzy controller is proposed.•Equations of gimbals motion are derived considering the dynamic mass unbalance.•The complete control system is modeled considering the inertia cross coupling.•The controllers are online tuned utilizing the base angular rate.•The fuzzy controller improves the system performance more than conventional PID.
ISSN:0019-0578
1879-2022
DOI:10.1016/j.isatra.2013.12.008