A correction in feedback loop applied to two-axis gimbal stabilization

Bulletin of the Polish Academy of Sciences. Technical Sciences

A. KawalecInstitute of Radioelectronics, Faculty of Electronics, Military University of Technology, 2 S. Kaliskiego St., 00-908 Warsaw, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar¹  A. Wro?ska-ZychWB Electronics S.A., 129/133 Pozna?ska St., 05-850 O?arow Mazowiecki, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar²  C. ZychCorresponding authorWB Electronics S.A., 129/133 Pozna?ska St., 05-850 O?arow Mazowiecki, PolandEmailOther articles by this author:De Gruyter OnlineGoogle Scholar²  J. DudczykWB Electronics S.A., 129/133 Pozna?ska St., 05-850 O?arow Mazowiecki, PolandOther articles by this author:De Gruyter OnlineGoogle Scholar² 

[1] Institute of Radioelectronics, Faculty of Electronics, Military University of Technology, 2 S. Kaliskiego St., 00-908 Warsaw, Poland;WB Electronics S.A., 129/133 Pozna?ska St., 05-850 O?arow Mazowiecki, Poland

关键词: Keywords : gimbal stabilization;    feedback loop;    Kalman filter;   

DOI  :  10.1515/bpasts-2015-0025

学科分类：工程和技术（综合）

来源: Polska Akademia Nauk * Centrum Upowszechniania Nauki / Polish Academy of Sciences, Center for the Advancement of Science

【 摘 要 】

A two-axis gimbal system can be used for stabilizing platform equipped with observation system like cameras or different measurement units. The most important advantageous of using a gimbal stabilization is a possibility to provide not disturbed information or data from a measurement unit. This disturbance can proceed from external working conditions. The described stabilization algorithm of a gimbal system bases on a regulator with a feedback loop. Steering parameters are calculated from quaternion transformation angular velocities received from gyroscopes. This data are fed into the input of Proportional Integral Derivative (PID) controller. Their input signal is compared with earned value in the feedback loop. The paper presents the way of increasing the position’s accuracy by getting it in the feedback loop. The data fusion from a positioning sensor and a gyroscope results in much better accuracy of stabilization.

【 授权许可】

Unknown