Identification of a Two Degree of Freedom Tracker System:Theoretical and Experimental Discussion
Abstract
In this article, the identification problem of a practical two degree-of-freedom (DOF) tracker system is investigated. The analytical modeling of two-DOF gimbal system as the main core of the tracker for both elevation and azimuth axes are introduced. By simplification and discussion on the governing equations, suitable structure of the model for identification is obtained. By performing identification procedure on the experimental system in the elevation and azimuth axes, the simplified models of this system are obtained through Recursive Least Square (RLS) approach. This is performed by using the practical data obtained from gyro in each axis of the under study system. As it can be interpreted and predicted from theoretical model, the identification process leads to a non-minimum phase model which depends on the operational points. This identified model can be used in stabilization and tracking loops in the control system design stage. The identification results in comparison with theoretical and experimental data are discussed. The adaptive or robust controllers are suitable candidates for controlling tracker system, where in the both controllers use this simplified model as the nominal or reference model.References
[1] Ataei M., Moallem P., and Mahsouri R., A comprehensive model of a tracker system on motion equations of a two degree-of-freedom gimbal system. International Review on Modeling and Simulations. vol. 10, pp. 101-108, 2008.
[2] Abdo M., Toloei A., Vali A.R. and et al., Cascade control system for two axes gimbal system with mass unbalance. International Journal of Scientific & Engineering Research. vol. 4, pp. 903-912, 2013.
[3] Abdo M., Vali A., Toloei A.R. and et al. Research on the cross-coupling of a two axes gimbal system with dynamic unbalance. International Journal of Advanced Robotic System. Vol. 10, pp. 1-13, 2013.
[4] Abdo M., Toloei A., Vali A.R. and et al. Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller. ISA Transaction, vol. 53, pp. 591-602, 2013.
[5] Abdo M., Toloei A., Vali A.R. and et al. Modeling control and simulation of cascade control servo system for one axis gimbal. Mechanism international journal of engineering. Vol. 27, pp. 157-170, 2012.
[6] Khodadadi H., Jahed Motlagh M.R. and Gorji M. Robust Control and Modeling a 2-DOF inertial stabilized platform. International Conference on Electrical Control and Computer Engineering. Pahang. Malaysia, pp. 223-228, 2011.
[7] Shuang Y. and Zhao A., New measurement method for unbalanced moments in a two-axis gimbaled seeker. Chinese Journal of Aeronautic, vol. 23, pp. 117-122, 2010.
[8] Rue A.k., Precision stabilization system. IEEE Trans Aerospace Electron System. vol. 10, pp. 34_42, 1974.
[9] Masten M.K., Inertially stabilized platform for optical imaging systems. IEEE Control System Magazine. vol. 28, pp. 47_64, 2008.
[10] Ozgur H., Aydan E. and Erkmen I., Proxy-based sliding mode stabilization of a two-axis gimbaled platform. Proceedings of the World Congress on Engineering and Computer Science. San Francisco. USA. Vol. 1, 2011.
[11] Ekstrand B., Equation of motion for a two axes gimbal system. IEEE Transaction on Aerospace and Electronic System. vol. 37, pp. 1083-1091, 2001.
[12] Fang J., Yin R., Lei X., An adaptive decoupling control for three-axis gyro stabilized platform based on neural network. Mechatronics. vol. 27, pp. 38-46, 2015.
[13] Roshdy A., Chengzhi S., Mokbel H., and et al. Design a robust PI controller for line of sight stabilization system. International Journal of Modern Engineering Research. vol. 2, pp. 144-148, 2012.
[14] Wei J., Qi L., Bo X., and et al. Adaptive fuzzy PID composite control with hysteresis-band switching for line-of-sight stabilization servo system. Aerospace Science and Technology. vol. 15, pp. 25-32, 2010.
[2] Abdo M., Toloei A., Vali A.R. and et al., Cascade control system for two axes gimbal system with mass unbalance. International Journal of Scientific & Engineering Research. vol. 4, pp. 903-912, 2013.
[3] Abdo M., Vali A., Toloei A.R. and et al. Research on the cross-coupling of a two axes gimbal system with dynamic unbalance. International Journal of Advanced Robotic System. Vol. 10, pp. 1-13, 2013.
[4] Abdo M., Toloei A., Vali A.R. and et al. Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller. ISA Transaction, vol. 53, pp. 591-602, 2013.
[5] Abdo M., Toloei A., Vali A.R. and et al. Modeling control and simulation of cascade control servo system for one axis gimbal. Mechanism international journal of engineering. Vol. 27, pp. 157-170, 2012.
[6] Khodadadi H., Jahed Motlagh M.R. and Gorji M. Robust Control and Modeling a 2-DOF inertial stabilized platform. International Conference on Electrical Control and Computer Engineering. Pahang. Malaysia, pp. 223-228, 2011.
[7] Shuang Y. and Zhao A., New measurement method for unbalanced moments in a two-axis gimbaled seeker. Chinese Journal of Aeronautic, vol. 23, pp. 117-122, 2010.
[8] Rue A.k., Precision stabilization system. IEEE Trans Aerospace Electron System. vol. 10, pp. 34_42, 1974.
[9] Masten M.K., Inertially stabilized platform for optical imaging systems. IEEE Control System Magazine. vol. 28, pp. 47_64, 2008.
[10] Ozgur H., Aydan E. and Erkmen I., Proxy-based sliding mode stabilization of a two-axis gimbaled platform. Proceedings of the World Congress on Engineering and Computer Science. San Francisco. USA. Vol. 1, 2011.
[11] Ekstrand B., Equation of motion for a two axes gimbal system. IEEE Transaction on Aerospace and Electronic System. vol. 37, pp. 1083-1091, 2001.
[12] Fang J., Yin R., Lei X., An adaptive decoupling control for three-axis gyro stabilized platform based on neural network. Mechatronics. vol. 27, pp. 38-46, 2015.
[13] Roshdy A., Chengzhi S., Mokbel H., and et al. Design a robust PI controller for line of sight stabilization system. International Journal of Modern Engineering Research. vol. 2, pp. 144-148, 2012.
[14] Wei J., Qi L., Bo X., and et al. Adaptive fuzzy PID composite control with hysteresis-band switching for line-of-sight stabilization servo system. Aerospace Science and Technology. vol. 15, pp. 25-32, 2010.
Published
2016-06-06
How to Cite
Naderolasli, A., & Ataei, M. (2016). Identification of a Two Degree of Freedom Tracker System:Theoretical and Experimental Discussion. Majlesi Journal of Mechatronic Systems, 5(2). Retrieved from https://ms.majlesi.info/index.php/ms/article/view/273
Issue
Section
Articles
