A Six-Degree-of-Freedom Shaker Table, Active Isolator, and Gimbaled Stage for Research in Precision Motion Control and Target Tracking

Abstract

Abstract : We have acquired a unique facility that will allow us to conduct experimental research relating to precision motion control and target tracking in a high disturbance environment. The principal components include a six-degree-of-freedom (6-DOF) shaker table, active isolation stage, gimbal mount, and camera sensor. Individually, these components are valuable for research in guidance, tracking, control and related technologies. As an integrated system, this equipment provides a unique facility for performing sophisticated and meaningful research of direct relevance to a wide range of DOD programs. The shaker table is an all-electric six-degree-of-freedom platform. This table can emulate the aiming and pointing disturbances generated by a moving tank or aircraft. The active isolation stage will be used to reduce the effects of high frequency vibration, while the gimbal will provide azimuth and elevation motion for low frequency compensation and target tracking. Mounted on the gimbal is a camera capable of high speed imaging for target acquisition and tracking. Target images are generated by a projection system to permit research in target detection, recognition, and tracking. This integrated system provides a high performance testbed for implementing and validating new techniques for modeling, identification, signal processing, and control. Using real-time control processors, we plan to implement and demonstrate adaptive control algorithms that provide precision motion control with minimal dynamics and disturbance modeling and in the presence of unexpected and unpredictable system variations. This facility will also allow us to undertake new research projects in target acquisition and recognition.