Abstract
The two-axis pan-tilt platform (PTP) has been widely used in industrial control systems. The control performance of the PTP is sharply affected by the load variations, which are more significant on the pitch axis. Moreover, the PTP control system is sensitive to sensor noise and the friction moment. To achieve rapid and precise control, we build a pan-tilt platform model using the method of multiple system identification and design a speed controller and position controller on both the yaw and the pitch axes. The proposed method avoids the need to measure a large number of mechanical and electrical parameters. The experimental result shows that the proposed control system has small overshoot, fast response and suitable robustness. Relative to a controller designed and adjusted by experience, the designed system increases the bandwidth by approximately 50% on the yaw axis, and the settling time is decreased.
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