Abstract
The research work evaluates the quality of the sensor to perform measurements and documents its effects on the performance of the system. It also evaluates if this performance changes due to the environments and other system parameters. These environments and parameters include vibration, system friction, structural resonance, and dynamic system input. The analysis is done by modeling a gimbal camera system that requires angular measurements from inertial sensors and gyros for stabilization. Overall, modeling includes models for four different types of gyros, the gimbal camera system, the drive motor, the motor rate control system, and the angle position control system. Models for friction, structural resonance, and vibration are analyzed, respectively. The system is simulated, for an ideal system, and then includes the more realistic environmental and system parameters. These simulations are run with each of the four types of gyros. The performance analysis depicts that for the ideal system; increasing gyro quality provides better system performance. However, when environmental and system parameters are introduced, this is no longer the case. There are even cases when lower quality sensors provide better performance than higher quality sensors.
Highlights
Stabilized platforms (ISP) are used to aim and stabilize many different instruments
Inertial measurement units (IMUs) consisting of accelerometers and rate gyros can be used to measure the acceleration and angular movement of both the base and stabilized platform in order to compensate for the external disturbances and stabilize the instrument concerned in order to hold the line of sight (LOS) [1,2,3,4,5,6]
The results show that gyro IV performed with a smaller standard deviation with structural resonance included compared with friction alone
Summary
Stabilized platforms (ISP) are used to aim and stabilize many different instruments These can include infrared and optical cameras used for civilian or military applications including target tracking, telescope pointing, and image capture where the line of sight (LOS) of the instrument must be held steady and pointed to a desired location [1,2,3,4,5,6]. The model including friction and structural resonance is subjected to different levels of environmental vibration to determine if the performance provided by each quality of sensor varies with the system conditions. Once the control design is concluded, the closed-loop system is simulated, incrementally adding friction, structural resonance, environmental vibration, and dynamic command input, to simulate base motion cancellation, in order to compare the system performance based on the rate gyro selection for the given conditions. This research verifies the necessity of modeling and simulating the sensor performance to ensure correct sensor selection for a desired application
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