Abstract
This work proposes an active mount for the camera systems of unmanned aerial vehicles(UAV) in order to control unwanted vibrations. An active actuator of the proposed mountis devised as an inertial type, in which a piezostack actuator is directly connected to theinertial mass. After evaluating the actuating force of the actuator, it is combined with therubber element of the mount, whose natural frequency is determined based on themeasured vibration characteristics of UAV. Based on the governing equations ofmotion of the active camera mount, a robust sliding mode controller (SMC) isthen formulated with consideration of parameter uncertainties and hysteresisbehavior of the actuator. Subsequently, vibration control performances of theproposed active mount are experimentally evaluated in the time and frequencydomains. In addition, a full camera mount system of UAVs that is supported by fouractive mounts is considered and its vibration control performance is evaluated inthe frequency domain using a hardware-in-the-loop simulation (HILS) method.
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