A correction in feedback loop applied to two-axis gimbal stabilization

• Autorzy: Wrońska-Zych A. , Dudczyk J. , Kawalec A.

Identyfikatory

DOI

10.1515/bpasts-2015-0025

• Języki publikacji: EN

Abstrakty

EN

A two-axis gimbal system can be used for stabilizing platform equipped with observation system like cameras or different measurement units. The most important advantageous of using a gimbal stabilization is a possibility to provide not disturbed information or data from a measurement unit. This disturbance can proceed from external working conditions. The described stabilization algorithm of a gimbal system bases on a regulator with a feedback loop. Steering parameters are calculated from quaternion transformation angular velocities received from gyroscopes. This data are fed into the input of Proportional Integral Derivative (PID) controller. Their input signal is compared with earned value in the feedback loop. The paper presents the way of increasing the position’s accuracy by getting it in the feedback loop. The data fusion from a positioning sensor and a gyroscope results in much better accuracy of stabilization.

Słowa kluczowe

EN

gimbal stabilization; feedback loops; Kalman filter

PL

kardanowa stabilizacja; pętla sprzężenia zwrotnego; filtr Kalmana

• Wydawca: Polska Akademia Nauk, Wydział IV Nauk Technicznych
• Czasopismo: Bulletin of the Polish Academy of Sciences. Technical Sciences
• Rocznik: 2015
• Tom: Vol. 63, nr 1
• Strony: 217–--219
• Opis fizyczny: Bibliogr. 9, wykr., rys.

Twórcy

autor

Wrońska-Zych A.

• WB Electronics S.A., 129/133 Poznańska St., 05-850 Ożarow Mazowiecki, Poland

autor

Dudczyk J.

• WB Electronics S.A., 129/133 Poznańska St., 05-850 Ożarow Mazowiecki, Poland

autor

Kawalec A.

• Institute of Radioelectronics, Faculty of Electronics, Military University of Technology, 2 S. Kaliskiego St., 00-908 Warsaw, Poland

Bibliografia

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