Gimbal Axes Control with PID Controllers

Abstract

Gimbal is a system in missiles that allows the seeker to lock onto the target and follow it and increases the angle of view with its mobility in two axes. In this study, the control of the axes of a two-axis gimbal system used in the missile was carried out. PID controller tuned with Particle Swarm Optimization (PSO) is used in the control algorithm. In the optimization, a smoother controller is aimed by using the multi-objective objective function, which also includes the controller output with the position error. At the same time, the bandwidth of the system is also included as a constraint. The Butterworth Polynomial Method (BPM), which can adjust the coefficient according to the bandwidth criterion, was used for comparison purposes. As a result of the experimental studies show that the PID tuned with PSO can control the system with a lower positional error by responding faster to external factors than the PID designed with BPM.

Keywords

• Butterworth polynomial method
• gimbal
• particle swarm optimization
• PID

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