Testing and comparison of different control methods on a gimbal system

Yıl 2025, Cilt: 40 Sayı: 1, 219 - 236, 16.08.2024

Muharrem Mandacı , Şölen Kumbay Yıldız

https://doi.org/10.17341/gazimmfd.1375758

Öz

Gimbal systems serve as critical mechanisms for carrying payloads and accurately aligning them with specific lines of sight. Designing controllers for these gimbal systems necessitates robustness against external disturbances and variations in system parameters. Various control methods have been explored in existing literature to address this challenge. In the scope of this study, we investigate the performance of four distinct control strategies—Proportional-Integral (PI) control, Self-Tuning PI control, Integral Action Linear-Quadratic regulator (IA-LQR), and Relay Sliding Mode Control based on the Input-Output Model (RSMC-IO)—as speed controllers for a gimbal system. We assess their efficacy through both simulation-based experiments and real-world applications, offering a comprehensive analysis of their outcomes. Beyond speed control, we extend our investigation to include cascade position control, employing a PD control structure in the outer loop. Our study focuses on evaluating the performance of these diverse control structures when subjected to disturbances and variations in model parameters. To the best of our knowledge, this research marks the first attempt to apply the RSMC-IO approach to gimbal systems, enhancing our understanding of control strategies in this context and offering valuable insights into their practical implications.

Anahtar Kelimeler

Gimbal Control, PI control, self tuning PI control, integral action LQR, RSMC-IO

Farklı denetim yöntemlerinin bir gimbal sistemi üzerinde sınanması ve karşılaştırılması

Öz

Gimbal sistemleri, faydalı yükleri taşımak ve bunları belirli bakış hatlarına doğru şekilde hizalamak için kritik mekanizmalar olarak hizmet eder. Bu sistemler için denetleyici tasarımı, dış etkenlere ve sistem parametrelerindeki değişikliklere karşı gürbüzlük gerektirir. Bu zorluğun üstesinden gelmek için mevcut literatürde çeşitli kontrol yöntemleri araştırılmıştır. Bu çalışma kapsamında gimbal sisteminin için hız denetimi için dört farklı kontrol stratejisinin başarımı irdelenmektedir: Oransal-Tümlevsel (OTüm) denetim, Özayarlamalı OTüm Denetim, Tümlev Etkili Doğrusal Karesel Denetim (TE-DKD) ve Giriş Çıkış Modeline Dayalı Röle Kayan Kipli Denetim (GÇ-RKKD). Bu yaklaşımların etkinliği hem benzetimler hem de gerçek uygulamaları aracılığıyla değerlendirilmiş ve sonuçları kapsamlı bir şekilde irdelenmiştir. Hız denetimine ek olarak, dış döngüde bir Oransal Türevsel (OTür) denetim yapısı kullanılarak ardışık konum denetimi de gerçekleştirilmiştir. Çalışma, model parametrelerindeki değişimler ve bozulmalar etkisinde bu denetim yapılarının başarımını değerlendirmeye odaklanmaktadır. RSMC-IO yönteminin bir gimbal sistemine uygulandığı bir çalışma bilgimiz dahilinde bulunmamaktadır. Bu bağlamda bu çalışma denetim stratejileri anlayışımızı geliştirmekte ve bunların pratik sonuçlarına ilişkin önemli katkılar sunmaktadır.

Anahtar Kelimeler

Gimbal denetim, OTüm denetim, özayarlamalı OTüm denetim, tümlev etkili doğrusal karesel denetim, giriş çıkış modeline dayalı röle kayan kipli denetim

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