International Journal of Applied Engineering Research ISSN 0973-4562 Volume 10, Number 14 (2015) pp 33924-33928
© Research India Publications. [Link]
Performance Analysis of Robust Controllers for Inertially Stabilized
Platform
Rajesh Kumar
Deptt. of Instrumentation & Control Engg.
Graphic Era University, Dehradun, Uttrakhand, India
rajtisotra@[Link]
Sanjeev Kumar
Deptt. of Instrumentation & Control Engg.
Graphic Era University, Dehradun, Uttrakhand, India
[Link]@[Link]
Abstract configurations, while in others, mirrors or other optical
In this paper, direct line of sight (LOS) stabilization of a two elements are mounted to the gimbal, and the sensor is fixed to
axis gimbaled system has been analysed with different the vehicle. Typically, the gimbal must be designed to point
disturbances. It also includes modeling, simulation and control and stabilize about two or more axes, and, therefore, most
designing aspects of gimbal. Robust control algorithms using applications require at least two orthogonal gimbals.
PI( proportional integral) & LQG(linear quadratic However, more than two gimbals are often required to provide
gaussian)/LTR(loop transfer recovery) have been designed & additional degrees of freedom or to achieve better isolation
simulated for inertially stabilized platform. A comparison has from the host vehicle. Gimbal-sensor assemblies can range in
been made between proportional Integral controller(PI) and weight from under a pound to several tons, and, although the
LQG/LTR controllers in terms of frequency & time domain. weight of an ISP depends primarily on the size of the payload
being controlled, the size and weight of the ISP also increase
Keywords: Gimbal, LOS, LQG/LTR. dramatically as additional gimbal axes are added.
Although requirements for ISPs vary widely depending on the
application, they all have a common goal, which is to hold or
Introduction control the line of sight (LOS) of one object relative to
Inertially stabilized platforms (ISPs) are widely used to another object or inertial space. The LOS can be the aim point
stabilize the line of sight of the gimbaled payload mounted on of a beam or weapon, the center of the field of view (FOV) of
a moving vehicle from satellites to submarines, and are even a telescope, or the direction a sensor is pointed. A typical
used on some handheld and ground-mounted, airplanes, scenario is shown in Figure 2 to illustrate the basic concepts.
helicopters and Unmanned Air Vehicles (UAVs). LOS Much of the terminology surrounding ISP technology has
stabilization systems has got the ability to maintain the LOS evolved over the years.
of a sensor or instrument when it is subjected to external
disturbances i.e..mass imbalance, cable restraint, viscous
friction, air friction etc. The several disturbance torques are Dynamics of gimbal kinematics
included in the two axis gimbal model. The performance of One can consider three co-ordinate frames i.e. base co-
the system is analysed with two controllers i.e PI & ordinate frame, outer co-ordinate frame & inner co-ordinate
LQG/LTR. The PI controller is designed for the stabilization frame. LOS elevation control is proposed through the inner
system. LQG/LTR controller is also presented in the present gimbal y-Axis & Azimuth control is via the outer gimbal Z-
investigation to improve robustness. The control system meets Axis. In this case stabilization about the inner gimbal Z-Axis
its performance & stability objectives in the presence of (Cross elevation axis) is required. On the basis of kinematics,
disturbances & uncertainties, the system is called robust. In the gimbal dynamics is divided into two dynamics, namely
this paper a robust control techniques such as linear quadratic inner gimbal & outer gimbal dynamics. The relation between
Gaussian with loop transfer recovery (LQG/LTR) have been the two gimbals frames i.e. base and outer gimbal frame is
used in the line of sight stabilization for land vehicle. expressed by the rotational transformation matrix,
(given by rotational matrix).
System Description
ISPs usually consist of an assembly of structure, bearings, and
motors called a gimbal to which a gyroscope, or a set of
gyroscopes, is mounted. The sensor or payload to be stabilized
is mounted directly on the gimbal assembly in some
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