Testing and comparison of different control methods on a gimbal system

Muharrem Mandacı; Şölen Kumbay Yıldız

Article Details

Testing and comparison of different control methods on a gimbal system

Authors:

Muharrem Mandacı | Şölen Kumbay Yıldız

Publisher:

Gazi University

Main Topics:

Kontrol Teorisi ve Uygulamaları

Journal:

Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi Vol.40 Issue 1, pp.219-236

Document Type:

Article

Publication Date:

8/2024

Document Language:

Turkish

Document ID (Org No.):

2001317628

pISSN:

1300-1884

Keywords:

Abstract:

 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 strategiesProportional-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-IOas 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.

 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 strategiesProportional-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-IOas 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.

 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 strategiesProportional-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-IOas 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.

 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.

Article Details

Testing and comparison of different control methods on a gimbal system

Authors:

Muharrem Mandacı | Şölen Kumbay Yıldız

Publisher:

Gazi University

Main Topics:

Kontrol Teorisi ve Uygulamaları

Journal:

Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi Vol.40 Issue 1, pp.219-236

Document Type:

Article

Publication Date:

8/2024

Document Language:

Turkish

Document ID (Org No.):

2001317628

pISSN:

1300-1884

Gimbal Control

PI control

self tuning PI control

integral action LQR

RSMC-IOGimbal denetim

OTüm denetim

özayarlamalı OTüm denetim

tümlev etkili doğrusal karesel denetim

giriş çıkış modeline dayalı röle kayan kipli denetim

Issues

Article Details

Authors: Muharrem Mandacı | Şölen Kumbay Yıldız

Publisher: Gazi University

Main Topics: Kontrol Teorisi ve Uygulamaları

Journal: Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi Vol.40 Issue 1, pp.219-236

Document Type: Article

Publication Date: 8/2024

Document Language: Turkish

Document ID (Org No.): 2001317628

pISSN: 1300-1884

Issues

Authors:

Muharrem Mandacı | Şölen Kumbay Yıldız

Publisher:

Gazi University

Main Topics:

Kontrol Teorisi ve Uygulamaları

Journal:

Gazi Üniversitesi Mühendislik Mimarlık Fakültesi Dergisi Vol.40 Issue 1, pp.219-236

Document Type:

Article

Publication Date:

8/2024

Document Language:

Turkish

Document ID (Org No.):

2001317628

pISSN:

1300-1884