In this thesis work construction of the angular acceleration signal of a 2-DOF gimbal
platform and use of this signal for improving the stabilization performance is aimed.
This topic can be divided into two subtopics, first being the construction of angular
acceleration and the second being the use of this information in a way to improve
system performance. Both problems should be tackled in order to get satisfactory
results. The most important output of this work is defined as the demonstration of
the improvements obtained both theoretically and on experimental setup. Although
the system to be studied is a two axis gimbal platform, the results obtained can be
applied to other servo control problems. It is possible to define different performance
criteria for a servo control problem and different techniques will be addressed with
different control objectives. For this thesis work, the performance criterion is defined
as the stabilization performance of the platform. As a result, disturbance rejection
characteristics of the controller emerges as the main topic and methods for rejecting
these disturbances such as the friction torques and externally applied moments are
focused on throughout the studies. As expected, remarkable improvement is achieved
as a result of the use of acceleration feedback.
| Identifer | oai:union.ndltd.org:METU/oai:etd.lib.metu.edu.tr:http://etd.lib.metu.edu.tr/upload/12612318/index.pdf |
| Date | 01 October 2010 |
| Creators | Ozturk, Taha |
| Contributors | Leblebicioglu, Kemal |
| Publisher | METU |
| Source Sets | Middle East Technical Univ. |
| Language | English |
| Detected Language | English |
| Type | M.S. Thesis |
| Format | text/pdf |
| Rights | To liberate the content for METU campus |
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