Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller.

Area of Science:

• Control Systems Engineering
• Robotics and Automation
• Mechanical Engineering

Background:

• Inertial stabilization systems are crucial for maintaining sensor line-of-sight stability against environmental disturbances.
• Traditional control methods often struggle with complex dynamics and unmodeled uncertainties in gimbal systems.

Purpose of the Study:

• To present a two-axis gimbal system for inertial stabilization.
• To develop and evaluate a novel fuzzy PID controller for enhanced stabilization performance.
• To compare the proposed controller against a conventional PI controller.

Main Methods:

• Derivation of gimbal torque relationships using Lagrange equations, accounting for base angular motion and dynamic mass unbalance.
• Implementation of stabilization loops with a cross-coupling unit and a proposed fuzzy PID controller.
• Simulation and validation of the control system using MATLAB.

Main Results:

• The fuzzy PID controller demonstrated superior transient response compared to the conventional PI controller.
• Quantitative error analysis confirmed improved steady-state performance with the fuzzy PID controller.
• Simulation results across various conditions validated the efficiency and robustness of the proposed fuzzy controller.

Conclusions:

• The proposed fuzzy PID controller effectively enhances the performance of a two-axis inertial stabilization system.
• The fuzzy PID controller offers significant improvements in both transient and steady-state responses over classical PI controllers.
• This advanced control strategy is vital for applications requiring precise sensor stabilization in dynamic environments.