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Dual Stage Servo Controller for Image Tracking System  

Choi, Young-Joon (다사테크)
Kang, Min-Sig (경원대학교 기계공학과)
Publication Information
Journal of the Korean Society for Precision Engineering / v.24, no.2, 2007 , pp. 86-94 More about this Journal
Abstract
In this paper, a dual stage servo mechanism has been developed for image tracking system to improve control performances such as small rise time, small overshoot, small settling time, small stabilization error etc. A secondary stage, a platform, actuated by a pair of electro-magnets is mounted on a conventional elevation gimbal. In this mechanism, the gimbal provides large range but slow motion and the platform provides small range but fast positioning. A sliding mode control is applied to the platform positioning to attain robust performances and stability in the presence of the disturbance related to dynamic coupling of the gimbal and the platform. Results from experiments illustrate that the suggested dual stage mechanism controlled by the sliding mode control is effective in improving responses and attenuating the disturbance response related with dynamic coupling.
Keywords
Electro-Magnetic Actuator; Sliding mode control; Dual stage system; Dynamic coupling; Image tracking system;
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