• 한국기계가공학회지
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• 제9권2호
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• pp.20-25
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• 2010

A camera module is supported by a gimbal structure in collection equipment of image information. During flight, the gimbal system undergoes serious accelerations with wide frequencies. To get the correct images, the camera module must be stably vibrated under these conditions. If natural frequency unfortunately exists in a exciting frequency range, resonance occurs there. Hence, harmonic responses analysis is needed to know correct vibration characteristic of the gimbal system. Finite element analysis was performed to get an acceleration of the gimbal system by mode superposition after extracting mode shapes and natural frequencies. Considering damping ratio of 2%, the reponses of gimbal structure were calculated from excitations with a design frequency band. As results, a maximum acceleration transmissibility, which is the ratio of response to excitation, was obtained and it can be used to design the gimbal structure effectively.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.920-929
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• 2005

This paper presents controller design method for nonlinear radar gimbal system with parameter uncertainty and time delay. In order to consider nonlinearity of gimbal bearing frictional torque, we firstly represent fuzzy model for the nonlinear gimbal system, which is achieved by fuzzy combination of linear models through nonlinear fuzzy membership functions. And secondly we propose a delay dependent fuzzy $H_\infty$ controller design method for the delayed fuzzy model with parameter uncertainty and design radar gimbal controller. The designed controller stabilize gimbal system and guarantee $H_\infty$ performance. A computer simulation is given to illustrate stabilized control performances of the designed controller.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2012년도 춘계학술대회 논문집
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• pp.420-424
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• 2012

A 2-axis gimbal system is one of main disturbance sources affecting on image jitter response of a satellite. The gimbal system can be rotated on its azimuth and elevation axes, resulting in variation of its moment of inertia and structural modes, so that generates non-linear vibration characteristics. In order to estimate the jitter response, it is an indispensable process to characterize micro-vibration disturbance of the 2-axis gimbal system. In the present research, the vibration characteristics of the 2-axis gimbal system was investigated with respect to the types of stepping motors. The micro-vibration tests were performed for 2-phase and 5-phase stepping motors. The test results show that the disturbance can be reduced with vibration attenuation ratio of 60% by replacing the 2-phase stepping motor with the 5-phase one.

• 한국정밀공학회지
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• 제18권4호
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• pp.190-196
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• 2001

The naval vessel must moves rolling, pitching, yawing by wave when it runs in ocean. Some narrow beam antenna needed position compensation by stabilizer or gimbal for best performance. This paper presents the precision position control for heavy weight(130kg) in roll and pitch direction. Generally it's called for gimbal. This gimbal uses P-I controller, and it's driven by linear actuator and servo motor. This gimbal gets ship's gyro signal and synchro, which have the absolute angle value. Some other similar equipments are driven by huge hydraulic power, but this gimbal is driven by small servo motor. This control loop gets the following procedure repeatedly; reading ship gyro and gimbal synchro, calculating compensated error and control output, driving motor and actuator The performance of gimbal system was satisfied.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2001년도 하계종합학술대회 논문집(5)
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• pp.139-142
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• 2001

This paper presents a design of two gimbal system. One is two axes stabilized platform that is targeted to preserve direction while vehicle that is adhered antiaircraft fire, radar or EOTS is moving. The system maintains stabilization by recovering error using the rate gyro. The other is three axes gimbal system that is intended to simulate various angle movement in space and to test three axes gyroscope. This system determines gyro condition comparing gyro output value with converted motor encoder value.

• 한국소음진동공학회논문집
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• 제22권11호
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• pp.1042-1048
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• 2012

A 2-axis gimbal system is one of main disturbance sources affecting image jitter response of a satellite. The gimbal system comprises azimuth stage and elevation stage, and these pointing mechanism can be rotated by stepping motors about its azimuth and elevation axes simultaneously. Because of the complex and coupled dynamic motion of the gimbal system, its moment of inertia and structural modes can be changed according to the system configuration, and thus the gimbal system generates complicated and non-linear disturbance characteristics. In order to improve the jitter response of a spacecraft, it is an indispensable process to reduce the micro-vibration disturbance level of the antenna system. In the present research, a 2-axis gimbal system was manufactured and then its micro-vibration test was performed in terms of two types of stepping motors(2-phase and 5-phase). The test results show that the disturbance level of the gimbal system can be reduced by replacing the 2-phase stepping motor with the 5-phase one, and the average disturbance attenuation ratio is 56 % in peak level and 48 % in standard deviation level. The experimental results confirm that it is an efficient jitter reduction method to adopt a high-phase stepping motor.

• 한국정밀공학회지
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• 제18권1호
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• pp.147-153
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• 2001

This paper proposes a shaker system design for acceleration test of gimbal. Main reason of shaker system design is to give acceleration to the gimbal, which is moving and tracking the target on the tracking test equipment. The shaker system is mounted on the tracking test equipment. It uses the scotch yoke mechanism to have the constant movement in return. The Scotch yoke mechanism changes the rotational movement of constant velocity to simple harmonic motion.

• 한국군사과학기술학회지
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• 제21권4호
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• pp.508-519
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• 2018

This paper concerns on stabilization control of a gyro-stabilized 2-axes gimbal system which is mounted on a moving vehicles such as automobiles, armored vehicles, ships, flying vehicles, etc. A target image acquisition system is attached on the inner gimbal, and the gimbal systems are required to retain high stabilization accuracy in the absolute coordinate in order to provide fine target image while vehicle is moving. The stabilization control performance is hardly depended upon disturbance rejection ability of control, and disturbance feedforward compensation is effective because feedforward compensation reduce the amount of disturbance before the disturbance disturbs the systems. This paper suggests an experimental method which can estimate system parameters and disturbance torques by using 3-axes accelerometer mounted on the inner gimbal. Furthermore, a simple disturbance identification method which can be applied to any slanted base conditions has been suggested to identify mass unbalance vector and friction torques of each gimbal simultaneously. By using the estimated parameters, a feedforward compensation has been applied to the gyro-stabilized 2-axes gimbal system. The experimental results showed that the feedforward compensation based on the identification method suggested is effective to improve stabilization performances.

• 전기학회논문지
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• 제67권11호
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• pp.1555-1561
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• 2018

Tracking and detecting targets by the millimeter wave seeker is affected by movement of platform. Stabilization equipments use an inertial sensor to compensate for disturbance of stabilizing gimbal or platform. In the direct line of sight stabilization system, an inertial sensor is mounted on inner gimbal to compensate the disturbance directly, so the performance is excellent and the implementation method is simple. However gimbal design requires somewhat larger volume. Since an inertial sensor is mounted on gimbal base in the indirect line of sight stabilization system, additional space of gimbal is not required for the gimbal design. However, this method does not directly compensate for the disturbance of the line of sight stabilization axis, which can degrade performance. In order to perform the tracking performance, two methods are analyzed for line of sight stabilization performance based on direct and indirect of a 2-axis gimbaled servo system for millimeter wave seeker in this study. The simulation and experimental results validate the performance comparison of two methods.

• 대한기계학회논문집A
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• 제35권4호
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• pp.409-415
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• 2011

감시 정찰용 짐발 구조 시스템은 베어링들과 다른 기계 요소들로 구성된 복잡한 기계 장치이다. 이 시스템은 크게 카메라부와 카메라부를 지지하는 안정화 짐발로 나눌 수 있다. 영상 정보 취득을 위한 비행 중 짐발 구조 시스템은 정찰기로부터 전달되는 광범위한 진동수를 갖는 심각한 가진을 받게 된다. 비록 정찰기로부터 전달되는 안정화 짐발의 기초 가진이 카메라부의 진동을 유발할지라도 카메라부는 정확하고 선명한 영상을 기록하여야만 한다. 그러므로 카메라부를 포함한 전체 짐발 구조시스템의 고유진동수와 고유진동 모드를 분석하는 것이 중요하다. 이에 본 연구에서는 베어링들의 효과를 고려한 시스템의 진동 특성 해석을 유한요소법에 의해 수행하였다. 뿐만 아니라, 0 Hz ~ 500 Hz 의 진동수 영역에서 조화응답해석을 통해 카메라부의 가속도 전달률을 계산하였다.