• Title/Summary/Keyword: gimbal

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Control of a Balance-Beam with Unknown Loads Using the Restoration Angle of a Gimbal

  • Yi Keon-Young;Kim Yong-Jun;Chung Sam-Yong;Han Song-Soo;Lee Sang-Heon
    • International Journal of Control, Automation, and Systems
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    • v.4 no.4
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    • pp.524-528
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    • 2006
  • A controller built with the gyro effect for a balance-beam can freely control the attitude of an unstructured object by changing the position of an inner gimbal. In this paper, we propose a new balance-beam controller that can detect the inertia of the load to limit the velocity of the load commanded by a user. We found that when there was smaller load inertia, a larger restoration displacement occurred. Therefore, the load can be identified by issuing a predefined command to measure the restoration displacement, which enables us to construct a controller that can limit the angular velocity of the load by planning the motion. Experimental results show the performance of the controller with different loads.

Dual Stage Servo Controller for Image Tracking System (듀얼 스테이지 서보 시스템을 이용한 영상 추적장치의 정밀제어)

  • Choi, Young-Joon;Kang, Min-Sig
    • Journal of the Korean Society for Precision Engineering
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    • v.24 no.2 s.191
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    • pp.86-94
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    • 2007
  • 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.

Synchronized Control of Active Harmonic Gear System (능동 하모닉 기어구동시스템의 동기화제어)

  • Kim, Sang-Jin;Moon, Deok-Hong;Kim, Young-Bok
    • Journal of Power System Engineering
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    • v.18 no.1
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    • pp.112-119
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    • 2014
  • In this paper, the authors consider a gimbal system in which a camera is installed to reconnoiter the objects or targets. The issue for this considered system is to obtain information with good quality always. To achieve given objective, it is necessary to control the gimbal system with accurate rotation angle and speed. In this paper, the authors design a robust control system based on $H_{\infty}$ control framework. The controller is designed using a plant model obtained by experiment and simulation. And the experiment result with good control performance is presented.

Dynamic Shock Simulation of Head-gimbal Assembly in Micro MO Drives (초소형 광자기 드라이브용 HGA의 동적 충격 시뮬레이션)

  • 오우석;홍어진;박노철;양현석;박영필
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2004.05a
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    • pp.189-194
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    • 2004
  • As a disk drive becomes widely used in portable environments, one of the important requirements is durability under severe environmental condition, especially, resistance to mechanical shock. An important challenge in the disk recording is to improve disk drive robustness in shock environments. If the system comes In contact with outer shock disturbance, the system gets critical damage in head-gimbal assembly or disk. This paper describes analysis of a HGA(head-gimbal assembly) in micro MO drives to shock loading during both non-operating state and operating state. A finite element model which consists of the disk, suspension, slider and air bearing was used to find structural response of micro MO drives. In the operational case. the air bearing is approximated with four linear elastic springs. The commercially available finite element solver, ANSYS/LS-DYNA, is used to simulate the shock response of the HGA in micro MO drives. In this paper, the mechanical robustness of the suspension is simuiated considering the shock responses of the HGA.

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Design of Gimbal Hub for Smart UAV Tilt Rotor (스마트무인기 틸트로터용 짐발허브 설계)

  • Lee, Joo-Young;Kim, Jai-Moo;Lee, Myeong-Kyu
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.31 no.5
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    • pp.625-634
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    • 2007
  • KARI SUAV program was initiated to develop a Smart Unmanned Aerial Vehicle with innovative smart technologies. SUAV is a tilt rotor aircraft of which rotor system is 3-bladed, gimbaled hub type. Several existing concepts of gimbaled hub were analyzed and compared to investigate the applicability to SUAV rotor system design. From the result of these investigations, it was concluded that a new design concept of low cost and high reliability characteristics was necessary for the rotor hub development of SUAV. The design requirements of new gimbal hub concept and the design results were presented. Also, the analysis results to verify the satisfaction of design requirements of SUAV rotor system were presented.

Study of Lay-out Design Concept for Liquid Rocket Engine System (액체로켓엔진 시스템 Lay-out 설계 개념 연구)

  • Chung, Yong-hyun;Lee, Eun-Seok
    • Journal of Aerospace System Engineering
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    • v.1 no.4
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    • pp.42-45
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    • 2007
  • The process of Lay-out design and assembly for liquid rocket engine was presented and the Lay-out design for main components of liquid Rocket engine system was studied. Vertical direction is recommended in the case of turbopump's arrangement. If the length of pipe between gas-generator with turbopump's turbine is shorter, gas-generator is stable. The arrangements of main valves are recommended as near disposition to combustion chamber, because shut-down process time is shorter. Interference with launch vehicle and structural strength considering gimbal actuator's force and control performance is considered in the case of gimbal actuator's supporter design.

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Stabilization Control Method Development for Single Axis Unstable System Using SGCMG (SGCMG를 이용한 단축 불안정 시스템의 안정화 제어 기법 개발)

  • Lee, Junsik;Yi, Junyong;Yoo, Jihoon;Kim, Jichul;Cheon, Dongik;Oh, Hwa-Suk
    • Journal of Aerospace System Engineering
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    • v.7 no.4
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    • pp.12-17
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    • 2013
  • Control Moment Gyroscope(CMG) is one of the most efficient momentum exchange devices for satellite attitude control and essential device for agile maneuver system. This paper presents the details of a designed Single Gimbal CMG with a constant speed momentum wheel and single axis attitude control unstable to stable. In order to keep the naturally unstable equivalent point, it should be controlling the gimbal constantly. The experimental data are compared with theoretical result and requirements are used to verify their performance specifications.

A TMR Budget Design for 100kTPI Hard Disk Drives Using a Head Gimbal Assembly with Radial Motion Capability (100 kTPI급 HDD TMR 설계를 위한 Suspension에 관한 연구)

  • D. H. Oh;S. W. Kang;Y. S. Han;Kim, Y. H.;T. Y. Hwang
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2002.11a
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    • pp.320.2-320
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    • 2002
  • In high-capacity disk drives with ever-growing track density, the allowable level of position error signal (PES) is becoming smaller and smaller. A substantial portion of the PES is caused by disk vibration. This can be reduced by using a head gimbal assemblies (HGAs) that do not confine the slider movement to the vertical direction to disks, but allow movement to the radial direction of disks with respect to disk vibration. Several types of HGAs are proposed for such radial motion of the slider. (omitted)

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Roll Compensation for Homing Seekers with 2-Axis Gimbal (2축 김발 호밍 탐색기에서의 롤운동 보상)

  • Whang, Ick-Ho
    • Proceedings of the KIEE Conference
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    • 2001.07d
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    • pp.1932-1934
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    • 2001
  • In this paper, a horizontal LOS(line of sight) rate estimator for conventional sea skimming ASM(anti-ship missile) is proposed. A LOS rate dynamics model in 2 axis gimbal system and in homing geometry is derived. And a new LOS rate estimator is proposed by applying a Kalman filter theory to the LOS rate dynamics model. The proposed filter can estimate LOS rates with taking roll motions into account. Simulation results show the proposed filter produces smaller estimation errors than a conventional method.

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The Control for the 2-Axis Stabilized Gimbal using the PI-LEAD Algorithm (PI-LEAD 알고리즘을 이용한 2축 안정화 짐벌 시스템 제어)

  • Lee, Jin-Bok;Choi, Han-Go
    • Journal of the Institute of Convergence Signal Processing
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    • v.14 no.2
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    • pp.117-123
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    • 2013
  • Since the nonlinear factors such as friction in a mechanical servo system can't be easily measured nor estimated accurately. Therefore, it is difficult to compensate friction correctly. Friction makes a significant error in a 2-axis stabilized gimbal system and finally fails to reach the ultimate control performance goals. To solve these problems, lots of studies on the control methods applying observer have been performed. However, these methods can be used in specific conditions and are limited to apply them to the accurate 2-axis stabilized gimbal system in military sector. This paper deals with the PI-LEAD algorithm which is modified with a general and robust PID algorithm, proves the effect of the algorithm through modeling and simulation, and verifies the performance by applying the algorithm to the real 2-axis stabilized system. It is verified through the performance test that the PI-LEAD algorithm minimizes the error caused by friction and meets requirements of the accurate servo system.