Modeling of an Inertially Stabilized Camera System Using Gimbal Platform Available to Purchase

This paper develops a camera gimbal platform for stabilization and tracking purposes. The main focus of this research is analytical modeling of an inertially stabilized platform with the prediction of the angular stability. The mechanical model of the platform includes, moment of inertia, motor drive, and performance of the gyro to measure the disturbances of the platform. The gimbal/motor system is developed and simulated and feedback control scheme is designed to stabilize and maintain the line of sight (LOS) for tracking purposes. The model integrates a PI² controller using a PID-I approach for the system stability. The effect of vibration induced disturbance in the system is investigated to simulate the realistic behavior of an inertially stabilized platform. The simulation results of the four types of commercial gyros are presented to calculate the required values for stability purposes. The results from the simulation generated the performance limits chart describing the working condition of the low cost sensors vs the high cost sensors. As the vibration level increased, the performance of the highest quality sensor greatly decreased. This verifies the value and necessity of modeling and simulating to understand the component trade studies to ensure correct sensor selection for the desired application.