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Modelling and Control of EO/IR-Gimbal for UAV Surveillance Applications.

PB2004102201

Publication Date	2003
Personal Author	Skoglar, P.
Page Count	124
Abstract	The work that is presented in this report is a part of a project which aims at developing a sensor system consisting of infrared and video sensors and an integrated navigation system. The sensor system is placed in a camera gimbal and will be used on moving platforms, e.g. UAVs, for surveillance and reconnaissance. In this report the sensor pointing problem is studied. The problem is analyzed and a sensor management hierarchy, capable of decomposing services into subtasks, is proposed. The major blocks in the gimbal control system design are trajectory planning and motion control. In order to develop these blocks, kinematical and dynamic models of the gimbal are derived using techniques from robotics. The modeling of the gimbal is the major work in this report. The trajectory planner can handle problems with mechanical constraints, kinematical singularity, sensor placement offset and different reference signals. The gimbal motion controller is tested with two different control strategies, PID and LQ-control. A desired quality of the regular is quick gimbal response without exciting the vibration damping flexibility. The LQ-controller uses a linearization of the dynamic model to fulfill this requirement.
Keywords	Infrared detectors Surveillance Gimbal Navigation Manipulators Robotics Automatic control Image processing Sensor control Vibration damping Trajectory planning Foreign technology
Source Agency	Foreign Technology-Studsvik Energiteknik AB
Corporate Authors	Swedish Defence Research Agency, Linkoeping. Sensor Technology.
Supplemental Notes	This document is color dependent and/or in landscape layout. It is currently available on CD-ROM and paper only. CD-ROM contains a 120 page document.
Document Type	Technical Report
NTIS Issue Number	200414

Modelling and Control of EO/IR-Gimbal for UAV Surveillance Applications.

Modelling and Control of EO/IR-Gimbal for UAV Surveillance Applications.
PB2004102201

Publication Date	2003
Personal Author	Skoglar, P.
Page Count	124
Abstract	The work that is presented in this report is a part of a project which aims at developing a sensor system consisting of infrared and video sensors and an integrated navigation system. The sensor system is placed in a camera gimbal and will be used on moving platforms, e.g. UAVs, for surveillance and reconnaissance. In this report the sensor pointing problem is studied. The problem is analyzed and a sensor management hierarchy, capable of decomposing services into subtasks, is proposed. The major blocks in the gimbal control system design are trajectory planning and motion control. In order to develop these blocks, kinematical and dynamic models of the gimbal are derived using techniques from robotics. The modeling of the gimbal is the major work in this report. The trajectory planner can handle problems with mechanical constraints, kinematical singularity, sensor placement offset and different reference signals. The gimbal motion controller is tested with two different control strategies, PID and LQ-control. A desired quality of the regular is quick gimbal response without exciting the vibration damping flexibility. The LQ-controller uses a linearization of the dynamic model to fulfill this requirement.
Keywords	Infrared detectors Surveillance Gimbal Navigation Manipulators Robotics Automatic control Image processing Sensor control Vibration damping Trajectory planning Foreign technology
Source Agency	Foreign Technology-Studsvik Energiteknik AB
Corporate Authors	Swedish Defence Research Agency, Linkoeping. Sensor Technology.
Supplemental Notes	This document is color dependent and/or in landscape layout. It is currently available on CD-ROM and paper only. CD-ROM contains a 120 page document.
Document Type	Technical Report
NTIS Issue Number	200414