liu.seSearch for publications in DiVA
Change search
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf
Modelling and control of IR/EO-gimbal for UAV surveillance applications
Linköping University, Department of Electrical Engineering.
2002 (English)Independent thesis Basic level (professional degree)Student thesisAlternative title
Modellering och styrning av IR/EO-gimbal för övervakning med UAV (Swedish)
Abstract [en]

This thesis is a part of the SIREOS project at Swedish Defence Research Agency 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. The gimbal is a device that makes it possible for the sensors to point in a desired direction.

In this thesis the sensor pointing problem is studied. The problem is analyzed and a system design is proposed. The major blocks in the system design are gimbal trajectory planning and gimbal motion control. In order to develop these blocks, kinematic and dynamic models are derived using techniques from robotics. The trajectory planner is based on the kinematic model and can handle problems with mechanical constraints, kinematic singularity, sensor placement offset and reference signal transformation.

The gimbal motion controller is tested with two different control strategies, PID and LQ. The challenge is to perform control that responds quickly, but do not excite the damping flexibility too much. The LQ-controller uses a linearization of the dynamic model to fulfil these requirements.

Place, publisher, year, edition, pages
Institutionen för systemteknik , 2002. , 105 p.
Series
LiTH-ISY-Ex, 3258
Keyword [en]
Reglerteknik, IR/EO-gimbal, modelling, identification, control, path planning, sensor management, robotics
Keyword [sv]
Reglerteknik
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-1281OAI: oai:DiVA.org:liu-1281DiVA: diva2:18600
Uppsok
teknik
Available from: 2002-08-20 Created: 2002-08-20

Open Access in DiVA

fulltext(2178 kB)13309 downloads
File information
File name FULLTEXT01.pdfFile size 2178 kBChecksum MD5
f9f32e9d6d65f6b997c91540cd5a90f918cfd276aac634419bb72eadc6baae2c10e08c53
Type fulltextMimetype application/pdf

By organisation
Department of Electrical Engineering
Control Engineering

Search outside of DiVA

GoogleGoogle Scholar
Total: 13312 downloads
The number of downloads is the sum of all downloads of full texts. It may include eg previous versions that are now no longer available

urn-nbn

Altmetric score

urn-nbn
Total: 3092 hits
CiteExportLink to record
Permanent link

Direct link
Cite
Citation style
  • apa
  • harvard1
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • oxford
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
  • rtf