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 an advanced camera gimbal
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2012 (English)Independent thesis Advanced level (degree of Master (One Year)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis is about the modelling and control of three axis camera pan-roll-tilt unit (gimbal) which was meant to be attached to a multi rotor platform for aerial photography. The goal of the thesis was to develop a control structure for steering and active gyro stabilization of the gimbal, with aid from a mathematical model of the gimbal. Lagrange equations, together with kinematic equations and data from CAD drawings, were used to calculate a dynamics model of the gimbal. This model was set up as a Simulink simulation environment. Code for sensor reading and actuator control was written to the gimbal’s microprocessor and the code for the control structure in the gimbal was developed in parallel with a control structure in the simulation environment. The thesis resulted in a method for mathematical modelling of the gimbal and a control structure, for steering and active gyro stabilization of the gimbal, implemented in its control unit as well as in the simulation environment

Place, publisher, year, edition, pages
2012. , 70 p.
Keyword [en]
Gimbal, control, modelling, kinematics, dynamics
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-86173ISRN: LiTH-ISY-EX--12/4644--SEOAI: oai:DiVA.org:liu-86173DiVA: diva2:575341
Subject / course
Automatic Control
Uppsok
Technology
Supervisors
Examiners
Available from: 2012-12-11 Created: 2012-12-10 Last updated: 2012-12-11Bibliographically approved

Open Access in DiVA

fulltext(756 kB)7730 downloads
File information
File name FULLTEXT01.pdfFile size 756 kBChecksum SHA-512
4b6775d437186cb69f604b796b3b831a502604c96a936bd359d891b8717d8d96501355f75c589c671d6eb746255146ee60212b13edf9911c63df740ee5cab8a7
Type fulltextMimetype application/pdf

By organisation
Automatic ControlThe Institute of Technology
Engineering and Technology

Search outside of DiVA

GoogleGoogle Scholar
Total: 7731 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: 1473 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