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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
URN: urn:nbn:se:liu:diva-86173ISRN: LiTH-ISY-EX--12/4644--SEOAI: diva2:575341
Subject / course
Automatic Control
Available from: 2012-12-11 Created: 2012-12-10 Last updated: 2012-12-11Bibliographically approved

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Automatic ControlThe Institute of Technology
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