Design, modeling, and manufacturing of dual-axis inertially stabilized platform

Abstract

A dual-axis inertially stabilized platform (DISP) was designed, modelled, and manufactured to control the pitch and yaw rotations continuously about Y and Z axes respectively for the purpose of tracking and observation of moving objects from a moving platform. The DISP structure consists of an inner gimbal that carries the payload (sensors) and revolves in the elevation direction about the trunnion -axis, and an outer gimbal that makes the cross-elevation rotation (azimuth). At first, 3D model of the DISP was constructed using the parametric computer-aided design (CAD) software. Then, to investigate the kinematic and dynamic performance of the systems under various excitations, A MATLAB model is generated. The designed model is optimized using CAD software to reduce and redistribute the DISP masses for better output of the model performance. The results show a small inertia effect due to the great reduction of masses of the inner and outer frames. In addition, the elevation and azimuth torques are also decreased.

Design, modeling, manufacturing, and control of dual axis stabilized system

“…The mathematical model of elevation (pitch) and azimuth (yaw) gimbals could be described as [6] with consideration of torque relation about the controllable axis could be presented as the following:…”

“…As shown in (2), the angular velocity in the pitch direction is not affected by the coupling between the motor and the pitch gimbal motion. On the other hand, the of motion in the yaw direction according to [6] could be derived as:…”