Lagrangian based mathematical modeling and experimental validation of a planar stabilized platform for mobile systems

Abstract

a b s t r a c tTypical operating conditions for mobile sensor systems, and in particular mobile robots, exhibit a wide range of mechanical disturbances due their ego-motion. Sensor systems mounted on these mobile platforms often suffer to varying degrees from these disturbances. The quality of acquired data is degraded as a result. For instance, the quality of captured video frames from an onboard camera greatly depends on the angular velocity of the body on which the camera is mounted. Motion blur degradation results if large angular motions are present. In order to compensate for such disturbances, stabilization platforms are used. A common approach is measuring body movements using inertial sensors and attempting their cancellation with actuators and control systems. Design of high performance control systems often requires analytical system models. In this article, a planar stabilization platform is considered, to develop and study its kinematic and simple-tocomplex dynamic model. The mathematical derivation of the model is presented with and without neglect of the actuator mass components as well as friction effects. This is followed by the comparative validation of these model alternatives against a realistic numerical model fitted to physical experimental data. The results demonstrate that the analytical model, in particular with the actuator mass and friction components included, provides a high degree of fit to the actual behavior.

Designing of the Electromechanical Drive for Automated Hot Plate Welder Using Load Optimization with Genetic Algorithm

“…In general, calculating the power requirement for the drive system of the technological device can be carried out in many ways. In many cases, computational methods related to motion dynamics analysis are used, particularly the Lagrange equations of the second type [ 65 , 66 , 67 ]. This is due to the large dynamics of the operation of some mechanisms, which is natural for such solutions as: Mechanisms of technological devices that work with high rotational or linear speed, especially when working speed must be achieved in a short time from the start-up [ 65 ]; Mobile devices capable of overcoming various types of obstacles and moving with relatively high velocity, while achieving relatively high acceleration values [ 66 ]; Positioning and stabilization mechanisms, especially with PID regulation [ 67 ].…”

“…In general, calculating the power requirement for the drive system of the technological device can be carried out in many ways. In many cases, computational methods related to motion dynamics analysis are used, particularly the Lagrange equations of the second type [65][66][67]. This is due to the large dynamics of the operation of some mechanisms, which is natural for such solutions as:…”

Design and Implementation of Novel Fractional-Order Controllers for Stabilized Platforms

“…Finally, the results of simulation and experiment are included to show the effectiveness of the new control method. Capable of isolating instruments and equipment from external interference in harsh environments, the stabilized platforms have been applied in many fields ranging from national defense and military to rescue operations [1] [2] [3]. In national defense and military fields, stabilized platforms are used to achieve a dynamic and stabilized strike of fire control systems in complex combat environments for many countries.…”