Research Information System
Thesis Type: Postgraduate
Institution Of The Thesis: Gazi Üniversitesi, Fen Bilimleri Enstitüsü, Turkey
Approval Date: 2019
Student: İSA ERDOĞAN
Supervisor: ALİ SAYGIN
Abstract:Turret applications are widely used in mobile shooting systems. The importance of on-board turret systems in defence systems is rapidly increasing. In this thesis, stabilization of turret systems has been realized. For this purpose, gyroscope and accelerometer raw values obtained from IMU (Inertial Measurement Unit) sensor card are read in real time in the center of motion. The angles of elevation and azimuth were calculated using these values. By using fuzzy logic controller, error and error derivative at the angle, the rule table was designed for the system and a more stable and more stable stabilization system was implemented. Reading of analog data from IMU sensor and fuzzy logic controller is made in real time on Raspberry Pi computer, fuzzy logic controller output is transferred to PLC with modbus-TCP communication protocol. The PLC communicates with the servo drives and the servo motors are moved to the desired position. With the movement provided by servo motors, horizontal and elevation angles in the turret are stabilized independent of geographical slope.