Dynamic Modeling of a Two-Degree-of-Freedom Gimballed Camera Orientation Assembly Using the System Identification Method
10th European Conference on Mechanism Science, EuCoMeS 2026, Wroclaw, Polonya, 8 - 10 Temmuz 2026, cilt.215, ss.326-334, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası: 215
- Doi Numarası: 10.1007/978-3-032-30274-8_35
- Basıldığı Şehir: Wroclaw
- Basıldığı Ülke: Polonya
- Sayfa Sayıları: ss.326-334
- Anahtar Kelimeler: Camera, Dynamic Modeling, Gimballed Orientation Assembly, Imaging System, System Identification
- Gazi Üniversitesi Adresli: Evet
Özet
Imaging systems, or cameras, which are used to transmit the necessary data including the position and velocity information of predefined area or points which are observed by the cameras are positioned by means of certain orientation mechanisms in order to reach wider scanning areas. In the cameras utilized in most of the manned and unmanned systems including aerial platforms, the gimballed mechanisms are usually chosen as the orientation units. The gimballed mechanisms are constructed by mounting two or three gimbals whose rotation axes are mutual to each other in a cascaded manner and they are usually actuated by means of electrical motors. The mentioned actuation can be implemented by utilizing a proper control system. In order for the control system to track the reference commands in a stable and accurate manner, it is required that the mathematical model of the gimballed orientation mechanism be established as realistic as possible. In this study, first, the equations of motion are derived for the gimballed orientation assembly under consideration. Then, a relevant system identification work is conducted in accordance with the numerical values of the related parameters of that system.