Mathematical Modelling and PID Controller Design for Two DOF Gimbal System

Abstract

Nowadays, the high demand application of video and photo captured system is significantly undeniable. However, difficulties come to obtain a good image from a camera that mounted on a moving object due to vibration issues. Therefore, the use of an effective controller is required to eliminate disturbances hence ensuring gimbal stability. This leads the development proposed to two degree of freedom (2-DOF) gimbal system. The 2-DOF gimbal system contains of two stabilization loops referring to elevation and azimuth. The research work is divided into three stages. The nonlinearities effects such as torque, inertia and momentum are considered in mathematical modelling using Newton's law and Euler approach. Then, the PID controllers are design while the impact of the base angular velocity and the base angular motion of the gimbal system are investigated for six scenarios. Overall, superior control performances are resulted by PID controller and it was proved by the minimum overshoot and rise time recorded.