Design of control system for a 2-DOF stabilized platform

• Published in: IET Conference Proceedings pp. 856 - 859
• Main Authors: Li, Jianfei, Wang Xiangzhou, Lin, Wenhui
• Format: Conference Proceeding
• Language: English
• Published: Stevenage, UK IET 2012; The Institution of Engineering & Technology
• Subjects: Computer vision and image processing techniques; Control system analysis and synthesis methods; Instrumentation buses; Instrumentation buses and protocols; Local area networks; Optical, image and video signal processing; three-term control; VG440 inertial systems; PID algorithm; inertial stabilized platforms; 2-DOF stabilized platform; ISP; DC-motor; control system synthesis; DC motors; object detection; MCU MB96F346; tilt sensor; moving vehicle; CAN bus; inertial systems; controller area networks
• ISBN: 9781849195379; 1849195374
• DOI: 10.1049/cp.2012.1110

The Inertial Stabilized Platforms (ISPs) are used for staying stabilization or moving of the view axis of a camera. The paper presents the design of an Inertial Stabilized Platform (ISP) with 2-DOF (Degrees of Freedom). The ISP has no coupling between 2-DOF. Each DOF is driven by a DC-motor with controller based on MCU MB96F346 (Fujitsu). The VG440 Inertial Systems (Crossbow) is employed as the tilt sensor of the platform. Three closed-loop of PID algorithm is used for keeping attitude of the ISP stable. The two controllers for 2-DOF driving can communicate through CAN bus. A PC can be connected to CAN bus to monitor and supervise the controllers. The experiments show that attitude of platform has a good rapidity, accuracy and stability. It is suitable for taking video in a moving vehicle.