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Modeling and experimental identification of inertially stabilized camera platform with backlash compensation[editovat]

Author: Mikulín Ondřej

Diplomové práce 2012

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The aim of this work was to derive mathematical simulation models of kinematics and dynamics for light version of inertially stabilized camera platform for unmanned aerial vehicles. Newton-Euler formalism was used for description of double axis gimbal. The dynamical behaviour of DC motors, axis unbalance, backlash and friction was considered. The model parameters were experimentally estimated by gray box identification methods and verified during the comparison with real device. The case study of design and implentation for backlash and axis unbalance compensation was made and then used in real camera platform.


Dp 2012 mikulin ondrej.pdf