Presentation Layout

Inertially
Stabilized Platform (ISP)
Components of ISP
Causes of Line of Sight Rotation in ISP
Control System Design For Eagle Eye (EE)
ISP
Projects Hardware
 Inertially Stabilized Platform

Typical scenario for the inertial

stabilization system
An optical device (camera) onboard is used in a
surveillance mission. As a part of the mission, it is
requested to keep a selected target in the center of
the field of view in spite of the (disturbing) motion of
the carrier (aircraft/Ship) and the motion of the object.
 Inertially Stabilized Platform
Typical scenario for the inertial
stabilization system
The inertially stabilized airborne camera platform
attached to a helicopter has to withstand significant
vibrations caused by the carrier.
 Inertially Stabilized Platform
Commercial products of
competitors
Stabilized platforms
developed by FLIR,
Cloud Cap
Technology
and WESCAM
companies
 ISP Components

Components of an ISP

Platform H240
 ISP Components

Gimbal System
The purpose of the gimbal is to isolate the stabilized
objects from base rotation, and allow the line of sight
(LOS) to be pointed

A single-axis gimbal mechanism.

Double gimbal (Elevation-Azimuth)
 ISP Components

Rate Feed back Sensor

Gyro Stabilization
In low-end and low-cost applications usually MEMS
gyros are employed. High-end and hi-cost
applications typically require the use of Fiber optic
gyroscopes
 Causes of LOS
Rotations
Causes of LOS Rotations
 Control System Design For EE ISP

Control Loop for Inner Axis

Friction Torque
Disturbance Torque
Structural Dynamics
 Control System Design For EE ISP

Control Loop for Inner Axis

 Control System Design For EE ISP
Cascaded (inner plus outer axis)
Control System
 Control System Design For EE ISP

A Typical Open Loop T/F of an ISP

At 1HZ, phase lag is 9.6. Friction adds phase advance at low
frequency
Magnitude at 115Hz,180Hz and 351Hz are equivalent.
Peaks represent structural resonance and put limit on the
bandwidth of the system
 Control System Design For EE ISP

Typical Disturbance Rejection of an

ISP
Disturbance
Freq.
Rejection
(Hz)
Factor
1 180 (rej.)
10 4.3 (rej.)
20 1.8 (rej.)
32 1.0
40 1.4 (amp.)
80 1.7 (amp.)
100 1.5 (amp.)
150 1.2 (amp.)
 Hardware for Projects
Friction Estimation and compensation
for a 2-Axis Gimbal System

Motor with Housing

Gyro with its circuitry

 Hardware for Projects

Active Vibration Cancellation using

phase and frequency estimation due to
imbalance rotating mass
Accelerometers