CONTROL SYSTEM

ENGINEERING
Introduction
• A camera stabilizer, or camera–stabilizing mount, is a device
designed to hold a camera in a manner that prevents or
compensates for unwanted camera movement, such as
"camera shake".
• To compensate for camera instability caused by the
movement of the operator's body, camera operator Garrett
Brown invented the Steadicam.
• In 1991, Martin Philip Stevens (born in England in 1963)
invented a hand-held camera stabilizer for motion-picture and
video cameras, called the Glidecam.
• Due to these inventions, the researchers were inspired to take
on cheap mechanical and electronic components to design
their own gyroscope-based camera stabilizer.
Methodology
• To begin the design, we brainstormed on what
materials will be fit and appropriate for this project.
• Initially, we designed the overall look of the
prototype. We decided to make it look like a camera
monopod.
• We canvassed different materials that can be used
as housing for the components and also considered
which components will not take much space.
• After the researchers furnished the aesthetics of the
prototype, they proceeded to the control system/
program of the device.
Control System
Gyroscope-Based Stabilizer
Yaw, Pitch, and Roll
An aircraft in flight is free to rotate in three
dimensions: yaw, nose left or right about an
axis running up and down; pitch, nose up or
down about an axis running from wing to wing;
and roll, rotation about an axis running from
nose to tail. The axes are alternatively
designated as vertical, transverse, and
longitudinal respectively.
PID Controller

Because our device uses feedback to

measure the error in the orientation and
adjusts accordingly to these errors, we
decided to use the Proportional-
Integral-Derivative controller. PID
controllers are widely implemented by
industrial control systems. It is
composed of three important parts.
Proportional Control

Proportional control refers to an

adjustment that is proportional to how
much the error is. In our design, the
servo adjusts proportional to the
difference of the actual position and the
desired position. The device fixes the
orientation proportionally.
Integral Control

Proportional control produces offset in

its correction due to disturbances. The
Integral controller has the ability to
remove this offset and bring back the
error to zero. Such controller produces
an adjustment that is based on the
accumulated error over time.
Derivative Control

Derivative control deals with the rate of

change of the error. If integral control
looks at the history of the error,
derivative control predicts the error.
Basically, the amount of correction will
be based on how fast the error is
changing.
The PID Equation
𝑡 ′ 𝑑𝑒(𝑡)
v(t) = 𝐾𝑝 𝑒(𝑡) + 𝐾𝑖 ‫׬‬0 𝑒 𝑡 𝑑𝑡′ + 𝐾𝑑
𝑑𝑡
The first term is the proportional term,
the second is the integral term, and the
third is the derivative term. All three
terms contain the error signal and are
added together to form the control
signal that will be used to control the
servo motors.
Effect of the Constants
How is PID Implemented?

Arduino Nano is programmed to

analyse the error (difference between
the pitch/roll detected by the gyroscope
and the set point or the desired value
which is 0) and compute the output
control signal using PID control, then
perform operations to the servos
accordingly.
Roll Value Control System
Pitch Value Control System
Schematic Diagram
Computations (PID)
Computations (Servo Motor)
Computations (Servo Motor)
Computations (Servo Motor)
Transfer Function
Transfer Function
Transfer Function
Transfer Function
Transfer Function
Conclusion
• We were able to produce a gyroscope-based
camera stabilizer using techniques in control
systems engineering. We built the device using
cheap and widely available components such
as the MPU6050 sensor, the MG995 servo
motor, and Arduino Nano. We tested the device
and found a success with their design with only
a few but reasonable and honest drawbacks.
Recommendations
We recommend to use advanced algorithm for
signal filtering in such a case when the power
surges and MPU6050 or other IMU device
transmits noises to the I2C wires. We also
recommend to choose a better gyroscope with
new chips instead of the obsolete chips of
MPU6050. This will improve the response time of
the system by tracking the tiniest change in
orientation. We also recommend to consider the
maximum torque in the future designs.