Stabilization of Two Axis Gimbal System with Self Tuning PID Control

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Politeknik Dergisi
Volume:27 Issue:4
Stabilization of Two Axis Gimbal System with Self Tuning PID Control

Stabilization of Two Axis Gimbal System with Self Tuning PID Control

Authors : Murat Şahin

Pages : 1441-1452

Doi:10.2339/politeknik.1210906

View : 430 | Download : 1048

Publication Date : 2024-09-25

Article Type : Research Paper

Abstract :Gimbal is a system that provides locking and tracking of the seeker on the target in missiles and increases the angle of view with its mobility in two axes. In this study, stabilization of a two-axis gimbal system used in the missile was carried out. In gimbal stabilization, adaptive controllers are preferred instead of classical controllers due to unbalance, cross-coupling, and unmeasurable disturbances. A Self Tuning PID controller based on Fuzzy Logic was developed for axis controls in the stabilization algorithm. Thanks to this controller, which works with the principle of choosing the most appropriate coefficient at every step, it was possible to control with less than 3% errors in the tests performed with the flight simulator. In addition, a PID controller whose coefficients are optimized with Particle Swarm Optimization is designed for comparison purposes. In experimental studies, it was seen that PID with adjustable coefficients gave better results than the fixed PID.
Keywords : Gimbal, bulanık mantık, kendinden ayarlamalı denetleyici, PID, parçacık sürüsü optimizasyonu

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