Journal of Aerospace Science and Technology

Current Issue

By Issue

By Author

By Subject

Author Index

Keyword Index

About Journal

Aims and Scope

FAQ

Peer Review Process

Journal Metrics

Related Links

News

Editorial Staff

Open Access Policy

Publication Ethics

Journal Forms

Guide for Authors

Terms and conditions for manuscript submission

Editors

submit manuscript

Article Processing Charges

Comment for Login

List of Reviewers

Reviewer Guide of Publons

Analysis and Comparison of Fuzzy PID Controller Performance in Time and Frequency domain For a Stabilized Pitch-Yaw Gimbal

Document Type : Original Article

Author

Islamic Azad University of Hashtgerd

Abstract

In this article, a complete model including cross-coupling of azimuth and elevation axes, the effect of axis friction, non-perpendicularity and imbalance of axes was implemented for the platform with two degrees of freedom. Since this model includes 3 loops of current, stability and tracking from the inside to the outside, it was necessary to design a suitable controller for each loop separately from the inside to the outside after linearizing the obtained model. Also, due to the presence of two channels, azimuth and elevation, it was necessary to repeat and design 3 controllers for both channels separately. Since the purpose of this article is to compare the performance of different controllers, PID, Fuzzy, Fuzzy PID and Fuzzy self-tuning controllers for both channels and all loops, their design and performance in time and frequency domains were analyzed. At the end, relative advantages of each controller according to different parameters of the system were presented in a comparative table.

Keywords

Main Subjects

Article Title [Persian]

Analysis and Comparison of Fuzzy PID Controller Performance in Time and Frequency domain For a Stabilized Pitch-Yaw Gimbal

Author [Persian]

  • Amir Moghtadaei Rad

Islamic Azad University of Hashtgerd

Abstract [Persian]

In this article, a complete model including cross-coupling of azimuth and elevation axes, the effect of axis friction, non-perpendicularity and imbalance of axes was implemented for the platform with two degrees of freedom. Since this model includes 3 loops of current, stability and tracking from the inside to the outside, it was necessary to design a suitable controller for each loop separately from the inside to the outside after linearizing the obtained model. Also, due to the presence of two channels, azimuth and elevation, it was necessary to repeat and design 3 controllers for both channels separately. Since the purpose of this article is to compare the performance of different controllers, PID, Fuzzy, Fuzzy PID and Fuzzy self-tuning controllers for both channels and all loops, their design and performance in time and frequency domains were analyzed. At the end, relative advantages of each controller according to different parameters of the system were presented in a comparative table.

Keywords [Persian]

  • Fuzzy Controller
  • PID
  • Stabilized platform
  • Frequency Domain
References
[1] D.-Q. T., Y.-B. K. a. S. C. DongHun Lee, "A Robust Double Active Control System Design for Disturbance Suppression of a Two-Axis Gimbal System," electronics, vol. 9, no. 10, pp. 1-18, 2020.
[2] B. Ekstrand, "Equations of motion for a two-axes gimbal system," IEEE Transactions on Aerospace and Electronic Systems, vol. 37, no. 3, pp. 1083-1091, 2001.
[3] S. S. K. a. G. Anitha, "A Novel Self-Tuning Fuzzy Logic-Based PID Controllers for Two-Axis Gimbal Stabilization in a Missile," International Journal of Aerospace Engineering, vol. 2021, no. https://doi.org/10.1155/2021/8897556, pp. 1-12, 2021.
[4] R. A.K., "Precision stabilization systems," IEEE Trans. Aerospace and Electronic Systems, vol. 10, no. 1, pp. 34-42, 1974.
[5] Y. S. a. Z. Y., "A New measurement method for unbalanced moments in two axes gimbaled seeker," Chinese Journal of Aeronautics, vol. 23, no. 1, pp. 117-122, 2010.
[6] K. H., "Robust control and modeling a 2-DOF Inertial Stabilized Platform," in International Conference on Electrical, Control and Computer engineering, Pahang, Malaysia, 2011.
[7] X. a. M. C. Chen, "Precise control of a magnetically suspended double-gimbal control moment gyroscope using differential geometry decoupling method," Chinese Journal of Aeronautics, vol. 26, no. 4, pp. 1017-1028, 2013.
[8] R. V. A. T. a. M. R. A. Abdo Maher, "Research on the cross-coupling of a two axes gimbal system with dynamic unbalance," International Journal of advanced robotic systems, vol. 10, no. 10, pp. 357-370, 2013.
[9] S. B. S. H. K. a. Y. K. K. Kim, "Robust control for a two-axis gimbaled sensor system with multivariable feedback systems," IET control theory & applications, vol. 4, no. 4, pp. 539-551, 2010.
[10] a. M. T. Naderolasli, "Stabilization of the two-axis gimbal system based on an adaptive fractional-order sliding-mode controller," IETE Journal of Research, vol. 63, no. 1, pp. 124-133, 2017.
[11] X. H. Z. a. R. Y. Zhou, "Decoupling control for two-axis inertially stabilized platform based on an inverse system and internal model control," Mechatronics, vol. 24, no. 8, pp. 1203-1213, 2014.
[12] J. R. Y. a. X. L. Fang, "An adaptive decoupling control for three-axis gyro stabilized platform based on neural networks," Mechatronics, vol. 27, no. 1, pp. 38-46, 2015.
[13] W. S. a. J. N. Qadir, "Vision-based neuro-fuzzy controller for a two axes gimbal system with small UAV," Journal of Intelligent & Robotic Systems, vol. 74, no. 4, pp. 1029-1047, 2014.
[14] a. M. T. Naderolasli, "Two-axis Gimbal System Stabilization Using Adaptive Feedback Linearization," Recent Advances in Electrical & Electronic Engineering, vol. 12, no. 1, pp. 1-11, 2019.
[15] D. H. M. D. Bo Li, "Nonlinear Induced Disturbance Rejection in Inertial Stabilization Systems," IEEE Transactions on control systems technology, vol. 6, no. 3, 1998.
[16] Z. Q. R. J. H. Ambrose, "Nonlinear Robust Control For A Passive Line-of-Sight stabilization system," in Proceedings of the 2001 IEEE International Conference on Control Applications, Mexico, 2001.
[17] E. K. M. L. T.H. Lee, "stable adaptive control of multivariable servomechanism with application to a passive line-of-sight stabilization system," IEEE Transactions on Industrial Electronics, vol. 43, no. 1, pp. 98-105, 1996.
[18] D. H. Bo Li, "Self-Tuning Controller for Nonlinear Inertial Stabilization System," IEEE Transactions on control systems technology, vol. 6, no. 3, 1998.
[19] H.-G. K. B.-Y. Y. a. H.-P. L. K.-J. Seong, "The stabilization loop design for a two-axis gimbal system using LQG/LTR controller," in Proc.SICE-ICASE Int. Joint Conf., 2006, 2006.
[20] S. C. D. K. a. H. S. K. Deng, "Discrete-time direct model reference adaptive control application in a high-precision inertially stabilized platform," IEEE Trans. Ind. Electron., vol. 66, no. 1, pp. 358-367, 2018.
[21] M. R. a. Z. Hurák, "Structured MIMO H1 design for dual-stage inertial stabilization: A case study for HIFOO and Hinfstruct solvers," Mechatronics, vol. 23, no. 8, pp. 1084-1093, 2013.
[22] H. L. H. Z. a. X. M. M. Zhang, "A hybrid control strategy for the optoelectronic stabilized platform of a seeker," Optik, vol. 181, no. 1, pp. 1000-1012, 2019.
[23] A., A., M. A. Maher Mahmoud Abdo, "Stabilization loop of a two axes gimbal system using self-tuning PID type fuzzy controller," ISA Transactions, vol. 53, no. 2, pp. 591-602, 2014.
[24] P. Kennedy and R. Kennedy, "Direct versus indirect line of sight (LOS) stabilization," IEEE Trans on control system technology, vol. 11, pp. 3-15, 2003.
[25] H. TangKZ, "Combined PID and adaptive nonlinear control for mechanical servo systems," Mechatronics, vol. 14, no. 6, pp. 701-714, 2004.
[26] S. Malhotra, "Design of Embedded Hybrid Fuzzy-GA Control," International Journal of Computer Applications, vol. 6, no. 5, pp. 37-46, 2010.
[27] M. S.A., "Design and Simulation of Servomechanism for Rate Gyro Stabilized Seeker," MUT, Tehran, 2010.
[28] J. Hilkert, "Adaptive control system techniques applied to inertial stabilization systems," in In: Proceedings of SPIE Conference, 1990.
[29] M. Abdo, "Modeling and Control of A two Axes Gimbal Seeker," Malek Ashtar University, Tehran, 2014.
[30] M. Khuntia SR, "A comparative study of P–I, I–P, fuzzy and neuro-fuzzy controllers for speed control of D.C. motor drive," World Academy of Science, vol. 44, pp. 525-529, 2010.
[31] H. N. M. S. Wahid N, "Application of intelligent controller in the feedback control loop for aircraft pitch control," Aust J Basic Appl Sci, no. 5, pp. 1065-74, 2011.
[32] Y. E. M. I. Karasakal O, "Implementation of a new self-tuning fuzzy PID controller on PLC," Turk J Elec Engin, vol. 13, pp. 277-86, 2005.
[33] M. Qiao W, "PID type fuzzy controller and parameters adaptive method," FuzzySetsSyst, vol. 78, pp. 23-35, 1996.
[34] H. Fujita, "Torque control for D.C. servo motor using adaptive load," in Proceedings of the ninth WSEAS international conference, 2010.
Journal of Aerospace Science and Technology
Volume 16, Issue 1
June 2023
Pages 1-15
Files
Share
How to cite
Statistics