Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification

Mert Ozcelik; Burak Kurkcu; Zeki Yagiz Bayraktaroglu

doi:10.1109/ICSC57768.2022.9993898

Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification

Mert Ozcelik, Burak Kurkcu, Zeki Yagiz Bayraktaroglu

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

3 Citations (Scopus)

Abstract

During the past decade, control engineers spent more effort making an interface between the practical applications and the theoretical models. System identification includes methods going from observed data to an accurate mathematical model. A precise mathematical model of the system assists engineers in designing high-performance model-based controllers. In this study, we obtained a detailed mathematical model of a conventional two-axis gimbal system considering the coupling effects of the gimbal axes. Then, we comprehensively compared the experimental data and the simulation results. We constructed the simulation model in MATLAB Simscape Multibody environment. We performed our analysis in both the time domain and frequency domain. The results show that an accurate model can be obtained considering the nonlinear effects of the system.

Original language	English
Title of host publication	2022 10th International Conference on Systems and Control, ICSC 2022
Editors	Driss Mehdi, Rachid Outbib, Ahmed El-Hajjaji, Eric Busvelle, Hassan Noura
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	508-515
Number of pages	8
ISBN (Electronic)	9781665465076
DOIs	https://doi.org/10.1109/ICSC57768.2022.9993898
Publication status	Published - 2022
Event	10th International Conference on Systems and Control, ICSC 2022 - Marseille, France Duration: 23 Nov 2022 → 25 Nov 2022

Publication series

Name	2022 10th International Conference on Systems and Control, ICSC 2022

Conference

Conference	10th International Conference on Systems and Control, ICSC 2022
Country/Territory	France
City	Marseille
Period	23/11/22 → 25/11/22

Bibliographical note

Publisher Copyright:
© 2022 IEEE.

Funding

*This work was supported in part by Aselsan Inc. 1Mert Özc¸elik is with Control Systems Design Department, Aselsan Inc., Ankara, 06750 Turkey [email protected] 2Burak Kürkc¸ü is with the Department of Computer Engineering, Hacettepe University, Ankara, 06800 Turkey [email protected] 3Zeki Y. Bayraktarog˘lu is with the Department of Mechanical Engineering, Istanbul Technical University, Istanbul, 34437 Turkey [email protected]

Funders	Funder number
Hacettepe Üniversitesi
Aselsan
Istanbul Teknik Üniversitesi

Access to Document

10.1109/ICSC57768.2022.9993898

Cite this

Ozcelik, M., Kurkcu, B., & Bayraktaroglu, Z. Y. (2022). Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification. In D. Mehdi, R. Outbib, A. El-Hajjaji, E. Busvelle, & H. Noura (Eds.), 2022 10th International Conference on Systems and Control, ICSC 2022 (pp. 508-515). (2022 10th International Conference on Systems and Control, ICSC 2022). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICSC57768.2022.9993898

Ozcelik, Mert ; Kurkcu, Burak ; Bayraktaroglu, Zeki Yagiz. / Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification. 2022 10th International Conference on Systems and Control, ICSC 2022. editor / Driss Mehdi ; Rachid Outbib ; Ahmed El-Hajjaji ; Eric Busvelle ; Hassan Noura. Institute of Electrical and Electronics Engineers Inc., 2022. pp. 508-515 (2022 10th International Conference on Systems and Control, ICSC 2022).

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abstract = "During the past decade, control engineers spent more effort making an interface between the practical applications and the theoretical models. System identification includes methods going from observed data to an accurate mathematical model. A precise mathematical model of the system assists engineers in designing high-performance model-based controllers. In this study, we obtained a detailed mathematical model of a conventional two-axis gimbal system considering the coupling effects of the gimbal axes. Then, we comprehensively compared the experimental data and the simulation results. We constructed the simulation model in MATLAB Simscape Multibody environment. We performed our analysis in both the time domain and frequency domain. The results show that an accurate model can be obtained considering the nonlinear effects of the system.",

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Ozcelik, M, Kurkcu, B & Bayraktaroglu, ZY 2022, Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification. in D Mehdi, R Outbib, A El-Hajjaji, E Busvelle & H Noura (eds), 2022 10th International Conference on Systems and Control, ICSC 2022. 2022 10th International Conference on Systems and Control, ICSC 2022, Institute of Electrical and Electronics Engineers Inc., pp. 508-515, 10th International Conference on Systems and Control, ICSC 2022, Marseille, France, 23/11/22. https://doi.org/10.1109/ICSC57768.2022.9993898

Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification. / Ozcelik, Mert; Kurkcu, Burak; Bayraktaroglu, Zeki Yagiz.
2022 10th International Conference on Systems and Control, ICSC 2022. ed. / Driss Mehdi; Rachid Outbib; Ahmed El-Hajjaji; Eric Busvelle; Hassan Noura. Institute of Electrical and Electronics Engineers Inc., 2022. p. 508-515 (2022 10th International Conference on Systems and Control, ICSC 2022).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - During the past decade, control engineers spent more effort making an interface between the practical applications and the theoretical models. System identification includes methods going from observed data to an accurate mathematical model. A precise mathematical model of the system assists engineers in designing high-performance model-based controllers. In this study, we obtained a detailed mathematical model of a conventional two-axis gimbal system considering the coupling effects of the gimbal axes. Then, we comprehensively compared the experimental data and the simulation results. We constructed the simulation model in MATLAB Simscape Multibody environment. We performed our analysis in both the time domain and frequency domain. The results show that an accurate model can be obtained considering the nonlinear effects of the system.

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Ozcelik M, Kurkcu B, Bayraktaroglu ZY. Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification. In Mehdi D, Outbib R, El-Hajjaji A, Busvelle E, Noura H, editors, 2022 10th International Conference on Systems and Control, ICSC 2022. Institute of Electrical and Electronics Engineers Inc. 2022. p. 508-515. (2022 10th International Conference on Systems and Control, ICSC 2022). doi: 10.1109/ICSC57768.2022.9993898

Modelling and Simulation of 2 DOF Gimbal System with Experimental System Identification

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