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Development and control of a 3-axis stabilised platform
Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2007.
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| Other Authors: | |
| Format: | Thesis |
| Language: | English |
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Stellenbosch : University of Stellenbosch
2007
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| _version_ | 1867613790399365120 |
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| access_status_str | Open Access |
| author | Bredenkamp, Adolf Friedrich Ludwig |
| author2 | Steyn, W. H. |
| author_browse | Bredenkamp, Adolf Friedrich Ludwig Steyn, W. H. |
| author_facet | Steyn, W. H. Bredenkamp, Adolf Friedrich Ludwig |
| author_sort | Bredenkamp, Adolf Friedrich Ludwig |
| collection | Thesis |
| dc_rights_str_mv | University of Stellenbosch |
| description | Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2007. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/2826 |
| institution | Stellenbosch University (South Africa) |
| language | English |
| last_indexed | 2026-06-10T12:41:44.687Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2007 |
| publishDateRange | 2007 |
| publishDateSort | 2007 |
| publisher | Stellenbosch : University of Stellenbosch |
| publisherStr | Stellenbosch : University of Stellenbosch |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/2826 Development and control of a 3-axis stabilised platform Bredenkamp, Adolf Friedrich Ludwig Steyn, W. H. University of Stellenbosch. Faculty of Engineering. Dept. of Electrical and Electronic Engineering. Theses -- Electronic engineering Dissertations -- Electronic engineering Gyroscopes Inertial navigation (Aeronautics) Aerial photography -- Equipment and supplies Thesis (MScEng (Electrical and Electronic Engineering))--University of Stellenbosch, 2007. The successful control of a three-degree-of-freedom gyroscope is presented for the application of steering and stabilising a platform mounted underneath an airship. The end goal is to stabilise a camera for earth observation purposes. The development of the necessary electronics, sensors and actuators along with the hardware and software to interface these components are presented. This include DC drives, torque control systems for the gimbal motors and a speed control system for the gyroscope as well as platform angle and angular rate sensors. A mathematical model for the gyroscope, based on Euler's equations of motion, is presented. Non-linear simulations are performed and compared to measurements of the plant's behaviour to step torque commands to determine the parameters of the gyroscope. Pole placement and LQR optimal control methods are considered in the design of a MIMO controller to steer the platform in the elevation plane, along with a PI controller to steer the platform in the azimuth plane. Ground tests display the success of the steering controllers. 2007-11-15T06:28:08Z 2010-06-01T08:59:21Z 2007-11-15T06:28:08Z 2010-06-01T08:59:21Z 2007-03 Thesis http://hdl.handle.net/10019.1/2826 en University of Stellenbosch 2900388 bytes application/pdf application/pdf Stellenbosch : University of Stellenbosch |
| spellingShingle | Theses -- Electronic engineering Dissertations -- Electronic engineering Gyroscopes Inertial navigation (Aeronautics) Aerial photography -- Equipment and supplies Bredenkamp, Adolf Friedrich Ludwig Development and control of a 3-axis stabilised platform |
| title | Development and control of a 3-axis stabilised platform |
| title_full | Development and control of a 3-axis stabilised platform |
| title_fullStr | Development and control of a 3-axis stabilised platform |
| title_full_unstemmed | Development and control of a 3-axis stabilised platform |
| title_short | Development and control of a 3-axis stabilised platform |
| title_sort | development and control of a 3 axis stabilised platform |
| topic | Theses -- Electronic engineering Dissertations -- Electronic engineering Gyroscopes Inertial navigation (Aeronautics) Aerial photography -- Equipment and supplies |
| url | http://hdl.handle.net/10019.1/2826 |
| work_keys_str_mv | AT bredenkampadolffriedrichludwig developmentandcontrolofa3axisstabilisedplatform |