Maneuverability Improvement of EOTS by Driving the Outer Gimbal First

외부짐발 선구동에 의한 EOTS의 기동성 개선

  • Yim, Jong-Bin (Dept. of Electronics Eng., Chungnam National University) ;
  • Kim, Sung-Su (Agency for Defense Development) ;
  • Lyou, Joon (Dept. of Electronics Eng., Chungnam National University)
  • Received : 2013.04.26
  • Accepted : 2013.08.04
  • Published : 2013.10.01


An EOTS (Electro-Optical Tracking System) provides stabilized images while tracking a moving target. This paper presents a novel concept of driving the outer gimbal first for improving the maneuverability of an EOTS, contrary to the conventional inner gimbal mode. It has the advantages of faster positioning performance and stable operation in Nadir-point. Analysis of frequency responses reveal that the present scheme results in a wider control bandwidth and larger gain margin, compared to those of the previous one. The actual experimental results confirm that the maneuvering is stable although the input command has a large angular acceleration.



  1. J. S. Ma, M. S. Kang, and W. H. Kwon, "Vibration suppression control based on model reference approach for LOS stabilization gimbal," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 5, no. 5, pp. 540-549, 1999.
  2. J. K. Park, Y. K. Bae, and S. Jung, "Experimental studies of a time-delayed controller to stabilize image stabilization system," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 13, no. 1, pp. 58-64, 2007.
  3. L. Kai, W. Zhang, and H. Zhu, "Multi-rate $H_{{\infty}}$ control for electro-optical tracking system based on internal model algorithm," International Colloquium Computing, Communication, Control, and Management, vol. 2, pp. 53-60, 2008.
  4. M. Dongxi and F. Dapeng, "Dynamic nonlinear control for electro-optical tracking system," 2nd International Conference Intelligent Computation Technology and Automation, pp. 782-784, 2009.
  5. B. Wenliang and H. Xianlin, "Control system design of multi-gimbal electro-optical platform by the technique of $\mu$-synthesis," 29th Chinese Control Conference, pp. 3447-3452, 2010.
  6. S. W. Lee, D. J. Han, and K. M. Kang, "Review on present state and future development direction for the electro-optical systems," Journal of Korea Association of Defense Industry, vol. 14, no. 2, pp. 163-191, 2007.
  7. C. H. Kang, S. H. Oh, and B. S. Lee, "Current status of EOTS for fighter and its technical trends," Proc. of the Korean Society for Aeronautical and AeroSpace Sciences, vol. 2012, no. 4, pp. 693-698, 2012.
  8. S. E. Lee and T. W. Lee, "Vibration characteristic analysis of gimbal structure system with observation reconnaissance camera module," Journal of the Korean Society of Mechanical Engineers, vol. 35, no. 4, pp. 409-415, 2011.
  9. S. Y. Youn and K. S. Youn, "Controller design of line of sight stabilization/tracking systems," Research Review Kyungil University, vol. 13, no. 2, pp. 725-736, 1996.
  10. S. W. Lim and J. S. Ma, "Characteristics Comparison according to operating mode of dynamically tuned gyroscope in the electro-optical tracking system," Journal of Control, Automation, and Systems Engineering (in Korean), vol. 3, no. 3, pp. 311-317, 1997.
  11. J. C. Kim, "Design of dual-stage actuator controller for hard disk drive," Master Thesis, Hanyang University, 2001.
  12. B. M. Chung, I. J. Yeo, and T. J. Ko, "High Precision hybrid milling machine using dual-stage," Journal of the Korean Society of Precision Engineering, vol. 25, no. 7, pp. 39-46, 2008.

Cited by

  1. Synchronized Control of Active Harmonic Gear System vol.18, pp.1, 2014,