Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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A Study of Motion for Four-Axis Stabilized Platform Including Effects of Gimbal Bearing Friction

김벌 베어링 마찰의 영향을 고려한 4축 안정화 플랫폼의 운동에 관한 연구

  • Shin, Y.J. ;
  • Cho, K.R. ;
  • Lee, J.K.Cho, S.Choi, S.
  • 신용진 (부산대학교 대학원) ;
  • 조겸래 (부산대학교 항공우주공학과, 기계기술연구소) ;
  • 이진걸조설최석 (부산대학교 정밀기계공학과, 기계기술연구소삼성항공우주연구소부산대학교 대학원)
  • Published : 1995.06.01
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Abstract

This paper presents a detailed derivation of the equations of motion for the stable member of a four-axis platform. Gimbal bearing friction is considered for motion analysis. First, dynamic characteristics of platform, gimbal and gyro with Coulomb friction are studied due to vehicle's angular motion. Second, Vehicle's motion is assumed the sinusoidal function and dynamic characteristics of platform, gimbal and gyro are studied. Conclusively, considering effects of Coulomb friction, they could not follow the vehicle's angular motion and have constant errors. In case of sinusoidal motion, relative angles for each gimbal are amplified, but they are sinusoidal function with almost the same phases.

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