Journal of Advanced Marine Engineering and Technology

The Korean Society of Marine Engineering (한국마린엔지니어링학회)
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A study on the stabilization and controller design for directional pan-tilt system

지향성 Pan-Tilt 시스템의 안정화와 제어기 설계에 관한 연구

  • Received : 2013.01.25
  • Accepted : 2013.02.22
  • Published : 2013.03.31
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Abstract

This paper presents the stabilization and design of a pan-tilt control part for the directional pan-tilt system for shipboard directional equipment. In order to control each control axis with compensation for ship motion, the 2 degree of freedom(2DOF) PID controller is designed and its parameters are tuned using a real-coded genetic algorithm(RCGA). Simulation demonstrates the effectiveness of the 2 DOF PID controller tuning.

본 논문은 2축 구조를 가진 안정화 지향성 Pan-Tilt 시스템을 개발하기 위한 기초연구로서 2축 Pan-Tilt와 Pan-Tilt 구동 하드웨어 보드를 제작하고 표적 추적을 위한 제어기를 설계하는 내용이다. Pan-Tilt 시스템을 6 자유도 선박운동 시뮬레이터에 탑재하여 테스트 환경을 구축하고 RCGA를 이용하여 Pan-Tilt의 모델 매개변수를 추정한 다음, 추정된 모델과 RCGA에 기초하여 시뮬레이션과 실험을 수행함으로써 2 자유도 PID 제어기 동조의 유효성을 검토한다.

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References

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