Modeling, analysis and motion control of a pan tilt platform based on linear and nonlinear systems

Authors:
Imran S. Sarwar;Javaid Iqbal;Afzaal M. Malik
Affiliations:
College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Rawalpindi, Pakistan;College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Rawalpindi, Pakistan;College of Electrical and Mechanical Engineering, National University of Sciences and Technology, Rawalpindi, Pakistan
Venue:
WSEAS Transactions on Systems and Control
Year:
2009

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Abstract

This paper deals with the modeling, analysis and controlled motion control of a two degree of freedom pan tilt platform (PTP) for positioning or aiming a device. The PTP has two revolute joints. The PTP is a device that makes it possible for the camera to point in a desired direction when mounted under a carrier such as an aircraft. The objective of this research work is to derive a linear and nonlinear control system of the PTP to point in a desired direction within allowable specifications. To perform the analysis and simulation, all the parameters involved in the system dynamics were identified. To achieve the motion control a feedback control system with PD controllers was simulated and tested for the position control of pan and tilt mechanism. These PD controllers were derived from linear system model were used in nonlinear control system simulation and tested with real system. The nonlinear control system developed in this paper is nearest to the physical system. The motion controller results matched closely with the simulation results.