This study proposed a method for simultaneously reducing mass imbalance and vibration in gimbal systems utilizing a tuned mass damper (TMD) as a balancing weight. Finite element analysis (FEA) and experiments were used for testing the method. Mass imbalance in gimbal systems generally causes external disturbance torque. To reduce this, a balancing weight can be used. However, weight increase due to balancing weight causes resonance in the gimbal system, which generates bias error in the gyroscope sensor. This study demonstrated that both mass imbalance reduction and vibration reduction effects could be achieved by utilizing a TMD as a balancing weight. FEA results showed that the mass imbalance reduction effect of the gimbal was not affected by TMD. The magnitude of vibration response at the resonance point was reduced by about 98% with TMD. When a TMD was applied, the magnitude of the vibration response at the resonance point was reduced by 98% to the same level as that of the gimbal. Bias error of the gyroscope sensor was reduced by about 95% or more. These results show that a TMD is useful for effectively reducing mass imbalance and vibration in gimbal systems while improving gyroscope sensor performance.
In this study, the disturbance torque that maintains the gimbal at a specific angle during the centrifugal acceleration test was analyzed. Newton"s Second Law for Rotation was applied, to calculate the disturbance torque. A Theoretic solution for calculating the disturbance torque was derived, by separating the horizontal/vertical components of the moment of inertia. The Theoretic solution was verified, by numerical analysis (RecurDyn) of the simplified Gimbal model. To include the effect of acceleration, the distance between the central axis of the gimbal and the accelerated test equipment was applied as 0 and L (non-Zero). As a result of the analysis, it was found that the main disturbance torque is not related to acceleration, but to self-centrifugal force caused by rotation. A centrifugal acceleration test was conducted, to verify the operational performance of gimbal. The disturbance torque was calculated, by measuring the torque used to operate the gimbal"s motor. The result was compared with the disturbance torque, calculated by the Theoretic solution of the gimbal. The error between the result of test and Theoretic solution of torque was less than 4.5%.
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A study of Tuned Mass Damper (TMD) Application for Mass Imbalance and Vibration Reduction in Gimbal Systems for High-speed Maneuverable Vehicles Jun-Soo Kim, Dong-Kyun Lee, Jong-Kuk Lee, Hyeon-Jun Cho, Ji-in Jung Journal of the Korean Society for Precision Engineering.2024; 41(11): 857. CrossRef
Controlling an optical sensor’s line of sight (LOS) with an inertial stabilization system carried out on a dynamic platform is a challenging engineering task. The LOS needs to track a target object accurately despite intentional maneuvers, inadvertent motions, and additional disturbances. In this study, a super-twisting sliding mode controller (STSMC) is implemented to overcome this problem. The controller is designed based on the analysis of system dynamics. The stability is then proved to be satisfactory by the Lyapunov theory. Then, the control law is validated through experimental studies. In addition, a comparison to the performance of a linear controller is derived so that the effectiveness of the proposed controller is validated.
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The objective of this study was to address the parameter estimation of the line-of-sight stabilization system on temperature variation, which is a significant element in regulating the control performance of mobile platform with visual targeting system. To this end, the LuGre friction model in this study was used both to represent the characteristic of the friction behavior and to design a control algorithm for the friction compensation. Results from both simulation and experimental tests helps to identify the friction parameters on LuGre friction model. Based on LuGre with parameter estimation, PI-LEAD control algorithm is designed to compensate nonlinear characteristic of the line-of-sight stabilization system on the variation of temperature. Finally, through simulation, the good control performance of line-of-sight stabilization system was evaluated according to the temperature variation.
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Laparoscopic surgical instruments have been used widely since 1980s and they are still important tool to the medical field as the surgical robot systems spread. In this study we devised three types of motorized mechanism to reduce the user hand fatigue. We detailed the mechanism of each type and compared the performances with several indices such as a bending angle, response time and number of mechanical components. And also we show the movement relationships among the jaw joint, passive gimbal set and motors in the case of MPDG (Motor Drive with a Push Disk and Driven Disk of Gimbal Mechanism) type during the typical jaw joint motions. MTPS (Modified Two Parallel Semicircle Guide Mechanism) type excels others in response time and number of components while showing the increase of load and kinematic occlusion during the diagonal movement. MBDG (Motor Drive with a Ball-Screw, Link and Disk Type Gimbal Mechanism) type shows the medium level bending performance with slow response time and large number of components. Lastly MPDG type excels in jaw joint bending performance with an unstable rotation motion transfer between pushing disk and driven disk at the large disk rotation angle.
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