Deniz Araçları İçin İki Eksenli Bir Görüş Hattı Stabilizasyon Sistemi Tasarımı

Görüş hattı stabilizasyonuna sahip hareketli platform sistemleri, platform zeminindeki açısal titreşimlerin platform sistemine bağlanan görüş veya lazer sistemlerinin görüş eksenlerine taşınmasını engelleyerek, durağan bir görüntü elde edilmesini veya durağan bir işaretleme yapılmasını sağlamaktadır. Bu çalışmada deniz taşıtlarında kullanılabilecek ve düşük frekanslı bozunumlara maruz kalabilecek iki eksen hareketli platform sistemi tasarlanmıştır. Bu sistemlerde hareket sağlayıcı olarak sıklıkla kullanılan doğrudan kontrollü DA tork motoru yerine çıkışına harmonic drive dişli sistemi bağlı olan fırçasız doğru akım motoru ele alınmıştır. Harmonic drive dişli sistemi gerekli stabilizasyon hassasiyetinin elde edilmesi için yeterli olduğundan, yüksek frekanslı bozunumlar altında ihtiyaç duyulan ve yüksek tork ihtiyacından dolayı oldukça hacimli ve ağırlıklı olan doğrudan kontrollü motorlara gerek kalmamıştır. Bu çalışmada öncelikli olarak hareketli platform sisteminin bağlı olduğu zeminin açısal hareketleri göz önünde bulundurularak açısal hız ve tork ilişkisi elde edilmiştir. Daha sonra ise yükseliş ekseni ve yan eksen etrafındaki hareketlerin birbiri üzerinde oluşturdukları tork bozunumlarından kaynaklanan çapraz kuplaj etkisi hesaplanmıştır. Sonuç olarak, fırçasız doğru akım motorunun matematiksel modeli ve vektör kontrol yöntemi kullanılarak her bir eksen için stabilizasyon kontrol döngüsü tasarlanmıştır. Daha sonra ise bütün model Simulink ortamında çalıştırılarak test edilmiştir

Design of A Two Axis Line of Sight Stabilization System for Vessels

By preventing the angular vibrations of the platform from being carried on to the axes of the attached imaging or laser systems, line of sight stabilization allows both a stable image to be obtained and a stable marker to be created. In this study, a two axis gimbal system that can be used in vessels and can be subjected to low frequency disturbances is designed. Instead of using direct drive DC torque motors which are usually used as an actuator in these kinds of systems, a brushless DC motor with an output connected to a harmonic drive gear was considered. Because a harmonic drive gear is enough to provide the required stabilization precision, there is no need for large and heavy direct drive motors which are necessary under high frequency disturbances. In this paper, firstly an angular velocity and torque relationship derived. The cross-coupling effect resulting from torque disturbances, which are themselves created due to the effects of the motions on the elevation and azimuth axes on other axes, was then calculated. Finally, a stabilization loop was designed for every axis using the vector control method and the brushless DC motor’s mathematical model. The entire model was then simulated in the Simulink and results were discussed

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