PID Control of Dual Axis Inertially Stabilized Platform Simscape Multibody Model

For the goal of tracking and observing objects from a moving platform, a dual-axis inertially stabilized platform (DISP) model is developed. Due to the influence of road unevenness, A disturbance rejection controller was proposed to maintain the required position. The DISP performance during the pan and tilt motions was modelled using an integration between the Solidworks, Simscape, and Simulink toolboxes in MATLAB. To keep the platform stable, the system is controlled using a proportional-integral-derivative (PID) controller. Several road disturbances scenarios were applied on both axis (the pitch and yaw angles) to study the controller’s robustness. Disturbance rejection and noise attenuation capabilities are also employed in order to evaluate the controller resilience. A parametric study was introduced to examine the effect of vehicle speed and the road profile on the platform response. The results show that changing the road frequency has a little effect on the controller response while changing the road amplitude or increasing the vehicle speed results in a remarkable effect.