Coupling Analysis and Feedforward Compensation Design of Two-axis Gimbal Controller

Gimbal systems are pivotal in fields ranging from aerospace to photography, demanding high precision and stability. Traditional pitch-yaw decoupled control strategies ignores the dynamics coupling of the two axes, thus often faltering to meet the stringent requirements for precision and stability. This research dissects the intricate coupling effects between the gimbal axes. By implementing a strategic feedforward compensation channel, the system is reduced to two decoupled double-integrator with minor disturbance terms and further stabilized by two cascade PID controllers. The hidden state used by the compensation term is acquire by our designed Luenberger observer, whose stability is proved to guarantee the correctness of our algorithm. Simulations based on real-world parameters validates the performance of our proposed algorithm and superiority than pure PID. Our methodology not only stabilizes the gimbal with reduced tracking error and quicker response times but also offers a robust framework adaptable to other multi-axis control systems.