ICBGM'03

Object-Oriented Bond-Graph Modeling of a Gyroscopically

Stabilized Camera Platform

Robert T. McBride Dr. François Cellier

Raytheon Missile Systems University of Arizona

ICBGM'03

Gyro

ICBGM'03

Gyro Bond Graph

ICBGM'03

Gyro:Pitch Orientation

ICBGM'03

Gyro:Yaw Orientation

ICBGM'03

Gyro:Roll Orientation

ICBGM'03

Inertial Rate Sensor

ICBGM'03

Camera Model

ICBGM'03

Simple Platform Inertia

ICBGM'03

Simple Platform Inertia: 3 Channels

ICBGM'03

Stabilized Platform

ICBGM'03

Stabilized Platform and Camera

ICBGM'03

Platform and Camera Test Scenario

ICBGM'03

0 5 10 15-15

-10

-5

0

5

10

15A

ngle

(de

g.)

Time (sec.)

Platform Commanded Angular Pos.

RollPitchYaw

Platform Commanded Angular Positions

ICBGM'03

0 5 10 15-10

-5

0

5

10P

itch

Ang

le (

deg.

)

Platform: Pitch

Gyro-SensedCommanded

0 5 10 15-1.5

-1

-0.5

0

0.5

1

Pitc

h A

ngle

Err

or (

deg.

)

Time

Gyro-Sensed - Commanded

Pitch Achieved Position

ICBGM'03

Roll Achieved Position

0 5 10 15-20

-10

0

10

20R

oll A

ngle

(de

g.)

Platform: Roll

Gyro-SensedCommanded

0 5 10 15-10

-5

0

5

10

Rol

l Ang

le E

rror

(de

g.)

Time

Gyro-Sensed - Commanded

ICBGM'03

Yaw Achieved Position

0 5 10 15-20

-10

0

10

20Y

aw A

ngle

(de

g.)

Platform: Yaw

Gyro-SensedCommanded

0 5 10 15-4

-2

0

2

4

Yaw

Ang

le E

rror

(de

g.)

Time

Gyro-Sensed - Commanded

ICBGM'03

Camera: Pitch Achieved Position

0 5 10 15-20

0

20

40

60

80P

itch

Ang

le (

deg.

)

Camera: Pitch

Camera Body Pos.CommandedPlatform Body Motion

0 5 10 15-20

0

20

40

60

Pitc

h: C

amer

a In

ertia

l Err

or (

deg.

)

Time

Camera Cmnd. - Camera Pos. - Body Mtn.

ICBGM'03

0 5 10 15-20

0

20

40

60

80R

oll A

ngle

(de

g.)

Camera: Roll

Camera Body Pos.CommandedPlatform Body Motion

0 5 10 15-20

0

20

40

60

Rol

l: C

amer

a In

ertia

l Err

or (

deg.

)

Time

Camera Cmnd. - Camera Pos. - Body Mtn.

Camera: Roll Achieved Position

ICBGM'03

0 5 10 15-20

0

20

40

60

80

Yaw

Ang

le (d

eg.)

Camera: Yaw

Camera Body Pos.CommandedPlatform Body Motion

0 5 10 15-20

0

20

40

60

Yaw

: Cam

era

Iner

tial E

rror (

deg.

)

Time

Camera Cmnd. - Camera Pos. - Body Mtn.

Camera: Yaw Achieved Position

ICBGM'03

• The paper has demonstrated how bond-graph models of physical devices can be embedded in an overall control architecture in an object-oriented fashion.

• The Dymola modeling framework enables the modeler to convert hierarchical bond-graph models into software objects that can be integrated into larger entities, and that can be used in simulation experiments.

• A gyroscopically stabilized platform was used in this paper to demonstrate the generality of the approach to object-oriented bond-graph modeling of physical systems, and to show that the tools available to this end are powerful enough to deal with complex industrial processes.

Conclusions