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Object-Oriented Bond-Graph Modeling for Gyro-Stabilized Camera Platforms

Explore how bond-graph models of physical devices can be integrated in control systems using object-oriented approach. Demonstrates the power of Dymola modeling framework for simulation experiments with gyro-stabilized platforms.

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Object-Oriented Bond-Graph Modeling for Gyro-Stabilized Camera Platforms

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  1. Object-Oriented Bond-Graph Modeling of a Gyroscopically Stabilized Camera Platform Robert T. McBride Dr. François Cellier Raytheon Missile Systems University of Arizona

  2. Gyro ICBGM'03

  3. Gyro Bond Graph ICBGM'03

  4. Gyro:Pitch Orientation ICBGM'03

  5. Gyro:Yaw Orientation ICBGM'03

  6. Gyro:Roll Orientation ICBGM'03

  7. Inertial Rate Sensor ICBGM'03

  8. Camera Model ICBGM'03

  9. Simple Platform Inertia ICBGM'03

  10. Simple Platform Inertia: 3 Channels ICBGM'03

  11. Stabilized Platform ICBGM'03

  12. Stabilized Platform and Camera ICBGM'03

  13. Platform and Camera Test Scenario ICBGM'03

  14. Platform Commanded Angular Positions ICBGM'03

  15. Pitch Achieved Position ICBGM'03

  16. Roll Achieved Position ICBGM'03

  17. Yaw Achieved Position ICBGM'03

  18. Camera: Pitch Achieved Position ICBGM'03

  19. Camera: Roll Achieved Position ICBGM'03

  20. Camera: Yaw Achieved Position ICBGM'03

  21. Conclusions • 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. ICBGM'03

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