This study uses a three-axis Gimbal model to inertially stabilize a platform that can be used to feed smooth images from a camera. In this article, three-axis Gimbal performance analysis is presented. An inertial measurement unit responds to movement and a three-phase brushless DC motor with 14 poles and 12 coils is used to rule out vibrations and movement from the surroundings. The controller combines sliding-mode control and model-free-adaptive control to design a novel control method based on data, which can decrease the computational time and difficulty of a nonlinear system. Simulations on MATLAB prove the efficiency of the given method. The simulation results validate that the designed controller has improved position control than the traditional proportional integral derivative, model-free-adaptive control, and model-free-learning-adaptive control.

中文翻译：

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基于无模型自适应数据驱动的三轴云台控制方法

这项研究使用三轴万向节模型来惯性稳定一个平台，该平台可用于从相机提供平滑图像。在本文中，介绍了三轴云台性能分析。惯性测量单元对运动做出响应，并使用具有 14 极和 12 个线圈的三相无刷直流电机来排除周围环境的振动和运动。该控制器结合了滑模控制和无模型自适应控制，设计了一种基于数据的新型控制方法，可以减少非线性系统的计算时间和难度。在 MATLAB 上的仿真证明了给定方法的有效性。仿真结果验证了所设计的控制器比传统的比例积分微分、无模型自适应控制具有改进的位置控制，