MULTI-BOND GRAPH MODELING OF PAN-TILT PLATFORM USING OBJECT ORIENTED MODELING APPROACH

摘要

Pan-tilt platform (PTP) is a complex electromechanicalassembly and its motion is characterized by coupled nonlinearbehaviour. Control design and validation for PTPneeds system models with different levels of abstractionand fidelity. The study is an attempt to build a multi-bondgraph (MBG) model of an ideal PTP using object orientedmodeling (OOM) approach. Joint friction, backlash anddetailed actuator dynamics can be incorporated inmodular manner. One of the mechanical imperfection;mass imbalance in tilt axis is also presented. The multibondgraph model is created using 20-sim and results arecompared with a general purpose multi-body dynamicssoftware.