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

摘要

Pan-tilt platform (PTP) is a complex electromechanical assembly and its motion is characterized by coupled nonlinear behaviour. Control design and validation for PTP needs system models with different levels of abstraction and fidelity. The study is an attempt to build a multi-bond graph (MBG) model of an ideal PTP using object oriented modeling (OOM) approach. Joint friction, backlash and detailed actuator dynamics can be incorporated in modular manner. One of the mechanical imperfection; mass imbalance in tilt axis is also presented. The multibond graph model is created using 20-sim and results are compared with a general purpose multi-body dynamics software.