本文为土耳其中东技术大学（作者：ERHAN POYRAZOGLU）的硕士论文，共135页。

万向节系统用于各种工程应用，如军事系统。它们的配置是根据应用程序的类型和期望的性能要求设计的。这些系统的基本目标是补偿干扰效应，以稳定视距和定位的期望点。本文首先采用牛顿-欧拉法建立了含有摩擦、静态、动态质量不平衡等非线性动力学效应的2自由度框架系统的详细数学模型。其次，构造了三种不同的控制器：级联比例积分（PI）、全局线性二次积分（LQI）和局部线性二次积分（LQI）。在MATLAB中实现了数学模型和控制器，并对其性能进行了研究。在本文的最后一部分，为了在仿真中实现对目标的可视化和跟踪，在MATLAB/Simulink三维工具箱中构建了一个三维虚拟环境，并设计了一个简单的跟踪算法来检测和跟踪目标。所有这些操作都在MATLAB/Simulink环境下进行了仿真。

Gimbal systems are used in variousengineering applications such as military systems. Their configurations aredesigned according to the types of application and desired performancerequirements. The essential aim of these systems is to compensate thedisturbance effects in order to stabilize LOS and positioning to the desiredpoint. In this thesis, first, a detailed mathematical model of a 2-DOF gimbalsystem containing some nonlinear dynamic effects such as friction, static anddynamic mass unbalance is obtained by Newton-Euler approach. Next, threedifferent controllers that are cascade proportional-integral (PI), global andlocal linear quadratic integral (LQI) have been constructed. The mathematicalmodel and the controllers have been implemented in MATLAB and theirperformances have been investigated. In the final part of this study, in orderto visualize and track a target in simulation, a 3-D virtual environment isconstructed within MATLAB/Simulink 3-D Toolbox and a simple target trackingalgorithm is designed to detect and track targets. All of these operations aresimulated on MATLAB/Simulink environment.

1.  引言

2. 2自由度万向节系统的数学模型

3. 控制器设计

4. 目标跟踪与动画设计

5. 结论与展望

附录A 详细的数学表达式

附录B SIMULINK模块

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