A Precision Position Control of Antenna Driving System in Naval Vessel

The naval vessel must moves rolling, pitching, yawing by wave when it runs in ocean. Some narrow beam antenna needed position compensation by stabilizer or gimbal for best performance. This paper presents the precision position control for heavy weight(130kg) in roll and pitch direction. Generally it's called for gimbal. This gimbal uses P-I controller, and it's driven by linear actuator and servo motor. This gimbal gets ship's gyro signal and synchro, which have the absolute angle value. Some other similar equipments are driven by huge hydraulic power, but this gimbal is driven by small servo motor. This control loop gets the following procedure repeatedly; reading ship gyro and gimbal synchro, calculating compensated error and control output, driving motor and actuator The performance of gimbal system was satisfied.