İki eksenli uzaktan komutalı hedef takip sisteminin tasarımı ve kontrolü
Design and control of two-axis remote commanded target tracking system
Yazar: MUSTAFA IŞIK AKYÜZ
Danışman: PROF. DR. İBRAHİM ÖZKOL
İstanbul Teknik Üniversitesi / Lisansüstü Eğitim Enstitüsü / Savunma Teknolojileri Ana Bilim Dalı / Savunma Teknolojileri Bilim Dalı
Derece: Yüksek Lisans, 2021
Konu: Savunma ve Savunma Teknolojileri = Defense and Defense Technologies
Dizin: Benzetim tasarımı = Simulation design ; Bilgisayar destekli denetim = Computer aided control ; Elektromekanik = Electromechanic ; Hedef takip sistemi = Target tracking system ; Makine tasarımı = Machine design ; Robot denetim = Robot control ; Robot tasarımı = Robot design ; Sistem tasarımı = System design ; İki dereceli serbestlik sistemleri = Two degree freedom systems

Özet:
Hedef takip sistemlerinin stabilizasyonu dış kaynaklı titreşimlerin ve bozunumların platformun odak noktasına etkisini minimize etmeyi amaçlamaktadır. Bu şekilde görüş hattında, belirlenen hedef veya konum üzerinde takip, tahrip veya imha etme gibi farklı görev tanımları daha hassas ve güvenli bir şekilde icra edilebilecektir.
Bu tez çalışmasında, İki eksende hareket kabiliyetine sahip, yarı otonom mekatronik bir Hedef Takip Sistemi tasarımının matematik modelinin elde edilmesi, parçalarının imal edilmesi ve fiziksel olarak tüm özellikleri ile hayata geçirilmesi hedeflenmiştir. Görüş hattı üzerine yerleştirilen bir Lazer noktalayıcı ile hedef işaretlemesi yapılabilen, Platformun Kumanda Arayüzü üzerinden uzaktan manuel kontrol edilebilen, görüntü işleme algoritmaları ve Optik görüş birimleriyle belirlenen hedefi minimum hatayla takip etmesi amaçlanmıştır. Bu hedefe yönelik gerçekleştirilen matematiksel analizler ile birlikte mekanik, elektronik ve yazılımsal çalışmalara yer verilmiştir. 
Bölüm 2'de SHP'nin kinematik denklemleri formüle edilmiştir. Doğrusal olmayan dinamik denklemler formüle edilmeden önce, ilk olarak bu sistemin referans koordinat eksenleri ve dönüşüm matrisleri tanımlanmıştır. Bölüm 3 ' te MATLAB/Simulink ortamında oluşturulan modelin simülasyon sonuç grafiklerine yer verilmiştir. Kaskat PID kontrol yöntemi doğrusal olmayan sistem modeline uygulanmıştır. Kaskat PID denetleyicilerin tasarım prosedüründe, ilk olarak her iki eksenin ikincil kademesi olan hız denetleyici parametreleri ayarlanır. Ardından en iyi gerçekleşen sistem performansını elde etmek için birincil kademedeki konum kontrolör parametreleri ayarlanır ve ön filtre eklenir. Belirlenen parametrelerle sistem performansları farklı genlikteki zemin titreşimleri ve konum komutları için karşılaştırılmıştır. Bölüm 4 'te Solidworks tasarlanmış ve üretilmiş parçalarla montajlanan gerçek bir sistemin test sonuçlarına yer verilmiştir. Bu sayede gerçek sistem senaryolarını gözlemlemek için sanal gerçeklik yerine fiziksel dünyada oluşturulmuş elektro-mekanik bir yapı üzerindeki test sonuçlarının direkt olarak gözlemlenebileceği test ortamı elde edilmiştir.
Yapılan çalışmalarda öncelikle sistem için kullanılması düşünülen tüm komponentler detaylı teknik bilgilerle belirlenmiştir. Dahil edilen tüm parçalar ve geometrik ölçüler dikkate alınarak sistemin tümleşik bir matematiksel modeli elde edilmiş ve Matlab/Simulink programında farklı genliklerdeki titreşimlere karşı sistemin kararlılığı analiz edilmiştir. Fiziksel model için Solidworks programında konsept bir tasarım yapılmış, geometrik töleransları belirlenmiş ve teknik resimleri hazırlanarak gerekli parçalar imal ettirilmiştir. Elektronik komponentleriyle birlikte tüm montajı yapılan iki eksenli Hedef Takip Sistemi platformunun C# programında kullanıcı arayüzü ile birlikte görüntü işleme algoritmaları oluşturulmuştur. Kullanıcı arayüzü üzerinden manuel kullanım için motorlar senkron olarak sürülmüş ve kontrol testleri tamamlanmıştır. Belirlenen kontrol algoritmasıyla mikroişlemci üzerinden Otonom Hedef Takibinin final testleri yapılmıştır. Son olarak simülasyon sonuçları ile gerçek test sonuçlarının benzerlik ve farklılıkları üzerinden sonuçlar analiz edilip, yorumlanmıştır. Simülasyon analizleri önerilen kontrol yönteminin, Deneysel sonuçlar tümleşik sistem algoritmalarının doğruluğunu kanıtlamaktadır.

Abstract:
Stabilization of a target tracking system aims to minimize the effect of external vibrations and distortions on the focal point of the platform. In this way, different job descriptions such as tracking, destruction or destruction in the line of sight, on the specified target or location will be performed more precisely and safely.
In this thesis, it is aimed to obtain a mathematical model of a semi-autonomous mechatronic Target Tracking System design that has the ability to move in two axes, manufacture its parts and physically implement it with all its features.
It is aimed to follow the target with minimum error, which can be targeted with a laser pointer placed on the line of sight, can be controlled remotely via the Control Interface of the Platform, and determined by image processing algorithms and Optical sight units. Mechanical, electronic and software studies have been included along with the mathematical analyzes performed for this purpose.
The simulation environment offers many benefits for control system designers. For example, the scenarios of the system to be tested can be repeated many times in different parameters, the results can be optimized and in this way, it is easier to reach the desired results in the implemented system. The simulation study has mainly focused on the mathematical modeling of the two-axis SHP in order to obtain a mathematical model as realistic as possible using the Newton-Euler approach.
In Chapter 2, the kinematic equations of SHP have been formulated. Before formulating nonlinear dynamic equations, firstly the reference coordinate axes and transformation matrices of this system are defined. Angular velocity and acceleration variables between each reference coordinate axis are expressed by means of transformation matrices. After obtaining the kinematic equations, the dynamic equations of the motor and two-axis platform were written and the system model was created.
The block diagram for the stabilization cycle is introduced and the cross coupling effect is integrated into the model. In the planned scenario, only the distortions of the vibrations of different amplitudes originating from the ground and the mutual cross-coupling effect of the axes on the reference signal were analyzed. Due to this condition, certain assumptions have been made in modeling, controller design and simulations. Another goal planned is to design the controller parameters correctly and compare their performance. In the modeling of the motor, the basic motor model with electrical and mechanical parts is used. The parameter values of Cascade PID control, a traditional technique, are determined by reference to the effects of the system on the steady state error.
In Chapter 3, the simulation result graphics of the model created in MATLAB / Simulink environment are given. Cascade PID or Cascade PID control method has been applied to the nonlinear system model. In the design procedure of cascade PID controllers, the speed controller parameters, which are the secondary stage of both axes, are set first. Next, the position controller parameters in the primary step are adjusted to achieve the best performance of the system, and then a low-pass filter pre-filter is added. 
The system performances with the determined parameters are compared for different amplitude ground vibrations and position commands. In the system simulation study, ground vibrations are between 0.5 - 8 Hz. In stabilization performance, the rise time, settlement time and elimination of deterioration are important. When the specified disturbance input values are at low levels, the SHP control is successful in stabilization and tracking problems. However, the Cascade PID control has fast positioning and suppression performances for distortion at position commands lower than 0.5 rad. Gradual PI control parameters are preferred for the control system providing the best performance.
In Chapter 4, test results of a real system assembled with parts designed and manufactured in Solidworks program are given. In this way, a test environment where test results can be directly observed on an electro-mechanical structure created in the physical world instead of virtual reality was obtained to observe real system scenarios. A theoretical engineering study was supported with a practical approach by finding an application area.
Tracking along the line of sight from a fixed location, when the SHP optically detects a predetermined target during scanning, it moves to track and focus. With the written image processing and control algorithms, the tracking of the object whose motion was detected was successfully done. In tests performed at variable distances of 0 - 5 meters, it is absolutely successful in tracking and focusing objects moving at speeds up to 3m/s. When higher speeds are reached, it can deviate from the target in sudden direction changes.
Undoubtedly, the aforementioned distances and speeds are considered sufficient in the current scenario, but will not be sufficient during a real threat. In addition, it provides the reality requirements in the thesis study, but still many theoretical factors have not been discussed enough and the software subject including image processing has not been touched.
For use in future studies, some suggestions are given in this section to obtain a more realistic system simulation and to compare their performance with control and monitoring methods not mentioned in the previous sections. Theoretically, future studies could better suppress disturbances or improve system performance to respond faster to reference signals, as well as improve rigidity, tracking, and stabilization capabilities.
In the studies carried out,, first of all, all the components to be used for the system are determined with detailed technical information. With the prerequisite of being portable and light, the distances between axes are kept as low as possible. An integrated mathematical model of the system was obtained by considering all the parts and geometric dimensions included, and the stability of the system against vibrations of different amplitudes was analyzed in the Matlab / Simulink program.
Then, a concept design was made in the Solidworks program for the physical model, considering the geometric constraints, geometric tolerances were determined, technical drawings were prepared and the necessary parts were produced. The two-axis Target Tracking System, which is fully assembled with its electronic components, has been created with the user interface in the C # program of the platform and the first test of the program has been made. For manual use via the user interface, the motors are driven synchronously and the secondary control tests have been completed. Final tests of Autonomous Target Tracking were carried out on the microprocessor with the determined control algorithm. Finally, the results were analyzed and interpreted based on the similarities and differences between the simulation results and the real test results. Simulation analyzes prove the accuracy of the proposed control method and the experimental results of the integrated system algorithms.