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<p>This study addresses a yaw ballistic control technique. First, the 3-degree of freedom (DOF) motion equations are established. Then, the motion equations of yaw/pitch two-axis gimbal turret are defined by applying the appropriate constraints. Second, a yaw ballistic control algorithm is developed, which operates in conjunction with both the stabilization controller and the video tracking controller. The yaw ballistics refers to the intentional misaiming of the turret in order to accurately strike a target. The camera uses the position control, while the turret uses stabilization control based on angular velocity for yaw ballistics. The yaw angular rate is generated by the camera when it performs yaw ballistics using position control. This angular velocity is then transmitted as an angular rate command to the turret for yaw ballistics. This study proposes an integrated closed-loop turret yaw ballistics control (TYBC) architecture that connects the heterogeneous yaw ballistics control of the camera and the turret. The most valuable characteristic of this paper is the recognition of differences in moment of inertia, control techniques, and dynamic coordinate systems and the integration of these differences into the control system design. This approach transforms the conventional open-loop TYBC into a closed-loop system. The performance of proposed algorithm is validated in both indoor and outdoor environments. In the indoor test, the camera’s field of view and the distance between the target and the turret are set to minimum and 10 m, respectively. This is representing the most challenging conditions for indoor yaw ballistic control. The real firing test is conducted to assess the enhancement for probability of hit for suggested yaw ballistic control technique. This study has implications for the development of turrets mounted on mobile platforms such as tanks, armored vehicles, and STV (small tactical vehicle), enhancing their probability of hit and overall effectiveness. Moreover, the performance of existing turret for tanks, armored vehicles, and STV can be improved.</p>

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Development of Yaw Ballistics Control Technique With Stabilization Control for 2-axis Gimbal Turret

  • 期刊论文

  • 发表日期：

    2025年7月14日

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  • Do Hyeon Lee,
  • Seok Jin Kim

摘要

This study addresses a yaw ballistic control technique. First, the 3-degree of freedom (DOF) motion equations are established. Then, the motion equations of yaw/pitch two-axis gimbal turret are defined by applying the appropriate constraints. Second, a yaw ballistic control algorithm is developed, which operates in conjunction with both the stabilization controller and the video tracking controller. The yaw ballistics refers to the intentional misaiming of the turret in order to accurately strike a target. The camera uses the position control, while the turret uses stabilization control based on angular velocity for yaw ballistics. The yaw angular rate is generated by the camera when it performs yaw ballistics using position control. This angular velocity is then transmitted as an angular rate command to the turret for yaw ballistics. This study proposes an integrated closed-loop turret yaw ballistics control (TYBC) architecture that connects the heterogeneous yaw ballistics control of the camera and the turret. The most valuable characteristic of this paper is the recognition of differences in moment of inertia, control techniques, and dynamic coordinate systems and the integration of these differences into the control system design. This approach transforms the conventional open-loop TYBC into a closed-loop system. The performance of proposed algorithm is validated in both indoor and outdoor environments. In the indoor test, the camera’s field of view and the distance between the target and the turret are set to minimum and 10 m, respectively. This is representing the most challenging conditions for indoor yaw ballistic control. The real firing test is conducted to assess the enhancement for probability of hit for suggested yaw ballistic control technique. This study has implications for the development of turrets mounted on mobile platforms such as tanks, armored vehicles, and STV (small tactical vehicle), enhancing their probability of hit and overall effectiveness. Moreover, the performance of existing turret for tanks, armored vehicles, and STV can be improved.