MyRio Camera Stabilizer (Control Theory and Experiment) Bachelor Thesis

[libraryguy]

Hi guys!

If you like to read about what I did to stabilize a camera (only one axis, feasibility study, panning possible) feel free in this document!

What it does

• Stabilize one axis
• panning can be enabled, so it follows your movement smoothly
• Myrio-enabled control system
• MPU6050 as sensor
• regular DC motor as actuator

Example Video of Stabilization

Example Video of Panning

Controller Types

• PID, tuned with MATLAB-Software
• State feedback controller, manually tuned
• Phase-lead controller

Thesis Content

• Occurring shake due to movement
• Existing gimbal stabilizers
• Set up dynamical equations (Laplace domain transfer functions)
• Comparison of sensor placement
• Measure friction with experiment
• Simulation of controller in plant (Simulink)

Outcome

• Phase-Lead controller has advantages over controller types
• Subjectively satisfying stabilization

Known errors

• Figure 4 denotes the wrong axes (mixed them up)

Labview Code

• The .zip contains all my private tinkering regarding the gimbal
• Gimbal SF_RE3.vi is the main VI with the controller inside
• Bachelor Experiments.lvproj is the main project

For just reading out the MPU-6050 sensor, please adress to:

https://decibel.ni.com/content/docs/DOC-34263

Feel free to ask, suggest or demand more files/ examples. I hope publishing this helps.

[simulater]

Could you show you NI code pls.
Thank.

[libraryguy]

I just published my old private tinkering code, which I used to test all of my ideas besides the thesis. It is the best way of seeing what I did there. Open the "Gimbal Stabilizer Labview Code.zip (6.3 MB) " attached to this document.