Modelling of a pan and tilt servo system

Two-axis pan and tilt systems are widely used in surveillance applications for high accuracy positioning of sensor payloads such as cameras and laser pointers. In order to develop advanced control algorithms to improve the performance of these systems, a model of the system must be developed. This model should include the dynamics of the system to include effects such as compliance and account for friction effects in the drive. This paper discusses the development of the overall model of the system using National Instruments LabVIEW, and in particular, the models for friction and the drive train that will be used.