Control System Design and Simulation of an Aerial Three-Axis ISP System Based on SimMechanics

The main purpose of this paper is to investigate the control method for a three-axis ISP. Firstly, a simplified geometry model was built by Solid works. Then, a Simulink model composed of bodies, joints, constraints, and force elements of ISP was obtained from the 3D model via SimMechanic toolbox. On the basis of the Simulink model, the classical PID controllers and three closed servo loops were designed and applied to the ISP system under the friction disturbance being taken into account. The simulation results show that compared to the roll and pitch gimbals, the dynamic performance of the yaw gimbal is severely affected by the friction and whose proportion in position loop needs to be adjusted if a better dynamic performance is got.