Study on gimbals system dynamics of three-axis inertial stabilized platform for aerial photography

To realize the high-accuracy control of three-axis inertial stabilized platform for aerial photography,three gimbals system dynamic model was established by using Newton-Euler equation in the paper.According to the established gimbals system dynamic equations,the simulation was carried out by using Simulink.The results showed that when the angular movements of base and gimbals occurring,the coupling moment roll gimbal suffers is the largest among three gimbals,and there aren't any coupling moment in yaw gimbal;in addition,the gimbal's coupling moments can be ignored since angular rate is too slow when a single gimbal's controller is designed.