Gimbals control with the camera for aerial photography in RC helicopter

In this paper, PD parameters tuning method for controlling a Gimbals device is proposed. The controlled object the gimbals device is the hanging device, and it is used to keep the camera to be the horizontal position. For example this technique has been paid to attention in the aerial photography by the RC helicopter.However, it is thought as problem that the camera vibrates and the image shakes in the aerial photography by the RC helicopter. Therefore, the position of the camera is first controlled so that the camera may always move to the horizontal position in the ground. As the control technique, the system parameters are estimated by the least squares method. Next, the PD parameters are computed by the generalized minimum variance control law, and control the gimbals device by the gimbals control using the PD control technique. In this paper, the design scheme of the control system is discussed, and the behavior of the control system is examined in the experimental equipment.