Conscientiously Mechanized Self-Synchronizing and Stabilizing Platform

The need for stabilizing mechanisms is wide- spread. Various techniques are applied in search of the ideal solution. A common application is camera stabilization, less common are perhaps self-leveling anti-motion sickness seats or surgery platforms. These systems share the importance of maintaining a constant position or direction relative to a point of reference, regardless of disturbance or movement in space. A method for measuring this position is using an Inertial Measurement Unit (IMU) consisting of gyroscopes and accelerometers, commonly used in self-stabilizing platforms. The Motion-Disturbance Compensating (MDC), or self-stabilizing, platform aims to correct angular deviations using motors. The signal from the measuring unit requires filtering and in order to obtain any reasonable level of system rapidity control science must be applied. The motors are seen as two individual systems, one for the x-axis and one for the y-axis. A Proportional Integral Derivative (PID) controller is well suited for systems with one signal in, voltage, and one signal out, angle, such as the one in question. This paper reports on a particular solution build on the sensor MPU6050 and its parameters that can scan 6DOF (3 x 3 accelerometer + gyroscope). In real conditions this task is not trivial, since the signals of these sensors are quite noisy and influenced by other variables such as reaction speed, inertia, and accuracy of data interpretation, sensor drift and others. Self- stabilizing platforms can be of great use especially in the automotive, aviation, marine, robotics, and aerospace as well as in everyday life.