# Closed loop stabilization control - integrator circuit

by opmal7
Tags: circuit, control, integrator, loop, stabilization
 P: 27 Hello all. I have a platform that is controlled by two electric motors (one for elevation, one for rotation). During the application, I would like to have the platform maintain it's current position. I'm imagining a system where you set the position manually, and then press a button that will tell the platform to hold its current position. This is a relatively large platform with large external forces acting on it, so the motors will need to be driven to correct for changes in the platform's position. I have an angular rate of rotation sensor (gyro) mounted on the platform. I would like to use this gyro as the feedback sensor for the system. Since the gyro outputs the angular rate of rotation (dθ/dt), if I take the integral of the gyro signal over time, and set the integral to zero, the final position will be equal to the initial position: ∫dθ/dt (from 0 to t) = θ(t)-θ(0) If ∫dθ/dt=0, θ(t)=θ(0) (Hence, final position equal to initial position) This is where I'm hoping some electrical engineers can help out. I seem to remember designing integrator circuits in college, but that was some time ago. Are there components I can use to take the integral of the gyro signal? Is there a way to hold the value of the integral at 0 over time? I'm looking for any feedback. This concept seems simple to me, but if it would be difficult to implement I'm open to suggestions of another path to explore. Thanks for any and all feedback!
 P: 504 Analog integrators can be made using reactive components. It might have been better if you searched the internet for "integrator circuit" before posting. As for designing the entire close loop control system, perhaps this would be better accomplished by someone who better understands how to design a control system, especially considering the mass, cost, and potential danger that I associate with your equipment. I think the entire system should be modeled mathematically before implementation.
PF Gold
P: 2,558
 Quote by opmal7 I have a platform that is controlled by two electric motors (one for elevation, one for rotation). During the application, I would like to have the platform maintain it's current position. I'm imagining a system where you set the position manually, and then press a button that will tell the platform to hold its current position. This is a relatively large platform with large external forces acting on it, so the motors will need to be driven to correct for changes in the platform's position. ... I have an angular rate of rotation sensor (gyro) mounted on the platform. ...
A proportional–integral–derivative controller (PID controller) may be something to look into. What are your motor specs?