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Gimbal over rate prevention system and method

  • US 9,561,873 B2
  • Filed: 02/20/2014
  • Issued: 02/07/2017
  • Est. Priority Date: 02/20/2014
  • Status: Active Grant
First Claim
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1. A method for preventing a gimbal from exceeding a predetermined gimbal rate limit, comprising the steps of:

  • receiving a gimbal rate command;

    receiving a gimbal rate feedback signal representative of sensed gimbal rate;

    comparing, in a control circuit, the gimbal rate command and the gimbal rate feedback signal to determine a gimbal rate error;

    applying, in the control circuit, a predetermined gain scaling factor to the gimbal rate command to generate a scaled gimbal rate command; and

    disabling the gimbal when the gimbal rate error is greater than or equal to the scaled gimbal rate command.

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