چكيده به لاتين
Two degree of freedom platforms are made in various shapes and sizes and are used for various purposes. One challenge in control of these systems is to eliminate disturbance from line of sight. Different sources cause disturbance, one of them is hardware. Gearbox torsional stiffness is one of sources of Los vibrations in platform. For this purpose, in the first step, the modeling of the platform has been considered. To eliminate disturbance, two ideas have been investigated. First, an additional speed feedback is used in the speed loop. In the second idea, a notch filter is used to eliminate disturbance. Based on the ideas presented, simulations and implementation have been done. The evaluation of the results and practical data has shown that, first idea, due to low precision sensor and high noise, is not very effective. In second method, a model was developed to demonstrate gearbox behavior. This model is approximated by considering a certain situation with a second order transfer function. A notch filter is used to eliminate vibration caused by gearbox torsional stiffness. This method has acceptable results and vibration has been removed in the position and speed of structure
