Gimbal Control System
We aim to demonstrate active stabilization and controlled landing in university-level rocketry! This project focuses on developing a PID-based control system to realize the stable launch and landing of a gimbal system. I used Simulink and Simscape to model the dynamics and experiment with thrust and torque control in a realistic physics-based environment.
The first image shows the overall multibody plant. The two-joint gimbal and actuator (propeller) are modeled explicitly, allowing thrust and joint torques to be controlled through separate PID loops while still capturing the coupling between motion and propulsion.
The second image illustrates the architecture of control system. By tuning the PID gains and observing thrust and joint behavior over time, I explored stability, coupling effects, and controller performance under realistic operating conditions.