The present invention relates to a gimbeol control technique of gaze stabilization device having a double gimbeol structure, according as more specifically to drive the dual gimbeol consisting external gimbeol and internal gimbeol, external Kim bee first driven and internal gimbeol is located outside gimbeol double gimbeol relates to a control apparatus and method which is driven by a follower.
Embodiment of an aspect of a double gimbeol control device according to the present invention, the position command input unit for inputting the position command; Gimbeol external position control unit for driving external gimbeol receives the error between the position command and the external gimbeol position; Cosine error compensation unit for receiving the command generated the relative position of the inner gimbeol contrast external gimbeol; Gimbeol internal position control section for receiving the error between the relative positions of the internal and external gimbeol compared the relative position command generated internal gimbeol gimbeol angular velocity command; Gimbeol and internal stabilization control for driving the internal gimbeol using the internal gimbeol angular velocity command; It may include.
Embodiment of an aspect of a double gimbeol control method according to the present invention, the position command input step in which the position command is input; Gimbeol external control step by using the error between the position command and the position of the outside outer gimbeol gimbeol generated drive commands; Gimbeol internal control steps inside gimbeol driving command is generated by using the error; Gimbeol external driving stage is driven in accordance with the external Kim bee gimbeol external drive commands; And inside which the internal driving stage gimbeol Kim bee driven according to the drive command gimbeol inside; It may include.