Adaptive robust feedback control of moving target tracking for all-Electrical tank with uncertainty

• Published in: 防务技术 Vol. 18; no. 4; pp. 626 - 642
• Main Authors: Yu-ze Ma, Guo-lai Yang, Qin-qin Sun, Xiu-ye Wang, Zong-fan Wang
• Format: Journal Article
• Language: English
• Published: The School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing,210094,China 2022
• Subjects: Uncertainty; Mechanical system; Adaptive robust feedback control; Road excitation; Tank stability
• ISSN: 2214-9147; 2214-9147
• DOI: 10.3969/j.issn.2214-9147.2022.04.009

A moving target tracking control problem for marching tank based on adaptive robust feedback control scheme is addressed.A series of preparations is needed for tank gun before shooting a target,the pur-pose of this paper is to design a control system to fulfill two requirements in this process:the turret-barrel system of tank needs to be adjusted from off-target position to command position and point to the moving target stably when there are strong uncertainties(modeling error,uncertain disturbance with unknown boundaries and road excitation)in the system.Considering the characteristic of coupled interaction,the first thing we do in this paper is to build a coupled analysis model of turret-barrel system with uncertainty term in state-space form.Second,an adaptive robust feedback control scheme is proposed by adding adaptive law to overcome the uncertainty.Third,multi-body dynamics software is used to establish the mechanical mechanism of the tank,and DC-motor module is established in SIMULINK environment,thus the target information and tracking error of the control system is collected and transferred,the gear-ball screw is derived directly by the output torque of the DC-motor module.Finally,the control system and the 3D model are combined together by means of RecurDyn/SIMULINK co-simulation,the turret-barrel system of tank can approximately track the moving target in a certain range.With the adaptive robust feedback control,the target action is completely followed when the target location is constantly changing.