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

Defence Technology（防务技术） 2022年第4期18卷 626-642页

作者： Yu-ze Ma Guo-lai Yang Qin-qin Sun Xiu-ye Wang Zong-fan Wang The School of Mechanical Engineering Nanjing University of Science and TechnologyNanjing210094China

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 purpose of this paper is to design a control system to fulfill two requirements in this process:the turretbarrel 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 *** 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 ***,an adaptive robust feedback control scheme is proposed by adding adaptive law to overcome the ***,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 ***,the control system and the 3D model are combined together by means of Recur Dyn/SIMULINK co-simulation,the turret-barrel system of tank can approximately track the moving target in a certain *** the adaptive robust feedback control,the target action is completely followed when the target location is constantly changing.

关键词： Mechanical system tank stability Uncertainty Road excitation Adaptive robust feedback control

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