Abstract
This paper focuses on the high performance pointing control of tank servo systems with parametric uncertainties and uncertain nonlinearities including nonlinear friction, backlash and structural flexibility. A comprehensive dynamic nonlinear mathematical model of the two-DOF tank servo system is established. Specifically, to accurately describe the nonlinear friction characteristics in actual systems, a continuous friction model is employed. Moreover, a hybrid nonlinear model combining structural flexibility and transmission backlash is constructed to characterize the nonlinear characteristics of the backlash and flexible coupling between the input and output shafts of the drive end for the tank servo system. By using the backstepping method, a nonlinear adaptive robust controller is presented. In the controller, the adaptive law is compounded to dispose of parametric uncertainties and a well-designed continuous nonlinear robust control law is developed for the purpose of coping with unmodeled disturbances. The closed-loop system stability analysis indicates that the presented controller achieves an asymptotic tracking performance with parametric uncertainties and ensures the robustness against unmodeled disturbances theoretically. The effectiveness of the proposed control strategy is verified by a large number of comparative simulation results.
Highlights
Tank servo systems are significant parts of modern tank fire control systems [1]
A nonlinear adaptive robust controller is put forward for high performance pointing control of tank servo systems come under parametric uncertainties and uncertain nonlinearities including nonlinear friction, backlash and structural flexibility based on backstepping method
In order to fully verify the accuracy of the nonlinear comprehensive dynamic model for coupling loads between axes of tank servo system established in this paper, and the availability of the adaptive robust controller designed
Summary
Tank servo systems are significant parts of modern tank fire control systems [1]. They are mainly used to realize the azimuth and pitch attitude adjustment and servo tracking of the tank guns. The above research dealt with the model uncertainties for tank servo systems in the design process of the controllers, which improved the servo performance of the systems compared with the traditional PID controller. A nonlinear adaptive robust controller is put forward for high performance pointing control of tank servo systems come under parametric uncertainties and uncertain nonlinearities including nonlinear friction, backlash and structural flexibility based on backstepping method. 1) A comprehensive nonlinear dynamic mathematical model of tank servo system is built considering the two-axis coupling dynamic characteristics, nonlinear friction, backlash, transmission shaft flexibility, as well as various model uncertainties, including parameter uncertainties and unmodeled disturbances. 2) A model-based nonlinear adaptive robust control strategy is proposed to achieve highprecision pointing control of tank servo systems.
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