Research On Tank Gun Control System For Unmanned Turret With Multiple Disturbances

As representative for developing trends of lightened armour weapons, unmanned turretsystem has some advantages compared with manned turrets. Rotating at the azimuth andpitching at the elevation of the unmanned turret system rely on tank gun control system.The tank gun control system can not only stabilize gun in proper accuracy range but alsopossess excellent servo performance. Therefore, fre accuracy of gun is directly determinedby the control capability of the tank gun control system. In this paper, researches are doneas follows, aiming at stabilizing the gun and tracking on moving object:First, the complete mathematical model for the unmanned turret system, consideringthe coupled efect between the azimuth and elevation, is built based on the robotic modelingmethod according to the typical structure of the unmanned turret system. Meanwhile,multiple disturbances that interfering the gun control system are analysed to be accordancewith the actual case.Second, one of the main disturbance sources that infuencing the stability of the gunis analysed. The pitch vibration of the hull tows the vibration of the gun through thetrunnion. The random road model, as the road excitation of the built model of activesuspension, is constructed based on the method of fltering white noise. And, a fuzzycontroller is designed for the active suspension. Then kinematics equation of the gun isbuilt with the vibration of the hull as input.Then, three-axis stabilization principle is proposed according to the limitation of theunmanned turret system built above. By using the coordinate conversion formulas, thedirection of aiming line in the inertia space is changed to the coordinate which takes theturret as reference.Finally, a decoupling active disturbance rejection control (ADRC) scheme is proposedfor the complicated unmanned turret system afected by multiple disturbances. The un-manned turret system is decoupled into two subsystems, including the subsystems at theazimuth and elevation. The coupled efect and disturbances in the inner and outer are es-timated as the total disturbance by using extended state observer (ESO) and compensated during each sampling period. The parameters of ADRC are tuned by combining the trialmethod with the time scale method. In the simulations, it is verifed that the designed guncontrol system can stabilize the gun when considering the infuence of the hull vibration.In addition, considering the parameters perturbation and transient disturbance when thegun is fring, the efectiveness and robustness of the controller are verifed as comparedwith PID.