Improved modeling and active disturbance rejection control of tank gun control system

Abstract

In order to improve the stability control performance of the tank barrel at high speed, a new 2-degree-of-freedom nonlinear dynamics model of yaw and pitch bodies is established, taking into account the 6-degree-of-freedom motion of the tank chassis. By analyzing the direction of the tank barrel in space, the barrel stability control scheme for the tank gun control system with the arbitrary motion of the tank chassis in space is realized. The new dynamics equations of the tank gun control system are established by analytical mechanics. It effectively solves the problem of modeling methods for the tank gun control system in azimuth and elevation when considering the 6-degree-of-freedom motion of tank chassis. Then, an improved active disturbance rejection control strategy for tank gun control system is proposed. A smooth nonlinear function faln(·) is constructed to avoid the switching problem of the function fal(·) at the piecewise points. Next, an improved extended state observer is designed based on the deviation principle by means of the deviation between each state variable and its observation. Afterwards, the stability of the system is analyzed by constructing a Lyapunov function. Simulations were carried out with different input signals to verify the reliability of the dynamics model and control algorithm. The improved active disturbance rejection control has a faster response speed and smaller steady state error. The results show that the stability and tracking performance of the tank gun control system has been improved using the proposed method.