Dynamic simulation on vibration control of marching tank gun based on adaptive robust control

Chen, Yu; Yang, Guolai; Sun, Quanzhao

doi:10.1177/1461348419846685

Cited by 35 publications

(9 citation statements)

References 16 publications

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“…To establish the rigid-fexible coupling dynamics model for the small combat robot components, we frst need to obtain the fnite element model of the body tube and the manipulator. Natural mode and frequency are calculated, and other rigid members (such as general weapon rack) are connected to the interface nodes [21]. It also transmits the motion and load information between the rigid bodies and the fexible bodies.…”

Section: Modeling Of Flexible Body Tube and Robotic Armmentioning

confidence: 99%

Research on Body Tube Vibration Response of Small Combat Robots Motion

Gao

Guan

Zou

et al. 2023

Mathematical Problems in Engineering

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As a hot topic in military research, small combat robots are always in a dynamic process when traveling, causing the body tube to vibrate which affects its firing accuracy. Different from the traditional two-degree-of-freedom combat robot, this paper establishes a rigid-flexible coupling dynamics model for the new three-degree-of-freedom combat robot to study the response characteristics of its body tube during travel. To accurately reflect the driving conditions of the mobile robot, a road surface unevenness model was established using the sine wave superposition method. The firing accuracy of a small combat robot can be affected by the speed and road conditions, as shown in numerous studies. The effects of arm structure, arm mounting position, and firing angle on the vibration response of the body tube are analyzed in this paper. The results show that a reference for improving the design of small combat robots can be found in a correlation between the structure, mounting position, and firing angle of the robotic arm, and the body tube’s vibration response.

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Section: Modeling Of Flexible Body Tube and Robotic Armmentioning

confidence: 99%

Research on Body Tube Vibration Response of Small Combat Robots Motion

Gao

Guan

Zou

et al. 2023

Mathematical Problems in Engineering

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“…In [6]- [8], adaptive control technique is used to develop controller for TGCSs with unknown parameters. Adaptive robust control algorithms were developed for TGCSs in [9] and [10]. In [11], Hu et al developed adaptive neural network control law to solve the position tracking problem for TGCSs.…”

Section: Introductionmentioning

confidence: 99%

A Barrier Neuroadaptive Dynamic Surface Control Approach for Tank Gun Control Systems With Input Saturation

Zhu

Cai

et al. 2023

IEEE Access

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In harsh battlefield environments, tanks have to encounter some nonlinear characteristics including frictional moment, gear backlash and parameter drifts, etc. The existence of such nonlinear characteristics makes the controller design of tank gun control systems (TGCSs) challenging. In this paper, a barrier neuroadaptive control approach is proposed to handle the uncertainties and nonlinearities, so as to achieve satisfactory tracking performance for TGCSs. With a time-varying barrier Lyapunov function employed in controller design, the output error of TGCS is restricted within the preset bound during the control process. A radial basis function (RBF) neural network is built to approximate the uncertainties in tank gun control systems. An anti-windup control strategy is developed to deal with the input saturation nonlinearity, with a Nussbaum function used to compensate for the nonlinear term arising from input saturation. By reasonably applying filtering error into output-constrained adaptive backstepping control design, the three steps in the traditional backstepping control design are reduced to two steps. The asymptotic stability of the closed-loop TGCSs is proven by Lyapunov theory. Finally, a simulation example is presented to verify the effectiveness of the proposed control scheme.INDEX TERMS Tank gun control systems; adaptive control; input saturation; time-varying output constraint

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“…Pointing tracking system of turret-barrel system involves a linkage control of the concatenated turret and barrel on a vehicle platform. In the past, the turret and the barrel are driven respectively by a set of motor servo system and a set of electrohydraulic servo system to rotate around the rotating shafts of the turret and the trunnion [1], [2]. However, with the development of intelligent and pure electric weapons, in recent years, the barrel tends to be driven by electric cylinder instead of electrohydraulic servo system.…”

Section: Introductionmentioning

confidence: 99%

“…At present, the existing pointing tracking strategies are mainly designed based on a simple linear time-invariant system model and relatively classical control theory (such as the well-known PID control) [4]- [6], such that cannot effectively handle the coupling, non-linearity and uncertainty of the pointing tracking system. Although some efforts [1], [2], [7]- [10] on uncertainty management in pointing tracking control design have been done, they mainly refer to simple constant uncertainty. By this, more explorations on coupling dynamics modeling and control as well as uncertainty control in pointing tracking problem are expected.…”

Section: Introductionmentioning

confidence: 99%

Adaptive Robust Control for Pointing Tracking of Marching Turret-Barrel Systems: Coupling, Nonlinearity and Uncertainty

Sun

Wang

Yang

et al. 2022

IEEE Trans. Intell. Transport. Syst.

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Pointing tracking control of marching turret-barrel system is one of the important topics in exploration of intelligent ground combat platform. This paper focuses on an adaptive robust control scheme for pointing tracking of marching turretbarrel system driven by a motor and an electric cylinder. Three types of possibly fast time-varying but bounded uncertainty are considered: system modeling error, external disturbance and road excitation. The uncertainty bounds are not necessary to be known. First, the pointing tracking system is constructed as a coupled, nonlinear and uncertain dynamical system with two interconnected (horizontal and vertical) subsystems. Second, a tracking error e is defined as a gauge of control objective, and then the dynamical equation of the pointing tracking system is built in state-space form. Third, for uncertainty control, a comprehensive uncertainty bound α is derived to measure the most conservative influence of the uncertainty, and then an adaptive law is proposed to evaluate it in real time. Finally, for pointing tracking control, an adaptive robust control is proposed to render the pointing tracking system to be practically stable; thereout, the objective of pointing tracking is achieved. This work should be among the first ever endeavours to cast all the coupling, nonlinearity and bound-unknown uncertainty into the pointing tracking framework of marching turret-barrel system.

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Dynamic simulation on vibration control of marching tank gun based on adaptive robust control

Cited by 35 publications

References 16 publications

Research on Body Tube Vibration Response of Small Combat Robots Motion

Research on Body Tube Vibration Response of Small Combat Robots Motion

A Barrier Neuroadaptive Dynamic Surface Control Approach for Tank Gun Control Systems With Input Saturation

Adaptive Robust Control for Pointing Tracking of Marching Turret-Barrel Systems: Coupling, Nonlinearity and Uncertainty

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