Study on friction compensation for gun control system of tank based on ADRC
Mechanic Automation and Control Engineering(2011)
Abstract
This paper discusses the problem of friction disturbance compensation of tank gun servo system. For the friction uncertainties and non-model dynamics in tank azimuth gun control system, the azimuth Gun Control system model and friction model are established firstly, then considering them as a composite disturbance, and then, extended states observer (ESO), a new observer is proposed to observe and compensate this composite disturbance, and using the compensation loop of active disturbance rejection control (ADRC) as the inner loop of traditional PID controller. Finally, the simulation results show that the anti-interference ability could be improved by the designing of ADRC with traditional PID control, which has the feature of "passive anti interference " and "active anti-interference ". The stable precision of visible axis and low speed feature could be well improved.
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Key words
observers,adrc design,friction,tank azimuth gun control system,weapons,servomechanisms,active disturbance rejection control,military vehicles,passive antiinterference ability,adrc,control system synthesis,composite disturbance,extended state observer,gun control system,friction compensation,friction uncertainties,leso,pid controller,nonmodel dynamics,active antiinterference ability,friction disturbance compensation,compensation,three-term control,tank gun servo system,torque,azimuth,pid control,control system,servo system,state observer,mathematical model,servomotors
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