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Hitting point tracking control of tank projectile based on Chebyshev exterior ballistic polynomial: an adaptive robust feedback approach

基于Chebyshev外弹道多项式的坦克弹丸落点跟踪控制:一种自适应鲁棒反馈方法

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Abstract

In this paper, the tracking control problem of the projectile hitting point of the moving tank is studied. First, a multi-body dynamic model with stability systems is established. Second, the nonlinear coupling dynamic equation of turret-barrel pointing system is established. Third, the trajectory equation of exterior ballistic (EB) projectile in six degree-of-freedom is established, and the pointing problem was transformed into a problem of hitting point tracking through coordinate transformation. Forth, an adaptive robust feedback control method is proposed to make the predicted hitting point tracking the expected position accurately. Finally, Chebyshev surrogate model is used to replace the EB differential equation, which effectively reduces the time required by co-simulation. This paper combines the EB process with the tracking control problem, which effectively ensures the first-round chance of hit for the tank gun.

摘要

本文研究了运动坦克弹丸落点的跟踪控制问题. 首先建立稳定系统的多体动力学模型, 其次建立塔身指向系统的非线性耦合动力学方程. 随后建立6自由度外弹道弹丸的弹道方程, 通过坐标变换将瞄准问题转化为落点跟踪问题. 提出一种自适应鲁棒反馈控制方法, 使预测落点精确跟踪期望位置. 最后采用Chebyshev代理模型代替EB微分方程, 有效减少协同仿真所需的时间. 本文将电子束过程与跟踪控制问题相结合, 有效地保证了坦克炮的首轮命中率.

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Funding

This word was supported by the Natural Science Foundation of Jiangsu Province (Grant No. BK20180474), the National Natural Science Foundation of China (Grant Nos. 51805263, 51705253, and 11572158) and the Natural Science Foundation for Post-doctoral Scientists of China (Grant No. BX2021126).

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Authors and Affiliations

  1. School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, 210094, China

    Yuze Ma  (马毓泽), Guolai Yang  (杨国来), Qinqin Sun  (孙芹芹), Xiuye Wang  (王修业) & Liqun Wang  (王丽群)

  2. Inner Mongolia North Heavy Industries Group Limited Company, Baotou, 014033, China

    Yuze Ma  (马毓泽) & Dianrong Wang  (王殿荣)

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  1. Yuze Ma  (马毓泽)
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  2. Guolai Yang  (杨国来)
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  3. Qinqin Sun  (孙芹芹)
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  4. Dianrong Wang  (王殿荣)
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  5. Xiuye Wang  (王修业)
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  6. Liqun Wang  (王丽群)
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Correspondence to Guolai Yang  (杨国来).

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Ma, Y., Yang, G., Sun, Q. et al. Hitting point tracking control of tank projectile based on Chebyshev exterior ballistic polynomial: an adaptive robust feedback approach. Acta Mech. Sin. 38, 521234 (2022). https://doi.org/10.1007/s10409-021-09046-x

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