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Adaptive robust target tracking control of marching tank under high-speed maneuvering condition

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Abstract

This paper focuses on the problem of target tracking control of marching tanks under the condition of high-speed maneuver based on sliding mode disturbance observer. First, the dynamic model of marching tank is established by using multi-body dynamics software. The nonlinear factors such as barrel flexibility, clearance between barrel and bushing, and uncertainty sources such as road excitation are considered. Second, the mechatronics model of tank bidirectional stabilization system considering transmission clearance and friction is established in numerical simulation software. Aiming at the tank bidirectional stabilization system, an adaptive robust controller based on sliding mode disturbance observer is designed. Finally, the real-time control and target tracking of the tank bidirectional stabilization system are realized by co-simulation. The results show that the sliding mode disturbance observer improves the stability accuracy of the system by 43.22 %. Comparing the simulation results with the PID control, the controller designed in this paper has the characteristics of rapid tracking speed and high robustness, and the advantage is more obvious under the condition of high-speed maneuver.

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Acknowledgments

This research was financially supported by the National Natural Science Foundation of China [Grant No. 52175099], the National Natural Science Foundation of China [Grant No. 52105106], the China National Postdoctoral Program for Innovative Talents [Grant No. BX2021126], the Jiangsu Province Natural Science Foundation [Grant No. BK20210342], the “Jiangsu Planned Projects for Postdoctoral Research Funds [Grant No. 2021K008A], and the Nanjing Municipal Human Resources and Social Security Bureau [Grant No. MCA21121].

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Authors and Affiliations

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

    Cong Li, Guolai Yang, Xiuye Wang, Yuze Ma, Liqun Wang & Quanzhao Sun

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

    Yuze Ma & Quanzhao Sun

Authors
  1. Cong Li
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  2. Guolai Yang
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  3. Xiuye Wang
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  4. Yuze Ma
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  5. Liqun Wang
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  6. Quanzhao Sun
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Corresponding author

Correspondence to Xiuye Wang.

Additional information

Xiuye Wang received the Ph.D. degree in Mechanical Design and Theory from the Hefei University of Technology, Hefei, China, in 2016. He is currently an Assistant Professor of Mechanical Engineering with the School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing, China. He visited the Department of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA, USA, as a visiting Ph.D. student from 2014 to 2016. His research interests include multibody system dynamics, robust control of mechanical system, fuzzy dynamical systems, and optimal control.

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Li, C., Yang, G., Wang, X. et al. Adaptive robust target tracking control of marching tank under high-speed maneuvering condition. J Mech Sci Technol 36, 2787–2798 (2022). https://doi.org/10.1007/s12206-022-0511-1

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  • DOI: https://doi.org/10.1007/s12206-022-0511-1

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