The prediction of projectile-target intersection for moving tank based on adaptive robust constraint-following control and interval uncertainty analysis

To improve the hit probability of tank at high speed,a prediction method of projectile-target intersection based on adaptive robust constraint-following control and interval uncertainty analysis is proposed.The method proposed provides a novel way to predict the impact point of projectile for moving tank.First,bidirectional stability constraints and stability constraint-following error are constructed using the Udwadia-Kalaba theory,and an adaptive robust constraint-following controller is designed considering uncertainties.Second,the exterior ballistic ordinary differential equation with uncertainties is integrated into the controller,and the pointing control of stability system is extended to the impact-point control of projectile.Third,based on the interval uncertainty analysis method combining Chebyshev polynomial expansion and affine arithmetic,a prediction method of projectile-target intersection is proposed.Finally,the co-simulation experiment is performed by establishing the multi-body system dynamic model of tank and mathematical model of control system.The results demonstrate that the prediction method of projectile-target intersection based on uncertainty analysis can effectively decrease the uncertainties of system,improve the prediction accuracy,and increase the hit probability.The adaptive robust constraint-following control can effectively restrain the uncertainties caused by road excitation and model error.

Adaptive robust feedback control of moving target tracking for all-Electrical tank with uncertainty

A moving target tracking control problem for marching tank based on adaptive robust feedback control scheme is addressed.A series of preparations is needed for tank gun before shooting a target,the purpose of this paper is to design a control system to fulfill two requirements in this process:the turretbarrel system of tank needs to be adjusted from off-target position to command position and point to the moving target stably when there are strong uncertainties(modeling error,uncertain disturbance with unknown boundaries and road excitation) in the system.Considering the characteristic of coupled interaction,the first thing we do in this paper is to build a coupled analysis model of turret-barrel system with uncertainty term in state-space form.Second,an adaptive robust feedback control scheme is proposed by adding adaptive law to overcome the uncertainty.Third,multi-body dynamics software is used to establish the mechanical mechanism of the tank,and DC-motor module is established in SIMULINK environment,thus the target information and tracking error of the control system is collected and transferred,the gear-ball screw is derived directly by the output torque of the DC-motor module.Finally,the control system and the 3D model are combined together by means of Recur Dyn/SIMULINK co-simulation,the turret-barrel system of tank can approximately track the moving target in a certain range.With the adaptive robust feedback control,the target action is completely followed when the target location is constantly changing.

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

In this paper,the tracking control problem of the projectile hitting point of the moving tank is studied.First,a multi-body dy-namic 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.