Title :
Study on friction compensation for gun control system of tank based on ADRC
Author :
Zhu, Dongxu ; Qiu, Xiaobo ; Wang, Kai ; Hou, Yongqiang
Author_Institution :
Dept. of Control Eng., Acad. of Armored Force Engineerring, Beijing, China
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.
Keywords :
compensation; control system synthesis; friction; military vehicles; observers; servomechanisms; three-term control; weapons; ADRC design; PID controller; active antiinterference ability; active disturbance rejection control; composite disturbance; extended state observer; friction disturbance compensation; friction uncertainties; nonmodel dynamics; passive antiinterference ability; tank azimuth gun control system; tank gun servo system; Azimuth; Friction; Mathematical model; Observers; Servomotors; Torque; ADRC; Friction compensation; Gun control system; LESO;
Conference_Titel :
Mechanic Automation and Control Engineering (MACE), 2011 Second International Conference on
Conference_Location :
Hohhot
Print_ISBN :
978-1-4244-9436-1
DOI :
10.1109/MACE.2011.5987276