Stabilization and DOB-Based Disturbance Rejection for MBT Gun-Barrel Elevation Drive (original) (raw)
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The International Conference on Electrical Engineering
This paper describes an inertial stabilized rifle where a recurve actuator, constructed from piezoelectric material, is used to internially stabilize the barrel assembly of a tactical rifle to compensate for the small user-induced disturbances. This system is an active stabilization system designed to decouple the shooter's interruption effects from the barrel movement based on control systems. Based on the feedback of the targeting error from the sensors, a control system will calculate the desired displacement and force needed to cancel out the human disturbances that are imparted to the rifle. The actuators are designed to cancel out jitter disturbances in a frequency range of 0Hz-5Hz It presents research to help protect and increase the defenses of soldiers on ground. While in battle these soldiers' defenses and performance suffer due the intense stressors of combat. A different method for mitigating the depredating physiological effects of a soldier's marksmanship due to battle stressors can be achieved through the design and implementation of active stabilization system for small arms weapons. Combat stress may be defined as the perception of an imminent threat of serious personal injury or death, or the stress of being tasked with the responsibility to protect another party from imminent and serious injury or death, under conditions where response time is minimal. Physiological effects that result from combat include, but are not limited to, a dramatic increase in heart rate, heavy breathing, muscle tremors, and anxiety. The requirements of this system are discussed and the actuator controller are derived. This research uses pole-placement control techniques to develop control algorithms for simulation. The level of performance for the control algorithm is based on how well measure up to the criteria developed from the rifle.
Development of target tracking control of gun turret system
In a gun-turret system design, the target tracking system characteristic of a gun-turret system is one of the important systems required in most of armored vehicles. Neglecting the target tracking system of an armored vehicle will affect the aiming accuracy of the gun system due to handling and ride disturbance. In this paper, a control system of gun-turret system is developed to overcome the disturbance using the target tracking control. The gun turret mathematical model is developed using Lagrange Theory with two (2) degree-offreedoms (DOFs) each corresponds to the turntable bearing direction and gun arm elevation angle. The results of this study proves the ability of the 2 DOF gun-turret model to be employed in the target tracking control system during firing condition.
Recoil force creates unwanted yaw moment at the centre of gravity of armoured vehicle. This moment causes instability condition and diverts the armoured vehicle from its intended direction after firing. This research is focused in developing an active disturbance rejection control to overcome the effect of recoil force using inner and outer loop controls. The outer loop control is designed based on two feedback loops known as firing-on-the-move (FOM) as the first feedback loop and active front wheel steering (AFWS) as the second feedback loop. The outer loops are designed to encounter disturbance subjected by gun force and to improve stability condition of the vehicle. Optimisation technique using Taguchi method and genetic algorithm are used to identify most dominant outer loop control as well as to optimise the hybrid controller parameters, Neuro-PI. The simulation results show that controller has improved the handling performance of the armoured vehicle after the firing impact. Reference to this paper should be made as follows: Aparow, V.R., Hudha, K., Kadir, Z.A. and Amer, N.H. (xxxx) 'Firing-on-the-move stability system for armoured vehicle: design and optimisation of disturbance rejection control to reject recoil force', Int.
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Model Testing of Stabilising and Tracking Control System in Main Battle Tank
Journal of KONES. Powertrain and Transport, 2015
The subject of discussion is a tank gun stabiliser (in azimuth and elevation). For the investigation of the considered control system one applied a method of computer simulations. The mathematical model and its numerical implementation were experimentally verified. The results of experimental and model simulation investigations showed that the mathematical model and its numerical implementation were worked-out correctly. Using the verified mathematical model of the system, the simulation investigations of the influence of regulation potentiometers settlings on stabilisation exactness and transient processes quality were carried-out. The possibilities of improving performance characteristics of the stabiliser via altering of feedback's gain coefficients as well as the influence of disturbing inputs amplitude and frequency (propagated from the hull on the gun and turret) on stabilisation exactness of a given position were also analysed. The presented technique is quite general and may be applied to any type of vehicle to study dynamic effects of several rigid bodies, which move relative to each other (when displacements are small) and are connected by constraint equations.
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2017
Weaponry is a crucial element in a battlefield. Artillery should be stable and steady when it is fired to the target. However, when the target is moving, artillery becomes a challenge for the shooter to lock its target; the same case when the shooter is moving. Accuracy and precision is a must to avoid casualties and reserve resources. Hence, this study designed a weapon dock that is controlled remotely to have a stable aim on the target. The technology used sensors called gyroscope that is responsible for indicating change of direction and stabilization. A joystick was used as a remote controller for the pitch and yaw which help the shooter to point and lock its target for better accuracy. Quantitative results were gathered from gyro and joystick that aid the researchers to record errors and inaccuracy in the system as the baseline for the stabilization controller to correct. The study achieved the stabilized disturbance with its best response time of at least 630ms which may be im...
Mathematical Model of Stabilising and Tracking Control System in Main Battle Tank
The tank gun stabiliser is an electro-hydraulic control system which makes possible aiming at a target, tracking of a target and stabilise of a given gun angular position. The two-axial stabiliser consists of two separate control systems to stabilise the gun in elevation and the turret (with gun) in azimuth. The aim of researches was to identify all functional blocks of tank gun elevation stabiliser 2E28M (installed in tanks T-72 and PT-91 Twardy) in order to build mathematical model of the system. After detailed analysis of construction and work principles, schematic of 2E28M hydro-mechanical powered mounting, showing number of energy conversion were worked out. Stabiliser has been divided into appropriate functional parts and functional scheme of investigated system were build. Afterwards, static and dynamic characteristics of functional parts of the system were determined. On the basis of obtained characteristics and based on the knowledge about the system feedbacks, structural scheme and mathematical model of foregoing stabiliser were derived. On the basis of the mathematical model, the algorithm and the computer program were worked-out. Making use of the Matlab-Simulink program, one worked-up the scheme for numerical computation. The mathematical model and its numerical implementation have been experimentally verified.
Platform Motion Disturbances Attenuation in a Missile Seeker Subsystem Using Internal Model Control
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Sliding Mode Control of Target Tracking System for Two Degrees of Freedom Gun Turret Model
This paper presents the detailed derivation of gun turret modelling along with the estimation of the ideal azimuth and elevation angles for accurate firing. A control strategy for the gun turret is developed to ensure the capability of an actuator to provide sufficient torque and accurate firing angle for the gun platform and turret. A DC motor model is constructed to actuate the gun platform and turret in high accuracy for firing angle according to the desired target angle. The desired target angle is designed based on the three-dimensional (3D) projectile motion to obtain an accurate firing angle by depending on the distance parameter x, y and z plane coordinates. The control structure for the system is controlled using the Propotional Integral Derivative (PID) and sliding mode control (SMC). The controllers are evaluated based on the performance to generate the drive torque and reduce the error of the system in tracking the desired target angle accurately. The simulation result shows that the SMC controller has advantages of high precision and accuracy for tracking the trajectory of firing angle. A comparison between PID and SMC is also presented to indicate the effectiveness of the SMC controller in terms of tracking performance and firing accuracy.
Design of Optimal Sliding Mode Controller for Barrel Cannon Position Control on the Moving Platform
The cannon is an important artillery system which is the element of war ship itself. However, in real condition, existence of disturbance can occur in target tracking process of barrel cannon. The motions of war ship due to effects of ocean wave can cause ship moves up and down and it can be inferred as pitch and roll disturbances. Unbalance position of barrel cannon caused by pitch and roll disturbances will affect target accuracy. The more balance and robust barrel cannon position, the more accurate target will be obtained. Therefore, it is needed controller which has robust characteristic to overcome this problem. Optimal Sliding Mode (OSM) controller, which is hybrid control of LQR and sliding mode control is employed to control both elevation and training motions because it can cope uncertainty factors and robust toward various disturbances. Permanent magnet DC motors with reduction gear are utilized as actuators in barrel cannon's motions. Each motor is controlled by each ...