行进间坦克炮控系统动力学建模与稳定控制

doi:10.12382/bgxb.2024.0485

摘要/Abstract

摘要：

考虑行进间坦克炮控系统受路面颠簸引起的外界扰动和炮控系统工作时火炮俯仰运动不平衡力矩影响,基于第二类Lagrange方法建立行进间坦克炮控系统两轴耦合2自由度动力学模型。针对炮控系统的实际受力和运动状态,建立方位向和高低向驱动系统含有永磁同步电机以及传动机构分别含有齿轮减速箱与滚柱丝杠的行进间坦克炮控系统机电耦合动力学模型。为快速抑制行进间坦克炮控系统内外扰动对目标稳定跟踪的影响,基于非奇异快速终端滑模控制律和线性扩张状态观测器设计具有有限时间收敛特性的行进间坦克稳定跟踪控制器。根据行进间坦克炮控系统对目标的稳定跟踪过程计算炮控系统稳定精度和到位时间,并在不同工况下与传统控制方法进行对比。研究结果表明,新方法响应速度快、抗干扰能力强、稳定精度高,验证了控制器设计的有效性。

关键词: 坦克炮控系统, 动力学建模, 机电耦合, 自抗扰控制, 滑模控制, 稳定跟踪

Abstract:

Taking the external disturbances caused by the uneven road surfaces of marching tank gun control system (TGCS) and the unbalanced moment of tank gun elevation motion during TGCS operationinto consideration,a two-axis coupled two-degrees-of-freedom (2-DOF) dynamics model of the marching TGCS is established using the second kind of Lagrange method. In terms of the actual force and motion state of TGCS,an electromechanical coupling dynamics model is established for the marching TGCS, which is equipped with permanent magnet synchronous motors (PMSM) in the azimuthal and elevational direction drive system and the gear reduction gearboxes and roller screws in the transmission mechanism. A stable tracking controller for marching tank with finite-time convergence characteristicsis designed to quickly reject the effects of internal and external disturbances of the marching TGCS on the stable tracking of target. This design is based on a nonsingular fast terminal sliding mode (NFTSM) control law and a linear extended state observer (LESO). The stability precision and arrival time of TGCS for marching tank are calculated based on the stable tracking process for targets. The computational results are then compared with those obtained by utilizing traditional control methods under various operating conditions. The findings demonstrate that the proposed tracking controller exhibits rapid response speed,strong robustness against disturbances,and high tracking accuracy,thereby validating the effectiveness of the controller design.

Key words: tank gun control system, dynamic modeling, electromechanical coupling, active disturbance rejection control, sliding mode control, stabilizing and tracking

中图分类号:

TJ02
TJ38

王彬, 张建书, 段志峰, 岳淇星, 刚宽宽, 苗阳阳. 行进间坦克炮控系统动力学建模与稳定控制[J]. 兵工学报, 2024, 45(11): 4175-4190.

WANG Bin, ZHANG Jianshu, DUAN Zhifeng, YUE Qixing, GANG Kuankuan, MIAO Yangyang. Dynamics Modeling and Stability Control of Marching Tank Gun Control System[J]. Acta Armamentarii, 2024, 45(11): 4175-4190.

图/表 20

图1 坦克炮控系统坐标系示意图

Fig.1 TGCS coordinate system

图2 方位向执行机构简化模型

Fig.2 Simplified model of azimuth drive mechanism

图3 高低向执行机构示意图

Fig.3 Schematic diagram of elevation drive mechanism

图4 高低向执行机构简化模型

Fig.4 Simplified model of elevation drive mechanism

图5 坦克炮控系统解耦结构图

Fig.5 TGCS decoupling structure diagram

图6 火炮轴线在全局惯性坐标系中的方位示意图

Fig.6 Azimuth of gunaxis in global inertial coordinate system

图7 坦克炮控制系统结构图

Fig.7 TGCS structure diagram

图8 20km/h速度行驶车体基础激励

Fig.8 Fundamental vehicular excitation while marching at a speed of 20km/h

表1 D级路面不同车速车体基础激励均方根对比

Table 1 Comparison of the RMS fundamental vehicular excitations at different speeds on D-level road

统计值	坐标轴	车速/(km·h^-1)
统计值	坐标轴	20	25	30
	x	3.0387	3.1277	3.2677
角加速度/(rad·s^-2)	z	2.1688	2.3016	2.3042
	y	0.5773	0.6177	0.7388
	x	0.0049	0.0051	0.0053
角速度/(rad·s^-1)	z	0.0285	0.0360	0.0421
	y	0.0011	0.0012	0.0014

图9 工况1炮控系统位置稳定跟踪

Fig.9 Position stabilizing and tracking of TGCS in Case 1

图10 工况1炮控系统稳定跟踪误差

Fig.10 Stabilizing and tracking error of TGCS in Case 1

表2 工况1系统仿真结果对比

Table 2 Comparison of the system simulation results in Case 1

统计值	方向	控制器
统计值	方向	ADRNFTSMC	LADRC	LSMC
σ/mrad	方位	0.0041	0.0279	0.0154
	高低	0.0858	0.2969	0.1970
τ/s	方位	0.2135	0.5760	0.8750
	高低	0.0880	0.6470	0.7120

图11 工况1方位向子系统控制量对比

Fig.11 Controller input of azimuth subsystem in Case 1

图12 工况2炮控系统位置稳定跟踪

Fig.12 Position stabilizing and tracking of TGCS in Case 2

图13 工况2炮控系统稳定跟踪误差

Fig.13 Stabilizing and tracking error of TGCS in Case 2

表3 工况2系统仿真结果对比

Table 3 Comparison of the system simulation results in Case 2

统计值	方向	控制器
统计值	方向	ADRNFTSMC	LADRC	ADRLSMC
σ/mrad	方位	0.0079	0.0563	0.0336
	高低	0.0598	0.2333	0.2090
τ/s(t=5s)	方位	5.2660	5.6070	5.6800
τ/s(t=7s)		7.2840	7.4750	7.5510
τ/s(t=7s)	高低	7.1170	7.4150	7.1540
τ/s(t=9s)		9.2680	9.3320	9.3530

图14 工况2炮控系统位置稳定跟踪到位时间对比

Fig.14 Comparison of the arrival times for position stabilizing and tracking of TGCS in Case 2

图15 工况3车速25km/h炮控系统跟踪误差对比

Fig.15 Comparison of the tracking errors of TGCS at a speed of 25km/h in Case 3

图16 工况3车速30km/h炮控系统跟踪误差对比

Fig.16 Comparison of the tracking errors of TGCS at a speed of 30km/h in Case 3

表4 工况3系统后6s稳定跟踪误差对比

Table 4 Comparison of stabilizing and tracking errors of the system after 6 seconds in Case 3 mrad

车速	方向	控制器
车速	方向	ADRNFTSMC	LADRC	ADRLSMC
25km/h	方位	0.0097	0.0742	0.0439
	高低	0.0938	0.3126	0.2879
30km/h	方位	0.0149	0.1043	0.0595
	高低	0.1397	0.4207	0.3879

参考文献 32

[1]	常天庆, 王钦钊, 张雷, 等. 装甲车辆火控系统[M]. 北京: 北京理工大学出版社, 2020.
	CHANG T Q, WANG Q Z, ZHANG L, et al. Armored vehicle fire control system[M]. Beijing: Beijing Institute of Technology Press, 2020. (in Chinese)
[2]	臧克茂, 马晓军, 李长兵. 现代坦克炮控系统[M]. 北京: 国防工业出版社, 2007.
	ZANG K M, MA X J, LI C B. Modern tank gun control system[M]. Beijing: National Defence Industry Press, 2007. (in Chinese)
[3]	CHEN Y, YANG G L, SUN Q Z. Dynamic simulation on vibration control of marching tank gun based on adaptive robust control[J]. Journal of Low Frequency Noise Vibration and Active Control, 2019, 39(2):416-434.
[4]	LIN D R, WANG X Y, WANG Y M, et al. Adaptive robust servo control for vertical electric stabilization system of tank and experimental validation[J]. Defence Technology, 2024, 31(1): 326-342.
[5]	王一珉, 杨国来, 王丽群. 坦克炮控系统RBF神经网络自适应鲁棒控制方法研究[J]. 振动与冲击, 2022, 41(24):72-78.
	WANG Y M, YANG G L, WANG L Q. Adaptive robust control for a gun control system of a tank compensated by a RBF neural network[J]. Journal of Vibration and Shock, 2022, 41(24):72-78. (in Chinese)
[6]	ZHENG H Q, RUI X T, ZHANG J S, et al. Improved modeling and active disturbance rejection control of tank gun control system[J]. Proceedings of the Institution of Mechanical Engineers, Part Ⅰ: Journal of Systems and Control Engineering, 2022, 236(9):1649-1666.
[7]	MA Y Z, YANG G L, SUN Q Q, et al. Adaptive robust control for tank stability: a constraint-following approach[J]. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 2021, 235(1):3-14.
[8]	LI C, WANG X Y, YANG G L, et al. The impact-point prediction of projectile for moving tank based on adaptive robust constraint-following control[J]. International Journal of Control Automation and Systems, 2024, 22(6):1912-1923.
[9]	WANG Z F, YANG G L, WANG X Y, et al. Adaptive robust control for triple avoidance-striking-arrival performance of uncertain tank mechanical systems[J]. Defence Technology, 2022, 18(8):1483-1497.
[10]	胡继辉, 侯远龙, 高强, 等. 坦克炮控系统神经网络自适应滑模控制方法[J]. 火力与指挥控制, 2018, 43(6): 118-121,126.
	HU J H, HOU Y L, GAO Q, et al. Method of neural network adaptive sliding mode control of gun control system of tank[J]. Fire Control & Command Control, 2018, 43(6): 118-121,126. (in Chinese)
[11]	WANG Y M, YUAN S S, SUN Q Z, et al. Adaptive robust stability control of all-electrical tank gun compensated by radial basis neural network[J]. IEEE Access, 2023, 11:115968-115985.
[12]	袁东, 马晓军, 魏曙光, 等. 坦克炮控系统直传式驱动及其死区补偿控制[J]. 电机与控制学报, 2016, 20(5): 111-118.
	YUAN D, MA X J, WEI S G, et al. Direct-transmission drive and dead time compensation control of tank gun control system[J]. Electric Machines and Control, 2016, 20(5): 111-118. (in Chinese)
[13]	MA Y Z, YANG G L, SUN Q Q, et al. Adaptive robust feedback control of moving target tracking for all-electrical tank with uncertainty[J]. Defence Technology, 2022, 18(4):626-642.
[14]	田建辉, 钱林方, 徐亚栋, 等. 火力线跟踪与瞄准的任务空间控制方法[J]. 南京理工大学学报(自然科学版), 2011, 35(4): 489-493.
	TIAN J H, QIAN L F, XU Y D, et al. Tracking and pointing control method of axis of firepower in task space[J]. Journal of Nanjing University of Science and Technology, 2011, 35(4): 489-493. (in Chinese)
[15]	袁树森, 邓文翔, 姚建勇, 等. 基于Mworks的坦克随动系统建模与仿真研究[J]. 弹道学报, 2021, 33(1): 35-43. doi: 10.12115/j.issn.1004-499X(2021)01-006
	YUAN S S, DENG W X, YAO J Y, et al. Modeling and simulation of tank servo system based on Mworks[J]. Journal of Ballistics, 2021, 33(1): 35-43. (in Chinese) doi: 10.12115/j.issn.1004-499X(2021)01-006
[16]	韩京清. 自抗扰控制技术[M]. 北京: 国防工业出版社, 2008.
	HAN J Q. Active disturbance rejection control technique[M]. Beijing: National Defense Industry Press, 2008. (in Chinese)
[17]	GAO Z Q. Scaling and bandwidth-parameterization based controller tuning[C]// Proceedings of 2003 American Control Conference. Washington,D.C., US: IEEE,2003:4989-4996.
[18]	李世华, 王翔宇, 丁世宏, 等. 滑模控制理论与应用研究[M]. 北京: 科学出版社, 2022.
	LI S H, WANG X Y, DING S H, et al. Research on the theory and application of sliding mode control[M]. Beijing: Science Press, 2022. (in Chinese)
[19]	YANG L, YANG J Y. Nonsingular fast terminal sliding mode control for nonlinear dynamical systems[J]. International Journal of Robust and Nonlinear Control, 2011, 21(16): 1865-1879.
[20]	王超. 坦克行进间非线性动力学建模与主动稳定控制研究[D]. 南京: 南京理工大学, 2021.
	WANG C. Research on nonlinear dynamics modeling and active stability control of tank marching[D]. Nanjing: Nanjing University of Science and Technology, 2021. (in Chinese)
[21]	XIA Y Q, PU F, FU M Y, et al. Modeling and compound control for unmanned turret system with coupling[J]. IEEE Transactions on Industrial Electronics, 2016, 63(9): 5794-5803.
[22]	ZOU H M, ZHANG G S, HAO J. Nonsingular fast terminal sliding mode tracking control for underwater glider with actuator physical constraints[J]. ISA Transactions, 2024, 146: 249-262. doi: 10.1016/j.isatra.2024.01.005 pmid: 38220544
[23]	赵新运, 于剑桥. 新型迅捷弹箭动力学建模与姿态控制[J]. 兵工学报, 2024, 45(7):2182-2196. doi: 10.12382/bgxb.2023.0404
	ZHAO X Y, YU J Q. Dynamic modeling and attitude control for novel agile projectile[J]. Acta Armamentarii, 2024, 45(7):2182-2196. (in Chinese) doi: 10.12382/bgxb.2023.0404
[24]	LI D Y, WANG J Z. Nonsingular fast terminal sliding mode control with extended state observer and disturbance compensation for position tracking of electric cylinder[J]. Mathematical Problems in Engineering, 2018(1): 9808123.
[25]	高雨轩, 侯远龙, 高强, 等. 机载光电跟踪系统的自抗扰与快速非奇异终端滑模组合控制方法[J]. 兵工学报, 2023, 44(4):1071-1085.
	GAO Y X, HOU Y L, GAO Q, et al. Compound control method of ADRC and FNTSM for airborne object tracking system[J]. Acta Armamentarii, 2023, 44(4):1071-1085. (in Chinese) doi: 10.12382/bgxb.2022.0890
[26]	SHABANA A A. Dynamics of multibody systems(fourth edition)[M]. Cambridge, UK: Cambridge University Press, 2013.
[27]	YUAN S S, DENG W X, YAO J Y, et al. Active disturbance rejection adaptive precision pointing control for bidirectional stability system of moving all-electric tank[J]. ISA Transactions, 2023, 143:611-621.
[28]	马晓军, 袁东, 魏曙光. 坦克武器电力传动控制原理与应用[M]. 北京: 国防工业出版社, 2023.
	MA X J, YUAN D, WEI S G. The principle and application of electric transmission control for tank weapons[M]. Beijing: National Defence Industry Press, 2023. (in Chinese)
[29]	LIU Y G, GAO X H, YANG X W. Research of control strategy in the large electric cylinder position servo system[J]. Mathematical Problems in Engineering, 2015(18):167628.
[30]	郑颖. 某集束火箭炮位置伺服系统自抗扰方法研究[D]. 南京: 南京理工大学, 2015.
	ZHENG Y. Active disturbance rejection research on position servo system of a certain cluster rocket launcher[D]. Nanjing: Nanjing University of Science and Technology, 2015. (in Chinese)
[31]	陈宇, 杨国来, 付羽翀, 等. 高速机动条件下坦克行进间火炮非线性振动动力学研究[J]. 兵工学报, 2019, 40(7): 1339-1348. doi: 10.3969/j.issn.1000-1093.2019.07.002
	CHEN Y, YANG G L, FU Y C, et al. Dynamic simulation on nonlinear vibration of marching tank gun under high mobility conditions[J]. Acta Armamentarii, 2019, 40(7): 1339-1348. (in Chinese) doi: 10.3969/j.issn.1000-1093.2019.07.002
[32]	RUI X T, ZHANG J S, WANG X, et al. Multibody system transfer matrix method: The past, the present, and the future[J]. International Journal of Mechanical System Dynamics, 2022, 2(1):3-26.