Adaptive Integral Robust Control for the Bidirectional Stability System of All-electric Tanks

doi:10.12382/bgxb.2022.0107

Abstract

Abstract:

The bidirectional stability system of all-electric tanks is highly nonlinear, high in coupling, and have time-varying parameters. An adaptive integral robust (AIR) control design is thus proposed for such a system based on robust integral of the sign of the error feedback. First, considering that the bidirectional stability system of all-electric tanks is a high-coupling, nonlinear, and uncertain dynamic system, a realistic mechatronic analytical dynamical model is established. Second, an AIR controller is designed by combining backstepping control and adaptive control and introducing auxiliary error signals, to effectively attenuate unmodeled disturbances of the system. In addition, the AIR controller designed does not require the upper bound of the unknown disturbance in advance, but it keeps updating the disturbance to obtain its upper bound by an adaptive method, thus reducing the conservatism of its engineering application. Based on Lyapunov theory, the tank bidirectional stability system can achieve asymptotic tracking performance with continuous control input. Finally, the effectiveness of the proposed method is verified by simulation using Recurdyn-Simulink.

Key words: all-electric tank, bidirectional stability system, integral robust control, adaptive control

CLC Number:

TJ810.3⁺76

YUAN Shusen, DENG Wenxiang, YAO Jianyong, YANG Guolai. Adaptive Integral Robust Control for the Bidirectional Stability System of All-electric Tanks[J]. Acta Armamentarii, 2023, 44(1): 140-155.

Figures/Tables 27

Fig.1 Biaxial coupling system structure of the tank bidirectional stability system

Fig.2 Drive-end structure of the azimuth subsystem

Fig.3 Drive-end structure of the high-low subsystem

Fig.4 Electric cylinder installation structure

Fig.5 Electric cylinder driving mechanism

Fig.6 Schematic of the AIR control strategy for all-electric tank bidirectional stabilization system

Fig.7 Allelectric tank multi-body dynamics model

Fig.8 D-level three-dimensional road surface model

Fig.9 Co-simulation of the bidirectional stability system for all-electric tanks

Table 1 Performance indicators of the azimuth subsystem after 5 seconds in Case 1rad

控制器	M_e	μ	σ
AIR	0.000986	0.000248	0.000209
RISE	0.001551	0.000498	0.000355
PID	0.005357	0.002511	0.001063
AIR-ua	0.002110	0.000672	0.000472

Fig.10 Position tracking of tank bidirectional stabilization system in Case 1

Fig.11 Comparison of tracking errors of the azimuth subsystem in Case 1

Fig.12 Comparison of tracking errors of the high-low subsystem in Case 1

Table 2 Performance indicators of the high-low subsystem after 5 seconds in Case 1rad

控制器	M_e	μ	σ
AIR	0.000163	0.000037	0.000032
RISE	0.000409	0.000056	0.000062
PID	0.002021	0.000484	0.000396
AIR-ua	0.000423	0.000077	0.000063

Fig.13 Estimated robust gain β in Case 1

Fig.14 Control inputs of the tank bidirectional stabilization system in Case 1

Fig.15 Driving torques of tank bidirectional stabilization system in Case 1

Fig.16 Position tracking of the tank bidirectional stabilization system in Case 2

Fig.17 Comparison of tracking errors of the azimuth subsystem in Case 2

Fig.18 Comparison of tracking errors of the high-low subsystem in Case 2

Table 3 Performance indicators of the azimuth subsystem after 5 seconds in Case 2rad

控制器	M_e	μ	σ
AIR	0.001431	0.000297	0.000231
RISE	0.002279	0.000718	0.000509
PID	0.008561	0.002539	0.001998
AIR-ua	0.003056	0.000962	0.000675

Table 4 Performance indicators of the high-low subsystem after 5 seconds in Case 2rad

控制器	M_e	μ	σ
AIR	0.003469	0.000851	0.001007
RISE	0.003639	0.000882	0.001025
PID	0.004031	0.001002	0.001091
AIR-ua	0.0038411	0.000939	0.001088

Fig.19 Position tracking of the tank bidirectional stabilization system in Case 3

Fig.20 Comparison of tracking errors of the azimuth subsystem in Case 3

Fig.21 Comparison of tracking errors of the high-low subsystem in Case 3

Table 5 Performance indicators of the azimuth subsystem after 5 seconds in Case 3rad

控制器	M_e	μ	σ
AIR	0.001004	0.000264	0.000213
RISE	0.001638	0.000542	0.000379
PID	0.005053	0.002706	0.001059
AIR-ua	0.002235	0.000733	0.000506

Table 6 Performance indicators of the high-low subsystem after 5 seconds in Case 3rad

控制器	M_e	μ	σ
AIR	0.000644	0.000307	0.000154
RISE	0.000757	0.000329	0.000177
PID	0.001415	0.000403	0.000317
AIR-ua	0.000864	0.000353	0.000205

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