Nonlinear Sliding Mode Control Based on Neural Network Compensation for Tank All-electric Bidirectional Stabilizers

doi:10.12382/bgxb.2024.0421

Abstract

Abstract:

The control strategy of traditional tank bidirectional stabilizers is difficult to effectively deal with the coupling,nonlinearity and uncertainty in the new generation of all-electric bidirectional stabilizers,while the model-based nonlinear control can make full use of a priori information from the dynamic model of the system to enhance the control effect.Based on this,an electromechanical coupled dynamics model of an all-electric bidirectional stabilizer taking the actuator dynamics into account is established,and a nonlinear sliding mode control method based on neural network compensation is proposed.The sliding mode surface and the improved sliding mode robust control law based on hyperbolic tangent function are introduced to construct the nonlinear sliding mode control function,which can effectively eliminate the system oscillations and improve the system stability.Meanwhile,the multilayer neural network technique is deeply fused to accurately estimate the uncertainty in the system and make compensation for the feedforward,thereby avoiding high-gain feedback.It is rigorously demonstrated by the stability theory based on Lyapunov functions that the proposed control strategy can achieve the asymptotic stability performance of tank all-electric bidirectional stabilizer with continuous control inputs.A co-simulation environment and a semi-physical experimental platform are built.The superiority of the proposed control strategy is verified through a large number of comparative experiments.

Key words: tank, all-electric bidirectional stabilizer, sliding mode control, neural network, dynamics modeling, comparative experimental validation

CLC Number:

TJ810

WANG Yimin, YUAN Shusen, LIN Darui, YANG Guolai. Nonlinear Sliding Mode Control Based on Neural Network Compensation for Tank All-electric Bidirectional Stabilizers[J]. Acta Armamentarii, 2025, 46(3): 240421-.

Figures/Tables 23

References 22

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参数	数值
水平向旋转体旋转半径h₁/m	0.20
垂直向旋转体旋转半径h₂/m	0.12
水平向旋转体总质量m₁/kg	5200.0
垂直向旋转体总质量m₂/kg	2088.0
电动缸上支点至耳轴中心距离d₁/m	0.44
电动缸下支点至耳轴中心距离d₂/m	0.30
零度射角下电动缸长度d/m	0.40
零度射角下电动缸安装角度α₀/rad	1.07
炮塔电机力矩系数k₁/(N·m·A^-1)	1.89
电动缸电机力矩系数k₂/(N·m·A^-1)	1.54
水平向传动系数N₁	400
垂直向传动系数N₂	5
垂直向传动效率η	0.98
重力加速度g/(m·s^-2)	9.80
路面参考空间频率n₀/m^-1	0.1
路面频率指数w	2

参数	数值
水平向旋转体旋转半径h₁/m	0.20
垂直向旋转体旋转半径h₂/m	0.12
水平向旋转体总质量m₁/kg	5200.0
垂直向旋转体总质量m₂/kg	2088.0
电动缸上支点至耳轴中心距离d₁/m	0.44
电动缸下支点至耳轴中心距离d₂/m	0.30
零度射角下电动缸长度d/m	0.40
零度射角下电动缸安装角度α₀/rad	1.07
炮塔电机力矩系数k₁/(N·m·A^-1)	1.89
电动缸电机力矩系数k₂/(N·m·A^-1)	1.54
水平向传动系数N₁	400
垂直向传动系数N₂	5
垂直向传动效率η	0.98
重力加速度g/(m·s^-2)	9.80
路面参考空间频率n₀/m^-1	0.1
路面频率指数w	2

参数	数值
垂直向旋转体旋转半径h₂/m	0.06
垂直向旋转体总质量m₂/kg	71.01
电动缸上支点至耳轴中心距离d₁/m	0.194
电动缸下支点至耳轴中心距离d₂/m	0.170
零度射角下电动缸长度d/m	0.094
零度射角下电动缸安装角度α₀/rad	0.51
垂直向传动系数N₂	36
垂直向传动效率η	0.98
电动缸电机力矩系数k₂/(N·m·A^-1)	0.195
重力加速度g/(m·s^-2)	9.80

参数	数值
垂直向旋转体旋转半径h₂/m	0.06
垂直向旋转体总质量m₂/kg	71.01
电动缸上支点至耳轴中心距离d₁/m	0.194
电动缸下支点至耳轴中心距离d₂/m	0.170
零度射角下电动缸长度d/m	0.094
零度射角下电动缸安装角度α₀/rad	0.51
垂直向传动系数N₂	36
垂直向传动效率η	0.98
电动缸电机力矩系数k₂/(N·m·A^-1)	0.195
重力加速度g/(m·s^-2)	9.80

控制器及降低百分比	车速/(km·h^-1)
控制器及降低百分比	25	30	35
PID控制器/mrad	1.919	2.844	2.511
SMCNN控制器/mrad	0.942	1.296	1.618
降低百分比/%	50.91	54.43	35.56