Active Disturbance Adaptive Composite Control of Stabilization System for Unmanned Vehicle-mounted Gun during Moving

doi:10.12382/bgxb.2024.0888

Abstract

Abstract:

Aiming at the problem that the stabilization system of unmanned vehicle-mounted guns is affected by the complex nonlinearity and random disturbances during moving,a composite control strategy combining active disturbance rejection adaptive control is proposed.The electromechanical coupling dynamic equations of the unmanned vehicle-mounted gun stabilization system, which take into accountconsidering the actuator dynamics and model uncertainties,are established.Based on the backstepping approach,the adaptive control is ingeniously integrated with the extended state observer (ESO),constructing the parameter adaptation laws to update the unknown parameters of the system online.A dual-channel ESO is used to estimate the matched and unmatched disturbances in real time and provide feedforward compensation.Since the parameter uncertainties of the stabilization system are mainly addressed by adaptive technology,the learning burden of ESO is further reduced,improving the tracking performance of the stabilization system during moving and avoiding the impact of high-gain feedback.The stability analysis based on the Lyapunov function indicates that the asymptotic control of the vehicle-mounted gun can be achieved when only constant disturbances are present,and even in the presence of time-varying uncertainties,the prescribed transient performance and tracking accuracy can still be ensured.Comparative co-simulations and simulation tests demonstrate the effectiveness and feasibility of the active disturbance rejection adaptive composite control strategy.

Key words: unmanned vehicle-mounted gun, stabilization system, extended state observer, adaptive control, disturbance compensation

CLC Number:

TJ810

YUAN Shusen, HU Zhe, YI Wenjun, DENG Wenxiang, YAO Jianyong, YANG Guolai, GUAN Jun, WANG Yimin. Active Disturbance Adaptive Composite Control of Stabilization System for Unmanned Vehicle-mounted Gun during Moving[J]. Acta Armamentarii, 2025, 46(9): 240888-.

Figures/Tables 12

Fig.1 Unmanned vehicle-mounted gun stabilization system

Fig.2 Schematic diagram of installation position of electric cylinder for stabilization system

Fig.3 Principle of co-simulation

Fig.4 Servo tracking process of C1 controller in co-simulation

Fig.5 Comparative tracking errors of four controllers in co-simulation

Table 1 Performance metrics of four controllers in co-simulation mrad

控制器	M_e	A_e	S_e
C1	0.6277	0.1181	0.1668
C2	0.7323	0.1664	0.2102
C3	0.8106	0.2019	0.2488
C4	2.1607	0.4307	0.5890

Fig.6 Parameter estimation under the action of C1 controller in co-simulation

Fig.7 Disturbance estimation under the action of C1 controller in co-simulation

Fig.8 Control input of C1 controller in co-simulation

Fig.9 Simulation test platform of vehicle-mounted gun stabilization system

Fig.10 Comparative tracking errors of four controllers in simulation experiment

Table 2 Performance metrics of four controllers in simulated experiment mrad

控制器	M_e	A_e	S_e
C1	5.2275	2.7072	0.5727
C2	6.4201	3.4442	0.6213
C3	7.8646	4.6325	0.7564
C4	10.4680	5.5639	0.7932

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