Modeling and Simulation of Tank Pitching System Based on Adaptive Robust Control

Abstract

In order to accurately describe the gun pitch system of a moving tank, the dynamic model of multi-body system of a marching tank was established by the dynamic software RecurDyn. The credibility of the model was preliminarily verified by simulation and experiment. The dynamic modeling and analysis of the gun pitching system with the permanent magnet synchronous motor(PMSM)as the actuator were carried out, and the mathematical model of the gun pitching system was established. On this basis, aiming at the problem of poor controlled by the traditional three loop structure, the adaptive robust controller of the gun pitch servo system and the disturbance observer for feedback compensation of the system disturbance were designed. The stability analysis of the controller was completed, and the control model of the gun pitch system was designed. Finally, the co-simulation of the tank pitching system was realized through the interface module. The simulation results show that the multi-body system dynamic model established in this paper is reasonable, and control strategy of the designed gun pitch servo system has good step response, aiming stability, strong robustness and anti-interference ability.