Research On The Nonlinear Problem In The Pointing Control Of The Gun

The wheeled self-propelled artillery, which owns high accuracy of fire and quick fire response, will meet the requrement of the contemporary war and non-war military operations. The technology requirement will be achieved by improving fire control system. Although the performance of fire control system has been enhenced by the advanced photovoltaic and computer technology, the coupling, nonlinear and uncertain dynamic factors in the pointing control of gun barrel of the fire control system still constrain severely the performance of the entire weapon system.Therefore, it's important to solve these problems for improving the performance of such weapon systems and meeting the requrement of the military operations.This dissertation studies the method and theory of the coupling-channels analysis and design of pointing control of gun barrel, which will solve the aforementioned problems. The main contributions are listed as follows:1. The method and theory of the coupling-channels analysis and design of pointing control of the gun barrel are suggested and constructed initially. The gun-turret coupling dynamic nominal model is developed by Lagrange equation. An axis-coupled PD controller is proposed for the pointing control of gun barrel by the feedback linearization techniques and the stability of the controlled system is proven by Lyapunov function.2. The problems on the dynamic coupling of the elevation-azimuth axes in the pointing control of gun barrel are analyzed. A composite self-adapting control scheme is proposed for the pointing control of gun barrel. This approach improves initial dynamical performance of tracking control of fire, and ensures accuracy of fire and quick fire response. A task space control scheme is also proposed for the pointing control of gun barrel. The computational complexity of control algorithm is reduced and the real-time performance of the control system is enhanced by this method.3. The problems on the flexibility of the elevation-azimuth transmission shafts in the pointing control of gun barrel are analyzed. An optimal feedback linearization control scheme is proposed for the pointing control of gun barrel. The fluctuated states of motor and load shafts, which are brought by the flexibility of transmission shafts, are restrained by this approach. A linear stochastic estimator is presented in order to estimate the high order states of the linearization system with the measurement noise and cancel sensors of motor shafts. Meanwhile, this approach achieves the exact and smooth tracking control on the fire command.4. The problems on the uncertain dynamic performace of the dynamic parameters perturbation and external disturbance in the pointing control of gun barrel are analyzed. A linear sliding mode compensator and an improved nonsingular terminal sliding mode controller are proposed for the pointing control of gun barrel. They not only surpress the effects of the uncertainty of the dynamic system, and improve the steady and dynamic performace of the pointing congtrol of gun barrel. A neural sliding mode controller is also proposed for the pointing control of gun barrel. This method not only compensates the uncertainty automatically and eliminates the chattering in the control inputs, but also enhances further the steady and dynamic performace of the pointing congtrol of gun barrel.