부산대학교 도서관

This paper focuses on the problem of target tracking control of marching tanks under the condition of high-speed maneuver based on sliding mode disturbance observer. First, the dynamic model of marching tank is established by using multi-body dynamics software. The nonlinear factors such as barrel flexibility, clearance between barrel and bushing, and uncertainty sources such as road excitation are considered. Second, the mechatronics model of tank bidirectional stabilization system considering transmission clearance and friction is established in numerical simulation software. Aiming at the tank bidirectional stabilization system, an adaptive robust controller based on sliding mode disturbance observer is designed. Finally, the real-time control and target tracking of the tank bidirectional stabilization system are realized by co-simulation. The results show that the sliding mode disturbance observer improves the stability accuracy of the system by 43.22 %. Comparing the simulation results with the PID control, the controller designed in this paper has the characteristics of rapid tracking speed and high robustness, and the advantage is more obvious under the condition of highspeed maneuver.