Study on friction compensation for gun control system of tank based on ADRC

This paper discusses the problem of friction disturbance compensation of tank gun servo system. For the friction uncertainties and non-model dynamics in tank azimuth gun control system, the azimuth Gun Control system model and friction model are established firstly, then considering them as a composite disturbance, and then, extended states observer (ESO), a new observer is proposed to observe and compensate this composite disturbance, and using the compensation loop of active disturbance rejection control (ADRC) as the inner loop of traditional PID controller. Finally, the simulation results show that the anti-interference ability could be improved by the designing of ADRC with traditional PID control, which has the feature of “passive anti-interference” and “active anti-interference”. The stable precision of visible axis and low speed feature could be well improved.