Robust Control of Tank Gun Pointing Control System based on Singular Perturbation Theory

To solve the problem of realizing high-precision pointing control in tank gun pointing control systems due to nonlinear factors such as dead zone, coupling, and joint flexibility, a robust control system based on singular perturbation theory was proposed. This control method does not need to prefabricate the gear gap size, and only needs the angular displacement of the turret and barrel, its angular velocity size feedback, without needing higher-order feedback. Firstly, the nonlinearity of the dead zone is dealt with by establishing a mathematical model of the coupling of the horizontal turret and the vertical barrel in the aiming control system of a tank gun. Second, the system is decoupled into two subsystems with different time scales of fast and slow by the singular perturbation theory. A robust control law based on the Hamilton-Jacobi-Isaac inequality is designed for the slow subsystem, and a differential control law is designed for the fast subsystem to enhance its stability and anti-perturbation capability. Lyapunov’s theorem and Lasalle’s invariance theorem are used to prove the stability of the control system. In the end, the control scheme proposed in this paper is compared with the optimal control scheme of the nonlinear decoupling control system. The result shows that the control scheme proposed in this paper has a good anti-jamming ability and a good dynamic steady-state performance.