A moving target tracking control problem for marching tank based on adaptive robust feedback control scheme is addressed. A series of preparations is needed for tank gun before shooting a target, the purpose of this paper is to design a control system to fulfill two requirements in this process: the turret-barrel system of tank needs to be adjusted from off-target position to command position and point to the moving target stably when there are strong uncertainties (modeling error, uncertain disturbance with unknown boundaries and road excitation) in the system. Considering the characteristic of coupled interaction, the first thing we do in this paper is to build a coupled analysis model of turret - barrel system with uncertainty term in state-space form. Second, an adaptive robust feedback control scheme is proposed by adding adaptive law to overcome the uncertainty. Third, multi-body dynamics software is used to establish the mechanical mechanism of the tank, and DC-motor module is established in SIMULINK environment, thus the target information and tracking error of the control system is collected and transferred, the gear-ball screw is derived directly by the output torque of the DC-motor module. Finally, the control system and the 3D model are combined together by means of RecurDyn/SIMULINK co-simulation, the turret-barrel system of tank can approximately track the moving target in a certain range. With the adaptive robust feedback control, the target action is completely followed when the target location is constantly changing.

研究了一种基于自适应鲁棒反馈控制方案的行进坦克运动目标跟踪控制问题。坦克炮在射击目标之前需要进行一系列的准备工作，本文的目的是设计一个控制系统来满足这个过程中的两个要求：坦克的炮塔-炮管系统需要从脱靶位置调整到当系统存在强不确定性（建模误差、边界未知的不确定扰动和道路激励）时，稳定地指挥位置并指向运动目标。考虑到耦合相互作用的特点，本文首先建立了状态空间形式的带有不确定项的炮塔-炮管系统耦合分析模型。第二，通过增加自适应律来克服不确定性，提出了一种自适应鲁棒反馈控制方案。三、利用多体动力学软件建立坦克的机械机构，在SIMULINK环境下建立DC-motor模块，收集并传递控制系统的目标信息和跟踪误差，齿轮-滚珠丝杠直接由直流电机模块的输出扭矩得出。最后，通过RecurDyn/SIMULINK联合仿真将控制系统和3D模型结合在一起，坦克炮塔-炮管系统可以在一定范围内近似跟踪运动目标。采用自适应鲁棒反馈控制，当目标位置不断变化时，目标动作完全跟随。采用多体动力学软件建立坦克的机械机构，在SIMULINK环境下建立DC-motor模块，收集并传递控制系统的目标信息和跟踪误差，推导出齿轮-滚珠丝杠直接由直流电机模块的输出扭矩。最后，通过RecurDyn/SIMULINK联合仿真将控制系统和3D模型结合在一起，坦克炮塔-炮管系统可以在一定范围内近似跟踪运动目标。采用自适应鲁棒反馈控制，当目标位置不断变化时，目标动作完全跟随。采用多体动力学软件建立坦克的机械机构，在SIMULINK环境下建立DC-motor模块，收集并传递控制系统的目标信息和跟踪误差，推导出齿轮-滚珠丝杠直接由直流电机模块的输出扭矩。最后，通过RecurDyn/SIMULINK联合仿真将控制系统和3D模型结合在一起，坦克炮塔-炮管系统可以在一定范围内近似跟踪运动目标。采用自适应鲁棒反馈控制，当目标位置不断变化时，目标动作完全跟随。从而收集并传递控制系统的目标信息和跟踪误差，齿轮滚珠丝杠直接由直流电机模块的输出扭矩导出。最后，通过RecurDyn/SIMULINK联合仿真将控制系统和3D模型结合在一起，坦克炮塔-炮管系统可以在一定范围内近似跟踪运动目标。采用自适应鲁棒反馈控制，当目标位置不断变化时，目标动作完全跟随。从而收集并传递控制系统的目标信息和跟踪误差，齿轮滚珠丝杠直接由直流电机模块的输出扭矩导出。最后，通过RecurDyn/SIMULINK联合仿真将控制系统和3D模型结合在一起，坦克炮塔-炮管系统可以在一定范围内近似跟踪运动目标。采用自适应鲁棒反馈控制，当目标位置不断变化时，目标动作完全跟随。