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Singular-perturbed control for a novel SEA-actuated MBT autoloader subject to chassis oscillations

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Abstract

Autoloaders that replace the human loaders performing ammunition transferring tasks in main battle tanks have been confronted with the problem of poor compliance abilities. To solve this problem, a novel autoloader with novel compliant actuators-SEAs (series elastic actuators) is firstly proposed in this paper. However, compliant actuators will lead to the problem of flexible vibrations. Moreover, the traditional autoloaders still suffer from the problem of poor positioning accuracy caused by the base oscillations. Finding a control strategy that achieves the vibration suppression and the accuracy positioning is nontrivial. In this work, we propose a hybrid singular-perturbed control scheme which consists of a derivative-type control and a piecewise-PD tracking control. Simulation results: (1) demonstrate the effects of the proposed hybrid control scheme, (2) show it’s superiority in positioning accuracy compared with traditional PD control, (3) further show it’s robustness to not only base oscillations but also inertial uncertainties.

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Acknowledgements

This work was supported by the grant from the National Natural Science Foundation of China (No. 51605344), the State Scholarship Fund from China Scholarship Council (No. 201908420154) and the grant from China Postdoctoral Science Foundation funded project (No. 2016M592398).

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Authors and Affiliations

  1. Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, School of Machinery and Automation, Wuhan University of Science and Technology, Wuhan, 430081, China

    Yufei Guo, Baocheng Xi, Ruilin Mei, Shengyue Xu & Zhigang Wang

  2. Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan, 430081, China

    Yufei Guo

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  1. Yufei Guo
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  2. Baocheng Xi
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  3. Ruilin Mei
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  5. Zhigang Wang
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Correspondence to Yufei Guo.

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Guo, Y., Xi, B., Mei, R. et al. Singular-perturbed control for a novel SEA-actuated MBT autoloader subject to chassis oscillations. Nonlinear Dyn 101, 2263–2281 (2020). https://doi.org/10.1007/s11071-020-05894-y

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