Journal of the Korea Institute of Military Science and Technology (한국군사과학기술학회지)
- Volume 4 Issue 2
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- Pages.157-178
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- 2001
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- 1598-9127(pISSN)
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- 2636-0640(eISSN)
Nonlinear Control of High Precision Pointing Stabilization Systems with Heavy Loads
대부하 정밀 표적지향 안정화 시스템의 비선형 제어기법 연구
Abstract
In this paper, the nonlinear control of high precision pointing stabilization system using feedback-linearization design methodology based on system parameter identification is discussed. Modern nonlinear servomechanism theory is adapted to cope with the hard nonlinearities inherent in the turret system. The mathematical models of electrical turret driving system to develop a high performance control algorithm are derived, and the parameter estimation algorithm identifying the unknown system parameters such as vicious and coulomb frictions, stiffness and inertia is developed. Through computer simulation and experiments, it is shown that pointing and tracking accuracy and stabilization against the wideband stochastic disturbance induced by vehicle running on the bump course are improved. Therefore, it is considered the proposed nonlinear control technique is effective in counteracting the nonlinearities and disturbances.
Keywords
- Feedback Linearization;
- Nonlinear Control;
- Parameter Identification;
- Pointing Stabilization System;
- Stabilization Error
- 궤환 선형화;
- 비선형 제어;
- 변수 추정;
- 표적지향 안정화 시스템;
- 안정화 오차;