Modeling and Evaluation of Turret Control Systems for Main Battle Tanks
Time: Wed 2021-08-25 14.00 - 14.30
Subject area: Reglerteknik/Decision and Systems Control
Respondent: Mikael Lyth , Reglerteknik/DCS
Opponent: Muhammad Zahid
Supervisor: Ekaterina Fedina, FOI, Rijad Alisic, KTH
Examiner: Henrik Sandberg
The aim of the thesis was to implement and compare control methods in a model of a main battle tank. Three controllers were implemented in a two axis gimbal model and their performances were compared. The comparisons were performed for changes in reference signal, disturbances to the reference signal, and turret mass distribution uncertainties. The results showed that the sliding mode controller had the best performance for both the reference change and the disturbance attenuation. The PID controller had a better performance for the change in reference, compared to the model predictive controller, but a significantly worse performance for the disturbance attenuation. Due to model approximations, such as assuming ideal engines and noise reduction, the results likely show a better performance than what can be expected if applied on a real main battle tank. Therefore, the results show an upper limit of the stabilization performance of turret and barrel control.