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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

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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.