Sliding Mode Control of Target Tracking System for Two Degree of Freedom Gun Turret Model

Anotace: This paper presents the detailed derivation of gun turret modelling along with the estimation of the ideal azimuth and elevation angles for accurate firing. A control strategy for the gun turret is developed to ensure the capability of an actuator to provide sufficient torque and accurate firing angle for the gun platform and turret. A DC motor model is constructed to actuate the gun platform and turret in high accuracy for firing angle according to the desired target angle. The desired target angle is designed based on the three-dimensional (3D) projectile motion to obtain an accurate firing angle by depending on the distance parameter x, y and z plane coordinates. The control structure for the system is controlled using the Propotional Integral Derivative (PID) and sliding mode control (SMC). The controllers are evaluated based on the performance to generate the drive torque and reduce the error of the system in tracking the desired target angle accurately. The simulation result shows that the SMC controller has advantages of high precision and accuracy for tracking the trajectory of firing angle. A comparison between PID and SMC is also presented to indicate the effectiveness of the SMC controller in terms of tracking performance and firing accuracy.