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Experimental Design of Disturbance Compensation Control to Improve Stabilization Performance of Target Aiming System

표적지향 시스템의 안정화 성능 향상을 위한 실험적 외란 보상 제어기 설계

  • 임재근 ((주)바른기술) ;
  • 강민식 (경원대학교 기계공학과) ;
  • 유준 (충남대학교 전기정보통신공학부)
  • Published : 2006.08.01

Abstract

This study considers an experimental design of disturbance compensation control to improve stabilization performance of main battle tanks. An adaptive non-parametric design technique based on the Filtered-x Least Mean Square(FXLMS) algorithm is applied in the consideration of model uncertainties. The optimal compensator is designed by two-step design procedures: determination of frequency response function of the disturbance compensator which can cancel the disturbance of series of single harmonics by using the FXLMS algorithm and determination of the compensator polynomial which can fit the frequency response function obtained in the first step optimally by using a curve fitting technique. The disturbance compensator is applied to a simple experimental gun-torsion bar-motor system which simulates gun driving servo-system. Along with experimental results, the feasibility of the proposed technique is illustrated. Experimental results demonstrate that the proposed control reduces the standard deviation of stabilization error to 47.6% that by feedback control alone. The directional properties of the FXLMS Algorithm such as the direction of convergence and its convergence speed are also verified experimentally.

Keywords

Target Aiming System;Stabilization;Disturbance Compensation;Filtered-X Least Mean Square Algorithm;Convergence;Initial Estimation

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