Singular-perturbed control for a novel SEA-actuated MBT autoloader subject to chassis oscillations
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ORIGINAL PAPER
Singular-perturbed control for a novel SEA-actuated MBT autoloader subject to chassis oscillations Yufei Guo · Baocheng Xi · Ruilin Mei · Shengyue Xu · Zhigang Wang
Received: 29 February 2020 / Accepted: 12 August 2020 © Springer Nature B.V. 2020
Abstract Autoloaders that replace the human loaders performing ammunition transferring tasks in main battle tanks have been confronted with the problem of poor compliance abilities. To solve this problem, a novel autoloader with novel compliant actuatorsSEAs (series elastic actuators) is firstly proposed in this paper. However, compliant actuators will lead to the problem of flexible vibrations. Moreover, the traditional autoloaders still suffer from the problem of poor positioning accuracy caused by the base oscillations. Finding a control strategy that achieves the vibration suppression and the accuracy positioning is nontrivial. In this work, we propose a hybrid singular-perturbed control scheme which consists of a derivative-type control and a piecewise-PD tracking control. Simulation results: (1) demonstrate the effects of the proposed hybrid control scheme, (2) show it’s superiority in positioning accuracy compared with traditional PD control, (3) further show it’s robustness to not only base oscillations but also inertial uncertainties.
Y. Guo (B) · B. Xi · R. Mei · S. Xu · Z. Wang Key Laboratory of Metallurgical Equipment and Control Technology of Ministry of Education, School of Machinery and Automation, Wuhan University of Science and Technology, Wuhan 430081, China e-mail: [email protected] Y. Guo Institute of Robotics and Intelligent Systems, Wuhan University of Science and Technology, Wuhan 430081, China
Keywords Autoloaders · Series elastic actuators · Oscillatory base manipulators · Multi-timescales · Piecewise PD control
1 Introduction Autoloaders have been playing a more and more important role in modern main battle tanks (MBTs). The autoloader, also known as the ammunition transfer device or ammunition coordinator, is used to replace human loaders to achieve the automation of the ammunition reloading process [1]. The adoption of autoloaders has greatly improved the performances of MBTs in terms of the firing rate. However, traditional MBT autoloaders, which are driven by stiff actuators, are mostly suffered from the problem of poor compliance abilities. To address this problem, a compliant actuator was firstly introduced into a novel autoloader in this paper. Compliant actuators have the ability to minimize large forces due to shocks, and to safely interact with the user [2]. Various types of compliant actuators have been developed, such as series elastic actuators (SEAs) [3,4], clutch elastic actuators (CEAs) [5], parallel elastic actuators (PEAs) [6] and so forth. Among all of these, the SEA has attracted more attention in robot fields due to its advantage of less difficulties in mechanical design and control design. There have been considerable works on the control of SEA-actuated robots. In [7] and [8], the robust
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