基于模糊PID的重型无人作战系统车炮协同控制OA

Aiming at the trajectory tracking and gun stabilization of heavy unmanned combat systems in complex battlefield environments,a vehicle-gun cooperative-control method based on fuzzy PID strategy was proposed.Considering the dynamic characteristics of the upper load and the nonlinear transfer relationship of vehicle steering system,the Lagrange equation was used to establish the controlled state-space equation of vehicle-gun coupling,incorporating system uncertainties.A dynamic combat model was constructed.Using real-time enemy position vectors,the enemy position was taken as the input,and the enemy distance was taken as the constraint to solve the control angles for the vehicle-gun system in real time,ensuring accurate coordinated motion.To address the complex unknown uncertainties of battlefield environment and the high nonlinearity of system,a fuzzy rule-based online adaptive PID controller was designed,dynamically adjusting control parameters to ensure system robustness and stability.Simulation results show that,compared with traditional PID control,the proposed method significantly improves control accuracy and robustness under complex disturbances control through dynamic compensation of system uncertainties,effectively achieving cooperative vehicle-gun motion.This method provides an integrated solution for trajectory tracking and precise stabilization-aiming of heavy unmanned combat systems,and its cooperative framework provides theoretical support and offers an engineering implementation pathway for cooperative control of high-mobility unmanned combat platforms.