Modelling of main battle tank and designing LQR controller to decrease weapon oscillations

Abstract

Main battle tank has an effective importance on military defence. Strong main battle tank for stiff land conditions and having weapon system focusing on the target are in a fast and correct way provide the army an advantage to win a victory. That is the reason for increasing the researches on main battle tank in recent years. This study includes modelling of main battle tank and designing LQR (Linear Quadratic Regulator) controller in order to decrease weapon oscillations. The main battle tank and weapon system are considered separately. The hull of main battle tank consists of sprung mass and unsprung masses. The weapon system is analyzed as two sections; azimuth dynamics and elevation dynamics that provide the motion on horizontal axis and vertical axis respectively. Time responses of sprung mass and elevation dynamics are obtained by applying APG (Aberdeen Proven Ground) road profile as disturbance effect. It is observed that the weapon system has oscillations on vertical axis as expected. In order to avoid these oscillations, LQR controller is designed. The controller achieves to damp the oscillations and avoid the deviation of the barrel from the target. Finally, it is defined that the controller forces are applicable.