弹道学报2026，Vol.38Issue(1)：73-82,10.DOI:10.12115/ddxb.2024.08005
基于模糊PID的重型无人作战系统车炮协同控制
Vehicle-Gun Cooperative Control of Heavy Unmanned Combat System Based on Fuzzy PID
摘要
Abstract
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.关键词
重型无人作战系统/模糊PID控制/轨迹跟踪/火炮稳瞄/车炮协同Key words
heavy unmanned combat system/fuzzy PID control/trajectory tracking/gun stabilized aiming/vehicle-gun coordination分类
军事科技引用本文复制引用
胥昊辰,杨国来,王宗范,褚艳涛,王修业..基于模糊PID的重型无人作战系统车炮协同控制[J].弹道学报,2026,38(1):73-82,10.基金项目
国家自然科学基金青年基金(52405114) （52405114）
中国博士后面上基金(GZB20240979) （GZB20240979）
江苏省卓越博士后资助计划(2024ZB064) （2024ZB064）
中国博士后资助计划(2024M764226) （2024M764226）
先进越野系统技术全国重点实验室开放基金课题资助(AF20240029) （AF20240029）
