Adaptive Compensation Control Method of Nonlinearity in Tank Gun Control System Based on Equivalent Disturbance

There are diversified nonlinearity such as backlash,friction and varieties of system parameters in tank gun control system;they badly influence the system performance exertion.Based on the thought of 'equivalent disturbance',the nonlinearity are equal to exterior disturbance;consequently the nonlinear system is translated into the linear system included disturbance.What is more,the adaptive model following controller based on ESO is designed,and the compensation control of nonlinearity is implemented.The result shows that the influences caused by the diversified nonlinearity are restrained and the system performance is improved soundly by the method which is easy to be carried out in engineering project.