Position Control of Artillery Shell Chain Rammer Based on Observer and Fully Actuated System Method

In order to improve the robustness of the positioning control of an artillery shell chain rammer under different loads in the process of artillery shell rammer operation, this paper proposes a nonlinear control method utilizing state observers and perturbation observers based on the fully actuated system method (FASMSODO). The dynamical equations of the artillery shell rammer system are established, and acceleration and disturbance observers, which are difficult to be measured directly in the equations, are designed to compensate for the acceleration and disturbance, respectively. Combined with the parametric design method in the theory of the fully actuated system, a nonlinear control strategy is designed. The experimental results show that compared with the traditional PID control strategy and adaptive sliding mode control (ASMC) strategy, the FASMSODO control strategy has stable and smaller positioning error under different load conditions, which can effectively suppress the influence of uncertainty and improve the stability of the positioning of the artillery shell rammer.