Sliding mode control as controller for remote control weapon station 12.7mm (RCWS)

摘要

This paper present how Sliding Mode Control (SMC) controls Remote Control Weapon Station (RCWS). The performance of SMC is compared with PID which PID parameter is tuned using GRG nonlinear that had been presented in other paper. The RCWS model is defined as a 2 revolute joints serial manipulator hence its system is MIMO. Modelling the motion using Denavit-Harternberg (DH) Parameter for kinematic modelling and Langrangian formula for dynamic modelling. Since the output of Lagrangian formula is a nonlinear equation, the RCWS is a nonlinear system. The model is simplified using state space model to presents its complexity of MIMO system and nonlinear system. State Space model and controller (PID and SMC) is simulated in Simulink. SMC usually used for MIMO and nonlinear system. SMC also known as a robust controller. SMC is unique controllers that has to define its sliding surface so respons could slide on it. Compared with PID, SMC make a better performance. SMC just need 0.8 sec for azimuth movement and 0.6 sec for elevation movement to be settled, its only make 3.65% overshoot for azimuth movement and 0.1% overshoot for elevation movement, then only produce 0.003rad for Root Mean Square Steady State Error at most for both movement.