Research on adaptive robust control of pitching motion of a naval gun

Nonlinear friction and interference are the main factors affecting the performance of the navel gun servo system. Targeting improving the control accuracy of the servo system, the mathematical model of the servo system was established based on the LuGre friction model, and the load during the movement of the pitch system was analyzed. Then the adaptive robust controller was designed according to the characteristics of the system, and the control effects of the adaptive robust controller and PID controller were analyzed through simulation comparison. The simulation results have revealed that the controller can effectively estimate and compensate for the nonlinear friction and interference, and significantly improves the control accuracy and robustness of the system.