Control System Design for KONGSBERG PROTECTOR Medium Caliber Remote Weapon Station
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This Master's thesis is focused on the challenge of developing a control system for stabilizing trajectory tracking of the KONGSBERG PROTECTOR Medium Caliber Remote Weapon Station (MCRWS). The work done in this thesis consists of a detailed modeling of the MCRWS, where the complete control system structure has been analyzed in order for us to gain an understanding of the control challenges that must be dealt with. Furthermore, this thesis develops a dynamical model of the MCRWS, based on a view of the weapon station as a robot manipulator with a flexible transmission system. This thesis also specifically model the input torque to the dynamical model, consisting of three terms. The first terms is the torque input from the motors which is modeled by developing a dynamical model for the motor system as a mass-spring system, with the transmitted torque to the manipulator system as output. The second term is the motion of the moving vehicle that the MCRWS is mounted on, which is modeled as a disturbance input to the manipulator model of the MCRWS, since the effect from the moving vehicle is uncontrollable. The third and last term is friction. Based on the model of the MCRWS, four different controllers are developed, a feedback linearization controller, two types of passivity based controllers, and finally a backstepping controller. All of the controllers, except one of the passivity based, are then proved to be input-to-state stable (ISS), with calculated ISS supply rates. All of the controlled systems are implemented in Simulink and simulated under the influence of disturbances from the moving base, measurement noise and model errors both in the manipulator and motor system. Simulations regarding the ISS property and the controller's performance regarding this is also performed. Based on these results, we establish that the backstepping controller together with one of the passivity based controllers give the overall best expected performance out of the developed controllers, and the recommendation to KONGSBERG is therefore that these two controllers should be used for further development of the control system for the MCRWS prototype.