RCWS 안정화 제어를 위한 구동계 설계 = Design of the Drive System for Stabilization Control of Remotely Controlled Weapon System

다국어 초록 (Multilingual Abstract)

This study focuses on the design of a drive system for the stabilization control of a Remotely Controlled Weapon System(RCWS). First, the 3-degree-of-freedom(3-DOF) motion equations of a two-axis gimbal-structured RCWS are derived. The final motion equations are established by applying structural constraints. Second, the motor torque and gear ratio are designed. The motor torque is calculated by separating the friction torque from the acceleration torque. The gear ratio is determined based on the ratio of the moment of inertia between the motor rotor and the structural load, considering the torque transmission efficiency. Third, a stabilization control algorithm using a dual feedback loop is developed. The inner loop utilizes angular rates measured by an encoder, while the outer loop uses angular velocities measured by an Inertial Measurement Unit(IMU). Finally, the performance of the RCWS drive system is evaluated in terms of stabilization accuracy under RRC-9 course disturbances. It is concluded that this research contributes to the development of drive systems and stabilization control techniques for RCWS and turrets used in tanks and armored vehicles.