Research on Projectile Launching of Robot Gimble Based on Kalman Filter and ADRC Control

In this paper,the author focuses on the project that the robot projectile launching mechanism hits the dynamic target. When controlling the shot launcher,called gimble, the information obtained by the camera on the gimble mechanism is lagging and inaccurate, which leads to the failure of the gimble to follow the motion of the object in real time and to predict the motion of the object, resulting in the problem of lag. In addition, the vibration of the gimble while the bullet is launching will also affects the accuracy of the target hit. In order to solve the above problems,the author designs a system which establish the spatial Cartesian coordinates to describe the motion of the object by image processing algorithm, and then use Kalman filter to estimate the motion parameters of the object to predict the object, and transmit the prediction information to the Single Chip Micyoco,which is used as the lower computer. The ADRC control algorithm is used to control the shot hit system, so that the real-time tracking of gimble and the motion prediction of the target can be realized, and the accurate strike of the projectile to the moving target can be realized within the distance of 5 to 6 meters. Through MATLAB simulation and real model experiments, it is shown that the signal can be predicted effectively by Kalman filter, and the ADRC control algorithm can effectively reduce the interference of camera self-weight and the vibration of projectiles to the control of gimble.