In order to better understand the dynamic behavior and decrease the muzzle vibration of marching tank, a mechanical–electrical–hydraulic integrated dynamic model of marching tank was established based on a novel dynamic co-simulation method. The hydraulic system model was modeled in Amesim and the dynamic model of marching tank was established in RecurDyn based on multi-body system theory, vehicle terramechanics, and gun launch dynamics. The control system model was modeled in MATLAB/Simulink. Therein, the adaptive robust control algorithm was introduced to design the vertical stabilizer controller and the simulation program of the designed controller was developed by C language. The simulation results show that the muzzle vibration of marching tank can be controlled effectively by the ARC method. Furthermore, the muzzle error compensation signal was added in the designed controller to weaken the detrimental effect of the barrel flexibility on muzzle vibration. This work provides an approach to investigate the dynamic behavior of marching tank considering effects among the mechanical, hydraulic, and control subsystems.

Tank stabilizer is a control system keeping the bore axis in the desired sighting angle. For the control problem of the stabilizer in the case of uncertain parameters, the adaptive control method is introduced to design the vertical tank stabilizer with the nonlinear dynamic model of vertical stabilizer given in the paper. In the design, the multiple parameter uncertainties of the hydraulic servo system are fully considered and the linear feedback control is used to improve the asymptotic stability of the system. The vertical stabilizer of tank is simulated in MATLAB/Simulink environment. In addition, a dynamic model of tank on the move is established based on multi-body system theory, vehicle terramechanics and gun launch dynamics. Then the established dynamic model is combined with the designed controller based on the RecurDyn/Control module. The numerical calculation results show that the adaptive control method can effectively control the muzzle vibration of tank on the move and it can satisfy the requirement of actual vertical stabilization accuracy. But some nonlinear factors of the gun such as the flexibility of the barrel will seriously influence the desired stabilization accuracy of the vertical tank stabilizer. A comparison experiment between adaptive control and proportional–integral–derivative control is also presented to show the effectiveness of the adaptive control method. The research provides a feasible way to improve the firing accuracy of tank firing on the move.