船载转塔装置随动系统动力学建模与仿真
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摘要
为定量分析船载转塔装置(STE)随动控制过程中随动力矩的影响因素,应用坐标变换原理和拉格朗日动力学方程,建立了STE随动系统运动学和动力学模型。针对不同摇摆角和目标运动状态,对STE随动过程进行动力学仿真,定量分析了摇摆角及目标运动对随动力矩的影响。仿真结果表明:随着摇摆角幅值和周期的变化,随动力矩呈现线性变化趋势,且周期的影响更加明显;摇摆角幅值每增加1°,方位轴、俯仰轴随动力矩分别增加约12%、2%;周期每增加1 s,方位轴、俯仰轴随动力矩分别减小约28%和6%。摇摆角之间的相位间隔对随动力矩的影响具有复杂性,需要对不同相位区间进行分析。相对于静止状态,目标运动会引起随动力矩的增大,且加速度对随动力矩的影响更加明显。
A kinematics and dynamics model of a ship-borne turret equipment( STE) was constructed using coordinate transformation principle and Lagrange dynamic equations. The proposed model is used to analyze the influence factors on servo torque of STE in servo control. The servo control process of STE under different swing angles and target motion state was simulated,and the influences of swing angles and target motion state on servo torque were analyzed quantitatively. The simulated result shows that the servo torque varies almost linearly with the change in the amplitude and period of swing angle,and the effect of period is more obvious. When the amplitude of swing angle is increased by 1 degree,the servo torques of azimuth and elevation axes are increased by about 12% and 2%,respectively. When the period is increased by 1 s,the servo torques of azimuth and elevation axes are decreased by about 28% and 6%,respectively. The impact of the phase difference between swing angles on servo torque is complicated,and therefore the different intervals of phase difference need to be analyzed. Compared with the stationary state,the target motion causes the increase in the servo torque,and the impact of acceleration on servo torque is more evident.
A kinematics and dynamics model of a ship-borne turret equipment( STE) was constructed using coordinate transformation principle and Lagrange dynamic equations. The proposed model is used to analyze the influence factors on servo torque of STE in servo control. The servo control process of STE under different swing angles and target motion state was simulated,and the influences of swing angles and target motion state on servo torque were analyzed quantitatively. The simulated result shows that the servo torque varies almost linearly with the change in the amplitude and period of swing angle,and the effect of period is more obvious. When the amplitude of swing angle is increased by 1 degree,the servo torques of azimuth and elevation axes are increased by about 12% and 2%,respectively. When the period is increased by 1 s,the servo torques of azimuth and elevation axes are decreased by about 28% and 6%,respectively. The impact of the phase difference between swing angles on servo torque is complicated,and therefore the different intervals of phase difference need to be analyzed. Compared with the stationary state,the target motion causes the increase in the servo torque,and the impact of acceleration on servo torque is more evident.
引文
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[18]李巍,赵志刚,石广田,等.多机器人并联绳牵引系统的运动学及动力学解[J].浙江大学学报(工学版),2015,49(10):1916-1923.LI W,ZHAO Z G,SHI G T,et al.Solutions of kinematics and dynamics for parallel cable-driven system with multi-robots[J].Journal of Zhejiang University(Engineering Science),2015,49(10):1916-1923.(in Chinese)
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[2]荀盼盼,韩崇伟,赵宇和,等.基于定量反馈理论的火炮随动系统鲁棒控制研究[J].兵工学报,2015,36(10):1841-1846.XUN P P,HAN C W,ZHAO Y H,et al.Research on robust control of gun servo system based on quantitative feedback theory[J].Acta Armamentarii,2015,36(10):1841-1846.(in Chinese)
[3]庄文许,马大为,张龙,等.舰载火箭炮自适应内模输出调节问题研究[J].兵工学报,2013,34(4):471-476.ZHUANG W X,MA D W,ZHANG L,et al.Research on adaptive internal model-based output regulation problem in a shipborne rocket launcher[J].Acta Armamentarii,2013,34(4):471-476.(in Chinese)
[4]于存贵,马大为,王惠方,等.舰载火箭炮随动系统调炮动力学仿真[J].南京理工大学学报,2007,31(2):143-146.YU C G,MA D W,WANG H F,et al.Dynamic simulation of ship-borne rocket launcher motion in servo system control[J].Journal of Nanjing University of Science and Technology,2007,31(2):143-146.(in Chinese)
[5]张延顺,朱如意,房建成.航空遥感用惯性稳定平台动力学耦合分析[J].中国惯性技术学报,2011,19(5):505-509.ZHANG Y S,ZHU R Y,FANG J C.Analysis on dynamics coupling of inertial stabilized platform for aerial remote sensing[J].Journal of Chinese Inertial Technology,2011,19(5):505-509.(in Chinese)
[6]HURAK Z,REZAC M.Image-based pointing and tracking for inertially stabilized airborne camera platform[J].IEEE Transactions on Control Systems Technology,2012,20(5):1146-1159.
[7]LIU F,WANG H.Fuzzy PID controller for optoelectronic stabilization platform with two-axis and two-frame[J].Optik,2017,140(7):158-164.
[8]满益明,江燕华,胡玉文,等.车载捷联式三轴稳定平台动力学建模与分析[J].哈尔滨工业大学学报,2011,43(9):122-127.MAN Y M,JIANG Y H,HU Y W,et al.Dynamic model and analysis for vehicle mounted strapdown 3-axis stable platform[J].Journal of Harbin Institute of Technology,2011,43(9):122-127.(in Chinese)
[9]李伟,韩崇伟,张太平,等.自行高炮射击线稳定系统动力学建模与仿真[J].兵工学报,2013,34(10):1201-1208.LI W,HAN C W,ZHANG T P,et al.Dynamic modeling and simulation for firing line stabilization system of self-propelled antiaircraft gun[J].Acta Armamentarii,2013,34(10):1201-1208.(in Chinese)
[10]KENNEDY P J,KENNEDY R L.Direct versus indirect line of sight(LOS)stabilization[J].IEEE Transactions on Control Systems Technology,2003,11(1):3-15.
[11]JI W,LI Q,XU B,et al.Adaptive fuzzy PID composite control with hysteresis-band switching for line of sight stabilization servo system[J].Aerospace Science and Technology,2011,15(1):25-32.
[12]曹大劳,王永梅,顾震宇,等.随动系统设计与仿真分析[J].火炮发射与控制学报,2018,39(2):70-74.CAO D L,WANG Y M,GU Z Y,et al.Design and simulation analysis of servo system[J].Journal of Gun Launch&Control,2018,39(2):70-74.(in Chinese)
[13]Hilkert J M.Inertially stabilized platform technology concepts and principles[J].IEEE Control Systems,2008,28(1):26-46.
[14]李翔,毕世华,陈阵.多随机激励作用下舰载火箭弹初始扰动数值模拟[J].固体火箭技术,2010,33(5):491-495.LI X,BI S H,CHEN Z.Numerical simulation on initial disturbances of ship-borne rockets under random excitations[J].Journal of Solid Rocket Technology,2010,33(5):491-495.(in Chinese)
[15]陈机林,杜新妮.舰载火箭炮消摇摆稳定系统控制器设计[J].火炮发射与控制学报,2005,26(1):43-46.CHEN J L,DU X N.Design of stabilization system controller for swing elimination of ship-borne rocket gun[J].Journal of Gun Launch&Control,2005,26(1):43-46.(in Chinese)
[16]SONG P.Robust control of gyro stabilized platform driven by ultrasonic motor[J].Sensors and Actuators A:Physical,2017,261(7):280-287.
[17]毛征,雷加印,吕春花,等.自行高炮射击线稳定性分析[J].火炮发射与控制学报,2011,32(3):92-96.MAO Z,LEI J Y,LC H,et al.Analysis on firing line stability of SPAA Gun[J].Journal of Gun Launch&Control,2011,32(3):92-96.(in Chinese)
[18]李巍,赵志刚,石广田,等.多机器人并联绳牵引系统的运动学及动力学解[J].浙江大学学报(工学版),2015,49(10):1916-1923.LI W,ZHAO Z G,SHI G T,et al.Solutions of kinematics and dynamics for parallel cable-driven system with multi-robots[J].Journal of Zhejiang University(Engineering Science),2015,49(10):1916-1923.(in Chinese)
[19]SOUCHET R.Continuum mechanics and Lagrange equations with generalised coordinates[J].International Journal of Engineering Science,2014,76:27-33.
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