自行火炮弹炮多体发射系统动力学仿真研究
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摘要
自行火炮在射击过程中,膛内的高温高压火药燃气瞬间形成较大的冲击载荷,使系统产生复杂的动态响应；同时,由于弹炮间隙的存在,弹丸在膛内高速运动时将不断与身管内壁发生剧烈的接触碰撞,从而导致身管的弹性振动与弹丸运动两者相互耦合,形成了火炮系统的初始扰动,并决定了弹丸出炮口时的运动状态及以后的姿态变化,直接关系到自行火炮的射击精度和射击稳定性。
因此,建立相对准确高效且充分反映弹炮间相互作用的自行火炮弹炮多体发射系统动力学模型,来描述火炮的射击过程,进而得到结构参数对系统动态响应特性和弹丸膛内运动规律的影响,对火炮的发射动力学研究和结构优化设计具有重要的指导意义。本文以某型履带式自行火炮为研究对象,针对上述问题展开分析,所做的主要工作如下：
(1)为了研究火炮射击过程中弹丸和柔性身管间的接触碰撞对弹丸膛内运动规律及炮口振动的影响,通过引出虚拟体的概念,提出了一种经由虚拟体组成的模拟身管来间接传递弹炮间相互作用力的方法,并以虚拟体为基础建立了弹炮刚柔耦合多体系统模型,推导了系统对应的动力学方程,为弹炮耦合问题的研究奠定了理论基础。
(2)将相对坐标理论和递归算法引入到火炮系统中,推导了构件间的运动学递归关系；同时,采用模态综合法描述身管的柔性变形,建立了火炮刚柔耦合多体系统的动力学方程。
(3)基于文中阐述的火炮系统动力学建模理论,以某型履带式自行火炮为研究对象,将有限个虚拟体组成模拟身管引入弹炮刚柔耦合系统,考虑弹炮间的接触碰撞及身管的柔性变形,建立了履带式自行火炮弹炮多体发射系统动力学仿真模型；同时,获得了在相同试验条件下计算结果和测试数据的对比曲线,验证了将虚拟体引入火炮仿真模型的可行性与正确性。
(4)通过将弹丸与模拟身管内壁间的接触面视为规则几何形状进行离散,对比了系统模型采用刚性身管以及不考虑弹丸作用时炮口振动的变化规律,证明了在对火炮系统进行动力学分析时计及弹炮间耦合作用的必要性,得到了弹丸在模拟身管中的运动规律,实现了柔性身管和弹丸间相互作用力的等效传递,为自行火炮发射动力学和弹炮耦合问题的研究提供一种新的思路。
(5)以建立的自行火炮弹炮多体发射系统动力学模型为基础,从弹炮间的结构变量及自行火炮自身结构参数两方面出发,取炮口横向和垂向的角速度和线速度为炮口振动特征量,取弹丸横向和垂向的角位移、角速度和线速度为弹丸运动特征量,较为详细地分析了结构参数的改变对炮口振动和弹丸膛内运动规律的影响。分析表明,相比于大多数火炮自身结构参数对系统初始扰动的影响,弹炮间的结构参数对炮口振动和弹丸运动所造成的影响较明显,且弹炮间的作用力不容忽略。对于火炮系统的发射动力学研究,要想获得较理想的分析结果,就必须充分考虑弹丸和身管间的结构参数对系统的影响；同时研究表明,由结构参数的改变而引起的炮口和弹丸初始扰动值的变化,并不完全同时增大或减小,即弹丸和炮口的运动规律并不完全具有一致性。
(6)针对弹丸和炮口的初始扰动并不完全具有一致性这一问题,提出了一种同时以弹丸和炮口扰动为优化目标的自行火炮系统多目标优化方法,通过对多个子目标进行加权归一化得到了反映炮口振动量和反映弹丸初始扰动的两个子目标函数,建立了系统的多目标优化数学模型,并结合NSGA Ⅱ遗传算法求得对应的Pareto前沿,从而为火炮系统的结构优化研究提供一定参考。
During the firing process of the self-propelled artillery, the large impact load is generated by the high-temperature high-pressure propellant gas in the bore, which may bring about the complex dynamic response of the system. Meanwhile, when the projectile moves at a high speed in the bore, there is a strong contact/impact between the projectile and the barrel due to the projectile-barrel gap, which results in the coupling between the elastic vibration of the barrel and the projectile motion. All the above cause the initial disturbance of the artillery and determine the state of the projectile out of the muzzle, which have a close bearing on the firing accuracy and firing stability of the artillery.
Therefore, it is of important significance to establish the projectile-barrel multi-body dynamics model for the self-propelled artillery. The model should fully reflect the projectile-barrel interaction, and can obtain the influence of the structure parameters to both the system dynamic response characteristics and the projectile motion, and thus offer guidance for the artillery launch dynamics research and the structure optimization design. A certain type of medium caliber tracked self-propelled artillery is taken as the subject background in the thesis, and the main research contents and results are as follows:
(1) In order to investigate the influence of the contact/impact between the projectile and the flexible barrel to the projectile motion and the muzzle vibration, a method was proposed by introducing the concept of virtual substance, in which the analog barrel composed by the virtual substances was used to transferred the projectile-barrel interaction force indirectly. Then a projectile-barrel rigid-flexible coupling multi-body model was built based on the virtual substances, and the corresponding dynamics equation was derived, which provides a theoretical foundation for the research of rigid-flexible coupling.
(2) The relative coordinate theory and the recursive algorithm were introduced into the artillery system, and the recursive relationship between components was derived. At the same time, the flexible deformation of the barrel was described by the modal synthesis method, and the rigid-flexible coupling dynamics equations of the multi-body system were set up.
(3) Based on the system dynamics theory described in the present paper, taking a medium caliber tracked self-propelled artillery as an example, the analog barrel composed by finite virtual substances was introduced into the projectile-barrel rigid-flexible coupling system. Considering the projectile-barrel contact/impact and the flexible deformation of the barrel, the multi-body dynamics model of the projectile-barrel system was established. The model is feasible by comparing the calculation results and the experimental data.
(4) The discretization was carried out after regarding the interface between the projectile and the inner wall of the analog barrel as the regular geometric shape. When the barrel was considered as rigid and the projectile-barrel interaction was ignored, the variations of the muzzle vibration were also calculated for comparison. The results show that the projectile-barrel interaction must be taken into account in the artillery dynamics research. The motion law of the projectile in the analog barrel was obtained, and the equivalent transfer of the projectile-barrel interaction force was achieved, which can provide a new thought for the self-propelled artillery launch dynamics and the projectile-barrel coupling research.
(5) Based on the launch dynamics model of the self-propelled artillery, considering the structure parameters of both the projectile-barrel interaction and the artillery itself, the horizontal and vertical angular velocity and linear velocity of the muzzle were taken as the characteristic parameters of the muzzle vibration, and the horizontal and vertical angular displacement, angular velocity and linear velocity were chosen as the characteristic parameters of the projectile motion, then the influences of the structure parameters to both the muzzle vibration and the projectile motion were analyzed in detail. The results show that the influence of the projectile-barrel structure parameters is more obvious than that of the artillery parameters, so the interaction force is not allowed to be ignored. Therefore, the impact of the projectile-barrel structure parameters must be fully taken into account in the artillery dynamics research. The results show that the influences of the structure parameters to the initial disturbances of the muzzle and the projectile are not entirely consistent.
(6) Aim at the inconsistency of the initial disturbances of the muzzle and the projectile, a multi-objective optimization method was presented, in which the initial disturbances of the muzzle and the projectile were regarded as the optimization goal. Through the weighted normalization of several sub-goals, two sub-objective functions were obtained which can reflect the muzzle vibration and the initial disturbance of the projectile. On this basis, the multi-objective optimization model of the system was established, and the corresponding Pareto front was gained by NSGA II genetic algorithm, which can provide some references for the structural optimization research of the self-propelled artillery.
因此,建立相对准确高效且充分反映弹炮间相互作用的自行火炮弹炮多体发射系统动力学模型,来描述火炮的射击过程,进而得到结构参数对系统动态响应特性和弹丸膛内运动规律的影响,对火炮的发射动力学研究和结构优化设计具有重要的指导意义。本文以某型履带式自行火炮为研究对象,针对上述问题展开分析,所做的主要工作如下：
(1)为了研究火炮射击过程中弹丸和柔性身管间的接触碰撞对弹丸膛内运动规律及炮口振动的影响,通过引出虚拟体的概念,提出了一种经由虚拟体组成的模拟身管来间接传递弹炮间相互作用力的方法,并以虚拟体为基础建立了弹炮刚柔耦合多体系统模型,推导了系统对应的动力学方程,为弹炮耦合问题的研究奠定了理论基础。
(2)将相对坐标理论和递归算法引入到火炮系统中,推导了构件间的运动学递归关系；同时,采用模态综合法描述身管的柔性变形,建立了火炮刚柔耦合多体系统的动力学方程。
(3)基于文中阐述的火炮系统动力学建模理论,以某型履带式自行火炮为研究对象,将有限个虚拟体组成模拟身管引入弹炮刚柔耦合系统,考虑弹炮间的接触碰撞及身管的柔性变形,建立了履带式自行火炮弹炮多体发射系统动力学仿真模型；同时,获得了在相同试验条件下计算结果和测试数据的对比曲线,验证了将虚拟体引入火炮仿真模型的可行性与正确性。
(4)通过将弹丸与模拟身管内壁间的接触面视为规则几何形状进行离散,对比了系统模型采用刚性身管以及不考虑弹丸作用时炮口振动的变化规律,证明了在对火炮系统进行动力学分析时计及弹炮间耦合作用的必要性,得到了弹丸在模拟身管中的运动规律,实现了柔性身管和弹丸间相互作用力的等效传递,为自行火炮发射动力学和弹炮耦合问题的研究提供一种新的思路。
(5)以建立的自行火炮弹炮多体发射系统动力学模型为基础,从弹炮间的结构变量及自行火炮自身结构参数两方面出发,取炮口横向和垂向的角速度和线速度为炮口振动特征量,取弹丸横向和垂向的角位移、角速度和线速度为弹丸运动特征量,较为详细地分析了结构参数的改变对炮口振动和弹丸膛内运动规律的影响。分析表明,相比于大多数火炮自身结构参数对系统初始扰动的影响,弹炮间的结构参数对炮口振动和弹丸运动所造成的影响较明显,且弹炮间的作用力不容忽略。对于火炮系统的发射动力学研究,要想获得较理想的分析结果,就必须充分考虑弹丸和身管间的结构参数对系统的影响；同时研究表明,由结构参数的改变而引起的炮口和弹丸初始扰动值的变化,并不完全同时增大或减小,即弹丸和炮口的运动规律并不完全具有一致性。
(6)针对弹丸和炮口的初始扰动并不完全具有一致性这一问题,提出了一种同时以弹丸和炮口扰动为优化目标的自行火炮系统多目标优化方法,通过对多个子目标进行加权归一化得到了反映炮口振动量和反映弹丸初始扰动的两个子目标函数,建立了系统的多目标优化数学模型,并结合NSGA Ⅱ遗传算法求得对应的Pareto前沿,从而为火炮系统的结构优化研究提供一定参考。
During the firing process of the self-propelled artillery, the large impact load is generated by the high-temperature high-pressure propellant gas in the bore, which may bring about the complex dynamic response of the system. Meanwhile, when the projectile moves at a high speed in the bore, there is a strong contact/impact between the projectile and the barrel due to the projectile-barrel gap, which results in the coupling between the elastic vibration of the barrel and the projectile motion. All the above cause the initial disturbance of the artillery and determine the state of the projectile out of the muzzle, which have a close bearing on the firing accuracy and firing stability of the artillery.
Therefore, it is of important significance to establish the projectile-barrel multi-body dynamics model for the self-propelled artillery. The model should fully reflect the projectile-barrel interaction, and can obtain the influence of the structure parameters to both the system dynamic response characteristics and the projectile motion, and thus offer guidance for the artillery launch dynamics research and the structure optimization design. A certain type of medium caliber tracked self-propelled artillery is taken as the subject background in the thesis, and the main research contents and results are as follows:
(1) In order to investigate the influence of the contact/impact between the projectile and the flexible barrel to the projectile motion and the muzzle vibration, a method was proposed by introducing the concept of virtual substance, in which the analog barrel composed by the virtual substances was used to transferred the projectile-barrel interaction force indirectly. Then a projectile-barrel rigid-flexible coupling multi-body model was built based on the virtual substances, and the corresponding dynamics equation was derived, which provides a theoretical foundation for the research of rigid-flexible coupling.
(2) The relative coordinate theory and the recursive algorithm were introduced into the artillery system, and the recursive relationship between components was derived. At the same time, the flexible deformation of the barrel was described by the modal synthesis method, and the rigid-flexible coupling dynamics equations of the multi-body system were set up.
(3) Based on the system dynamics theory described in the present paper, taking a medium caliber tracked self-propelled artillery as an example, the analog barrel composed by finite virtual substances was introduced into the projectile-barrel rigid-flexible coupling system. Considering the projectile-barrel contact/impact and the flexible deformation of the barrel, the multi-body dynamics model of the projectile-barrel system was established. The model is feasible by comparing the calculation results and the experimental data.
(4) The discretization was carried out after regarding the interface between the projectile and the inner wall of the analog barrel as the regular geometric shape. When the barrel was considered as rigid and the projectile-barrel interaction was ignored, the variations of the muzzle vibration were also calculated for comparison. The results show that the projectile-barrel interaction must be taken into account in the artillery dynamics research. The motion law of the projectile in the analog barrel was obtained, and the equivalent transfer of the projectile-barrel interaction force was achieved, which can provide a new thought for the self-propelled artillery launch dynamics and the projectile-barrel coupling research.
(5) Based on the launch dynamics model of the self-propelled artillery, considering the structure parameters of both the projectile-barrel interaction and the artillery itself, the horizontal and vertical angular velocity and linear velocity of the muzzle were taken as the characteristic parameters of the muzzle vibration, and the horizontal and vertical angular displacement, angular velocity and linear velocity were chosen as the characteristic parameters of the projectile motion, then the influences of the structure parameters to both the muzzle vibration and the projectile motion were analyzed in detail. The results show that the influence of the projectile-barrel structure parameters is more obvious than that of the artillery parameters, so the interaction force is not allowed to be ignored. Therefore, the impact of the projectile-barrel structure parameters must be fully taken into account in the artillery dynamics research. The results show that the influences of the structure parameters to the initial disturbances of the muzzle and the projectile are not entirely consistent.
(6) Aim at the inconsistency of the initial disturbances of the muzzle and the projectile, a multi-objective optimization method was presented, in which the initial disturbances of the muzzle and the projectile were regarded as the optimization goal. Through the weighted normalization of several sub-goals, two sub-objective functions were obtained which can reflect the muzzle vibration and the initial disturbance of the projectile. On this basis, the multi-objective optimization model of the system was established, and the corresponding Pareto front was gained by NSGA II genetic algorithm, which can provide some references for the structural optimization research of the self-propelled artillery.
引文
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