本文设计了一种迫击炮双协调臂炮口自动装填系统，建立了协调臂自动装填系统动力学模型；设计了单协调臂自动装填系统实验方案，验证了仿真结果的正确性；对比研究双协调臂与单协调臂自动装填系统动力学仿真，探讨了双协调臂自动装填系统在不同时间段的动态特性规律。结果表明：双协调臂在单协调臂的基础上明显抑制了振动，系统刚度越大，供弹过程运动越平稳；双协调臂加速度呈现收敛，系统长度越长，装填时间越长，双协调臂结构尺寸为最优状态，双协调臂比单协调臂的装填速度提高了34%，研究了协调臂自动装填系统动态特性及结构变化对装填速度的影响，为进一步实现其结构优化和精度控制奠定基础。
Abstract
This paper presents the design of an automatic loading system for mortars equipped with dual coordinating arms and establishes a dynamic model of the coordinating arm automatic loading system. An experimental scheme for a single coordinating arm automatic loading system is designed to verify the accuracy of the simulation results. A comparative study of the dynamic simulations between the dual coordinating arm and single coordinating arm automatic loading systems is conducted, exploring the dynamic characteristics of the dual coordinating arm automatic loading system over different time intervals. The results indicate that the dual coordinating arm significantly mitigates vibrations compared to the single coordinating arm; as the system stiffness increases, the ammunition supply process becomes smoother. The acceleration of the dual coordinating arm exhibits convergence, with longer system lengths resulting in extended loading times. The optimal structural dimensions for the dual coordinating arm are identified, leading to a 34% increase in loading speed compared to the single coordinating arm. This study investigates the dynamic characteristics of the coordinating arm automatic loading system and the impact of structural variations on loading speed, laying the foundation for further structural optimization and precision control.
关键词
迫击炮 /
协调臂 /
自动装填系统 /
动力学仿真 /
系统刚度
{{custom_keyword}} /
Key words
mortar /
coordinated arm /
automatic loading system /
dynamic simulation /
system stiffness
{{custom_keyword}} /
{{custom_sec.title}}
{{custom_sec.title}}
{{custom_sec.content}}
参考文献
[1] 张相炎,郑建国,袁人枢. 火炮设计理论[M]. 北京:北京理工大学出版社, 2014.
[2] 魏圣钢. 某火炮单/双耳轴协调器结构优化研究[D]. 江苏:南京理工大学,2021.
[3] 侯保林,樵军谋,刘琮敏. 火炮自动装填 [M].兵器工业出版社, 2010.
[4] 赵抢抢. 弹药自动装填系统可靠性初步研究[D]. 江苏:南京理工大学,2013.
[5] 刘琮敏,孙大鹏,范志国,等. 中大口径火炮弹药自动装填技术[J]. 火炮发射与控制学报,2013(3):93-96.
LIU Cong-min, SUN Da-peng, FAN Zhi-guo, et al. Automatic Loading Technology of Large-caliber Artillery Ammunition[J]. Journal of Artillery Launch and Control, 2013(3): 93-96.
[6] 南京理工大学. 一种迫击炮双协调臂炮口自动装填系统和方法:CN202311343670.9[P]. 2023-12-01.
[7] 南京理工大学. 一种自动迫击炮协调臂前装填装置及其装填方法:CN202111296241.1[P]. 2022-02-11.
[8] 高学星,苏哲子,孙华刚,等. 具有参数不确定性的火炮弹药协调器定位精度优化[J]. 兵工学报,2014,35(6):776-781.
GAO Xue-xing, SU Zhe-zi, SUN Hua-gang, et al. Optimization of Positioning Accuracy of Artillery Ammunition Coordinator with Parameter Uncertainty[J]. Acta Armamentarii, 2014, 35(6): 776-781.
[9] 翟文宇,钱林方,陈光宋. 火炮自动装填系统摆动机构的运动精度可靠性与灵敏度[J]. 兵工学报,2023,44(4):1062-1070.
ZHAI Wen-yu, QIAN Lin-fang, CHEN Guan-gsong. Motion Precision, Reliability, and Sensitivity of Artillery Automatic Loading System Swing Mechanism[J]. Acta Armamentarii, 2023, 44(4): 1062-1070.
[10] 潘润超. 基于扰动补偿的弹丸协调臂位置跟踪控制研究[D]. 江苏:南京理工大学,2020.
[11] 李成蹊. 某型火炮弹协调器联合仿真及控制技术研究[D]. 江苏:南京理工大学,2020.
[12] 闫鹏程,郝驰宇,孙华刚,等. 基于RecurDyn的开式链传动输弹机动力学联合仿真研究[J]. 火炮发射与控制学报2015,36(2):31-35.
YAN Peng-cheng, HAO Chi-yu, SUN Hua-gang, et al. Joint Simulation Study on Kinematics of Open Chain Drive Ammunition Conveyor Based on RecurDyn[J]. Journal of Artillery Launch and Control, 2015, 36(2): 31-35.
[13] 史江健,侯保林. 基础振动下单自由度机械臂的动力学控制[J]. 机械制造与自动化,2012,41(1):15-17.
SHI Jiang-jian, HOU Bao-lin. Dynamic Control of Single Degree of Freedom Mechanical Arm under Base Vibration[J]. Machinery Manufacturing and Automation, 2012, 41(1): 15-17.
[14] 刘曦,侯保林,姚来鹏. 基于压缩感知的弹药自动装填系统数据采集方法[J]. 南京理工大学学报（自然科学版）,2016,40(5):544-548.
LIU Xi, HOU Bao-lin, YAO Lai-peng. Data Acquisition Method of Ammunition Automatic Loading System Based on Compressed Sensing[J]. Journal of Nanjing University of Science and Technology (Natural Science Edition), 2016, 40(5): 544-548.
[15] 张鑫,张辉,王宝宝,等. 某自行高炮刚柔耦合动力学建模方法研究[J]. 火炮发射与控制学报,2022,43(5):15-23.
ZHANG Xin, ZHANG Hui, WANG Bao-bao, et al. Research on Modeling Method of Rigid-flexible Coupling Dynamics for a Self-propelled Anti-aircraft Gun[J]. Journal of Artillery Launch and Control, 2022, 43(5): 15-23.
{{custom_fnGroup.title_cn}}
脚注
{{custom_fn.content}}
PDF(2344 KB)
