高动态条件下的自行高炮稳定跟踪力矩分析  

Analysis for stable tracking torque of self-propelled antiaircraft gununder high dynamic conditions

作　　者：江腾耀 李伟[1] 曹莹星 王伟伟 耿晓虎 JIANG Tengyao;LI Wei;CAO Yingxing;WANG Weiwei;GENG Xiaohu(Northwest Institute of Mechanical and Electrical Engineering,Xianyang 712000,China)

机构地区：[1]西北机电工程研究所,陕西咸阳712000

出　　处：《兵器装备工程学报》2024年第2期100-108,共9页Journal of Ordnance Equipment Engineering

摘　　要：研究了高动态条件下炮塔及身管质量偏心所产生动载荷对自行高炮稳定跟踪系统伺服电机等效输出力矩的影响,基于刚体转动的欧拉动力学方程,建立了质量偏心状态下的炮塔、自行高炮身管与车体之间的动力学模型。分别在车体摇摆、平动,以及摇摆与平动复合运动时,对自行高炮稳定指向和目标跟踪状态下的炮塔方位轴和俯仰轴动力学特性进行了仿真,系统分析了动载荷干扰力矩的特点。仿真结果表明:在自行高炮稳定指向的条件下,车体仅平动时,方位轴、俯仰轴的动载荷及输出力矩与车体加速度呈正比;车体复合运动时,方位轴、俯仰轴的动载荷及输出力矩随车体平动速度的增大而增大。行进间跟踪相比车体无平动下的跟踪,方位轴、俯仰轴的动载荷及输出力矩有了显著的增加,且双轴动载荷对输出力矩的作用更为突出。研究结果为行进间射击的自行高炮炮控系统设计提供了理论依据。A kinematics and dynamics model for the stabilization and tracking system of a self-propelled antiaircraft(SPAA)gun was constructed based on Euler dynamics equation.The proposed model is used to study the relationship between the equivalent outputs of the servo motors and the dynamic load disturbance torque caused by mass eccentric structure during the stabilization and tracking process.Based on the attitude disturbance and translational velocity disturbance of the vehicle body,the dynamic characteristics of azimuth and elevation axes under different conditions of vehicle motion are simulated,and the factors affecting dynamic load disturbance torque are systematically analyzed.The simulated results show that the dynamic loads and output torques of azimuth and elevation axes are proportional to the acceleration of the vehicle when the gun is pointing steadily and the vehicle moves horizontally.When the vehicle body is in composite motion,the dynamic loads and output torques of azimuth and elevation axes increase with the increase of the velocity of the vehicle moving.When the antiaircraft gun tracks steadily during travel,compared to when the vehicle body only swings,the dynamic loads and output torques of azimuth and elevation axes increase significantly,and the effect of the dual-axis dynamic loads on the output torques is more prominent.The results of the study provide a theoretical basis for the design of the pointing-stabilizing-tracking system for marching self-propelled antiaircraft gun.

关 键 词：自行高炮 稳定跟踪 干扰力矩 偏心力矩 动力学模型 数值仿真 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]