路面不平度对遥控武器站伺服性能的影响分析  

Analysis of the influence of road roughness on the servo performance of remote control weapon stations

作　　者：谢馨 张连超[1] 郑杰基 李宝宇 范大鹏[1] XIE Xin;ZHANG LianChao;ZHENG JieJi;LI BaoYu;FAN DaPeng(College of Artificial Intelligence,National University of Defense Technology,Changsha 410073,China)

机构地区：[1]国防科技大学智能科学学院,长沙410073

出　　处：《中国科学：技术科学》2024年第6期1137-1148,共12页Scientia Sinica(Technologica)

基　　金：国家自然科学基金(批准号:52305079,U19A2072)资助项目。

摘　　要：随着车载遥控武器站遂行作战任务的不断增加,对遥控武器站行进间射击精度提出了越来越高的要求,而车辆在行进过程中由不平整路面引入的基座扰动,会给武器火线稳定精度带来极大的影响.针对路面不平度扰动对遥控武器站稳定性能影响机理不明的问题,本文在分析遥控武器站系统组成、工作原理及关键技术指标基础上,建立了包含驱动、传动、控制以及路面不平度随机扰动的遥控武器站系统机电耦合全局动力学模型,分析不同路面等级、不同车速下路面不平度扰动对系统稳定精度的影响,搭建路面不平度随机扰动模拟测试平台,验证理论分析和数值仿真的有效性.仿真和实验结果表明,当车速为18 km/h时,在稳定平台作用下,稳定误差几乎不随路面等级的变化而变化.当车速为36和72 km/h时,随着路面等级提高至E级以上时,系统稳定误差呈近似指数增长,且速度越高,稳定精度恶化得越严重.With the continuous increase in combat tasks performed by vehicle-mounted remote control weapon stations(RCWSs),the requirements for the shooting accuracy of RCWSs while moving are increasing.However,during the vehicle’s travel,uneven road surfaces can introduce base disturbances to the system,considerably affecting the stability and accuracy of the weapon firing line.To deduce the mechanism by which the road roughness disturbance influences the stability performance of RCWS,this paper analyzes the composition,working principle,and key technical indicators of RCWS.First,a global dynamic model for RCWS that considers the electromechanical coupling effect of random disturbances in road roughness,internal nonlinear characteristics of the mechanism,and controllers is established.Subsequently,the effect of the road roughness disturbance on the system stability accuracy under different road levels and vehicle speeds is analyzed.Finally,a simulation testing platform is developed for analyzing random disturbance due to road roughness for verifying the effectiveness of the theoretical analysis and numerical simulation.The simulation and experimental results show that the stability error hardly changes with the change in the road surface grade under the action of a stable platform when the vehicle speed is 18 km/h.Moreover,the system stability error increases approximately when the vehicle speed is 36 and 72 km/h,increasing exponentially as the road level increases above Class E,and the higher the speed,the poorer the stability accuracy.

关 键 词：遥控武器站 路面不平度 机电耦合全局动力学模型 稳定精度 

分 类 号：TJ810[兵器科学与技术—武器系统与运用工程]