小型无人作战平台动力学建模与仿真  

Dynamic Modeling and Simulation of Small Unmanned Combat Platform

作　　者：王京 潘孝斌[1] 张志安[1] WANG Jing;PAN Xiaobin;ZHANG Zhian(School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学机械工程学院,南京210094

出　　处：《自动化与仪表》2025年第4期142-147,共6页Automation & Instrumentation

摘　　要：在复杂工况下,小型化、轻量化、多功能的小型无人作战平台因其复杂的控制系统,对目标的瞄准跟踪控制难度较高。针对小型无人作战平台的特殊性,将具有排爆、排障和作战功能的小型无人作战系统作为研究对象,使用Soildworks三维建模软件进行总体设计的研究。由于该作战平台兼有排爆、排障和作战功能,且行进过程中地面崎岖不平会引起武器平台俯仰角和方位角振动,对枪口的跟踪瞄准产生影响。因此,利用拉格朗日函数方法建立武器系统的动力学方程,进而确立其动力学模型。最后利用Matlab/Simulink模块和RecurDyn动力学软件进行武器平台的机电联合仿真。仿真结果表明,该无人作战平台机电系统控制误差小、精度高,验证了该无人作战平台控制策略和机械结构的可行性并符合设计标准,可用于现代化军事战争中。In complex working conditions,the small unmanned combat platform with miniaturization,lightweight and multi-function is difficult to target aiming and tracking control because of its complex control system.Aiming at the particularity of small unmanned combat platform,this paper takes the positioning of small tracked robot with both explosion-removal and obstacle removal functions as the research object,and uses Soildworks three-dimensional modeling software to conduct the overall design research.Because the combat platform has the function of explosive-discharge and obstacle removal and combat,and the uneven ground in the process of marching will cause the vibration of the pitch angle and azimuth angle of the weapon platform,which will affect the tracking and aiming of the muzzle.Therefore,this paper uses the Lagrange function method to establish the dynamics equation of the weapon system,and then establishes the dynamics model of the weapon platform.Finally,Matlab/Simulink module and RecurDyn dynamics software were used to carry out the mechatronic co-simulation of the weapon platform.The simulation results demonstrate that the mechatronic system of the unmanned combat platform exhibits small control error and high precision,verifying the feasibility of the control strategy and mechanical structure of the unmanned combat platform,and meeting the design standards.This outcome indicates that the design scheme of the unmanned combat platform is reliable and effective,and can be used in modern military warfare.

关 键 词：小型无人作战平台 线性抗扰控制 MATLAB/SIMULINK RECURDYN 

分 类 号：TJ202[兵器科学与技术—武器系统与运用工程] TP39[自动化与计算机技术—计算机应用技术]