防空火箭炮系统发射动力学研究
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摘要
本文以提高防空火箭炮的射击精度为出发点,进行了系统发射响应特性问题的研究。
根据车载防空火箭炮发射过程的物理特点,基于相对坐标系和广义递归算法研究了防空火箭炮多体系统动力学的建模理论和方法。依据防空火箭炮系统拓扑结构图形描述,应用递归算法计算了系统关于广义相对坐标的笛卡尔速度和力的偏微分,并例举了递归计算顺序。
用虚拟样机技术建立了系统的动力学模型,进行动力学仿真。分析提高火箭射击精度的措施,从减小初始扰动中间偏差的角度出发,应用多枚弹同时点火的发射方式,分析了可能的射序,并对比了射序的优劣,获得了一些有益的结论。提出了变间隔的发射方法,根据试验设计方法,采集动力学仿真结果的样本数据点,通过样本点构建近似模型,模拟射击间隔和初始扰动中间偏差之间的非线性近似关系,并将高精度近似模型与多岛遗传算法相结合,从而完成射击间隔的优化。近似模型方法可以显著减少优化计算成本,合理的变射击间隔能够有效提高射击密集度。
建立了车载防空火箭炮刚柔耦合发射动力学模型,考虑了定向管与车大梁的弹性变形。综合考虑模态缩减法和有限元节点法两种柔性体建模方法的优缺点,并根据车载防空火箭炮系统的自身结构特点,采用模态缩减法生成柔性车大梁,节点法生成柔性定向管,在模型精度和计算效率上都取得了较满意结果。
在防空火箭炮刚柔耦合模型的基础上,采用机一电系统联合仿真的方法研究了防空火箭炮动态跟踪各种目标航路过程中的发射响应,获得了一些有益结论。建立了防空火箭炮伺服系统控制模型,用遗传算法对控制器参数进行整定,运用虚拟样机的方法,实现动力学系统与控制系统的耦合求解,避免了复杂动力学控制方程的推导过程。仿真结果表明主动控制可以有效抑制动态跟踪过程中的发射响应,提高跟踪过程中火箭的发射精度。
Some researches on launching response property of antiaircraft rocket launcher were done in the dissertation with intent to improve the launching precision of rockets.
In term of the physical characteristics of antiaircraft rocket launcher, the modeling of multi-body system dynamics was investigated for antiaircraft rocket launche by relative coordinate and generalized recursive formulas. Based on the graph theory used to topological structure for antiaircraft rocket launcher system, this recursive formula was applied to compute the partial derivative of the cartesian velocity and force of antiaircraft rocket launcher system with respect to relative coordinates, for example, computation sequence for the cartesian velocity and force was shown.
The dynamical model of system was established through the Virtual Prototype(VP) technology, and dynamical simulation was also run after. First, the methods were studies of improving the rocket launching precision, second, the possible launching sequences with respect to launch numerous rockets simultaneously were addressed, and finally, the better firing order of the initial disturbance was determined by the simulation outcomes. The variable interval was firstly applied in antiaircraft rocket launching, applying in Design of Experiments (DOE)-guided, the database of dynamic simulation results was established, the nonlinear relationship between the approximate model of the firing interval, which was constructed by utilizing the previous database, and the initial disturbance variables was determined, this precise approximate model was further improved by introducing the multi-island genetic algorithm method to find the optimal solution of the variable firing intervals. Results showed that the approximate model can significantly reduce the computational expense in searching the best solution of the variable firing intervals, and the reasonable variable firing intervals can effectively improve the firing dispersion.
The rigid-flexible coupling Launch dynamics model for a automobile carried antiaircraft rocket launcher was established, in which both the automobile beam and launch tubes were treated as the flexible bodies. Base on the structural characteristics of automobile carried antiaircraft rocket launcher, the flexible automobile beam was created by the modal reduction method, and the flexible launch tubes were generated by means of nodal flexible method with considering the advantages and disadvantages of both modal reduction method and nodal flexible method, the calculation precision and efficiency of model were improved.
Based on the rigid-flexible coupling Launch dynamics model for a automobile carried antiaircraft rocket launcher, launching response property in situation of dynamical tracing various target route was studies by co-simulink of dynamics and control, some useful conclusions are obtained. The control model of servo system for antiaircraft rocket launcher was set up, the controllers parameters of which were confirmed through genetic algorithm(GA). The VP technology was used leading, i.e. to integrate dynamical system into control system to realize cooperation simulation, so avoiding the derivation process of complicated dynamics control equations. The simulation showed that the firing response in dynamical tracing situation could be controlled effectively when applying active vibration control and to improve precision.
根据车载防空火箭炮发射过程的物理特点,基于相对坐标系和广义递归算法研究了防空火箭炮多体系统动力学的建模理论和方法。依据防空火箭炮系统拓扑结构图形描述,应用递归算法计算了系统关于广义相对坐标的笛卡尔速度和力的偏微分,并例举了递归计算顺序。
用虚拟样机技术建立了系统的动力学模型,进行动力学仿真。分析提高火箭射击精度的措施,从减小初始扰动中间偏差的角度出发,应用多枚弹同时点火的发射方式,分析了可能的射序,并对比了射序的优劣,获得了一些有益的结论。提出了变间隔的发射方法,根据试验设计方法,采集动力学仿真结果的样本数据点,通过样本点构建近似模型,模拟射击间隔和初始扰动中间偏差之间的非线性近似关系,并将高精度近似模型与多岛遗传算法相结合,从而完成射击间隔的优化。近似模型方法可以显著减少优化计算成本,合理的变射击间隔能够有效提高射击密集度。
建立了车载防空火箭炮刚柔耦合发射动力学模型,考虑了定向管与车大梁的弹性变形。综合考虑模态缩减法和有限元节点法两种柔性体建模方法的优缺点,并根据车载防空火箭炮系统的自身结构特点,采用模态缩减法生成柔性车大梁,节点法生成柔性定向管,在模型精度和计算效率上都取得了较满意结果。
在防空火箭炮刚柔耦合模型的基础上,采用机一电系统联合仿真的方法研究了防空火箭炮动态跟踪各种目标航路过程中的发射响应,获得了一些有益结论。建立了防空火箭炮伺服系统控制模型,用遗传算法对控制器参数进行整定,运用虚拟样机的方法,实现动力学系统与控制系统的耦合求解,避免了复杂动力学控制方程的推导过程。仿真结果表明主动控制可以有效抑制动态跟踪过程中的发射响应,提高跟踪过程中火箭的发射精度。
Some researches on launching response property of antiaircraft rocket launcher were done in the dissertation with intent to improve the launching precision of rockets.
In term of the physical characteristics of antiaircraft rocket launcher, the modeling of multi-body system dynamics was investigated for antiaircraft rocket launche by relative coordinate and generalized recursive formulas. Based on the graph theory used to topological structure for antiaircraft rocket launcher system, this recursive formula was applied to compute the partial derivative of the cartesian velocity and force of antiaircraft rocket launcher system with respect to relative coordinates, for example, computation sequence for the cartesian velocity and force was shown.
The dynamical model of system was established through the Virtual Prototype(VP) technology, and dynamical simulation was also run after. First, the methods were studies of improving the rocket launching precision, second, the possible launching sequences with respect to launch numerous rockets simultaneously were addressed, and finally, the better firing order of the initial disturbance was determined by the simulation outcomes. The variable interval was firstly applied in antiaircraft rocket launching, applying in Design of Experiments (DOE)-guided, the database of dynamic simulation results was established, the nonlinear relationship between the approximate model of the firing interval, which was constructed by utilizing the previous database, and the initial disturbance variables was determined, this precise approximate model was further improved by introducing the multi-island genetic algorithm method to find the optimal solution of the variable firing intervals. Results showed that the approximate model can significantly reduce the computational expense in searching the best solution of the variable firing intervals, and the reasonable variable firing intervals can effectively improve the firing dispersion.
The rigid-flexible coupling Launch dynamics model for a automobile carried antiaircraft rocket launcher was established, in which both the automobile beam and launch tubes were treated as the flexible bodies. Base on the structural characteristics of automobile carried antiaircraft rocket launcher, the flexible automobile beam was created by the modal reduction method, and the flexible launch tubes were generated by means of nodal flexible method with considering the advantages and disadvantages of both modal reduction method and nodal flexible method, the calculation precision and efficiency of model were improved.
Based on the rigid-flexible coupling Launch dynamics model for a automobile carried antiaircraft rocket launcher, launching response property in situation of dynamical tracing various target route was studies by co-simulink of dynamics and control, some useful conclusions are obtained. The control model of servo system for antiaircraft rocket launcher was set up, the controllers parameters of which were confirmed through genetic algorithm(GA). The VP technology was used leading, i.e. to integrate dynamical system into control system to realize cooperation simulation, so avoiding the derivation process of complicated dynamics control equations. The simulation showed that the firing response in dynamical tracing situation could be controlled effectively when applying active vibration control and to improve precision.
引文
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