车载冷发射刚柔耦合动力学建模与仿真
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摘要
为了分析大跨度柔性车架和起竖托架对车载冷发射系统动态响应的影响,满足快速化和精确化仿真的需要,针对车载冷发射系统典型结构和弹射物理过程,基于笛卡尔坐标方法描述体的运动,以适应发射车约束复杂的特点。采用浮动坐标系方法描述柔性体的变形,通过模态综合法缩减系统的自由度数,并提出采用赫兹接触模型模拟弹重的释放过程,最终建立了车载冷发射系统刚柔耦合动力学快速仿真模型。分别基于弹射模拟试验系统和实装系统对仿真模型进行了试验验证和仿真验证,并进行了车载冷发射刚柔耦合动力学响应分析。结果表明:提出的刚柔耦合仿真模型能够快速有效地分析车载冷发射弹射过程的动态响应特性,满足工程设计的需要;柔性车架模型比刚性车架模型更合理,而且弹射过程发射管口x向相图的奇异点为稳定焦点,说明车载冷发射系统能够恢复到稳定平衡状态。
In order to analyze the influences of long span flexible chassis and lifting auxiliary bracket on the dynamic response of vehicular cold launch system and meet the requirements of fast and accurate simulation,the Cartesian coordinate method is used to describe the motion of the body to fit the characteristics of complex constraints,and then the floating coordinate system method is used to describe the deformation of the flexible body,and the degree of freedom of system is reduced by modal synthesis method.The Hertz contact model is proposed to reproduce the release process of the missile weight.A rapid simulation model of rigid-flexible coupling dynamics of vehicle cold launch system is established.The simulation model is verified by the experimental results based on the launch simulation test system and the simulated results based on a real vehicular cold launch system,and then the rigid-flexible coupling dynamic response analysis is made for the vehicular cold launch system.The results show that the proposed simulation model is able to quickly and effectively analyze the dynamic responses of the launching process of vehicular cold launch systems and meet the requirements of the engineering design,and the flexible chassis model is more reasonable than the rigid chassis model.Furthermore,the singular point of phaseportrait of the canister mouth's x-coordinate is a stable focus during the launch process,thus indicating that the vehicular cold launch system can be restored to a stable equilibrium state.
In order to analyze the influences of long span flexible chassis and lifting auxiliary bracket on the dynamic response of vehicular cold launch system and meet the requirements of fast and accurate simulation,the Cartesian coordinate method is used to describe the motion of the body to fit the characteristics of complex constraints,and then the floating coordinate system method is used to describe the deformation of the flexible body,and the degree of freedom of system is reduced by modal synthesis method.The Hertz contact model is proposed to reproduce the release process of the missile weight.A rapid simulation model of rigid-flexible coupling dynamics of vehicle cold launch system is established.The simulation model is verified by the experimental results based on the launch simulation test system and the simulated results based on a real vehicular cold launch system,and then the rigid-flexible coupling dynamic response analysis is made for the vehicular cold launch system.The results show that the proposed simulation model is able to quickly and effectively analyze the dynamic responses of the launching process of vehicular cold launch systems and meet the requirements of the engineering design,and the flexible chassis model is more reasonable than the rigid chassis model.Furthermore,the singular point of phaseportrait of the canister mouth's x-coordinate is a stable focus during the launch process,thus indicating that the vehicular cold launch system can be restored to a stable equilibrium state.
引文
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[21]陆佑方.柔性多体系统动力学[M].北京:高等教育出版社,1996:310-311.LU You-fang.Dynamics of flexible multibody systems[M].Beijing:Higher Education Press,1996:310-311.(in Chinese)
[2]闫攀运,梁国柱,吕永志,等.车载冷发射多刚体动力学快速仿真研究[J].北京航空航天大学学报,2016,43(1):71-78.YAN Pan-yun,LIANG Guo-zhu,LYU Yong-zhi,et al.Fast simulation on rigid multibody dynamics for vehicular cold launch systems[J].Journal of Beijing University of Aeronautics and Astronautics,2016,43(1):71-78.(in Chinese)
[3]柯彪,高跃飞,曹红松,等.高炮刚柔耦合动力学仿真及二次开发研究[J].火炮发射与控制学报,2013(3):24-28.KE Biao,GAO Yue-fei,CAO Hong-song,et al.Simulation of rigid-flexible coupling dynamics for antiaircraft gun and the secondary development research[J].Journal of Gun Launch&Control,2013(3):24-28.(in Chinese)
[4]冯勇,马大为,薛畅,等.多管火箭炮刚柔耦合多体发射动力学仿真研究[J].兵工学报,2006,27(3):545-548.FENG Yong,MA Da-wei,XUE Chang,et al.Simulation studies of coupled rigid and flexible multi-body dynamics for multiple launch rocket system[J].Acta Armamentarii,2006,27(3):545-548.(in Chinese)
[5]殷增振,毕世华.车载导弹多柔体发射动力学仿真研究[J].弹箭与制导学报,2009,29(2):183-190.YIN Zeng-zhen,BI Shi-hua.Simulation study on multi-flexiblebody launching dynamics for a vehicular missile launcher[J].Journal of Projectiles,Rockets,Missiles and Guidance,2009,29(2):183-190.(in Chinese)
[6]张涛,刘相新,郑斌.基于模态综合法的发射过程刚柔耦合动力学研究[J].导弹与航天运载技术,2009(6):51-54.ZHANG Tao,LIU Xiang-xin,ZHENG Bin.Rigid-flexible coupling dynamic analysis during launching based on component model synthesis[J].Missiles and Space Vehicles,2009(6):51-54.(in Chinese)
[7]徐悦,田爱梅,张振鹏,等.导弹垂直发射系统柔性多体动力学建模与仿真[J].兵工学报,2008,29(9):1083-1087.XU Yue,TIAN Ai-mei,ZHANG Zhen-peng,et al.Modeling and simulation of missile vertical launching system based on flexiblebody dynamics[J].Acta Armamentarii,2008,29(9):1083-1087.(in Chinese)
[8]李建刚,马玉芹.基于ADAMS的导轨式导弹发射装置发射姿态研究[J].兵器装备工程学报,2017,38(2):132-134.LI Jian-gang,MA Yu-qin.Study of a missile attitude on launcher device of slide rail type based by ADAMS[J].Journal of Ordnance Equipment Engineering,2017,38(2):132-134.(in Chinese)
[9]孙船斌,马大为,任杰.冷发射平台垂直弹射响应特性研究[J].南京理工大学学报,2015,39(5):516-522.SUN Chuan-bin,MA Da-wei,REN Jie.Study on vertical launching response characteristics of cold launch platform[J].Journal of Nanjing University of Science and Technology,2015,39(5):516-522.(in Chinese)
[10]曾伟.车载导弹与无依托发射场坪的发射过程耦合效应研究[D].北京:北京理工大学,2015.ZENG Wei.Study on coupled effects of missile launcher and unsupported random launching site in launching processing[D].Beijing:Beijing Institute of Technology,2015.(in Chinese)
[11]Yoo W S,Haug E J.Dynamics of articulated structures.Part I.theory[J].Journal of Structural Mechanics,1986,14(1):105-126.
[12]Hinton E,Rock T,Zienkiewicz O C.A note on mass lumping and related processes in the finite element method[J].Earthquake Engineering&Structural Dynamics,1976,4(3):245-249.
[13]Shabana A A.Dynamics of multibody systems[M].3rd ed.New York,NY,US:Cambridge University Press,2005:200-213.
[14]Ambrósio Je A C,Gon9alves J P C.Complex flexible multibody systems with application to vehicle dynamics[J].Multibody System Dynamics,2001,6(2):163-182.
[15]Olof F,Vesa K.Lumped mass computations from consistent elements with applications in flexible multibody dynamics-linking FEM codes and DADS[C]∥Proceedings of Dynamics of Flexible Structures in Space-Proceedings of the 1st International Conference.Berlin,Germany:Springer-Verlag,1990:215-231.
[16]张永,吴德隆,黄铁球,等.机动导弹系统变拓扑多体系统动力学建模方法研究[J].导弹与航天运载技术,1999(1):34-38.ZHANG Yong,WU De-long,HUANG Tie-qiu,et al.Study on dynamic modeling method of multibody systems with changing topologies for mobile missile system[J].Missiles and Space Vehicles,1999(1):34-38.(in Chinese)
[17]Margarida M,Pedro M,Paulo F,et al.Compliant contact force models in multibody dynamics:evolution of the Hertz contact theory[J].Mechanism and Machine Theory,2012,53:99-121.
[18]Baumgarte J.Stabilization of constraints and integrals of motion in dynamical systems[J].Computer Methods in Applied Mechanics and Engineering,1972,1(1):1-16.
[19]张雄,王天舒.计算动力学[M].北京:清华大学出版社,2007:446-447.ZHANG Xiong,WANG Tian-shu.Computational dynamics[M].Beijing:Tsinghua University Press,2007:446-447.(in Chinese)
[20]Gear C W.The automatic integration of ordinary differential equations[J].Communications of the ACM,1971,14(3):176-179.
[21]陆佑方.柔性多体系统动力学[M].北京:高等教育出版社,1996:310-311.LU You-fang.Dynamics of flexible multibody systems[M].Beijing:Higher Education Press,1996:310-311.(in Chinese)