主动态模拟人体枪架控制系统的初步研究
摘要
试射是武器精度检验中的一个重要环节,而武器射效是人—枪相互作用的结果,为了能够排除射手的主观因素客观地检验武器本身的性能,从而提出建立能够模拟理想的“标准射手”的装置,即“模拟人体枪架”。
前人研究的被动态“模拟人体枪架”适用于连续射击射弹数较少的情况,但当射弹数较多时,人体的主动反应将会对射击精度产生显著影响,因此研究主动态“模拟人体枪架”具有重要意义。
本文对主动态“模拟人体枪架”的控制系统进行了探索性的研究,完成了主动态“模拟人体枪架”控制系统的总体设计、硬件设计和软件设计,并对控制系统进行了调试。首先通过“模拟人体枪架”的功能分析,提出了控制系统的实现策略与设计步骤,完成了控制系统的总体方案设计。其次选择单片机为主控芯片,伺服电机为执行元件实现了控制“模拟人体枪架”运动的要求;选择合适的测量元件实时测量“模拟人体枪架”的运动状态,并通过单片机与上位机的串口通信将测量数据传输给上位机处理。采用模块化和结构化的思想编写了程序,支持硬件实现主动态“模拟人体枪架”控制系统的功能。最后调试、运行了控制系统,并通过与真人射击数据的比较,验证了本控制方案的可行性。
本文的研究成果,对进一步研究主动态“模拟人体枪架”具有一定的参考价值和指导作用。
Shooting test is a very important process in weapon accuracy inspection, and weapon's firing effect is the result of the interaction between shooter and weapon. In order to exclude the subjective factors of the shooter and check the weapon objectively, a device that can simulate the ideal "standard shooter" has been proposed, which is also called simulative body gun-frame.
The passive state simulative body gun-frame studied by former researchers only aims at the circs of fewer shootings. But when it is used in the circs of more shootings, shooter's active reaction will generate significant effect on shooting accuracy. Therefore it is very important to research the active state simulative body gun-frame.
The explorative researches to the control system of the active state simulative body gun-frame have been conducted. The overall design, hardware design and software design of the control system of the active state simulative body gun-frame were carried out and the control system was also debugged. First, the implementation strategy and design steps of the control system were proposed based on the functional analysis of the simulative body gun-frame and the overall scheme design of the control system was conducted. Then, MCU was chosen as the main control chip and servo motors as the actuators to realize the control requirement of simulative body gun-frame. The suitable measuring elements were selected to complete the real-time measurement of motion state of simulative body gun-frame and transmit the measured data to the upper computer by serial communication of MCU and upper computer. With modular and structured idea, the program was completed to support the hardware system. Eventually, the control system was debugged and operated and the feasibility of the control system was verified by comparing with the shooting data fired by shooters.
The accomplished results are of great importance for further studies of the active state simulative body gun-frame.
前人研究的被动态“模拟人体枪架”适用于连续射击射弹数较少的情况,但当射弹数较多时,人体的主动反应将会对射击精度产生显著影响,因此研究主动态“模拟人体枪架”具有重要意义。
本文对主动态“模拟人体枪架”的控制系统进行了探索性的研究,完成了主动态“模拟人体枪架”控制系统的总体设计、硬件设计和软件设计,并对控制系统进行了调试。首先通过“模拟人体枪架”的功能分析,提出了控制系统的实现策略与设计步骤,完成了控制系统的总体方案设计。其次选择单片机为主控芯片,伺服电机为执行元件实现了控制“模拟人体枪架”运动的要求;选择合适的测量元件实时测量“模拟人体枪架”的运动状态,并通过单片机与上位机的串口通信将测量数据传输给上位机处理。采用模块化和结构化的思想编写了程序,支持硬件实现主动态“模拟人体枪架”控制系统的功能。最后调试、运行了控制系统,并通过与真人射击数据的比较,验证了本控制方案的可行性。
本文的研究成果,对进一步研究主动态“模拟人体枪架”具有一定的参考价值和指导作用。
Shooting test is a very important process in weapon accuracy inspection, and weapon's firing effect is the result of the interaction between shooter and weapon. In order to exclude the subjective factors of the shooter and check the weapon objectively, a device that can simulate the ideal "standard shooter" has been proposed, which is also called simulative body gun-frame.
The passive state simulative body gun-frame studied by former researchers only aims at the circs of fewer shootings. But when it is used in the circs of more shootings, shooter's active reaction will generate significant effect on shooting accuracy. Therefore it is very important to research the active state simulative body gun-frame.
The explorative researches to the control system of the active state simulative body gun-frame have been conducted. The overall design, hardware design and software design of the control system of the active state simulative body gun-frame were carried out and the control system was also debugged. First, the implementation strategy and design steps of the control system were proposed based on the functional analysis of the simulative body gun-frame and the overall scheme design of the control system was conducted. Then, MCU was chosen as the main control chip and servo motors as the actuators to realize the control requirement of simulative body gun-frame. The suitable measuring elements were selected to complete the real-time measurement of motion state of simulative body gun-frame and transmit the measured data to the upper computer by serial communication of MCU and upper computer. With modular and structured idea, the program was completed to support the hardware system. Eventually, the control system was debugged and operated and the feasibility of the control system was verified by comparing with the shooting data fired by shooters.
The accomplished results are of great importance for further studies of the active state simulative body gun-frame.
引文
[1]丁玉兰.人机工程学.第3版.北京:北京理工大学出版社,2002
[2]陈文明.主动态人枪握把力相互作用研究.[硕士论文].南京理工大学,2006
[3]э.A.戈洛夫.马宗明译.自动武器设计原理.第1版.北京:国防工业出版社,1958
[4]Thomas D.,Hutchings & Albert E.,Rahe."Study of Man-Weapon Reaction Forces Applicable to the Fabrication of a Standard Rifle Firing Fixture".AD A034523,1975
[5]A.R.Newman et al."A Theoretical and Experimental Study of the Dynamics at the Small Arm Firer Interface"Proceeding of the Tenth Intemationnal Conference of Ballistics,Oct.1987,San Diego U.S.
[6]王茂林.手提式自动武器枪身运动规律的研究.[硕士论文].华东工学院,1981
[7]谢大雄.在手枪射击过程中人-枪系统响应分析.[硕士论文].华东工学院,1981
[8]成志方.人枪相互作用研究.[硕士论文].华东工学院,1987
[9]蔡周斌.卧姿射击时人-枪相互作用研究.[硕士论文].华东工学院,1987
[10]党建斌.跪姿射击状态人-枪相互作用研究.[硕士论文].华东工学院,1987
[11]殷仁龙,阎慧敏,吴祥海.7.62mm机枪枪身在模拟弹性枪架上的动力分析.兵工学报,1994(2):6-12
[12]杜新华.人-枪系统的机械阻抗分析.[硕士论文].南京理工大学,1994
[13]杨连池.模拟试验枪架测试系统的设计与应用.[硕士论文].南京理工大学,1997
[14]孙海波,孔德仁,李永新等.枪械的点射精度与模拟试验枪架.弹道学报,2000(4):86-90
[15]王亚平.自动武器多体系统动力学及其应用研究.[博士论文].南京理工大学,2003
[16]包建东.人-枪相互作用研究.[博士论文].南京理工大学,2006
[17]刘景林.基于单片机的电机运动控制系统设计.[硕士论文].西北工业大学,2006
[18]王家军,齐冬莲.运动控制系统的发展与展望.电气时代,2004(10):54-56
[19]李永新.人-枪相互作用模型与实验研究.[博士论文].南京理工大学,1993
[20]胡敬坤.轻武器射击平台的初步研究.[硕士论文].南京理工大学,2007
[21]柳光辽.自动武器测试技术.第1版.南京:华东工程学院,1985
[22]Darlot C.,Tondu B.,Eskiizmidiler S."Motor Control of a Limb Segment Actuated by Artificial Muscles".AD A411774,2001
[23]Beauchamp Edward D.,Wuertz Kenneth L."Advanced Motor and Motor Control Development".AD A207332,1998
[24]Cave Gary L."Development and Control of Robotic Arms for the Naval Postgraduate School Plannar Autonomous Docking Simulator(NPADS)" AD A411173,2002
[25]许建国.电机与控制.第2版.武汉:武汉测绘科技大学出版社,1999
[26]王晓明.电动机的单片机控制.第2版.北京:北京航空航天大学出版社,2007
[27]余永权,汪明慧,黄英.单片机在控制系统中的应用.第1版.北京:电子工业出版社,2003
[28]刘金琨.先进PID控制MATLAB仿真.第2版.北京:电子工业出版社,2006
[29]郑秀瑗等.现代运动生物力学.第2版.北京:国防工业出版社,2007
[30]张迎新,雷文,姚静波.C8051F系列SOC单片机原理及应用.第1版.北京:国防工业出版社,2005
[31]潘琢金译.C8051F020/1/2/3混合信号ISP FLASH微控制器数据手册.新华龙电子有限公司,2005
[32]鲍可进.C8051F单片机原理及应用.第1版.北京:中国电力出版社,2006
[33]童长飞.C8051F系列单片机开发与C语言编程.第1版.北京:北京航空航天大学出版社,2005
[34]万光毅,孙九安,蔡建平等.SoC单片机实验、实践与应用设计-基于C8051F 系列.第1版.北京:北京航空航天大学出版社,2006
[35]郭吉坦.复杂形体转动惯量计算方法的研究.大连铁道学院学报,2002(3):1-4
[36]甘高才.自动武器动力学.第1版.北京:兵器工业出版社,1990
[37]Leadshine Technology.DCM50xxx/57xxx Series DC Brush Servo Motor.www.leadshine.com
[38]DB810数字式直流伺服驱动器使用手册,深圳市雷赛机电技术开发有限公司
[39]Dimotakis Paul E."High-Speed Digital-Image Data Acquisition,Processing,and Visualization System for Turbulent Mixing and Combustion".AD A468803,2007
[40]王跃科,叶湘滨,黄芝平等.现代动态测试技术.第1版.北京:国防工业出版社,2003
[41]张河,王晓峰,姜仁元等.传感器技术.第1版.北京:兵器工业出版社,1997
[42]郝晓建,杨述平,张连红等.仪器电路设计与应用.第1版.北京:电子工业出版社,2007
[43]范云霄,隋秀华.测试技术与信号处理.第2版.北京:中国计量出版社,2006
[44]清源科技.Protel DXP电路射击及应用教程.第1版.北京:机械工业出版社,2003
[45]廖科,张松,冀正平等.Protel DXP电路图及电路板设计实用教程.第1版.北京:清华大学出版社,2004
[46]梅丽凤,王艳秋,汪毓铎等.单片机原理及接口技术.第2版.北京:清华大学出版社,2004
[47]徐爱钧,彭秀华.单片机高级语言C51应用程序设计.第1版.北京:电子工业出版社,1998
[48]马忠梅,籍顺心,张凯等.单片机的C语言应用程序设计.第1版.北京:北京航空航天大学出版社,2001
[49]Leon Lisa,Robinson Scott B.,Walker Larry D."Thermal Gradient Data Acquisition System Documentation".AD A430783,2004
[50]Elliott L.,Robinson S.B."Physiological Data Acquisition System Documentation".AD A430159,2005
[51]Soares Robert,Blanchard Laurie A.,Robinson Scott B."Pool Data Acquisition System Documentation".AD A426794,2004
[52]李鸿吉.Visual Basic6.0中文版编程方法详解.第1版.北京:科学出版社,2001
[53]张树兵,戴红,陈哲.Visual Basic6.0中文版入门与提高.第1版.北京:清华大学出版社,2001
[54]杨晶.VB6.0程序设计教程与实训.第1版.北京:科学出版社,2006
[55]李长林.Visual Basic串口通信技术与典型实例.第1版.北京:清华大学出版社,2006
[56]求是科技,齐燕杰,宋文超等.Visual Basic串口通信工程开发实例导航.第2版.北京:人民邮电出版社,2003
[57]Page Julliet A.“Noise Data Acquisition and Display System(NDADS3)User's Guide and Tutorial".ADA425706,1999
[58]薛莲.数值计算方法.第1版.北京电子工业出版社,2007
[59]何光渝.VB常用算法大全.第1版.西安电子科技大学出版社,2001
[2]陈文明.主动态人枪握把力相互作用研究.[硕士论文].南京理工大学,2006
[3]э.A.戈洛夫.马宗明译.自动武器设计原理.第1版.北京:国防工业出版社,1958
[4]Thomas D.,Hutchings & Albert E.,Rahe."Study of Man-Weapon Reaction Forces Applicable to the Fabrication of a Standard Rifle Firing Fixture".AD A034523,1975
[5]A.R.Newman et al."A Theoretical and Experimental Study of the Dynamics at the Small Arm Firer Interface"Proceeding of the Tenth Intemationnal Conference of Ballistics,Oct.1987,San Diego U.S.
[6]王茂林.手提式自动武器枪身运动规律的研究.[硕士论文].华东工学院,1981
[7]谢大雄.在手枪射击过程中人-枪系统响应分析.[硕士论文].华东工学院,1981
[8]成志方.人枪相互作用研究.[硕士论文].华东工学院,1987
[9]蔡周斌.卧姿射击时人-枪相互作用研究.[硕士论文].华东工学院,1987
[10]党建斌.跪姿射击状态人-枪相互作用研究.[硕士论文].华东工学院,1987
[11]殷仁龙,阎慧敏,吴祥海.7.62mm机枪枪身在模拟弹性枪架上的动力分析.兵工学报,1994(2):6-12
[12]杜新华.人-枪系统的机械阻抗分析.[硕士论文].南京理工大学,1994
[13]杨连池.模拟试验枪架测试系统的设计与应用.[硕士论文].南京理工大学,1997
[14]孙海波,孔德仁,李永新等.枪械的点射精度与模拟试验枪架.弹道学报,2000(4):86-90
[15]王亚平.自动武器多体系统动力学及其应用研究.[博士论文].南京理工大学,2003
[16]包建东.人-枪相互作用研究.[博士论文].南京理工大学,2006
[17]刘景林.基于单片机的电机运动控制系统设计.[硕士论文].西北工业大学,2006
[18]王家军,齐冬莲.运动控制系统的发展与展望.电气时代,2004(10):54-56
[19]李永新.人-枪相互作用模型与实验研究.[博士论文].南京理工大学,1993
[20]胡敬坤.轻武器射击平台的初步研究.[硕士论文].南京理工大学,2007
[21]柳光辽.自动武器测试技术.第1版.南京:华东工程学院,1985
[22]Darlot C.,Tondu B.,Eskiizmidiler S."Motor Control of a Limb Segment Actuated by Artificial Muscles".AD A411774,2001
[23]Beauchamp Edward D.,Wuertz Kenneth L."Advanced Motor and Motor Control Development".AD A207332,1998
[24]Cave Gary L."Development and Control of Robotic Arms for the Naval Postgraduate School Plannar Autonomous Docking Simulator(NPADS)" AD A411173,2002
[25]许建国.电机与控制.第2版.武汉:武汉测绘科技大学出版社,1999
[26]王晓明.电动机的单片机控制.第2版.北京:北京航空航天大学出版社,2007
[27]余永权,汪明慧,黄英.单片机在控制系统中的应用.第1版.北京:电子工业出版社,2003
[28]刘金琨.先进PID控制MATLAB仿真.第2版.北京:电子工业出版社,2006
[29]郑秀瑗等.现代运动生物力学.第2版.北京:国防工业出版社,2007
[30]张迎新,雷文,姚静波.C8051F系列SOC单片机原理及应用.第1版.北京:国防工业出版社,2005
[31]潘琢金译.C8051F020/1/2/3混合信号ISP FLASH微控制器数据手册.新华龙电子有限公司,2005
[32]鲍可进.C8051F单片机原理及应用.第1版.北京:中国电力出版社,2006
[33]童长飞.C8051F系列单片机开发与C语言编程.第1版.北京:北京航空航天大学出版社,2005
[34]万光毅,孙九安,蔡建平等.SoC单片机实验、实践与应用设计-基于C8051F 系列.第1版.北京:北京航空航天大学出版社,2006
[35]郭吉坦.复杂形体转动惯量计算方法的研究.大连铁道学院学报,2002(3):1-4
[36]甘高才.自动武器动力学.第1版.北京:兵器工业出版社,1990
[37]Leadshine Technology.DCM50xxx/57xxx Series DC Brush Servo Motor.www.leadshine.com
[38]DB810数字式直流伺服驱动器使用手册,深圳市雷赛机电技术开发有限公司
[39]Dimotakis Paul E."High-Speed Digital-Image Data Acquisition,Processing,and Visualization System for Turbulent Mixing and Combustion".AD A468803,2007
[40]王跃科,叶湘滨,黄芝平等.现代动态测试技术.第1版.北京:国防工业出版社,2003
[41]张河,王晓峰,姜仁元等.传感器技术.第1版.北京:兵器工业出版社,1997
[42]郝晓建,杨述平,张连红等.仪器电路设计与应用.第1版.北京:电子工业出版社,2007
[43]范云霄,隋秀华.测试技术与信号处理.第2版.北京:中国计量出版社,2006
[44]清源科技.Protel DXP电路射击及应用教程.第1版.北京:机械工业出版社,2003
[45]廖科,张松,冀正平等.Protel DXP电路图及电路板设计实用教程.第1版.北京:清华大学出版社,2004
[46]梅丽凤,王艳秋,汪毓铎等.单片机原理及接口技术.第2版.北京:清华大学出版社,2004
[47]徐爱钧,彭秀华.单片机高级语言C51应用程序设计.第1版.北京:电子工业出版社,1998
[48]马忠梅,籍顺心,张凯等.单片机的C语言应用程序设计.第1版.北京:北京航空航天大学出版社,2001
[49]Leon Lisa,Robinson Scott B.,Walker Larry D."Thermal Gradient Data Acquisition System Documentation".AD A430783,2004
[50]Elliott L.,Robinson S.B."Physiological Data Acquisition System Documentation".AD A430159,2005
[51]Soares Robert,Blanchard Laurie A.,Robinson Scott B."Pool Data Acquisition System Documentation".AD A426794,2004
[52]李鸿吉.Visual Basic6.0中文版编程方法详解.第1版.北京:科学出版社,2001
[53]张树兵,戴红,陈哲.Visual Basic6.0中文版入门与提高.第1版.北京:清华大学出版社,2001
[54]杨晶.VB6.0程序设计教程与实训.第1版.北京:科学出版社,2006
[55]李长林.Visual Basic串口通信技术与典型实例.第1版.北京:清华大学出版社,2006
[56]求是科技,齐燕杰,宋文超等.Visual Basic串口通信工程开发实例导航.第2版.北京:人民邮电出版社,2003
[57]Page Julliet A.“Noise Data Acquisition and Display System(NDADS3)User's Guide and Tutorial".ADA425706,1999
[58]薛莲.数值计算方法.第1版.北京电子工业出版社,2007
[59]何光渝.VB常用算法大全.第1版.西安电子科技大学出版社,2001