弹丸传输臂结构与控制的综合设计方法

Integration Design Method of Structure and Control for a Shell Transfer Arm

探讨某自行火炮弹药自动装填系统中弹丸传输臂的结构与控制的综合设计方法。根据弹丸传输臂的工作原理,建立弹丸传输臂的受控动力学方程,运用优化算法设计PID控制器的增益,计算弹丸传输臂在不同目标角度下的动力学响应,评价弹丸的定位精度。为获得一个较轻且不发生大的振动的弹丸传输臂,运用有限元法建立传输臂的弹性动力学方程,求解不同截面尺寸下的机械臂弹性动力响应,评价传输臂的弹性振动,获得合理的截面尺寸。所提出的结构与控制综合设计方法,对于提高弹丸传输臂的设计质量和一次设计成功率具有积极的意义。

The purpose of this study is to explore the methodology of integration design of structure and control for a shell transfer arm of howitzer autoloader. Based on the mechanism scheme of shell transfer, the controlled dynamic equations were established, the PID control gains were obtained through an optimal algorithm, the dynamic response of a shell transfer arm was computed at different object angles, and the located accuracy of the shell was evaluated. In order to achieve a lightweight shell transfer arm, an elastodynamic equation of the shell transfer arm was established and solved for different section sizes using finite element method. As a result of this analysis, an optimal section Of the arm was obtained. The design methodology for the shell transfer arm proposed in this paper can improve its design quality and successful rate.