旋转伞-子弹系统动力学建模与仿真

Dynamics Modeling and Simulation for Rotating Parachute-submunition System

为了更精确地模拟旋转伞-子弹系统的运动,基于第一类拉格朗日方程,建立了5刚体动力学模型并进行仿真计算。将伞绳处理为阻尼弹簧,将伞、弹等处理为刚体,用质心坐标和欧拉角作为广义坐标表达各刚体的位置,给出了约束方程,求解广义力;建立了伞-弹系统动力学方程。利用模型对伞-弹系统的零初速下落过程进行仿真计算,得到子弹的转速及扫描角变化曲线,并设计伞塔试验对计算结果进行验证。对某末敏子弹系统的稳态工作过程进行模拟计算,结果表明,5刚体模型能较真实地模拟末敏子弹稳态扫描段的弹道特性,可为智能弹药系统的总体设计提供参考。

To simulate the motion of rotating paraehute-submunition system more accurately, a dynamic model of 5-rigid-body system was set up with Lagrange equation of the first kind. Parachute cord was modeled as damping spring. The canopy and projectile were considered as rigid bodies. The centroid coordinates and Euler angles were selected to describe the positions of the system bodies, and the constraint equations were established, and the generalized forces were analyzed. The dynamic equations were obtained. The falling process of the system with the initial velocity of 0 was simulated by the model,and the spinning rate and the scanning angle of the sub- munition were obtained, which showed a great agreement with the parachute tower test. The model was used to simulate the ballistic characteristics of a terminal-sensitive projectile system at stable scanning stage. The results show that the 5-rigid-body model can simulate the trajectory of terminal-sensitive projectile at steady scanning stage,and it offers references for the overall design of smart submunition system.