摇摆作用下舰炮指向运动误差补偿分析

Pointing error compensation characteristic analysis of naval gun under ship swaying condition

针对摇摆作用下舰炮射击诸元解算问题,将舰船横摇、纵摇、垂荡运动转换为舰炮系统串联运动链的虚拟关节变量,并根据静水—摇荡运动响应,构造舰炮指向误差模型。在此基础上,采用机构位姿精度建立舰炮指向补偿模型,基于目标方位及弹道方程给出舰炮射击诸元的摇摆补偿流程。仿真结果表明:舰炮串联系统的摇摆误差是不可完全补偿的,位姿误差补偿效果约为34%;目标指向姿态补偿能与摇摆运动100%映射;计及舰炮非惯性运动引起的弹丸初始扰动,射击瞄准补偿效果接近16%,满足弹丸落点要求,为实现舰炮精确打击提供支撑。

Aiming at the firing data calculation of naval gun under ship swaying condition,the serial kinematic chain of naval gun was established by transforming the roll-pitch-heave motions into virtual joint variables.The pointing error models were constructed through comparing the static water response to the swaying response.The pointing error compensation models were built based on the pose accuracy,and the swaying compensation process was proposed for the firing data by using target azimuth angle and ballistic model.The obtained simulation results show that swaying error is uncompensated for naval gun system,and the pose error has only reduced 34%.However,pointing orientation compensation could map to the swaying motion under the desired target azimuth.Meanwhile,considering the initial disturbance of the shell caused by the swaying motion,the swaying compensation firing data could figure out the impact point error range,while the firing effect could improve 16%under swaying condition.