Study On Launch Dynamics Of A Multiple Launch Rocket System Based On The Transfer Matrix Method For Multibody Systems

Rui method,namely the transfer matrix method for multibody systems(MSTMM)is a novel multibody system dynamics method that has been constantly developing in recent 20 years.Due to its features that it avoids the global dynamics equations,keeps low order of the system matrix and thus high computational speed,and highly formalized programming,Rui method has been widely applied to engineering problems of nonlinear,timevariant and controlled general multibody systems.As important research results of the national 973 key project,a new type of multiple launch rocket system(MLRS)is taken as the research object in this thesis.Rui method is extended and then applied to the launch dynamics of MLRS with respect to large system dynamics including rockets,gun,propellant and launch environment.The related study on launch dynamics of the MLRS are systematically described from three aspects including theory,computation and test.The main innovation achievements in this thesis are as follows:(1)The general procedure of transfer matrix method for linear controlled multibody systems is proposed.The overall transfer equation of the linear controlled systems is deduced.The rapid computation of linear controlled multibody system dynamics using Rui method is realized.(2)The transfer equations are deduced for elements including controlled elements,control subsystems,and a spatial vibrating rigid body with multiple input and single output ends where dimensions of state vectors of input and output ends are different.The work enlarges the transfer matrix library for multibody systems.A mathematics model of an elastic hinge moving in space is established,which reduces the computational efforts compared to the existing reference.(3)The overall transfer equation of a MLRS is obtained thus its vibration characteristics are computed.Further,the computational results are compared with finite element method(FEM).The computational speed is improved by over 3900 times compared to that of FEM.(4)The launch dynamics equation of a rocket,where the launcher is marching or undergoing large motion,is established.Further,the dynamics model,topology figure and the overall transfer equation of a multiple rocket launcher undergoing large motion,as well as the numerical simulation system are established.The simulation results are validated by re:lated tests.The work will provide a theoretical and technical support for the study on the launch dynamics of a MLRS.(5)A mathematical model for the measurement system of a projectile's in-bore orientation angles based on optical lever principle considering the spatial rays is established.A convenient layout scheme is developed to position the mirrors so that the calibration conditions are satisfied.In the context of spatial rays,the measuring result that is better than investigations in the meridian plane only is obtained.