Rigid-flexible Coupling Dynamics Analysis And Active Vibration Suppression Of The Abdominal Shell-swinging Mechanism

The requirements of automation and the modular level of the large caliber naval gunshell-feeding system are higher with the development of the information ammunitiontechnology, but the turret shell-feeding system of domestic serving large caliber naval gunmainly used the flanking path shell-feeding mode, which can no longer meet the needs oflarge caliber and long projectile body in the special ammunition, its cumbersomeshell-feeding process has hampered the improvement of the fire rate seriously. Large calibernaval guns abdominal shell-feeding technology not only simplifies the structure of turretshell-feeding system, but also improves the shell-feeding reliability, shortens the shell-feedingprocess effectively, improves the shell-feeding efficiency, it is conducive to the developmentof integration and modular in the future large caliber naval gun.In this paper, we proposed the center single line shell-swinging mechanism for theabdominal shell-feeding system and analyzed the core implication in-depth, which were basedon comprehensive analysis of the turret shell-feeding technology of large and medium calibernaval gun domestic and overseas, and this mechanism was used for the overall technicalscheme design; the adaptive relationship between the swinging angle and firing angle of theabdominal shell-swinging arm was analyzed; the fire system cycle diagram was drewaccording to the shell-feeding and fire processes; a detailed argument and calculation of thetheoretical firing rate was taken, and the parametric equation of maximum theoretical firingrate of the abdominal shell-feeding system was established.The overall scheme of the center single line shell-swinging mechanism was taken as theanalysis object; the abdominal shell-swinging mechanism was simplified to a rigid-flexiblecoupling dynamics model of the additional mass. Due to the elastic properties of the material,the flexible effect of shell-swinging arm was taken into account in the dynamics analysis, thesecondary coupling term of the flexible deformation was considered in the description ofnonlinear deformation field of shell-swinging arm, and the continuous rigid-flexible couplingdynamics equation of the abdominal shell-swinging mechanism was established using the firstorder approximation rigid-flexible coupling dynamics modeling theory, finally, the consistentquality finite element discrete principle was used to do the discretization of continuous dynamics equation, and the solvable rigid-flexible coupling dynamics equation wasestablished.The dynamics numerical simulation analysis of abdominal shell-swinging mechanismwas carried out according to its rigid-flexible coupling dynamics equation and the initialdynamic parameter of abdominal shell-feeding system design. Shell-swinging error wereanalyzed on different fire angle and swing arm stiffness based on the numerical simulation,which provide a theoretical basis for improving the shell-swinging precision in theshell-feeding and firing process.Iterative learning input shaping active vibration suppression of the shell-swinging armwas carried out based on the first-order approximation rigid-flexible coupling dynamicsmodel. In order to obtain design parameters of the iterative learning input shaping controller,the rigid-flexible coupling dynamics equation was converted to the state space to analyze thefrequency characteristics of shell-swinging arm, otherwise, in order to improve theanti-interference ability, the iterative learning input shaping controller and PD feedbackcontrol were joined together to constitute the control strategy that suppress the end residualvibrations of shell-swinging arm, which provide a theoretical basis for improving theshell-feeding mobility and reliability in the abdominal shell-swinging mechanism.