仿蝗虫后足内埋导弹弹射装置设计与优化

doi:10.12382/bgxb.2024.0180

摘要/Abstract

摘要：

受蝗虫跳跃生物力学机理启发,设计一种具有关节扭簧和双梯形结构特征的弹射装置,具备在低推力需求下实现大弹射行程的能力,同时在导弹分离时使其保有初始低头角速度和角度的特征。通过参数化模型结合Kriging代理模型优化方法,优化得到高效的机构布局参数;基于刚柔耦合动力学模型研究发射过程中臂杆柔性效应对导弹弹射分离参数的影响;基于计算流体动力学分析弹-机分离过程。研究结果表明:基于参数化模型和Kriging代理模型优化方法能够快速获取满足设计要求的机构参数;弹射过程中,臂杆的柔性变形会导致实际分离参数与理想设计参数之间存在差异,细节优化设计时柔性效应不能被忽略,且需考虑增加结构刚度以减小设计偏差;给出的设计实例能够满足设计指标且弹-机能够安全分离,证明了新设计的有效性。

关键词: 导弹弹射装置, 仿生学, Kriging代理模型, 刚性-柔性耦合, 发射动力学

Abstract:

Inspired by the biomechanical mechanism of locust jumping, an ejection device with joint torsion spring and double trapezoidal structure is designed, which has the ability to achieve large ejection stroke for low thrust demand and keeps the characteristics of initial bow angular velocity and angle during missile separation. The efficient mechanism layout parameters are optimized by the optimization methods based on parameterized models and Kriging surrogate models. The influence of arm flexibility effect on missile ejection separation parameters during launch is studied based on a rigid-flexible coupling dynamic model. The projectile-machine, separation process is investigated based on computational fluid dynamics. The research results indicate that the optimization method based on parameterized models and Kriging surrogate models can be used to quickly obtain the mechanism parameters that meet the design requirements. In the process of ejection, the flexible deformation of middle arm will lead to the difference between the actual separation parameters and the ideal design parameters. The flexible effect cannot be ignored in the detail optimization design, and the structural stiffness should be increased to reduce the design deviation. The given design example can meet the design criteria and the missile can be safely separated, proving the effectiveness of the new design in this paper.

Key words: missile ejection device, bionics, Kriging surrogate model, rigid-flexible coupling, emission dynamics

中图分类号:

TJ768.2

蔡云龙, 杨哩娜, 权亮, 杨宝生, 任若愚. 仿蝗虫后足内埋导弹弹射装置设计与优化[J]. 兵工学报, 2024, 45(11): 3983-3997.

CAI Yunlong, YANG Lina, QUAN Liang, YANG Baosheng, REN Ruoyu. Design and Optimization of Locust-hindfoot-inspired Embedded Missile Ejection Device[J]. Acta Armamentarii, 2024, 45(11): 3983-3997.

图/表 30

图1 不同型式的内埋导弹弹射装置

Fig.1 Different types of embedded missile ejection devices

图2 蝗虫三足的生物结构

Fig.2 Tripod biological structure of locust

图3 蝗虫启发的跳跃机器人

Fig.3 Locust-inspired jumping robots

图4 蝗虫跳跃的高速摄影图像

Fig.4 High-speed photographs of locust jumping

图5 弹射机构参数化模型

Fig.5 Parameterized model of ejection mechanism

图6 弹射机构展开流程图

Fig.6 Deployment process of ejection mechanism

图7 连杆两端速度关系图

Fig.7 The velocity relationship diagram of two ends of connecting rod

图8 连杆受力示意图

Fig.8 Force diagram of connecting rod

表1 设计点的初始坐标

Table 1 The initial coordinates of design points

点	坐标/m	点	坐标/m
A	(0.000, 0.000)	E	(0.512, -0.050)
B	(-0.250, -0.050)	F	(0.762, -0.100)
C	(0.000, -0.100)	G	(0.262, 0.000)
D	(0.762, 0.000)

表2 导弹参数

Table 2 Missile parameters

参数	数值
导弹质量/kg	160
x轴方向转动惯量/(kg·m²)	2.55
y轴方向转动惯量/(kg·m²)	250
z轴方向转动惯量/(kg·m²)	250
导弹质心与C点距离的x轴方向分量/m	0.50
导弹质心与C点距离的y轴方向分量/m	0.15

图9 弹射分离参数曲线

Fig.9 Ejection separation parameter curves

图10 基于Kriging模型的代理优化算法框图[19]

Fig.10 Block diagram of surrogate optimization algorithm based on Kriging model[19]

表3 设计变量

Table 3 Definition of design variables

设计变量	范围/m
A点纵坐标y_A	[-0.020,0.000]
B点横坐标x_B	[-0.300,-0.200]
B点纵坐标y_B	[-0.060,-0.040]
D点纵坐标y_D	[-0.030,0.000]
E点横坐标x_E	[0.400,0.562]
扭簧1刚度系数k₁	[0.100,50.000]
扭簧2刚度系数k₂	[0.100,50.000]
弹射力系数β	[0.200,1.000]

图11 β迭代曲线和违约曲线

Fig.11 β iterative and violation curves

表4 设计变量比较

Table 4 Comparison of design variables

设计变量	范围/m	初始值 (左侧)/m	优化值 (左侧)/m	初始值 (右侧)/m	优化值 (右侧)/m
A点纵坐标y_A/m	[-0.02,0.00]	0.00	-0.0132	0.00	0.0000
B点横坐标x_B/m	[-0.30,-0.20]	-0.25	-0.2576	-0.25	-0.2674
B点纵坐标y_B/m	[-0.06,-0.04]	-0.05	-0.0582	-0.05	-0.0508
D点纵坐标y_D/m	[-0.03,0.00]	0.00	0.0000	0.00	-0.0118
E点横坐标x_E/m	[0.40,0.562]	0.512	0.5120	0.512	0.4843
扭簧1刚度系数k₁/(N·m·rad^-1)	[0.10,50.00]	0.10	50.0000	0.10	42.6693
扭簧2刚度系数k₂/(N·m·rad^-1)	[0.10,50.00]	0.10	47.6087	0.10	34.2355
弹射力系数β	[0.20,1.00]	1.00	0.6271	1.00	0.6731

表5 导弹头部位于左侧的设计目标与约束

Table 5 Design objectives and constraints of missile head on the left side

目标和约束	项目	范围	初始值	优化值
目标	最小弹射力F_T /N		η·1·p₀·S·(1/(1+1.962x))¹^.⁴	η·0.6271·p₀·S·(1/(1+1.962x))¹^.⁴
	分离速度v_y /(m·s^-1)	≤-7.9		-8.0290
约束	俯仰角速度ω_z/((°)·s^-1)	[15,40]		34.8096
	俯仰角度θ_z/(°)	≥1.5		1.5984

表6 导弹头部位于右侧的设计目标与约束

Table 6 Design objectives and constraints of missile head on the right side

目标和约束	项目	范围	初始值	优化值
目标	最小弹射力F_T/N		η·1·p₀·S·(1/(1+1.962x))¹^.⁴	η·0.6271·p₀·S·(1/(1+1.962x))¹^.⁴
	分离速度v_y/(m·s^-1)			-8.0277
约束	俯仰角速度为ω_z/((°)·s^-1)	[-40,-15]		-33.5807
	俯仰角度θ_z/(°)	≤-1.5		-1.6082

图12 不同工况下导弹分离参数曲线

Fig.12 Missile separation parameter curves under different working conditions

图13 不同工况下的弹射力曲线

Fig.13 Ejection force curves under different operating conditions

图14 弹射装置结构示意图

Fig.14 Schematic diagram of ejection device structure

表7 弹射机构关节位置及扭簧刚度参数

Table 7 Joint position and torsion spring stiffness parameters of ejection mechanism

参数	数值
A点横坐标x_A/m	0.000
A点纵坐标y_A/m	-0.013
B点横坐标x_B/m	-0.258
B点纵坐标y_B/m	-0.058
C点横坐标x_C/m	0.000
C点纵坐标y_C/m	-0.100
D点横坐标x_D/m	0.762
D点纵坐标y_D/m	0.000
E点横坐标x_E/m	0.512
E点纵坐标x_E/m	-0.058
F点横坐标x_F/m	0.762
F点纵坐标x_F/m	-0.100
G点横坐标x_G/m	0.262
G点纵坐标x_G/m	0.000
扭簧1刚度系数k₁/(N·m·rad^-1)	40.000
扭簧2刚度系数k₂/(N·m·rad^-1)	40.000
弹射力系数β	0.6271

图15 刚柔耦合模型

Fig.15 Rigid-flexible coupling model

图16 分离速度、俯仰角速度和俯仰角度曲线

Fig.16 Separation speed, pitch angular velocity, and pitch angle curves

图17 分离加速度和位移曲线

Fig.17 Separating acceleration and displacement curves

图18 弹射过程中臂杆的应力云图

Fig.18 Stress cloud map of arm during the ejection process

图19 导弹外形

Fig.19 Shape of missile

图20 导弹-飞机分离过程

Fig.20 Separation process of missile and fighter

图21 导弹三轴角位移

Fig.21 Triaxial angular displacement of missile

图22 导弹三轴角速度

Fig.22 Missile triaxial angular velocity

图23 导弹头部和尾部到战斗机腹部的距离

Fig.23 The distances from the head and tail of missile to the belly of fighter

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