船载转塔装置随动系统动力学建模与仿真

doi:10.3969/j.issn.1000-1093.2019.04.018

兵工学报 ›› 2019, Vol. 40 ›› Issue (4): 829-836.doi: 10.3969/j.issn.1000-1093.2019.04.018

船载转塔装置随动系统动力学建模与仿真

姜俊峰^1,2，李伟³，赵维³，周晓军^1,2

(1.浙江大学流体动力与机电系统国家重点实验室，浙江杭州 310027；2.浙江大学浙江省先进制造技术重点实验室，浙江杭州 310027； 3.西北机电工程研究所，陕西咸阳 712099)

收稿日期:2018-07-23 修回日期:2018-07-23 上线日期:2019-06-10
通讯作者: 周晓军(1958—),男，教授，博士生导师 E-mail:cmeesky@163.com
作者简介:姜俊峰（1992—），男，博士研究生。E-mail: jjf621@126.com

Dynamic Modeling and Simulation of Servo System for Ship-borne Turret Equipment

JIANG Junfeng^1,2, LI Wei³, ZHAO Wei³, ZHOU Xiaojun^1,2

(1.State Key Laboratory of Fluid Power and Mechatronic Systems, Zhejiang University, Hangzhou 310027, Zhejiang, China;2.Zhejiang Province Key Laboratory of Advanced Manufacturing Technology, Zhejiang University, Hangzhou 310027, Zhejiang, China;3.Northwest Institute of Mechanical and Electrical Engineering, Xianyang 712099, Shaanxi, China)

Received:2018-07-23 Revised:2018-07-23 Online:2019-06-10

摘要/Abstract

摘要： 为定量分析船载转塔装置（STE）随动控制过程中随动力矩的影响因素，应用坐标变换原理和拉格朗日动力学方程，建立了STE随动系统运动学和动力学模型。针对不同摇摆角和目标运动状态，对STE随动过程进行动力学仿真，定量分析了摇摆角及目标运动对随动力矩的影响。仿真结果表明：随着摇摆角幅值和周期的变化，随动力矩呈现线性变化趋势，且周期的影响更加明显；摇摆角幅值每增加1°，方位轴、俯仰轴随动力矩分别增加约12%、2%；周期每增加1 s，方位轴、俯仰轴随动力矩分别减小约28%和6%。摇摆角之间的相位间隔对随动力矩的影响具有复杂性，需要对不同相位区间进行分析。相对于静止状态，目标运动会引起随动力矩的增大，且加速度对随动力矩的影响更加明显。

关键词: 船载转塔装置, 随动系统, 随动力矩, 运动学模型, 动力学模型, 数值仿真

Abstract: A kinematics and dynamics model of a ship-borne turret equipment (STE) was constructed using coordinate transformation principle and Lagrange dynamic equations. The proposed model is used to analyze the influence factors on servo torque of STE in servo control. The servo control process of STE under different swing angles and target motion state was simulated, and the influences of swing angles and target motion state on servo torque were analyzed quantitatively. The simulated result shows that the servo torque varies almost linearly with the change in the amplitude and period of swing angle, and the effect of period is more obvious. When the amplitude of swing angle is increased by 1 degree, the servo torques of azimuth and elevation axes are increased by about 12% and 2%， respectively. When the period is increased by 1 s, the servo torques of azimuth and elevation axes are decreased by about 28% and 6%, respectively. The impact of the phase difference between swing angles on servo torque is complicated, and therefore the different intervals of phase difference need to be analyzed. Compared with the stationary state, the target motion causes the increase in the servo torque, and the impact of acceleration on servo torque is more evident. Key

Key words: ship-borneturretequipment, servosystem, servotorque, kinematicsmodel, dynamicsmodel, numericalsimulation

中图分类号:

TP275

姜俊峰，李伟，赵维，周晓军. 船载转塔装置随动系统动力学建模与仿真[J]. 兵工学报, 2019, 40(4): 829-836.

JIANG Junfeng, LI Wei, ZHAO Wei, ZHOU Xiaojun. Dynamic Modeling and Simulation of Servo System for Ship-borne Turret Equipment[J]. Acta Armamentarii, 2019, 40(4): 829-836.

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船载转塔装置随动系统动力学建模与仿真

Dynamic Modeling and Simulation of Servo System for Ship-borne Turret Equipment

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