轻型遥控武器站多工况力学特性及射击扰动

doi:10.12382/bgxb.2025.0200

摘要/Abstract

摘要： 为提升轻型遥控武器站的精确打击能力与环境适应性,需要对发射载荷作用下武器站的力学特性及射击扰动进行研究,选取某小口径突击步枪为研究对象,在与之匹配的轻型遥控武器站结构基础上,借助ADAMS-Simulink联合仿真,构建了系统的刚柔耦合发射动力学模型,并就单、连发两种工况下系统的射击过程进行了仿真分析;此外,基于仿真结果对遥控武器站装夹模块进行了优化,在武器与装夹结构之间引入了缓冲器,并对优化前后的系统进行了实弹试验验证。结果表明:在单发射击工况下,枪弹发射至电机首次冲击力矩峰值的响应时间在35ms内,且方向电机受冲击更为显著,峰值达182.98N·m; 在连发射击中,残余能量与新一发冲击载荷耦合使电机力矩振荡幅值突增约50%;此外武器自身的射频不稳定性也对射击扰动产生影响。仿真结果与实弹试验结果吻合较好,验证了刚柔耦合发射动力学模型建模的准确性。通过引入缓冲器,可显著降低电机所受冲击力矩和射击扰动,五发连发下的百米半数散布圆半径降低45.8%,显著提升了射击密集度与系统射击精度。

关键词: 遥控武器站, 动力学仿真, 刚柔耦合, 力学特性, 射击扰动

Abstract:

To enhance the precision strike capability and environmental adaptability of lightweight remote-controlled weapon stations (RCWS), it is essential to study the mechanical characteristics and firing disturbances of the weapon station under firing loads. This research selects a small-caliber assault rifle as the study object. Based on the structure of a matched lightweight RCWS, a rigid-flexible coupled firing dynamics model of the system is established using ADAMS-Simulink co-simulation. The firing process under both single-shot and burst-fire conditions is simulated and analyzed. Furthermore, based on the simulation results, the clamping module of the RCWS is optimized by introducing a buffer between the weapon and the clamping structure. Live-fire tests are conducted to validate the system before and after optimization. The results show that under single-shot conditions, the response time from bullet ignition to the first peak impact torque on the motor is within 35ms, with the directional motor experiencing more significant impacts, reaching a peak torque of 182.98N·m. During burst fire, the coupling of residual energy and new impact loads causes a sudden increase of approximately 50% in the motor torque oscillation amplitude. Additionally, the inherent firing rate instability of the weapon also affects firing disturbances. The simulation results align well with live-fire test data, verifying the accuracy of the rigid-flexible coupled firing dynamics model. By introducing the buffer, the impact torque on the motor and firing disturbances are significantly reduced, with the 100-meter half-group dispersion radius decreasing by 45.8% in a five-round burst, markedly improving firing density and system accuracy.

Key words: remote-controlled weapon stations, dynamic simulation, rigid-flexible coupling, mechanical characteristics, firing disturbances

王云龙, 赵正媛, 吴志林, 李忠新. 轻型遥控武器站多工况力学特性及射击扰动[J]. 兵工学报, 2025, 46(10): 250200-.

WANG Yunlong, ZHAO Zhengyuan, WU Zhilin, LI Zhongxin. Mechanical Characteristics and Firing Disturbance of a Lightweight Remote-Controlled Weapon Station Under Multi-Condition Operations[J]. Acta Armamentarii, 2025, 46(10): 250200-.

图/表 20

图1 轻型遥控武器站结构组成

Fig.1 Structure composition of the light remote-controlled weapon station

图2 轻型遥控武器站装配位置示意图

Fig.2 Schematic diagram of assembly location for light remote-controlled weapon station

图3 轻型遥控武器站的刚柔耦合动力学建模与解算步骤示意图

Fig.3 Schematic diagram of rigid flexible coupling dynamic modeling and solution steps for light remote-controlled weapon station

图4 有限元网格及刚柔耦合模型示意图

Fig.4 Schematic diagram of finite element mesh and rigid flexible coupling model

图5 导气式枪械的物理模型

Fig.5 Physical model of gas conducting firearm

图6 载荷作用曲线

Fig.6 Load effect curves

图7 ADAMS-Simulink联合仿真流程图

Fig.7 ADAMS Simulink joint simulation process

图8 单发射击工况下的电机力矩变化情况

Fig.8 The variation of motor torque under single shot shooting conditions

图9 五发连续射击工况下的电机力矩变化情况

Fig.9 The variation of motor torque under five consecutive shooting conditions

图10 添加缓冲器的装夹模块示意图

Fig.10 Schematic diagram of clamping module for adding buffer

图11 添加缓冲器后五发连续射击工况下的电机力矩变化情况

Fig.11 The variation of motor torque under five consecutive shooting conditions after adding a buffer

图12 枪口位置扰动参考坐标系及射击扰动量示意图

Fig.12 Diagram of reference coordinate system and shooting disturbance caused by muzzle position disturbance

图13 枪械射角扰动分析坐标系及偏角示意图

Fig.13 Schematic diagram of coordinate system and deviation angle for analysis of firearm firing angle disturbance

图14 单发射击工况下的扰动情况

Fig.14 Disturbance situation under single shot shooting conditions

图15 连发射击工况下的扰动情况

Fig.15 Disturbance situation under five consecutive shooting conditions

图16 连发射击工况下遥控武器站对100m处目标的打击效果示意图

Fig.16 Schematic diagram of the impact effect of a remote-controlled weapon station on a target at 100m under continuous shooting conditions

图17 添加缓冲器后连发射击工况下的扰动情况

Fig.17 Disturbance situation under five consecutive shooting conditions after adding a buffer

图18 添加缓冲器后连发射击工况下遥控武器站对100m处目标的打击效果示意图

Fig.18 Schematic diagram of the impact effect of a remote-controlled weapon station on a target at 100m under continuous shooting conditions after adding a buffer

图19 实弹射击试验

Fig.19 Live firing experiment

表1 射击试验R50统计结果

Table 1 Statistical results of shooting test mm

组数	刚性连接	柔性连接	组数	刚性连接	柔性连接
1	476.67	216.47	7	645.24	320.10
2	441.41	170.07	8	471.07	338.00
3	301.98	256.86	9	381.78	163.37
4	465.65	228.91	10	448.87	301.99
5	659.59	265.24	均值	458.14	248.12
6	289.13	220.21

参考文献 26

[1]	DOLASIѝSKI J F. Remote controlled weapon stations: development of thought and technology[J]. Problemy Mechatroniki: uzbrojenie, lotnictwo, inżynieria bezpieczeństwa, 2020, 11(3): 87-100.
[2]	郑博文, 毛保全, 钟孟春, 等. 智能武器站发展现状与关键技术分析[J]. 火力与指挥控制, 2020, 45(5): 1-7.
	ZHENG B W, MAO B Q, ZHONG M C, et al. Development status and key technology analysis of intelligent weapon station[J]. Fire Control & Command Control, 2020, 45(5): 1-7. (in Chinese)
[3]	史婷娜, 谭本慷, 徐奕扬, 等. 机器人关节伺服系统力矩控制技术综述[J/OL]. 中国电机工程学报, 2025: 1-18. [2025-03-08]. https://doi.org/10.13334/j.0258-8013.pcsee.241599.
	SHI T N, TAN B K, XU Y Y, et al. A review of torque control technology for robotic joint servo systems[J/OL]. Proceedings of the CSEE, 2025: 1-18. [2025-03-08]. https://doi.org/10.13334/j.0258-8013.pcsee.241599. (in Chinese)
[4]	吴永亮, 毛保全, 高玉水, 等. 遥控武器站研究现状与发展[J]. 高技术通讯, 2014, 24(2): 193-200.
	WU Y L, MAO B Q, GAO Y S, et al. The present situation and development of ROWS research[J]. Chinese High Technology Letters, 2014, 24(2): 193-200. (in Chinese)
[5]	JIAO R, PAN X, ZHOU Q, et al. Simulation and analysis of firing accuracy of remote control weapon station[C]. Journal of Physics: Conference Series. IOP Publishing, 2024, 2862(1): 012-037.
[6]	CHEN Y, XIE M, ZOU X, et al. Development and challenges of nonlinear dynamic modeling and stabilization control of mobile firing guns[J]. Proceedings of the Institution of Mechanical Engineers, Part D: Journal of Automobile Engineering, 2025, 239(7):2242-2256.
[7]	BALLA J, VITEK R, VAN D N, et al. Study of relationship between motion of mechanisms in gas operated weapon and its shock absorber[J]. Defence Technology, 2024, 33: 42-54.
[8]	GUO Z, YUAN Z, YANG Y, et al. Co-simulation of self-propelled artillery based on virtual prototype technology[J]. Journal of Mechanical Science and Technology, 2023, 37(12): 6617-6627.
[9]	刘强, 周克栋, 宋伟, 等. 某埋头弹机枪退壳系统设计与动力学分析[J]. 北京理工大学学报, 2023, 43(12): 1265-1273.
	LIU Q, ZHOU K D, SONG W, et al. Dynamic analysis and design of the ejection system of a cased telescoped a mmunitionmachine gun[J]. Transactions of Beijing Institute of Technology, 2023, 43(12): 1265-1273. (in Chinese)
[10]	何龙, 姜荃, 李鹏杰, 等. 穿戴武器臂的人枪耦合系统发射响应研究[J]. 北京理工大学学报, 2024, 44(4): 386-394.
	HE L, JIANG Q, LI P J, et al. Shooting response of human-gun system with wearable weapon arm[J]. Transactions of Beijing Institute of Technology, 2024, 44(4): 386-394. (in Chinese)
[11]	谢馨, 张连超, 郑杰基, 等. 路面不平度对遥控武器站伺服性能的影响分析[J]. 中国科学:技术科学, 2024, 54(6): 1137-1148.
	XIE X, ZHANG L C, ZHENG J, et al. Analysis of the influence of road roughness on the servo performance of remote control weapon stations[J]. Sci Sin Tech, 2024, 54(6): 1137-1148. (in Chinese)
[12]	ANGUEK O, BOUNAB B. Multi-objective design optimization of a Turret’s U-bracket mounted on moving platform[J]. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 2022, 236(24): 11371-11388.
[13]	ZHANG S, RUI X, YU H, et al. Study on the coupling calculation method for the launch dynamics of a self-propelled artillery multibody system considering engraving process[J]. Defence Technology, 2024, 39: 67-85.
[14]	BADUROWICZ P, KUPIDURA P, FIKUS B. Numerical and experimental investigation of a short recoil operated weapon and impact of construction characteristics on its operation cycle[J]. Defence Science Journal, 2022, 72(3): 326-333.
[15]	朱锐, 毛保全, 赵俊严, 等. 机枪遥控武器站锰铜基阻尼合金缓冲器非线性有限元分析及试验[J]. 北京理工大学学报, 2022, 42(9): 935-946.
	ZHU R, MAO B Q, ZHAO J Y, et al. The nonlinear finite element analysis and experiment of Mn-Cu damping alloy buffer for remote control weapon station[J]. Transactions of Beijing Institute of Technology, 2022, 42(9): 935-946. (in Chinese)
[16]	陆星宇, 曹岩枫, 庄圆, 等. 四足打击平台多工况力学特性及射击扰动[J]. 工程科学学报, 2024, 46(8): 1434-1445.
	LU X Y, CAO Y F, ZHUANG Y, et al. Mechanical characteristics and firing disturbances of quadruped combat platforms under multiple shooting modes[J]. Chinese Journal of Engineering, 2024, 46(8): 1434-1445. (in Chinese)
[17]	杨沫, 赫雷, 周克栋, 等. 某专用枪械后坐缓冲装置设计与分析[J]. 哈尔滨工程大学学报, 2025(6): 1-8.
	YANG M, HE L, ZHOU K D, et al. Design and optimization analysis of a special firearm recoil buffer device[J]. Journal of Harbin Engineering University, 2025(6): 1-8. (in Chinese)
[18]	冯帅, 毛保全, 王之千, 等. 基于自适应混合近似模型的顶置武器站多柔体系统动力学优化研究[J]. 振动与冲击, 2020, 39(12): 206-212.
	FENG S, MAO B Q, WANG Z Q, et al. A study on flexible multi-body system dynamics optimization of an overhead weapon station based on an adaptive hybrid approximation model[J]. Journal of Vibration and Shock, 2020, 39(12): 206-212. (in Chinese)
[19]	孙章毅, 蔡灿伟. 动载荷作用下迫击炮与土壤刚柔耦合响应分析[J]. 指挥控制与仿真, 2023, 45(1): 102-107.
	SUN Z Y, CAI C W. Rigid-flexible coupling response analysis of mortar and soil under dynamic load[J]. Command Control & Simulation, 2023, 45(1): 102-107. (in Chinese)
[20]	张雅斌, 刘宁, 黄建文, 等. 迫击炮协调臂前装填系统动力学仿真[J]. 火炮发射与控制学报, 2025, 46(2):83-88,96.
	ZHANG Y B, LIU N, HUANG J W, et al. Dynamic simulation of a coordinating arm for mortar front-loading system[J/OL]. Journal of Gun Launch & Control, 2025, 46(2):83-88+96. (in Chinese)
[21]	华洪良, 廖振强, 郭魂, 等. 机枪系统支撑发射动力学特性及散布精度研究[J]. 兵器装备工程学报, 2022, 43(1): 42-47.
	HUA H L, LIAO Z Q, GUO H, et al. Study on launch dynamics and dispersion accuracy of a machine gun system with supporting structures[J]. Journal of Ordnance Equipment Engineering, 2022, 43(1): 42-47. (in Chinese)
[22]	曾鑫, 先苏杰, 许德鹏, 等. 某埋头弹机枪自动机结构设计与动力学分析[J]. 兵工自动化, 2021, 40(3): 26-28, 39.
	ZENG X, XIAN S J, XU D P, et al. Structural design and dynamics analysis of certain type automaton for cased telescoped ammunition machine gun[J]. Ordnance Industry Automation, 2021, 40(3): 26-28,39. (in Chinese)
[23]	张小石, 王宪升, 喻翔, 等. 某自动步枪机构动力学仿真分析[J]. 机械工程与自动化, 2021(4): 64-66,69.
	ZHANG X S, WANG X S, YU X, et al. Dynamics simulation analysis of automatic rifle mechanism[J]. Mechanical Engineering & Automation, 2021(4): 64-66, 69. (in Chinese)
[24]	欧天界, 贾陆阳, 李东昊, 等. 某导气式自动武器动力学仿真及试验[J]. 兵工自动化, 2024, 43(11): 57-60, 86.
	OU T J, JIA L Y, LI D H, et al. Dynamic simulation and experiment of gas operated automatic weapon[J]. Ordnance Industry Automation, 2024, 43(11): 57-60, 86. (in Chinese)
[25]	吴迪, 顾祖成, 王永娟, 等. 某小型无人化作战平台机电联合仿真[J]. 兵器装备工程学报, 2020, 41(5): 86-90.
	WU D, GU Z C, WANG Y J, et al. Electromechanical joint simulation of a small unmanned combat platform[J]. Journal of Ordnance Equipment Engineering, 2020, 41(5): 86-90. (in Chinese)
[26]	司鹏, 王云龙, 宋杰, 等. 中口径枪弹全弹道建模及弹道特征量分析[J]. 兵器装备工程学报, 2025, 46(7): 37-43.
	SI P, WANG Y L, SONG J, et al. Overall trajectory modeling and ballistics characteristics analysis of a medium-caliber gun[J]. Journal of Ordnance Equipment Engineering, 2025, 46(7):37-43. (in Chinese)