冲击载荷下四足无人作战平台射击振动特性

doi:10.12382/bgxb.2025.0282

摘要/Abstract

摘要： 四足无人作战平台凭借其卓越的机动性和复杂地形适应能力,在未来战争中具有重大的军事应用价值。为探究冲击载荷对四足无人作战平台振动特性和射击精度的影响,建立了无人作战平台刚柔耦合发射动力学模型,通过数值仿真分析了不同冲击载荷下枪口中心点绕x轴和z轴振幅、角位移及角速度变化规律,结合六自由度外弹道模型评估了射击散布特性,开展了有/无双向缓冲装置的无人作战平台实弹射击实验。结果表明:安装双向缓冲装置后,5连发射击时枪口中心点绕x轴和z轴方向振幅显著减小,振动量降低,角速度趋于稳定,未出现固定连接工况中持续增大现象,弹着点全数散布圆半径R₁₀₀减至86.4mm,降幅34.6%。实弹测试数据显示,单发和5连发R₁₀₀分别为75.7mm、94.5mm,降低21.1%、32.8%,实验数据与仿真结果一致性较好,验证了数值仿真的准确性,证实了所设计的缓冲装置能有效抑制射击振动,大幅提高四足无人作战平台射击稳定性和精度,研究成果为无人作战平台结构优化设计提供了技术支撑。

关键词: 四足无人作战平台, 振动特性, 射击精度, 刚柔耦合, 动力学模型

Abstract:

The quadruped unmanned combat platform holds significant military application value in future warfare due to its exceptional mobility and adaptability to complex terrains. A rigid-flexible coupled launch dynamics model is established to investigate the impact of shock loads on the vibration characteristics of the platform and firing accuracy. The amplitude, angular displacement and angular velocity variations of muzzle center point around x-axis and z-axis under different shock loads are analyzed through numerical simulation. The firing dispersion characteristics are evaluated using a six-degrees-of-freedom external ballistic model, and the live-fire tests are made on unmanned combat platforms with and without a bidirectional buffering device. The results show that the amplitude of the muzzle center point around the x-axis and z-axis during five-round bursts is significantly reduced, the vibration levels decreases, and the angular velocity tends to stabilize without the continuous increase observed in fixed connections after installing the bidirectional buffering device. The radius of 100% dispersion circle (R₁₀₀) is reduced to 86.4mm with a decrease of 34.6%. Live-fire test data indicates that R₁₀₀ for single-shot and five-round bursts is 75.7mm and 94.5mm, respectively, with the reductions of 21.1% and 32.8%. The test data are in good agreement with the simulated results, validating the accuracy of the numerical simulations. This confirms that the designed damping device effectively suppresses firing-induced vibration, significantly improving the firing stability and accuracy of the quadruped unmanned combat platform. The research findings provide technical support for the structural optimization design of unmanned combat platforms.

Key words: quadruped unmanned combat platform, vibration characteristics, shooting accuracy, rigid-flexible coupling, dynamics model

刘坤, 冯颖, 康宝, 吴志林, 宋杰, 朱韬. 冲击载荷下四足无人作战平台射击振动特性[J]. 兵工学报, 2025, 46(10): 250282-.

LIU Kun, FENG Ying, KANG Bao, WU Zhilin, SONG Jie, ZHU Tao. Study on the Shooting Vibration Characteristics of a Quadruped Unmanned Combat Platform under Impact Loads[J]. Acta Armamentarii, 2025, 46(10): 250282-.

图/表 30

图1 四足无人作战平台总体结构

Fig.1 Overall structure of quadruped unmanned combat platform

图2 各系统组成

Fig.2 Composition of each system

图3 网格模型

Fig.3 Mesh model

图4 四足无人作战平台刚柔耦合模型

Fig.4 Rigid-flexible coupling model of quadruped unmanned combat platform

图5 单发射击膛压-时间曲线

Fig.5 Single-shot pressure-time curve

图6 5连发射击膛压-时间曲线

Fig.6 Five-round burst pressure-time curve

图7 枪口振动分析坐标系

Fig.7 Coordinate system for muzzle vibration analysis

图8 5连发射击时枪口中心点沿x轴和z轴方向振幅变化

Fig.8 Amplitude variation of muzzle center point along x-axis and z-axis during five-five-round bursts

表1 5连发射击过程中弹头出膛瞬间枪口中心点的振动特性

Table 1 The vibration characteristics of muzzle center point at the instant of bullet exit during a five-round burst firing

振动特性	第1发	第2发	第3发	第4发	第5发
x轴方向振幅/mm	0.08	1.1	3.1	3.1	0.9
z轴方向振幅/mm	0.51	3.1	4.4	3.4	6.3
射击振动量/mm	0.516	3.289	5.382	4.601	6.364

表2 枪口中心点沿x轴和z轴方向角位移

Table 2 Angular displacement of muzzle center point along x-axis and z-axis

角位移	第1发	第2发	第3发	第4发	第5发
x轴方向角位移/(°)	0.002	0.028	0.081	0.081	0.02
z轴方向角位移/(°)	0.013	0.08	0.12	0.09	0.164

图9 枪口中心点绕x轴方向角速度变化

Fig.9 Angular velocity variation of muzzle center point about x-axis

图10 枪口中心点绕z轴方向角速度变化

Fig.10 Angular velocity variation of the muzzle center point around z-axis

图11 固定连接时5连发弹着点分布理论结果

Fig.11 Theoretical results of bullet impact point distribution for 5-round burst firing in fixed connection mode

图12 双向缓冲装置

Fig.12 Bidirectional buffering device

图13 安装双向缓冲装置的武器平台

Fig.13 Weapon platform equipped with a bidirectional buffering device

图14 3种不同刚度的双向缓冲装置行程变化规律

Fig.14 Travel variation patterns of bidirectional buffering device with three different stiffness levels

图15 刚度250N/mm的弹簧受力变化规律

Fig.15 Force variation pattern of spring with a stiffness of 250N/mm

图16 5连发射击时枪口中心点沿x轴和z轴方向振幅变化

Fig.16 Amplitude variation of muzzle center point along x-axis and z-axis during 5-round burst firing

表3 5连发射击过程中弹头出膛瞬间枪口中心点的振动特性

Table 3 The vibration characteristics of muzzle center point at the instant of bullet exit during a five-round burst firing

振动特性	第1发	第2发	第3发	第4发	第5发
x方向振幅/mm	0.1	0.4	1.9	2.1	0.8
z方向振幅/mm	0.3	1.5	3.1	2.5	3.1
振动量/mm	0.32	1.55	3.64	3.26	3.20

表4 枪口中心点沿x轴和z轴方向角位移

Table 4 Angular displacement of muzzle center point along x-axis and z-axis

角位移	第1发	第2发	第3发	第4发	第5发
x轴方向角位移/(°)	0.003	0.039	0.081	0.065	0.081
z轴方向角位移/(°)	0.008	0.08	0.12	0.09	0.164

图17 枪口中心点绕x轴方向角速度变化

Fig.17 Angular velocity variation of muzzle center point around x-axis

图18 枪口中心点绕z轴方向角速度变化

Fig.18 Angular velocity variation of muzzle center point around z-axis

图19 安装缓冲装置时5连发弹着点分布

Fig.19 Impact point distribution of five-round burst with buffering device

图20 实验用武器与弹药

Fig.20 Experimental weapons and ammunition

图21 实验原理

Fig.21 Experimental principle

图22 实验场景布置

Fig.22 Experimental scene setup

图23 固定连接时5连发弹着点分布实验结果

Fig.23 Experimental results of impact point distribution of 5-round bursts under fixed connection conditions

图24 固定连接时10次单发弹着点分布实验结果

Fig.24 Experimental results of 10 single-shot impact point distribution under fixed connection conditions

图25 安装缓冲装置时5连发弹着点分布实验结果

Fig.25 Experimental results of impact point distribution of 5-round burst with buffering device

图26 安装缓冲装置时10次单发弹着点散布实验结果

Fig.26 Experimental results of 10 single-shot dispersion pattern with buffering device

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