曲线链式回转弹仓动力学模型不确定参数辨识

doi:10.12382/bgxb.2022.1196

摘要/Abstract

摘要：

为了准确模拟曲线链式回转弹仓输送弹药过程中的非线性动力学特性,根据系统的拓扑结构和控制原理建立包含不确定参数的动力学模型。利用优化设计思想,基于系统测试数据建立不确定参数辨识模型。提出一种函数型时间序列相似度作为辨识准则,采用基于径向基函数的高维模型表示和径向基函数分别构建从机械系统和控制系统不确定参数到辨识准则的代理模型。将麻雀搜索算法嵌入岛屿模型进行多种群结构化,形成岛屿麻雀搜索算法,进行寻优求解。以工况1测试数据为基准,对机械系统和控制系统的不确定参数进行辨识。研究结果表明,辨识后的动力学模型对两种工况的输出结果与测试数据相似度较高,验证了建模的准确性和辨识的有效性,为动作可靠性分析和故障诊断研究提供了可靠的样本数据来源。

关键词: 曲线链式回转弹仓, 参数辨识, 函数型时间序列相似度, 岛屿麻雀搜索算法, 高维代理模型

Abstract:

To accurately simulate the nonlinear dynamics of a curved chain rotary shell magazine during the delivery of ammunition, a dynamic model containing uncertain parameters is established according to the system topology and control principle. An uncertain parameter identification model for the dynamic model is developed based on the system test data using the optimization design idea. A functional time series similarity is proposed as the identification criterion. The high-dimensional model representation based on the radial basis function and the radial basis function are used to construct the surrogate models from the uncertain parameters of the mechanical and control systems to the identification criterion, respectively. The sparrow search algorithm is embedded into an island model for multi-population structuring to form an island sparrow search algorithm for optimization. The uncertain parameters of the mechanical and control systems are identified successively by taking the test data of working condition 1 as the benchmark. The results show that the outputs of the identified dynamic model for the two operating conditions are similar to the test data, which verifies the accuracy of modelling and the validity of identification, and provides a reliable sample data source for action reliability analysis and fault diagnosis research.

Key words: curved chain rotary shell magazine, parameter identification, functional time series similarity, island sparrow search algorithm, high dimensional surrogate model

中图分类号:

TJ303⁺.3

文浩, 侯保林, 林瑜斌, 金鑫. 曲线链式回转弹仓动力学模型不确定参数辨识[J]. 兵工学报, 2024, 45(5): 1460-1471.

WEN Hao, HOU Baolin, LIN Yubin, JIN Xin. Dynamic Model Uncertain Parameter Identification for A Curved Chain Rotary Shell Magazine[J]. Acta Armamentarii, 2024, 45(5): 1460-1471.

图/表 17

图1 曲线链式回转弹仓结构

Fig.1 Structure of curved chain rotary shell magazine

图2 曲线链式回转弹仓动力学模型

Fig.2 Dynamic model ofcurved chain rotary shell magazine

图3 岛屿模型的拓扑结构

Fig.3 Topology of island model

图4 不确定参数辨识模型

Fig.4 Uncertain parameter identification model

图5 测试传感器与弹药装载情况

Fig.5 Sensors for test and ammunition loading

图6 工况1测试结果

Fig.6 Test results ofworking condition 1

图7 工况2测试结果

Fig.7 Test results of working condition 2

图8 工况1测试数据函数化结果

Fig.8 Functionalization results of the test data of working condition 1

表1 机械系统不确定参数的取值范围

Table 1 Range ofuncertain parameters of mechanical system

序号	不确定参数	下界	上界
1	K₁/(N·mm^-1)	487000	489000
2	μ₁	-0.02	0.02
3	K₂/(N·mm^-1)	279000	280000
4	μ₂	-0.02	0.02
5	K₃/(N·mm^-1)	506000	507000
6	μ₃	-0.03	0.03
7	μ₄	-0.03	0.03
8	T_c/(N·mm)	860	1000
9	T_v/(N·mm·s·rad^-1)	2.1	2.3
10	η	0.97	0.99

图9 非耦合项的代理模型

Fig.9 Surrogate models of uncoupled items

图10 两变量耦合项的代理模型

Fig.10 Surrogate models of two-variable coupling items

图11 收敛曲线

Fig.11 Convergence curve

表2 机械系统不确定参数的辨识结果

Table 2 Identification results of uncertain parameters of mechanical system

不确定参数	辨识值
不确定参数	SSA (W=100)	SSA (W=500)	ISSA (N_I=5, W=100)
K₁/(N·mm^-1)	488313	487459	488923
μ₁	0.0005	-0.0135	0.0018
K₂/(N·mm^-1)	279606	279816	279806
μ₂	-0.0133	0.0164	-0.0094
K₃/(N·mm^-1)	506565	506038	506202
μ₃	0.0023	0.0024	0.0285
μ₄	-0.0061	0.0126	0.0065
T_c/(N·mm)	872.9868	912.2555	872.2174
T_v/(N·mm·s·rad^-1)	2.1946	2.1840	2.1390
η	0.9712	0.9754	0.9788

图12 弹筒角速度辨识曲线与测试曲线对比

Fig.12 Comparison of identification curves and test curve of cartridge angular velocity

表3 控制系统不确定参数的取值范围

Table 3 Range of uncertain parameters of control system

序号	不确定参数	下界	上界
1	ξ₁	400	600
2	ξ₂	2.3	3.5
3	ξ₃	0.02	0.04

图13 工况1辨识曲线与测试曲线对比

Fig.13 Comparison of identificarion curves and test curves of working condition 1

图14 工况2仿真曲线与测试曲线对比

Fig.14 Comparison of simulation curves and test curvesof working condition 2

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