Nonlinear Dynamic Modeling and Analysis of Chain Rotational Shell Magazine

doi:10.12382/bgxb.2025.0189

Abstract

Abstract:

Aiming at the issues of strong subjectivity in control model selection during the design of automatic chain rotational shell magazines,which lead to insufficient model accuracy and difficulties in improving control performance,a tripartite solution of “full-order modeling,parameter identification,and sensitivity-driven model reduction” is proposed.Based on the structural characteristics of a chain rotational shell magazine in an automatic loading mechanism for self-propelled artillery ammunition,a comprehensive nonlinear full-order dynamic model is developed by integrating critical factors including the dynamic characteristics of drive motors,transmission backlash of reducers,polygonal effect in chain drives,time-varying meshing collisions,nonlinear friction dissipation,and structural flexibility.To address the challenges of numerous coupled parameters and empirical calibration difficulties in the dynamic model,a multi-objective parameter identification framework based on the Particle Swarm Optimization (PSO) algorithm is developed for key parameter identification.Multi-condition experimental verification demonstrates that the steady-state relative error between the established full-order dynamic model and the actual system remains below 5.97%.Furthermore,Sobol global sensitivity analysis is employed to quantitatively evaluate the impact of 17 parameters on system dynamic response and positioning accuracy.The analysis reveals that the current-loop global sensitivity indices for load end mass and Coulomb friction are 0.25 and 0.42 respectively,while the position-loop global sensitivity indices for gear backlash and maximum static friction at the load end are 0.20 and 0.78 respectively.Based on these findings,a reduced-order mathematical model is constructed by retaining critical parameters,significantly simplifying controller design complexity and providing a lightweight model architecture with enhanced adaptability for model-based control algorithm development.

Key words: shell magazine, nonlinear modeling, parameter identification, sensitivity analysis

CLC Number:

TJ301

LU Junjie, ZOU Quan, CHEN Longmiao. Nonlinear Dynamic Modeling and Analysis of Chain Rotational Shell Magazine[J]. Acta Armamentarii, 2025, 46(11): 250189-.

Figures/Tables 20

References 23

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参数	搜索范围
电机与小齿轮等效转动惯量J_m/(kg·m²)	[10^-4,10^-3]
大齿轮、链轮及传动轴等效转动惯量J_c/(kg·m²)	[10^-2,1]
电机端静摩擦力矩T_cm/(N·m)	[5×10^-4,10^-3]
电机端库伦摩擦力矩T_sm/(N·m)	[0.01,0.20]
电机端黏性摩擦系数k_fm/(N·m·s)	[10^-4,2×10^-3]
负载端静摩擦力矩T_cl/(N·m)	[1,10]
负载端库伦摩擦力矩T_sl/(N·m)	[T_cl,10]
负载端黏性摩擦系数k_fl/(N·m·s)	[0.01,0.20]

参数	搜索范围
电机与小齿轮等效转动惯量J_m/(kg·m²)	[10^-4,10^-3]
大齿轮、链轮及传动轴等效转动惯量J_c/(kg·m²)	[10^-2,1]
电机端静摩擦力矩T_cm/(N·m)	[5×10^-4,10^-3]
电机端库伦摩擦力矩T_sm/(N·m)	[0.01,0.20]
电机端黏性摩擦系数k_fm/(N·m·s)	[10^-4,2×10^-3]
负载端静摩擦力矩T_cl/(N·m)	[1,10]
负载端库伦摩擦力矩T_sl/(N·m)	[T_cl,10]
负载端黏性摩擦系数k_fl/(N·m·s)	[0.01,0.20]

参数	第1组	第2组	第3组	平均值
J_m/(kg·m²)	2.31×10^-4	1.47×10^-4	9.24×10^-4	4.34×10^-4
J_c/(kg·m²)	0.0311	0.0546	0.0181	0.0346
T_cm/(N·m)	9.9×10^-4	7.0×10^-4	7.1×10^-4	8.0×10^-4
T_sm/(N·m)	0.062	0.150	0.088	0.100
k_fm/(N·m·s)	9.5×10^-4	11.2×10^-4	9.3×10^-4	1.0×10^-3
T_cl/(N·m)	4.28	4.73	5.39	4.80
T_sl/(N·m)	4.64	5.09	5.57	5.10
k_fl/(N·m·s)	0.09	0.10	0.14	0.11

参数	第1组	第2组	第3组	平均值
J_m/(kg·m²)	2.31×10^-4	1.47×10^-4	9.24×10^-4	4.34×10^-4
J_c/(kg·m²)	0.0311	0.0546	0.0181	0.0346
T_cm/(N·m)	9.9×10^-4	7.0×10^-4	7.1×10^-4	8.0×10^-4
T_sm/(N·m)	0.062	0.150	0.088	0.100
k_fm/(N·m·s)	9.5×10^-4	11.2×10^-4	9.3×10^-4	1.0×10^-3
T_cl/(N·m)	4.28	4.73	5.39	4.80
T_sl/(N·m)	4.64	5.09	5.57	5.10
k_fl/(N·m·s)	0.09	0.10	0.14	0.11

实验序号	最大误差 e_max/rad	稳态绝对误差 ${e}_{{N}_{t}}$/rad	稳态相对误差 ${e}_{{N}_{t}}^{pct}$/%	拟合系数 R²/%
实验1.1	-7.4675	1.0414	0.6912	99.6506
实验1.2	-12.2467	-6.9276	-4.5921	98.2065
实验1.3	-7.8050	-2.6598	-1.7624	99.5014
实验1.4	-4.3804	3.4572	2.2945	99.7902
实验1.5	-11.6930	-7.7595	-5.1371	98.0965
实验1.6	5.8190	5.8137	3.8601	99.5074
实验1.7	-8.8883	0.9115	0.6044	99.5643
实验2.1	6.9315	1.7702	-1.1748	99.5000
实验2.2	9.8886	5.3970	-3.5790	98.8713
实验2.3	7.4316	-0.0147	0.0097	99.4898
实验2.4	11.8154	1.3188	-0.8735	98.7416
实验2.5	5.5125	2.3613	-1.5679	99.7556
实验2.6	9.5461	2.5017	-1.6597	99.2255
实验2.7	4.0714	-0.6637	0.4400	99.8643
实验3.1	-38.0032	-36.2566	5.9717	99.5456
实验3.2	-18.5883	-4.9677	0.8182	99.8738
实验3.3	20.3553	-16.3835	2.6984	99.8053
实验4.1	48.3395	26.2945	-4.3309	98.4226
实验4.2	34.5661	10.4529	-1.7216	99.2000
实验4.3	41.4654	5.1592	-0.8497	99.024 7