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    31 October 2024, Volume 45 Issue 10
    Electronic edition of this issue
    Electronic edition of this issue
    2024, 45(10):  0. 
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    Contents
    Contents
    2024, 45(10):  0. 
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    Maritime Manned/unmanned Collaborative Systems and Key Technologies: A Survey
    WANG Tonghao, PENG Xingguang, HU Hao, XU Demin
    2024, 45(10):  3317-3340.  doi:10.12382/bgxb.2024.0327
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    Maritime manned/unmanned collaborative systems play a crucial role in enhancing naval operational effectiveness and represent a significant direction in the development of modern naval equipment. This paper focuses on the development of maritime manned/unmanned collaborative systems, reviews the current developing status and relevant foreign projects, clarifies the main characteristics of the systems, condenses and analyzes the scientific issues and key technologies involved, and ultimately provides a comprehensive survey on the development of maritime manned/unmanned collaborative systems. In the future, intelligence, modularity and sparsity will become the important directions for the development of maritime manned/unmanned collaborative systems. However, due to the contradictions between system autonomy and controllability, the development of intelligence and maritime constraints, and the features of manned/unmanned collaboration and existing collaborative frameworks, the system will also face challenges in scale, diversity, security, and intelligence-related aspects.

    Review of Tactical-level Task Planning Method
    DU Weiwei, CHEN Xiaowei
    2024, 45(10):  3341-3355.  doi:10.12382/bgxb.2023.0719
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    With the development of weapons and equipment towards diversification, versatility and systemization, modern warfare requires the increasingly high levels of command and decision-making in terms of overall planning, timeliness, and scientificity. The construction of task planning systems for major military powers is urgently needed and developed rapidly. In order to better promote the research of task planning systems, a comprehensive review is conducted on the tactical-level task planning methods. This paper reviews the development history of task planning systems and the methodological framework of tactical-level task planning, with a focus on summarizing the main implementation methods and future development directions of tactical-level task planning. In terms of the main implementation methods, the main methods involved in various aspects such as task description, task decomposition, task allocation and scheme evaluation are overviewed and analyzed. In terms of future development direction, the suggestions on standardization, universality, credibility, and other aspects are put forward.

    Review and Prospect of Missile Plasma Synthetic Jet Control Technology
    ZHANG Xiaobing, LI Jinfeng
    2024, 45(10):  3356-3370.  doi:10.12382/bgxb.2023.0894
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    In the context of the continuous development of anti-missile technology, higher requirements must be imposed on missile maneuverability and fast response to improve the missile hit rate. In recent years, due to the advantages of short response time, no mechanical parts and wide working frequency band, the active flow control technology based on plasma synthetic jet actuator has become a research hotspot in the weapons science and technology and the aerospace field. Great application prospects have been demonstrated in the flow control fields of missiles, such as fast response aerodynamic control, transverse mainstream interference control, shock wave control, shock wave/boundary layer interference control, etc., which provides technical support for reducing the missile resistance and improving the maneuverability and fast response of missile. The principle, development and key problems of the missile plasma synthetic jet flow control technology are described and summarized based on the related literatures issued at home and abroad in the past 20 years and the research experience, hoping to provide help to the relevant researchers.

    Influence of Velocity on the Cavity Flow Characteristics of Vertical Ice-breaking Water Entry of a Projectile
    HUANG Zhengui, WANG Hao, CAI Xiaowei, LIU Xiangyan, CHEN Zhihua, QIN Jian, HAO Xulong
    2024, 45(10):  3371-3384.  doi:10.12382/bgxb.2024.0420
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    Exploring the influence mechanism of ice sheet on the water-entry process of a high-speed projectile is of great significance for the development of advanced trans-media weapons suitable for ice-water areas. The processes of vertical ice-breaking water-entry of a high-speed cylindrical projectile at different initial velocities are studied based on the coupled Euler-Lagrange (CEL) method. The findings indicate that, when the initial velocity of projectile is relatively low (50m/s), the size of ice hole formed by impact is relatively small to severely hinder the influx of external gas, and the expansion and development of cavity are obstructed, leading to the premature neckingand early closure of cavity. Besides, there is no longer a surface closure phenomenon as no ice, and the deep closure of cavity occurs faster. When the velocity of projectile is higher (≥100 m/s), the size of ice hole formed by impact is larger, allowing a continuous influx of external air and delaying the closure of cavity. The difference in scale between the ice sheet and the ice-free cavity decreases with the increase in initial velocity. Additionally, as the initial velocity of projectile increases, the interference of crushed ice on the airflow intensifies, thus enhancing the nonlinear and turbulent characteristics of flow field within the cavity. It is worth noting that the peak force of projectile entering water in an ice-free environment is 70% of that of ice-breaking water-entry (the ice thickness is half of the diameter of projectile) at the same speed. At a speed of 150m/s, a weak plastic strain occurs at the projectile head during the ice-breaking water-entry process, which should be emphasized to improve the structural strength of projectile head when designing new types of trans-media weapons used in ice-water areas.

    A Hierarchical Multi-Agent Collaborative Decision-making Method Based on the Actor-critic Framework
    FU Yanfang, LEI Kailin, WEI Jianing, CAO Zijian, YANG Bo, WANG Wei, SUN Zelong, LI Qinjie
    2024, 45(10):  3385-3396.  doi:10.12382/bgxb.2023.0862
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    A hierarchical multi-agent collaborative decision-making method based on the actor-critic (AC) frameworkis proposed to address the issues of improper task allocation and weak decision consistency in the collaborative decision-making of multiple agents in complex operational environments. The proposed method divides the decision-making process into different levels and utilizes the AC framework to facilitate information exchange and decision coordination among the agents, thereby enhancing thedecision efficiency and combat effectiveness. At the higher level, the top-level agents formulate thetask decisions by decomposing and assigning overall tasks to the lower-level agents. At the lower level, the lower-level agents make action decisions based on subtasks and provide feedback to the higher level. Experimental results demonstrate that the proposed method performs well in various operational simulation scenarios, showcasing its potential to enhance themilitary operational collaborative decision-making capability.

    Stability Analysis and Optimization Strategy of Electric System for Electric Tracked Vehicles
    LI Yaoheng, GAI Jiangtao, ZHANG Nan, CHENG Cheng, LI Cuifen, SHUAI Zhibin, DIAO Lijun
    2024, 45(10):  3397-3414.  doi:10.12382/bgxb.2023.0766
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    In order to improve the stability of electric system of electric tracked vehicle, asmall signal analysis method based on impedance modelis used to model the DC microgrid system built by power electronic source network load and storage of electric tracked vehicle. Combined with the working conditions of electric tracked vehicle, the stability rule and mechanism of the system under different working conditions and different parameters are analyzed from the perspective of impedance matching. At the same time, in order to optimize and improve the stability of electric system for the electric tracked vehicle, a voltage-based feedback channel and a virtual capacitor control link are designed in the engine-generator set and DC/DC control loop, respectively.Thecontrol link can adapt to the voltage fluctuation for control, thus improving the stability of electric system in the electric tracked vehicle. Finally, the effectiveness and feasibility of the proposed method are verified by simulation.

    Characteristics of Fluid-structure Interaction of High-speed Projectile at Different Angles of Attack during Water Entry
    LIU Xiangyan, YU Nan, HUANG Zhengui, CHEN Zhihua, MA Changsheng, QIU Rongxian
    2024, 45(10):  3415-3429.  doi:10.12382/bgxb.2024.0007
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    The magnitude of structural response (deformation) of a projectile during high-speed water entry plays a crucial role in determining the projectile’s safe entry into the water. At present, the numerical computational methods based on rigid-body models fail to fully elucidate the intricate coupled interactions among multiphase flow, hydrodynamics and projectile structural responses during the water entry process under the influence of the initial disturbances. To address this challenge, a fluid-structure interaction numerical computational method for high-speed water entry is developed based on the principles of fluid mechanics and structural dynamics. This method is specifically tailored to investigate the influence of the angle of attack on the high-speed water entry process of a specific projectile, focusing on analyzing the interaction among supercavity evolution, impact loads, projectile motion and structural deformations under varying angles of attack. The research findings revealed the following key insights: As the angle of attack increases, a pronounced impact occurs between the lower surface of projectile and the supercavity wall, resulting in the curvature of supercavity wall; For the specific projectile considered in the study, a secondary peak load occurs as the projectile tail strikes the liquid surface at an angle of attack of more than 3°, inducing the bending moments from wetting and the plastic deformation of projectile, ultimately leading to significant bending of the tail, with maximum wetting-induced surface pressure exceeding 10MPa; The stress of the projectile remains below the yield strength of its material although the projectile undergoes the bending moments as a result of the concurrent loading on both the projectile head and tail at an angle of attack of 2°, thereby precluding plastic deformation. Consequently, for the specific projectile, an angle of attack of 2° or less is recommended for safe water entry.

    Global Sensitivity Analysis on Accuracy of Aviation Fire Control System via DBN Effectiveness Fitting
    WANG Qianglong, GAO Xiaoguang, LI Xinyu, YAN Xuchen, WAN Kaifang
    2024, 45(10):  3430-3444.  doi:10.12382/bgxb.2023.0659
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    In view of the fact that most of the current researches on the accuracy of fire control system require high data integrity and only analyze the influence factors of single error source, this paper proposes a novel global sensitivity analysis (GSA) method based on deep belief network (DBN) effectiveness fitting for the accuracy of fire control system. Starting from the advantages and disadvantages of the traditional GSA methods, the limitations of the traditional methods in the case of incomplete data are analyzed. Then, a fire control system performance fitting model is constructed and trained by utilizing the excellent feature extraction ability of DBN and a combination of unsupervised training and supervised fine-tuning methods. The proposed GSADBN method is compared with traditional Sobol method, classical Fourier amplitude sensitivity test (FAST) method and improved BNSobol method. The experimental results show that the proposed GSADBN method can not only meet the accuracy requirements, but also obtain the excellent accuracy analysis results when the data from aviation fire control system is incomplete. Furthermore, GSADBN method can give a reasonable scheme of accuracy value when designing each module of fire control system, so as to provide reference and theoretical support for the design of fire control system and the improvement of combat effectiveness.

    On the Construction of Marine Unmanned Test and Training System
    WANG Laihe, CUI Xuejing
    2024, 45(10):  3445-3461.  doi:10.12382/bgxb.2023.0633
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    Under the development trend of unmanned warfare, the cultivation and application of unmanned combat force have become an important expansion direction in the fields of test and training. The technical characteristics of marine unmanned combat systems and the generation attributes of new unmanned combat capabilities are comprehensively analyzed. On the basis of this, an overall framework of marine unmanned test and training system is constructed. Focusing on the organization and implementation of unmanned marine test and training tasks, the developmental background of the field is elaborated, and the key measures to promote the rapid development of the field are explored. Facing the requirements of actual combat-oriented and systematic organization implementation for test and training missions in the new era, this paper discusses the overall planning and general ideas for constructing the marine battlefield test training resources and the sea test training blue army under the development background of informationization and unmanned technologies, and forms a methodology for organizing and implementing the unmanned marine test and training tasks and the system support from sea battlefield test training equipment. The The research results can provide reference for the implementation of related activities, such as the organization and implementation of marine unmanned test and training tasks, the construction and management of equipment, the organization and application of test and training blue army, and so on.

    Thermal Response of Explosive Charge Cutted by Multi-pulse Femtosecond Laser
    WU Junying, YAO Yule, ZHENG Fude, LIU Jiaxi, LI Junjian, WANG Jianyu, CHEN Lang
    2024, 45(10):  3462-3473.  doi:10.12382/bgxb.2023.0795
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    In order to analyze the safety of multi-pulse femtosecond laser cutting of explosive charge, a two-dimensional numerical calculation model is established for the numerical calculation of femtosecond laser cutting HMX, TATB, RDX and TNT charges. The thermal response rules of explosive charge under different processing conditions were obtained through experiment. The results show that all the four kinds of explosives above are not ignited when the moving speed of laser spot is 80-300mm/min. The slower moving speed of reactive spot led to the more obvious heat accumulation effect. The heat accumulation effect of HMX is the most obvious in the dynamic analysis area as compared with those of other three kinds of explosives. When the repetition frequency and energy of femtosecond laser are in the range of 0.1-200kHz and 50-200μJ/pulse, respectively, the cutting rate increases first and then decreases by increasing the repetition frequency and energy of femtosecond laser. In addition, cutting rate and safety of femtosecond laser on explosive charge are affected by the performance parameters of explosive. Cutting rate is positively correlated with the laser absorption coefficient of explosive while cutting safety is negatively correlated with the thermal sensitivity of explosive.

    A Semi-supervised Learning Method for Intelligent Decision Making of Submarine Maneuvering Evasion
    YANG Jing, WU Jinping, LIU Jian, WANG Yongjie, DONG Hanquan
    2024, 45(10):  3474-3487.  doi:10.12382/bgxb.2023.0684
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    When a submarine defends against the incoming torpedoes, it is subjected to the weakly observable environment under water, and the target information obtained is sparse. The setting of maneuvering parameters is a key part of submarine tactical decision-making. The existing methods for setting the maneuvering parameters inevitably introduce observation errors in modeling, there is lack of a means to respond to the evolution of situation, and due to the scarcity of military experts, and it is very expensive to obtain the flexible tactical confrontation samples of military experts. To solve the above difficulties, an intelligent tactical decision-making method based on the combination of self-coding and active Q-learning strategy is proposed. By introducing a contrasting predictive coding autoencoder, the mutual information entropy between the time series input and the context is maximized, and the representation ability of sparse time series input is improved. The representation input is combined with the active reinforcement learning task to reduce the label demand rate of the agent and improve the environmental feedback ability of parameter setting. The datasets of God perspective and red perspective are constructed based on the data collected in the past three years. Experiments based on this dataset show that the decision accuracies of the proposed method and the model ablation experiment without sparse time series auto-encoder reach 98% and 78%, respectively, while their label demand rates are only 4% and 44%, respectively. Compared with the proposed method and the classical time series classification model, the decision accuracy of the proposed method is improved by 14% and 9%, and the decision accuracy error compared with real human action is only 1% different from that of the supervised model under the condition that the label demand rate is reduced to 24%~44%. It is explained that the proposed model can greatly reduce the label demand while ensuring the decision-making accuracy.

    Contrast Enhancement for Camouflage Target Detection Based on Feature Band Polarization Imaging
    SHEN Ying, HUANG Weida, ZHOU Zebing, HUANG Feng, WANG Shu
    2024, 45(10):  3488-3498.  doi:10.12382/bgxb.2023.0761
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    The spectral polarization detection technology utilizes the multidimensional information to improve the accuracy and reliability of camouflage target detection. The high-dimensional data generated by the existing spectral polarization imaging systems are difficultly processedin real-time, and the performance of spectral polarization detection in complex scenes is unsatisfied. To address this concern, a contrast enhancement camouflage target detection algorithm based on feature band polarization imaging is proposed. Specific feature bands are selected for the target scenes, and a feature band polarization image acquisition system is constructed by combining a 751nm narrowband filter with a snapshot polarized array camera to capture the feature band polarization images in real-time. Additionally, acontrast enhancement and interleaved sequence fusion detection (CEISFD) algorithm is proposed. It enhances the target contrast in the feature band polarization images through the designed polarization parameter image. The CEISFD algorithm fuses the results of contrast enhancement and interleaved sequence mapping, thus suppressing the background noises in the target images and further highlighting the target features. The camouflage target is then extracted by threshold segmentation. Experimental results demonstrate that the proposed algorithm achieves comprehensive evaluation metrics F above 0.90 in various scenarios, and its detection rate reaches 20 FPS, enabling fast and accurate detection of camouflage targets in complex environments.

    Two-dimensional Global Path Planning Based on Potential Field Enhanced Fireworks Algorithm
    SUN Pengyao, HUANG Yanyan, WANG Kaisheng
    2024, 45(10):  3499-3518.  doi:10.12382/bgxb.2023.0697
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    High-quality path is an important prerequisite for future unmanned autonomous combat. A path planning method based on potential-field enhanced fireworks algorithm (PEFWA) is proposed for the path planning in complex obstacle environment. A planning space model and a dynamic dimension path description model are established, and an objective function including the feasibility factor and the length factor is set up to transform the path planning problem into an optimization problem. A dynamic dimension fireworks initialization strategy and a dimension adding and deleting strategy are designed to make the adjacent dimension individuals meet the distance constraint. An explosion amplitude calculation method and a continuous dimension selection method based on obstacle space information are proposed to generate the improved explosion sparks foe improving the global search ability. A potential field is generated to enhance the explosion spark by introducing the potential field guidance strategy, and the selected dimension is searched for many times in the direction of resultant force to improve the local optimization ability. The cross-combination strategy is used to generate the mutation sparks, and the dimensional individuals beyond the planning space are deleted to improve the efficient generation ability of diversity fireworks. A double-layer tournament selection strategy based on cosine similarity is proposed to improve the continuation ability of fireworks features. The same benchmark function is used to compare PEFWA with fireworks algorithm (FWA), particle swarm optimization (PSO) algorithm and genetic algorithm (GA). The results show that the optimization performance of PEFWA is stronger. Multiple path planning simulation experiments were carried out in the same complex obstacle environment to verify the effectiveness of each module in PEFWA. Compared with PSO, GA and A* algorithms, PEFWA has the advantages in planning success rate, path length, path smoothness and robustness of results. PEFWA is effective for two-dimensional global path planning.

    A Method for Evaluating the Influence of Frontier Technology on Combat Effectiveness Based on Technology Correlation Model
    WANG Xiaoyue, CHEN Ke, GUO Mutian, LIU Dawei, XIONG Tao
    2024, 45(10):  3519-3529.  doi:10.12382/bgxb.2023.0525
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    The evaluation of the influence of frontier technology on combat effectiveness is of great significance to the demonstration of weapon and equipment development and the decision-making in construction of technology system. The evaluation method for evaluating the effect of frontier technology in combat effectiveness is studied based on the actual demand of frontier technology development decision. By studying the technology evaluation process and methods at home and abroad, a military value evaluation process of frontier technology is established, a technology correlation model and a secondary effect model are designed, and a frontier technology evaluation method based on the index system and technology correlation model is proposed. The influences of ten typical frontier technologies on combat effectiveness in typical combat scenarios are evaluated by constructing an evaluation index system of frontier technologies, an evaluation index system for evaluating the influence of frontier technologies on combat capability, the big data statistical analysis, and the expert experience checking score. The evaluated results show that the proposed evaluation method based on index system and technology correlation model can effectively evaluate the influence of frontier technology on combat effectiveness.

    Analysis of Tensile Strength of PBT/A3/AP System Based on Power Law Equation
    SHEN Yewei, XING Shumin, YANG Maofa, ZHANG Zhe, XU Jilin, ZHAO Shuangliang, ZHANG Xianren, XU Sen
    2024, 45(10):  3530-3537.  doi:10.12382/bgxb.2023.0686
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    In order to solve the difficulty in predicting the mechanical properties of poly(3,3'-bis(azidomethyl)oxetane-co-tetrahydrofuran) (PBT) solid propellant, the tensile fracture behavior of PBT/A3/AP system is analyzed. A power law equation describing the tensile strength of the system is established. The influence rules of interfacial phase, dispersed phase and continuous phase on tensile strength were obtained. The results show that the elastic modulus and tensile strength of propellant increase with the decrease in oxidant particle size and the increase in volume fraction. The influence of interfacial phase interaction on the tensile strength of propellant is dominant, which is positively correlated with v f 2/r(vf: volume fraction, r: oxidant particle size). When the oxidant particle size is less than 100μm, the dominant role of interfacial phase becomes more obvious. The effect of dispersed phase increases with the increase in oxidant particle size. The value is positively correlated with vfr5. When the particle size is larger than 100μm, the effect of dispersed phase becomes apparent. When the particle size is larger than 150μm, the effect of dispersed phase approaches that of the interfacial phase. In this case, the interaction between particles cannot be ignored. The continuous phase has little influence on the tensile strength of propellant. The value is positively correlated with (1-vf)5. Compared with the interface phase, the effect of continuous phase is almost negligible. The fitting results of the power law equation for the tensile strength of PBT solid propellant are in good agreement with the experimental results(R2>0.99). The calculated results can be used as reference for propellant formulation design, thereby reducing the development cycle while simultaneously lowering the costs in terms of manpower and resources.

    Three-dimensional Leader-follower Cooperative Guidance Law for Maneuvering Targets
    WANG Wei, YU Zhichen, LIN Shiyao, YANG Jing, WANG Hong
    2024, 45(10):  3538-3554.  doi:10.12382/bgxb.2023.0777
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    In response to the actual need for coordinated interception of multiple flight vehicle targets, this paper presents a three-dimensional spatio-temporal coordinative guidance law. Firstly, a leader-follower cooperative guidance law is developed based on the homogeneity theory and the fixed-time stability theory. This law ensures that the relative distance and relative velocity between the follower and the leader converge to a consistent value within a fixed time, respoectively. Furthermore, an upper bound for the convergence time of consistency error is provided to enable the simultaneous interception of multiple flight vehicles. Secondly, a non-singular terminal sliding mode guidance law with fixed time convergence is proposed to intercept the target with a specific collision angle in the normal direction of the line of sight. This law achieves the fixed time convergence of attack angle and mitigates the control saturation problem caused by the singularity of guidance command. Additionally, a fixed-time disturbance observer is introduced to compensate for the effects of the target's maneuvering on the guidance system. This observer performs feedforward compensation for the target acceleration. Finally, the Lyapunov stability theory is employed to prove the fixed-time stability properties of the system. The simulated results show that the proposed guidance law can be used to effectively control multiple aircrafts to attack the maneuvering targets at the same time under the leader-follower framework, and attack the targets at the desired terminal angle.

    Research on the Heat Generation Mechanism and Thermodynamic Model of Hydro-pneumatic Spring for Tracked Vehicles
    NIE Wei, HE Hongwen, SUN Yu, WAN Yiqiang
    2024, 45(10):  3555-3563.  doi:10.12382/bgxb.2023.0626
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    A parametric thermodynamic model for the hydro-pneumatic spring of tracked vehicle is established to explore the mechanism of heat generation of hydro-pneumatic spring during working process. The damping indicator characteristics of hydro-pneumatic spring are numerically fitted through test data acquisition, and a mathematical expression of piston velocity-damping force is obtained by data fitting. Based on the analysis of the heat transfer path and characteristics of hydro-pneumatic spring, a thermal resistance network model of hydro-pneumatic spring is established, and the temperature changes of two working medias of hydro-pneumatic spring are calculated. The calculated results of thermodynamic model for the hydro-pneumatic spring are verified by test. The results show that the work done by the damping force is the main heat source for the temperature rise of hydro-pneumatic spring. Under the same working condition, the oil temperature rises faster than the gas temperature and the oil equilibrium temperature is higher. The thermodynamic model can accurately calculate the temperature rise of hydro-pneumatic spring in different working medias, and provides a reference for studying the thermo-mechanical coupling dynamics of hydro-pneumatic spring.

    Control of Quick Turning of Missile with Lateral Thrust and Aerodynamics Based on Neural Network
    PEI Xinyue, YU Yong, LI Zheng, LI Jiaxun, YU Jianqiao
    2024, 45(10):  3564-3576.  doi:10.12382/bgxb.2023.0901
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    The control of the quick turning of air-to-air missile is to complete the entire maneuvering process in the shortest possible time under the premise of ensuring the stable flight of the missile. In order to achieve the above tactical indicators, a lateral thrust/aerodynamics composite controller based on sliding mode variable structure control and fuzzy logic is designed considering the fast time denaturation, strong nonlinearity and large interference of the missile quick turning. In view of the uncertain initial value and excessive external interference that may occur in actual flight, the fixed-time convergence theory and the extended state observer are introduced to effectively avoid the control input jitter caused by interference and ensure that the attitude angle of missile can converge quickly and stably within a fixed time. The neural network is used to optimize the design parameters of sliding mode variable structure control, which not only ensures the quick turning of missile, but also reduces the mass of missile's lateral engine. The effectiveness of the proposed control and distribution scheme is verified by simulation. The designed controller has certain robustness, stable and smooth control effect, strong anti-interference ability and excellent attitude tracking performance in complex situations such as model uncertainty and external interference, and the tracking effect of the control algorithm after parameter optimization is better, which reduces the original convergence time by 12.6% and the original maximum control force by 9.6%.

    Real Time Measurement of High-temperature Shrinkage of Resin-based Materials under Constant Load
    WANG Liyan, GAO Yang, CHEN Weihua, LIU Bo, XU Yun, ZHANG Liang
    2024, 45(10):  3577-3584.  doi:10.12382/bgxb.2023.0158
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    To study the high-temperature shrinkage of resin-based materials, a method for measuring the high-temperature shrinkage of composite materials under constant load is proposed, and a measuring device for the high-temperature shrinkage process of composite materials is designed. The high-temperature shrinkages of resin-based materials under constant load are test measured by taking different resin-based materials as the research objects. The changing curves of displacements at the hot surface of carbon plate and the cold surface of indenter were obtained, and the high-temperature shrinkages of resin-based materials and their shrinkages after cooling were measured. The results show that the measuring device can measure the high-temperature shrinkage of resin-based materials in real-time under constant load. The absolute maximum deformation of the test piece is no more than 0.37mm during heating or after cooling. During heating, the maximum deformation rate of braided quartz/ phenolic composite is no more than 6.43‰, and that of quartz-phenolic hybrid composite is no more than 3.76‰. After cooling, the maximum deformation rate of braided quartz/phenolic composite is no more than 4.57‰, and that of quartz-phenolic hybrid composite is not more than 6.87‰. The test results provide basic physical property data for the high-temperature shrinkage and matching analysis of such materials.

    Fatigue Optimization of Sell Extractor Skateboard in a High-firing-speed Automatic Gun Based on Kriging Model
    TIAN Hengxu, LIN Shengye, LI Hao, WU Yinghao, WANG Maosen, DAI Jinsong
    2024, 45(10):  3585-3595.  doi:10.12382/bgxb.2023.0722
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    In order to improve the fatigue life of shell extractor skateboard and meet the minimum life requirement of a certain 10-shot-high-firing-speed automatic gun with a firing rate of around 1500 shots per minute up to 1000 rounds, a surrogate model based on Kriging regression is proposed for the fatigue optimization of shell extractor skateboard. On the basis of the finite element model consistent with the experimental results, the initial sample points are set by Latin hypercube sampling, a structural model corresponding to the sample points is constructed, and the theoretical life of each group of samples is calculated. A Kriging surrogate model is constructed according to the initial sample points, and the surrogate optimization algorithm, which takes the expected improvement (EI) criterion as the addition point criterion and the genetic algorithm as the sub-optimization algorithm, is used to optimize the objective function. The fatigue life of shell extractor skateboard is increased to 1193 rounds after optimization, and the optimized result meets the tactical technical index of the automatic gun after experimental verification. The research results show that the surrogate optimization algorithm based on Kriging and genetic algorithm can quickly and effectively find the global optimal solution, which is applicable to the fatigue optimization of broken parts in the high-firing-speed automatic gun, and has certain reference significance for engineering applications.

    Comparison of the Applications of DSC and Rheology Methods in Determining the Curing Kinetics Parameters of HTPB-Based PBX Simulants
    WANG Hong, WANG Tianxiang, YIN Yanhua
    2024, 45(10):  3596-3607.  doi:10.12382/bgxb.2023.0786
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    In order to optimize the preparation process of polymer bonded explosive (PBX) and deeply understand its performance, and explore the best method suitable for studying the curing kinetics of PBX, the curing reaction kinetics of HTPB/TDI/Na2SO4/Al system are thoroughly investigated using non-isothermal differential scanning calorimetry (DSC) method, rheological isothermal method, and rheological non-isothermal method. The curing reaction kinetic equations are obtained under these three test conditions, and the widely used non-isothermal rheological method is optimized. The results show that The curing reaction between HTPB and TDI follows an autocatalytic model, and the activation energies of curing reaction obtained using Kissinger and Ozawa methods are similar, with a difference of no more than 3% between the two. The thermostatic curing of PBX surrogate system exhibits an onset temperature of 423.29K, a peak temperature of 440.23K, and a final temperature of 444.49K. The effect of temperature on the energy storage modulus needs to be considered in the rheological study of curing kinetics. The measured values cannot be used solely to characterize the degree of curing, and the data need to be corrected. DSC method and rheological method have their own advantages and disadvantages: if the objective is to obtain only the parameters of curing kinetics, the DSC method is a better choice. However, the rheological method must be used to understand the internal structure of slurry in the curing process.

    Robust Sparse Bayesian Two-dimensional DOA Estimation with Gain-phase Errors
    WANG Xuhu, JIN Xu, HOU Yujun, ZHANG Qunfei, XU Zhenhua, WANG Xinjie, CHEN Jianjun
    2024, 45(10):  3608-3618.  doi:10.12382/bgxb.2023.0778
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    To reduce the influence of gain-phase errors and improve the performance of direction-of-arrival (DOA) estimation, a robust sparse Bayesian two-dimensional DOA estimation method with gain-phase errors is proposed for the L-shaped sensor array. In the proposed method, an auxiliary angle is introduced to transform a 2D DOA estimation problem into two 1D angle estimation problems. A sparse representation model with gain-phase errors is constructed by using the diagonal element vector of the cross-covariance matrix of two submatrices of L-shaped sensor array. The expectation maximization algorithm is used to derive the unknown parameter expression,which is used to perform the iterative operations for obtaining the off-grid and the precision of signal. A new spatial spectral function is constructed by using the off-grid and the precision of signal. The auxiliary angle can be estimated by searching the new spatial spectra peak. The estimated auxiliary angle is introduced into the sparse representation model of the received data with gain-phase errors, and then the sparse Bayesian learning method is used to estimate the elevation angle of incident signal. According to the relationship among three angles, the azimuth angle can be estimated. The results show that this method realizes the automatic matching of azimuth angle and elevation angle, and improves the accuracy of DOA estimation and angle resolution. Simulated results verify the effectiveness of the proposed method.

    Improved Design of Phase Modulation Compensation and Analysis of Disturbance Suppression for UAV Active Disturbance Rejection Control
    ZHOU Hao, BAO Xiaopeng, ZHANG Honggang
    2024, 45(10):  3619-3630.  doi:10.12382/bgxb.2023.0742
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    In order to solve the problem of phase lag in the response of position tracking control applied by nonlinear active disturbance rejection control (NLADRC) technology, the filtering characteristics of nonlinear functions and the phase compensation mechanism are utilized to complete the design of phase modulation compensator, which solves the contradiction between the actual filtering of a tracking differentiator and the phase tracking. And then a phase compensation active disturbance rejection control (PCADRC) is proposed, which is applied to the attitude and trajectory tracking of quadrotor unmanned aerial vehicle (UAV)in flight-control operations. The flight-control performance advantages of PCADRC application are analyzed through the composite trajectory tracking consisting of airborne obstacle avoidance rounded moments and conical spirals, and Thedisturbance rejectionexperiment for UAV trajectory tracking is designed, and the improved phase modulation compensation effect of ADRC is verified. The simulated and experimental results show that, for trajectories with different properties of planar or spatial, flat or steep, PCADRC can improve the accuracy, timeliness, and robustness of attitude tracking under the premise of ensuring the disturbance rejection performance, which can better satisfy the requirements of the robust flight control.

    Multi-view Stereo Vision Reconstruction Network with Fusion Attention Mechanism and Multi-layer Dynamic Deformable Convolution
    SUN Kai, ZHANG Cheng, ZHAN Tian, SU Di
    2024, 45(10):  3631-3641.  doi:10.12382/bgxb.2023.0740
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    The existing multi-view stereo vision technology is not enough to extract the feature information of weak texture region and non-Lambert surface, and its reconstruction effect is not ideal. An AMDC-PatchmatchNet method with fusion attention mechanism and multi-layer dynamic deformable convolution is proposed for the problems above. In this method, a feature extraction network integrating the coordinate attention is constructed, which can capture the edge shape and texture features of reconstructed objects more accurately. At the same time, an adaptive receptive field module based on dynamic deformable convolution is integrated in the feature extraction network, and the size and shape of receptive field can be adjusted adaptively according to different scales of features to obtain both global and detailed feature representation. The generalization ability of the AMDC-PatchmatchNet method is verified on the aerial image data sets. The test results on DTU data sets show that the overall index of point cloud reconstruction of the proposed method is improved by 2.8% compared with those of mainstream MVS methods.

    MPC-based Intake Pressure Control of Electric Compound Supercharged Diesel Engine
    WANG Tianxiang, CUI Tao, ZHANG Fujun, ZHAO Yankai
    2024, 45(10):  3642-3653.  doi:10.12382/bgxb.2023.0694
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    Turbocharging technology is one of the main ways to improve the power performance and economy of engine, while traditional exhaust gas turbocharging has hysteresis, especially in the low-speed range of high-power density diesel engines. As an auxiliary and optimization of exhaust gas turbocharging technology, the electric supercharging technology can effectively make up for the shortcomings of turbocharging technology. However, due to the increased degree of control freedom of the electric supercharger, the coordinated control of electric composite supercharging system becomes the key to guaranteeing its performance. In this paper, an electric composite diesel engine intake control strategy based on model predictive control (MPC) is proposed. Firstly, a discrete predictive control model and an exhaust gas turbine observer and flow observer are established based on the mathematical and physical equations of electric supercharger, and then the control strategy and control parameters are verified and calibrated through a co-simulation platform,. Finally, the effects of MPC and traditional PID control under different working conditions as well as the ability to resist power supply voltage disturbance are compared. The results show that the control algorithm based on the observers can realize the coordinated control of the electric composite supercharging system, with maximum steady-state error less than or equal to 1%, without adding turbine speed sensors. It can improve the low-speed response, reduce the transient lag and reach the target inlet pressure ratio within 5.2s, as adapting the response characteristics of exhaust gas turbine under different normal operating conditions. Compared with the traditional PID control algorithm, it has better anti-interference and control accuracy, improving 42% dynamic error.

    Dynamic Reconfigurable Adaptive UGV Formation System
    JIA Yifei, JIANG Chaoyang
    2024, 45(10):  3654-3673.  doi:10.12382/bgxb.2023.0879
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    The formation keeping, reconfiguration and transformation functions of unmanned ground vehicle (UGV) formation systems are studied A hybrid leader-follower strategy is proposed to reduce the dependence on the leading vehicle and ensure the formation integrity. An independent obstacle avoidance function based on vehicle-to-vehicle (V2V) communication for the following vehicles is developed, and a formation node management system is designed manages the attributes of formation members in real time and supports the human-computer interaction. A dynamic extended trajectory planning method with cubic spline curve in three-dimensional space is proposed to generate the following trajectory and realize the obstacle avoidance by acquiring the position information of the front vehicle through V2V communication. The Frenet coordinate system is utilized to decouple the distance keeping and trajectory tracking problems, and the proportional-integral-differential (PID) controller and linear quadratic regulator (LQR) controller are used for longitudinal control and lateral trajectory tracking, respectively. The research results show that the performance of the proposed method can be quickly verifued in the simulation environment built, showing that the method has good performance. And the three functions of the vehicle formation system are verified by real vehicles, and the proposed method is confirmed to have good real-time performance through the stable maintenance of the distance between the vehicles, which is capable of realizing the effective following of the multi-vehicle formation, and shows a high degree of intelligent expansion and adaptability through the transformation of multiple formation shapes as well as the scenarios of members’ joinning and departuring from the vehicle formation.

    Neural Network Planning Method for Optimal Off-road Configuration of Modular Robots
    DANG Wanying, ZHOU Lelai, LI Yibin, ZHANG Chen
    2024, 45(10):  3674-3685.  doi:10.12382/bgxb.2023.0713
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    Wheeled modular robots have many advantages in meeting human needs for unmanned autonomous tasks, and the robot combination configuration has unique advantages in materials handling, mountain obstacle crossing, and other aspects. Therefore, a multi-module robot configuration optimization planning method is proposed. A digital terrain representation is constructed, and a parameterized terrain identification model is established. And then the genetic algorithm is used to construct an optimal configuration of energy consumption and time weighted combination, change the constraint conditions and perform a large number of parallel runs under different terrains to obtain a large number of terrain optimal configuration parameter pairs. The terrain set is constructed as the input set, and the optimal configuration set is constructed as the output set. The optimal combination configuration for any terrain is quickly obtained by training with neural network technology, so that the combination can achieve high success rate and high reliability obstacle crossing motion when facing a three-dimensional complex terrain, while minimizing the energy and time costs. A simulated field terrain is simulated and built through the physics engine platform, the feasibility and performance of the planned configurations are verified, ensuring that each configuration can complete terrain crossing. At the same time, the optimization ability of the planning algorithm is verified. A modular robot prototype is tested, and the crossing of a 2-times wheelbase wide ravine is completed by using a 6×1 rigid connection configuration. The research results show that the proposed method can be used to efficiently plan the combination obstacle crossing configuration that meets the requirements of passability, and optimal time and energy consumption in various terrains.

    Droplet Transfer Characteristics of High Nitrogen Steel in Ultrasonic Frequency Pulsed GMA Additive Manufacturing
    MA Li, FAN Jikang, CONG Baoqiang, YANG Dongqing, PENG Yong, WANG Kehong
    2024, 45(10):  3686-3695.  doi:10.12382/bgxb.2023.0721
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    For solving the problems of nitrogen escape and splash in the droplet transfer process of high-nitrogen steel additive manufacturing, the experiment of droplet transfer in an ultrasonic frequency pulsed gas metal arc (UFP-GMA) additive manufacturing is carried out, and the influences of different ultrasonic frequency pulsed current superposition modes and pulse current frequencies on the stability of high-nitrogen steel droplet transfer are studied, The process parameters that can realize the stable droplet transfer of high-nitrogen steel additives were obtained. The experimental results show that the of one-pulse-one-droplet transfer can be realized under the pulsed gas metal arc (P-GMA) process conditions, but the transition stability is poor and the splash is obvious. Superimposing the ultrasonic frequency pulse current at the base current stage of P-GMA or both at the base and peak current stages is not conducive to the droplet transfer, and the problems such as short circuit and droplet explosion are prone to occur. When the low-frequency (20kHz) pulse current is applied during the peak stage, its effect on droplet transfer is minimal. However, the medium-frequency (40-60kHz) pulse currents can be superimposed to inhibit the generation of large particle splash, leading to improved stability in droplet transfer, but many small splashes will be formed during the transition when the frequency exceeds 60kHz.

    Analysis of Loading Characteristics of Penetrating Warhead on Fuze in Wide Frequency Domain
    ZHAO Hui, CHENG Xiangli, LIU Jun, LIU Bo, WU Xuexing
    2024, 45(10):  3696-3705.  doi:10.12382/bgxb.2023.0736
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    A dynamic model and a finite element model of warhead are established to reveal the influence of warhead on the boundary load of fuse during penetrating. The transient loading characteristics of warhead on the fuze under the excitation of semi-sinusoidal signals with different frequencies are analyzed by using the finite element difference method and numerical simulation. The time-domain response characteristics of projectile and fuze under the impact of projectile on a target are studied through numerical simulation. Furthermore, the amplification factor of fuze overload response in the frequency domain is calculated by useing the shock response spectrum value. The results indicate that the penetrating warhead exhibits significant axial vibration amplification characteristics in a wide frequency range. The analyzed results of the overload frequency response characteristics and harmonic response of fuze indicate that the fundamental reason for the axial vibration amplification characteristics of penetrating warhead in a wide frequency range is the resonance of natural frequency of the first-order or multi-order axial vibration of warhead, which provides a basis for guiding the optimization design of high overload resistance of missile-borne products.

    Blockage Location Algorithm of Multi-cylinder Fuel Injectors Based on Stacked Sparse Autoencoder
    WANG Jian, HUANG Ying, GAO Xiaoyu, WANG Tuo, WANG Xu, HUI Jiahe
    2024, 45(10):  3706-3717.  doi:10.12382/bgxb.2023.0764
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    The quality of the fuel injection system directly affects the working process and performance of diesel engines. The traditional fault diagnosis methods are difficult to accurately locate the faulty injectors when the blocking faults occur in different injectors of multi-cylinder engines with varying degrees of fault. A fault location algorithm based on stacked sparse autoencoder (SSAE) is proposed. The deep features of rail pressure signals are extracted by SSAE when the fuel injectors at different positions experience the blocking faults, and softmax network is used to locate the faulty injectors. The influence of algorithm hyperparameters on algorithm accuracy is studied by takin one-dimensional rail pressure signal as input and faulty injector position as output. The final results indicate that this algorithm can accurately locate the fuel injector with blocking faults, and the locating accuracy is not affected by the degree of blockage. The fault diagnosis accuracy can reach 96.7%.

    Speed Control Method for Unmanned Special Vehicle Based on Terrain Feature Time-frequency Transform
    WANG Liang, WANG Shoukun, NIU Tianwei, WANG Junzheng
    2024, 45(10):  3718-3731.  doi:10.12382/bgxb.2023.0823
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    To ensure the safety, autonomy, and mobility of unmanned special vehicles in complex environments, a speed-adaptive control method based on terrain feature time-frequency transform is proposed for navigating the unmanned special vehicles on rugged terrains. The autonomy and adaptive speed planning of unmanned special vehicles on rugged terrains is achieved by measuring the ruggedness of terrain and establishing a continuous mathematical model of terrain ruggedness and vehicle speed. The point cloud data is corrected through the fusion of inertial measurement unit (IMU) sensor data. This correction ensures the precision of the point cloud data in front of the vehicle, addressing the issues arising from rocky terrain and slopes. Subsequently, a line-to-surface approach is employed to quantify the ruggedness across various terrains, which is diferent from the traditional transverse curvature calculation. The ruggedness value is determined by choosing the integrated area of the sub-frequency region in the frequency domain after the time-frequency transformation of LIDAR longitudinal profile point cloud data. Moreover, a mathematical model for speed and terrain ruggedness is established through an iterative search based on the quantified ruggedness values. The ruggedness value is continuously updated using a sliding window, facilitating the seamless mapping between vehicle speed and terrain ruggedness. The proposed method is then validated utilizing a seismic vibrator vehicle as the research subject through a series of experiments conducted in actual field terrain environments. The experimental results affirm the effectiveness of the proposed method in terrain identification and adaptive vehicle speed control.

    Changes in the Characteristic Parameters of a Small-caliber Rifle in Fugitive Dust Life Test
    ZHOU Hao, GU Tongguang, YUAN Dawei, LIU Keyan, LI Pengchao, JIA Luyang, WANG Yongjuan
    2024, 45(10):  3732-3743.  doi:10.12382/bgxb.2023.0852
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    The fugitive dust environment has an important impact on the performance and reliability of firearms, and the whole gun life test is carried out to obtain the change law of firearm characteristic parameters and analyze the causes according to the fugitive dust emission test standards specified. The high-speed photography and light curtain target are used to record the changes of the initial speed, firing rate, and characteristic point speed of firearm, and analyse and explain the influence of the parameter changes on the performance degradation of rifle. The test rifle is set as a control group to analyse the maintenance effect of rifle on the maintenance of firearm performance. The test results show that the pre-pressure and free length of the spring in the fugitive dust environment show a decreasing trend with the increase in the amount of projectiles, but the stiffness of spring does not change significantly, and at the same time, the performance degradation magnitude of the piston spring is greater than that of the recoil spring, which in turn is greater than that of the hammer spring.The rifle has an obvious phenomenon of hanging copper with the increase in the amount of projectile, which leads to the change inthe structural parameter of guide chamber. The wear of friction pair leads to an increase in the motion gap between the components, but oiling slows down this degradation. Based on the full-gun life test, the experimental validation is provided for clarifying the influence mechanism of motion characteristics and failure of automatic mechanismin the fugitive dust environment, and the data support is provided for researching the change rule of small-calibre rifleperformance.

    Study of JUST Slewing Bearing Failure Test Data
    ZHOU Honggen, REN Xiaodie, SUN Li, LI Guochao, WEN Sizhao, PENG Zhan, LIU Yinfei
    2024, 45(10):  3744-3753.  doi:10.12382/bgxb.2023.0756
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    As a key component of military radar, the slewing bearing plays a significant role in ensuring the safe use of an equipment and improving its efficiency. The real-time monitoring and diagnosis of slewing bearing operation state through data-driven methods have become a hot research topic in this technical field. However, the slewing bearing is faced with the problems of complex service conditions and scarce failure test samples so that its fault diagnosis technology research has been plagued by the lack of data and the development and application of the prediction and health management technology of military machinery and equipment are seriously constrained. For this reason, the slewing bearing failure is tested, and a failure test data set is generated by collecting the multidirectional vibration and acoustic emission signals during the operation process of slewing bearing. The data set contains the vibration signals and acoustic emission signals of slewing bearing under nine working conditions, and the signal acquisition time, fault label, rotational speed, load, number of acquisitions and other related information of slewing bearing are clearly labeled, which provides data support and technical guarantee for the fault diagnosis of data-driven slewing bearing and the health management of radar servo system.

    Research on the Mechanism of Chest Injury Caused by Explosion Shock Waves Based on THUMS Model
    WANG Zehua, PAN Teng, LIU Han, ZHOU Hongyuan, HUANG Guangyan, ZHANG Hong
    2024, 45(10):  3754-3764.  doi:10.12382/bgxb.2023.0724
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    In order to obtain the mechanism of chest injury under explosion shock waves, a high fidelity digital dummy model (total human model for safety, THUMS) was used to construct a numerical model of the human-explosion flow field using the Load_Blast_Enhanced method and the arbitrary Lagrange-Euler (ALE) method. The damage to the human chest under explosion shock waves was numerically calculated, and the effectiveness of the proposed model is verified by an explosion accident. Based on the peak overpressure criterion of shock waves and the Axelsson damage model, it was found that personnel injury levels were only at risk of minor injuries when TNT equivalent was 1500g and explosion distance was 4m. Based on the dynamic response of skin, bones, heart and lungs, a detailed analysis of the types of injuries to various tissues and organs of personnel was conducted, revealing the injury patterns and mechanisms of explosion shock waves during minor injuries. The research results can provide reference for the assessment of injuries caused by explosions and the design of related protective equipment.