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赵伟 , 侯保林 , 闫少军 , 等 . 链式回转弹仓区间不确定性动力学模型 [J ] . 兵工学报 , 2024 , 45 ( 6 ): 1991 - 2002 . DOI: 10.12382/bgxb.2023.0379 http://doi.org/10.12382/bgxb.2023.0379 针对具有区间不确定性参数的辨识问题,提出一种基于区间可能度转换模型的区间不确定性参数的双层嵌套辨识(Double-layer Nested Identification,DNI)方法。通过将待辨识参数分为两类,利用DNI方法辨识出第1类确定性参数,再通过基于DNI思想的区间优化方法优化第2类区间不确定性参数的区间范围;面向嵌套策略类型方法计算量庞大且效率低的问题,选用贝叶斯优化-粒子群优化(Bayesian Optimization-Particle Swarm Optimization,BO-PSO)方法作为内层算法以提高求解效率。DNI方法的内层利用BO-PSO方法计算区间上下界,外层利用改进型布谷鸟搜索(Improved Cuckoo Search,ICS)方法辨识特定参数。为进一步缩短求解时间,提出一种ICS多核极限学习机(ICS-Multiple Kernel-Extreme Learning Machine,ICS-MK-ELM)代理模型,ICS-MK-ELM代理模型克服了人工调节每个核函数超参数的困难,并且模型预测精度明显高于核ELM(Kernel ELM,KELM)和MK-ELM;将DNI方法应用于链式回转弹仓的参数辨识,解决了链式弹仓具有区间不确定性参数的辨识困难的问题,参数辨识结果表明所提DNI方法以及基于DNI思想的区间优化方法具有更高的精度和稳定性。

ZHAO W , HOU B L , YAN S J , et al. A dynamic model of interval uncertainty of rotational chain shell magazine [J ] . Acta Armamentarii , 2024 , 45 ( 6 ): 1991 - 2002 . (in Chinese) DOI: 10.12382/bgxb.2023.0379 http://doi.org/10.12382/bgxb.2023.0379 For the identification problem with interval uncertain parameters, a double-layer nested identification (DNI) method based on an interval possibility degree transformation model is proposed. By dividing the parameters to be identified into two categories, the first type of deterministic parameters are identified by DNI method, and the interval range of the second type of interval uncertainty parameters is optimized by the DNI-based interval optimization method. The BO-PSO algorithm is chosen as the inner-layer algorithm to improve the efficiency of the nested strategy type method. For the inner layer of DNI method, BO-PSO method is used to calculate the upper and lower bounds of interval, and for the outer layer, ICS method is used to identify the specific parameters. In order to shorten the solving time, an ICS-MK-ELM agent model is proposed. The ICS-MK-ELM agent model overcomes the difficulty of manually adjusting the hyper-parameters of each kernel function, and the prediction precision of the model is obviously higher than those of KELM and MK-ELM. Finally, the DNI method is applied to the parameter identification of the rotational chain shell magazine, which solves the problem of the parameter identification of the chain-type magazine with interval uncertainty. The results of parameter identification show that the DNI method and the interval optimization method based on DNI have higher accuracy and stability.

文浩 , 侯保林 , 林瑜斌 , 等 . 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 . DOI: 10.12382/bgxb.2022.1196 http://doi.org/10.12382/bgxb.2022.1196 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。

WEN H , HOU B L , LIN Y B , et al. Dynamic model uncertain parameter identification for a curved chain rotary shell magazine [J ] . Acta Armamentarii , 2024 , 45 ( 5 ): 1460 - 1471 . (in Chinese) DOI: 10.12382/bgxb.2022.1196 http://doi.org/10.12382/bgxb.2022.1196 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.

马超超 , 许金 , 贾正荣 , 等 . 计及配合间隙的电磁发射重载链传动机构优化设计方法 [J/OL ] . 海军工程大学学报 : 1 - 7 [ 2024-01-07 ] . http://kns.cnki.net/kcms/detail/42.1106.E.20231107.1417.010.html http://kns.cnki.net/kcms/detail/42.1106.E.20231107.1417.010.html http://kns.cnki.net/kcms/detail/42.1106.E.20231107.1417.010.html.

MA C C , XU J , JIA Z R , et al. Optimization design method of heavy-duty chain transmission mechanism used for electromagnetic launch considering fit clearance [J/OL ] . Journal of Naval University of Engineering , 1 - 7 [ 2024-01-07 ] . (in Chinese)

陈冬 , 钱林方 , 陈志群 , 等 . 基于改进拟连续算法的回转弹仓位置控制 [J ] . 兵工学报 , 2024 , 45 ( 5 ): 1436 - 1448 . DOI: 10.12382/bgxb.2023.0064 http://doi.org/10.12382/bgxb.2023.0064 为提高大口径火炮自动装填过程中回转弹仓工作的精确性和鲁棒性,在分析现有拟连续算法相关研究内容的基础上,设计一种全新的改进拟连续控制器对回转弹仓进行位置控制。通过与滑模扰动观测器相结合,新控制器增益不依赖于系统扰动的不确定性边界,且不需引入额外的控制器参数,降低了控制器的设计和调试难度。通过Lyapunov方程验证控制器本身及闭环系统的稳定性。仿真和试验结果表明:新设计的控制器相对于已有拟连续算法具有优越性,在受到不确定时变负载和不确定参数扰动的情况下,新设计的改进控制器在应用于回转弹仓时,在趋近段可以获得更快的收敛速度,减小到位超调量,并在滑动段有效减弱抖振。

CHEN D , QIAN L F , CHEN Z Q , et al. An improved quasi-continuous algorithm for rotational shell magazine position control [J ] . Acta Armamentarii , 2024 , 45 ( 5 ): 1436 - 1448 . (in Chinese) DOI: 10.12382/bgxb.2023.0064 http://doi.org/10.12382/bgxb.2023.0064 Based on the existing researches on quasi-continuous algorithm, a novel improved quasi-continuous controller is designed to improve the precision and robustness of rotational shell magazine position control in the automatic loading process of a large caliber artillery.By combining a sliding mode disturbance observer, the novel controller is independent of the unknown system uncertainty boundary, and no new parameters are introduced, which will lower the difficulties of controller designing and adjusting.The stabilities of controller and close-loop scheme are verified by Lyapunov functions. The simulated and experimental results have demonstrated the superiority of the improved controller over the existing quasi-continuous algorithm.In the presence of unknown time-varying disturbance and uncertain parameters, the improved controller could achieve a higher convergence rate in reaching phase, reduce the overshoot and restrain chattering in sliding phase while performed on the magazine.

鲍丹 , 卫俞凯 , 金鑫 , 等 . 考虑输出约束和输入饱和的弹仓自适应控制 [J ] . 兵工学报 , 2024 , 45 ( 3 ): 789 - 797 . DOI: 10.12382/bgxb.2022.0896 http://doi.org/10.12382/bgxb.2022.0896 针对存在参数不确定性和外部扰动的某链式回转弹仓的位置跟踪控制问题,提出一种自适应控制方案。该方案基于神经模糊系统(Neuro-Fuzzy System, NFS)、非线性扰动观测器(Nonlinear Disturbance Observer, NDO)及障碍Lyapunov函数(Barrier Lyapunov Function, BLF),在实现高精度控制的同时满足输出约束和输入饱和的工程条件。通过BLF的设计,保证弹仓的位移跟踪误差约束在给定范围内。结合神经网络的函数逼近能力和模糊逻辑系统的推理能力,用于估计系统中的不确定性,减小对模型的依赖;两者结合的NFS作为NDO的一部分,进一步补偿估计误差和外部扰动,提高控制性能。此外,控制器设计考虑了运动过程中的执行器输入饱和问题。仿真结果表明,所设计的控制器在3种典型工况以及系统参数变化情况下均可实现弹仓的高精度位置跟踪控制,满足系统的约束条件。

BAO D , WEI Y K , JIN X , et al. Adaptive control of magazines considering output constraints and input saturation [J ] . Acta Armamentarii , 2024 , 45 ( 3 ): 789 - 797 . (in Chinese) DOI: 10.12382/bgxb.2022.0896 http://doi.org/10.12382/bgxb.2022.0896 An adaptive control scheme is proposed for the position tracking control of a chain rotary magazine with parameter uncertainties and external disturbances. Based on neuro-fuzzy system ( NFS), nonlinear disturbance observer (NDO), and barrier Lyapunov function (BLF), the proposed scheme achieves high precision control while satisfying the engineering conditions of output constraint and input saturation. The BLF design ensures that the position tracking error of magazine is constrained within a bounded range. The function approximation ability of neural network and the reasoning ability of fuzzy logic system are combined to estimate the uncertainties of the system and reduce the dependence on the model. The combined NFS is used as part of NDO to further compensate for estimation errors and external disturbances and improve the control performance. In addition, the actuator input saturation problem is considered in the design of the controller. The simulated results show that the designed controller can realize the high-precision position tracking control of the magazine under three typical working conditions and system parameter changes, and meet the constraints of the system.

郝驰宇 , 冯广斌 , 闫鹏程 , 等 . 基于MFBD的输弹机刚柔耦合动力学建模及仿真分析 [J ] . 振动与冲击 , 2016 , 35 ( 15 ): 161 - 167 .

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YAN P C , HAO C Y , SUN H G , et al. Study on dynamical cosimulation of open chain Drive ramming mechanism based on recurDyn [J ] . Journal of Gun Launch & Control , 2015 , 36 ( 2 ): 31 - 35 . (in Chinese)

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李伟 , 马吉胜 , 狄长春 , 等 . 考虑参数随机性的供输弹系统动力学及动作可靠性仿真研究 [J ] . 兵工学报 , 2012 , 33 ( 6 ): 747 - 752 . 利用MSC.Adams和Easy5仿真软件建立了供输弹系统机电液耦合的动力学模型，通过VV&A证明了仿真模型的可信度。针对MCS求解复杂结构系统随机动力学问题时计算量过于庞大的难点，提出了虚拟样机—蒙特卡洛模拟法—支持向量机（VP-MCS-SVM）动力学随机响应求解方法，高效地完成了供输弹系统随机动力学的仿真求解。结合统计推断理论和可靠性分析理论探讨了供输弹系统动作可靠性及随机参数分布特征漂移时的动作可靠性问题利用MSC.Adams和Easy5仿真软件建立了供输弹系统机电液耦合的动力学模型，通过VV&A证明了仿真模型的可信度。针对MCS求解复杂结构系统随机动力学问题时计算量过于庞大的难点，提出了虚拟样机—蒙特卡洛模拟法—支持向量机（VP-MCS-SVM）动力学随机响应求解方法，高效地完成了供输弹系统随机动力学的仿真求解。结合统计推断理论和可靠性分析理论探讨了供输弹系统动作可靠性及随机参数分布特征漂移时的动作可靠性问题为复杂系统动作可靠性的评估提供了新的思路。

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张雷雨 , 李剑锋 , 杨洋 . 装甲车辆用立式弹药舱的设计与动力学分析 [J ] . 兵工学报 2017 , 38 ( 5 ): 843 - 851 . DOI: 10.3969/j.issn.1000-1093.2017.05.002 http://doi.org/10.3969/j.issn.1000-1093.2017.05.002 为分析输送链条的动力学特性和弹药的稳定性，将所有链节及弹架两侧双排滚子简化为弹簧阻尼单元，采用多体系统动力学和运动弹性动力学理论，建立输送链条的完整动力学模型和弹药的稳定性模型。借助Matlab软件，对输送链条的整体动力学模型进行数值仿真，并求解弹药的稳定性模型。通过数值仿真结果可知：在不同驱动功率下输送链条的速度、加速度均窄幅波动；轨迹线的形状特征决定了弹药离心力的动力学响应和突变特性，离心力的突变特性对弹药运动法线方向稳定性具有较大的影响，而弹药在运动切线方向上的稳定性主要受自身惯性和输送链条的动力学参数影响。根据弹药上部的摆动位移响应可知，弹药在运动法线方向和切线方向具有较好的动态稳定性。采用试验测量方法，得到输送链条的切线方向加速度与弹架的法线方向加速度值，测量数据与仿真结果较为吻合。

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