自行火炮弹丸传输机械臂的动力学建模与位置控制

摘要

Considering the influence of the hull's vibration,the dynamics and position control problem of the shell transfer manipulator for a self-propelled gun were studied herein.Firstly,the dy-namics model of the manipulator was established via the Lagrange's equations of the second kind by extracting the hull's vibration as external disturbance.Secondly,based on above dynamics model,a continuous feedback position controller was designed utilizing an implicit Lyapunov function.The controller's gains were differentiable functions of the state variables.Finally,the dynamics equation was solved via Newton's method and Runge-Kutta method.Results show that the controller attenua-ted the hull's vibration,achieved an accurate position control of the shelf transfer manipulator,and has good robustness.%研究了车体振动影响下某自行火炮的弹药传输机械臂的动力学与位置控制。采用第二类拉格朗日法建立了弹药传输机械臂的动力学方程，并将方程中的车体振动项提取出来看作不确定外部扰动力。在此基础上，基于一种隐式Lyapunov函数设计了系统的位置控制器(控制器的增益是系统状态变量的可微函数)。基于牛顿迭代法与龙格库塔法求解了系统的动力学方程。结果显示，所设计的控制器有效抑制了车体振动的影响，实现了弹丸传输机械臂位置的精确控制。