To enhance the reliability and motion stability of the maintenance robotic manipulator system for armored vehicles, we propose a novel adaptive robust control methodology based on the Udwadia-Kalaba (UK) dynamic framework. To address the challenges such as parameter uncertainties and external disturbances in the system, a crucial leakage mechanism is integrated into the adaptive law, which not only suppresses the unbounded growth of the adaptive parameters under continuous disturbances, but also automatically attenuates the control gain when the error converges, significantly improving the smoothness of the controller’s transient response. Finally, we validate the effectiveness of the proposed controller via co-simulation in a multibody dynamics environment.

To ensure the accuracy of military equipment maintainability verification results, a sample allocation method for maintainability test based on extended failure mode, effects and criticality analysis (FMECA) information is proposed to address the problem that the influence factors are relatively one-sided and the weighting is subjective in the current test sample allocation method. The influence factors are analyzed and determined from three aspects: the fault occurrence characteristics, fault impact, and test economy. A method for calculating the fault propagation intensity based on the improved LeaderRank is proposed, which is introduced into the FMECA for expansion. It is proposed to use the CRITIC method to determine the objective weights of the influence factors, determine the subjective weights based on the relative importance of the influence factors, introduce game equilibrium to weigh and determine the combination weights, and then complete the sample allocation. Finally, an example showed that the influence factors determined by this method are more comprehensive, the weight results are more scientific, and the sample structure is more reasonable.

To fully utilize multi-source data of equipment maintainability and improve the fusion accuracy of prior distributions to ensure the accuracy of maintainability verification results, a method for multi-source data fusion of equipment maintainability based on improved Dempster-Shafer (DS) evidence theory is proposed to solve the problem of multi-source data conflicts. The characteristic information of multi-source data is fully mined and extracted, and the evidence mass functions based on sample size, distribution characteristics and data importance are constructed respectively. Considering the correlation between the evidences and the uncertainty of the evidences, the angle cosine is introduced to measure the conflict degree between the evidences, and the information entropy is introduced to measure the uncertainty of the evidences. Then, combined the support degree and the uncertainty degree of evidences to jointly modify evidences, establish a multi-source conflict evidences data fusion model to realize the effective fusion of multi-source data. Finally, two cases are analyzed to verify the effectiveness and feasibility of the proposed method.

In order to shorten the running time of the robotic arm and improve its stability, a time optimal trajectory planning algorithm based on improved particle swarm optimization algorithm is proposed for joint space. Firstly, the kinematic model of the robotic arm is established using the D-H method, and the interpolation points of the robotic arm path are obtained through inverse kinematics. Then, the joint space motion trajectory of the robotic arm is fitted using a 3-5-3 polynomial. Under the maximum speed constraint, establish a fitness function with the goal of time optimization, optimize trajectory through improved particle swarm optimization algorithm, and obtain position, velocity, and acceleration curves through simulation. The results show that the improved algorithm can shorten the operating time of the robotic arm and improve the efficiency of the robotic arm in completing the predetermined actions.

In order to realize object loading and improve loading efficiency, a six-degree-of-freedom robot is taken as the research object, and its kinematics analysis and trajectory planning research are carried out. Establish a kinematic model for the loading robot, and perform forward and inverse kinematics analysis; use Monte Carlo method to solve the robot's workspace, and obtain a point cloud image of the workspace at the end of the robot; perform a trajectory planning simulation on the loading robot to obtain The position, velocity and acceleration curve of each joint during the movement. The results show that the robot moves continuously and smoothly, the scope of the working space is appropriate, and the loading work can be completed.

为给出比较准确的验前分布,提高装备维修性定量指标验证结果的可信度,提出了一种改进多源信息加权融合的验前分布确定方法.结合Bootstrap法,改进了子样本重抽样方式,拓展了子样本数据的取值范围,确定了各验前信息的验前分布.改进了基于质量因子的融合权重确定方法,定义了均值可信度权重因子和样本量可信度权重因子,综合两种权重因子,使所求权重更加科学合理.结合某型装甲装备维修性验证试验,对MTTR指标进行分析,结果表明:所提方法融合后的验前分布更加准确,更接近真实分布,对提高装备维修性验证结果的可信度具有重要的参考价值.

随着智能化、无人化技术的发展,机器人自主装配将成为工业生产自动化、无人化主要发展方向.针对采用机器人完成内燃机配件自动装配问题,依托Matlab/Adams联合仿真对工作路径进行轨迹规划仿真.建立装配机器人运动学模型,并对装配路径进行轨迹规划,利用Matlab/Adams联合仿真验证运动学模型的可行性,仿真结果表明装配机器人所规划的轨迹运动学和动力学特性良好,能够很好的按规划的路径完成装配作业,为内燃机配件装配实现无人化作业提供借鉴.

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针对装备维修性试验验证过程中拆卸任务难以有效规划的问题,提出了一种基于乌鸦搜索算法的装备并行拆卸任务规划方法.分析了拆卸任务的流程关系,建立了拆卸任务流程关系的数学模型.将维修时间作为评价并行拆卸任务规划结果的适应度函数模型,结合乌鸦搜索算法的计算步骤,引入遗传算法的交叉操作方式和变异操作方式,实现了对乌鸦搜索算法的离散化处理,满足了装备并行拆卸任务规划问题的求解需求.实例应用结果表明:相比遗传算法,乌鸦搜索算法的寻优能力和搜索能力更优,适用于装备并行拆卸任务规划工程实践.

针对装备维修性试验数据样本量不足的问题,采用了数据融合方法进行扩充数据样本量,通过建立折合模型对多源先验数据进行转换,解决了与现场数据差异较大难以实现数据融合的问题,采用了改进的Bayes Boot-strap法对多源数据的分布参数进行拟合,建立基于叠合度的数据融合模型,对装备维修性多源先验数据进行融合,结合某型坦克试验数据进行算例分析,证明了该方法的可行性.

In the present work, a numerical study of the dynamic processes occurring during projectile ejection from the open-end of a gun into ambient air was performed. The two-dimensional unsteady Navier–Stokes equations, assuming axisymmetric flow, were solved using an AUSM+ discrete scheme implemented with dynamic mesh boundary conditions. Five cases were carried out in the present study. First, two test cases were simulated to validate the numerical algorithms. The last three cases were used to investigate the blast flow field induced by the projectile nose shapes of flat-nosed, cone-nosed, and blunt-nosed projectiles. The study shows that some wave processes, such as shock–shock interactions, separated flow generation, and the Richtmyer–Meshkov Instability, are changed obviously with the change of projectile shape. The present study aims to deepen the understanding of the dynamic processes of unsteady muzzle flow during the projectile ejection.

针对目前装备维修性验证试验中故障样本分配考虑因素不全面,分配结果不合理的问题,提出了一种基于组合赋权VIKOR法的装备故障样本分配方法.在综合考虑多个主要影响因素的基础上,建立了故障样本分配影响因素体系,采用AHP-变异系数法确定了各影响因素的主客观组合权重,构建了基于组合赋权VIKOR法的装备故障样本分配模型,并结合某型装甲车辆维修性验证试验,实现了装甲车辆加温器故障样本分配.结果 表明:相比基于故障率的故障样本分配方法,所提方法分配结果更加合理.

Aiming at the characters of ammunition loading robot dynamic model which exists coupling and nonlinear, the method of establishing the ammunition loading robot dynamic model based on screw theory is put forward. Firstly, the kinetic energy screw, potential energy screw, and drive force screw of ammunition loading robot are established; then the mathematic model of inertia force, gravity, coriolis forces, and centrifugal force is determined; finally, the Lagrange dynamics equation of ammunition loading robot is founded based on screw theory. The simulations demonstrate the validity of the proposed method, and the method lays a solid foundation for the control strategy.

火炮射击时大量火药燃气从炮口制退器侧孔喷出,由于火药燃气通过各个侧孔的能量是递减的,因此研究炮口制退器第1排侧孔参数对身管后方超压的影响具有重要的军事应用价值.以125 mm坦克炮为背景,基于二维非定常Navier-Stokes方程,结合高精度AUSM+格式及结构化动网格技术,在实验验证基础上从速度场、 压强场及特征涡旋等方面综合分析了膛口流场的动态特性,研究了侧孔参数对炮口制退器流场结构及超压的影响规律,结果表明侧孔处冲击波球面的方向主要受侧孔孔径的影响,而侧孔处二次冲击波方向主要受侧孔倾角的影响,此外随着侧孔倾角及孔径的增大,身管后方的超压峰值均下降,而膛口截面上点的超压峰值呈现出相反的规律.

针对故障率作为维修性试验验证故障样本分配的主要影响因素,而使故障样本分配结果的合理性与可信性不足的问题,提出了一种基于TOPSIS法与灰色关联度法的维修性试验验证故障样本分配方法.构建了故障样本分配影响因素体系,采用残缺判断矩阵法确定了各影响因素的权重,基于TOPSIS法与灰色关联度法构建了故障样本分配的数学模型.以某型装甲车辆加温器的维修性试验为例,验证了所提故障样本分配方法的可行性,结果表明:相比按比例分层抽样的故障样本分配方法,所提方法的故障样本分配结果的合理性与可信性明显提高,更适用于装甲装备维修性试验验证工程实践.

针对目前装备维修性虚拟仿真分析时所设计的虚拟人体维修作业姿态库缺乏任务针对性的问题,提出了一种基于Memetic算法与K-means算法的虚拟人体维修作业姿态库设计方法。首先介绍了虚拟人体维修作业姿态库设计原理,给出了需要提取的虚拟人体维修作业姿态特征数据,而后在K-means算法的基础上引入Memetic算法,并设计了Memetic算法中个体编码方式与各子步骤操作方式,进而对虚拟人体维修作业姿态进行聚类,最终设计了虚拟人体维修作业姿态库。以某型装甲车辆动力舱吊舱为例,将所提的虚拟人体维修作业姿态库设计方法同基于遗传算法与K-means算法的虚拟人体维修作业姿态库设计方法进行了比较,实例应用结果表明所提方法比基于遗传算法与K-means算法的虚拟人体维修作业姿态库设计方法准确性更高、聚类效果更好,验证了所提方法的可行性与优越性。

High shooting frequency weapons have the characteristics of high shooting frequency and fast initial speed. In order to achieve an effective test of its firing dispersion and initial speed, researching the firing dispersion and initial velocity test technology based on the laser screen. Putting forward the design of laser screen composed of line laser, laser detection array, light-source shaping system. The test principle and calculation model of impact point coordinate and initial velocity of projectile is given. Verified by ball firing, it is proved that the target can effectively meet the test demand of firing dispersion and initial speed of high shooting frequency weapons.

为满足性能试验阶段装甲车辆维修性评定的任务需求,提出了一种基于组合赋权法与物元可拓模型的性能试验阶段装甲车辆维修性定性指标综合评价方法.在构建性能试验阶段装甲车辆维修性定性评价指标体系的基础上,通过组合赋权法将订购方与使用方分别基于层次分析法给出的指标权重进行集成,得到了指标的综合权重,并进一步与物元可拓模型相结合,给出了性能试验阶段装甲车辆维修性定性指标综合评价结果.实例应用结果表明该方法合理、有效,为性能试验阶段装甲车辆维修性定性指标综合评价提供了参考与思路.

In view of the long data collection period of Army armored equipment maintenance and repair test data, this paper is devoted to researching the method of verifying the maintenance index in the case of small sample size, analyzing the historical distribution type of maintenance quantitative index, and constructing the SPRT based method. The equipment maintenance quantitative index test verification model, and the maintenance test based on the model, can achieve effective verification of the maintenance index under a small number of trials. The method is carried out to verify the method through historical experimental data. Under the premise of obtaining the same result, the number of tests is effectively reduced, which fully proves the scientificity of the method, and has the adjustment of equipment maintenance test plan and the whole development cycle setting. Important reference value.