A vertical stability simulation test system and control method for an all-electric tank gun

Abstract

An all-electric tank gun vertical stability simulation test system and control method provided by the present invention belong to the field of simulation tests for weapon equipment technology, and include an all-electric tank gun simulation structure, a test part, and an electrical control part; the all-electric tank gun simulation structure includes a simulated upper carriage of the entire tank gun and a six-degree-of-freedom simulation platform; the test part includes a plurality of sensors and sensor mounting mechanisms; the sensors are mounted on the tank gun simulation structure through the sensor mounting mechanisms; the electrical control part mainly includes a DSP controller, all sensor drivers, motor drivers, and a circuit protection module. Compared with the prior art, the present invention truly simulates the key components and non-linear structures in the all-electric tank vertical stability system, adopts the same DSP hardware design scheme as the real tank, and installs a series of sensors to test key physical quantities, providing a pre-test device for the design and improvement of the new generation of all-electric tanks.

Description

Technical Field

[0001] The invention belongs to the field of technical simulation tests of weaponry and equipment, and particularly relates to a vertical stability simulation test system and a control method for an all-electric tank gun. Background Art

[0002] As a main combat weapon of modern land armies, tanks have advantages such as high offense and defense capabilities and strong reliability, and are widely used in modern wars. Firing accuracy is an important indicator to measure the firing performance of tanks and has received extensive research attention. In an actual tank system, the factors affecting firing accuracy are very complex, including high-frequency road surface excitation received by the moving tank, parameter uncertainties and uncertain non-linearities in the tank system. Therefore, the research on high-precision tank firing has become an important guarantee for the tank to give full play to its firepower and improve its combat effectiveness. Li Qingxin designed a simulation loading system test device for a gun in the paper "Research on the Simulation Loading System of a Certain Artillery Follow-up Test Detection Platform", and carried out the mechanical part design for the physical model of the gun load simulator system. However, the test device only includes structures such as a position motor, an inertia disc group, and a speed reducer, and fails to reflect the true structure of the gun vertical stability system. Tian Bin built a hardware-in-the-loop simulation test device in the paper "Design and Simulation of the Guidance and Control System for a Gun-Launched Missile Based on DSP" and verified the overall software and hardware design scheme of the guidance and control system. However, the focus still remains on program design and the hardware design of DSP, lacking the hardware-in-the-loop simulation of the mechanical structure. At present, new control algorithms and extreme working conditions are difficult to conduct a large number of test runs on real tanks. Especially for a new generation of all-electric tanks, it cannot only stay at the hardware simulation, otherwise the design loopholes exposed will pose great risks to the real vehicle test. The research work needs to build a more realistic mechanical platform, conduct more tests, and accumulate a large amount of test data. Therefore, when studying the stable firing of a tank gun, it is necessary to design a test device that can truly simulate the vertical stability system of an all-electric tank gun. Summary of the Invention

[0003] The purpose of the invention is to provide an all-electric tank gun vertical stability simulation test system. By building the all-electric tank gun vertical stability simulation test system, under different test conditions, study the influence of the gaps between different components and the flexibility of the gun barrel on the muzzle control accuracy, adjust the muzzle design accuracy, and further realize the theoretical research on the vertical stability system of the all-electric tank gun and improve the firing accuracy of the all-electric tank gun.

[0004] The technical solution for achieving the object of the present invention is as follows: An all-electric tank gun vertical stability simulation test system includes an all-electric tank gun simulation structure, a test section, and an electrical control section; the all-electric tank gun simulation structure includes a simulated upper carriage of the entire tank gun and a six-degree-of-freedom simulation table, which provides mechanical support for the all-electric tank gun vertical stability simulation test system; the test section includes multiple sensors and sensor mounting mechanisms, which are used to measure the clearance between the liner and the barrel, test the absolute angular displacement change of the muzzle, measure the absolute angular displacement change of the cradle, measure the relative angular displacement change between the upper carriage and the cradle, and test the real-time thrust of the electric cylinder push rod; the electrical control section mainly includes a DSP controller, all sensor drivers, and motor drivers; the sensor drivers are used to obtain the test data of the sensors, convert the test data into analog quantities, and then transmit them to the DSP controller. The DSP controller outputs voltage commands according to the desired instructions, after calculation and processing, to make the electric cylinder in the all-electric tank gun simulation structure move, thereby driving the barrel to move vertically to reach the expected target position.

[0005] Further, the all-electric tank gun simulation structure includes an electric cylinder, a cradle, a front liner, a rear liner, a left trunnion, a right trunnion, a barrel, an upper carriage, a breech, and a six-degree-of-freedom swing table, etc.; the upper fulcrum of the electric cylinder is hinged to the upper carriage, and the lower fulcrum of the electric cylinder is hinged to the cradle to drive the barrel to move vertically; the front liner and the rear liner are respectively fixed inside the cradle, and the breech is fixedly connected to the barrel; it passes through the cradle and is connected by three spring dampers to simulate the recoil mechanism and recuperator of a real tank gun, and the connection methods of the spring dampers with the cradle and the breech are both hinged.

[0006] Further, the six-degree-of-freedom swing table is fixedly installed below the upper carriage to simulate the road surface vibration excitation during the movement of a real all-electric tank and apply it to the upper carriage; the upper carriage is hinged to the cradle through the left trunnion and the right trunnion.

[0007] Further, the multiple sensors include 10 displacement sensors, 1 mechanical sensor, 1 resolver, and 2 inclination sensors; 4 displacement sensors are installed at each of the front liner and the rear liner, and are evenly arranged on the circumference at an equal angle of 90° to measure the clearance between the front liner, the rear liner, and the barrel; 1 inclination sensor is installed at the muzzle to test the absolute angular displacement change of the muzzle; 1 inclination sensor is installed at the cradle to measure the absolute angular displacement change of the cradle; 1 resolver is installed at the trunnion to measure the relative angular displacement change between the upper carriage and the cradle; a force sensor is installed at the end of the electric cylinder push rod to test the real-time thrust of the electric cylinder push rod.

[0008] Furthermore, the sensor mounting mechanism includes a stepped shaft and a fixed cage; the sensors at the front and rear bushings are mounted through the stepped shaft to separate the rocker and the sensors, and the resolver at the trunnion is mounted through the cage to reduce the shaft runout of the resolver.

[0009] Furthermore, the control method of the fully electric tank gun vertical stability simulation test system includes the following steps:

[0010] Step 1: Set the desired commands of the test system, including the desired angular displacement, desired angular velocity, and desired angular acceleration;

[0011] Step 2: Consider the thrust input of the electric cylinder as the control input quantity, and the vertical movement attitude of the muzzle of the test device as the test target;

[0012] Step 3: Design the controller of the fully electric tank gun vertical stability system, and adopt the adaptive robust control algorithm based on the RBF neural network; the error feedback law of the fully electric tank vertical system controller can be expressed as:

[0013]

[0014] In the formula, u is the voltage command input by the driver, is the estimated value of the uncertain parameter, x2 is the state variable, is the first derivative of the virtual control law of x2, k 2s1 is the positive feedback gain, z2 is the defined control error variable, ε is an arbitrarily small positive controller parameter, h is a positive real number, satisfying is the transposed matrix of the regressor matrix, is the estimated value matrix of the uncertain parameter matrix, and k2 is the positive nonlinear gain.

[0015] Furthermore, estimate the unmodeled disturbance term based on the RBF neural network to reduce the control instability phenomenon caused by the unmodeled dynamics, and define the basis function h k (x) as follows:

[0016]

[0017] In the formula: x ∈ {z1, z2}, z1 and z2 are the defined control error variables, c k and b k are positive constants. Define W T as the weight matrix connecting the hidden layer and the output layer, and obtain the unmodeled disturbance term as:

[0018]

[0019] Compared with the prior art, the significant advantages of the present invention are as follows: The present invention takes into account the mechanical structure of the vertical stability system of a real all-electric tank, designs a test device according to the scaling theory, truly simulates the key components and non-linear structures in the vertical stability system of the all-electric tank, adopts the same DSP hardware design scheme as that of a real tank, and installs a series of sensors to test key physical quantities, providing a pilot test device for the design and improvement of a new generation of all-electric tanks. Description of the Drawings

[0020] Figure 1 It is a system composition diagram of the present invention;

[0021] Figure 2 It is an axonometric view of the main structure of the present invention (excluding the six-degree-of-freedom swing table);

[0022] Figure 3 It is a front view of the main structure of the present invention;

[0023] Figure 4 It is an interaction principle diagram of the present invention;

[0024] Figure 5 It is the control logic of the disclosed algorithm of the present invention;

[0025] Figure 6 It is a comparison between the disclosed algorithm of the present invention and the conventional PID control algorithm when driving at a vehicle speed of 25 km / h on a Class D road surface;

[0026] Figure 7 It is a comparison between the disclosed algorithm of the present invention and the conventional PID control algorithm when driving at a vehicle speed of 30 km / h on a Class E road surface.

[0027] In the figures: 1 - motor and electric cylinder 1, 2 - inclination sensor 1, 3 - rocker, 4 - front lining, 5 - right trunnion, 6 - barrel 6, 7 - inclination sensor 2, 8 - upper frame 8, 9 - displacement sensor, 10 - resolver, 11 - spring damper, 12 - breech, 13 - six-degree-of-freedom swing table Detailed Embodiment

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the drawings in the embodiments of the present invention. The specific embodiments described are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0029] As Figure 1 shown, an all-electric tank gun vertical stability simulation test system of the present invention includes an all-electric tank gun simulation structure, a test part, and an electrical part;

[0030] AsFigure 2 , 3 As shown, the full-electric tank gun simulation structure is a scaled-down model of a real full-electric tank gun, which truly restores the structure of the full-electric tank gun, including the electric cylinder 1, the cradle 3, the front liner 4, the rear liner, the left trunnion, the right trunnion 5, the barrel 6, the upper carriage 8, the breech 12, and the six-degree-of-freedom swing table 13, etc. The upper fulcrum of the electric cylinder 1 is hinged to the upper carriage 8, and the lower fulcrum of the electric cylinder 1 is hinged to the cradle, so as to drive the vertical movement of the barrel. The front liner 4 and the rear liner are respectively fixed inside the cradle, and the breech 12 is fixedly connected to the barrel 6; it passes through the cradle and is connected by three spring dampers 11 to simulate the recoil mechanism and the recuperator of a real tank gun. The connection methods of the spring dampers with the cradle and the breech 12 are both hinged. The six-degree-of-freedom swing table 13 is installed below the upper carriage 8 and is fixedly connected to the upper carriage 8 by bolts, so as to simulate the road surface vibration excitation during the movement of a real full-electric tank and apply it to the upper carriage. The upper carriage 8 is hinged to the cradle through the left trunnion and the right trunnion 5. During the simulation test, the six-degree-of-freedom swing table 13 receives the road surface vibration excitation and applies it to the upper carriage 8. The vibration excitation is mainly transmitted to the cradle 3, the front liner 4, and the rear liner through the left trunnion and the right trunnion 5, and then transmitted to the barrel 6 and the breech 12.

[0031] In this embodiment, the vibration excitation range simulated by the six-degree-of-freedom swing table 13 is the working conditions of a real vehicle traveling on Class C, Class D, Class E, and Class F road surfaces at vehicle speeds of 10 km / h, 15 km / h, 20 km / h, 25 km / h, 30 km / h, 35 km / h, and 40 km / h respectively. The vibration excitation is mainly transmitted to the cradle 3, the front liner 4, and the rear liner through the left trunnion and the right trunnion 5, and then transmitted to the barrel 6 and the breech 12.

[0032] By controlling the push and pull of the electric cylinder 1, the cradle 3 can be rotated around the center of the trunnion. Through the contact between the front liner 4, the rear liner and the barrel 6, the vertical control of the pointing of the barrel 6 is realized, and the position of the muzzle is adjusted in real time, so as to ensure the design accuracy of the muzzle. In addition, the left trunnion, the right trunnion 5, the front liner 4, and the rear liner are all equipped with accessories of different sizes, and the breech 12 can also increase or decrease the counterweight to adjust the center of mass of the whole device, so that the weight and the center of mass of the mechanical part of the whole simulation system are the same as those of the real full-electric tank gun. The mechanical part model established by the present invention takes into account the influence of multiple non-linear structures on the vertical stability of the tank gun, including the flexibility of the barrel 6, the clearance between the front liner 4, the rear liner and the barrel 6, the clearance between the left trunnion, the right trunnion 5 and the cradle 3, the stiffness of the electric cylinder, and the clearance of the electric cylinder hinge point.

[0033] Refer to Figures 1-4, the test part includes all sensors and the mechanical mounting structures of the sensors. The sensors include 10 displacement sensors, 1 mechanical sensor, 1 resolver, and 2 inclination sensors; the mechanical mounting structures include a copper stepped shaft and a retaining bracket. Four displacement sensors are installed at each of the front and rear bushings, evenly arranged at an equal angle of 90° on the circumference to measure the clearances between the front bushing 4, the rear bushing, and the barrel 6, and then calculate the eccentric angle and eccentricity of the axis of the barrel 6. Since the cradle 3 is made of a magnetically conductive material, which will affect the test accuracy, the displacement sensors are first installed on the copper stepped shaft and then on the front and rear bushings through the stepped shaft, thus separating the displacement sensors from the cradle 3 to improve the test accuracy. And theoretically, three displacement sensors can complete the test task. In the present invention, an additional redundant displacement sensor is added to make the calculated test data more accurate. Two displacement sensors are installed at the trunnion, one on each side, vertically installed to measure the clearance between the trunnion and the cradle 3. One inclination sensor is installed at the muzzle to measure the absolute angular displacement change of the muzzle; one inclination sensor is installed at the cradle 3 to measure the absolute angular displacement change of the cradle 3; one resolver is installed at the trunnion. When installing, the resolver is first fixed on the retaining bracket, and the retaining bracket is fixed to the upper frame by four high-precision parallel shafts to reduce the shaft runout of the resolver and ensure the coaxiality of the resolver and the rotation center. The measuring shaft of the resolver is connected to the shaft fixed and led out from the inside of the cradle 3 through a spring coupling to measure the relative angular displacement change between the upper frame 8 and the cradle 3; a force sensor is installed at the end of the electric cylinder push rod to measure the real-time thrust of the electric cylinder push rod. The above sensors are all connected to their corresponding drivers and then connected to the DSP controller of the electrical part through a serial port.

[0034] The electrical part includes a DSP controller, all sensor drivers, a motor driver, and a circuit protection module. The DSP controller is connected to the sensor driver and the motor driver. The sensor driver is used to obtain the test data of the sensors, convert the test data into analog quantities, and then send them to the DSP controller. The DSP controller calculates and processes the data and outputs a voltage command to make the electric cylinder in the full-electric tank gun simulation structure move, thereby driving the barrel to move vertically to reach the expected target position. The circuit protection module is used for protection in case of faults such as overload, short circuit, and under-voltage.

[0035] Figure 4As shown in the figure, it is the closed-loop interaction schematic diagram of the entire test device. Before the test device works, first turn on the power of the control chip, preset the desired commands, including the desired angular displacement, desired angular velocity, and desired angular acceleration, and then write the program into the control chip through the network transmission serial port. Turn on the power of each sensor and the motor enable, and the test device starts to operate. The test part will continuously test the non-linear physical quantities of the test device and the muzzle movement attitude, and transmit the measured data back to the control chip in real time. The control program will continuously compare the desired muzzle movement command with the actual muzzle movement attitude, and at the same time consider the influence of each non-linear physical quantity transmitted back by the test, learn these non-linear physical quantities, correct the algorithm output, and finally output a suitable electric cylinder voltage command to make the electric cylinder output the calculated thrust. The electric cylinder pushes the cradle, and the cradle drives components such as the barrel, liner, and breech to rotate around the trunnion center, thereby realizing the change of the muzzle attitude adjustment. After a few milliseconds, the test part will perform the test again, and the new round of movement data test will be fed back to the controller, thus completing a closed-loop working process.

[0036] Different from the existing test devices that only feedback the movement quantity through the muzzle, this test device can obtain the test quantities of each part in real time, perform learning and calculation, and then output a suitable enable voltage in real time, so that the control effect is better and the control error is smaller.

[0037] The present invention also discloses a control method for a fully electric tank gun vertical stability simulation test system, and its specific steps are as follows:

[0038] Step 1: Set the desired commands of the test device, including the desired angular displacement, desired angular velocity, and desired angular acceleration;

[0039] Step 2: Consider the thrust input of the electric cylinder as the control input quantity, and the vertical movement attitude of the muzzle of the test device as the test target;

[0040] Step 3: Design the control algorithm of the fully electric tank gun vertical stability system, and adopt the adaptive robust control algorithm based on the RBF neural network;

[0041] According to the force analysis of the tank vertical system, the vertical movement equation of the tank gun barrel can be obtained:

[0042] Jβ = T e -Bω - T f (1)

[0043] In the formula: J is the moment of inertia of all pitching parts converted at the motor output shaft; β is the angular acceleration of the electric cylinder motor output shaft; T e is the torque at the motor output end, which has an approximate proportional relationship with the voltage command u input by the driver. Let K t be the voltage torque coefficient, then there is Te = K t u; B is the viscous friction coefficient of the motor; ω is the angular velocity at the output end of the motor; T f is the load torque of all pitching parts reduced to the output end of the motor.

[0044] Let the transmission ratio from the output end of the permanent magnet synchronous motor (PMSM) of the electro - hydraulic cylinder to the muzzle in the tank system be i, q, and are the angular displacement, angular velocity and angular acceleration at the output end of the permanent magnet synchronous motor (PMSM) respectively. From the formula, we can get:

[0045]

[0046] Let the state variable of the two systems be x1 = q, uncertain parameter uncertain parameter unmodeled disturbance includes unmodeled friction, coupling torque, interference, etc. The state - space expression of the mathematical model of the tank vertical system can be obtained:

[0047]

[0048] In the formula: Among them, is the first - order derivative of the two state variables.

[0049] Define the system uncertain parameter matrix θ = [θ1, θ2] T , due to the continuity of the model and the boundedness of the expression variables of θ and , there are the following assumptions:

[0050]

[0051] In the formula: Ω θ is the set of θ; θ min and θ max are the lower - bound matrix and upper - bound matrix of θ respectively; θ min = [θ 1min , θ 2min T , θ max = [θ 1max , θ 2max T , θ 1min is the lower bound of θ1, θ 2min is the lower bound of θ2, θ 1max is the upper bound of θ1, θ 2max is the upper bound of θ2; θ 1min , θ 2min , θ 1max , θ 2max ​​, δ are all finite and positive constants. Define the error variables:

[0052]

[0053] where: the symbol "" means "defined as"; z1 and z2 are the defined control error variables; and are the first derivatives of z1 and z2 respectively; x 1d is the angle control command; is the first derivative of x 1d ; α1 is the virtual control rate of x2; is the first derivative of α1; k1 is the feedback gain.

[0054] Therefore, it is necessary to control both z1 and z2 to be as small as possible so that the angular error and speed error of the system both have better performance.

[0055] Design the controller according to the following method so that z2 approaches 0.

[0056]

[0057] Thus, design the following controller:

[0058]

[0059] where: u a is the compensation term of the adaptive model; define as the estimated value matrix of the uncertain parameter matrix θ, where is the estimated value of θ1, is the estimated value of θ2; u s is the robust feedback term; u s1 is the stabilizing controller; k 2s1 is the positive feedback gain; u s2 is the robust control law, and the system is stabilized by designing u s2 . The parameter adaptation rate is defined as follows:

[0060]

[0061] where: Γ > 0 is a positive definite diagonal matrix, τ is the parameter adaptation function, and in this paper, is the regressor matrix. In order to ensure the stability and boundedness during the adaptation process of , the discontinuous mapping Proj( i ) regarding parameter adaptation is defined as follows:

[0062]

[0063] where, iIndependent variable of the discontinuous mapping Proj( i ) is and θ imax is θ 1max and θ 2max ,

[0064] Combining and, and letting the estimation error we get:

[0065]

[0066] Thus, u can be designed for the stable system s2 to satisfy the following stabilization condition:

[0067]

[0068] where ε is an arbitrarily small positive controller parameter, which can describe the robust ability of the controller.

[0069] u s2 can be designed as follows:

[0070]

[0071] where h is a positive real number satisfying k 2s2 is a positive nonlinear gain. Define the positive nonlinear gain k2 = k 2s1 + k 2s2 . Finally, the error feedback law of the tank vertical system controller can be expressed as:

[0072]

[0073] So far, the design of the adaptive robust control algorithm for the tank gun vertical stabilization system is completed.

[0074] Among them, the RBF neural network is used to estimate the unmodeled disturbance term to reduce the control instability phenomenon caused by the unmodeled dynamics. Define the basis function h k (x) of the RBF neural network as follows:

[0075]

[0076] where x ∈ {z1, z2}, c k and b k are positive constants. Define W T as the weight matrix connecting the hidden layer and the output layer, and the unmodeled disturbance term is:

[0077]

[0078] The design of the adaptive robust control algorithm based on RBF neural network compensation is completed, which can perform real-time feedback compensation on the output signal of the adaptive robust controller. The algorithm flow is as follows Figure 5 shown.

[0079] The test device of the present invention is used to test and verify the above-disclosed control method, and the verification process is as follows:

[0080] The control instruction for the test setting is given as the desired angular displacement of 0 rad, and the designed test time is 10 seconds. Verify the muzzle angular displacement of the vehicle traveling at a simulated speed of 25 km / h on a D-class road surface and the muzzle angular displacement of the vehicle traveling at a simulated speed of 35 km / h on an E-class road surface under the above adaptive robust control algorithm and the conventional PID algorithm of the present invention. The corresponding vibration data is given to the swing table to conduct the anti-interference ability test of the controller. To improve the reliability of the analysis data, the analysis is carried out for 2 to 8 seconds of the test time, and the Figure 6 and Figure 7 muzzle disturbance curves in are obtained. It can be seen that both the control algorithm disclosed in the present invention and the conventional PID algorithm can stabilize the angular displacement of the muzzle near 0 rad, but the average error and peak error of the control algorithm disclosed in the present invention are smaller than those of the conventional PID algorithm, the control effect is better, and when the environmental disturbance becomes worse, it can show stronger robustness.

[0081] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection claimed by the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully electric vertical stability simulation test system for tank guns, characterized in that, It includes a fully electric tank gun simulation structure, a test part, and an electrical control part; The fully electric tank gun simulation structure includes a simulated upper carriage of the entire tank gun and a six-degree-of-freedom simulation platform, which provides mechanical support for the vertical stability simulation test system of the fully electric tank gun; The test part includes multiple sensors and sensor mounting mechanisms, which are used to measure the clearance between the liner and the barrel, test the absolute angular displacement change of the muzzle, measure the absolute angular displacement change of the cradle, measure the relative angular displacement change between the upper carriage and the cradle, and test the real-time thrust of the electric cylinder push rod; The electrical control part mainly includes a DSP controller, all sensor drivers, and motor drivers; the sensor driver is used to obtain the test data of the sensor, convert the test data into analog quantities, and then send them to the DSP controller. The DSP controller outputs voltage commands according to the desired instructions, through calculation and processing, to make the electric cylinder in the fully electric tank gun simulation structure move, thereby driving the barrel to move vertically to reach the expected target position; The control method of the vertical stability simulation test system of the fully electric tank gun includes the following steps: Step 1: Set the desired instructions of the test system, including the desired angular displacement, desired angular velocity, and desired angular acceleration; Step 2: Consider the thrust input of the electric cylinder as the control input quantity, and the vertical movement attitude of the muzzle of the test device as the test target; Step 3: Design the controller of the vertical stability system of the fully electric tank gun, and adopt an adaptive robust control algorithm based on the RBF neural network; The error feedback law of the vertical system controller of the fully electric tank gun is: where u is the voltage command input by the driver, is the estimation of the uncertain parameter, x2 is the state variable, is the first derivative of the virtual control law of x2, k 2s1 is the positive feedback gain, z2 is the defined control error variable, ε is an arbitrarily small positive controller parameter, h is a positive real number satisfying is the transpose matrix of the regressor matrix, is the estimated value matrix of the uncertain parameter matrix, k2 is the positive nonlinear gain.

2. The full-electric tank gun vertical stability simulation test system according to claim 1, characterized in that The fully electric tank gun simulation structure includes an electric cylinder, a cradle, a front liner, a rear liner, a left trunnion, a right trunnion, a barrel, an upper carriage, a breech, and a six-degree-of-freedom swing table, etc.; the upper fulcrum of the electric cylinder is hinged to the upper carriage, and the lower fulcrum of the electric cylinder is hinged to the cradle to drive the barrel to move vertically; the front liner and the rear liner are respectively fixed inside the cradle, and the breech is fixedly connected to the barrel; it passes through the cradle and is connected by three spring dampers to simulate the recoil mechanism and recuperator of a real tank gun, and the connection methods of the spring dampers with the cradle and the breech are both hinged.

3. The fully electric tank gun vertical stability simulation test system according to claim 2, wherein The six-degree-of-freedom swing table is fixedly installed under the upper carriage to simulate the road surface vibration excitation during the movement of a real fully electric tank and apply it to the upper carriage; the upper carriage is hinged to the cradle through the left trunnion and the right trunnion.

4. The fully electric tank gun vertical stability simulation test system according to claim 2, characterized in that The multiple sensors include 10 displacement sensors, 1 mechanical sensor, 1 resolver, and 2 inclination sensors; Four displacement sensors are installed at each of the front liner and the rear liner. They are evenly arranged at equal angles of 90° on the circumference to measure the clearance between the front liner, the rear liner, and the barrel; one inclination sensor is installed at the muzzle to measure the absolute angular displacement change of the muzzle; one inclination sensor is installed at the cradle to measure the absolute angular displacement change of the cradle; one resolver is installed at the trunnion to measure the relative angular displacement change between the upper carriage and the cradle; a force sensor is installed at the end of the electric cylinder push rod to measure the real-time thrust of the electric cylinder push rod.

5. The fully electric tank gun vertical stability simulation test system according to claim 4, characterized in that, The sensor mounting mechanism includes a stepped shaft and a fixed cage; the sensors at the front and rear bearing bushes are mounted through the stepped shaft to separate the rocker and the sensors, and the resolvers at the trunnions are mounted through the cage to reduce the shaft runout of the resolvers.

6. The full-electric tank gun vertical stability simulation test system according to claim 1, characterized in that Estimate the unmodeled disturbance term based on the RBF neural network to reduce the control instability phenomenon caused by unmodeled dynamics, and define the basis function h k (x) as follows: where: \(x\in\{z_1,z_2\}\), \(z_1\) and \(z_2\) are defined control error variables, \(c\) k and \(b\) k are positive constants, define \(W\) T as the weight matrix connecting the hidden layer and the output layer, and obtain the unmodeled disturbance term as:

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