A semi-physical system for simulating turret runout stability

Abstract

The utility model discloses a kind of for simulating semi-physical system of stability of moving between turret, belong to weapon testing equipment technical field.The system includes six degrees of freedom swing platform, real object turret, sensor group and control terminal, six degrees of freedom swing platform is connected with real object turret by flange plate;Sensor group is integrated in the pitch axis, gyration axis and cannon tube end of the real object turret, for collecting angular velocity and acceleration data;Control terminal is electrically connected with the six degrees of freedom swing platform and sensor group, for realizing the control of electric cylinder in six degrees of freedom swing platform.The utility model constructs the closed-loop simulation system of moving between turret by the mechanical coupling of six degrees of freedom swing platform and real object turret, compared with real vehicle test, the system saves site and energy consumption, shortens test cycle.

Description

Technical Field

[0001] This utility model relates to the field of weapon testing equipment technology, and in particular to a semi-physical system for simulating the stability of a turret during movement. Background Technology

[0002] In existing technologies, the performance verification of fire control systems has long relied on dynamic testing of actual vehicles, which suffers from problems such as long testing cycles and uncontrollable environmental interference. Conventional three-degree-of-freedom vibration tables are limited by the dimension of motion and cannot reproduce the multi-axis coupled vibration characteristics of complex road spectra. Although six-degree-of-freedom platforms have been applied in fields such as aircraft simulation.

[0003] However, existing technologies still have significant shortcomings in their specialized adaptation to armored vehicle turrets: First, they lack the ability to simulate and reproduce the vibration characteristics of complex road surfaces under weapon scenarios; second, traditional control modules do not integrate mechanical resonance compensation modules, causing the platform's own vibration error to interfere with test data, which restricts the quantitative evaluation of the aiming stability accuracy of the fire control system. Summary of the Invention

[0004] The purpose of this invention is to provide a semi-physical system for simulating the stability of a turret during movement, in order to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a semi-physical system for simulating the stability of a turret during movement, comprising: a six-degree-of-freedom oscillating table, a physical turret, a sensor array, and a control terminal; the six-degree-of-freedom oscillating table is connected to the physical turret via a flange, and the movement of the six-degree-of-freedom oscillating table drives the movement of the physical turret; the sensor array is integrated into the pitch axis, rotation axis, and end of the gun barrel of the physical turret, and is used to collect angular velocity and acceleration data; the control terminal is electrically connected to the six-degree-of-freedom oscillating table and the sensor array, and is used to control the electric cylinder in the six-degree-of-freedom oscillating table.

[0006] Furthermore, the sensor group includes a pitch angular velocity gyroscope mounted on the pitch axis of the physical turret, a rotation angular velocity gyroscope mounted on the rotation axis of the physical turret, and an acceleration sensor mounted at the end of the gun barrel. The angular velocity gyroscope is used to collect angular velocity data, and the acceleration sensor is used to capture acceleration signals at the end of the gun barrel.

[0007] Furthermore, the control terminal has a built-in vibration environment simulation module and a feedback control system. The vibration environment simulation module is used to generate vibration control commands based on the target road surface spectrum, and the feedback control system is configured to adjust the extension and retraction stroke and frequency of the electric cylinder.

[0008] Furthermore, the vibration environment simulation module is configured to generate a frequency domain excitation signal of a three-dimensional random road surface spectrum based on the harmonic superposition method, and integrates a shooting impact noise model.

[0009] Furthermore, the vibration environment simulation module includes: a harmonic superposition module and an impact noise module; the harmonic superposition module generates a frequency domain excitation signal of a three-dimensional random road surface spectrum based on the harmonic superposition method; the impact noise module is used for integrated shooting condition simulation, and generates a pulse amplitude sequence that follows a normal distribution through the Monte Carlo method.

[0010] Furthermore, the vibration environment simulation module also includes a mechanical harmonic compensation module: by collecting motion data of the physical turret on the six-degree-of-freedom swing table from the sensor group, an adjustment excitation signal is generated, which is then used to eliminate the influence of the mechanical resonance of the six-degree-of-freedom swing table on the vibration excitation accuracy.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] (1) This utility model innovatively integrates a six-degree-of-freedom swing table with a physical turret to construct a closed-loop simulation system for turret movement.

[0013] (2) By rigidly coupling the six-degree-of-freedom platform with the physical turret, combined with a high-precision sensor group, vibration environment simulation module and feedback control system, the system achieves accurate simulation of the stability of the physical turret during movement. Compared with actual vehicle testing, the system saves space and energy consumption and shortens the testing cycle. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a schematic diagram of the structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the system principle of this utility model;

[0017] In the diagram: 1. Six-DOF swing table; 2. Electric cylinder; 3. Physical turret; 4. Sensor group; 5. Control terminal; 6. Vibration environment simulation module; 7. Feedback control system; 8. Pitch angular velocity gyroscope; 9. Rotation angular velocity gyroscope; 10. Gun barrel end acceleration sensor. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] The embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0020] Please see Figure 1-2 This embodiment provides a semi-physical system for simulating the stability of a turret during movement. The system includes a six-degree-of-freedom swing table 1, a physical turret 3, a sensor array 4, and a control terminal 5. The six-degree-of-freedom swing table 1 is rigidly connected to the physical turret 3 via a flange.

[0021] The electric drive mechanism in the six-degree-of-freedom swing table 1 includes six parallel electric cylinders 2, which are arranged in a spatial hexagonal shape. The extension stroke and frequency of each electric cylinder 2 are dynamically adjusted by the feedback control system 7.

[0022] The sensor assembly includes a pitch angular velocity gyroscope 8 mounted on the pitch axis (X) of the physical turret 3, a rotation angular velocity gyroscope 9 mounted on the rotation axis (Y) of the physical turret 3, and an accelerometer 10 mounted at the end of the gun barrel. The two angular velocity gyroscopes balance the gyroscopic torque through elastic constraints, outputting a measurement signal proportional to the input angular velocity, thereby acquiring angular velocity data and using it to solve for attitude information; the accelerometer is used to capture the acceleration signal at the end of the gun barrel, assisting in solving for attitude information.

[0023] The control terminal 5 is connected to the six-degree-of-freedom swing table 1 and the sensor group 4 via a cable. The control terminal 5 includes a vibration environment simulation module 6 and a feedback control system 7.

[0024] The vibration environment simulation module 6 is used to generate vibration control commands based on the target road surface spectrum, including: harmonic superposition module, impact noise module, and mechanical harmonic compensation module; the vibration environment simulation module adopts a modular design to support the user-defined load spectrum import function and is compatible with standard test procedures such as GB / T7031—2005 and ISO / TC108 / SC2N67.

[0025] Harmonic Superposition Module: This module simulates the road surface environment and can generate frequency domain excitation signals for three-dimensional random road surface spectra based on the harmonic superposition method. It is the main part of the vibration environment simulation module. This module has a built-in graded road surface database, allowing users to select from E-grade road surfaces (roughness coefficient 4096×10⁻⁶). -6 m3 The target power spectrum is dynamically configured using standard parameters such as [parameter 1] and [parameter 2]. The spatial frequency component distribution is automatically calculated via a harmonic superposition module, enabling frequency domain excitation signal modeling that matches different road surface grades. This feature allows the system to accurately simulate vibration environments across a full range of scenarios, from smooth highways to harsh off-road conditions.

[0026] Shock Noise Module: During weapon platform operation, in addition to vibrations from the road surface, transient impacts such as recoil from firing can also affect the stability of the weapon platform, thus affecting firing stability. This module is used to integrate firing condition simulation, generating pulse amplitude sequences that follow a normal distribution using the Monte Carlo method to more accurately reproduce the complex vibration environment under weapon system firing conditions.

[0027] Mechanical Harmonic Compensation Module: During vibration simulation, the six-degree-of-freedom swing table 1 generates mechanical harmonics, affecting the accuracy of the environmental simulation. The mechanical harmonic compensation module collects motion data of the physical turret 2 on the six-degree-of-freedom swing table 1 through sensor group 4, generates adjustment excitation signals, and then uses them to eliminate the influence of the mechanical resonance of the six-degree-of-freedom swing table 1 on the vibration excitation accuracy.

[0028] The three modules simulate three factors affecting the output vibration environment of the weapon test platform during operation. The output vibration environment signal is coupled with the frequency domain excitation signal of the three-dimensional random road surface spectrum and the firing impact noise signal. The mechanical resonance is eliminated by adjusting the excitation signal, and the final result is obtained.

[0029] Feedback control system 7: used to adjust the extension stroke and frequency of electric cylinder 2; feedback control system 7 realizes the vibration simulation of the six-degree-of-freedom swing table 1 driving the physical turret 3 under the road surface standard required by the experiment based on the vibration environment signal (vibration control command) output by vibration environment simulation module 6.

[0030] The working principle of a semi-physical system for simulating the stability of a turret during movement is as follows: This system is based on a closed-loop architecture of a control terminal, a six-degree-of-freedom swing table and a sensor group. Through the synergistic effect of multi-dimensional dynamic excitation and real-time feedback, it achieves accurate simulation of the stability of the turret during movement and realizes high-precision reproduction of the dynamic characteristics of the weapon platform.

[0031] Firstly, the vibration environment signal is generated: The harmonic superposition module in vibration environment simulation module 6 uses an improved harmonic superposition algorithm to decompose the standard road surface spectrum (GB / T7031-2005) into a set of spatial frequency components. The time-domain excitation signal is reconstructed through inverse Fourier transform to generate the frequency-domain excitation signal of the three-dimensional random road surface spectrum. The impact noise module in vibration environment simulation module 6 integrates a shooting condition simulation unit to generate a shooting impact noise signal that conforms to a normal distribution of impact load sequences, achieving coupling between traveling vibration and shooting impact. The mechanical harmonic compensation module in vibration environment simulation module 6 generates an adjustment excitation signal to eliminate the mechanical harmonics generated by the six-degree-of-freedom swing table 1 during vibration simulation, thus reducing simulation errors.

[0032] Secondly, dynamic response acquisition: Based on the attitude data collected by sensor group 4, the mechanical harmonic compensation module, along with the parallel electric cylinder 2 of the six-degree-of-freedom swing table 1, generates multi-axis coupled motion according to excitation commands, which is transmitted to the physical turret 3 through a rigid connection. The pitch and rotation gyroscopes 8 and 9, based on the accuracy requirements of the experiment, determine their sampling rates to monitor turret attitude changes in real time, while the barrel end-accelerometer 10 synchronously collects high-frequency impact vibration data. After filtering, the sensor signals form a feedback dataset containing six-degree-of-freedom motion parameters.

[0033] Intelligent compensation adjustment: The mechanical harmonic compensation module performs frequency domain comparison and analysis between sensor data and the target excitation spectrum to generate compensation commands. The compensated drive commands adjust the extension and retraction stroke and frequency response of the electric cylinder in real time, ensuring that the vibration table output error is controlled within the required experimental accuracy range.

[0034] Feedback control system 7: Based on the output of the environmental simulation signal, the stroke and frequency of the electric cylinder are controlled to achieve the expected output.

[0035] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A semi-physical system for simulating the stability of a turret during movement, characterized in that, include: A six-degree-of-freedom swing table (1), a physical turret (3), a sensor group (4), and a control terminal (5); the six-degree-of-freedom swing table (1) is connected to the physical turret (3) via a flange, and the movement of the six-degree-of-freedom swing table (1) drives the movement of the physical turret (3); the sensor group (4) is integrated into the pitch axis, rotation axis, and end of the barrel of the physical turret (3) and is used to collect angular velocity and acceleration data; the control terminal (5) is electrically connected to the six-degree-of-freedom swing table (1) and the sensor group (4) and is used to control the electric cylinder (2) in the six-degree-of-freedom swing table (1).

2. The semi-physical system for simulating turret stability during movement according to claim 1, characterized in that, The sensor group (4) includes: a pitch angular velocity gyroscope (8) mounted on the pitch axis of the physical turret (3), a rotation angular velocity gyroscope (9) mounted on the rotation axis of the physical turret (3), and an acceleration sensor (10) mounted at the end of the gun barrel, wherein the angular velocity gyroscope is used to collect angular velocity data, and the acceleration sensor is used to capture the acceleration signal at the end of the gun barrel.

3. The semi-physical system for simulating turret stability during movement according to claim 1, characterized in that, The control terminal (5) has a built-in vibration environment simulation module (6) and a feedback control system (7). The vibration environment simulation module (6) is used to generate vibration control commands based on the target road surface spectrum. The feedback control system (7) adjusts the extension stroke and frequency of the electric cylinder (2) according to the control commands of the vibration environment simulation module (6).

4. The semi-physical system for simulating turret stability during movement according to claim 3, characterized in that, The vibration environment simulation module (6) includes: Harmonic superposition module: Generates frequency domain excitation signals for three-dimensional random road surface spectra based on the harmonic superposition method; Impact noise module: used for integrated shooting condition simulation, generating pulse amplitude sequences that follow a normal distribution using the Monte Carlo method.

5. The semi-physical system for simulating turret stability during movement according to claim 1, characterized in that, The vibration environment simulation module (6) also includes a mechanical harmonic compensation module: by collecting motion data of the physical turret (3) on the six-degree-of-freedom swing table (1) from the sensor group (4), an adjustment excitation signal is generated, which is then used to eliminate the influence of the mechanical resonance of the six-degree-of-freedom swing table (1) on the vibration excitation accuracy.

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