关键词: 弹丸传输机械臂, 振动, 动力学, 位置控制

Abstract:

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 dynamics 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 attenuated the hull's vibration, achieved an accurate position control of the shelf transfer manipulator, and has good robustness.

Key words: shell transfer manipulator, vibration, dynamics, position control