Wyniki wyszukiwania - BazTech

1

Model testing of stabilising and tracking control system in main battle tank

Papliński K. M.

Journal of KONES

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2015

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Vol. 22, No. 4

221--226

EN

The subject of discussion is a tank gun stabiliser (in azimuth and elevation). For the investigation of the considered control system one applied a method of computer simulations. The mathematical model and its numerical implementation were experimentally verified. The results of experimental and model simulation investigations showed that the mathematical model and its numerical implementation were worked-out correctly. Using the verified mathematical model of the system, the simulation investigations of the influence of regulation potentiometers settlings on stabilisation exactness and transient processes quality were carried-out. The possibilities of improving performance characteristics of the stabiliser via altering of feedback’s gain coefficients as well as the influence of disturbing inputs amplitude and frequency (propagated from the hull on the gun and turret) on stabilisation exactness of a given position were also analysed. The presented technique is quite general and may be applied to any type of vehicle to study dynamic effects of several rigid bodies, which move relative to each other (when displacements are small) and are connected by constraint equations.

2

Mathematical model of stabilising and tracking control system in main battle tank

Borkowski W., Hryciów Z., Papliński K. M., Rybak P., Wysocki J.

Journal of KONES

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2015

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Vol. 22, No. 4

43--52

EN

The aim of this researches was to identify all functional blocks of tank gun stabiliser 2E28M (installed in tanks T-72 and PT-91 Twardy) in order to build mathematical model of the system. The tank gun stabiliser is an electro-hydraulic control system, which makes possible aiming at a target, tracking of a target and stabilise of a given gun and turret angular position. The two-axial stabiliser consists of two separate control systems to stabilise the gun in elevation and the turret (with gun) in azimuth. After detailed analysis of construction and work principles, functional schemes of investigated systems were build. Afterwards, static and dynamic characteristics of functional parts of the system were determined. Because of obtained characteristics and based on the knowledge about the system feedbacks, structural schemes and mathematical models of foregoing stabiliser were derived. The results of numerical computations were compared with the existing results of experimental tests carried-out on a real plant. The results of experimental and model simulation investigations showed that the mathematical model and its numerical implementation were correctly developed.

3

Mathematical model of the main battle tank witch stabilized turret and gun

Papliński K. M.

Journal of KONES

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2009

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Vol. 16, No. 1

387-395

EN

The subject of discussion is the T-72 main battle tank. The tank is treated as three distinct bodies, representing thull, the turret and the gun. The rigid bodies are subject to a set of kinematics constraint relationships, which provide the physical interface of the system. The gun and turret are assumed to bend in the elevation and azimuth direction. Angular and axial displacements of vehicle are the input signals acting on the turret and the gun. The tank gun stabiliser, minimise the effects of vehicle motion on the main armament of tank and compensates the velocities of the vehicle. Stabilisation system, automatically maintain the position of the gun at a fixed bearing in space, in spate of any motion of the vehicle in roll, inpitch or in yaw. Mathematical model of the tank, the turret and the gun functioned as one system with the model of tank gun stabiliser (verified on the base of experimental investigations) were build. The equations of motion associated with a military tank are derived using Lagrange equations. In the next stage of the work the mathematical model could be used for versatile numerical tests of existing, modernized types of combat vehicles.

4

Mathematical model of stabilising and tracking control system in main battle TANK5

Papliński K. M.

Journal of KONES

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2008

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Vol. 15, No. 3

425-431

EN

The tank gun stabiliser is an electro-hydraulic control system which makes possible aiming at a target, tracking of a target and stabilise of a given gun angular position. The two-axial stabiliser consists of two separate control systems to stabilise the gun in elevation and the turret (with gun) in azimuth. The aim of researches was to identify all functional blocks of tank gun elevation stabiliser 2E28M (installed in tanks T-72 and PT-91 Twardy) in order to build mathematical model of the system. After detailed analysis of construction and work principles, schematic of 2E28M hydro-mechanical powered mounting, showing number of energy conversion were worked out. Stabiliser has been divided into appropriate functional parts and functional scheme of investigated system were build. Afterwards, static and dynamic characteristics of functional parts of the system were determined. On the basis of obtained characteristics and based on the knowledge about the system feedbacks, structural scheme and mathematical model of foregoing stabiliser were derived. On the basis of the mathematical model, the algorithm and the computer program were worked - out. Making use of the Matlab-Simulink program, one worked-up the scheme for numerical computation. The mathematical model and its numerical implementation have been experimentally verified.

5

Model testings of tank gun stabiliser

Papliński K.M.

Archive of Mechanical Engineering

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2002

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Vol. XLIX, nr 2

163-178

EN

The subject of this paper is a real stabilising and tracking control system-namely the tank gun horizontal stabiliser. The simulation investigations of the influence of regulation potentiometers settings on stabilisation extractness and transient processes quality were carried-out using a verified mathematical model of the system. The author analysed the possibilities of improving performance characteristics of the stabiliser via altering of feedback's gain coefficients as well as the influence of disturbing inputs amplitude and frequency (propagated from the hull on the gun-turret) on stabilisation exactness of a given position. In the result of model investigations, it was found that it would be impossible to improve significantly the stabiliser performance quality with its present structure. For this reason, one investigated the possibilities of adding new feedbacks and their influence on the stabilisation quality. The introduced feedbacks improved performance parameters of the stabiliser by about thirty to fifty percent.

PL

Przedmiotem rozważań jest rzeczywisty układ stabilizacji i naprowadzania, a mianowicie czołgowy stabilizator położenia kątowego armaty w płaszczyżnie poziomej (horyzontalnej). Wykorzystując zweryfikowany model matematyczny układu przeprowadzono badania symulacyjne wpływu nastaw potencjometrów regulacyjnych na dokładność stabilizacji i procesów przejściowych. Przeanalizowano możliwości poprawy charakterystyk działania stabilizatora poprzez zmiany współczynników sprzężeń zwrotnych jak również wpływu wartości amplitudy i częstotliwości sygnałów zakłocających (oddziałujących od kadłuba na wieżę i armatę) na dokładność stabilizacji zadanego położenia. W wyniku badań modelowych stwierdzono, że nie jest możliwa znaczna poprawa osiągów stabilizatora w jego obecnej strukturze. Z tego powodu zbadano możliwości wprowadzenia nowych sprzężeń zwrotnych w układzie i ich wpływ na jakość stabilizacji. Wprowadzone sprzężenia zwrotne poprawiły charakterystyki działania stabilizatora około trzydziestu do pięćdziesięciu procent.

6

Experimental investigations and identification of a stabilising and tracking control system.

Papliński K.M.

Archive of Mechanical Engineering

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2002

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Vol. XLIX, nr 2

141-161

EN

The subject of instruction is a tank gun horizontal stabiliser. In order to simplify identification, the system was devided into appropriate functional parts. Then, via laboratory tests, dynamic and static characteristics of those parts were obtained, and numerical values of coefficients of suitable mathematical model of the system were determined. The structural scheme of the overall system was derived on the basis of the obtained static characteristics and transfer functions of individual parts of the system, and based on the knowledge about the system feedbacks. For the investigation of the considered control system, one applied a method of computer simulations. The mathematical model and its numerical implementation was experimentally verified. To this aim: - the results of model testing (for open loop system) were compared with the existing results of experimental tests caried out on a real tank; - tests of the complete closed-loop system were carried out and their results were compared with the results of numerical computations. The results of experimental and model simulation investigations showed that the mathematical model and its numerical implementation was worked-out correctly.

PL

Przedmiotem rozważań jest czołgowy stabilizator położenia kątowego armaty w płaszczyźnie poziomej (w azymucie). W wyniku upraszczającej identyfikacji układ został podzielony na odpowiednie człony funkcjonalne. Następnie w wyniku badań laboratoryjnych wyznaczone zostały charakterystyki dynamiczne i statyczne jak również wartości liczbowe odpowiednich współczynników modelu matematycznego. Na bazie wyznaczonych charakterystyk statycznych i transmitancji operatorowych poszczególnych modułów układu oraz na podstawie znajomości związków funkcjonalnych pomiędzy nimi, zbudowano schemat funkcjonalny powyższego układu. Do badań rozważanego układu sterowania została zastosowana komputerowa metoda badań symulacyjnych. Model matematyczny i program badań symulacyjnych zostały zweryfikowane eksperymentalnie. W tym celu: - wyniki badań modelowych (dla układu bez sprzężeń zwrotnych) zostały porównane z wynikami badań eksperymentalnych przeprowadzonych na obiekcie rzeczywistym; - zostały przeprowadzone badania pełnego układu ze sprzeżeniami zwrotnymi i ich wyniki zostały porównane z wynikami badań symulacyjnych. Wyniki badań ekperymentalnych i modelowych badań symulacyjnych wykazały, że model matematyczny i program badań symulacyjnych zostały zbudowane poprawnie i uzyskane wyniki sa porównywalne.