In today’s battlefield, soldiers are increasingly more mobile, better protected and relying heavily on information. The price to pay is that they also have to carry more and more when they are out in the field. In a harsh and hostile environment, the increasing loads can be too much or even fatal for soldiers. As a result, exoskeletons that help make faster, stronger and more endurable soldiers have become a focal point of research. With an eye on its applications in the military, we have categorized exoskeletons as two types, namely, active and passive, and examined its research status quo. We suggest that efforts be taken to further categorize exoskeletons for soldiers. And typical military scenarios where five different exoskeletons can be used are elaborated. In conclusion, we have looked into the future of individual exoskeletons in terms of its technology and roadmap of development. It is now clearer where individual exoskeletons can be used and in which direction should research efforts be made.
In this paper, an external energy gun automata firing control method based on permanent magnet synchronous motor (PMSM) is presented. Firstly, on the basis of PMSM voltage equation and coordinate transform, current loop decoupling controllers are derived via the expected current closed loop time constant. The d-axis current and q-axis current can be tuned independently. Through the given mid-frequency interval criterion, the PMSM speed control method can be designed. Secondly, in order to implement the external energy gun automata firing control, the combined angle according to PMSM position and its over one circle count is solved first. The position controller is designed via Lyapunov stable theory. Last, an experiment is executed on a real external energy gun automaton and a PMSM position control system to verify the proposed method. The firing rate and firing shells length can be controlled. In order to decrease the firing rate without decrease PMSM speed, multiple single shells fired with given interval method can also be established and achieved. The experiment results verify the effectiveness of the proposed approach.
The artillery equilibrator is a device used to balance the gravity moment of the landing part on the trunnion. The analysis and design of the traditional equilibrator mainly considers the horizontal working state of the artillery. However, when the artillery is fighting during travel, the attitude of the vehicle will constantly change. When the artillery barrel is stably pointing at the target, the change of the attitude of the vehicle will cause the elevation angle of the barrel relative to the vehicle to change continuously, resulting in the constant change of the output torque of the equilibrator, which is very different from the horizontal work of the artillery. In this paper, the torque characteristics of the equilibrator during the artillery travel are theoretically analyzed, and the torque characteristics of the equilibrator are verified by simulation.
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