The present study brings out the influence of a non-linear dynamics model of military vehicle with trailing arm suspension, on the weapon dynamics responses. A 20 degrees of freedom integrated ride and cornering dynamics model has sequentially been coupled with the 7 degrees of freedom weapon dynamics model. The 20 degrees of freedom integrated model includes the bounce, pitch, roll, longitudinal, lateral and yaw motions of the sprung mass and rotational dynamics of the 14 unsprung masses. The 7 degrees of freedom weapon model comprises the coupled elevation and azimuth dynamics. The coupled weapon model includes angular rotation of the elevation drive, breech and muzzle in elevation direction, as well as, angular rotation of the azimuth drive, turret, breech and muzzle in azimuth direction. The actual physical behaviour of each of the hydro-gas trailing arm suspension units is implemented in the governing differential equations. The non-linear governing equations also incorporate the dynamic coupling between each of the axle arms and sprung mass, which is an inherent behaviour of the trailing arm suspension, unlike their equivalent vertical representation. The integrated model has been simulated for different cornering manoeuvres at specified speeds. It is observed that the sprung mass dynamics, emanating from different manoeuvres, significantly affects the coupled elevation and azimuth dynamics responses of the weapon. The weapon dynamics model coupled with the integrated ride and cornering dynamics model of the military vehicle, would be useful for implementation of a suitable robust gun control system in military vehicles.
Focuses upon development of the mathematical model, simulating the tracked vehicle weapon dynamics, integrated over a half car platform. Governing differential equations have been formulated for the weapon system using state space approach, simulating the elevation dynamics over a half vehicle chassis, and coded using Matlab. The elevation model of the weapon comprises 3 degrees of freedom, arising from the rotational dynamics of the drive, breech and muzzle, which has sequentially been coupled to the half car model. Thereafter, the backstepping, LQR and PID control techniques have been derived and incorporated into the state space matrix for the coupled dynamics model, in which the control parameters have been arrived at through various iterations. Comparative weapon dynamics response studies have been carried out between that obtained from the above control strategies and the passive model, over standard terrain conditions at specified speeds. The above study would form a very useful framework for implementation of alternate control strategies for weapon stabilisation in the full tracked vehicle.
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