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<p>The performance of muzzle stabilizers is related to the marching firing accuracy of the mobile weapon system. To improve the firing accuracy of marching small, unmanned ground vehicles with small arms (SUGVSAs) and explore their dynamic response characteristics under a muzzle stabilizer, a rigid-flexible coupling launch dynamics model of an SUGVSA is established by considering various nonlinear factors. The muzzle vertical stabilizer, which is based on a coreless motor, is designed using adaptive robust control with a linear extended state observer (ARCLESO), and the stability of Lyapunov is proven. The ADAMS and SIMULINK electromechanical co-simulation methods are used to compare the muzzle stability effects of five controllers, including ARCLESO, on SUGVSA, and the dynamic response rules of SUGVSA with ARCLESO are analysed. The results indicate that ARCLESO has good convergence of uncertain parameters and accurate disturbance estimation ability and can effectively suppress the muzzle vibration of SUGVSA. The dynamic responses of SUGVSA with ARCLESO are influenced by working conditions such as road shells, driving speeds and soil types, as well as nonlinear factors such as trunnion–bearing clearance, cradle–bracket gear clearance and barrel flexibility, and many regularities are observed. The results may provide a reference for designing muzzle stabilizers and understanding the dynamic response characteristics of new SUGVSAs.</p>

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Dynamic simulation of muzzle vibration control in marching small, unmanned ground vehicles with small arms

  • 期刊论文

  • 发表日期：

    2025年5月30日

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  • Yugang Ding,
  • Jianqing Liu,
  • Lei He,
  • Kedong Zhou

摘要

The performance of muzzle stabilizers is related to the marching firing accuracy of the mobile weapon system. To improve the firing accuracy of marching small, unmanned ground vehicles with small arms (SUGVSAs) and explore their dynamic response characteristics under a muzzle stabilizer, a rigid-flexible coupling launch dynamics model of an SUGVSA is established by considering various nonlinear factors. The muzzle vertical stabilizer, which is based on a coreless motor, is designed using adaptive robust control with a linear extended state observer (ARCLESO), and the stability of Lyapunov is proven. The ADAMS and SIMULINK electromechanical co-simulation methods are used to compare the muzzle stability effects of five controllers, including ARCLESO, on SUGVSA, and the dynamic response rules of SUGVSA with ARCLESO are analysed. The results indicate that ARCLESO has good convergence of uncertain parameters and accurate disturbance estimation ability and can effectively suppress the muzzle vibration of SUGVSA. The dynamic responses of SUGVSA with ARCLESO are influenced by working conditions such as road shells, driving speeds and soil types, as well as nonlinear factors such as trunnion–bearing clearance, cradle–bracket gear clearance and barrel flexibility, and many regularities are observed. The results may provide a reference for designing muzzle stabilizers and understanding the dynamic response characteristics of new SUGVSAs.