On the impact of a rigid–plastic missile into rigid or elastic target

Here we carry out a systematic parametric study of a uniform cylindrical missile impacting rigid or elastic structures. We give an analytical result for the impact force in case of rigid target. A new parameter, the damage potential is introduced and it is shown that this single dimensionless combination of the parameters describes the course of the impact in this simplest case. For elastic target structures, we also show numerically that the course of the reaction force, the maximum target displacement and the duration of the impact depend primarily on the same dimensionless parameter with a secondary effect of the missile to target mass ratio and the relative stiffness of the target. The rigid target assumption is not always conservative with regard to the reaction force due to target vibration. We find a resonant effect in the maximum target displacement as the function of the missile to target mass ratio. The motivation of our work is rooted in the investigation of aircraft fuselage impact into robust structures like the containment of a nuclear power plant.     

穿甲机理的数值研究

为了深入开展穿甲机理的研究,本文对三组穿甲问题——钨弹以1000m/s打钢靶,钢弹以1000m/s打钢靶,钢弹以1000m/s打铝靶,作了数值研究,应用流体弹塑性力学模型,二维不定常欧拉型编码CPG-LTDL code进行计算,计算结果与试验对比符合良好。 对计算结果的分析指出:(1)弹丸侵彻能力不是取决于它的整体动能,而是取决于弹靶接触面上的压力,当靶板参数和弹材固定时,可用弹丸初始面积比动能来标志,(2)铝靶在抗侵彻过程中呈流体性态,高强度铝钣的抗侵彻性能不如普通的A3钢钣,因此应致力于研制具有抗高压、耐高温的新型铝材,而不是单纯追求提高铝材的常规强度。     

ON THE NONHOLONOMIC CONSTRAINTS AND MOTION CONTROL OF WHEELED MOBILE STRUCTURES1)

当质点沿光滑曲线运动时,必须满足横向速度为零的条件.同样地,不同轮式移动结构在平面上做光滑曲线运动时都需要满足该非完整约束条件.本文结合轮子转速和它们运动速度的完整约束关系,理清各轮式移动结构的完整和非完整约束,然后利用 Euler-Lagrange 方程方便地推导出相应的动力学方程.另外,通过该非完整约束,将目标轨迹曲线转化为速度目标的形式,然后引入目标轨迹曲线的相对曲率设计合适的动态跟踪目标.进一步,通过采用该动态跟踪目标可以将轮式移动结构的运动规律和动力学方程有机结合起来,并将原运动任务简化为一般的 轨迹 控制问题.基于该动态跟踪目标可以为轮式移动结构设计合适的鲁棒跟踪控制器,通过跟踪目标轨迹曲线的相对曲率来实现对目标曲线的精确跟踪.最后,理论分析和仿真结果显示,采用动态目标跟踪方法能够从根本上解决初始速度误差过大和位置误差不断被累积的问题,即使前向速度误差系统不稳定的,实际运动轨迹也几乎能和目标轨迹曲线重合.     

论轮式移动结构的非完整约束及其运动控制

当质点沿光滑曲线运动时,必须满足横向速度为零的条件.同样地,不同轮式移动结构在平面上做光滑曲线运动时都需要满足该非完整约束条件.本文结合轮子转速和它们运动速度的完整约束关系,理清各轮式移动结构的完整和非完整约束,然后利用 Euler-Lagrange 方程方便地推导出相应的动力学方程.另外,通过该非完整约束,将目标轨迹曲线转化为速度目标的形式,然后引入目标轨迹曲线的相对曲率设计合适的动态跟踪目标.进一步,通过采用该动态跟踪目标可以将轮式移动结构的运动规律和动力学方程有机结合起来,并将原运动任务简化为一般的 轨迹 控制问题.基于该动态跟踪目标可以为轮式移动结构设计合适的鲁棒跟踪控制器,通过跟踪目标轨迹曲线的相对曲率来实现对目标曲线的精确跟踪.最后,理论分析和仿真结果显示,采用动态目标跟踪方法能够从根本上解决初始速度误差过大和位置误差不断被累积的问题,即使前向速度误差系统不稳定的,实际运动轨迹也几乎能和目标轨迹曲线重合.      

Guidance law with circular no-fly zone constraint

The proposed guidance law is used for guiding a missile against a maneuvering target while satisfying a circular no-fly zone (NFZ) constraint. It consists of two parts: virtual-target guidance (VTG) and boundary-constraint handling scheme (BCHS). In order that the missile avoids the NFZ, VTG first maps the actual target to a virtual one, then obtains the relative motion between the virtual target and missile, and finally uses proportional navigation to steer the missile to the virtual target. The missile also hits the actual target when it hits the virtual target because the virtual and actual targets are coincident at this moment. In some cases, especially when the initial velocity vector of the missile points toward the center of the NFZ, if the evasive action taken by VTG is found to be insufficient, then BCHS will be enabled to keep the missile from entering the NFZ unless the target enters the NFZ.     

基于能力评估的空间翻滚目标抓捕策略优化

由于目标的翻滚运动, 空间双臂机器人对动态目标的抓捕相比于静态目标更具有挑战性. 对抓捕策略进行优化可以提高空间双臂机器人对翻滚目标的操作能力以保证任务的成功. 本文提出了一种基于能力评估的抓捕策略优选方法. 空间双臂机器人捕获目标时, 双臂末端执行器与目标同时接触形成闭链系统, 闭链约束的引入使操作能力的评估更加复杂. 在对双臂空间机器人协调操作翻滚目标的运动学与动力学分析基础上, 建立了考虑闭链约束的协调工作空间, 并分析了基于任务兼容度的消旋能力评估指标. 建立的协调工作空间同时包含位置和姿态信息, 可以用于灵巧度的计算. 接着, 基于协调工作空间的全局灵巧度指标确定机械臂末端执行器对目标的最优抓捕点, 以及考虑相机视角约束和末端执行器对目标速度跟踪约束下的力任务兼容度指标确定空间双臂机器人捕获翻滚目标时的最优抓捕构型. 利用能力评估确定抓捕策略可以充分利用双臂的协调性以增加对动态目标的操作能力, 通过仿真验证了所提抓捕策略的可行性和有效性.      

Interaction and coalescence of multiple simultaneous and non-simultaneous blast waves

Interaction of multiple blast waves can be used to direct energy toward a target while simultaneously reducing collateral damage away from the target area. In this paper, simulations of multiple point source explosives were performed and the resulting shock interaction and coalescence behavior were explored. Three to ten munitions were placed concentrically around the target, and conditions at the target area were monitored and compared to those obtained using a single munition. For each simulation, the energy summed over all munitions was kept constant, while the radial distances between target and munitions and the munition initiation times were varied. Each munition was modeled as a point source explosion. The resulting blast wave propagation and shock front coalescence were solved using the inviscid Euler equations of gas dynamics on overlapping grids employing a finite difference scheme. Results show that multiple munitions can be beneficial for creating extreme conditions at the intended target area; over 20 times higher peak pressure is obtained for ten simultaneous munitions compared to a single munition. Moreover, peak pressure at a point away from the target area is reduced by more than a factor of three.     

串联随进战斗部垂直侵彻装甲钢板实验研究

设计了一种串联随进战斗部,作用时前级聚能装药形成聚能杆式侵彻体对靶板进行侵彻开孔,随后后级随进子弹依靠动能嵌入到开孔的靶板中,实现对目标的毁伤与封锁。在着靶速度为220～330m/s范围内,开展了对该串联战斗部垂直作用于不同厚度装甲钢板的侵彻实验研究。实验结果表明,在230～300m/s范围内,此种结构的串联随进战斗部可以有效作用,随进子弹的嵌入深度总体上随着撞击速度的提高而增大,随进子弹保持完整且嵌入牢固,能够有效实现对目标的毁伤与封锁。     

Dynamic Contact Behavior of a Golf Ball during Oblique Impact: Effect of Friction between the Ball and Target

The oblique impact between a golf ball and a polymethyl methacrylate (PMMA) target with smooth transparent surfaces was studied using a high-speed video camera. Video images of the impact were recorded from the backside of the target and were used to determine the contact time, contact area, and the displacement and rotation of the ball along the target. The average tangential and angular velocities were determined as functions of the inbound ball velocity. As the inbound ball velocity increased, the contact area and average tangential and angular velocities also increased while the contact time decreased. An oiled PMMA target was used to study the effect of reduced friction between the ball and target. The results were compared with earlier data for a steel target with relatively rough surfaces. The contact area and time were unaffected by friction, but the average tangential velocity increased while the average angular velocity decreased as the friction decreased.     

弹体侵彻带加强筋结构靶的实验研究

以舰船结构为目标,设计了带加强筋的结构靶,并用模拟装药弹体对单层或多层模拟结构靶进行了侵彻实验。根据实验结果,建立了弹体侵彻结构靶板的剩余速度公式。分析了加强筋对靶板破坏模式和弹道参数的影响,对靶板吸收能量的情况进行了分析。结果表明,对于塑性较差的靶板,加强筋的刚度作用是影响靶板能量吸收和破坏模式的主要因素。实验结果对加筋防护结构的设计具有一定的参考价值。     

空间双臂机器人抓捕翻滚目标后的鲁棒稳定控制

针对空间双臂机器人抓捕翻滚目标的稳定控制问题,由于目标惯性参数的不确定性以及双臂同时作用于目标存在内力挤压,已有的稳定控制方法无法有效地约束机械臂末端与目标的接触力与力矩,无法保证控制过程中抓捕点处的接触安全.为此,本文考虑被抓捕目标惯性参数不确定性与双臂内力挤压对抓捕后阶段组合体稳定控制的影响,提出了一种保证接触安全...     

Effect of a viscoelastic target on the impact response of a flat-nosed projectile

Taylor impact is a widely used strategy in which a flat-nosed projectile is fired onto a rigid anvil directly to determine the dynamic strength of rod specimens. Nowadays, the rigid anvil is often replaced by an output target bar to ensure the accuracy of measurement via recording strain signals in the output bar. For testing the dynamic strength of low-density materials, a low-impedance target bar, which exhibits viscoelastic characteristics is often employed. In this paper, an extended Taylor model is proposed to improve the idealization of treating the target bar as perfectly rigid material in the classic Taylor model, and the viscoelastic effect of the target bar is incorporated. The viscoelastic target bar is depicted by two elastic springs and one dashpot. Based on the plastic shock wave theory in the flat-nosed projectile associated with the viscoelastic wave analysis in the target bar, the viscoelastic effect of the target bar on the impact response of the flat-nosed projectile is investigated. The finite element simulation is also carried out to verify the theoretical model, and good agreement is found. The present theoretical model is also called the Taylor-cylinder Hopkinson impact, which provides a more accurate way to identify the dynamic material parameters. The dynamic responses of the present model are further compared with previous elastic and rigid target bar models. It is found that the viscoelastic effect of the target bar should be taken into consideration in the Taylor-cylinder Hopkinson impact test for low-impedance materials.     

Effect of air gaps on ballistic resistance of targets for conical impactors

High velocity penetration of a rigid conical impactor into a ductile target with air gaps between the plates is studied using the cylindrical cavity expansion approximation describing impactor–target interaction. It is showed that the latter model predicts improvement of the ballistic performance of the target with the increase of air gaps. It is found analytically that the ballistic limit velocity of the target consisting of N plates with a fixed total thickness with large air gaps increases with the increase of N. The conditions are discussed when the predicted effects can be most pronounced.     

靶板在爆炸成型弹丸垂直侵彻下的层裂

为了准确掌握靶板层裂过程和规律，基于波动力学和基本假设，建立了爆炸成型弹丸（explosively formed projectile，EFP）垂直侵彻有限厚靶板时层裂的力学模型，得到了层裂点的表达式。研究结果表明:EFP速度为1 800 m/s、靶板厚度从35 mm增大到60 mm时，靶板背面弯月形层裂区厚度不断增大，弯月形层裂区长度不断减小；靶板厚度保持40 mm不变、EFP速度从1 600 m/s增大到1 900 m/s时，靶板背面层裂区厚度不断减小，弯月形层裂区长度不断增大。开展了EFP侵彻40 mm厚装甲钢靶板的实验，将实验结果和理论计算结果进行对比分析，两者吻合较好。     

93W杆式弹超高速撞击多层Q345钢靶毁伤及微观分析

为了解杆式弹超高速撞击多层薄钢靶的破坏过程及毁伤机理,开展了克级93W杆式弹正撞击多层Q345钢靶实验及数值模拟研究,通过扫描电子显微镜（scanning electron microscope,SEM）及金相显微镜,分析了超高速撞击实验后靶板材料的微观组织及成分。结果表明,超高速撞击作用下,靶板呈现出“翻唇”穿孔变形、花瓣状塑性变形、撕裂、撞击成坑及鼓包等破坏模式。靶板前3层毁伤以超高速穿孔为主,孔洞数目多但面积小,后几层靶板毁伤孔洞数目少且孔径呈先增大后减小趋势。微观分析表明靶材在强冲击压力下发生晶粒碎化、熔化及再结晶,撞击过程中会形成微孔聚集与微裂纹,可见靶板失效主要是熔融混合物冷却过程中产生的热应力与切应力下的剪切撕裂综合作用的结果。     

锥台嵌挤预应力约束混凝土的抗侵彻性能

在侧限约束条件下，混凝土材料的抗侵彻性能可得到较大提高，在此基础上施加预应力围压，其抗侵彻性能可进一步提高，但现有预应力方法对约束混凝土施加预应力较为困难。基于此，提出了一种相对简便的锥台嵌挤预应力约束方法，采用楔形块楔紧的原理，将锥面倾角为3°和直径微大于约束环的锥台形混凝土靶体挤入与之匹配的约束钢环内，通过锥面配合契紧的方式对混凝土靶体沿径向施加预应力，以锥台靶体的下压深度、盈差以及压入力的大小等指标控制预应力大小。采用LS-DYNA软件验证了该方法施加预应力的可行性，并通过重启动算法开展了预应力约束混凝土靶的抗侵彻性能研究。数值计算结果表明，靶体预应力随着其下压深度或盈差的增大近似线性增加，且混凝土靶体的抗侵彻性能随预应力增大而提高，但预应力过大时靶体内部发生损伤，导致其抗侵彻性能反而快速下降。对钢环强度、混凝土强度、含钢率和弹体速度等参数进行敏感性分析，结果表明，合理匹配钢环强度和混凝土强度，并选择合适的靶体含钢率，可有效提高靶体的预应力、抗侵彻性能以及钢材利用率；且弹体初速度越高，预应力对提高靶体抗侵彻性能的作用越明显。提出的锥台嵌挤预应力约束方法可为提高混凝土等脆性材料的抗侵彻性能提供一种新思路和方法。     

基于Clamped B样条的空间非合作目标抓捕策略研

空间机械臂技术是未来实施在轨服务与维护任务的关键技术之一. 利用机械臂对空间非合作目标, 特别是翻滚目标的抓捕仍然存在巨大的挑战. 本文提出一种基于Clamped B样条的空间非合作目标抓捕策略方案. 在对非合作目标与空间机械臂运动学与动力学分析的基础上, 结合非合作目标被空间机械臂抓捕后的动静态对偶性分析, 构建抓捕后的力可操作度椭球作为抓捕策略设计的优化指标. 其次, 考虑目标的运动预测和空间机械臂的抓捕能力图谱构建, 确定空间机械臂应对目标的最优抓捕时机与抓捕终端状态. 基于Clamped B样条对空间机械臂各关节轨迹进行时间归一化参数描述, 并对抓捕过程中的机械臂关节角、速度、避撞、抓捕走廊等约束进行数学变换, 最终将抓捕策略转换为多约束、多目标的非线性优化问题, 利用自适应惯性权重的粒子群优化算法进行求解. 将所设计的抓捕策略应用于空间七自由度运动学冗余机械臂, 实现了对空间中翻滚目标的成功捕获, 验证了所提抓捕策略的可行性与有效性.      

Scattering by penetrable acoustic targets

An acoustic target of constant density ?_t and variable index of refraction is imbedded in a surrounding acoustic fluid of constant density ?_a. A time harmonic wave propagating in the surrounding fluid is incident on the target. We consider two limiting cases of the target where the parameter ε ≡ ?_a/?_t → 0 (the nearly rigid target) or ε → ∞ (the nearly soft target). Wh en the frequency of the incident wave is bounded away from the ‘in-vacuo’ resonant frequencies of the target, the resulting scattered field is essentially the field scattered by the rigid target for ε = 0 or the soft target if ε → ∞. However, when the frequency of the incident wave is near a resonant frequency,the target oscillates and its interaction with the surrounding fluid produces peaks in the scattered field amplitude. In this paper we obtain asymptotic expansions of the solutions of the scattering problems for the nearly rigid and the nearly soft targets as ε → 0 or ε → ∞, respectively, that are uniformly valid in the incident frequency. The method of matched asymptotic expansions is used in the analysis. The outer and inner expansions correspond to the incident frequencies being far or near to the resonant frequencies, respectively. We have applied the method only to simple resonant frequencies, but it can be extended to multiple resonant frequencies. The method is applied to the incidence of a plane wave on a nearly rigid sphere of constant index of refraction. The far field expressions for the scattered fields, including the total scattering cross-sections, that are obtained from the asymptotic method and from the partial wave expansion of the solution are in close agreement for sufficiently small values of ε.     

花岗岩块石浆砌结构抗弹丸斜侵彻/冲击性能实验研究

通过实弹射击试验,研究了花岗岩-钢筋混凝土复合靶板的抗侵彻/冲击性能.结果表明,该靶板具有较好的抗侵彻/冲击能力.与同等厚度的普通钢筋混凝土靶板相比,在射弹特性和撞击条件相同的情况下,该结构抗侵彻/冲击能力明显增强.对薄靶板而言,冲剪破坏为主要的破坏形式,增强抗剪能力,能够提高靶板抗侵彻/冲击能力.当弹体速度不高时,局部作用和结构整体响应之间一般有很强的耦合.该花岗岩-钢筋混凝土靶板局部既有一定的刚度,整体也具有一定的塑性,因此具有较好的抗弹体侵彻/冲击能力.这种结构施工简单,取材方便,造价相对低廉,具有一定的应用前景.     

高速侵彻弹体层合木靶脱壳

利用实验和数值模拟方法研究一种利用层合松木靶作为脱壳装置的机械式脱壳方法。首先讨论了一种正交各向异性材料模型用于高速侵彻木材的可行性及其参数变化规律,结合美军的高速侵彻实验数据对数值模拟方案进行了验证与确认。在此基础上,讨论了不同弹靶作用下含弹托弹体对松木靶的侵彻/贯穿规律。数值模拟与实验研究结果表明:在垂直入射条件下,通过合理的层合木靶设计可对次口径发射弹体有效脱壳,高速侵彻弹体可垂直入射靶板,弹体速度衰减可控;在初始攻角入射条件下,层合靶将使高速侵彻弹体攻角放大。随入射速度增加,弹体贯穿层合木靶消耗动能增加,体现了木材具有明显的应变率增强效应。