【摘要】 四足机器人在现代战场中发挥着越来越重要的作用。为了探究发射载荷作用下四足作战系统的射击枪口扰动，以四足机器人作为机动平台，基于总体方案及主要部件设计工作，在ADAMS中构建了动力学模型，基于Matlab/Simulink软件搭建了模糊PID控制器，并对单发和三连发射击工况下四足作战系统进行了机电联合仿真，获得了相应的枪口扰动的变化曲线。结果表明：动载工况下，发射载荷的作用给关节造成了力矩冲击，并产生了射击枪口扰动，其中，由于三连发的系统耦合作用，三连发在前后方向、竖直方向和水平方向上的枪口峰值扰动分别是单发的2.74倍、1.86倍和1.69倍；该四足作战系统机械结构以及使用的控制策略在单发和三连发工况下的峰值扰动和最终扰动合理地反映了枪口的运动规律，可为同类装备的基础研究提供参考。更多还原

【Abstract】 Quadruped robots play an increasingly important role in the modern battlefield. In order to investigate the firing muzzle disturbance of the quadruped combat system under the firing load, the quadruped robot is used as a mobile platform, and based on the design of its overall scheme and main components, a dynamic model is constructed in ADAMS, and a fuzzy PID controller is built based on the Matlab/Simulink software.The joint electromechanical simulation is completed for the quadruped combat system under single shot and three-round burst. The simulated corresponding muzzle disturbance curves are obtained. The results show that: under the dynamic loading condition, the action of the firing load causes moment impacts to the joints and produces firing muzzle disturbances, of which, due to the system coupling effect of the three consecutive shots, the peak muzzle disturbances of three-round burst in the fore-and-aft direction, vertical direction, and left-to-right direction are 2.74, 1.86, and 1.69 times of those of the single shot respectively; the mechanical structure of the quadruped combat system and the control strategy used in the single-shot and three-round burst conditions reflect the muzzle movement law reasonably, which can provide a reference for the basic research of similar equipment.更多还原