中文摘要：

改变传统大口径舰炮旁侧路的复杂供弹模式,提出了一种应用中心单线摆弹机理的中腹供弹方式,针对中腹摆弹机构的动力特性分析,在摆弹臂变形场的描述中计及了纵向变形的二次耦合项,建立了中腹摆弹臂的一次近似刚-柔耦合动力学模型;并提出了基于一次近似理论的递归学习输入成形控制方法,联合PD反馈控制对中腹摆弹臂残余振动的抑制进行了研究,通过对不同射角下中腹摆弹臂残余振动控制的数值仿真,表明递归学习输入成形方法对大变形情况下中腹摆弹臂的振动具有显著的抑制效果.

英文摘要：

To alter the traditional large caliber naval gun flanking path shell-feeding mode which was complex,an abdominal shell-feeding method using center single line shell-swinging mechanism was proposed.According to the dynamic characteristics analysis of the abdominal shell-swinging mechanism,the secondary coupling term of the longitudinal deformation in the description of deformation field was considered to establish the first order approximation rigidflexible coupling dynamics model.Then the iterative learning input shaping control method was proposed based on the first-order approximation theory,which joint PD feedback control to study the residual vibrations suppression of the abdominal shell-swinging arm.Numerical simulation of the residual vibrations control on different fire angles show that recursive learning input shaping method has a significant inhibitory effect to the vibrations on the case of large deformation.