Dynamic Simulation and Experiment of Marching Small Unmanned Ground Vehicles with Small Arms

To research the muzzle response characteristics of marching small unmanned ground vehicles with small arms (SUGVsSA), this paper establishes a launch dynamic model of an SUGVSA by considering various nonlinear features. According to the mechanism characteristics, the improved Lankarani–Nikravesh algorithm is adopted to define the projectile–barrel coupling effect and trunnion–bearing clearance collision behaviour; additionally, the collision models of bearing race and worm gear are both established by the Hertz contact theory. Muzzle vibration experiments based on the combination of high-speed photogrammetry and inertial measurement systems are performed to verify the accuracy of the SUGVSA launch dynamic model. Three-dimensional (3D) road shell models are established by using the harmonic superposition method and then discretized and integrated with the Bekker soil mechanical properties to generate a flexible 3D road surface. The muzzle response characteristics of the SUGVSA under various working conditions are calculated and analysed. The results indicate that the muzzle response characteristics are related to the road shell, soil type, and driving speed, and they present many regularities. The initial firing angle has no obvious effect on the muzzle response. If the clearance between the trunnion and bearing increases, the muzzle elevation angular vibration intensifies when the SUGVSA moves. The muzzle aim point deviation caused by the flexible barrel is small, and it is not the main factor affecting the shooting accuracy of marching SUGVsSA. The muzzle vertical stabilizer can reduce the muzzle disturbance effectively, but the stabilization effect based on the PID system is not ideal. It is necessary to propose a more robust control algorithm to improve the muzzle stabilization accuracy.