Iterative Learning Input Shaping Vibration Suppression Method for the Abdominal Shell-Swinging Arm

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 rigid-flexible 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.