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Load of remote controlled battle station upper carriage with integrated automatic grenade launcher 集成自动榴弹发射器的遥控战斗站上部车厢负载
Pub Date : 2022-01-01 DOI: 10.5937/str2202027i
Milan Ivković, V. Milovanović, B. Nedić, S. Đurić
The paper presents a numerical analysis, using the finite element method, for the case of static and dynamic loading of the upper carriage of the remote-controlled combat station, due to the recoil force generated by the operation of the integrated automatic grenade launcher 30mm M93. The paper describes the problem of integrating the BGA 30mm M93 automatic grenade launcher onto the combat platform, and based on the dimensions of the automatic launcher, modeling of the automatic launcher stand with cradle was carried out. As a result of the weapon dynamics equations and internal ballistics calculations, the pressure force of the gunpowder gases and the recoil force of the automatic grenade launcher were calculated. The paper also presents the results of the dynamic analysis of the finite element model of the upper gun carriage loaded with the obtained impulse recoil force for different elevation angles of the weapon.
本文采用有限元方法,对30mm M93综合自动榴弹发射器使用过程中产生的后坐力对遥控作战站上架静、动载荷情况进行了数值分析。介绍了BGA 30mm M93自动榴弹发射器与作战平台集成的问题,根据自动发射器的尺寸,对带有支架的自动发射器支架进行了建模。根据武器动力学方程和内弹道计算,计算了火药气体的压力力和自动榴弹发射器的后坐力。文中还给出了在武器不同仰角下加载冲击后坐力的上炮架有限元模型的动力学分析结果。
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引用次数: 0
Powerplant cooling flight tests 动力装置冷却飞行试验
Pub Date : 2022-01-01 DOI: 10.5937/str2202014o
Marina Ostojić, Tamara Nikolić, Nikola Bogavac
Flight testing is necessary in the process of showing compliance of the airplane with specific design requirements. Utva Aviation Industry performed numerous flight tests of Sova airplane in order to prove its safety. Along with airplane design, structure, performance and equipment, it was necessary to show compliance of the powerplant. In this paper there is the analysis of the flight tests of the powerplant cooling in the most critical climbing case with maximum ambient atmospheric temperature for which approval is requested. Flight test report results are presented with defined minimum speed for these conditions proving our four-seater meets all requirements in its category.
在显示飞机符合特定设计要求的过程中,飞行测试是必要的。Utva航空工业公司对Sova飞机进行了多次飞行试验,以证明其安全性。随着飞机的设计、结构、性能和设备,必须显示动力装置的合规性。本文分析了在最高环境大气温度下的最临界爬升工况下的动力装置冷却飞行试验。飞行测试报告结果给出了这些条件下定义的最低速度,证明我们的四座飞机符合其类别的所有要求。
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引用次数: 0
Active disturbance rejection control of unmanned tracked vehicle 无人履带车辆自抗扰控制
Pub Date : 2022-01-01 DOI: 10.5937/str2202050b
G. Banjac, M. Stankovic, Stojadin M. Manojlovic
Significant improvement of the unmanned vehicles possibility has achieved by increasing its autonomy, i.e. by excluding the human operator from the guidance loop. In this paper is considered the autonomous control of the unmanned tracked vehicle (UTV) in the presence of the unknown caterpillar tracks slippage. The longitudinal and lateral control model for the UTV path following problem are developed. To handle unknown uncertainties and slippage disturbances, the design of active disturbance rejection control (ADRC) for both, longitudinal and lateral control channels, are proposed. ADRC strategy is enabled that all the control channel uncertainties and disturbances are treated as one lumped (total) disturbance, which is defined as an extended system state and estimated by appropriate extended state observer (ESO). Further, applying the appropriate closed-loop control laws, based on the total disturbance estimation, the complex longitudinal and lateral control problems are reduced to disturbance-free model control. The numerical simulations for the different path following scenarios and caterpillar tracks slippage dynamics are given to verify effectiveness of the proposed UTV control.
通过增加无人驾驶车辆的自主性,即将人类操作员排除在制导回路之外,实现了无人驾驶车辆可能性的显著改善。本文研究了履带滑动未知情况下无人履带车辆的自主控制问题。建立了UTV路径跟随问题的纵向和横向控制模型。为了处理未知不确定性和滑动干扰,提出了纵向和横向控制通道的自抗扰控制设计。采用自抗扰策略,将所有控制通道的不确定性和扰动视为一个总扰动,将其定义为系统的扩展状态,并由适当的扩展状态观测器(ESO)进行估计。进一步,应用适当的闭环控制律,基于总扰动估计,将复杂的纵向和横向控制问题简化为无扰动模型控制。通过不同路径跟随情况和履带滑移动力学的数值仿真,验证了所提UTV控制的有效性。
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引用次数: 0
Air and precipitation testing as part of environmental radiation monitoring in the vicinity of nuclear facilities 作为核设施附近环境辐射监测一部分的空气和降水试验
Pub Date : 2022-01-01 DOI: 10.5937/str202061k
J. Knezevic, N. Lazarevic, S. Forkapić, Kristina Bikit-Šreder, Vesna Radumilo, D. Arbutina
Public company "Nuclear Facilities of Serbia" is the only operator of nuclear facilities and holder of licenses to perform nuclear activities in the country. By the current legislation, environmental radiation monitoring in the vicinity of nuclear facilities is performed to assess the level and control the external exposure of the population and environment to ionizing radiation due to the operation of nuclear facilities. This paper presents an overview of the representative environmental radiation monitoring results regarding radioactive contamination level and ambient gamma dose rate equivalent in air and precipitation for the year 2021. The obtained results show that there is no adverse influence on the population and environment and the radiation risk for individuals in the population is negligible.
上市公司“塞尔维亚核设施”是该国唯一的核设施运营商和核活动许可证持有人。现行立法规定在核设施附近进行环境辐射监测,以评估和控制核设施运行引起的人口和环境电离辐射的外部照射水平。本文概述了2021年有关空气和降水中的放射性污染水平和环境伽马剂量率当量的代表性环境辐射监测结果。所得结果表明,对人群和环境没有不良影响,人群中个体的辐射风险可以忽略不计。
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引用次数: 0
Lead compensator design for DC motor driven electromechanical fin actuator 直流电机驱动机电鳍形执行器的引线补偿器设计
Pub Date : 2022-01-01 DOI: 10.5937/str2202044a
Pavle Adamović, Zlatko Petronijević, N. Jovicic, Aleksandar Z. Stefanović, M. Pavić
This paper presents modeling, simulations and control of the ground-to-air missile fin actuation system, where brushed DC motors are used as actuators, which are driven using voltage regulation-Pulse Width Modulation (PWM). The mathematical model of the system was determined using the differential equations of behavior of the lowest order that was experimentally confirmed. This model was taken as a starting point in the synthesis of the Lead compensator, used to regulate the position of the missile's control surfaces. The trial and error method was used for the synthesis of Lead compensator, taking care to meet the required characteristics of the System, in form of bandwidth and gain. The improved transient process and behavior of the System have also been experimentally confirmed.
本文介绍了地空导弹鳍形作动系统的建模、仿真和控制,该系统采用有刷直流电机作为作动器,采用电压调节-脉宽调制(PWM)驱动。利用实验证实的最低阶行为微分方程确定了系统的数学模型。以该模型为起点,合成了用于调节导弹控制面位置的先导补偿器。采用试错法合成引线补偿器,注意满足系统对带宽和增益的要求。改进后的系统瞬态过程和性能也得到了实验证实。
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引用次数: 0
Development of a new CNC grinding machine for 3+2-axis grinding of the profile rotary milling cutter 研制了一种新型数控磨床,可用于3+2轴型回转铣刀的磨削
Pub Date : 2022-01-01 DOI: 10.5937/str2201042m
M. Milutinović, Z. Dimić, G. Vasilić, S. Zivanovic, B. Kokotović, Nikola Slavković
Due to the great expansion of woodworking, profile tools manufacturing has become current and in demand. In wood industry there are two large groups of tools: rotary and spindle milling cutters that can be profile or flat. The technology of making profile rotary milling cutters requires, apart from cutting, turning, milling, 5-axis grinding operation that is performed on a 5-axis CNC grinding machine with the A'OXYZC configuration.It is a machine of a very complex kinematics and high cost-price. The paper presents a new machine that has been built for 3+2-axis grinding - Profilator 100,used for industrial manufacturing of rotary and spindle profile milling cutters. The accuracy of measures and shapes of the profile cutters built on Profilator 100 is of a high level and in industrial exploitation the difference is not observed between the profile cutters built on 5-axis CNC grinding machines. Regarding technoeconomic cost-effectiveness, production costs of Profilator 100 are lower even by ten times compared to the cost-price of 5-axis CNC grinding machines of renowned world manufacturers such as Schneeberger and Volmer.
由于木材加工的巨大扩张,型材工具制造已成为当前和需求。在木材工业中,有两大类刀具:旋转铣刀和主轴铣刀,可以是轮廓或平面。除了切削、车削、铣削、五轴磨削操作外,制造型材旋转铣刀的技术还需要在具有a 'OXYZC配置的五轴数控磨床上进行。这是一个非常复杂的运动和高成本价格的机器。本文介绍了一种新型的3+2轴磨削机床——Profilator 100,用于工业生产旋转和主轴型铣刀。在Profilator 100上建立的轮廓刀具的测量和形状的精度是高水平的,在工业开发中,在五轴数控磨床上建立的轮廓刀具之间没有观察到差异。在技术经济成本效益方面,Profilator 100的生产成本比Schneeberger、Volmer等世界知名厂商的5轴数控磨床成本价格低10倍以上。
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引用次数: 0
Fire-resistant composites based on acrylic-functionalized lignin and polyester resin obtained from waste poly(ethylene terephthalate) 废聚对苯二甲酸乙酯中丙烯酸功能化木质素与聚酯树脂的耐火复合材料
Pub Date : 2022-01-01 DOI: 10.5937/str2202032k
N. Knežević, Aleksandar Jovanović, J. Bošnjaković, Milena Milošević, M. Rančić, A. Marinković, Jelena D. Gržetić, Houda Gamoudi
This paper investigates the using potential of acryl-functionalized kraft lignin (AKL) in reducing the flammability of polymer composites based on recycled unsaturated polyester resins (UPR). Acryl functionalization of kraft lignin was performed by direct esterification of free polyphenolic groups with acryloyl chloride, after what, the AKL was blended in UPR resin synthesized from the polyols obtained by catalytic depolymerization of waste poly(ethylene terephthalate). The AKL was homogenized in UPR resin in different weight ratios: 2.5, 5.0, 7.5, and 12.5 wt.%. Structural and dynamic-mechanical characteristics of acryl-functionalized kraft lignin and composites were determined using FTIR spectroscopy, dynamicmechanical analysis (DMA), and tensile tests. The influence of functionalization and mass fraction of AKL on tensile and thermal properties of UPR resin was studied. The thermal properties of the composite were tested according to the standard UL-94 method, based on which the highest category of heat-resistant materials is a composite with 12.5 wt.% acylfunctionalized lignin.
研究了丙烯功能化硫酸盐木质素(AKL)在降低再生不饱和聚酯树脂(UPR)基聚合物复合材料的可燃性方面的应用潜力。将游离多酚基与丙烯酰氯直接酯化,再将木质素与废聚对苯二甲酸乙酯催化解聚得到的多元醇合成的UPR树脂共混,实现木质素的丙烯基功能化。AKL在UPR树脂中以不同的重量比(2.5、5.0、7.5和12.5 wt.%)均质。采用FTIR光谱、动态力学分析(DMA)和拉伸试验对丙烯酸基木质素及其复合材料的结构和动态力学特性进行了研究。研究了AKL的功能化和质量分数对UPR树脂拉伸性能和热性能的影响。根据标准UL-94方法测试了复合材料的热性能,在此基础上,最高类别的耐热材料是含有12.wt .%酰基功能化木质素的复合材料。
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引用次数: 0
Hybrid filament wound composite tubes (aramide fiber/glass fiber)-epoxy resins and (carbon fibers/glass fiber)-epoxy resins: Volumetric, mechanical and hydraulic characteristics 混合长丝缠绕复合管(芳纶纤维/玻璃纤维)-环氧树脂和(碳纤维/玻璃纤维)-环氧树脂:体积、机械和水力特性
Pub Date : 2022-01-01 DOI: 10.5937/str2201033r
J. Radulovic
In this paper volumetric, mechanical and hydraulic characteristics of filament wound composite one fiber tubes and hybrid tubes are presented. Composite hybrid materials, produced by filament winding technology, are categorized according to different ways of classification of hybrid materials. Four fibrous reinforcement agents (glass G600, polyamide aromatic K49, carbon T300 and carbon T800) and two impregnation agent systems (epoxy 0164 and epoxy L20) are used for manufacturing of filament wound tubes. Density, tensile strength, specific tensile strength, hydraulic burst pressure and specific hydraulic burst pressure of two filament wound glass fiber/epoxy resins tubes (as starting materials) and of twelve filament wound hybrid tubes are investigated. Four highest values of tensile strength and hydraulic burst pressure are of the next schedule: hybrid tubes mark G600-T800/L20 (the highest), hybrid tubes mark G600-T800/0164, hybrid tubes mark G600-T300/L20 and hybrid tubes mark G600-K49/L20. Also, a row of four highest specific tensile strength and highest specific hydraulic burst pressure begins with hybrid tubes mark G600-T800/L20, but the schedule of the next three tubes is different due to density of aramide composite materials (hybrid tubes mark G600-K49/L20, hybrid tubes mark G600-T800/0164 and hybrid tubes mark G600-K49/0164). All filament wound tubes (single fiber tubes and hybrid tubes) with epoxy L20 have a slightly lower density value but higher values of tensile strength, specific tensile strength, hydraulic burst pressure and specific hydraulic burst pressure than appropriate tubes impregnated with epoxy 0164. Obtained results in this testing indicate and emphasize the importance of advanced reinforcing agents (aramide roving and carbon fibers), of impregnating agents (epoxy resin systems) and of the density of hybrid tubes, especially with aramide roving.
本文介绍了长丝缠绕复合单纤维管和混杂纤维管的体积、力学和水力特性。根据不同的混杂材料分类方法,对长丝缠绕技术生产的复合杂化材料进行了分类。四种纤维增强剂(玻璃G600、聚酰胺芳香族K49、碳T300和碳T800)和两种浸渍剂体系(环氧0164和环氧L20)用于制造长丝缠绕管。研究了两根缠绕玻璃纤维/环氧树脂管(作为起始材料)和12根缠绕玻璃纤维/环氧树脂管的密度、抗拉强度、比抗拉强度、破裂压力和破裂压力。抗拉强度和液压破裂压力的四个最高值为:混合管标记G600-T800/L20(最高),混合管标记G600-T800/0164,混合管标记G600-T300/L20和混合管标记G600-K49/L20。此外,一排四个最高比拉伸强度和最高比液压破裂压力从标记为G600-T800/L20的混合管开始,但由于芳纶复合材料的密度不同,后面三个管的时间表不同(标记为G600-K49/L20的混合管,标记为G600-T800/0164的混合管和标记为G600-K49/0164的混合管)。与环氧0164浸渍的纤维缠绕管相比,所有的纤维缠绕管(单纤维管和杂化管)的密度值略低,但抗拉强度、比抗拉强度、水力爆裂压力和水力爆裂压力均较高。该试验的结果表明并强调了高级增强剂(芳纶粗纱和碳纤维)、浸渍剂(环氧树脂体系)和混杂管密度的重要性,特别是芳纶粗纱。
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引用次数: 0
Comparative analysis of volumetric and instrumental method for determination of nitroglycerin content in gunpowder 容量法和仪器法测定火药中硝酸甘油含量的比较分析
Pub Date : 2021-01-01 DOI: 10.5937/str2102041r
Magdalena Rakić, Mirjan Krstovic, Slavko Mijatov, M. Dimić, Bojana Z. Fidanovski
The major energy components of double-based gunpowder are nitrocellulose (NC) and nitroglycerin (NG). In double-based gunpowder NG is used as a plasticizer and, at the same time, as an energetic component. Since the amount of NG in the gunpowder strongly influences and affects its chemical and mechanical properties or/and characteristics, the study of NG content is of great importance. The aim of this paper is to compare the analytical performances of high-performance liquid chromatography (HPLC) and classic analytical volumetric method for the separation and qualitative determination of nitroglycerine in smokeless gunpowder.
双基火药的主要能量成分是硝化纤维(NC)和硝化甘油(NG)。在双基火药中,NG被用作增塑剂,同时也是一种高能成分。由于NG在火药中的含量对火药的化学和机械性能或/和特性有很大的影响,因此对NG含量的研究具有重要意义。本文的目的是比较高效液相色谱法和经典分析容积法在无烟火药中硝酸甘油的分离定性测定中的分析性能。
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引用次数: 0
Wind tunnel verification of base-bleed effects on aerodynamic characteristics of an axi-symmetric projectile 底流对轴对称弹丸气动特性影响的风洞验证
Pub Date : 2021-01-01 DOI: 10.5937/str2102019d
Dijana Damljanović, Goran Ocokoljić, M. Lisov, Danilo Đurđevac
Experimental verification of base-bleed effects on aerodynamic characteristics for the supersonic flight stages was requested during the development of an axi-symmetric projectile. The experimental setup for testing base-bleed configurations of the projectile was designed, built and tested in the T-38 trisonic blowdown wind tunnel of the Military Technical Institute (VTI), Belgrade. Gas-generator was formed from a simple chamber with a single manifold pneumatically connected to a high-pressure air supply. Wind tunnel tests comprised measurement of aerodynamic forces and moments of the projectile with active base-bleed. Flow visualization was performed using the Schlieren method. It was of interest to verify the base drag reduction in the wind tunnel tests and to compare it with numerical predictions. In addition, the experience gained during these tests has been found to be helpful in the design of the future similar wind tunnel setups
在轴对称弹的研制过程中,需要对底流对超音速飞行段气动特性的影响进行实验验证。在贝尔格莱德军事技术学院(VTI)的T-38三音速风洞中设计、建造和测试了测试弹底排结构的实验装置。气体发生器由一个简单的腔室组成,其中有一个单管气动连接到高压气源。风洞试验包括测量主动底泄弹的气动力和力矩。采用纹影法进行流场可视化。在风洞试验中验证基本阻力减少并将其与数值预测进行比较是很有意义的。此外,在这些试验中获得的经验已被发现对未来类似风洞装置的设计有帮助
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引用次数: 0
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Scientific Technical Review
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