Parameter estimation of the shell transfer arm of a loading mechanism

Abstract

The shell transfer arm is a key component of gun automatic loading mechanism, the coordination speed and positioning accuracy have an important impact on gun ammunition delivery effect. Establishing an accurate dynamic model is the foundation for better control and prediction, therefore, it is necessary to identify the dynamic parameters of the shell transfer arm. In this paper, the dynamic model is established based on the topology method. The parameter identification model of the shell transfer arm is constructed by applying the dynamic model and unscented Kalman filter theory. Dynamic parameters of the shell transfer arm such as the mass, inertia and centroid position are estimated under unscented Kalman filter scheme. By comparing the parameter estimation results with the nominal design values, the feasibility and effectiveness of applying the proposed method to identify the dynamic parameters of the shell transfer arm are verified.