On launching dynamics of self-propelled cannons

Aim To present an analytical method for the launching dynamics of self-propelled cannons and to illustrate its feasibility by comparing the analytical and simulation results with the related on-spot test results. Methods The multi-rigid-body dynamical model of a self-propelled cannon excited by the continuous firing shocks was constructed using Kane-Huston Method. For the automatic treatment of the constraints and the reduction of the differential equations of motion, the concepts of constraint matrix and simplification matrix were proposed and the corresponding computational software was developed. Results The analytical and simulation results were identical to the on-spot test results. The characteristics of the response and the reason for the errors of the simulation results were also summarized. Conclusion The analytical method proposed is valid and the corresponding software developed is feasible in the present paper.