• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    The invention relates to a control device for tracking a directional weapon (1), which is pivotally mounted on a movable base (5) both about an elevation axis (2) and about an azimuth axis (3), wherein for performing pivotal movements of the weapon (1 ) according to the specifications of an intrinsically stabilized target device (8) tracking control circuits (9, 10) are provided, and that the tracking control circuits (9, 10) a weapon stabilization control loop is superimposed to compensate for the underlay (5) caused interference on the elevation axis (2) , wherein the sensing of the disturbing movement by inertial sensors takes place. In order to achieve that the inertial sensors of the weapon stabilization circuit are subjected to the lowest possible loads during firing, the invention proposes to fasten the inertial sensors to a subregion (4, 7) of the base (5).
    公开号:CH712422A2
    申请号:CH00549/17
    申请日:2017-04-25
    公开日:2017-10-31
    发明作者:Kroll Florian；Stenzel Udo；Jens Becker Dr；Gerstadt Stefan
    申请人:Rheinmetall Waffe Munition Gmbh；
    IPC主号:
    专利说明:

    Description: The invention relates to a control device for tracking a directional weapon, which is mounted pivotably on a movable base about an elevation axis and about an azimuth axis, with the features specified in the preamble of claim 1.
    To change the direction of a directional weapon, such as the weapon of a tank, it is known to provide both a Nachführregelkreis for pivotal movements of the weapon about the elevation axis and a Nachführregelkreis for pivotal movements about the azimuth axis according to the specifications of an intrinsically stabilized target device. The pivoting movements of the weapon about the elevation or azimuth axis are effected by means of drive motors (actuators), wherein the rotations of the motor shafts are monitored by means of sensors. The measured sensor signals (actual values) are then compared in setpoint-actual value comparators with nominal values, which are specified by the target device as analog or digital signals. In the event of deviations between the setpoint and actual values, speed controllers then determine corresponding correction signals, by means of which the actuators are subsequently readjusted.
    In order to detect and combat a target while driving a tank on rough terrain, it is also known to integrate in the control device in addition to the tracking control loops a weapon stabilization loop that compensates for the interference caused by the pad interference movements on the elevation axis. In this case, inertial sensors are attached to the weapon itself or to the barrel tube receiving tubular cradle for sensing the disturbing motion.
    A disadvantage of these known control devices, inter alia, that the usually consisting of gyros inertial sensors are exposed to the high shock loads occurring during firing. But such shock loads lead to drifting and thus to a reduction in accuracy (control quality) in simple low-cost gyroscopes.
    The invention has for its object to provide a control device of the type mentioned, in which the inertial sensors of the weapon stabilization loop compared to known devices are exposed to much lower loads during firing.
    This object is achieved by the features of claim 1. Further, particularly advantageous embodiments of the invention disclose the dependent claims.
    The invention is based essentially on the idea not to attach the inertial sensors, as before, to the weapon or the tube cradle, but to a portion of the pad.
    In this case, it may be in the subregion of the pad about a pivotable about the azimuth axis portion (such as the tower area of a tank) or to the portion of the pad, which is not pivotable about the azimuth axis.
    The inertial sensors preferably form an inertial measuring unit with three orthogonally arranged rotation rate sensors (for example angular rate gyros). This measuring unit is followed by a digital computer, which determines from the three directions of movement, which can be measured with the inertial measuring unit, two pilot signals for the two tracking control loops.
    It has proved to be advantageous if microstructure gyros are used as inertial sensors of the inertial measuring unit, so that the inertial measuring unit can be constructed in a very space-saving manner.
    Since the control electronics for carrying out the Nachführ- and stabilization control is often in a fixed to the pad housing, it has proved to be useful, although the medial measuring unit is arranged in the housing of the control electronics. As a result, the inertial measuring unit can be sufficiently protected against external environmental influences, and the cost of the wiring between the control electronics and the inertial measuring unit can be kept low.
    Finally, to filter out the DC components of the signals of the inertial sensors of the weapon stabilization control loop may include a filter.
    Further details and advantages of the invention will become apparent from the following, explained with reference to a block diagram embodiment.
    In the figure, the rear side view of the directable weapon of an armored vehicle is designated by the reference numeral 1 schematically. The weapon 1 is mounted pivotably about an elevation axis 2 and about an azimuth axis 3 on a first subregion 4 of a base 5. In this case, the first subregion 4 of the substrate 5 is a region (tower region of the tank) which is pivotable about the azimuth axis 3 and is rotatably supported by rollers 6 on the non-pivotable second subregion 7 of the substrate 5.
    To change the direction of the weapon 1 according to the specifications of an intrinsically stabilized target device 8, both a tracking control circuit 9 is provided for pivotal movements of the weapon about the elevation axis 2 and a tracking control loop 10 for pivotal movements about the azimuth axis 3. The pivoting movements of the weapon 1 to the elevation or azimuth axis 2 or 3 by means of drive motors (actuators) 11, 12, wherein the
    权利要求:
    Claims (10)
    [1]
    Rotation of the motor shafts (not shown) of the actuators 11,12 be supervised by means of sensors 13,14. The measured sensor signals (actual values) 15, 16 of the sensors 13, 14 are then compared in setpoint-actual value comparators 17, 18 with nominal values 19, 20, which are specified by the target device 8 as an analog or digital signal. In the case of deviations between the setpoint and actual values determine speed controller 21,22 corresponding correction signals which are supplied to the actuators 11,12 via power amplifier 23, 24 so that they readjust the position of the weapon 1 accordingly. In order to compensate for interference caused by the pad 5 on the elevation axis 2, the two tracking control circuits are 9,10 superimposed by a weapon stabilization loop. This comprises an inertial measuring unit 25 consisting of three orthogonally arranged rotation rate sensors (preferably microstructured gyros), which according to the invention is arranged on the first subregion 4 of the base 5. The inertial measuring unit 25 is a digital computer 26 connected downstream of the three directions of movement, which are measurable with the inertial measuring unit 25, two pilot signals 27, 28 determined. These pilot control signals 27, 28 then serve as input signals of the two tracking control circuits 9, 10, so that the actuators 11, 12 cause pivoting movements of the weapon 1, which reduce an existing difference between the direction of the weapon 1 and the direction of the target device 8. [0019] 1 weapon 2 elevation axis 3 azimuth axis 4 (first) subarea 5 base 6 roller 7 (second) subarea 8 target device 9.10 tracking control circuits 11, 12 drive motors, actuators 13, 14 sensors 15, 16 sensor signals 17, 18 desired actual value -Compensated 19,20 Setpoints 21,22 Speed controller 23,24 Power amplifier 25 inertial measuring unit 26 Calculator 27,28 Pilot signals Claims
    First control device for tracking a directional weapon (1) which is pivotally mounted on a movable base (5) both about an elevation axis (2) and about an azimuth axis (3), wherein for performing pivotal movements of the weapon (1) accordingly the provisions of an intrinsically stabilized target device (8) both a tracking control loop (9) for pivotal movements of the weapon (1) about the elevation axis (2) and a tracking control circuit (10) for pivoting movements of the weapon (1) about the azimuth axis (3) is provided and that the tracking control circuits (9, 10) are superimposed on a weapon stabilization control loop to compensate for interference movements on the elevation axis (2) triggered by the underlay (5), whereby the disturbing motion is sensed by inertial sensors, characterized in that the inertial sensors comprise an inertial measuring unit (25) with three orthogonally arranged rotation rate sensors that the inertial measuring unit (25) is a digital R echner (26) downstream of the three directions of movement, which are measurable with the inertial measuring unit (25), two pilot signals (27, 28) for the two tracking control circuits (9, 10) determined, and that the inertial measuring unit (25) is attached to the base (5).
    [2]
    2. Control device according to claim 1, characterized in that the inertial sensors of the inertial measuring unit (25) are microstructured rotors.
    [3]
    3. Control device according to claim 1 or 2, characterized in that the base (5) has a pivotable about the azimuth axis (3) first portion (4) and that the inertial measuring unit (25) either on this portion (4) or on a not pivotable about the azimuth axis second portion (7) is attached.
    [4]
    4. A control device according to claim 3, characterized in that for carrying out the Nachführ- and stabilization regulations arranged in a housing control electronics is provided that the housing of the control electronics on the pad (5) is fixed, and that the inertial measuring unit (25) in the housing of the control electronics is arranged.
    [5]
    5. Control device according to claim 4, characterized in that the intertiale measuring unit (25) is integrated in the housing of actuators (11, 12) for tracking.
    [6]
    6. Control device according to one of claims 1 to 5, characterized in that the stabilization control loop comprises a filter for filtering out the DC components of the signals of the inertial sensors of the inertial measuring unit (25).
    [7]
    7. Control device according to one of claims 1 to 5, characterized in that an intrinsically stabilized target device (8) is integrated.
    [8]
    8. Control method for the control device according to one of claims 1 to 7, characterized in that the movement of the base (5) for the elevation axis in three mutually perpendicular axes is measured inertially with the aid of the measuring unit (25), wherein the computer (26 ) from the directions of movement, which are measured with the measuring unit (25), pre-control signals (27, 28) for the tracking control circuits (9,10) determined.
    [9]
    9. control method according to claim 8, characterized in that actuators (11,12) of the Nachführregelkreise (9,10) cause pivoting movements of the weapon (1), the existing difference between the direction of the weapon (1) and the direction of the target device ( 8) downsize.
    [10]
    10. Control method according to claim 9, characterized in that from a target device (8) analog and / or digital signals are specified.
    类似技术:
    公开号 | 公开日 | 专利标题
    DE102005033237B4|2007-09-20|Method for determining and correcting misalignments and offsets of the sensors of an inertial measurement unit in a land vehicle
    EP2422018A1|2012-02-29|Mobile working machine comprising a position control device of a working arm and method for controlling the position of a working arm of a mobile working machine
    DE102005018107B3|2006-10-12|Method for determining the direction of rotation of rotating bodies
    DE102011051457A1|2012-01-05|Improved grading control for an earthmoving system at higher machine speeds
    DE102005059225B4|2013-09-12|Weapon with a weapon barrel, which is rotatably mounted outside the center of gravity on a movable base
    EP3259221A1|2017-12-27|Position control of a boom tip
    EP0229864A1|1987-07-29|Device for stabilizing a highly dynamic body on a less dynamic carrier
    EP2643661A1|2013-10-02|Method and device for determining motion parameters
    DE102013017341A1|2014-06-18|Apparatus for calibration of camera assembly in vehicle, executes extrinsic calibration parameter of individual camera of camera assembly, when deviation of individual camera from desired position is detected by acceleration sensor
    DE202007015532U1|2009-03-26|tilt sensor
    CH712422A2|2017-10-31|Control device for tracking a directable weapon.
    DE4317935C2|2003-01-16|Gun stabilization process
    DE112017005272T5|2019-08-14|Inertial measuring unit of the motorcycle
    DE102012106233B4|2017-03-09|pendulum indicator
    EP3270091A1|2018-01-17|Method and device for controlling the position of a platform which can be pivoted around three axes with a target tracking device
    EP1329683B1|2005-08-31|Method and device for compensating shooting errors and system computer for weapon system
    WO2016045891A1|2016-03-31|Gyroscopic vehicle stabilizer
    DE102017112029B3|2018-11-08|Method for monitoring a bearing, bearing and bearing assembly
    EP2036776B1|2016-10-19|Method for determining the alignment of an object
    DE102015111350A1|2017-01-19|Method for determining a slope of a vehicle body
    EP3276080B1|2019-12-04|Sensor system for an asphalt paving machine
    DE102017131064A1|2019-06-27|Detection device for detecting a roof rack load from a roof rack arranged on a vehicle
    DE4426501C2|1998-03-12|Sensor system for the geometric measurement of inaccessible underground cavities
    DE102016109513A1|2017-11-30|Control and / or control system, agricultural machine with such a system and method for operating an agricultural machine
    CH695248A5|2006-02-15|Method and apparatus for correcting errors shooting.
    同族专利:
    公开号 | 公开日
    DE102016107438A1|2017-10-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE10257675A1|2002-12-10|2004-07-08|Moog Gmbh|Barrel stabilization method following shooting of a gun, whereby an acceleration signal derived from the opposing movements of two elements of a compensating electro-mechanical drive is used in a control loop|
    US7549367B2|2004-01-20|2009-06-23|Utah State University Research Foundation|Control system for a weapon mount|
    DE102010044528A1|2010-09-07|2012-03-08|Moog Gmbh|Control method for stabilizing weapon e.g. gyroscope on movable pad, involves setting position difference as control variable, such that output signal of cascaded controller influences torque of drive motor|
    US8833232B1|2011-11-30|2014-09-16|Drs Sustainment Systems, Inc.|Operational control logic for harmonized turret with gimbaled sub-systems|
    US9074847B1|2014-08-28|2015-07-07|Flex Force Enterprises LLC|Stabilized weapon platform with active sense and adaptive motion control|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE102016107438.1A|DE102016107438A1|2016-04-21|2016-04-21|Control device for refilling a directable weapon|
    [返回顶部]