EP3317604B1 - Motor-driven aiming device and method - Google Patents

Motor-driven aiming device and method Download PDF

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Publication number
EP3317604B1
EP3317604B1 EP16734376.3A EP16734376A EP3317604B1 EP 3317604 B1 EP3317604 B1 EP 3317604B1 EP 16734376 A EP16734376 A EP 16734376A EP 3317604 B1 EP3317604 B1 EP 3317604B1
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EP
European Patent Office
Prior art keywords
support
motor
saturation
axis
nominal speed
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EP16734376.3A
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German (de)
French (fr)
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EP3317604A1 (en
Inventor
Roland THIEFFRY
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Safran Electronics and Defense SAS
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Safran Electronics and Defense SAS
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/28—Electrically-operated systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks

Definitions

  • the present invention relates to the pointing or the motorized orientation of an element in a predetermined direction and in particular the alignment of a weapon on a line of sight.
  • a pointing device comprising a fixed frame and a steerable support on a steerable weapon system relative to a reference frame such as that of the vehicle carrying the weapon system in the case of a weapon system.
  • the support of the pointing device is mounted on the frame of the weapon to be orientable around two axes of rotation, namely a site axis and a bearing axis, by means of two electric motors.
  • These motors are controlled so as to bring and maintain the orientable support aligned in a direction corresponding to the line of sight determined by the service of the weapon.
  • the recoil of the weapon When shooting, the recoil of the weapon generates a shock which causes a sudden rotation of the support.
  • the motors are controlled to oppose this sudden rotation until the saturation of the engine control which limits the risk of damage to the electronics of the device but makes it impossible to maintain the alignment of the support on the line of aiming. There is then a shift between the actual angular position of the support relative to the line of sight.
  • the engine control does not allow the engines to catch up quickly so that, in case of continuous shooting, there is a risk that the second shot, then the next, are further and further away from the target.
  • An object of the invention is to provide a means to improve the accuracy of the alignment of a motorized support in case of shock or any other physical phenomenon resulting in saturation of the engine.
  • the reference inertial position is the position in which the support was located just before the saturation of the engine. This position is measured via the inertial angular velocity sensor. With the invention, the nominal speed setpoint is increased to quickly bring the support back to the reference inertial position.
  • the pointing device comprises a fixed frame 1 in which is mounted a support 2 for pivoting about an axis 3 here vertical.
  • the frame 1 is arranged to be fixed on a carrier, a vehicle or a tank turret for example.
  • the support 2 is arranged to carry the element to be pointed, a weapon or a pointing device for example, and is connected to the frame 1 by bearings coaxial with the axis 3.
  • the support 2 is adjustable in angular position about the axis 3 by means of an electric motor 4 having an output shaft connected via movement transmission means to a ring coaxial with the axis 3 and integral with the support 2.
  • the motion transmission means are, for example, gears, a belt, cables ...
  • the motor can also be mounted in direct contact with the element to be driven and thus connect the frame 1 to the support 2.
  • the support 2 is also equipped with an inertial sensor of angular velocity around the axis 3, namely a gyrometer 5.
  • the electric motor 4 and the gyrometer 5 are connected to a computer control unit 6 arranged to execute a control program and having an interface allowing an operator of the pointing device to input data into the control program.
  • the control computer unit 6 continuously records the angular velocity measured by the gyrometer 5.
  • control program is illustrated on the figure 2 in the form of a control chain generally designated at 10 and arranged to control the electric motor 4 according to a nominal speed setpoint ⁇ calculated from data entered by the operator of the pointing device.
  • the control chain comprises a main control loop 20 and a correction loop 30 which intervenes in case of saturation of the electric motor 4.
  • the main control loop 20 comprises an element 21 for controlling the motors which determines the control parameters of the electric motor 4 as a function of a difference between a speed setpoint ⁇ 1 and a speed of the support 2, denoted ⁇ M.
  • the speed ⁇ M is measured by the gyrometer 5.
  • the correction loop 30 comprises an estimator 31 of a difference between a reference inertial position prior to saturation and an actual inertial position and a corrector 32 arranged to correct the nominal speed setpoint ⁇ as a function of this difference.
  • This correction is an integral proportional type correction that provides a corrected speed instruction ⁇ C.
  • the correction loop 30 also comprises a detector 33 of the saturation of the electric motor 4 from saturation information coming from the control element 21.
  • the detector 33 makes it possible to monitor the occurrence of a saturation of the electric motor 4 and is arranged to activate the correction loop 30 in case of saturation of the electric motor 4.
  • An adder 34 adds the nominal target .theta speed and the speed setpoint corrected .theta C to give the speed setpoint .theta 1.
  • the speed setpoint ⁇ 1 is equal to the nominal speed setpoint ⁇ .
  • the correction loop 30 is activated by the detector 33 so that the nominal target .theta speed is corrected by the corrector 32 that provides the velocity command corrected .theta C.
  • the support 2 can be mounted in the frame 1 to be adjustable in position along two perpendicular axes, for example.
  • the support 2 can be mounted in the frame 1 to be adjustable in location and bearing relative to the frame 1 by means of two motors and using either an angular inertial sensor with two sensitive axes or two inertial sensors angular sensitive axis.
  • the invention is applicable to any pointing device arranged to orient any element in a predetermined direction.
  • the support can be equipped with several inertial sensors: a first sensor used for the conventional stabilization control loop and a gyrometer for the correction loop.
  • the method can be implemented continuously by adding an over-position loop absolute (or inertial).
  • the implementation device is then devoid of tripping and stopping elements of the function 33; there is no measurement of the reference by the estimator 31 and the speed instruction provided by the operator is always corrected by the speed reference from the corrector 32.
  • This implementation considerably reduces the impact of friction and thus increase the oscillation stabilization performance of the slave system. This method can therefore also be used as a friction compensator.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Control Of Electric Motors In General (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Control Of Position Or Direction (AREA)

Description

La présente invention concerne le pointage ou l'orientation motorisée d'un élément dans une direction prédéterminée et notamment l'alignement d'une arme sur une ligne de visée.The present invention relates to the pointing or the motorized orientation of an element in a predetermined direction and in particular the alignment of a weapon on a line of sight.

ETAT DE LA TECHNIQUESTATE OF THE ART

Il est connu de monter un dispositif de pointage comprenant un bâti fixe et un support orientable sur un système d'arme orientable par rapport à un châssis de référence tel que celui du véhicule portant le système d'arme dans le cas d'un système d'arme motorisé. Le support du dispositif de pointage est monté sur le bâti de l'arme pour être orientable autour de deux axes de rotation, à savoir un axe de site et un axe de gisement, au moyen de deux moteurs électriques.It is known to mount a pointing device comprising a fixed frame and a steerable support on a steerable weapon system relative to a reference frame such as that of the vehicle carrying the weapon system in the case of a weapon system. motorized weapon. The support of the pointing device is mounted on the frame of the weapon to be orientable around two axes of rotation, namely a site axis and a bearing axis, by means of two electric motors.

Ces moteurs sont commandés de manière à amener et maintenir le support orientable aligné dans une direction correspondant à la ligne de visée déterminée par le servant de l'arme.These motors are controlled so as to bring and maintain the orientable support aligned in a direction corresponding to the line of sight determined by the service of the weapon.

Lors du tir, le recul de l'arme engendre un choc qui provoque une rotation brusque du support. Les moteurs sont pilotés pour s'opposer à cette rotation brusque jusqu'à la saturation de la commande des moteurs qui limite le risque d'un endommagement de l'électronique du dispositif mais rend impossible le maintien de l'alignement du support sur la ligne de visée. Il se produit alors un décalage entre la position angulaire réelle du support par rapport à la ligne de visée. Le pilotage des moteurs ne permet pas aux moteurs de rattraper ce décalage rapidement de sorte que, en cas de tirs en rafale, il existe un risque que le second tir, puis les suivants, soient de plus en plus éloignés de la cible.When shooting, the recoil of the weapon generates a shock which causes a sudden rotation of the support. The motors are controlled to oppose this sudden rotation until the saturation of the engine control which limits the risk of damage to the electronics of the device but makes it impossible to maintain the alignment of the support on the line of aiming. There is then a shift between the actual angular position of the support relative to the line of sight. The engine control does not allow the engines to catch up quickly so that, in case of continuous shooting, there is a risk that the second shot, then the next, are further and further away from the target.

Les documents US 2001/0039874 A1 , US 2002/0074486 A1 , DE 10 2013 006 939 A1 et FR 2 821 928 A1 divulguent des dispositifs de pointage connus.The documents US 2001/0039874 A1 , US 2002/0074486 A1 , DE 10 2013 006 939 A1 and FR 2 821 928 A1 disclose known pointing devices.

OBJET DE L'INVENTIONOBJECT OF THE INVENTION

Un but de l'invention est de fournir un moyen permettant d'améliorer la précision de l'alignement d'un support motorisé en cas de choc ou de tout autre phénomène physique entraînant une saturation du moteur.An object of the invention is to provide a means to improve the accuracy of the alignment of a motorized support in case of shock or any other physical phenomenon resulting in saturation of the engine.

BREF EXPOSE DE L'INVENTIONBRIEF SUMMARY OF THE INVENTION

A cette effet, on prévoit, selon l'invention, un procédé de commande selon la revendication 1 d'un dispositif de pointage comprenant un bâti fixe sur lequel est monté un support pour être orientable autour d'au moins un axe de rotation au moyen d'au moins un moteur, le support étant pourvu d'au moins un capteur inertiel de vitesse angulaire autour de ce même axe, le procédé comprenant les étapes de :

  • asservir la commande du moteur en fonction d'une différence entre une consigne nominale de vitesse et une mesure du capteur de vitesse angulaire,
  • déterminer une valeur correctrice de la consigne nominale de vitesse en fonction d'un écart entre une position inertielle de référence et une position inertielle actuelle et appliquer la valeur correctrice à la consigne nominale de vitesse.
For this purpose, according to the invention, there is provided a control method according to claim 1 of a pointing device comprising a fixed frame on which is mounted a support to be orientable about at least one axis of rotation by means of at least one motor, the support being provided with at least one inertial sensor of angular velocity around this same axis, the method comprising the steps of:
  • to control the motor control according to a difference between a nominal speed setpoint and a measurement of the angular speed sensor,
  • determining a corrective value of the nominal speed reference as a function of a difference between a reference inertial position and a current inertial position and applying the corrective value to the nominal speed reference.

En cas de saturation du moteur, la position inertielle de référence est la position dans laquelle se trouvait le support juste avant la saturation du moteur. Cette position est mesurée via le capteur inertiel de vitesse angulaire. Avec l'invention, la consigne nominale de vitesse est augmentée pour rapidement ramener le support vers la position inertielle de référence.In case of saturation of the engine, the reference inertial position is the position in which the support was located just before the saturation of the engine. This position is measured via the inertial angular velocity sensor. With the invention, the nominal speed setpoint is increased to quickly bring the support back to the reference inertial position.

L'invention a également pour objet un dispositif de pointage selon la revendication 3 comprenant un bâti fixe sur lequel est monté un support pour être orientable autour d'au moins un axe de rotation au moyen d'au moins un moteur relié à une unité de commande. Le support est pourvu d'au moins un capteur inertiel de vitesse angulaire autour de ce même axe, l'unité de commande étant agencée pour :

  • asservir la commande du moteur en fonction d'une différence entre une consigne nominale de vitesse et une mesure du capteur de vitesse angulaire,
  • déterminer une valeur correctrice de la consigne nominale de vitesse en fonction d'un écart entre une position inertielle de référence et une position inertielle actuelle et appliquer la valeur correctrice à la consigne nominale de vitesse.
The invention also relates to a pointing device according to claim 3 comprising a fixed frame on which is mounted a support to be rotatable about at least one axis of rotation by means of at least one motor connected to a unit of command. The support is provided with at least one inertial sensor of angular velocity around this same axis, the control unit being arranged for:
  • slave the engine control accordingly a difference between a nominal speed setpoint and a measurement of the angular speed sensor,
  • determining a corrective value of the nominal speed reference as a function of a difference between a reference inertial position and a current inertial position and applying the corrective value to the nominal speed reference.

D'autres caractéristiques et avantages de l'invention ressortiront à la lecture de la description qui suit de modes de réalisation particuliers non limitatifs de l'invention.Other features and advantages of the invention will emerge on reading the following description of particular non-limiting embodiments of the invention.

BREVE DESCRIPTION DES FIGURESBRIEF DESCRIPTION OF THE FIGURES

Il sera fait référence aux dessins annexés, parmi lesquels :

  • la figure 1 est une vue schématique d'un dispositif de pointage conforme à l'invention ;
  • la figure 2 est une vue schématisant la commande du moteur de ce dispositif de pointage.
Reference will be made to the appended drawings, among which:
  • the figure 1 is a schematic view of a pointing device according to the invention;
  • the figure 2 is a schematic view of the motor control of this pointing device.

DESCRIPTION DETAILLEE DE L'INVENTIONDETAILED DESCRIPTION OF THE INVENTION

En référence à la figure 1, le dispositif de pointage selon l'invention comprend un bâti fixe 1 dans lequel est monté un support 2 pour pivoter autour d'un axe 3 ici vertical. Le bâti 1 est agencé pour être fixé sur un porteur, un véhicule ou une tourelle de char par exemple. Le support 2 est agencé pour porter l'élément à pointer, une arme ou un dispositif de pointage par exemple, et est relié au bâti 1 par des roulements coaxiaux à l'axe 3.With reference to the figure 1 , the pointing device according to the invention comprises a fixed frame 1 in which is mounted a support 2 for pivoting about an axis 3 here vertical. The frame 1 is arranged to be fixed on a carrier, a vehicle or a tank turret for example. The support 2 is arranged to carry the element to be pointed, a weapon or a pointing device for example, and is connected to the frame 1 by bearings coaxial with the axis 3.

Le support 2 est réglable en position angulaire autour de l'axe 3 au moyen d'un moteur électrique 4 ayant un arbre de sortie relié via des moyens de transmission de mouvement à une couronne coaxiale à l'axe 3 et solidaire du support 2. Les moyens de transmission de mouvement sont par exemple des engrenages, une courroie, des câbles... Le moteur peut également être monté en prise directe sur l'élément à entraîner et ainsi relier le bâti 1 au support 2.The support 2 is adjustable in angular position about the axis 3 by means of an electric motor 4 having an output shaft connected via movement transmission means to a ring coaxial with the axis 3 and integral with the support 2. The motion transmission means are, for example, gears, a belt, cables ... The motor can also be mounted in direct contact with the element to be driven and thus connect the frame 1 to the support 2.

Le support 2 est en outre équipé d'un capteur inertiel de vitesse angulaire autour de l'axe 3, à savoir un gyromètre 5.The support 2 is also equipped with an inertial sensor of angular velocity around the axis 3, namely a gyrometer 5.

Le moteur électrique 4 et le gyromètre 5 sont reliés à une unité informatique de commande 6 agencée pour exécuter un programme de commande et comportant une interface permettant à un opérateur du dispositif de pointage d'introduire des données dans le programme de commande. L'unité informatique de commande 6 enregistre en continu la vitesse angulaire mesurée par le gyromètre 5.The electric motor 4 and the gyrometer 5 are connected to a computer control unit 6 arranged to execute a control program and having an interface allowing an operator of the pointing device to input data into the control program. The control computer unit 6 continuously records the angular velocity measured by the gyrometer 5.

Le fonctionnement du programme de commande est illustré sur la figure 2 sous la forme d'une chaîne de commande généralement désignée en 10 et agencée pour commander le moteur électrique 4 en fonction d'une consigne nominale de vitesse θ̇ calculée à partir de données introduites par l'opérateur du dispositif de pointage.The operation of the control program is illustrated on the figure 2 in the form of a control chain generally designated at 10 and arranged to control the electric motor 4 according to a nominal speed setpoint θ̇ calculated from data entered by the operator of the pointing device.

La chaîne de commande comprend une boucle principale de commande 20 et une boucle de correction 30 qui intervient en cas de saturation du moteur électrique 4.The control chain comprises a main control loop 20 and a correction loop 30 which intervenes in case of saturation of the electric motor 4.

La boucle principale de commande 20 comprend un élément 21 de commande des moteurs qui détermine les paramètres de commande du moteur électrique 4 en fonction d'une différence entre une consigne de vitesse θ̇ 1 et une vitesse du support 2, notée θ̇M . La vitesse θ̇M est mesurée par le gyromètre 5.The main control loop 20 comprises an element 21 for controlling the motors which determines the control parameters of the electric motor 4 as a function of a difference between a speed setpoint θ 1 and a speed of the support 2, denoted θ M. The speed θ̇ M is measured by the gyrometer 5.

La boucle de correction 30 comprend un estimateur 31 d'un écart entre une position inertielle de référence préalable à la saturation et une position inertielle actuelle et un correcteur 32 agencé pour corriger la consigne nominale de vitesse θ̇ en fonction de cet écart. Cette correction est une correction de type proportionnelle intégrale qui fournit une consigne de vitesse corrigée θ̇C . La boucle de correction 30 comprend également un détecteur 33 de la saturation du moteur électrique 4 à partir d'une information de saturation provenant de l'élément de commande 21. Le détecteur 33 permet de surveiller la survenue d'une saturation du moteur électrique 4 et est agencé pour activer la boucle de correction 30 en cas de saturation du moteur électrique 4. Un sommateur 34 ajoute la consigne nominale de vitesse θ̇ et la consigne de vitesse corrigée θ̇C pour donner la consigne de vitesse θ̇ 1.The correction loop 30 comprises an estimator 31 of a difference between a reference inertial position prior to saturation and an actual inertial position and a corrector 32 arranged to correct the nominal speed setpoint θ̇ as a function of this difference. This correction is an integral proportional type correction that provides a corrected speed instruction θ̇ C. The correction loop 30 also comprises a detector 33 of the saturation of the electric motor 4 from saturation information coming from the control element 21. The detector 33 makes it possible to monitor the occurrence of a saturation of the electric motor 4 and is arranged to activate the correction loop 30 in case of saturation of the electric motor 4. An adder 34 adds the nominal target .theta speed and the speed setpoint corrected .theta C to give the speed setpoint .theta 1.

Ainsi, en fonctionnement normal, hors cas de saturation, la consigne de vitesse θ̇ 1 est égale à la consigne nominale de vitesse θ̇.Thus, in normal operation, except in case of saturation, the speed setpoint θ 1 is equal to the nominal speed setpoint θ̇ .

En revanche, en cas de saturation, la boucle de correction 30 est activée par le détecteur 33 de sorte que la consigne nominale de vitesse θ̇ est corrigée par le correcteur 32 qui fournit la consigne de vitesse corrigée θ̇C. In contrast, in case of saturation, the correction loop 30 is activated by the detector 33 so that the nominal target .theta speed is corrected by the corrector 32 that provides the velocity command corrected .theta C.

Bien entendu, l'invention n'est pas limitée aux modes de réalisation décrits mais englobe toute variante entrant dans le champ de l'invention telle que définie par les revendications.Of course, the invention is not limited to the embodiments described but encompasses any variant within the scope of the invention as defined by the claims.

En particulier, le support 2 peut être monté dans le bâti 1 pour être réglable en position selon deux axes perpendiculaires par exemple. Le support 2 peut être monté dans le bâti 1 pour être réglable en site et en gisement par rapport au bâti 1 au moyen de deux moteurs et en utilisant soit un capteur inertiel angulaire à deux axes sensibles soit deux capteurs inertiels angulaires à un axe sensible.In particular, the support 2 can be mounted in the frame 1 to be adjustable in position along two perpendicular axes, for example. The support 2 can be mounted in the frame 1 to be adjustable in location and bearing relative to the frame 1 by means of two motors and using either an angular inertial sensor with two sensitive axes or two inertial sensors angular sensitive axis.

L'invention est applicable à tout dispositif de pointage agencé pour orienter un élément quelconque dans une direction prédéterminée.The invention is applicable to any pointing device arranged to orient any element in a predetermined direction.

Le support peut être équipé de plusieurs capteurs inertiels: un premier capteur utilisé pour la boucle de commande classique de stabilisation et un gyromètre pour la boucle de correction.The support can be equipped with several inertial sensors: a first sensor used for the conventional stabilization control loop and a gyrometer for the correction loop.

Il est possible soit d'utiliser une valeur de position absolue de référence, comme indiqué précédemment, soit d'utiliser l'erreur de position absolue courante calculée à chaque itération de la commande.It is possible either to use an absolute reference position value, as indicated above, or to use the current absolute position error calculated at each iteration of the command.

Le procédé peut être mis en oeuvre de façon continue en rajoutant une sur-boucle de position absolue (ou inertielle). Le dispositif de mise en oeuvre est alors dépourvu des éléments de déclenchement et d'arrêt de la fonction 33 ; il n'y pas de mesure de la référence par l'estimateur 31 et la consigne de vitesse fournie par l'opérateur est toujours corrigée par la consigne de vitesse issue du correcteur 32. Cette mise en oeuvre permet de réduire considérablement l'impact des frottements et ainsi augmenter les performances de stabilisation en oscillation du système asservi. Ce procédé peut donc être également utilisé comme compensateur de frottement.The method can be implemented continuously by adding an over-position loop absolute (or inertial). The implementation device is then devoid of tripping and stopping elements of the function 33; there is no measurement of the reference by the estimator 31 and the speed instruction provided by the operator is always corrected by the speed reference from the corrector 32. This implementation considerably reduces the impact of friction and thus increase the oscillation stabilization performance of the slave system. This method can therefore also be used as a friction compensator.

Claims (4)

  1. A method of controlling an aiming device comprising a stationary structure (1) having mounted thereon a support (2) so as to be steerable about at least one axis of rotation (3) by means of at least one motor (4), the support being provided with at least one inertial sensor of angular speed (5) about that axis, the method comprising the steps of:
    - servo-controlling the motor as a function of a difference between a nominal speed setpoint and a measurement of the angular speed sensor, and monitoring for the motor becoming saturated; and
    - in the event of saturation being detected, determining a correction value for correcting the nominal speed setpoint as a function of a difference between a reference inertial position prior to the saturation and a current inertial position, and applying the correction value to the nominal speed setpoint.
  2. A method according to claim 1, wherein the correction value is obtained by a correction of the proportional integral correction type.
  3. An aiming device comprising a stationary structure (1), a support (2), at least one motor (4)and a control unit (6), in which the support (2) is mounted on the stationary structure (1) so as to be steerable about at least one axis of rotation (3) by means of at least one motor (4) connected to the control unit (6) in which the support (2) is provided with at least one inertial sensor of angular speed (5) about that axis, and in that the control unit (6) is arranged:
    - to servo-control the motor as a function of a difference between a nominal speed setpoint and a measurement of the angular speed sensor, and monitoring for the motor becoming saturated; and
    - in the event of saturation being detected, to determine a correction value for correcting the nominal speed setpoint as a function of a difference between a reference inertial position prior to the saturation and a current inertial position, and applying the correction value to the nominal speed setpoint.
  4. An aiming device according to claim 3, wherein the correction value is obtained via a correction of the proportional integral correction type.
EP16734376.3A 2015-07-03 2016-07-01 Motor-driven aiming device and method Active EP3317604B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1556304A FR3038377B1 (en) 2015-07-03 2015-07-03 MOTORIZED METHOD AND DEVICE FOR SCORING
PCT/EP2016/065586 WO2017005656A1 (en) 2015-07-03 2016-07-01 Motor-driven aiming device and method

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EP3317604A1 EP3317604A1 (en) 2018-05-09
EP3317604B1 true EP3317604B1 (en) 2019-06-05

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US (1) US10145654B2 (en)
EP (1) EP3317604B1 (en)
CN (1) CN107810380B (en)
FR (1) FR3038377B1 (en)
IL (1) IL256454B (en)
RU (1) RU2658555C1 (en)
WO (1) WO2017005656A1 (en)
ZA (1) ZA201800246B (en)

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CN112462773B (en) * 2020-11-27 2022-09-02 哈尔滨工程大学 Path tracking anti-saturation robust control method of under-actuated surface vessel

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ZA201800246B (en) 2019-07-31
FR3038377B1 (en) 2018-06-15
CN107810380A (en) 2018-03-16
IL256454A (en) 2018-03-01
US10145654B2 (en) 2018-12-04
FR3038377A1 (en) 2017-01-06
CN107810380B (en) 2019-03-22
EP3317604A1 (en) 2018-05-09
US20180195837A1 (en) 2018-07-12
RU2658555C1 (en) 2018-06-21
IL256454B (en) 2018-08-30
WO2017005656A1 (en) 2017-01-12

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