RU2542694C1 - Simulator for training of combat crawler machines with steering control - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: proposed simulator comprises cabin dummy, controls, drives pickups, step detector, program drum, consult unit, slide projector with shutter two-position device and electromagnet, mode selector, error counter and instructor workstation. First tandem driver section is arranged at lengthwise axis of body part with running gear while second tandem part with running gear for initial training of driver located at body front bottom lengthwise axis. Monitor is arranged ahead of body front, intercom hardware and instructor workstation are located at the right of cabin dummy and at the left of body front. Note here that body front can displace in horizontal plane through 12-15 degrees and can bank and pitch at rising height of 100-120 mm. Training under conditions approximated to actual driving conditions.

EFFECT: possibility to analyse and eliminate errors.

4 cl, 8 dwg

Description

The invention relates to the field of educational and training means, namely, simulators for training driver mechanics in driving military tracked vehicles with steering.

The well-known dynamic simulator of driving a T-72 tank (“Simulators and technical training aids.” Encyclopedia of the 21st century. Russian weapons and technologies, Volume XVIII, “Arms and Technologies” publishing house, Moscow, 2009, p. 116), mechanic simulator a T-90 tank driver with lever motion control (“Simulators and technical training aids. Encyclopedia of the XXI century. Russian weapons and technologies, Volume XVIII,“ Arms and Technologies ”publishing house, Moscow, 2009, p. 112), three-stage dynamic simulators for driving BMD and BMP combat vehicles with steering Ia. ( "Simulators and training facilities." Encyclopedia of XXI century. Russia's Arms and Technologies, Vol XVIII, Publishing House "Arms and Technologies", Moscow, 2009, p.118).

These simulators contain a mock-up cabin (driver-mechanic’s compartment), equipped with controls, viewing and instrumentation, providing engine start-up, monitoring the operation of the engine, its systems and transmission units. A monitor is installed in front of the observation devices of the driver, to which the image of the landfill terrain is transmitted. The trained driver-driver imitates the movement of the machine according to the simulated recording of the landfill terrain transmitted to the monitor screen, in accordance with the commands of the commander (leader). Next to the mock-up cabin is the workplace of the head of classes, designed to turn on the simulator and monitor the actions of students. The workplace is equipped with monitors, manipulators and a headset for intercom.

The disadvantages of these simulator designs are:

- the mock-up cabin does not allow the student to acquire the professional skill of landing at the workplace in the traffic control department;

- the mock-up cabin is not equipped with a rotary platform with a mechanism for simulating the rotation process from the motion control organs with a perception of the reaction of the process to the student;

- the student is constantly in the field of vision of the head of the classroom, which leads to psychological pressure.

A known training method for driving land vehicles and a running simulator for its implementation (patent RU 2089940 C1), is a caterpillar chassis without a tower and course installations, containing a housing with a regular place of the driver, equipped with controls, a power plant, chassis and place instructors equipped with their own controls. The instructor's seat is located to the left of the driver in the housing in the place of the paratroopers and is additionally equipped with a brake pedal interlocked with the driver’s brake pedal and a button for emergency engine stop. The ability to monitor changes in the technical condition of the vehicle and the operating mode of the assembly units is carried out due to the fact that the control instrument panel of the driver is in the instructor’s field of vision, and the route is monitored through standard inspection devices or by directly monitoring the terrain (in the “ marching "). In place of the removed turret with armament, a fixed cabin is additionally installed with an additional instructor seat, partially isolated from the driver’s seat by a partition. To ensure visibility, an additional seat is installed above the main place of the instructor and driver, and the cabin has glazed windows and glass cleaning devices. At an additional place, the controls of the driving simulator, duplicated with the driver's controls, can be installed. The instructor communicates with the trainee through the standard equipment of internal communication and switching. To assess the quality of driving, an additional control system was installed at an additional place of the instructor, which records the movement parameters of a vehicle controlled by a student, such as average speed, compliance with dimensions when overcoming obstacles, braking quality, etc. In aggregate, the instructor’s extra seat creates the illusion of independence for the student at the final stage of training.

The disadvantages of this design of the simulator are:

- there is a real removal of the power resources of the power drive and fuel consumption using refueling technical systems;

- at the workplace of the trainee there is no device for independent (without the use of internal communication equipment and instructor switching) receiving a “consultation”.

The closest to the proposed invention in terms of essential features is a tank driving training simulator (patent RU 2138079 C1), containing a mock-up cabin, controls, sensors of control drives, a step finder, a program drum, a consultation unit, a slide projector with a curtain on-off device and an electromagnet, mode switch and error counter. The overhead actuator is connected to the sensors of the control drives via a step finder, and the electromagnet anchor with the curtain of the on-off two-position device connected to it and the error counter connected in parallel are connected to the operation mode switch.

The simulator has two modes of operation: consultation mode and main mode.

When the simulator is in the main mode, the student is placed in a mock-up cabin, turns on the battery switch. The signal is fed to a step finder and an overhead actuator, providing light information to the screen through the shutter of the on-off device, which is in the extreme right position. With proper operations, the signals from the sensors of the control go to a stepper device, which ensures the issuance of an electrical signal to the actuator of the slide projector. In case of erroneous actions, the signal from the sensors does not arrive at the stepper device and the frame is not replaced in the overhead projector.

To ensure the operation of the simulator in the "consultation" mode, the student switches the mode switch to the "consultation" position, which ensures the closure of the electrical circuit from the batteries to the electromagnet. In this case, the anchor of the electromagnet moves the curtain to the left position, displays on the screen the right part of the filmstrip frames, which gives advice on how to eliminate the mistake. At the same time, an electrical signal is supplied to the error counter in parallel. After receiving a consultation, the student switches the mode switch to the “work” position, thereby de-energizing the electromagnet, whose anchor returns to its original position under the action of the spring, dragging the curtain along with it.

The disadvantages of this design of the simulator are:

- the mock-up cabin does not allow the trained driver-mechanic to correctly acquire the professional skill of landing at the workplace;

- the mock-up cabin is not equipped with a rotary platform with a rotation mechanism from the motion controls, which reduces the reality of the rotation process;

- the subjective assessment of correctly performed work on the implementation of training operations is not recorded.

The objective of the invention is the creation of a simulator with educational tools for teaching driving military tracked vehicles with steering without removing the power resources of the drive.

A technical solution to the problem is achieved by the fact that the simulator is made of tandemly located two interconnected mock learning areas: auto-training class and master class.

The autotraining class for independent trainings is designed as the front hull of the caterpillar chassis with a built-in movement control compartment for the driver, controls, including steering, instrumentation, observation devices, a landing and landing hatch, and training tools, including control actuator sensors located on the longitudinal axis of the hull. A chassis is installed on the hull, for example, two road wheels on each side of the hull, an independent torsion bar suspension.

The front case of the autotraining class is made with the possibility of simulating rotation in the horizontal plane from the power drive by signals from the control unit by an angle equal to, for example, 12-15 °, on both sides of the longitudinal axis and with the ability to simulate roll and pitch from the power actuators with yaw sensors, controlled through educational means, by a height of rise equal to, for example, 100-120 mm.

In front of the front hull of the autotraining class, a monitor is installed on its longitudinal axis, to which the landfill terrain is transmitted, and the driver is moving the machine along the simulated terrain terrain transmitted to the monitor screen, in accordance with the commands through the headset or a task for performing driving exercises.

The master class for elementary education with and without the help of an instructor is designed as a mock-up cabin with controls and educational and training tools, including control actuator sensors, slide projector, mode switch and error counter. This mock-up cabin is installed on the bottom of the front hull with its location on the longitudinal axis of the hull, and the instructor's workplace is located, for example, to the right of the mock-up cab and to the rear of the front hull. In the mock-up cabin, such controls as the brake pedal, the fuel pedal, the clutch pedal of the main clutch, the steering column with the steering wheel are duplicated with the controls located in the movement control compartment of the front casing of the tracked chassis.

When practicing a professional skill both in an auto-training class and in a master class, with the start of an independent task without errors, the subjective assessment using the training tools of the simulator is transferred to the database of the trained driver-mechanic.

The invention is illustrated by drawings, which depict:

figure 1 - General view of the simulator, left view;

figure 2 - General view of the simulator, plan;

figure 3 is a structural diagram of a mechanism for simulating the rotation of the chassis, section aa;

figure 4 is a structural diagram of a mechanism for simulating the rotation of the chassis, view B;

figure 5 is a structural diagram of a mechanism for simulating roll, pitch, section BB;

figure 6 is a structural diagram of a mechanism for simulating roll, pitch, section GG;

Fig.7 is a structural and functional diagram of a breadboard section of an autotraining class;

in Fig.8 is a structural-functional diagram of the prototype workshop workshop.

The simulator 1 (see Figs. 1, 2, 3, 4, 5, 6, 7, 8) contains two tandemly interconnected mock training areas: the front one in the form of auto-training class 2, made as the front hull of the caterpillar chassis, on the longitudinal axis which is equipped with a motion control compartment 3, and the second in the form of a master class 4, made as a mock-up cabin of this control compartment, mounted using an arm 5 on the bottom of the front housing 2 to raise identical visibility from compartment 3 to form visibility. Nominal sheet of the traffic control compartment 3 and a similar sheet of the mock cab 4 are equipped with a hatch 6 for boarding / disembarking the driver with turning and closing elements 7 and monitoring devices 8. Inside the compartment 3 and the mock cab 4, their ceiling body 9 is fixed seat 10 for the driver. In addition, in each control compartment, controls 11, 12 are respectively located, including the clutch pedal 13, brake pedal 14, fuel pedal 15, steering column 16 with a steering wheel 17 kinematically connected to the transverse right roller 18 and the left roller 19. As a result the controls 12 of the model cab 4 are duplicates of the controls 11 of the control compartment 3. In this case, the transverse rotary rollers 18, 19 only in the control compartment 3 are respectively kinematically connected with third-party steering gears - p equal to 20 and left 21, set to change gears of operation of caterpillar movers (not shown). In addition, in the compartment 3 and the mock-up cabin 4, a selector for switching speeds 22, instrumentation 23, elements of button equipment on / off 24 (for turning on the on-board network or other external power source, for heating the cooling system, and also for starting and stop of the main engine of the caterpillar chassis). Due to the fact that the main engine and transmission on the base chassis are located in a sealed separate compartment and their work is simulated by the actions of educational means, their specific location on the simulator 1 is absent.

For comfortable work (similar to a caterpillar chassis), the control compartment 3 and the mock-up cab 4 are equipped with lighting 25 and a fan 26. The front housing 2 is equipped with an independent torsion bar suspension 27 and is mounted using balancers 28 on the track rollers 29 (two tracks) roller on each side), with their subsequent exposure to the formation of clearance in the amount equal to the base, for example, 500 mm. As a basic front structural part for creating the simulator 1, the components are taken, for example, self-propelled artillery system 2C19 "Msta-S".

The assembled structural part 2 with a mock-up cabin 4 is mounted on a rigid platform 30, along the edges of which a guard 31 is installed. It is made for the safety of external visual observation of the dynamic simulation of the rotation process due to the additionally installed rotation mechanism 32 and dynamic simulation of the roll and pitch process the account of the additionally installed mechanism 33. In addition, the awning 31 is equipped with an awning 34 made of soft dense matter with the possibility of closing the simulator 1 to train driving skills Eden at night.

On the platform 30 to the right of the longitudinal axis behind the front body part 2 is installed a work table 35 and a seat 36 for the instructor. For disembarkation / embarkation, a pedestal with ladder steps 37 is installed to the left of it opposite the hatch 6 in the mock-up cabin 4. Embarkation / disembarkation from the control compartment 3 is carried out by means of brackets 38, similar to the brackets of the basic caterpillar chassis, which are installed on the left side of the front case 2 The turning mechanism 32 comprises a closed chain transmission 39 with a power drive 40 composed of a reversible electric motor 41 with a gearbox 42, in which reverse on / off elements are installed, providing a front watch turn ty 2 in the horizontal plane at an angle equal to 12-15 °, on both sides of the longitudinal axis of the simulator. The chain transmission branches 39 are parallel to each other and are located perpendicular to the longitudinal axes of the simulator 1 and the body part 2 in front of the first track rollers 29, and the chain link of the upper branch lying on the longitudinal axis is kinematically connected to the bracket 43 mounted on the bottom of the front case 2.

The rotation center 44 relative to the platform 30 is located at the opposite end of the bottom and kinematically connects the longitudinal axes of the body part 2 and the platform 30 using two parallel bar rhombs 45 and 46 with articulated mobility in the places of their fastening. The lower ends of the rods are connected to the outer ring of a ball bearing 47, mounted on the platform 30. The articulated mobility of these rhombuses vertically in the center of rotation 44 is balanced by a flexible link, such as a spring 48. To radially move the front housing 2 on its bottom under the balancer 28 Each track roller 29 is equipped with a two-arm lever 49 with a power drive 50 so that during its operation one shoulder raises the balancer 28, and the wheel 51 installed on the second shoulder starts to contact the surface platforms 30. With the start of the chain transmission 39, the electromechanical control of which comes from the steering wheel 17, the wheels 51 will begin to move, leading the front body part 2 to turn. With the steering wheel 17 turning to its original position, the front body part also returns to its original position.

The power drive 50 includes a reversible electric motor 52 with a gear part 53 for performing the output link 54 of a rectilinear motion. Link 54 is kinematically connected to the second shoulder of the lever 49. The power drive 50 is installed on the bottom of the front housing 2. In the gear part 53 there are elements for turning on / off the reverse of the electric motor 52. The mechanism 33 for performing a roll and pitch simulation is mounted on the front housing part 2 and contains a power drive 55, consisting of a reversible electric motor 56 with a gear part 57, for the output link 58 to perform a rectilinear movement with subsequent force action on the balancer 28 of the support roller 29, or from above (for lowering), or from below (to raise this roller). To perform a roll simulation, either the electric motors at the front track rollers 29 or the electric motors at the second track rollers are turned on. In this case, to simulate overcoming the wall, control comes from the instructor's table 35, and when driving with braking, control comes from the steering wheel 17 of the driver. To perform a pitch simulation, either the electric motors at the first and second track rollers 29 on the right side are turned on, or at the first and second track rollers 29 on the left side of the body part 2. The control is turned on from the instructor table 35. The lift height for bank roll and pitch simulation is 100 -120 mm. The rotation mechanism 32 and the mechanism 33 for simulating roll and pitch are located on the first training site, auto-training class 2.

The training tools of the simulator 1 are distributed as follows:

- on the desktop of the instructor 35, monitors 59 are installed, control setters 60 and a headset for intercom 61 for working with the first and second training sites;

- at the second training site, a master class 4 of the initial training of the driver (see Fig. 7), the controls 12, the sensors of the controls 62, the step finder 63, the mode selector 64, the error counter 65 are located in the mock booth. observation devices 8 mounted a slide projector screen 66 with an electromagnet 67 and a two-position movable curtain 68 on the bracket 69. Moreover, the error counter 65 is configured to produce two types of calculations: the number of errors for the work performed and the mark of error-free operation. Transfer of marks is carried out in two directions - for the student and in the database 70 on the table of the instructor 35.

Installation of the screen 66 is made with the possibility of shifting it to the side to increase the length of the review. On the longitudinal axis behind the hatch 6 on the bracket 71 mounted actuator slide projector 72;

- at the first training site, autotraining class 2 (see Fig. 8), the composition of the training tools compared to the second section was changed with a simultaneous complication of functionality to the level of maximum real to simulate the operation of nodes and assemblies. Inside the compartment 3, in addition to the controls 11, a simulator of the main engine and transmission 73, position sensors of the controls, including the sensors 74, 75 turn the steering wheel 17 in both directions, the gear shift sensor 76, the clutch pedal sensor 77, the brake pedal sensor 78, the sensor the fuel supply pedal 79, the position sensor of the chain drive 39 to simulate turning 80, 81, mounted externally on the platform 30. For elements of the push-button equipment on / off 24 installed: on-board network enable sensor or of an external power source 82, a sensor for warming up the cooling system 83, a sensor for the start button for the sustainer engine 84, a sensor for the stop button for the main engine 85. The simulator 73 contains a speed indicator 86, a multiplier 87, a key element 88, an adder 89. Outside in front of the monitoring devices 8 The carrier of the reference synchronous video and audio information 90 about the traffic situation and the following parameters of the driving route is installed: φ ° (angle of rotation in the horizontal plane of the front hull 2), speed V corresponding to it in gear number N and mechanical resistance to movement M _res. , decoder 91, monitor screen 92.

For the roll and pitch simulation mechanism 33, roll position sensors 93, 94, pitch position sensors 95, 96, 97, 98 (for each track roller 29), a comparison unit with an error counter 99, respectively, are installed. Transmitting the number of errors and marking error-free operation are conducted in two directions - for the student and in the database 100 on the instructor’s table 35. On the instructor’s table, a simulation load unit (master-manipulator) 101 is installed.

The functioning of the simulator 1 occurs in the following order:

1. Workshop

At the initial stage of training, the driver-mechanic, being in the mock-up cabin 4, gets acquainted with the location of the controls 12 with the help of an instructor, guided by the initial actions of the student. After the learners turn on the on-board network using equipment 24, the signal is supplied to the step finder 63 and the actuator of the overhead projector 72, which provides light information to the screen 66 with the two-position movable curtain 68, which is in the extreme right position. The learner sequentially performs the operations displayed on the screen. When operations are performed correctly, the signals from the sensors of the controls enter the step finder 63 from the sensors 62, which ensures the delivery of an electric signal to the actuator of the overhead projector 72. This achieves a frame replacement. In case of erroneous actions, the signal to the step finder 63 is not received from the sensors 62 and frame replacement in the slide projector is not carried out.

To ensure the simulator’s operation in the “consultation” mode, the student switches the operating mode switch 64 to the “consultation” position, which ensures the closure of the electric circuit from the on-board network to the electromagnet 67. At the same time, the electromagnet’s anchor, moving, moves the shutter to the left position, providing illumination on the screen the right part of the filmstrip frame, for which consultation is given on eliminating the mistake made by the student. At the same time, an electrical signal is sent to the error counter 65 in parallel. After receiving a consultation, the student switches the operating mode switch 64 to the “work” position, thereby de-energizing the electromagnet 67, whose armature returns to its original position by the action of the spring, dragging the curtain along with it. The information on the frame has a working part (left half of the frame) and consulting (right half of the frame). At the end of the work, the error counter 65 transmits two counts - the number of errors and the mark of error-free operation - for the student and to the database 70 on the instructor’s table 35. The error-free action at the initial stage of driving instruction allows the instructor to transfer the student to the next stage of practical training - the stage of self-development of professional driving and operating skills of the machine, but already in more difficult road conditions with an approximate reality of their perception of the processes of operation of the VGM units and assemblies.

2. Autotraining class

At the front mock section 2, the instructor acquaints the student with the correct landing / disembarkation in the traffic control compartment 3. Using the turning and closing elements 7, the hatch 6. closes. On the seat 10, the student reports on the readiness for work. The first lessons in developing professional driving and operating skills are in duplicate mode. To do this, the instructor is located in the mock-up cabin 4 and directs the correct implementation of the most difficult moments in the process of programmed work. The overhead projector screen 66 is turned to the side, and through the monitoring devices 8 of the mock cab 4 it is possible to view the monitor screen 92. A reference record of the route is transmitted to the screen of this monitor, the student, having started the main engine, starts to simulate the movement of the caterpillar chassis. Looking through the monitoring devices 8 on the monitor screen, according to the principle of “Do as I do!” (As the master driver solved the task), he seeks to copy these parameters to a sufficient extent with respect to the reference recording, parameters φ °, V, N. Mechanism parameter the resistance of the movement M _{sop is} recorded on the carrier and is reproduced on the simulator 1 to cause the effect of its loading, similar to the loading of the tracked chassis during movement along the route. As a result of actions by the controls 11, the buttons of the button equipment 24 and comparison, an independent evaluation of the work performed is issued in the error counter block 99, which is transmitted in two directions - for the student and database 100 to the instructor’s table 35.

A set of reference recordings of various types of work on the operation of a caterpillar chassis is located on the instructor’s desk and contains a wide range of training activities, including starting a mid-flight engine taking into account the seasonality of actions, passing routes from simple to difficult (driving on a highway, overcoming a wall, driving over rough terrain, driving at night, etc.)

Thus, the implementation of an error-free course of training work while maintaining a good reaction indicates both sufficient theoretical and practical training of the trained driver-mechanic, and an assessment of the deviation of the simulated movement along the route from the standard one will allow the analysis of the mistakes made and their elimination.

In the aggregate, sequential training in such interconnected training areas makes it possible, economically, without removing the power resources of the power drive, to develop the professional skill of driving a caterpillar chassis with steering in conditions as close to real ones as possible.

Claims (4)

1. A simulator for driving training of military tracked vehicles with a steering, comprising a breadboard model, controls, control sensors, a step finder, a program drum, a consultation unit, a slide projector with an on-off curtain device and an electromagnet, an operating mode switch and an error counter, the overhead actuator is connected to the sensors of the control drives through a step finder, and the electromagnet anchor with the shutter of the curtain on-off device rigidly connected to it and steam a connected counter of errors is connected with the operating mode switch, the instructor’s workstation with equipment for controlling the conduct of classes and monitoring the student’s actions, characterized in that the simulator is made of tandemly located two interconnected mock training areas: the first is an autotraining class designed as a front case tracked chassis with integrated motion control compartment for the driver, controls, including steering, instrumentation, observation devices, landing and landing hatch, training equipment located on the longitudinal axis of the hull, with the chassis, for example, two road wheels on each side, an independent torsion bar suspension, and the second is a master class designed as a mock-up a cabin for initial training of a driver with controls and training tools for training, including sensors of control drives, slide projector, mode switch and an error counter, which is installed on the bottom of the front case with position to its longitudinal axis, and the instructor is arranged workplace, for example, the right of the cabin layout and the rear front housing part. 2. The simulator according to claim 1, characterized in that the front hull of the autotraining class is rotatable in a horizontal plane from the power drive by signals from the controls at an angle equal to, for example, 12-15 °, in both directions from the longitudinal axis and the ability to roll and pitch with yaw sensors controlled through training means by the height of the lift, equal, for example, 100-120 mm 3. The simulator according to claim 1, characterized in that in front of the front hull of the auto-training class, a monitor is installed on its longitudinal axis, to which the landfill terrain is transmitted, and the driver mechanic imitates the movement of the machine along the simulated recording of the landfill terrain in accordance with commands through a headset for intercom or a task for driving exercises. 4. The simulator according to claim 1, characterized in that when practicing a professional skill both in the auto-training class and in the master class with the start of the independent task without errors, the subjective assessment is transferred using the training tools to the student’s database.

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