RU2593931C1 - Armament stabilizer for combat module - Google Patents

Abstract

FIELD: military equipment.

SUBSTANCE: invention relates to automatic control and regulation systems, in particular to armament stabilizers for combat modules of machines such as tanks, infantry combat vehicles, armored transport vehicles, etc., incorporating armament stabilizer containing the necessary kit of external and internal sensors being a part of control and armament stabilization system . Distinctive feature of the combat module armament stabilizer is that the device is additionally equipped with a position sensor of combat module by horizontal guidance (HG), absolute angular velocity sensor package with mechanically fastened absolute angular velocity sensor by HG and absolute angular velocity sensor by vertical guidance (VG) arranged along two corresponding orthogonal axes, biplanar linear acceleration sensor with HG accelerometer and VG accelerometer mechanically fastened therein, arranged along two corresponding orthogonal axes, a vision device, control panel, backup sight with dependent stabilization line by VG and HG. Control unit is additionally equipped with the first key device, the second key device, HG drive integrator, VG drive integrator, and module for stabilizer adjustment and diagnostics.

EFFECT: technical result is increased reliability of armament stabilizer, improved operational properties of armament stabilizer, higher operational interoperability of armament stabilizer, higher accuracy of armament stabilizer stabilization by VG and HG, broader functional capabilities of armament stabilizer, shorter warm-up time of armament stabilizer, increased durability of the stabilizer together with military facilities, elimination of AC voltage 36 V 400 Hz use for power supply of gyro tachometer pack and linear acceleration sensor of armament stabilizer.

1 cl, 2 dwg

Description

The invention relates to automatic control and regulation systems, in particular to weapon stabilizers (hereinafter referred to as ST) combat modules (hereinafter referred to as BM) of vehicles such as tanks, infantry fighting vehicles, armored personnel carriers, etc., incorporating an arms stabilizer, containing the necessary set of external and internal sensor equipment, which is part of the weapons control and stabilization system (hereinafter - SUSV).

Known weapons stabilizer 2E42 BS1.370.008 of the object 219RV (tank T-80BV), made according to the electrical circuit diagram BS1.370.008 E3 and described in BS1.370.008 TO, TU.

The structural diagram of the weapon stabilizer is depicted in FIG. 1. This weapon stabilizer is taken as a prototype.

(See (1) V.V. Korneev, M.I. Kuznetsov et al. "Fundamentals of automation and tank automatic systems", M., Ministry of Defense, 1976, publication of the Academy of Armored Forces named after Marshal Malinovsky R.Ya. ;

(2) USSR Ministry of Defense. Main Armored Directorate. Object 219РВ. Technical description and instruction manual, Book Two, M., Military Publishing House, 1986, 840 pp., Subsection 2.7, p. 175).

The prototype weapon stabilizer mainly consists of two drives:

- vertical guidance drive (hereinafter - HV) and stabilization;

- drive horizontal guidance (hereinafter - GN) and stabilization,

and components ensuring their joint work, including as part of the fire control system of the 219РВ object (T-80BV tank).

The main gun drive of the weapon stabilizer is built on the basis of an electromechanical (machine) drive, and the main drive is based on an electro-hydraulic drive.

The GN and VN stabilizer drives adopted for the prototype are autonomous drives that provide guidance and stabilization of the main armament of the tank in the GN and VN planes according to the signals received from the stabilization master (ZUS) 1 and the absolute angular velocity sensors of the gyroscopic (gyrotachometers) (GT -GN) 2 and (GT-VN) 3. The readiness time for the weapon stabilizer to work, provided that the stabilization master (ZUS) 1 is ready, is 2 minutes after it is turned on and is determined by the output time of the gyroscopes the absolute angular velocity of the gyroscopic (gyrotachometers) (GT-GN) 2 and (GT-VN) 3 at the working rotation speed (≈ 20,000 rpm).

The operating principles of the HV and GN drives in the stabilization and stabilized guidance modes are very similar. Each of these two drives is an automatic control system, the operation of which is based on the principle of working out the mismatch (error), i.e. comparing the actual value of the adjustable parameter with its predetermined value. Consider the operation of each of the drives VN and GN separately.

VN stabilization mode - the VN gun stabilization mode is carried out relative to the signal of the mirror position sensor for VN (ZUS) 1, which has independent mirror stabilization in the VN plane, which is provided by the gyrostabilizer (ZUS) 1.

When the tank moves over rough terrain, the installed armament (B) 4 (gun) is affected by external disturbances in the form of oscillations of the tank body, friction in the trunnions (bearings) of the armament (B) 4, friction in the executive cylinder (TsI) 5 of the hydraulic drive VN (GP) 6, as well as disturbances due to the imbalance of the installed weapons (B) 4 relative to the axis of the pins.

These disturbances cause the deviation of the armament (B) 4 from the mirror position sensor specified by the signal along the HV (ZUS) 1 direction. The angle between the given and actual direction of armament (B) 4 in the vertical plane, in this case, determines the error of stabilization of the hydraulic drive HV (GP) 6. The signal proportional to the error of stabilization is processed by the hydraulic drive HV (GP) 6 of the weapon stabilizer turning the weapon (B) 4 in the direction of reducing the error on the HV.

Thus obtained, the error of stabilization of the HV hydraulic drive (GP) 6 is processed by the analog control module 7 of the control unit (BU) 8 of the weapon stabilizer, some signals from which control the inclusion of the hydraulic pump (H) 9 of the HV hydraulic drive (GP) 6, which creates an operating pressure at the inlet the control mechanism of the actuating hydraulic cylinder (DI) 5 of the hydraulic actuator VN (GP) 6, and other signals through the amplifier (U-VN) 10 are fed to the control input of the control mechanism of the actuating hydraulic cylinder (DI) 5 of the hydraulic actuator VN (GP) 6, which creates a pressure difference s in the cavities of the hydraulic cylinder actuator (DI) 5, thereby allowing arming rotation (B) 4 in the direction of reducing the error between the target value of the signal from the sensor on the mirror position HV (GPV) and 1 true state arms (B) 4 to HV plane.

To increase the stability drive HV and consequently obtaining a predetermined error stabilizing drive control circuit HV stabilizer arms introduced feedback absolute angular arms speed (B) 4 to HV plane (ω _VL) with girotahometra (HT-BH) 3, processed analog control module 7 of the control unit (CU) 8.

VN stabilized guidance mode - VV stabilized guidance mode (V) 4 is also carried out according to the signal from the VN mirror position sensor (ZUS) 1. When a target is detected, the gunner with the control panel (PU-N) 11 induces a VN stabilized in two planes and GN line of sight (reticle) (ZUS) 1 on the target in the plane of the HV. The signal from the mirror position sensor on VN (ZUS) 1, proportional to the stabilization error on VN, is fed to the input of the control unit (BU) 8, where it is converted, as described above. The hydraulic drive VN (GP) 6 rotates the armament (B) 4 in the direction of decreasing the error on the VN, similar to the stabilization mode considered above in the VN plane.

GN stabilization mode - stabilization mode of the combat module (BM) 12, armament (B) 4 for GN is carried out relative to the signal of the mirror position sensor along GN (ZUS) 1, which has independent mirror stabilization in the GN plane, which is provided by gyro stabilizer (ZUS) 1.

When the tank moves over rough terrain to the (tower) combat module (BM) 12 (gun), external disturbances act in the form of oscillations of the tank body, friction in pursuit of the combat module (BM) 12, as well as disturbances due to the unbalance of the combat module (BM) 12 relative to the axis of rotation.

These disturbances cause the deviation of the combat module (BM) 12 (guns) from the direction given by the signal from the mirror position sensor along the GN (ZUS) 1 direction. The angle between the given and the actual direction of the combat module (BM) 12 (guns) in the horizontal plane, in this case, determines the stabilization error of the GN drive. A signal proportional to the stabilization error is processed by the GN stabilizer of the weapon, turning the combat module (BM) 12 (gun) in the direction of reducing the error.

Thus obtained, the error of stabilizing the GN drive is processed by the analog control module 7 of the weapon stabilizer control unit (BU) 8, some signals from which through external devices 13 control the switching on of the switching unit (BC) 14 of the GN drive, which starts the electric drive motor (ED) 15 of the electric machine amplifier (EMU) 16, and other signals through the amplifier (U-GN) 17 of the control unit (BU) 8 are fed to the control windings of the generator (Gen. EMU) 18, forming a current difference in them, in accordance with the magnitude and sign of which (Gene . E U) 18 generates a voltage, under the action of which the executive electric motor (ED-GN) 19 through the gearbox (Rev. GN) 20 rotates the combat module (BM) 12 (gun) of the tank in the direction of reducing the mismatch between the set signal value from the mirror position sensor for GN (ZUS) 1 and the true positions of the combat module (BM) 12 (guns) in the GN plane.

To increase the stability of the GN drive and, as a result, to obtain the specified stabilization error, the current stabilizer (OST) (ED-GN) 19, speed (OSS) (ED-GN) 19 generated by the ) 16 and the absolute angular velocity of the combat module (BM) 12 (guns) in the plane ΓΗ (ω _GN ) from the gyrotachometer (GT-GN) 2, processed by the analog control module 7 (control unit) 8.

The absolute angular velocity sensor in the GN plane of the gyrotachometer (GT-GN) 2 together with the absolute angular velocity sensor in the GN plane of the gyrotachometer (GT-VN) 1 are installed in a single body of the gyrotachometer (BGT) 21 unit located (mechanically fixed) on the breech of the weapon (B) 4 (guns).

Stabilized guidance mode on GN - the stabilized guidance mode of the combat module (BM) 12 (guns) on GN is also carried out by a signal from the mirror position sensor on GN (ZUS) 1. When a target is detected, the gunner with the control panel (PU-N) 11 directs stabilized two planes (HV and GN) line of sight (reticle) (ZUS) 1 on the target in the GN plane. The signal from the mirror position sensor for GN (ZUS) 1, proportional to the stabilization error for GN, is fed to the input of the control unit (BU) 8, where it is converted, as described above. The executive electric motor (ED-GN) 19 through the gearbox (Rev. GN) 20 rotates (turret) the combat module (BM) 12 (gun) of the tank in the direction of decreasing GN error, similar to the stabilization mode in the GN plane considered above.

Other signals from external devices 13 associated with (ZUS) 1 and through it with (PU-N) 11, are signals from a set of devices and components included in both the weapon stabilizer and the equipment of the tank as a whole.

To compensate for the GN error caused by momentary disturbances arising from the imbalance of the combat module (BM) 12 (guns) when the tank chassis is moving over rough terrain, a single-plane GN linear acceleration sensor (DL-GN) 22 is installed on the combat module (BM) 12. This GN linear acceleration sensor (DLU-GN) 22 uses a sensing element in the form of a pendulum (M) 23, mounted on one side through a torsion spring on the housing (DLU-GN) 22, and on the other hand in the rotor of a rotary transformer (VT) 24. The signal (a _β ) from the rotating transformer (VT) 24 GN linear acceleration sensor (DL-GN) 22 is a signal proportional to the angle of heel of the axis of the weapon pins (B) 4 (guns) and the linear acceleration of the combat module (BM) 12 (turrets) in the direction perpendicular to it longitudinally - a vertical plane passing through the axis of the armament channel (guns).

The signal (a _β ) thus obtained from the GN linear acceleration sensor (DLU-GN) 22 is processed by the analogue control module 7 of the control unit (BU) 8 of the weapon stabilizer and serves to reduce the GN error from lateral and roll disturbances of the tank chassis acting upon it movement on the combat module (BM) 12 (gun) in the horizontal plane.

The power supply of the gyrotachometer unit (BHT) 21 and the linear acceleration sensor GN (DLU-GN) 22 weapon stabilizer is carried out by alternating voltage from the secondary network of the tank - 36 V 400 Hz.

The composition of the sighting system (PC) 25 includes an armament position sensor for high-explosive (DPV-VN) 26, mechanically connected with armament (V) 4 (gun) and electrically with (ZUS) 1, necessary for generating a signal of relative angular position (α _ext ) weapons (B) 4 (guns). The algebraic difference between the VN (ZUS) 1 mirror position sensor in the VN plane and the armament position sensor along the VN (DPV-VN) 26 determines the error value of the VN drive.

The disadvantages of the above design of the stabilizer weapons prototype are:

1. The use of analog correction and control loops for GN and VN actuators, which do not allow the use of adaptive and optimal arms stabilizer control algorithms, flexibly (without significant alteration of the SV control module) change its parameters when changing the mechanical parameters of the tank during its operation.

2. Insufficient accuracy of stabilization of armaments, due to insufficient accuracy of diagnostics and tuning, the lack of the ability to include signals from the tank sensor equipment (external devices) in the form of additional feedbacks in the control circuits of the HV and GN drives.

3. Installing the stabilizer on other tanks requires substantial improvement.

4. The absence of an autonomous (independent) mode of stabilization of the armament of the tank in case of failure of its main sighting system (s).

5. The need to use a voltage of 36 V 400 Hz to power the gyrotachometer unit and the linear acceleration sensor of the weapon stabilizer, which in the case of the gyrotachometer unit directly affects the readiness of the weapon stabilizer for operation, and in the event of an emergency loss of 36 V 400 Hz, it leads to a complete failure weapons stabilizer.

The technical objectives of the claimed invention are:

- improving the reliability of the weapons stabilizer;

- increase operational performance stabilizer weapons;

- increase operational interoperability of the weapons stabilizer;

- improving the accuracy of stabilization on HV and GN weapons stabilizer;

- expanding the capabilities of the weapons stabilizer;

- reducing the readiness of the weapons stabilizer;

- an increase in the survivability of the weapon stabilizer, and with it the military target (hereinafter - IOD);

- the exclusion of the use of an alternating voltage of 36 V 400 Hz to power the gyrotachometer unit and the linear acceleration sensor of the weapon stabilizer.

To achieve the specified technical result, a well-known weapon stabilizer of the combat module containing a combat module (turret) with armament (gun) mounted on it, a VN hydraulic actuator electrically connected to an OVN flight system, an VN hydraulic actuator cylinder mechanically connected to the armament (gun) and the combat a module (tower) and hydraulically with a VN hydraulic drive pump, a GN reducer mechanically connected to a combat module (tower), a GN electric motor mechanically coupled to a GN reducer and electrically connected to a gene EMU, sighting system with stabilization master with position sensors of an inertial object independently stabilized in space by GN and HV, gunner control panel electrically connected with a stabilizer master with position sensors of an inertial object independently stabilized in space by ΓΗ and HV and with a sensor the position of armament (guns) according to the VN, mechanically connected with armament (gun) and electrically - with a stabilizer with stabilizing sensors about an inertial object stabilized in space by GN and VN, external devices electrically connected to the stabilization master with position sensors of an independently stabilized inertial object by GN and VN in space, switching unit of the GN drive, electrically connected to the Aries onboard power supply, external devices, and an electric motor mechanically connected to the EMU generator, a control unit, the control module of which is electrically connected to external devices, amplifiers GN and VN of the control unit, when by one VN hydraulic drive pump motor and with an ЭМУ generator through feedback on the speed and current of the ГН electric motor, the GN amplifier of the control unit, electrically connected to the ЭМУ generator, the ВН amplifier of the control unit, electrically connected to the cylinder inlet of the VN hydraulic actuator, characterized in that it according to the invention additionally introduced:

- the position sensor of the combat module on GN;

- a block of absolute angular velocity sensors, with a mechanically fixed absolute angular velocity sensor along the GN and an absolute angular velocity sensor along the GN located along two corresponding orthogonal axes;

- a two-plane linear acceleration sensor, with a GN accelerometer and a VN accelerometer mechanically fixed in it, located along two corresponding orthogonal axes;

- video viewing device;

- control Panel;

- a backup sight with a dependent stabilization line for HV and GN,

in addition, the following are additionally introduced into the control unit:

- the first key device;

- the second key device;

- GN drive integrator;

- VN drive integrator;

- module settings and diagnostics of the stabilizer,

wherein the position sensor of the combat module along the GN is mechanically connected to the combat module (tower) in the GN plane and is electrically connected to the control module of the control unit,

the absolute angular velocity sensor block is mechanically, in accordance with the orientation of its own orthogonal sensitivity axes along the HV and GN, connected to armament (gun) in the GN and VN planes and electrically connected to the control module of the control unit,

the linear acceleration sensor is mechanically, in accordance with the orientation of its own orthogonal sensitivity axes along the HV and GN, connected to the combat module (tower) in the GN and VN planes and electrically connected to the control module of the control unit,

doubler sight with a dependent stabilization line along the HV and GN is mechanically connected to the armament (gun) and the combat module (turret) in the HV and GN planes,

and the video viewing device, the control panel and the stabilizer tuning and diagnostics module are electrically connected to the stabilization master with position sensors of an inertial object independently stabilized in space along GN and HV,

wherein said gunner control panel, a stabilization device with position sensors of an inertial object independently stabilized in space by GN and HV, and the stabilizer tuning and diagnostics module are electrically connected respectively to the first input of the second key device, with the first input of the first key device and the control module of the control unit,

in this case, on the one hand, the output of the integrator on the control unit GN and the outputs of the position sensors of an inertial object independently stabilized in space along the GN of the stabilization driver are connected through digital communication channels, respectively, to the second and first inputs of the second key device connected to the control module, the second and the first inputs of the integrator for GN are connected respectively with the output of the absolute angular velocity sensor for the GN of the sensor block and the first output of the first key device directly with the output of the gunner’s control panel via the GN and the control module electrically connected, as described above, to the EMU generator through the GN amplifier of the control unit and rotating the GN electric shaft, turning the warhead (turret) with armament (gun) through the GN reducer, and with her and the optical line of sight along the GN of the sight-understudy with a dependent stabilization line along the HV and GN in the GN plane,

on the other hand, the integrator output via the HV control unit and the outputs of position sensors of an inertial object independently stabilized in space through the HV of the stabilization driver are connected via digital communication channels to the third and first inputs of the second key device connected to the control module, respectively, the first and second inputs of the integrator VN are connected respectively to the output of the absolute angular velocity sensor along the VN of the sensor unit and the second output of the first key device connected electrically ki with the gunner’s control panel output on the VN and a control module electrically connected, as described above, to the VN executive drive cylinder through the VN amplifier of the control unit and the control direction of the rod’s movement along the VN, turning the armament (gun) in the VN plane, and with it optical line of sight along the HV of the sight-understudy with a dependent stabilization line along the HV and GN in the VN plane.

Comparative analysis with the prototype shows that the inventive weapons stabilizer of the combat module is characterized by the presence of new elements, namely:

- position sensor of the combat module for GN;

- a backup sight with a dependent stabilization line for HV and GN;

- the first key device;

- the second key device;

- GN drive integrator;

- VN drive integrator;

- module settings and diagnostics of the stabilizer;

- a block of absolute angular velocity sensors, with a sensor of absolute angular velocity along GN and a sensor of absolute angular velocity along GN, mechanically fixed in it, located along two corresponding orthogonal axes;

- a two-plane linear acceleration sensor, with a GN accelerometer and a VN accelerometer mechanically fixed in it, located along two corresponding orthogonal axes;

- video viewing device;

- control panels

and their relationships with other elements of the weapons stabilizer and IOD.

Comparison of the proposed solution with other technical solutions shows that the newly introduced elements are quite well known in the art, but their introduction in this connection into the weapon stabilizer allows you to:

- to increase the reliability of the weapon stabilizer, due to the use of solid-state sensors of absolute angular velocity in the design of the sensor block, in the design of which there are no rapidly rotating elements (gyroscopes), as well as the widespread use of an integrated digital element base, which drastically reduces the range of discrete analog elements;

- to increase the operational performance of the weapon stabilizer by introducing digital control and correction loops of the GN and HV drives into the stabilizer, which allows the use of adaptive and optimal algorithms for controlling the weapon stabilizer, flexibly changing its parameters when changing the mechanical parameters of the tank during its operation;

- to increase the operational interoperability of the weapons stabilizer, by introducing into its structure digital information channels for exchanging external weapons, which makes it possible to sharply increase the operational characteristics of the weapons stabilizer and the ability to install them on other weapons, without significant modifications. Improving operational interoperability is also achieved by introducing additional devices (modules) into the armament stabilizer structure that allow tuning and diagnostics of the stabilizer, both using external diagnostics and tuning devices connected to the control connector of the armament stabilizer control unit and using built-in diagnostics and tuning tools OVN through the control panel and video viewing device sighting system;

- to increase the accuracy of stabilization by HV and GN by introducing additional feedback signals from the sensor equipment of the weapon stabilizer and AHV received through digital information exchange channels into the control circuits of the HV and GN drive armament stabilizers, which allows increasing the stability and quality factor of the control circuits of HV drives and GN. The use of a linear acceleration sensor of a two-plane and a block of absolute angular velocity sensors that do not have mechanical sensors mounted on torsion springs allows to increase the passband along the measured coordinates and, as a result, allows algorithmically more accurately compensate for external disturbing influences and thereby increase stabilization accuracy not less than (15-20)%;

- to expand the capabilities of the weapon stabilizer, due to the introduction of additional devices in its structure: a combat module position sensor for GN, a block of absolute angular velocity sensors, a two-plane linear acceleration sensor, due to the higher technical characteristics of the devices used in comparison with the prototype;

- reduce the readiness time of the weapon stabilizer, due to the use of a block of absolute angular velocity sensors using solid-state sensors of absolute angular velocity according to GN and HV, having a readiness time of not more than 0.1 s, and thus the readiness time of the weapon stabilizer starts only by the readiness time of the unit arms stabilizer control, which is no more than 10 s;

- to increase VVN survivability by introducing into the armament stabilizer a position sensor of the combat module for GN, the first key device, the GN drive integrator, the VN drive integrator, the second key device, the backup sight with the dependent stabilization line for the VN and GN, allowing for its autonomous work in case of failure of the main sighting system;

- to exclude the used voltage of 36 V 400 Hz for powering the weapons stabilizer devices, through the use of a turret position sensor along the GN, a sensor block and a two-plane linear acceleration sensor that do not require this voltage for operation, but use AHV power supply +27.

Thus, the present invention allows, due to the introduction of new devices and units built on a digital platform, into the SV structure, it is possible to significantly expand, together with the fire control system, the capabilities of the combat use of air force, to increase its combat power, reliability, survivability, and to improve its technical and operational characteristics, to solve the problems of tuning and operational diagnostics of the SV as part of the IOD, which is very important when the crew is working in real combat conditions.

The device and operation of the claimed invention are illustrated in graphic materials.

In FIG. 1 shows a structural diagram of a stabilizer prototype 2E42 tank T-80; in FIG. 2 shows the claimed structural diagram of the stabilizer weapons of the combat module.

The abbreviations adopted in the text in FIG. 1 and in FIG. 2:

AK-VN - VN accelerometer of linear acceleration sensor;

AK-GN - accelerometer GN linear acceleration sensor;

DB - block of sensors;

BK - switching unit drive GN;

BM - combat module (tower);

BU - control unit;

B - armament (gun);

APU - video viewing device;

GP - VN hydraulic drive;

DLU - linear acceleration sensor;

DPBM-GN - the position sensor of the combat module (tower) along GN;

DPV-VN - weapon (gun) position sensor on VN;

DUS-GN - absolute angular velocity sensor for GN sensor block;

DUS-VN - absolute angular velocity sensor according to the VN of the sensor block;

ZUS - a master stabilization device with position sensors of an inertial object independently stabilized in space along GN and HV;

KU1 - the first key device;

KU2 - the second key device;

H - VN hydraulic drive pump;

OVN - military facility;

OSS - speed feedback;

OST - current feedback;

PD - doubler sight with a dependent line of sight for HV and GN for an autonomous stabilization mode;

PC - sighting system;

PU - control panel;

PU-N - gunner control panel;

Ed. GN - GN drive gear;

U-VN - VN amplifier;

U-GN - GN amplifier;

∫-ΓΗ - GN drive integrator of the autonomous stabilization mode;

∫-BH - VN drive integrator of the autonomous stabilization mode;

QI - VN executive drive cylinder;

ED-GN - GN drive electric motor;

EMU - electric machine amplifier;

ED - electric motor EMU;

Gene. EMU - generator EMU;

and _α is the signal from the accelerometer (AK-VN);

and _β is the signal from the accelerometer (AK-GN);

α _vn - signal from the weapon position sensor along the HV;

β _GN - signal from the position sensor of the combat module along GN;

ω _VN - signal from the output of the absolute velocity sensor for VN;

ω _GN - signal from the output of the absolute angular velocity sensor along GN.

The inventive weapons stabilizer is an autonomously operating drive guidance and stabilization of the turret and gun in the GN and VN planes.

Sensors of position (angle) of an independently stabilized inertial object in terms of GN and HV of the stabilization master, absolute angular velocity sensors of GN and HV, position sensors of the combat module and weapons for GN and HV, EMU of the horizontal drive of the combat module generate error signals at the inputs of the control unit and HV, signals on the absolute angular velocity of armament according to the GN and HV, signals on the relative position of the combat module and weapons, feedback signals on the speed of rotation of the shaft and the current of the actuating electrode igatelya drive GBV.

The GN drive contains a gunner control panel (PU-N) 1 with guidance resistors in the GN plane, a stabilization device (ZUS) 2 with position (angle) sensors of an independently stabilized sight mirror along GN, electrically connected respectively to the gunner's control panel (PU-N) ) 1 for GN, the output from the resistor (PU-N) 1 for GN is connected, respectively, with the first input of the first key device (KU1) 3 of the control unit (BU) 4.

The GN output of the first key device (KU1) 3 and the signal (ω _GN ) from the output of the absolute angular velocity sensor (DUS-GN) 5 of the sensor unit (DB) 6 of the combat module (armament) (guns) along the GN are associated with the first and second the integrator inputs over (∫-GN) 7, connected to the second input of the second key device (KU2) 8. The integrator (∫-TH) 7 is used to convert the signal obtained by summing with the given signal coefficients of the gunner’s control panel (PU-N) 1 s (ω _GN ) of the absolute angular velocity sensor (ДУС-ГН) 5, in error (angular absolute position) of the GN drive used in autonomous stabilization of the tower (gun) by GN in the event of failure (ZUS) of the 2 stabilization master with position (angle) sensors of the independently stabilized sight mirror along the GN.

The error signal of the GN drive with (ZUS) 2 of the stabilization master with position (angle) sensors of the independently stabilized sight mirror through the GN is fed through a digital exchange channel, respectively, to the first input of the second key device (KU2) 8 of the control unit (BU) 4.

The signal (β _GN ) from the position sensor of the warhead module along the GN (DPBM-GN) 9 is fed to the input of the control module 10 of the control unit (BU) 4, where it is summed with a given coefficient with the error signal of the GN drive received from one of two independent master devices GN stabilization [from (ЗУС) 2 or from an integrator through (∫-TH) 7] and a second key device (КУ2) 8, switched to the GN control output, 8 by commands from the control module 10, depending on the operating mode set by external devices 11 .

The control signal obtained in this way for the GN drive through the GN amplifier (U-GN) 12 of the control unit (BU) 4 is fed to the input of the EMU generator (Gen. EMU) 13 (EMU) 14 of the GN drive mechanically coupled to the EMU electric motor (ED) 15 included by commands from the switching unit (BC) 16, working on the signals and commands of external devices 11 Aries. The electric control signal from the output of the EMU generator (Gen. EMU) 13 (EMU) 14 of the GN drive rotates the output shaft, electrically connected with it, of the executive electric motor (ED-GN) 17, rotating the combat module (BM) through the gearbox (Rev. GN) 18 ) 19 (turret) (cannon) and a double-sight sight (PD) 20 rigidly connected to it with a dependent line of sight for the autonomous stabilization of the combat module (turret) (guns) along the HV and GN.

To configure the GN drive and its diagnostics as part of the OVN, a control and diagnostic module 21 has been introduced into the control unit (BU) 4, which works in conjunction with the control module 10 and is connected via a digital communication channel with (ZUS) 2 sighting system (PC) 22 with a video viewing device (APU) 23 and the control panel (PU) 24.

To compensate for the GN error caused by momentary disturbances arising from the imbalance of the combat module (BM) 19 (guns) when the tank chassis is moving over rough terrain on the combat module (BM) 19, a linear acceleration sensor (DLU) 25 is installed, using as sensitive accelerometer elements (AK-GN) 26 and (AK-VN) 27 located along two corresponding orthogonal axes and mechanically fixed inside the housing (DLU) 25.

The accelerometers (AK-GN) 26 and (AK-VN) 27 used in a two-plane DLU have a high passband and ensure the absence of mechanical resonance in the working passband of the VN and GN drives compared to a mechanical single-plane pendulum DLD. This allows you to algorithmically more accurately compensate for the external disturbances, and therefore, to increase the accuracy of stabilization of the drives on GN and HV arms stabilizer.

The signals (a _β ) and (a _α ) from the accelerometers (AK-GN) 26 and (AK-VN) 27 of the linear acceleration sensor (DLU) 25 are fed through a digital channel to the control module 10 of the control unit (BU) 4 weapons stabilizer and serve accordingly, to reduce errors in the GN and HV due to their use in the algorithms for controlling the channels of the GN and HV of the weapon stabilizer as compensation signals for disturbance along two corresponding orthogonal axes when the chassis of the AHV (tank) travel over rough terrain.

Blocks used in the GN drive, such as gunner’s control panel (PU-N) 1, stabilization device (ZUS) 2, video viewing device (APU) 23, control panel (PU) 24, first key device (KU1) 3, second the key device (KU2) 8, the control module 10, the settings and diagnostics module 21, the control unit (BU) 4, work together with the HV drive.

The VN drive contains a gunner’s control panel (PU-N) 1 with guidance resistors in the VN plane, (ZUS) 2, a stabilization driver with position (angle) sensors of an independently stabilized VH sight mirror, electrically connected to (PU-N) 1 control panel gunner on HV, the output from the resistor on HV of which is also connected with the first input of the first key device (KU1) 3 control unit (BU) 4.

The HV output of the first key device (KU1) 3 and the signal (ω _ext ) from the output of the absolute angular velocity sensor (ДУС-ВН) 28 of the sensor unit (DB) 6 of the armament (gun) via the HV are connected respectively to the second and first integrator inputs by ( ∫-BH) 29, associated with the third input of the second key device (KU2) 8. The integrator (∫-BH) 29 is used to convert the signal obtained by summing with the given signal coefficients (PU-N) 1 of the gunner’s control panel with (ω _ВН ) absolute angular velocity sensor (ДУС-ВН) 28, in error (angular absolute position) rivoda HV battery used in stabilizing the gun mode of HV in the case of failure (GPV) 2 master stabilization device with position sensors (angle) irrespective of the stabilized sight mirror WH.

Error signals of the VN drive with (ZUS) 2 of the stabilization master with position (angle) sensors of an independently stabilized sight mirror are fed via the VN through digital communication channels, respectively, to the first input of the second key device (KU2) 8 of the control unit (BU) 4.

The signal (α _vn ) from the armament position sensor on the VN (DPV-VN) 30 through the stabilization master (ZUS) 2 is fed to the input of the control module 10 of the control unit (BU) 4, where it is summed with a given coefficient with the error signal of the VN drive received from one of two independent control devices for VL stabilization [from (ZUS) 2 or from an integrator in (∫-BH) 29] and switched to the VN control output of the second key device (KU2) 8 by commands from the control module 10, depending on established by external devices 11 operating mode OVN.

The control signal obtained in this way for the VN drive through the VN amplifier (V-VN) 31 of the control unit (BU) 4 is fed to the input of the VN (GP) 32 hydraulic actuator, the hydraulic pump (N) 33 of which, electrically connected to the control module 10, creates a working flow fluid at the input of the control mechanism of the actuating hydraulic cylinder (CI) 34, distributed by its control mechanism depending on the control signal at the input of the hydraulic drive VN (GP) 32, thereby changing the direction of movement of the rod along the VN of the actuating hydraulic cylinder (CI) 34, turning armed (B) 35 (gun) in the HV plane, and with it the optical line of sight of the sight-understudy (PD) 20 with the dependent stabilization line along the HV and GN in the HV plane.

To configure the VN drive and its diagnostics as part of the OVN, a control and diagnostic module 21 has been introduced into the control unit (BU) 4, which works in conjunction with the control module 10 and is connected via a digital communication channel with (ZUS) 2 sighting system (PC) 22 with a video viewing device (APU) 23 and the control panel (PU) 24.

Blocks used in the HV drive, such as gunner’s control panel (PU-N) 1, stabilization device (ZUS) 2, video viewing device (APU) 23, control panel (PU) 24, first key device (KU1) 3, second the key device (KU2) 8, the control module 10, the settings and diagnostics module 21, the control unit (BU) 4, work together with the GN drive.

Most of the new elements of the system are more convenient to implement as part of the software of the control unit, while the processing of the data received by the unit will be carried out by a controller consisting of modules:

- analog-to-digital converter;

- digital-to-analog converter;

- discrete input - output;

- information exchange channels, which are controller ports.

The first and second key devices, GN and HV integrators, a control module, a tuning and diagnostics module can be implemented as subroutines for controlling the outputs of the GND and HV digital-to-analog converter and discrete controller outputs, and integrators are digital filters of the 1st and 2nd the order obtained by bilinear conversion of analog prototypes, and the frequency of processing the data received by the control unit and the issuance of control signals by it to the amplifiers of the HV and GN drives will be determined by the given frequency signal processing cycles by the control unit.

The tuning and diagnostic devices are both hardware and software built into the OVN, and the tools connected to the control connector of the stabilizer control unit.

(See the book edited by Bogner R. and Konstantinidis A. "Introduction to Digital Filtering", translated from English. - M .: Mir, 1976).

The output amplifiers VN and GN of the control unit can be performed according to a circuit built on transistor stages controlled in pulse-width modulation (PWM) mode using the PWM signal generated by the controller of the control unit.

(See the book Horowitz P., Hill W. "The Art of Circuit Engineering", trans. From English. - 4th ed. Revised and enlarged. - M.: Mir, 1993).

The weapon stabilizer operates as follows.

Stabilization and stabilized guidance of weapons (guns) is provided in two modes independent from each other:

- BASIC, stabilization and stabilized guidance of weapons (B) 35 (guns) according to the HV and GN according to signals from the stabilizing master (ZUS) 2, from the gunner's position;

- RESERVE, stabilization and stabilized guidance of weapons (B) 35 (guns) along the HV and GN and sight line of sight-understudy (PD) 20 with a dependent stabilization line along the HV and GN according to the signals from own sensors of absolute angular velocity (DUS-VN) 28 and (ДУС-ГН) 5 and guidance signals for HV and GN with (ПУ-Н) 1 of the gunner’s control panel, from the gunner’s position of the gunner.

Stabilization in the mode of the MAIN armament (B) 35 (guns) is carried out according to the signals of the stabilization master (ZUS) 2, which generates 8 drive errors on the HV and GN, switched according to the selected one, via a digital exchange channel at the first input of the second key device (KU2) the operating mode of the OVN to the input of the control module 10.

Further, the obtained error signals for the HV and GN are filtered and summed with the corresponding signals (ω _HV ) and (ω _GN ) of negative feedbacks on the absolute angular velocity of the gun along the HV and GN generated by the signals from the absolute angular velocity sensors (DLS-VN) 28, (DUS-GN) 5 installed in the sensor unit (OBD) 6 in service (B) 35 (gun). Moreover, the error circuit of the GN drive is additionally covered by signals of negative feedbacks on the shaft rotation speed (OSS) and current (OST) of the executive electric motor (ED-GN) 17 formed by the EMU generator (Gen. EMU) 13 (EMU) 14 of the GN drive.

These feedback signals, as in the prototype stabilizer, can improve the quality factor and stability of the GN and VN drives, thereby ensuring the required control quality of the GN and VN drives, which, together with new digital control algorithms, allows to reduce the error of stabilization of weapons (B) 35 (guns) according to HV and GN.

Simultaneously with the indicated feedback signals, the signals of the relative velocity of the gun and turret along the HV and GN, received by differentiating the corresponding signals (α _ext ) and (β _GN ) from the weapon position sensors along the VN, are fed to the input of the control module 10 of the control unit (BU) 4 ( DPV-VN) 26 and the combat module for GN (DPBM-GN) 12.

The received signals of the relative velocity of weapons (B) 35 (guns) and combat module (BM) 19 (towers) along the HV and GN represent feedback on the disturbance acting respectively on the gun and turret in the HV and GN planes when the AH moves. The introduction of these feedbacks on the perturbation in the control circuits of the HV and GN drives allows one to further increase the accuracy of stabilization, armament (B) 35 (guns) in the HV and GN planes.

Thus, the control signals obtained by the HV and GN are received and processed by the control module 10 and are supplied to the corresponding VN (U-VN) 31, GN (U-GN) 12 control unit (BU) 4 amplifiers, which generate control signals for the hydraulic cylinder control mechanism ( QI) 34 of the hydraulic drive VN (GP) 32 and the generator EMU (Gen. EMU) 13 (EMU) 14. The received control signals by VN and GN are converted by the hydraulic cylinder (TsI) 34 and (EMU) 14, respectively, into linear displacements of the rod of the hydraulic cylinder (TsI) 34 and power signals for controlling the windings of the GN motor (ED-G N) 17. The rod of the hydraulic cylinder (TsI) 34, mechanically connected to the combat module (BM) 19 (turret) and armament (B) 35 (gun), and the electric motor GN (ED-GN) 17, mechanically connected to the GN reducer (Red .GN) 18, turn the armament (B) 35 (gun) along the HV and the combat module (BM) 19 (turret) along the GN in the direction of reducing the stabilization error, thereby keeping the direction of the armament (B) 35 (guns) at the target.

Guidance in the BASIC weapon mode (B) 35 (guns) is carried out according to the signals of the stabilization master (ZUS) 2, which is connected electrically with the gunner’s control panel (PU-N) 1 via the HV, GN and generates a second key channel through a digital exchange channel at the first input devices (KU2) 8 control unit (BU) 4 errors drives on HV and GN. The gunner (operator) of the OVN control panel (PU-N) 1 along the HV and GN guides a line of sight stabilized in two planes (sighting mark) of the stabilizer (ZUS) 2 to the target. The signals from the HV and GN position sensors of the stabilization device (ZUS) 2, proportional to the stabilization errors in the HV and GN, are processed by the HV and GN drives turning the armament (V) 35 (gun) in the direction of decreasing the HV and GN errors, similar to the mode considered above stabilization in the BASIC mode.

Stabilization in the RESERVE armament mode (B) 35 (guns) is carried out according to the signals (ω _BH ) and (ω _GN ) of the absolute angular velocity sensors (DUS-VN) 28 and (DUS-GN) 5 of the sensor unit (OBD) 6, which are rigidly connected with weapons (B) 35 (gun). The signals (ω _HV ) and (ω _GN ) of the absolute angular velocity sensors (ДУС-ВН) 28 and (ДУС-ГН) 5 are fed to the corresponding inputs of the integrators (∫-BH) 29 and (∫-ΓΗ) 7 of the control unit (control unit) 4, where their value is converted to the absolute angular position (error) in HV and GN. The resulting errors of the drives for GN and HV are respectively supplied to the second and third inputs of the second key device (KU2) 8, where they are filtered and switched depending on the current stabilizer operating mode specified by external devices 11. The algorithm for the further operation of the stabilization circuit of the installed armament with HV and GN drives similar to the BASIC mode described above.

Guidance in the RESERVE weapon mode (B) 35 (guns) is carried out by guidance signals from the gunner’s control panel (PU-N) 1 from the gunner’s position. The signals on the HV and GN from the gunner’s control panel (PU-N) 1 are respectively supplied to the first input of the first key device (KU1) 3. The selected guidance signals on the HV and GN are supplied to the corresponding inputs of the integrators (∫-BH) 29 and (∫- ΓΗ) 7 of the control unit (BU) 4, where they are summed with the signals (ω _HV ) and (ω _ΓΗ ) of the absolute angular velocity sensors (DUS-VN) 28 and (DUS-GN) 5, which are tightly connected to the armament (V) 35 ( gun). The signals obtained in this way at the output of the integrators (∫-HV) 29 and (Η-Γ интегра) 7 are errors of the HV and GN drives, taking into account the sign and amplitude of the corresponding signal from the HV and GN specified by the gunner from the gunner’s control panel (ПУ- H) 1 in the planes VN and GN.

The gunner points the gunner’s control panel (ПУ-Н) 1 on the HH, the main gun armament (B) 35 (gun), and with it the reticle of the sight-understudy (PD) 20 with a dependent stabilization line on the HV and GN on the target, according to the image output to the video viewing device (APU) 23 from the video camera installed in the backup-sight (PD) 20. The optical axis of the video camera (sighting mark) of the backup-sight (PD) 20 is aligned with its optical axis and mechanically verified with a given accuracy with the barrel armament (B) 35 (guns).

Thus, the weapon stabilizer of the combat module claimed as an invention allows:

- to increase the reliability of the weapon stabilizer, due to the use of solid-state sensors of absolute angular velocity in the design of the sensor block, in the design of which there are no rapidly rotating elements (gyroscopes), as well as the widespread use of an integrated digital element base, which drastically reduces the range of discrete analog elements;

- to increase the operational performance of the weapon stabilizer by introducing digital control and correction loops of the GN and HV drives into the stabilizer, which allows the use of adaptive and optimal algorithms for controlling the weapon stabilizer, flexibly changing its parameters when changing the mechanical parameters of the tank during its operation;

- to increase the operational interoperability of the weapons stabilizer, by introducing into its structure digital information channels for exchanging external weapons, which makes it possible to sharply increase the operational characteristics of the weapons stabilizer and the ability to install them on other weapons, without significant modifications. Improving operational interoperability is also achieved by introducing additional devices (modules) into the armament stabilizer structure that allow tuning and diagnostics of the stabilizer, both using external diagnostics and tuning devices connected to the control connector of the armament stabilizer control unit and using built-in diagnostics and tuning tools OVN through the control panel and video viewing device sighting system;

- to increase the accuracy of stabilization by HV and GN by introducing additional feedback signals from the sensor equipment of the weapon stabilizer and AHV received through digital information exchange channels into the control circuits of the HV and GN drive armament stabilizers, which allows increasing the stability and quality factor of the control circuits of HV drives and GN. The use of a linear acceleration sensor of a two-plane and a block of absolute angular velocity sensors that do not have mechanical sensors mounted on torsion springs allows to increase the passband along the measured coordinates and, as a result, allows algorithmically more accurately compensate for external disturbing influences and thereby increase stabilization accuracy not less than (15-20)%;

- to expand the capabilities of the weapon stabilizer, due to the introduction of additional devices in its structure: a combat module position sensor for GN, a block of absolute angular velocity sensors, a two-plane linear acceleration sensor, due to the higher technical characteristics of the devices used in comparison with the prototype;

- reduce the readiness time of the weapon stabilizer, through the use of a block of absolute angular velocity sensors, using solid-state sensors of absolute angular velocity according to GN and HV, having a readiness time of not more than 0.1 s, and thus, the readiness time of the weapon stabilizer begins to be determined only by time readiness of the weapon stabilizer control unit, which is no more than 10 s;

- to increase VVN survivability by introducing into the armament stabilizer a position sensor of the combat module for GN, the first key device, the GN drive integrator, the VN drive integrator, the second key device, the backup sight with the dependent stabilization line for the VN and GN, allowing for its autonomous work in case of failure of the main sighting system;

- to exclude the used voltage of 36 V 400 Hz for powering the weapons stabilizer devices, through the use of a turret position sensor along the GN, a sensor block and a two-plane linear acceleration sensor that do not require this voltage for operation, but use AHV power supply +27.

Thus, all the technical tasks set in the application have been achieved.

The invention allows, due to the introduction of new devices and units built on a digital platform into the structure of the SV, to significantly expand, together with the fire control system, the capabilities of the military use of a military object, increase its combat power, reliability, survivability, improve its technical and operational characteristics, and resolve issues on the adjustment and operational diagnostics of the SV as part of the AEM, which is very important when the crew works in real combat conditions.

The technical advantages given in the description, the feasibility and reliability of the weapon stabilizer of the combat module, implemented according to the claimed structural scheme, are confirmed by type tests of a prototype stabilizer on a modernized T-80BV tank (Object 219RV) at the test base of Omsktransmash OJSC in Omsk.

Claims (1)

The weapon stabilizer of the combat module, containing the combat module (turret) with weapons (gun) mounted on it, a vertical guidance (VN) hydraulic actuator electrically connected to the military system’s flight system, a VN hydraulic actuator cylinder mechanically connected to the armament (gun) and the combat module (tower) and hydraulically with a VN hydraulic drive pump, horizontal guidance (GN) gearbox, mechanically connected to the combat module (tower), GN motor, mechanically connected to the GN gearbox and electrically with knitted with a generator of an electric machine amplifier, sighting system with a stabilization driver with position sensors of an inertial object independently stabilized in space by GN and HV, a gunner’s control panel electrically connected with a stabilizer master with position sensors of an inertial object independently stabilized in space by GN and HV and with a sensor of the position of armament (guns) on the VN, mechanically connected with armament (gun) and electrically with a stabilizer communications with position sensors of an inertial object independently stabilized in space by GN and HV, external devices electrically connected to a stabilization master with position sensors of an inertial object independently stabilized in space by GN and HV, a GN drive switching unit electrically connected to the military system , external devices and an electric motor of an electric machine amplifier, mechanically connected with an electric machine generator generator, control unit, m the control wheel of which is electrically connected to external devices, amplifiers GN and VN of the control unit, the drive motor of the hydraulic pump VN and the generator of the electric machine amplifier through feedback on the speed and current of the electric motor GN, the amplifier GN of the control unit, electrically connected to the generator of the electric machine amplifier, amplifier VN of the control unit, electrically connected to the cylinder inlet of the VN hydraulic actuator, characterized in that the position sensor of the combat module along GN is inserted into it, bl ok absolute angular velocity sensors, with a GN absolute velocity sensor mechanically fixed in it and an HV absolute angular velocity sensor located along two corresponding orthogonal axes, a two-plane linear acceleration sensor, with a GN accelerometer and VN accelerometer located mechanically in it two corresponding orthogonal axes, a video viewing device, a control panel, a backup sight with a dependent stabilization line along the HV and GN, in addition, in the control unit The first key device, the second key device, the GN drive integrator, the HV drive integrator, the stabilizer tuning and diagnostics module, and the position module of the combat module along the GN are mechanically connected to the combat module (tower) in the GN plane and electrically connected to the control unit of the unit control unit of absolute angular velocity sensors mechanically, in accordance with the orientation of their own orthogonal axes of sensitivity along the HV and GN, is connected with armament (gun) in the GN and VN planes and electrically connected to the control unit of the control unit, the linear acceleration sensor is mechanically, in accordance with the orientation of its own orthogonal sensitivity axes along the HV and GN, connected to the combat module (tower) in the GN and VN planes and electrically connected to the control module of the control unit, the backup sight with the dependent stabilization line for HV and GN is mechanically connected to the armament (gun) and the combat module (turret) in the HV and GN planes, and the video inspection device, control panel, and stabilizer settings and diagnostics module are electrically knitted with a stabilization master with position sensors of an inertial object independently stabilized in space by GN and HV, the specified gunner control panel, a stabilization master with position sensors of an inertial object independently stabilized in space by GN and HV and the stabilizer settings and diagnostics module are electrically connected respectively with the first input of the second key device, with the first input of the first key device and the control module of the control unit in this case, on the one hand, the output of the integrator on the control unit GN and the outputs of the position sensors of an inertial object independently stabilized in space along the GN of the stabilization driver are connected through digital communication channels, respectively, to the second and first inputs of the second key device connected to the control module, the second and the first inputs of the GN integrator are connected respectively to the output of the absolute angular velocity sensor along the GN of the sensor block and the first output of the first key device associated with electrically, with the output of the gunner’s control panel via the GN and the control module electrically connected, as described above, to the generator of the electric machine amplifier through the GN of the control unit and rotating the shaft of the GN electric motor, turning the combat module (turret) with armament (gun) through the GN reducer, and with it and the optical line of sight along the GN of the sight-understudy with the dependent stabilization line along the HV and GN in the GN plane, on the other hand, the integrator output on the HV control unit and the outputs of the position sensors are independently stabilized of an inertial object in space along the HV of the master stabilization device are connected through digital communication channels, respectively, to the third and first inputs of the second key device connected to the control module, the first and second inputs of the integrator via HV are connected respectively to the output of the absolute angular velocity sensor along the HV sensor unit and the second output of the first key device, connected electrically to the output of the gunner’s control panel via HV and the control module, electrically connected, as described above, with ilindrom actuator HV through an amplifier HV control unit and controls the direction of stem movement on HV turning arms (gun) in a plane BH, and with it the optical line of sight of the HV-doubler sight with dependent line stabilization of VL and GBV a BH plane.

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