DE3431166A1 - Control-loop arrangement for a weapon-aiming and stabilising system - Google Patents

Abstract

In the case of a control-loop arrangement for a weapon-aiming and stabilising system, a control loop (15, 16, 17) which detects the drift is activated by a logic gate (23) only when there is neither any vehicle movement nor is there any weapon movement commanded by an aiming handle (10) and a fire-control computer (29). The vehicle movement is sensed via interference-variable gyros (21, 22) and a logic signal (which is derived from a switch (26) which is coupled to the manual catch) is used as the aiming-handle signal. In addition to activating the higher-level position control loop, the output signal of the logic gate (23) is used to change over the structure of a regulator (12) in a lower-level speed control loop (11, 12, 13). <IMAGE>

Description

HONEYWELL GMBH
Kaiserleistrasse 55
6050 Offenbach am Main

August 22, 1984 77100538 DE Hz / ep

Control loop arrangement for a weapon alignment and stabilization system

The present invention relates to a control loop arrangement according to the preamble of claim 1. Such a control loop arrangement Control loop arrangement is known from DE-PS 30 15 311. This known control loop arrangement allows an automatic Drift compensation by adding an additional position control loop is always activated when a vehicle movement and a directional handle signal are not available. The vehicle movement is sensed on the drive gear, and the directional handle signal is generated by the directional handle itself educated.

It is the object of the present invention to design a control loop arrangement of the type mentioned at the outset in such a way that that it is easier to implement and allows other conditions to be taken into account in a weapon alignment and stabilization system. The solution to this The object is achieved according to the characterizing features of claim 1. Further advantageous embodiments the control loop arrangement according to the invention can be found in the subclaims.

According to the present invention, it is proposed that the travel / stand sensing by disturbance variable gyro in the pitch and yaw axis to make that in a sophisticated stabilization system to achieve the performance data are required anyway. The signals are added and evaluated with a zero point discriminator. A delay element turns the evaluated signal into a

continuous signal obtained while driving, which is fed to an input of a logic gate.

When implementing an independent line of sight, for example, when the target range is changed, a Countermeasures of weapon and optics required. The one wanted when changing the angle between the weapon and the optics Weapon movement commanded by a fire control computer must not be interpreted as a drift.

So that this does not happen, according to the present invention, a corresponding one is provided by the fire control computer The output signal is also fed to the logic gate via a delay element. The by the delay element The specified delay is used for the jerk-free connection of the signal after the transient processes have subsided.

In the case of a straightening handle, the straightening process is only initiated after a manually operated one has been closed Switch (hand trap) released. It has proven to be useful to use this hand trap signal as a logical one To use the signal for switching off the drift compensation and therefore to feed this signal to the logic gate. Furthermore, this logic signal can be used with advantage to control a sample / hold module in its function to switch, which feeds the directional signal to the speed control loop.

Finally, the speed controller has an integrating component in order to achieve good performance data. Since the drift compensation with the rotary encoder and counter also has an integrating effect, the closed control loop leads easy to instabilities. To achieve a stable operating point, in the case of drift compensation, the then the underlying speed control loop is changed in its structure by the output signal of the logic gate, by suppressing the integrating part.

On the basis of the single figure of the accompanying drawing, an embodiment of the invention will be described in more detail below explained.

According to this single figure, a speed control loop is known for aiming a weapon arranged. In this control loop, a directional handle 10 supplies a speed setpoint signal to a summation / subtraction element 11. The output signal of this element 11 controls a drive 13 for the via a controller 12 Tower or the weapon of a tank. With the drive axle 14 is a tachometer generator or gyro, not shown coupled and the speed signal determined by this tachometer generator or gyro is sent to a subtraction input of the summation / subtraction element 11 is fed back. According to an advantageous embodiment is with the axis 14 of the drive 13 or with the extended shaft of the tachometer generator an incremental rotary encoder 15 coupled. The rotary encoder 15 works opto / electronically and has built-in pulse shape electronics. To achieve the required accuracy, it has a certain resolution on the order of 1200 increments per rotation. Furthermore, the rotary encoder 15 is in As is known, equipped with two tracks, the pulse-shaped signals supplied by each track by 90 ° + 45 ° are electrically shifted in phase to one another.

The pulses emitted by the rotary encoder 15 are fed to the clock input CL of an up / down counter 16.

A device 18 receives the pulse signals from both tracks of the rotary encoder 15 and determines from the chronological sequence of these pulse signals determines the direction of rotation of the rotary encoder 15 Direction of rotation applies the device 18 to the forward / backward

3 ^r > down input V / R of the counter 16, whereupon this counts up or down according to the direction of rotation of the rotary encoder 15. The count of the counter 16 is obtained as a digital output value from a digital / analog converter

converted into an analog signal and sent as a correction signal to the guide input of the aforementioned Speed controller, i.e. fed to a subtraction input of the summation / subtraction element 11. 5

The release input E of the counter 16 is connected to the output of an OR gate 23. The OR gate has three entrances, the three entrances each from the vehicle movement and the directional handle actuation derived and a signal emitted by a fire control computer are supplied.

A travel / stand sensing is carried out by disturbance variable gyroscopes 21 and 22, the movements in the pitch and Detect the yaw axis, such gyroscopes already being present in a highly developed stabilization system. The signals from the two disturbance gyroscopes 21 and 22 are fed to a zero point discriminator 24 after addition in a summation element 32, and the correspondingly evaluated signal reaches a first input of the OR gate via a delay element 25 23. The delay element 25 generates a continuous signal when driving.

A fire control computer 29 generates in the case where an independent Line of sight is realized, an adjustment to the target range by counter-steering of the weapon and Optics. The signal issued by the fire control computer 29 and commanding the movement of the weapon is transmitted via a delay element 30 is fed to a second input of the OR gate 23. The delay element 30 allows a jerk-free Activation of the signal after the transient processes have subsided.

A directional handle 10 is provided in the usual way with a manual latch switch 26, which only after his manual actuation allows the initiation of the straightening process. The signal of the manual latch switch 26 in his

The closed position is fed as a logic signal via a delay element 20 to a third input of the OR gate 23.

The directional signal serving as a setpoint value for the speed control loop is transferred from the directional handle 10 a sample / hold module 28 an addition input of the summation / subtraction element 11 is supplied. Of the Manual latch switch 26 determines the function of this sample / hold module 28. When the manual latch switch is open 26 is the module 28 in the sampling mode (sample), so that at both inputs of the differential amplifier s the same voltage is applied. This means that there is also nothing behind the differential amplifier Output signal when the input voltage changes. When the manual latch switch 26 is actuated the block 28 in the storage mode (Hold), whereby a fixed voltage is / so that the input voltage via the non-inverting input of the differential amplifier reaches its exit.

The controller 12 of the speed control loop has an integral component (I component). A Such an I-component is necessary in and of itself so that there is no permanent control deviation. But since the Drift compensation with rotary encoder 15 and counter 16 also has an integrating effect, this works when superimposed Closed-loop control loop with an unstable operating point. To avoid this, use the output signal of the OR gate 23 a further sample / hold module 31 switched in its function in such a way, that when there is an output signal at the OR gate 23, the controller of the speed control loop is changed in its structure so that the integrating member is made a PT member. For jerk-free and offset-free switching is also here again a sample / hold module 31 is used. This couples the

Sampling mode, which is specified by the output signal of the OR gate 23, the integrator of the controller 12 in itself even back. If the output signal of the OR gate 23 is missing, the block 31 goes into storage mode, so that the feedback is canceled and the offset existing around the integrator is stored.

Claims (7)

Claims; 1. Control loop arrangement for a weapon straightening and Stabilization system on a vehicle with a speed control loop whose setpoint is through a Directional handle signal and its actual value by a speed sensor coupled to the weapon alignment axis is specified, with an additional position control loop for drift compensation and with a logic gate whose Inputs are generated by signals derived from the vehicle movement and the actuation of the directional handle, for the automatic activation of the position control circuit in the absence of a directional handle signal or vehicle movement, characterized in that the signal indicating the vehicle movement by at least one disturbance variable gyro (21, 22) and the Directional handle actuation indicating signal is generated by a switch (26) releasing the directional handle (10). 2. Control loop arrangement according to claim 1, characterized in that a third input of the logic gate (23) is connected to a signal generated by a fire control computer (29). 3. Control loop arrangement according to claim 1, characterized in that a pitch and a Yaw disturbance variable gyroscopes (21, 22) are arranged, the signals of which via an adder (32) and a zero point discriminator (24) are fed to the logic gate (23). 4. Control loop arrangement according to claims 1 to 3, d a characterized in that the signals of the switch (26), the fire control computer (29) and the disturbance variable gyro (21, 22) are each fed to the logic gate (23) via delay elements (20, 25, 30). 5. Control loop arrangement according to claim 1, characterized by one between the directional handle (10) and a target / actual value comparator (11) of the Sample / hold module connected to the speed control circuit (28), the two types of function of which are specified by the state of switch (26). 6. Control loop arrangement according to claim 1 / characterized characterized in that the structure of a controller (12) in the speed control loop by the Output signal of the logic gate (23) is switchable. 7. Control loop arrangement according to claim 6, characterized in that the controller (12) is a Sample / Hold block is connected in parallel, both of which Function types are specified by the output signal of the logic gate (23).