EP0229864B2 - Device for stabilizing a highly dynamic body on a less dynamic carrier - Google Patents

Abstract

1. Device for the stabilization of a device (4, 5, 6) which is mounted on a support (2) and which is movable relative to the latter, having, in comparsion with the support, a high speed of response to deviations from a rest position, having - a control loop (10), which is associated with the device and which includes a control device (15), for the control of deviations of the device from the rest position, which control loop exhibits a bandwidth matched to the speed of response of the device, - a sensor unit (3) for the detection of changes of position of the support in an inertial system with respect to at least three measurement axes, characterized in that - the sonsor unit is mounted as a central sensor block (3) on the support (2) and is equipped with sensors, the bandwidth of which is matched to the relatively slow speed of response of the support, - the device (4, 5, 6) is provided with angle pickups (14), which detect the position of the device relative to the support with respect to at least two axes and the output signals of which are fed to the control device (15) as the regulating quantity, and - devices (13) for the infraposition of the control loop by means of the signals which are delivered by the sensor block and which represent the position of the support in the inertial system as guide quantity, are provided in the control loop (10).

Description

The invention relates to a device for stabilizing a on a low dynamic carrier e.g. a tank, ship or the like, mounted higher dynamic device, in which the movements of the low dynamic carrier are detected by a central sensor block on the carrier.

The examples show that "low-dynamic carrier" is understood to mean a body of comparatively great inertia, which changes its position in space only comparatively slowly when a certain force is applied. On the other hand, "higher-dynamic device" is understood to mean a lighter body that comparatively quickly when subjected to force can accelerate.

The sensor block can contain at least such a number of gyros as inertial sensors that the three rotary motion components can be measured in space (three independent measuring axes) and, depending on the version, three uniaxial accelerometers.

From GB-A 1 206 789 a weapon tracking system is known, in particular for ship guns, in which control loops are used for weapon tracking, to which a command variable generated by a gyro system and corresponding to the angular velocity of the carrier is subordinate. The gyro system, which is fixed to the support, comprises three gyroscopes without an accelerometer. For a simple technical adjustment of the gun alignment, two separately implemented amplifiers are used in an analog system.

The document DE-A1-3 019 743 describes i.a. a combined inertial system mounted on a vehicle, which is used for navigation and / or for course and position calculation and either arranged on a platform with gimbal suspension or implemented as a strapdown system and separated from one with e.g. a telescope as a device to be stabilized equipped target measurement and target line stabilization platform in the vehicle. A stabilization control loop for the latter platform is simultaneously supplied by the navigation computer of the inertial system with tracking variables for the device to be stabilized, the bandwidth or the computing speed of the navigation computer having to be adapted to the comparatively high dynamics of the device.

For setting up, aligning and determining the position of artillery guns, it is from the magazine "Jahrbuch der Wehrtechnik", 1985, pp. 238-246, by an essay by K. Gewehr and K. Eiselen: "Das autonomon Gun" also known, strapdown Systems to be used, which must cover the entire measuring range of the possible vehicle dynamics. However, at the time of their short operational deployments with artillery guns, these were comparatively static systems in which the vehicle dynamics in the sense defined above can also be classified as "low-dynamic", so that the intended purpose can be achieved well with conventional known strapdown systems.

DE-A1 3 332 795 discloses a fire control and navigation system for movable weapon carriers, in particular for battle tanks, in which a single central sensor block using strapdown technology is used for primary stabilization, for example of a target or sighting device, or for secondary stabilization of a weapon. which comprises two biaxial, dry, dynamically tuned gyros and three uniaxial accelerometers, and in which the acceleration values or rotation rates are output and processed in digital format. With this known system it is possible in principle to achieve exact fire control and dynamic point stabilization of the weapon.

In order to be able to use the advantages associated with the known fire control and navigation system through the use of a strapdown system, however, in addition to the weapon, for example, the line of sight must also be stabilized with a central sensor package. This means that, for example in the rifle target, a relatively small deflection mirror with a much higher dynamic range than the carrier (tank) can be stabilized. According to this known method, the gyroscopes and accelerometers must therefore be attached to the deflecting mirror and the inertial sensors and the entire digital processing must be designed for the high bandwidth of this deflecting mirror. This places high demands on the dynamics of the sensor block as a whole and on the bandwidth of the digital control in particular.

The invention has for its object to stabilize devices mounted on a comparatively low-dynamic carrier with significantly higher dynamics in their position in space in a technically simple manner and with flexible adaptation options to the type, number and individual dynamics of the individual device, the common inertial sensors on Carriers are attached.

The invention is based initially on the knowledge that the angles of interference that occur on a comparatively slow carrier (armored turret) become very small with increasing frequency. For the stabilization of the tank cannon realized according to the above-mentioned DE-AI publication, on the other hand, an approximately three times greater bandwidth is required than the measured bandwidth of the interference angles at the tank tower. The line of sight stabilization places even higher technical requirements, for which an even fifteen times greater bandwidth of the control loops and sensors is required. This basic knowledge is plausible since there is a multiple tone can move a heavy tank tower only relatively slowly. The lighter cannon already shows a higher dynamic and the relatively light deflecting mirrors of the optical line devices (rifle scope of the gunner, periscope of the commander) show a very high dynamic.

• - Stabilisierung der einzelnen hochdynamischen Geräte bezüglich des Trägers mit der dazu notwendigen großen Bandbreite und
• - Ermittlung und Kompensation der langsamen Trägerbewegung in einer überlagerten Regelschleife mit entsprechend niedrigerer Bandbreite.

The device according to the invention defined in claim 1 for stabilizing a higher-dynamic device mounted on a low-dynamic carrier achieves the stated task in two steps, namely by

• - Stabilization of the individual highly dynamic devices with respect to the carrier with the necessary wide bandwidth and
• - Determination and compensation of the slow carrier movement in a superimposed control loop with a correspondingly lower bandwidth.

Advantageous further developments of the inventive concept are characterized in the dependent claims.

With the device according to the invention, it is possible to stabilize the devices themselves with the aid of a common inertial sensor package (e.g. strapdown system) on the carrier and with angle sensors or rotary speed sensors or angle measuring devices, in particular resolvers. It is of great importance that the bandwidth of the inertial sensor package only has to be so large that the movements of the low-dynamic carrier are correctly recorded. The bandwidth of the carrier is generally significantly smaller than that of the devices to be stabilized. In the case of an analytical platform as an inertial sensor package, it also continuously provides the position and location of the tiger itself and the quantities derived from it for additional tasks, for example as part of a central fire control system. In principle, the number of devices to be stabilized and their bandwidth is not limited. The process enables a modular structure in an optimal way and is suitable for different vehicle types regardless of the number of devices to be stabilized. In a battle tank, for example, the highest stabilization quality is required for the rifle target. The control loops for this device with the corresponding angle encoders will therefore have the highest bandwidth. The other devices to be stabilized, for example a commander's periscope and the weapons, can then be equipped with control loops, the bandwidth of which is individually matched to the dynamics of these devices.

The operation of the device according to the invention will be explained using an example in which the above requirement with regard to a mechanically rigid support is met. An armored combat vehicle (main battle tank) is assumed to be the carrier. Movable devices are e.g. the main rifle scope of the gunner, the periscope of the commander and the main weapon of the tank. In this case, the aiming lines of the gunner and commander target devices and the position of the weapon should be stabilized. According to the technology used to date, two uniaxial gyroscopes with corresponding control loops are used for each device to be stabilized. The stabilization takes place individually for each device in terms of side and height. The gyroscope as sensors and the control loops for stabilizing the devices must each have such a wide range that the movements of the devices in the room can be completely detected and stabilized. In a known main battle tank, for example, six uniaxial turning gyros are currently required for this. This known solution becomes particularly complex when several devices have to be stabilized on a common carrier, since one gyro package is required for each device.

• 1. Fall: Der zentrale Sensorblock besteht allein aus einem Kreiselpaket. Dieses Kreisepaket enthält dabei wenigstens eine solche Anzahl von Kreiseln, daß in drei unabhängigen Meßachsen Meßgrößen zur Verfügung stehen. Das bedeutet, daß bei z.B. zweiachsigen Kreiseln mindestens zwei Kreisel erforderlich und bei z.B. einachsigen Kreiseln mindestens drei Kreisel erforderlich sind. In diesem ersten Fall kann nur eine Stabilisierung der Geräte bezüglich des Inertialraums durchgeführt werden, ähnlich den zur Zeit in Kampfpanzern realisierten Systemen, allerdings jetzt unter Verwendung nur eines einzigen Kreiselpakets für alle Geräte.
• 2. Fall: Der inertiale Sensorblock enthält nicht nur ein Kreisel paket wie im Fall 1, sondern zusätzlich eine solche Anzahl von Beschleunigungsmessern, daß Meßwerte in drei unabhängigen Achsen zur Verfügung stehen. Ein solches Sensorpaket steht beispielsweise mit einem Strapdown-System (analytische Plattform) zur Verfügung. Ein solches Strapdown-System liefert z. B. Informationen über Position, Geschwindigkeit, Geschwindigkeitsänderung, Lage und Lageänderung des Trägers gegenüber einem erdbezogenen Navigationskoordinatensystem. Das bedeutet, daß hier vorteilhaft eine Stabilisierung der Geräte gegen ein erdbezogenes Navigationskoordinatensystem realisiert werden kann.

In contrast to this widespread technology, but also in an improvement over the system mentioned in the above-mentioned DE-AI publication, the invention realizes a device which allows a central sensor block to be mounted on the vehicle at a protected location while at the same time stabilizing the more dynamic devices easily made Technically, two cases can be distinguished.

• Case 1: The central sensor block consists solely of a gyro pack. This circle packet contains at least such a number of gyros that measurement variables are available in three independent measuring axes. This means that at least two gyros are required for two-axis gyros and at least three gyros are required for single-axis gyros. In this first case, the devices can only be stabilized with respect to the inertial space, similar to the systems currently implemented in battle tanks, but now using only a single gyro pack for all devices.
• 2nd case: The inertial sensor block contains not only a gyro package as in case 1, but also such a number of accelerometers that measured values are available in three independent axes. Such a sensor package is available, for example, with a strapdown system (analytical platform). Such a strapdown system provides z. B. Information about position, speed, speed change, position and change of position of the wearer compared to an earth-related navigation coordinate system. This means that here a stabilization of the devices against an earth-related navigation is advantageous ordinate system can be realized.

In both cases, the inertial sensor block detects the movements of the tower coordinate system. The output variables of the inertial sensor block are used as reference variables for the individual stabilization control loops of the devices. Each device (e.g. weapon, sight device, sighting device and the like) is provided with its own control loop with the device-specific bandwidths. The position of the devices in relation to the carrier (turret of the main battle tank) is detected with angle sensors, the output signals of which control actuating devices on the devices via closed control loops of high bandwidth. Changes in the position or movement of the tower are therefore taken into account as a reference variable in the control loops of the devices.

• Fig. 1. einen mit verschiedenen zu stabilisierenden Geräten bestückten Kampfpanzer als Geräteträger, und
• Fig. 2 eine Regelschleife hoher Dynamik zur Stabilisierung der Geräte, welcher Daten aus einem zentralen Sensorblock als Führungsgrößen unterlagert werden.

Advantageous details of the invention are illustrated below with reference to the drawing using an exemplary embodiment. Show it:

• Fig. 1. a battle tank equipped with various devices to be stabilized as a device carrier, and
• 2 shows a control loop of high dynamics for stabilizing the devices, to which data from a central sensor block are subordinated as reference variables.

In the illustrative example of FIG. 1, a main battle tank 1 with a turret 2 is provided as a low-dynamic carrier. A number of devices to be stabilized are mounted in the turret 2, in particular a cannon 4 as the main weapon of the tank, a commander's periscope 5 and a gunner aiming device 6. The central sensor block 3 is mounted as a complete unit in the turret and detects the relatively slow turret movements relative to one earth fixed navigation coordinate system.

As can be seen in the assembly arrangement of FIG. 2, the central sensor block 3 (e.g. strapdown package) delivers position data or changes in position of the carrier (tower 2) via a data line 12 to a connection point 13 within a closed control loop 10, which is used for stabilization one of the devices 4, 5, 6 mounted in the tower 2 is used. The position data of the carrier supplied at the connection point 13 serve in the control loop 10 as a subordinate reference variable. The (relative) position data of the control loop 10 (actual data) are supplied by angle sensors, in particular resolvers 14. At link point 13, the command variable determining the position of the carrier is superimposed and fed as a manipulated variable to one or more final control elements 15 for the respective device.

Compared to the stabilization methods that have been customary up to now, the following significant advantages result in particular for battle tank systems:

• (a) Die inertialen Sensoren des zentralen Sensorblocks (der analytischen Plattform) können an geschützter Stelle angebracht sein, müssen also nicht mehr exponiert werden.
• (b) Größen- und Gewichtsbeschränkungen für den zentralen Sensorblock sind nicht mehr gegeben.
• (c) Der zentrale Sensorblock in standardisierter Bauform ist leicht zugänglich und kann einfach gewartet werden.
• (d) Mit einem inertialen Sensorblock lass sich beliebig viele Geräte gleichzeitig stabilisieren.
• (e) Der zentrale Sensorblock in Digitaltechnik muß nur mit so hoher Verarbeitungsgeschwindigkeit ausgestattet werden, daß die Bewegungen des Trägers richtig beschrieben werden. Gleichzeitig können die Regel - kreise an den Geräten selbst weiterhin als schnelle Analogregelkreise ausgeführt werden. Dies ermöglicht kostengünstige Lösungen und den Einsatz von Standarsystemen beim zentralen Sensorblock.
• (f) Im inertialen Sensorblock wird ein Satz hochwertiger Kreisel verwendet. Da z. B. Strapdown-Kreisel gegenüber den üblicherweise bei Panzerwaffen zur Stabilisierung verwendeten Wendekreiseln eine deutlich höhere Lebensdauer aufweisen, erreicht man eine höhere Systemzuverlässigkeit und Verfügbarkeit.
• (g) Strapdown-Kreisel in Navigationsqualität sind um Größenordnungen driftärmer als übliche Wendekreisel. Daher ist die Navigationsinformation zusätzlich mit guter Genauigkeit zu gewinnen.

For the first case:

• (a) The inertial sensors of the central sensor block (the analytical platform) can be attached at a protected location, so they no longer need to be exposed.
• (b) Size and weight restrictions for the central sensor block no longer exist.
• (c) The central sensor block in a standardized design is easily accessible and easy to maintain.
• (d) With an inertial sensor block, any number of devices can be stabilized at the same time.
• (e) The central sensor block in digital technology only has to be equipped with such a high processing speed that the movements of the wearer are correctly described. At the same time, the control loops on the devices themselves can continue to be designed as fast analog control loops. This enables cost-effective solutions and the use of standard systems for the central sensor block.
• (f) A set of high quality gyros is used in the inertial sensor block. Because e.g. B. Strapdown gyros have a significantly longer service life than the gyroscopes usually used for stabilizing armored weapons, one achieves a higher system reliability and availability.
• (g) Strapdown gyros in navigation quality are orders of magnitude less drift than conventional turning gyros. Therefore, the navigation information can also be obtained with good accuracy.

• (h) Die Erddrehrate (maximal 4, 5 Strich/min) wird bei der Stabilisierung mit berücksichtigt und kompensiert, da bezüglich eines erdfesten Koordinatensystem stabilisiert wird. Dies bringt Vorteile bei der Beobachtung und Überwachung von Geländeteilen mit Hilfe einer Zieloptik.
• (i) Die Transportrate des Trägers kann kompensiertwerden. Dadurch ergibt sich auch beim Fahren ein driftfreies. Bild, wenn es sich beispielsweise bei den zu stabilisierenden Geräten um ein Beobachtungs- oder Zielgerät handelt.
• (j) Eine dreiachsige Stabilisierung ist ohne zusätzliche inertiale Sensoren möglich. Dadurch werden Drehbewegungen des Bildes um die Kantachse des Trägers verhindert und eine ruhige Bilddarstellung auf Sichtgeräten ermöglicht. (k) Zur Berücksichtigung des Kantwinkels ist bis her ein Lotsensor erforderlich, der jedoch aufgrund der Erfindung entfallen kann, da seine Aufgabe vom zentralen Sensorblock mit wahrgenommen wird.

Additionally for the second case:
If you use an inertial sensor block with accelerometers (e.g. strapdown system), the following additional advantages are available:

• (h) The earth rotation rate (maximum 4.5 lines / min) is also taken into account and compensated for in the stabilization, since stabilization is carried out with respect to an earth-fixed coordinate system. This brings advantages when observing and monitoring terrain parts with the help of target optics.
• (i) The transport rate of the carrier can be compensated. This results in drift-free driving. Image if, for example, the devices to be stabilized are observation or target devices.
• (j) Three-axis stabilization is possible without additional inertial sensors. This prevents rotation of the image around the edge axis of the wearer and enables a smooth image display on viewing devices. (k) Up to now, a plumb sensor has been required to take into account the edge angle, which, however, can be omitted due to the invention, since its task is also performed by the central sensor block.

As an advantageous aspect of the invention due to the use of an inertial central Sensor systems with accelerometers provide data on the location, location and movements of the wearer. In the case of an armored vehicle, this can be used to implement further advantageous functions. The central sensor block (the analytical platform) provides the position of the vehicle in an earth-fixed navigation system, so that orientation in unknown terrain and in poor visibility or under difficult environmental conditions is facilitated. The strapdown system also provides data on the speed and angular velocity of the tower for better fire control, for example to correct the muzzle velocity of the projectile of the cannon 4. All of this data is provided via a data bus 11 (FIG. 2). Furthermore, with the aid of distance measurements from the armored vehicle to the target, point stabilization and dynamic lead formation can be implemented exactly.

Claims (7)

1. Device for the stabilisation of a device (4, 5, 6) which is mounted on a fighting vehicle with a gun (2) and which is movable relative to the latter, having, in comparison with the fighting vehicle, a high speed of response to deviations from a rest position, having

- a control loop (10), which is associated with the device and which includes a control device (15), for the control of deviations of the device from the rest position, in which the control loop exhibits a bandwidth matched to the speed of response of the device,

- a sensor unit (3) for the detection of changes of position of the fighting vehicle in an inertial system with respect to at least three measurement axes, in which

- the sensor unit is designed as a central strapdown system (3) with associated digital electronics, the strapdown system (3) is mounted on the fighting vehicle (2) and is equipped with sensors, the bandwidth of which is matched to the relatively slow speed of response of the fighting vehicle,

- the device (4, 5, 6) is provided with angle sensors (14), which detect the position of the device relative to the fighting vehicle with respect to at least two axes and the output signals of which are fed to the control device (15) as the control variable,

- devices (13) for the subordination of the control loop (10) by means of the signals which are delivered by the strapdown system (3) and which represent the position of the carrier in the inertial system as the control variable, are provided in the control loop (10), and in which

- the measured values which are required for compensation of the ballistic disturbances when firing the gun and/or for forming the lead angle dynamically are determined with the aid of the strapdown system (3) and are made available for the fire-control computation.

2. Device according to Claim 1, characterised in that the device (4, 5, 6) is equipped with three angle sensors (14) for determining its position relative to the carrier (1, 2) in three mutually orthogonal axes.

3. Device according to Claim 1, characterised in that resolvers are employed as angle sensors (14).

4. Device according to Claim 1, characterised in that tachogenerators for the measurement of speeds of rotation are employed as the signal source of the angle sensors (14).

5. Device according to Claim 1, characterised in that the control loop is an analog loop.

6. Device according to one of the preceding Claims 1 to 5, characterised in that the carrier (1, 2) is a tank and the device is a gun (4) or an aiming device (6) or a periscope (5).

7. Device according to one of the preceding Claims 1 to 6, characterised in that the required navigation computations for determining the position of the carrier (1, 2) are carried out by means of the digital electronics of the central set of sensors.

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