EP0467754B1 - Automatic loading device for a cannon - Google Patents

Description

The present invention relates to automatic loading devices with rotating magazine for guns, in particular guns fitted to turrets of armored vehicles.

In vehicles of this type, it is necessary to have a large capacity for storing ammunition and to be able to transfer the ammunition stored in the revolving magazine as quickly as possible to the chamber of the weapon.

Modern armored vehicles are required to use ammunition of various types depending on the situations they face in the field.

It is therefore also necessary to have means capable of very reliably selecting and in a minimum time, the type of ammunition that the chief of parts decides to use.

The loading control devices existing up to now are essentially mechanical and electromechanical devices which most of the time require active manual intervention on the part of the operator, which makes their operation relatively slow and therefore unsuitable for changes. often extremely fast situation on the ground.

In fact, due to the existence of extremely rapid and precise means of detecting armored vehicles, they have only a very short time to intervene on a target and to disappear before being detected.

Consequently, the known loading control means are often inappropriate because of their relative slowness of operation.

This is the case with the automatic loading device described in patent EP-A-0 217 059, which forms the base for the preamble of claim 1, said device comprising a magazine housed in the chassis of the armored vehicle, a transfer means of each magazine ammunition towards the barrel and a repressor to introduce the ammunition into the barrel. No details are given on the means for selecting the ammunition according to the type.

Patent EP-A-0 105 101 also describes an automatic device for loading a gun from a magazine in which the ammunition is stored vertically. The ammunition is loaded using a loading arm attached to the swivel axis of the weapon.

US-A-4,777,864 describes a system for feeding an automatic weapon with an external motor which has no analogy with the barrel of an armored vehicle.

The present invention aims to remedy the drawbacks of known loading control devices, by creating a loading control device which combines rapid and safe operation with a very reliable selection of the nature of the munition to be used.

• un bâti,
• un magasin tournant destiné à stocker des munitions et qui est monté dans ledit bâti, ledit magasin étant destiné à être disposé à proximité de la chambre du canon,
• un dispositif de refoulement des munitions stockées dans le magasin vers la chambre du canon, le dispositif de refoulement étant associé audit magasin,
• des moyens de commande du déplacement du magasin tournant en vue de l'acheminement vers le dispositif de refoulement de la munition du type sélectionné et du transfert de ladite munition par le dispositif de refoulement vers la chambre du canon, lesdits moyens de commande comportant des moteurs aptes à faire tourner le magasin dans les deux sens,
• des moyens de sélection de la nature de la munition à utiliser,
• des moyens électroniques de gestion des munitions lorsque le magasin est chargé en munitions, disposés à bord du véhicule, comprenant :
  • . un calculateur comportant une unité centrale, un ensemble de mémoires destiné à contenir un logiciel de chargement automatique, des données relatives au fonctionnement du chargement automatique dans le temps, et des données calculées par l'unité centrale en fonction du déroulement du programme de chargement, des circuits d'entrée-sortie et de liaison série, un circuit de dialogue avec l'extérieur,
  • . des moyens de reconnaissance du type de munition se trouvant dans chaque emplacement du magasin, caractérisé en ce que le calculateur est disposé sur un panneau dudit bâti, en ce que les moyens de reconnaissance sont constitués par des capteurs de reconnaissance de codes portés par chacune des munitions et désignant le type de la munition correspondante, lesdits capteurs étant associés à des boîtiers électroniques reliés respectivement aux moyens électroniques de gestion et aux moyens de commande du transfert de munition, en ce que les moteurs sont constitués par un moteur électrique principal et un moteur auxiliaire pour déplacer le magasin manuellement en cas de panne, en ce que les moyens de sélection permettent de relire et de reconfigurer le magasin, la fonction sélection étant d'une nature telle qu'en cas de panne l'algorithme demande à l'opérateur une manoeuvre en rotation manuelle en lui indiquant le sens de rotation et le nombre de pas à faire pour amener la munition à l'endroit désiré, les moyens de sélection vérifiant l'acquittement de l'opérateur dans la limite où le capteur de position est en état de fonctionner et réitérant sa demande si nécessaire, en tenant compte des nouvelles conditions et de la position du magasin tournant.

Its subject is therefore a device for controlling the automatic loading of a gun, in particular a gun fitted to an armored vehicle turret, comprising:

• a frame,
• a revolving magazine intended for storing ammunition and which is mounted in said frame, said magazine being intended to be placed near the barrel chamber,
• a delivery device for the ammunition stored in the magazine towards the barrel chamber, the delivery device being associated with said magazine,
• means for controlling the movement of the revolving magazine with a view to conveying the ammunition of the selected type to the delivery device and the transfer of said ammunition by the delivery device to the barrel chamber, said means for control comprising motors capable of rotating the magazine in both directions,
• means for selecting the nature of the ammunition to be used,
• electronic ammunition management means when the store is loaded with ammunition, arranged on board the vehicle, comprising:
  • . a computer comprising a central unit, a set of memories intended to contain automatic loading software, data relating to the operation of automatic loading over time, and data calculated by the central unit as a function of the progress of the loading program, input-output and serial link circuits, an external dialogue circuit,
  • . means for recognizing the type of ammunition located in each location of the store, characterized in that the computer is arranged on a panel of said frame, in that the recognition means are constituted by code recognition sensors carried by each of the ammunition and designating the type of the corresponding ammunition, said sensors being associated with electronic boxes connected respectively to the electronic management means and to the ammunition transfer control means, in that the motors are constituted by a main electric motor and a motor auxiliary to move the store manually in the event of a breakdown, in that the selection means make it possible to re-read and reconfigure the store, the selection function being of such a nature that in the event of a breakdown the algorithm asks the operator a manual rotation maneuver indicating the direction of rotation and the number of steps to take to bring r the ammunition at the desired location, the selection means verifying the operator's acknowledgment within the limit where the position sensor is in a state of operate and repeat its request if necessary, taking into account the new conditions and the position of the revolving magazine.

The dependent claims describe additional features of the invention.

According to a characteristic of the invention, there is provided a right ammunition identification sensor associated with a first electronic unit and a left ammunition identification sensor associated with a second electronic unit and in that said left and right sensors are arranged on either side of the position of the repressor associated with the conveyor.

The means for controlling the movement of the revolving magazine comprise an electronic circuit intended, as a function of the orders it receives from the management means as well as the position of the ammunition in the revolving magazine, to control the rotation of the electric drive motor of the magazine rotating in an appropriate direction to bring the ammunition of a determined type closest to the delivery axis to the location of the delivery device.

The central unit of the electronic management means comprises a microprocessor connected to a control bus into which a buffer circuit is inserted, the control bus being further connected to a priority encoder, to a logic for prioritizing interruptions, to a controller for access time to the computer memory, timing circuits in turn connected to an isolation circuit, a watchdog storage circuit and a decoding logic, the latter being also connected to the bus control.

The microprocessor is also connected to an address bus in which a buffer circuit is inserted, the decoding logic being connected to the address bus and it is moreover connected to a data bus in which a buffer circuit is inserted, the data bus being in turn connected to the timing circuits.

The set of memories of the management unit comprises a block of read only memories connected to the data bus as well as to the address bus which lead to the microprocessor, the block of read only memories containing the automatic loading software, a block of back-up memories linked to the address bus and the data bus, the back-up memory block containing the data relating to the operation of automatic loading over time and a random access memory block connected to the data bus and the address bus and containing the data calculated by the central unit as a function of the progress of the loading program.

commandé par un signal d'horloge également appliqué à la logique de gestion, des circuits tampons étant inversés respectivement dans les bus de données d'adresse et de contrôle du côté de l'ensemble de mémoires.The set of memories also includes a decoding logic connected to the read only memory block, to the backup memory block and to the random access memory block and connected to the address bus and to a selection bit line, said decoding logic. being further connected to the data bus, an exchange management logic and an error signal generator connected to the control bus and a signal generation counter $\overline{\mathbf{\text{DTACK}}}$

controlled by a clock signal also applied to the management logic, buffer circuits being reversed respectively in the address and control data buses on the side of the memory assembly.

Each of the input-output and serial link circuits of the computer operates under the control of the central unit circuit and includes serial links, a port of several all or nothing inputs, a port of several all or nothing outputs, the inputs are of the type allowing the computer to know the logical state of peripheral devices such as sensors, control members when the computer addresses, then reads the state of a port to which these inputs are connected, the outputs are of the type allowing the calculator to send order information to devices through output ports that it addresses and in which it describes the states of the corresponding outputs.

The means for controlling the movement of the revolving magazine and the transfer of the ammunition by the delivery device to the barrel chamber comprise means for controlling an electric motor driving the revolving magazine, means for controlling a motor electric drive for the repressor and means for controlling an electric motor driving a door for separating the location of the repressor and the barrel chamber to be loaded.

The means for controlling the movement of the revolving magazine and of the transfer of the ammunition comprise a single power device intended to supply a single motor among the three electric motors, a single speed control device and a selection module of the electric motor to be powered depending on the situation of the device.

The means for controlling the movement of the revolving magazine and the transfer of the ammunition furthermore comprise a control circuit grouping the control functions as well as the production of speed setpoints for each of the electric motors considered and a serial interface circuit of connection with the computer.

The power device comprises a bridge formed by two half-bridges with two transistors each and with which corresponding control circuits are associated, the power device being connected to a filtering module ensuring the distribution of electrical energy while the half bridges are connected to a circuit for monitoring the temperature of the half-bridges, the control circuits being connected to a circuit for monitoring the supply of the control circuits, said monitoring circuits being part of the control circuit, the device for power being further connected to a bus connection with a general connector of the device forming the test port.

The circuit for controlling the movement of the revolving magazine and the transfer of ammunition comprises the circuit for monitoring the temperature of the power half-bridges and the circuit for monitoring the power supply to the control circuits of the power bridge, a network voltage monitoring circuit, a setpoint generation circuit with which a direction of rotation circuit is associated and whose output is connected to a zero setpoint circuit, an emergency stop monitoring circuit, connected to an isolation contactor control circuit which is in turn connected to an overcurrent control circuit of the corresponding electric motors, a motor temperature monitoring circuit, the supply circuit monitoring circuit for the control circuits of the power half-bridges, the temperature monitoring circuit of the power half-bridges, the emergency stop monitoring circuit, the c de setpoint generation circuit, the insulation contactor control circuit and the motor temperature monitoring circuit being connected to the serial interface circuit.

The selection module comprises a set of contactors intended to connect to the power bridge that among the electric motors chosen by the computer, a circuit for controlling the contactors, an authorization generator connected on the one hand to the selection control circuit , a circuit for controlling the brakes of the gearmotors and for generating information "brakes consumes", and a selection control circuit, the selection module being connected by a bus to the control circuit to the serial interface circuit to a connection with the pump motor to a connection to the pump motor conveyor to a connection with the door motor and to the general connector.

The speed control device comprises a circuit for reconstituting the counter-electromotive force of the electric motor to be controlled, a generator of control signals connected to the input of the reconstitution circuit as well as to a bus connecting with the bridge. power of the first and second correcting circuits, a first summing circuit connected upstream of the first corrector as well as to the reconstitution circuit, a second summing circuit interposed between the first and the second correctors and further connected to an intensity detector the supply current of the motor forming part of the selection module and to an overcurrent reset circuit, a maximum current circuit and an overcurrent circuit associated with the reset circuit.

The interface card comprises a transmitter serial-parallel interface circuit with which is associated a multiplexer and a receiver serial-parallel interface circuit with which is associated a multiplexer.

The invention also relates to a tank comprising a device for controlling the automatic loading of a cannon integrated into the turret.

• la Fig.1 est une vue schématique en perspective d'un dispositif de chargement de munitions pour canon de véhicule blindé auquel est appliqué le dispositif de commande automatique suivant l'invention;
• la Fig.2 est un schéma synoptique du dispositif de commande de chargement automatique suivant l'invention équipant le dispositif de chargement de la Fig.1;
• la Fig.3 est un schéma synoptique plus détaillé du calculateur de bord faisant partie du dispositif de commande de la Fig.2;
• la Fig.4 est un schéma synoptique plus détaillé de l'unité centrale entrant dans la construction du calculateur de la Fig-3;
• la Fig.5 est un schéma synoptique plus détaillé de la carte mémoire faisant partie du calculateur représenté à la Fig.3;
• la Fig.6 et un schéma synoptique plus détaillé d'une carte d'entrée/sortie et de liaison série faisant partie du calculateur de la Fig.3;
• les Fig.7A, 7B représentent ensemble le schéma synoptique détaillé du dispositif de contrôle des moteurs électriques d'entraînement des organes essentiels du dispositif de chargement de la Fig.1.

The invention will be better understood with the aid of the description which follows, given solely by way of example and made with reference to the appended drawings, in which:

• Fig.1 is a schematic perspective view of an ammunition loading device for an armored vehicle cannon to which the automatic control device according to the invention is applied;
• Fig.2 is a block diagram of the automatic loading control device according to the invention fitted to the loading device of Fig.1;
• Fig.3 is a more detailed block diagram of the on-board computer forming part of the control device of Fig.2;
• Fig.4 is a more detailed block diagram of the central unit used in the construction of the computer of Fig-3;
• Fig.5 is a more detailed block diagram of the memory card forming part of the computer shown in Fig.3;
• Fig.6 and a more detailed block diagram of an input / output and serial link card forming part of the computer of Fig.3;
• Fig.7A, 7B together show the detailed block diagram of the control device of the electric motors driving the essential organs of the charging device of Fig.1.

The loading device shown in Fig.1 consists of a frame 1 of flattened parallelepiped shape, essentially formed by two rectangular panels 2,3 joined by spacers 4 fixed between the ends of the panels.

In the frame 1 is mounted an endless conveyor 5 formed of cells 6 for receiving ammunition.

The conveyor 5 is driven in both directions of movement by a direct current electric motor 7 via a reduction gear and chain mechanism (not shown).

The motor 7 for driving the conveyor is mounted on the panel 2 of the frame, next to a motor control box 8 also fixed to said panel 2.

The device of Fig.1 further comprises a delivery device or repressor 9 located in the middle of the upper strand of the conveyor 5 and which is intended to operate the transfer of a selected ammunition to the barrel chamber, for example the barrel of 'an armored vehicle (not shown) with which the device is associated.

The repressor 9, the construction of which is masked by a cover plate 10 and which mechanical means for pushing the ammunition contained in the cell 5, brought into the delivery position, towards the barrel chamber is driven by a direct current electric motor 11 also controlled by the box 8 for controlling the motors.

On either side of the position of the repressor 9 are placed ammunition identification sensors 12.

In the present example, these are bar code reading sensors carried by the munitions and identifying the nature of each of the munitions presented in the conveyor.

The actuator 11 actuation motor 9 is also carried by the panel 2 of the frame 1.

On this panel, which in fact constitutes the control panel of the device, is moreover fixed a housing 13 containing the computer of the device.

At the end of the repeller 9 opposite to the motor 11 for actuating the latter is disposed a door assembly 14 on the frame 15 of which is disposed a DC motor 16 for driving a separator door of the repeller 9 and the breech (not shown) of the barrel intended to be supplied by the device.

The motor 16 is also controlled by the motor control unit 8.

The panel 2 of the frame 1 further carries an interface 17 with keyboard 18 for man-machine connection which, in association with the computer contained in the housing 13 and the device 8 for controlling the electric motors 7, 11 and 16 provides automatic control. of the loading device with regard to the operations of supplying and emptying the store.

At the left end of the panel 2 is also arranged an absolute sensor 19 for positioning the cells 6 of the conveyor 5.

At the upper part of the device is arranged a sensor 20 for locking the supply and emptying device 21 placed near the discharge chute 9 and making it possible to supply the interior and the exterior supply of the store or conveyor 5 as well as its emptying.

The charging device further comprises a current generator 22 provided with an actuating crank 23 and intended to manually produce the energy necessary for supplying the motors of the device in the event of a failure of the supply system.

Of course, the various electrical and electronic components of the device are interconnected by appropriate energy and data transmission conductors.

The block diagram in FIG. 2 shows the entire automatic loading control device according to the invention.

This device mainly comprises, associated with the conveyor 5, the electronic unit 13 of the computer or BECAL connected by a line 25 to the unit 8 for controlling the engine.

The BECAL 13 is also connected to an electronic supply unit 26 for external supply, to a sensor 26a for the presence of ammunition at the FCPMC loading station, to a sensor 27 for the retracted repressor FCRRE and to a sensor 28 for locked tools. FCORE.

The electronic unit 26 and the three sensors 12, 27 and 28 are connected to the BECAL unit 13 by a common line 29.

The computer housing 13 is furthermore connected via line 25 of connection with the BECMO box 8 to the BECOD box of the absolute encoder 19 of FIG. 1 to a BEIMD electronic box 30 containing the sensor 12 for identifying the right ammunition and to a BEIMG electronic box 31 containing the left ammunition identification sensor 12.

The input of the BECAL box 13 connected to the sensors 12, 27 and 28 is also connected to an input of an electronic assembly for controlling the door which separates the repressor 9 (FIG. 1) from the breech of the barrel (not shown ) and which insulates the automatic loading device from the rest of the turret.

The electronic assembly 32 includes a BJPOR box 33 connected on the one hand to the aforementioned input of BECAL 13 and on the other hand to a sensor 34 of closed door FCPFE, to a sensor 35 of open door FCPOU and to an electronic box 36 BECHV empty room.

The electronic door assembly 32 comprises a main door motor MPORT 38 and an auxiliary door motor MAPOR 37. The MPORT motor 38 is connected to the BECMO circuit via a line 46. The MAPOR motor 37 is connected to the generator manually controlled by a line 39.

Line 39 is connected to the VBS on-board sensitive power supply network.

The manual generator 22 is also connected to line 39, possibly via a circuit, PUPRM 40 for selecting the auxiliary motors 37, 43, 45.

To the BECAL 13 unit is also connected an on-board serial communication network 41. In the present example, this network consists of a line DIGIBUS.

The device of FIG. 1 further comprises a gearmotor 42 of MCONV conveyor and an auxiliary motor of MACON conveyor 43.

The motor 43 is connected to the generator 22 by lines 46 and 39. The motor 42 is connected to the BECMO box 8. The geared motor 44 is also connected to the BECMO box. The MAREF 45 engine is connected to the generator 22 by lines 46 and 39.

We will now describe with reference to Fig.3 the computer of the automatic control device contained in the BECAL box 13 of the diagram in Fig.2.

The computer contained in the housing 13 comprises in the form of separate cards a central unit 50, a DIGIBUS card 51, a set of memories 52, a first set of inputs-outputs and of serial link 53, a second set of inputs- outputs and serial links 54.

The cards 50 to 54 are connected by a common bus 55 to voltage converter cards 56, 57, 58 and to a test card 59.

The central unit card 50 is connected to an OSCI isolated system control tool by a serial link 50a.

The DIGIBUS 51 card is connected to the digibus by a serial link 60.

The input-output cards 53 and 54 are respectively connected to actuators and sensors of the diagram in FIG. 2 by links 61 and 62.

In the present example, the housing 13 of the computer can receive at least ten cards. Thus can be seen in Fig.1, the housing comprises a base 13a on which there are provided catches 13b, 13 c , 13 d , 13 e and 13 f for power supply, digibus, test and I / O respectively associated with the corresponding cards of the box.

This calculator is made up of hardware and software.

The converter card 56 is a card delivering a voltage of + 5V supplying all the logic cards of the computer.

The converter card 58 delivers a voltage of + 16V to supply all the sensors of the automatic loading device.

The converter card 57 delivers a voltage of 15 V and a voltage of 5 V, and supplies the DIGIBUS card 51 as well as amplifiers of the computer serial links and part of the circuit located in the BECMO 8 box.

All the cards are mounted in the computer box 13 in Fig. 1 and occupy a backplane location. They each use a single 96-pin female connector from the HE 804 series.

We will now refer to the diagram in Fig. 4 to describe the central unit of the computer.

The central unit card 50 of the computer contained in the BECAL box 13 is organized around a microprocessor 65 with 16 bits 68000.

It defines at the computer level a 16-bit data bus and a 23-bit address bus.

The working frequency of the microprocessor is fixed at 8 MHz but it can be fixed at 12.5 MHz by a simple change of component.

This card ensures the proper functioning of the software implanted in the memory card 52.

• Fonctionnement en temps réel
• Contrôle du dépassement de la durée d'exécution du logiciel
• Contrôle du temps d'accès en mémoire ou d'un périphérique et traitement d'une exception Bus Erreur
• Gestion des interruptions du système
• Assurer une liaison série isolée.

It allows the following functions:

• Real-time operation
• Check that the software execution time has been exceeded
• Check the access time in memory or of a device and process a Bus Error exception
• Management of system interruptions
• Ensure an isolated serial link.

The microprocessor 65 has a clock input CLK to which is connected a generator of clock signals 66 at 16 or 25 MHz either directly or via a divider by two 67, so as to apply to it either clock signals of frequency equal to 16 or 25 MHz, that is to say clock signals of frequency equal to 8 or 12.5 MHz.

The microprocessor 65 has control output inputs connected to a control bus 68 in which a buffer circuit 69 is inserted.

The control bus 68 is also connected to a restart logic 70 as well as to an interrupt priority encoder 71, a hard-wired interrupt prioritization logic commonly called "DAISY CHAIN" 72 and a time controller 73 access to memory.

The control bus 68 is further connected to a circuit 74, consisting of four programmable counters, connected to an isolation circuit 75, to a watchdog storage circuit 76 delivering at its output a watchdog signal and connected to an indicator 77 constituted by a light-emitting diode. The circuit 74 is moreover connected to a decoding logic 78 also connected to the control bus 68.

The circuit 74 ensures the generation of a real time clock, of the base clock of the link asynchronous series including circuit 75, and watchdog security time delay.

The decoding logic 78 is connected to an address bus 79 which is itself connected via a buffer circuit 80 to the microprocessor 65.

The microprocessor 65 furthermore comprises a set of data inputs and outputs to which a data bus 81 is connected, in which a buffer circuit 82 is inserted.

The buffer circuits 69, 80 and 82 inserted in the control, address and data buses 68, 79 and 81 are controlled by signals VAL for setting the state of high impedance in emulation.

).The data transfer from microprocessor 65 takes place asynchronously. For each access to memory or to a peripheral, the microprocessor waits for a response from its interlocutor (signal $\overline{\text{DTACK}}$

).

est affirmé est fonction du temps d'accès de la mémoire ou du périphérique correspondant.The time after which the signal $\overline{\text{DTACK}}$

is asserted depends on the access time of the memory or of the corresponding device.

.The central unit 50 verifies that the response to the access to the memory takes place within a given period of time. In the event of an overflow, Bus Error error information is sent to miroprocessor 65, causing an exception $\overline{\text{BERR}}$

.

The central unit card 50 manages the system.

It has seven levels of interruption. The priority coder 71 codes these levels in three pieces of information accessible to the microprocessor 65.

Several interrupts of the same level can be generated.

The central processing unit takes into account both vectored interrupts from 68000 devices and autovectorized interrupts that can come from 6800 devices, for example.

The management of interrupts at the same level is carried out by the "DAISY CHAIN" logic. "DAISY CHAIN" is a priority management mode which requires for each interrupt requesting device, a specific line at input and a specific line at output.

est à l'état bas, voit son interruption prise en compte et met à l'état haut son signal de sortie $\overline{\text{CHAIN OUT}}$

.When interruptions of the same level are requested simultaneously by several devices, the one whose interrupt level corresponds to that requested and whose $\overline{\text{CHAIN IN}}$

is low, sees its interruption taken into account and sets its output signal high $\overline{\text{CHAIN OUT}}$

.

à l'état haut.The device located just after in the chain is then warned that its interruption is not taken into account and also puts its $\overline{\text{CHAIN OUT}}$

high.

This priority mode is therefore obtained by wiring.

The structure of the central unit card 50 is such that the microprocessor 65 is master of the bus permanently in operational mode. However, it is completely disconnected from the bus in emulation mode.

d'arrêt et de rétablissement. Lors de la mise sous tension du coffret 13, le signal d'initialisation est fourni par la carte convertisseur 56.The restart logic 70 ensures that the line is kept low for a given time, for example greater than 100 ms $\overline{\text{RESET}}$

stop and restore. When the box 13 is powered up, the initialization signal is supplied by the converter card 56.

When the subsystem is switched on, the microprocessor runs an initialization program of the various functions provided on the card.

The signals of the control, data and address bus 68, 79 and 81 of the microprocessor 65 exiting on the corresponding connector of the card are amplified.

They provide the interface with the other computers of the computer and the total disconnection of the microprocessor 65 during tests carried out using an emulation tool.

This disconnection of the microprocessor is carried out by bringing the VAL signal output on the connector of this card to the high logic state.

The address, data and control buses can then be controlled by an emulation tool through the connector on the central unit card.

The real-time operation of the central unit is ensured by a counter 74 which generates interruptions at fixed time intervals.

These time intervals are programmable by software. Reading the counter value is possible and does not disturb the operation of the system.

The interruption generated by the real time clock 66 is acknowledged by the microprocessor 65 when it is taken into account.

This interrupt is accessible on the output connector of the central unit card and is transmitted on one of the seven interrupt lines of this same card.

The control of the execution time of a software frame is carried out by the up-down counter or watchdog 76 loaded at an initial value during the initialization of the card and which must be reloaded at this value periodically by software.

If a software error (frame distortion, software emergency) occurs and if the counter 76 is not activated in time, a specific output changes state and an interrupt is generated.

The level of this interrupt is selected in the same way as for the real time clock 66.

The output of the watchdog 76 can be used to give information on its state or to deactivate any organ.

If the watchdog 76 goes out, the only way to reset it is to reset the microprocessor 65 to zero, which causes the hardware elements of the card 50 to be reset.

An asynchronous serial link of type RS 422 in accordance with CITT opinion VII, is made available on the output connector for uses specific to the application which implements it (in particular, it can be a dialog link with another calculator).

The signals necessary for this connection are galvanically isolated from the supply voltage of the card. Only the data transmission lines are used.

The control format as well as the number of useful bits which the character to transmit or receive comprises is programmable.

The transmission speed is also chosen by software. This can be chosen from the following speeds: 2400, 4800, 9600 and 19200 baud.

A vectored interrupt can be transmitted to microprocessor 65 either in transmission or in reception of characters on the serial line, on particular events (transmission and reception error for example).

This serial link is self-testable for the central unit card itself.

• le bus de données 81 de 16 bits
• le bus d'adresses 79 de 23 bits
• le bus 68 de contrôle du microprocesseur 65
• des bits de gestion du " DAISY CHAIN " d'interruptions
• sept entrées d'interruption
• une liaison série isolée et protégée assurant l'interface avec l'extérieur
• les lignes d'alimentation OL, VL, OIL, VIL
• la ligne d'initialisation 70a connectée à la logique de remise en marche 70.

In the present example, the electrical interface of the central unit card 50 with the other cards of the computer is produced by a parallel bus broken down as follows:

• the 16-bit data bus 81
• 23 bit address bus 79
• the microprocessor control bus 68 65
• bits for managing the "DAISY CHAIN" of interrupts
• seven interrupt inputs
• an isolated and protected serial link ensuring the interface with the outside
• OL, VL, OIL, VIL supply lines
• the initialization line 70a connected to the restart logic 70.

The memory card 52 of the computer shown in Fig.3 will now be described with reference to Fig.5.

This card is intended to contain in EPROM and PROM memories, the software of the automatic loading device.

It also aims to ensure the retention of vital information during automatic loading during periods when the latter is switched off (storable memories).

The updating of this data is carried out in a very short period of time.

The memory card 52 also has the function of providing the central unit 50 with the RAM memory necessary for the correct operation of the software.

The circuit of the memory card 52 comprises a read-only memory block 85, a backup memory block 86 and a random access memory block 87.

The read only memory block 85 is connected to the data bus 81 coming from the central unit card 50, by means of a buffer circuit 88.

The data bus 81 is also connected to the memory blocks 86 and 87.

In addition, the memory blocks 85 to 87 are connected to the address bus 79 by means of a buffer 89.

The address bus 79 is also connected to a logic 90 for decoding the memory areas which controls the memory blocks 85 to 87.

The decoding logic 90 is connected on the one hand to a line 91 carrying two selection bits and on the other hand to the control bus 68 by means of a buffer circuit 92. The bus 68 is in turn connected, downstream of its connection with the decoding logic 90 to a logic 93 for managing the exchanges and generating the error signal.

commandé par un signal d'horloge à 16 MHz également appliqué à la logique de gestion 93.The latter is in turn connected to a signal generation counter 94 $\overline{\text{DTACK}}$

controlled by a clock signal at 16 MHz also applied to the management logic 93.

et un signal $\overline{\text{DTACK}}$

.The logic 93 of management of exchanges and generation delivers a signal $\overline{\text{BERR}}$

and a signal $\overline{\text{DTACK}}$

.

The memory card is used to support the automatic loading software.

Two selection bits applied to the logic 90 for decoding the memory areas make it possible to decode the card and locate a memory area of 4 Mbytes defined in this card among the 16 addressable Mbytes of the microprocessor 65.

In operational mode, the memory card 52 is supplied from the card 56 also contained in the BECAL box 13.

In programming mode, the various voltages and signals required are supplied by the ROM programming tool.

The read only memory block 85 or EPROM zone contains the automatic loading software and is only accessible in read mode. This block being permanently mounted, can be programmed by connector.

According to the present embodiment, it has a capacity of 128 Kmots.

The reading is carried out either on bytes or on 16-bit words.

• une zone superviseur dont la capacité est modulable de 4 à 64 Kmots,
• une zone utilisateur de 128 Kmots moins la capacité de la zone superviseur, extensible à 256 Koctets.

This area is also divided into two areas:

• a supervisor zone whose capacity can be adjusted from 4 to 64 km,
• a user area of 128 Kms less the capacity of the supervisor area, expandable to 256 Kbytes.

en cas d'adressage aléatoire.This division generates a bus error signal $\overline{\text{BERR}}$

in case of random addressing.

The random access memory block 87 or RAM area contains the data calculated by the central unit as a function of the progress of the program.

It has a capacity of 16 Kmots expandable to 32 Kmots by programming different from the programmable logic circuits performing the decoding of the different memory circuits of the card.

The maximum access time for reading and writing data in this memory area is 150 ns.

The memory area for backing up information or back-up memory block 86 contains data relating to the operation of the automatic loading over time (eg wear indicator of the parts).

It has a minimum capacity of 512 bytes and can be chosen from two NOVRAM and EE PROM technologies.

The data is accessible in bytes and on odd addresses only.

• En permanence : dans ce cas, la perte du réseau + 5V verrouille cette zone de mémoire de manière à éliminer tous les risques d'altération de cette zone.
• A la disparition du réseau 28V sensible :

Updating data can be done in two different ways.

• Permanently: in this case, the loss of the + 5V network locks this memory area so as to eliminate all risks of alteration of this area.
• When the sensitive 28V network disappears:

In this case, the loss of the 28V network is signaled to the computer. This signal saves the data. The maximum time to perform this backup is 10 ms.

This time corresponds to the minimum voltage holding time + 5V after the sensitive network is cut off. The access time for reading data in this memory area is 250 ns.

Depending on the technology used, the energy required for the backup can be provided either by an internal circuit or by the card 57.

destiné au microprocesseur 65 auquel elle est connectée par une ligne 95. Le signal $\overline{\text{DTACK}}$

est transmis au microprocesseur pour chaque accès afin de leur signaler que l'échange s'effectue correctement.The memory card generates a signal $\overline{\text{DTACK}}$

intended for microprocessor 65 to which it is connected by a line 95. The signal $\overline{\text{DTACK}}$

is transmitted to the microprocessor for each access in order to signal to them that the exchange is taking place correctly.

It is returned after a longer time at the write or read access time of the memory box concerned.

We will now describe with reference to Fig.6, one of the input-output and serial link cards 53, 54 of the computer shown in Fig.3.

The card shown in Fig. 6 must make it possible to exchange information between the central unit card 50 of the computer and the peripherals which it must manage or control.

To this end, the card includes two serial links 100 and 101, a port 102 of ten all or nothing inputs, a port 103 of four all or nothing outputs.

The serial links are of the asynchronous type operating in full duplex mode.

In the present example, the transmission speed is set at 9600 baud.

The inputs of the receive signals as well as the outputs of the transmit signals are galvanically isolated and protected against short circuits.

The inputs 102 are of the type allowing the computer to know the logical state of peripheral devices such as sensors, control members, etc., when the computer addresses and then reads the state of a port to which these inputs are connected.

The outputs allow the computer to send control information to peripherals such as LEDs or others, via output ports which it addresses and in which it writes the status of the corresponding outputs.

The input-output card of FIG. 6 is designed to operate under the control of the central unit card 50 of the computer equipped with a microprocessor 68000. The address recognition of the card is made at the connector by two bits selection devices fixed by backplane and bus 79.

Referring again to FIG. 6, it can be seen that the input-output card further includes a test logic 104 connected to the serial links 100 and 101, to the input port 102 and to the output port 103 respectively. .

The card is connected to the microprocessor bus via a unidirectional interface circuit 105 inserted in the address bus, a logic control decoding circuit 106 inserted in the control bus and a circuit bidirectional interface module 107 inserted in the data bus.

The inputs-outputs of the card are connected to a test input circuit 108 associated with the test logic 104 by means of corresponding isolation circuits 109 to 113.

The card which has just been described includes a self-test system by looping back the transmitter to the receiver. The test is carried out on two control bytes. These operations are controlled by self-test software.

The card includes a test system for inputs by successive forcings in the low state then in the high state of all the inputs. These operations are checked using the aforementioned self-test software.

The card also includes an output test system by re-reading it. These operations are checked using the self-test software.

The selection of the card in Fig. 6 is made by decoding the address bits A20, A21, A22, A23. The addressing, organization and initialization of input ports, output ports, internal registers, serial links, are defined according to the type of material used to produce the map.

The input-output and serial link card generates auto-vectored interrupt requests following receipt of a packet of bits on one or the other of the two serial links or following of a logical status field of one of the all or nothing inputs. The different interrupt requests generated by the card all have the same level. They are therefore grouped together on a single interrupt line. The interrupt request output is of the open collector type and is active at the low logic level.

On the serial link input-output card, serial links have priority over all or nothing inputs.

Of course, the input-output and serial link cards 53 and 54 of the computer of FIG. 3 are identical.

The computer shown in block diagram in Fig.3 finally includes a number of power cards such as cards 56 to 58 and, optionally, a tiara test card. These cards will not be described here.

Returning again to the block diagram of the automatic loading control device shown in FIG. 2, we will now describe the content of the box 8 for controlling the conveyor motors.

This circuit is shown in Fig. 7a and 7b taken together.

The circuit shown in these figures serves as an interface between the motors 7, 11 and 16 of the conveyor, the feeder and the door. The three functions delivery, conveying and operation of the door, being independent and not simultaneous, their control is ensured according to the method of switched acts. This makes it possible to have, for the three motors to be controlled, a single power device and a single speed control system.

By first considering Fig.7a, the system includes a filter module 115 ensuring the distribution of electrical energy from different sub-assemblies. The filtering module is connected between the power network and a power bridge 116 ensuring the supply of each of the electric motors 7, 11, 16. The power bridge 116 is in fact constituted by two half-bridges 116a, 116b to transistors 117a, 117b arranged in pairs and controlling the rotation of the associated motor.

Such a device is described in a patent application entitled "control circuit of a DC motor in both directions of rotation" filed the same day by the Applicant.

Each of the half-bridges 116a, 116b is completed by a circuit 118a, 118b for controlling the corresponding transistors 117a, 117b. To the power bridge 116 is connected a control circuit 119. This circuit brings together the control functions of the box 8 as well as the production of the speed setpoint for each of the motors considered.

• vitesse rapide pour le déplacement entre deux positions ou pleine vitesse,
• vitesse lente pour améliorer la précision de l'arrêt en position, pour limiter l'énergie dissipée dans les moyens de freinage lors de l'arrêt,
• vitesse intermédiaire pour les phases de reconfiguration du système et pour les tests de refouloir et de convoyeur, la vitesse intermédiaire étant égale à la moitié de la vitesse rapide.

Three paces are possible as well as two directions of rotation:

• fast speed for moving between two positions or full speed,
• slow speed to improve the precision of stopping in position, to limit the energy dissipated in the braking means during stopping,
• intermediate speed for the reconfiguration phases of the system and for the backflow and conveyor tests, the intermediate speed being equal to half the fast speed.

The control circuit firstly comprises a circuit 120 for monitoring the power supply to the control circuits 118a, 118b of the power bridge 116 and a circuit 121 for monitoring the temperature of the power half-bridges 116a and 116b.

The circuit 120 for monitoring the supply of the control circuits 118a, 118b is connected to an input of a wired OR 122, a second input of which is connected to a circuit 123 of monitoring the network voltage and of which a third input is connected to a power supply card which will be described with reference to the part of the circuit shown in Fig. 7b. The output of the OU 122 is connected by a bus 124 of connection with the general connector of the power box of the card 151.

The control card further comprises a zero setpoint detection circuit 125. It is connected to a setpoint generation circuit 126; circuit 127 uses the direction of rotation information to give the setpoint the desired sign, thus allowing the motor to be controlled in both directions of rotation. On the card is also arranged an emergency stop monitoring circuit 128 connected by one of its outputs to a circuit 129 for controlling the isolation contactor which is in turn connected to a circuit 130 for controlling the overcurrent of the corresponding electric motors. The emergency stop command arrives via the connector 138 of the door motor. The control card finally carries a circuit 131 for monitoring the temperature of the motors.

The circuit shown in Fig. 7a further includes a serial interface card 132 connected to the control card 119, to the servo card 156 and to the selection module 141. This card is intended to convert all the information into serial information. returned to the computer 13 and in parallel signals the orders from the computer. Galvanic isolation is maintained between the computer and the power box in Fig. 7a. The serial interface card 132 comprises a parallel-serial interface circuit of transmitter 133 with which is associated a multiplexer 134 and a serial-parallel interface circuit of receiver 135 with which is associated a multiplexer 136.

The serial interface card 132 is connected to a bus 137 through which the information transmitted to the computer by the selection module passes - the command card and the control card. There is thus the circuit 131 for monitoring the temperature of the motors. The bus 137 is connected to the input of the multiplexer 134. The serial interface card 132 has an additional input connected to the connector passing through the connector 138 of the door motor.

The multiplexer 136 associated with the parallel serial receiver interface is connected to a bus 139 for connection with the connector 151 of the motor control unit 8 which will be described with reference to FIG. 7b. The interfaces 133 and 135 are connected to a serial link 140 with the computer 13.

The part of the circuit shown in Fig. 7b mainly comprises a selection module 141 which includes a set of contactors 142 connecting on the power bridge 116 that among the electric motors 7, 11, 16 chosen by the computer 13. The axis switching is only authorized for a zero current in the bridge and for a zero setpoint in order to limit the wear of the power contactors.

The contactor control is such that only one can be ordered at a time. This control is provided by a control circuit 143 also contained in the selection module. The contactors 142 are connected to the bridge 116 via a series inductor 144. A current detector 145 is connected between the inductor and the half-bridge 116a.

This current detector 145 is connected to a logic circuit for managing the switching authorizations 146.

The selection module further comprises a circuit 147 for controlling the brakes of the geared motors and for generating information "brake consumes", informing the computer that the brakes are actually supplied.

Finally, the selection module includes a selection control circuit 148.

The set of contactors 142 is connected to the connector 138 of the door motor, and to the connectors 149 and 150 of the discharge and conveyor motors. The current detector 145 sends the current measurement to the control card 156 which, after shaping, returns it to the connector 151 forming the test socket of the cabinet. The circuit 143 for controlling the selection contactors is connected to the bus 139 for connection with the serial interface card 132.

The authorization generation circuit 146 is connected to the bus 124 for connection with the control card 119 and to the bus 139 for connection with the card serial interface 132. It is also connected to the zero reference circuit 125.

The circuit 147 for controlling the brakes of the gearmotors is connected to the bus 139 for connection with the serial interface 132. It is also connected to the bus 137 for connection with the inputs of the serial interface card 132. The circuit for selection control 148 is also connected to bus 137.

The part of the circuit shown in Fig. 7a further includes a power supply board 152 intended to supply the voltages necessary for the operation of the power box 8. This board comprises a circuit 153 for monitoring the value ± VA of the voltage d power supply, a circuit 154 for copying the network voltage, and a set 155 of supply circuits generating the various voltages necessary for the operation of the system.

The circuit 153 is connected to a terminal of the serial interface card 132, the network voltage feedback circuit 154 is connected to the control card 156 which will be described below while the circuit assembly 155 is connected on the one hand to all circuits requiring power and on the other hand to the connector 151 of the box.

The control card 156 is intended to drive the control circuits of the power transistors 117a, 117b and provides speed control. The speed of each of the controlled motors is deduced from its counterelectromotive force. A current loop limits the current and improves stability at low setpoints.

The control card mainly comprises a circuit 157 for reconstituting the counter-electromotive force of the engine concerned. Route 157 is connected to the network voltage feedback circuit 154 of the power supply board. It is also connected to the connector 151 and to a summing circuit 158 connected between the circuit 127 for managing the sign of the rotation speed setpoint of the control card and a corrector circuit 159 carried by the control card. The output of the corrector circuit 159 is connected via an adder 160 to another corrector circuit 161, the output of which is in turn connected to a circuit for generating control signals 162.

The current supply to the selected motor is obtained by limiting the output signal from circuit 159.

The summer 160 is further connected to the current measurement probe 145 of the selection module as well as to an overcurrent management circuit 163, 164, 165.

This consists of an overcurrent detection circuit 165, the output of which is sent to the circuit 130 monitoring the motor overcurrent and participating in the management of the contactor control using the circuit 129. The resetting of this information is carried out by the circuit 163 then is transmitted to the overcurrent monitoring circuit 130 and to the connector 151. The value of the current is monitored by the circuit 164, the output of which is connected to the serial interface card 132 and to the connector 151.

The circuit 162 for generating control signals is connected to the circuit 157 for reconstituting the electromotive force of the motors. The outputs of circuit 162 are also connected to a bus 166 connecting connector 151 with the bridge. power 116 or more precisely with the control circuits 118a and 118b of this bridge. An output is provided to the connector 151.

The functional architecture of the device according to the invention described with reference to Fig.1 to 7B connects the interfaces and the subsystem that constitutes this device and its environment.

It can be seen that, as described above, the subsystem is supplied with electrical energy by on-board equipment or fittings.

Ammunition is the object to identify, handle and transfer if necessary inside or outside the subsystem.

The loading subsystem is also associated with an external supply station which is an interface, operator / subsystem allowing the supply and "emptying" operations of the automatic loading subsystem or CHA, of the exterior of the tank turret.

This supply station is made up of a dialogue desk with management resources and a tool suitable for handling ammunition.

In addition to the subsystem is associated a barrel which is the natural receptacle of the ammunition when it is repressed by the repressor 9 (Fig.1.).

Cranks such as crank 23 are also provided to allow partial (degraded) or fully (faulty) manual operation of the subsystem.

The subsystem is further associated with a tool for command and control of the subsystem. isolated or OCSI which offers the possibility of replacing the access mode by DIGIBUS.

DIGIBUS (see Fig. 3) is the communication network of the armored vehicle system, on which information is exchanged with the subsystem. It is in particular the control channel of the loading device CHA by the fire control subsystem or CDT.

Finally, an external supply station constituted by an operator / subsystem interface 17 (Fig. 1) allows the operations for supplying and emptying the CHA from inside the turret. It includes adequate tools for handling ammunition.

To fulfill its mission, the CHA first of all comprises mechanical means comprising the conveyor 5 or magazine making it possible to store the ammunition and to present an ammunition in the axis of delivery of the latter towards the barrel chamber, a repeller 9 which is a device for transferring the ammunition from the automatic loading device into the barrel chamber and a door 14 which isolates the CHA from the rest of the turret.

These three functional elements are driven by direct current electric motors 7,11,16 (Fig.1).

• du convoyeur 5 permettant de stocker et de présenter une munition dans l'axe de refoulement,
• du refouloir 9 qui assure le transfert de la munition du CHA dans la chambre du canon,
• de la porte 14 qui isole le dispositif de chargement CHA du reste de la tourelle.

The CHA to fulfill its mission is mechanically composed:

• conveyor 5 for storing and present ammunition in the delivery axis,
• the repressor 9 which transfers the CHA ammunition to the barrel chamber,
• of door 14 which isolates the loading device CHA from the rest of the turret.

These three functional elements are, as indicated above, driven by corresponding DC electric motors 7, 11 and 16.

The CHA loading device also includes an internal / external supply device to allow the insertion or removal of ammunition from the conveyor;

All of these elements can be operated manually.

The selection function controls the conveyor element 5 (Fig. 1).

The loading function controls the delivery element 9 (Fig.1).

The protection function controls the door element 14 (Fig. 1).

The supply / emptying function authorizes the use of the internal / external manual supply device or DAMIE and uses the selection function to bring a cell 6 from the conveyor to the supply station.

The management automaton function supervises the execution of movements, realizes the interface between the loading device CHA and the other subsystems, as well as the OSCI dialogue.

Subsequently, the functional relationship between the CHA and the edge fittings is removed so as not to overload the diagrams.

• informations concernant d'autres sous-systèmes,
• témoins d'usure,
• paramètres de fonctionnement,
• composition du convoyeur.

In what follows, an internal resource appears for the functions called DS.S (data of the subsystem) in which each function can use or update information relating to states of degradation.

• information about other subsystems,
• wear indicators,
• operating parameters,
• composition of the conveyor.

The selection function is responsible for carrying out the movements of the conveyor 5 necessary for the selection of the ammunition of a given type which occupies the position closest to the delivery axis, that is to say the delivery device 9 taking into account states of degradation of sensors 12 (FIG. 1), in order to minimize the time for selecting the ammunition.

It guarantees that the conveyor remains in position when the cycle corresponding to the delivery axis stops.

• Présence munition au poste de chargement.
• Code barre munition (type et famille).
• Numéro de l'alvéole recherchée.
• Type de munition recherchée.
• Prise en charge manuelle.
• Position absolue du convoyeur.
• Ordre sélection/reconfiguration.
• Etat du frein.

En sorties, elle élabore les consignes d'alimentation et de freinage du moteur 7 à courant continu qui équipe le convoyeur 5. Elle indique le type de munition sélectionnée au poste de chargement.The input / output information of the selection function is as follows.
As inputs , the function uses the following information:

• Ammunition present at the loading station.
• Ammunition barcode (type and family).
• Number of the cell sought.
• Type of ammunition sought.
• Manual support.
• Absolute position of the conveyor.
• Selection / reconfiguration order.
• Brake condition.

At outputs , it draws up the supply and braking instructions for the direct current motor 7 which equips the conveyor 5. It indicates the type of ammunition selected at the loading station.

The selection of ammunition is carried out as follows:

The function receives a selection order from the management PLC, with the type parameter. It calculates with respect to the current position of the conveyor 5 what is the number of steps and in which direction must it be turned to bring the requested ammunition in the minimum time, in the delivery axis.

The cell selection is carried out as follows:

The function receives an order to select the supply / emptying function with the parameter "N ° of the requested cell". It carries out the evaluation, in relation to the current position of the conveyor, of the number of steps and the direction of rotation which make it possible to bring the cell in question to the supply / emptying station in the shortest possible time.

The reconfiguration of the store is also ensured by the selection function.

At the request of the management automaton, the function performs a complete rotation of the conveyor so that each cell 6 passes under the various ammunition identification sensors. The readings are made on the fly (synchronization on cycle stop). All of the readings are analyzed so as to constitute with maximum certainty the actual content of the store.

The selection algorithms (software) take into account the state of degradation of the sensors in order to minimize the selection time while guaranteeing the supply of ammunition in the delivery axis.

The identification sensors 30, 31 and the ammunition presence sensor 26a (Fig. 2) allow the store to be reconfigured if at least one of them is in working order. The sensors make it possible to guarantee the presence of a munition in a cell 6. The selection guarantees the supply of a munition in the delivery axis while minimizing the cycle in the event of degradation of one of them. Only one of them in working order allows selection.

The selection function can be declared faulty. In this case, the algorithm requests the operator to operate an arm control (manual rotation) by indicating the direction of rotation and the number of steps to take to bring the ammunition to the desired location. The automation checks the operator's acknowledgment within the limit where its position sensor is in working order. He repeats his request if necessary, taking into account the new conditions (current position of the conveyor).

In the limit where reconfiguration is impossible, the automatic loading is placed in a breakdown situation. Only the test orders can be executed.

The redundancy of the sensors can, during a reconfiguration, lead to a conflict which does not allow the contents of a cell to be identified. Therefore, the reconfigurtion can lead to a partially exploitable store due to the existence and the certain knowledge of the contents of some cells. The other munitions are classified as unknown and are handled by the supply / emptying function. Cannot select such ammunition at the loading station, namely at the delivery position.

Any unidentified ammunition cannot be loaded.

• Vitesse maximum (vitesse non régulée) : elle est appliquée tant que le point de décélération n'est pas atteint ou dépassé.
• Vitesse minimum (vitesse régulée) : elle est appliquée entre le point de décélération et le point d'arrêt. Cette phase permet de ralentir la rotation du convoyeur. La distance de décélération est évaluée de manière à permettre à la fonction sélection d'atteindre dans les conditions extrêmes du domaine global la vitesse de rotation Vmin avant le point d'arrêt.

The speed setpoint is an all or nothing positioning at three speed levels.

• Maximum speed (unregulated speed): it is applied as long as the deceleration point is not reached or exceeded.
• Minimum speed (regulated speed): it is applied between the deceleration point and the stopping point. This phase makes it possible to slow down the rotation of the conveyor. The deceleration distance is evaluated so as to allow the selection function to reach, under the extreme conditions of the global domain, the speed of rotation Vmin before the breakpoint.

Zero speed: this is the stop speed.

It is applied as soon as the breakpoint is reached or exceeded. The stopping distance is evaluated in order to guarantee the stopping precision discussed above.

The speed control of the conveyor ensures that the evolution of the position during application of the brake is sufficiently low to ensure positioning accuracy.

Since the speed of rotation Vmax is not controlled, its value is linked to the voltage of the on-board network. The identification synchronization algorithm of the identification sensors 12 takes these constraints into account, including in the global field.

The movements of the conveyor 5 are interrupted if the environment of the selection function is not not such that the security of the subsystem is guaranteed.

The selection function has the means allowing it to diagnose as much as possible the elements likely to be at the origin of its malfunction. It is obviously one of its functional elements. In maintenance, it offers the possibility of knowing the electrical state of these inputs / outputs.

The role of the protection function is to ensure the separation between the pocket in which the CHA is placed and the rest of the tank turret where operators are installed in particular.

It guarantees that the door 14 (Fig. 1) is kept in the closed position or, in the case of a discharge, in the open position.

• En entrées :
  • Etat porte ouverte.
  • Etat porte fermée.
  • Prise en charge manuelle.
  • Ordre ouverture/fermeture.
  • Etat du frein.
• En sorties :
  Elle élabore les consignes d'alimentation et de freinage du moteur à courant continu qui équipe la porte.

The input / output information for this function is as follows.

• As starters:
  • Door open condition.
  • State closed door.
  • Manual support.
  • Open / close order.
  • Brake condition.
• Outings:
  It draws up the supply and braking instructions for the DC motor fitted to the door.

The algorithm consists in simply applying the maximum setpoint until the state of the corresponding sensor (open or closed) conforms to the requested order, or for a period of time fixed by the normal operation of this function (time delay). It is an all or nothing order.

If the function is unable to execute, the algorithm calls for an operator-controlled maneuver to open or close. The automation checks the operator's acknowledgment and degrades its sensors accordingly.

The movements of door 14 are interrupted if the environment of the protection function is not such that the security of the subsystem is guaranteed.

The protection function has the means allowing it to diagnose as much as possible the elements likely to be at the origin of its malfunction. It is obviously one of its functional elements. In maintenance, it offers the possibility of knowing the electrical state of these inputs / outputs.

The loading function of the device ensures the transfer of ammunition located in the delivery axis from the magazine to the barrel chamber.

It maintains the ammunition in the chamber until the breech corner thereof rises. It guarantees that the repressor 9 is kept in the retracted position (Fig. 1).

• En entrées :
  • Information culasse.
  • Information arme au site.
  • Information prêt au chargement.
  • Etat de vacuité chambre.
  • Ordre de refoulement.
  • Etat refouloir rentré.
  • Etat porte ouverte.
  • Etat de consommation courant minimum.
  • Prise en charge manuelle.
  • Etat d'arrêt au cycle (fenêtre de refoulement).
  • Etat du frein.
• En sorties :
  • Elle élabore les consignes d'alimentation et de freinage du moteur à courant continu 11 qui équipe le refouloir 9.
  • Elle indique le type de munition refoulée dans le canon et la composition résultante du convoyeur.

The input / output information of the loading function is as follows:

• As starters:
  • Cylinder head information.
  • Armed information at the site.
  • Information ready to load.
  • Room vacuity.
  • Discharge order.
  • State back up.
  • Door open condition.
  • State of minimum current consumption.
  • Manual support.
  • Cycle stop state (discharge window).
  • Brake condition.
• Outings:
  • It draws up the supply and braking instructions for the direct current motor 11 which equips the backflow device 9.
  • It indicates the type of ammunition discharged into the barrel and the resulting composition of the conveyor.

The repression cycle is broken down into several phases which generally follow the stage of selecting a munition.

• Demande à la fonction protection l'ouverture de la porte 14.
• Exécute la sortie du refouloir (transfert de la munition).
• Exécute l'attente et la corrélation des informations état culasse et état de consommation. Ils indiquent si le refoulement a été exécuté.
• Exécute la rentrée du refouloir, on libère ainsi le verrouillage en site.
• Demande à la fonction protection la fermeture de la porte.

As soon as the weapon is ready for loading (free to push back), then at the loading site, the function analyzes the emptiness of the loading channel (weapon / CHA interface) and:

• Ask the protection function to open door 14.
• Execute the delivery of the repressor (transfer of the ammunition).
• Execute the waiting and correlation of the cylinder head state and consumption state information. They indicate whether the refoulement has been carried out.
• Execute the re-entry of the repressor, thus releasing the site locking.
• Ask the protection function to close the door.

If the input and output operations cannot be carried out by the automation, either because the function has failed, or to guarantee safety of the subsystem, the algorithm must ensure manual transfer via the operator. During the acknowledgments, the sensors are checked.

If the channel is not free (empty) or if the associated sensor is degraded, the algorithm performs via the operator (in manual) the evacuation thereof.

When the ammunition is fully inserted into the barrel, it releases the breech wedge.

The WEAPON subsystem indicates this fact to the CHA by the "breech not open" state. If this information does not appear within one second while the maximum current information is present and the delivery time has been reached, the function interrupts its cycle automatically, blocks the position of the delivery device in the state current and proceeds to complete its cycle manually.

The output movement of the repressor 9 is interrupted if the state information of SITE and CYLINDER no longer conforms.

The feeder movements are interrupted if the environment of the loading function is not such that the safety of the subsystem is guaranteed.

The loading function has the means allowing it to diagnose as much as possible the elements likely to be at the origin of its malfunction. It is obviously one of its functional elements. In maintenance, it offers the possibility of knowing the electrical state of these inputs / outputs.

The supply / emptying function makes it possible to supply the store with ammunition when some of the cells 6 of the store are empty or selectively empty the store.

• Coffret d'approvisionnement externe (B.P)
• Information d'approvisionnement interne (DIGIBUS).
• Etat outillage interne/externe.
• Code barre (type/famille).
• Ordre d'approvisionnement/vidage.

En sorties :

• N° alvéole recherchée.
• Coffret d'approvisionnement externe (voyant).
• Information d'approvisionnement interne (DIGIBUS).
• Composition convoyeur ou état de charge du magasin en munition.

The input / output information for this function is as follows: In inputs:

• External supply cabinet (BP)
• Internal supply information (DIGIBUS).
• Internal / external tooling condition.
• Barcode (type / family).
• Supply / emptying order.

Outings:

• Cell number sought.
• External supply cabinet (indicator).
• Internal supply information (DIGIBUS).
• Conveyor composition or state of charge of the store in ammunition.

• Recherche de l'alvéole vide la plus proche du poste d'approvisionnement.
• Demande à la fonction sélection de l'amenée de l'alvéole considérée au poste d'approsionnement.
• Indiquer à l'opérateur l'autorisation d'approvisionner.
• L'opérateur déverrouille et extrait son outillage d'approvisionnement.
• Place une munition dans l'alvéole vide.
• Rentre et verrouille son outillage d'approvisionnement.
• Valide la fin de sa manoeuvre.
• La fonction procède à l'identifiction automatique du code barre de la munition, et à la mise à jour de la composition du convoyeur.

The supply sequence is divided into several stages as follows:

• Search for the empty cell closest to the supply station.
• Ask the selection function for the supply of the cell in question at the supply station.
• Indicate to the operator the authorization to supply.
• The operator unlocks and extracts its supply tools.
• Place ammunition in the empty cell.
• Takes in and locks his supply tools.
• Validates the end of its maneuver.
• The function automatically identifies the bar code of the ammunition, and updates the composition of the conveyor.

This procedure continues until the operator indicates that the supply operation is complete or that the conveyor is full.

The specific cases are described below.

• L'opérateur indique le type de munition à vider.
• Recherche de l'alvéole contenant le type considéré la plus proche du poste d'approvisionnement.
• Demande à la fonction sélection l'amenée de l'alvéole considérée au poste d'approvisionnement.
• Indiquer à l'opérateur l'autorisation de vider.
• L'opérateur déverrouille et extrait son outillage d'approvisionnement.
• Retire la munition présente dans l'alvéole.
• Rentre et verrouille son outillage provisionnement.
• Valide la fin de sa manoeuvre.
• La fonction procède à une vérification de l'alvéole (normalement vide) et met à jour la composition convoyeur.

The emptying sequence is also divided into several stages:

• The operator indicates the type of ammunition to be emptied.
• Search for the cell containing the type considered closest to the supply station.
• Ask the selection function to supply the cell in question to the supply station.
• Indicate to the operator the authorization to empty.
• The operator unlocks and extracts its supply tools.
• Remove the ammunition present in the cell.
• Takes in and locks its provisioning tools.
• Validates the end of its maneuver.
• The function checks the cell (normally empty) and updates the conveyor composition.

This procedure is repeated as long as the operator does not indicate the end of the emptying operation or the conveyor is not empty.

The specific cases are described below.

the two identification sensors 12 allow self-checking between them. In the event of degradation of one of them, automatic identification remains ensured by that in working order.

If the bar code present on a munition cannot be used (code deleted or incorrect), the function asks the operator to specify the type of ammunition supplied.

When an empty cell 6 is damaged, the operator during a supply can condemn it so that it is no longer presented to him by the function (it is unlocked at the end of the supply sequence).

The supply function (emptying ensures a certain number of specific operations).

It allows automatic identification of ammunition.

The function evaluates, taking into account the state of degradation of its sensors, the path it must take to identify an ammunition, to ensure its presence or absence. It uses the selection function to bring the treated cell to the various supply and loading stations and under the identifiers.

It also allows manual identification.

Ammunition identified manually is managed in the same way as ammunition identified automatically which allows to have in a conveyor ammunition with or without barcode.

However, since these munitions cannot allow reconfiguration, their codes are protected.

If the function detects at the start of the emptying sequence the existence in the conveyor of a ammunition whose code it ignores, it immediately rejects it (forced emptying) before executing operator orders.

The supply / emptying function has the means allowing it to diagnose as much as possible the elements likely to be at the origin of its malfunction. It is obviously one of its functional elements. In maintenance, it offers the possibility of knowing the electrical state of these inputs / outputs;

• Gestion de l'interface de dialogue DIGIBUS.
  Elle assure le transfert logique et physique d'information du CHA vers les autres sous-systèmes en particulier vers la conduite de tir. Elle assure de la même façon le transfert et le traitement de toutes les informations des autres sous-systèmes qui conditionnent le fonctionnement du CHA.
• Gestion de l'interface de dialogue OCSI.
  Pris isolément, le CHA peut être mis en oeuvre en l'absence de DIGIBUS. Cet interface assure la gestion d'un terminal alphanumérique à écran tactile. Il effectue en particulier la gestion de menu, leur présentation, ainsi que le formatage d'informations diverses qui intéressent l'opérateur.
• Gestion des alertes et acquittement.
  Elle consiste à traiter les alertes suite aux défauts que les autres fonctions ont décelés (dégradations) et à vérifier les acquittements de l'opérateurs suite aux interventions manuelles sollicitées par les autres fonctions.
• Gestion des ordres et sécurité.
  Elle assure la cohérence des ordres et leur exécution en fonction de la situation courante du CHA. Elle est chargée de garantir la sécurité du personnel (traitement des arrêts d'urgence).
  Les ordres, après filtrage, sont transmis aux autres fontions. Elle assure le passage d'un mode à un autre.
  
  
  Elle supervise la mise en route et l'arrêt du sous-système.
• Gestion des informations protégées.
  La gestion de ces informations consiste à préserver leur validité dans toute circonstance en particulier au démarrage et à l'arrêt du sous-système.
  Elles sont de deux types :
• Les paramètres de fonctionnement.
  L'origine absolue du convoyeur.
  La composition du convoyeur.
  Ces informations permettent d'être opérationnel rapidement. Elles sont donc vitales.
• Les témoins d'usure.
  Il s'agit de compteurs mis à la disposition du technicien de maintenance, car ils sont caractéristiques de la fatigue du du matériel.
  Ces informations ne sont pas utiles au fonctionnement donc ne jouent pas sur la disponibilité du CHA.
  Les informations d'entrée/sortie de la fonction automate de gestion sont les suivantes :
  • Flux d'informations n°1
    • En entrée :
      Paramètres associés aux ordres :
      • Type munition.
      • Type de test.
      • Etat sous-système ARME.
      • Etat sous-système ASSERVISSEMENT.
      • Etat sous-système MOYENS D'INSTRUCTION ET DE MAINTENANCE.
      
      Acquittements alertes :
      • Convoyeur positionné.
      • Refouloir positionné.
      • Porte positionnée.
      • Outillage verrouillé.
      • Chambre canon vide.
      • Fin de prise en charge manuelle.
      • Arrêt d'urgence retiré.
      
      Informations techniques.
      • Témoins d'usure (valeurs initiales).
    • En sorties :
    • 
      • Défauts.
      • Etats de dégradation.
      • Alertes opérateur.
      • Informations techniques.
      • Demande de site.
  • Flux d'information n°2
    • En entrée :
      Paramètres associés aux ordres :
      • Type munition.
      • Type de test.
      • Etat sous-système ARME
      • Etat sous-système ASSERVISSEMENT
      • Etat sous-système MOYENS D'INSTRUCTION ET DE MAINTENANCE.
      
      Acquittements alertes :
      • Convoyeur positionné.
      • Refouloir positionné.
      • Porte positionnée.
      • Outillage verrouillé.
      • Chambre canon vide.
      • Fin de prise en charge manuelle.
      • Arrêt d'urgence retiré.
      
      Informations techniques.
      • Témoins d'usure (valeurs initiales). Forçage :
      • d'état des éléments fonctionnels,
      • de valeur des E/S.
    • En sorties :
    • 
      • Défauts.
      • Etats de dégradation.
      • Alertes opérateur.
      • Informations techniques.
      • Demande de site.
      • Valeurs logiques des E/S.
  • Flux d'information n° 3
    • En entrée :
      Il s'agit des ordres :
      • veille,
      • sélection,
      • chargement,
      • test,
      • approvisionnement,
      • vidage.
      
      En ordre de test, il y a des tests spécifiques à la maintenance par le canal OCSI qui ne sont pas utiles par le canal DIGIBUS. Il s'agit de mouvements élémentaires.
  • Flux d'information n° 4
    • En entrée :
      • . Alertes opérationnelles :
      • . Demande d'intervention manuelle
        • positionnement convoyeur.
        • positionnement porte.
        • positionnement refouloir.
        • verrouillage de l'outillage.
        • positionnement de l'alvéole 1 au poste d'approvisionnement.
      • . Arme non vide
      • . Arrêt d'urgence enclenché
      • . Mode autonome en cours
    • En sortie :
      • . Acquittement des alertes :
        • convoyeur positionné.
        • porte positionnée.
        • refouloir positionné.
        • outillage verrouillé.
        • fin de prise en charge manuelle.
        • arme vide
        • arrêt d'urgence retiré.
  • Flux d'information n° 5
    • En entrée :
      • Compte rendu d'exécution.
        • . séquence en cours,
        • . anomalie de séquence.
      • Annulation de séquence.
      • Arrêt d'urgence.
      • Mode en cours.
      • Autorisation de mouvement.
    • En sortie :
      • Etat de dégradation des fonctions.
      • Etats mécaniques courants :
        • . convoyeur,
        • . porte,
        • . refouloir,
        • . outillage,
        • . manivelle.
  • Flux d'information n° 6
    • En entrée :
      • Données présentes en mémoire permanente
    • En sortie :
      • Données à sauvegarder en mémoire permanente.
  • Flux d'information n° 7
    Ce flux d'informations transite vers la carte coupleur DIGIBUS 51 et la liaison 60 ( Fig.3).
    • En entrée :
      • . Messages émis par la conduite de tir.
        • commande de transfert
        • commande de voie
        • commande de test
        • message de service
        • n° de cycle court
        • message de commande du CHA
      • . Messages d'acquisition du sous-système armé.
      • . Messages de mode du sous-système asservissement
      • . Messages techniques du sous-système moyens d'instruction et de maintenance.
    • En sortie :
      • Message de mode sous-système CHA.
      • Message d'état sous-système CHA.
      • Message technique sous-système CHA.
      • Message de test (commande de test).
  • Flux d'information n° 8
    Ce flux d'informations transite à travers la carte unité centrale 56 par les circuits 74 et 75 de la Fig.4.
    • En entrée :
      • Code touche (écran tactile).
      • Code arme.
      • Présence du coffret OCSI.
    • En sortie :
      • Message de mode sous-système CHA.
      • Message d'état sous-système CHA.
      • Message technique sous-système CHA.
      • Menu opérateur et visualisation.
      • Voyant chien de garde.
        Le pilotage du CHA peut s'effectuer par les canaux DIGIBUS et OCSI séparément, sachant que la présence à la mise sous tension de ce dernier implique l'impossibilité d'utiliser le premier.
      • Canal DIGIBUS.
        Le CHA est un abonné sur DIGIBUS.
        La réception des messages est cadencée par le gérant du BUS. Du fait de la répétition du même message à intervalles réguliers, le sous-système ne réagit qu'aux variations du message entre deux périodes.
        Chaque nouveau message est décodé et ses informations sont traduites en données exploitables par toutes les fonctions.
        En émission, le message est formaté puis mis à jour dans la zone d'échange du coupleur DIGIBUS. Le prélèvement est cadencé lui aussi par le gérant du bus.
      • Canal OCSI.
        L'opérateur dispose de menus déroulants sur l'écran tactile. Il peut émettre des ordres, visualiser, modifier des données sous-systèmes, saisir/exécuter un programme, contrôler l'enchaînement des menus, lire des messages d'états qui apparaissent au fil de l'eau. La gestion de l'écran est faite compte tenu des chaînes de caractères saisies et du fonctionnement courant du CHA. Les informations liées à l'ARME transitent elles aussi par le même canal.Il s'agit de l'état de la culasse et du site de chargement.
      • Supervision du sous-système.
  
  Cette supervision assure les processus suivants :
  • Processus de gestion des ordres.
    • Il gère la réception des ordres.
    • Il conditionne leur exécution.
    • Il contrôle la cohérence de l'état mécanique.
    • Il transmet l'ordre aux fonctions qui ont la charge de l'exploiter :
      • . fonction SELECTION,
      • . fonction CHARGEMENT,
      • . fonction PROTECTION,
      • . fonction APPROVISIONNEMENT/VIDAGE
    • Il gère les chiens de garde du sous-système dont le rôle est de garantir sa sécurité en cas de fonctionnement aberrant.
    • Il annule si nécessaire l'ordre en cours.
  • Processus de gestion des acquittements.
    Il construit les messages qui sont émis vers les processus de dialogue DIGIBUS et OCSI et effectue la gestion des acquittements. Dans ce cas, la fonction émettrice d'une demande d'intervention est mise en attente de cet acquittement. Cette attente peut être interrompue ou non par un changement d'ordre. Dès réception de l'acquittement, la fonction reprend son traitement suspendu.
  • Processus de gestion de la mémoire permanente (carte-mémoire 52 - Fig.3).
    A la mise sous tension, ce processus est chargé de récupérer les informations ou paramètres de fonctionnement utiles ou nécessaires au CHA, en particulier :
    • L'origine codeur, car elle conditionne le positionnement du convoyeur à l'arrêt au cycle.
    • La composition du convoyeur car sa cohérence permet la sélection d'une munition dans le plus bref délai.
    • Les témoins (indicateurs) d'usure.
      Lors de la disparition du réseau de bord ou de la mise à l'état panne du CHA, ces données sont placées dans la mémoire permanente du sous-système.
      On va maintenant exposer quelques remarques relaties aux performances dans les traitements et situations de fonctionnement.
    • Traitement DIGIBUS : Le temps de traitement des informations DIGIBUS est dans tous les cas strictement inférieur à 100 ms.
      Le processus qui le gère garantit la prise en compte de tous les messages qui intéressent le CHA, en particulier lorsque ceux-ci arrivent dans la même période de la trame DIGIBUS, sachant que cette situation ne peut arriver au pire que toutes les 100 ms.
      Lorsque DIGIBUS envoie un ordre, le CHA indique à la CDT que celui-ci est acquis dans un délai inférieur ou égal à 100 ms. Toutefois, il existe pour le CHA un temps de mise en oeuvre de cet ordre qui dépend de son environnement.
    • Si le sous-système est en attente et dans un état mécanique cohérent, le temps de mise à exécution est inférieur ou égal à 200 ms.
    • Si le sous-système est en cours d'éxécution d'ordre, le temps de réaction est lié au contexte d'annulation, il est toutefois inférieur ou égal à 3s.
    • Si le sous-système est dans un état mécanique incohérent, le délai est lié à l'opérateur char-gé de remettre le CHA dans un état conforme avant toute exécution d'ordre.
• Traitement OCSI.
  Les informations ARME qui transitent par le coffret OCSI sont traitées en un temps inférieur ou égal à 20 ms. Le temps de transfert du coffret OCSI vers le calculateur 13 est inférieur ou égal à 10 ms.
• Arrêt d'urgence.
  Le temps réponse du sous-système suite à une action sur coup de poing d'arrêt d'urgence est inférieur ou égal à 150 ms. Ce temps garantit l'arrêt de mouvement mécanique.
  Le compte rendu du sous-système à l'attention de l'opérateur est inférieur ou égal à 1 s.
• Temps d'initialisation.
  Dans la mesure où l'état mécanique du CHA à la mise sous tension ne requiert pas l'aide de l'opérateur (action manuelle), l'initialisation totale comprenant le test, jusqu'à la phase d'attente d'ordre, est inférieur ou égal à 5 s.
• Temps d'arrêt.
  Il est fonction des technologies employées. Celle retenue pour le CHA garantit une sauvegarde en 10 ms.
  On va maintenant considérer la disponibilité et le fonctionnement dégradé de la fonction automate de gestion.
• Etat mécanique.
  L'exécution d'un ordre est retardée si l'état mécanique du sous-système n'est pas connu.
  La fonction procède avant l'exécution de l'ordre à une initialisation mécanique préalable.
• Prise en charge manuelle.
  La prise en charge manuelle par l'opérateur est prépondérante sur l'automatisme. Si une manivelle est enclenchée au cours d'une opération, celle-ci est suspendue. L'arrêt de l'opération est immédiat si c'est le convoyeur qui est en mouvement. Dans le cas d'un mouvement du refouloir ou de la porte, l'arrêt de l'opération a lieu à la fin du mouvement en cours.
  Dès la disparition de la prise en charge manuelle, l'opération suspendue reprend son cours après une phase d'initialisation telle que décrite ci-dessus et si aucun nouvel ordre n'a été commandé par la conduite de tir.
• Arrêt d'urgence.
  On distingue l'arrêt d'urgence issu d'une anomalie logiciel, de celui issu du coup de poing d'arrêt d'urgence.
  • l'arrêt d'urgence logiciel conduit quel que soit l'état du CHA, à une situation bloquante qui interdit tous échanges avec l'extérieur; seule une remise sous tension peut l'en sortir,
  • l'arrêt d'urgence matériel procède de la même manière que pour la prise en charge manuelle.
  • Paramètre de fonctionnement.
    La perte de l'origine codeur conduit à une indisponibilité totale du CHA dans le cadre de sa mission opérationnelle. Toutefois, cette situation n'interdit pas les tests internes n'impliquent pas de mouvement.
    La perte de la composition convoyeur conduit la fonction sélection à effectuer une reconfiguration qui augmente le temps d'exécution de l'ordre de sélection. Si on aboutit à une reconfiguration impossible du fait de la dégradation de la mémoire permanente, le sous-système indique qu'il est inopérant ce qui signifie qu'il ne peut remplir sa mission opérationnelle. Toutefois, cette situation n'interdit aucun test interne.
    Les opérations particulières de la fonction sont les suivantes :
  • Les commandes à bras.
    Si l'opérateur enclenche les commandes à bras sans y avoir été invité par le CHA, la fonction automate provoque en conséquence :
  • une annulation de séquence,
  • un blocage des ordres,
  • un blocage des mouvements mécaniques, jusqu'à ce que l'opérateur indique explicitement la fin de sa manoeuvre manuelle.
  • Coupure et mise sous tension.
    La fonction procède à la mise sous tension à un auto-test interne statique (sans mouvement mécanique) permettant d'informer l'opérateur de son état de disponibilité. Elle procède à l'initialisation du dialogue sous-système en particulier au transfert d'informations de sa mémoire permanente en direction de la conduite de tir. Elle effectue l'initialisation mécanique des fonctions et se place dans un état d'attente d'ordre.
    A la disparition du réseau de bord, la fonction met en oeuvre une opération de sauvegarde des informations vitales dans la mémoire permanente et évalue la signature qui garantit la cohérence de ces informtions lors de la remise sous tension.
  • Veille de batterie.
    La présence de cette information issue du sous-système DE MOYENS D'INSTRUCTION ET DE MAINTENANCE entraîne la fonction dans un processus de blocage des mouvements mécaniques. Aucun ordre n'est exécutable, aucun voyant n'est allumé jusqu'à la disparition de cette information.
  • Connexion/déconnexion DIGIBUS.
    Le dialogue n'est possible que lorsque le sous-système est connecté.
  • Silence bus.
    Lorsque le sous-système est connecté comme indiqué ci-dessus, la fonction surveille l'évolution périodique du N° de cycle court (NCC) qui transite sur la trame DIGIBUS toutes les 10 ms. Une absence de message ou une non évolution du numéro de cycle court pendant onze cycles à 100 Hz, caractérise un " silence bus " et dans ce cas, la foncion adopte un mode de fonctionnement autonome. Par opposition à un mode de fonction interactif via DIGIBUS ou OCSI, le mode autonome implique le pilotage du CHA à travers un coffret d'approvisionnement externe aux seules fins de mise en oeuvre d'un approvisionnement/vidage externe réalisé par la fonction du même nom. Dans ce mode, le Dialogue est réduit, il n'y a pas de fonctionnement dégradé possible. Le sous-système sort de cet état dès que la conduite de tir connecte à nouveau le CHA au DIGIBUS et si aucun ordre d'approvisionnement ou de vidage est en cours.
  • Erreur bus.
    La fonction est chargée de surveiller les erreurs de transmission dans les échanges DIGIBUS. Elle renseigne l'opérateur sur le nombre d'erreurs qu'elle détecte à chaque minute.
    On va décrire l'architecture fonctionnelle intermédiaire dont est issue l'architecture physique du dispositif suivant l'invention déjà décrit en référence aux Fig.1 à 7B.
    On distingue les éléments :
    • CONVOYEUR : mécanisme 5 de transport de munition à moteur électrique 7 (magasin).
    • REFOULOIR : mécanisme 9 de transfert de munitions à moteur électrique 11.
    • PORTE : mécanisme de protection 14 à moteur électrique 16.
    • BECAL : coffret calculteur 13 chargé de piloter les mécanismes en utilisant capteurs et actionneurs, sous la tutelle des canaux OCSI et DIGIBUS.
    • BECMO : coffret de commande 8 chargé de piloter les moteurs qui équipent la porte, le refouloir et le covoyeur.
    • BEAPE : interface 17 de dialogue opérateur pour l'approvisionnement/vidage externe.
    • DAMIE : dispositif 21 (Fig.1) d'extraction et d'insertion d'une munition dans une alvéole convoyeur.
    • BECHV : capteur 36 (Fig.2) destiné à évaluer l'état de vacuité du chemin de chargement.
    • BEIMD, BEIMG : capteurs redondants 30,31 (Fig.2) chargés de lire les codes barres de munition.
    • FCPMC : capteur 12 (Fig.2) chargé de garantir la présence de munition au poste de chargement, lors d'un refoulement.
• Capteurs divers (non représentés) :
  • BECOD : codeur absolu 19 (Fig.2) de position convoyeur.
  • FCPFE, FCPOU : capteur 34,35 (Fig.2) d'état porte ouverte/fermée.
  • FCRRE : capteur 27 (Fig.2) d'état refouloir rentré.
  • FCORE : capteur 28 (Fig.2) d'état outillage verrouillé. On constate que :
  • DIGIBUS est un canal sur lequel sont raccordés les sous-systèmes AMA, ASS, TBP, CDT.
  • Les SERVITUDES occupent deux réseaux, l'un pour BECAL, l'autre pour BECMO afin d'isoler les éléments de puissance des éléments de commande.
  
  La répartition organique des fonctions est la suivante:
  • Fonction sélection.
    Elle met en oeuvre le calculateur BECAL 13 qui reçoit l'ordre de sélection par le canal OCSI ou DIGIBUS. Celui-ci commande l'interface de puissance BECMO 8 chargé d'actionner la motorisation du CONVOYEUR 5. La séquence ou algorithme de positionnement du CONVOYEUR est exécutée par le calculateur 13 au moyen des capteurs de position BECOD 19 et d'identifiction BEIMD, BEIMG, FCPMC 30, 31, 12.
    La commande manuelle de cette fonction est réalisée par l'opérateur via un moteur auxiliaire qui équipe le convoyeur. Lors des séquences automatiques, les interventions manuelles de l'opérateur sont demandées par le calculateur 13.
  • Fonction chargement.
    Elle met en oeuvre le calculateur BECAL 13 qui reçoit l'ordre de chargement par le canal OCSI ou DIGIBUS. Celui-ci commande l'interface de puissance BECMO 8 chargé d'actionner la motorisation 11 du REFOULOIR 9.
    La séquence ou algorithme de rentrée ou de sortie du refouloir 9 est exécutée par le calculateur au moyen de capteurs FCRRE, BECHV 27, 36 et d'informations BECMO et sous-système AMA et ASS. Les mouvements manuels du REFOULOIR sont conditionnés et mis en oeuvre de la même façon que pour le CONVOYEUR.
  • Fonction protection.
    Elle met en oeuvre le calculateur BECAL 13 qui, si nécesaire, commande l'interface de puissance BECMO 8 chargé d'actionner la motorisation de la porte 14.
    Elle peut être sollicitée par la fonction chargement précédemment décrite.
    La séquence ou algorithme d'ouverture ou de fermeture de la porte est exécutée par le calculateur au moyen des capteurs FCPFE, FCPOU 34,35.
    Le capteur "chambre vide " BECHV 36 est monté physiquement sur la porte 14 car elle est située dans l'axe de refoulement.
  • Fonction approvisionnement/vidage.
    Elle utilise la fonction sélection lorsqu'il est nécessaire d'effectuer une rotation du CONVOYEUR. Elle met en oeuvre par ailleurs le calculateur BECAL qui reçoit l'ordre d'approvisionnement/vidage par les canaux DIGIBUS et OCSI ou (en mode autonome) par le coffret BEAPE 26 (Fig.2).
    Ce calculateur déroule l'algorithme correspondant, sous le contrôle de l'opérateur qui dispose comme interface de dialogue.
  • en opération externe : du coffret BEAPE 26
  • en opération interne : des consoles opérateur OCSI DIGIBUS
    Le dispositif d'approvisionnement/vidage manuel DAMIE est réversible pour permettre un usage en interne comme en externe. Il est équipé du capteur FCORE 28 dont l'état est exploité par le calculateur. L'identification des munitions ou l'état des alvéoles sont donnés par les capteur BEIMD, BEIMG, FCPMC 30, 31, 12. Leurs informations sont exploitées en interne par le calculateur chargé de les gérer et de les protéger.
  • Fonction automate de gestion.
    Elle est remplie par le calculateur 13. Il constitue l'élément de commande centrale de l'automatisme chargement automatique, il est en particulier chargé de gérer la communication avec les autres sous-systèmes, d'assurer la sécurité du CHA, de préserver ces paramètres de fonctionnement, d'accepter ou non l'exécution d'ordre venant de l'opérateur.
    Le logiciel implanté dans le calculateur BECAL a pour mission au travers de son environnement matériel :
    • 1) de réaliser l'interface de dialogue DIGIBUS, de réaliser l'interface de dialogue OCSI.
    • 2) de réaliser le positionnement des mecanismes : - REFOULOIR, CONVOYEUR, PORTE.
    • 3) d'assurer la sécurité du sous-système,
    • 4) d'effectuer l'auto-diagnostic du sous-système,
    • 5) d'éxécuter les séquences relatives aux ordres, dans une situation de fonction nominale ou dégradée.
      En particulier :
      • la veille,
      • la sélection,
      • le chargement,
      • l'approvisionnement,
      • le vidage,
      • les tests déclenchés automatiques ou manuels.

The PLC function performs the following main processes:

• Management of the DIGIBUS dialog interface.
  It ensures the logical and physical transfer of information from the CHA to the other subsystems, in particular to the fire control. It also ensures the transfer and processing of all the information from the other subsystems which condition the functioning of the CHA.
• Management of the OCSI dialog interface.
  Taken in isolation, CHA can be implemented in the absence of DIGIBUS. This interface manages an alphanumeric terminal with a touch screen. In particular, it performs menu management, their presentation and the formatting of various information of interest to the operator.
• Management of alerts and acknowledgment.
  It consists of processing alerts following faults that the other functions have detected (degradations) and verifying the operator's acknowledgments following manual interventions requested by the other functions.
• Order management and security.
  It ensures the consistency of orders and their execution according to the current situation of the CHA. It is responsible for ensuring the safety of personnel (handling of emergency stops).
  The orders, after filtering, are transmitted to the other functions. It ensures the passage from one mode to another.
  
  
  It supervises the starting and stopping of the subsystem.
• Management of protected information.
  The management of this information consists in preserving its validity in all circumstances, in particular when starting and stopping the subsystem.
  There are two types:
• The operating parameters.
  The absolute origin of the conveyor.
  The composition of the conveyor.
  This information allows you to be operational quickly. They are therefore vital.
• The wear indicators.
  These are meters made available to the maintenance technician, as they are characteristic of the fatigue of the equipment.
  This information is not useful for operation and therefore does not affect the availability of the CHA.
  The input / output information of the management PLC function is as follows:
  • Information flow n ° 1
    • Entrance :
      Parameters associated with orders:
      • Ammunition type.
      • Type of test.
      • WEAPON subsystem status.
      • SERVO subsystem state.
      • INSTRUCTION AND MAINTENANCE SUB-SYSTEM STATE.
      
      Acknowledgments:
      • Positioned conveyor.
      • Repressor positioned.
      • Door positioned.
      • Tool locked.
      • Empty barrel chamber.
      • End of manual care.
      • Emergency stop removed.
      
      Technical informations.
      • Wear indicators (initial values).
    • Outings:
    • 
      • Defaults.
      • States of degradation.
      • Operator alerts.
      • Technical informations.
      • Site request.
  • Information flow n ° 2
    • Entrance :
      Parameters associated with orders:
      • Ammunition type.
      • Type of test.
      • WEAPON subsystem status
      • SERVO subsystem status
      • INSTRUCTION AND MAINTENANCE SUB-SYSTEM STATE.
      
      Acknowledgments:
      • Positioned conveyor.
      • Repressor positioned.
      • Door positioned.
      • Tool locked.
      • Empty barrel chamber.
      • End of manual care.
      • Emergency stop removed.
      
      Technical informations.
      • Wear indicators (initial values). Forcing:
      • state of the functional elements,
      • value of I / O.
    • Outings:
    • 
      • Defaults.
      • States of degradation.
      • Operator alerts.
      • Technical informations.
      • Site request.
      • Logical I / O values.
  • Information flow n ° 3
    • Entrance :
      These are orders:
      • standby,
      • selection,
      • loading,
      • test,
      • supply,
      • emptying.
      
      In test order, there are specific maintenance tests by the OCSI channel which are not useful by the DIGIBUS channel. These are elementary movements.
  • Information flow n ° 4
    • Entrance :
      • . Operational alerts:
      • . Manual intervention request
        • conveyor positioning.
        • door positioning.
        • repressor positioning.
        • tool lock.
        • positioning of cell 1 at the supply station.
      • . Non-empty weapon
      • . Emergency stop engaged
      • . Autonomous mode in progress
    • Output :
      • . Acknowledgment of alerts:
        • positioned conveyor.
        • door positioned.
        • repressor positioned.
        • tool locked.
        • end of manual care.
        • empty weapon
        • emergency stop removed.
  • Information flow n ° 5
    • Entrance :
      • Execution report.
        • . current sequence,
        • . sequence anomaly.
      • Sequence cancellation.
      • Emergency stop.
      • Current mode.
      • Movement authorization.
    • Output :
      • State of degradation of functions.
      • Common mechanical states:
        • . conveyor,
        • . door,
        • . push back,
        • . tools,
        • . crank.
  • Information flow n ° 6
    • Entrance :
      • Data in permanent memory
    • Output :
      • Data to be saved in permanent memory.
  • Information flow n ° 7
    This information flow passes to the DIGIBUS coupler card 51 and the link 60 (Fig. 3).
    • Entrance :
      • . Messages issued by the fire control.
        • transfer order
        • channel control
        • test command
        • service message
        • short cycle number
        • CHA command message
      • . Armed subsystem acquisition messages.
      • . Control subsystem mode messages
      • . Technical messages from the means of instruction and maintenance subsystem.
    • Output :
      • CHA subsystem mode message.
      • CHA subsystem status message.
      • Technical message CHA subsystem.
      • Test message (test command).
  • Information flow n ° 8
    This flow of information passes through the central unit card 56 through the circuits 74 and 75 of FIG. 4.
    • Entrance :
      • Key code (touch screen).
      • Weapon code.
      • Presence of the OCSI box.
    • Output :
      • CHA subsystem mode message.
      • CHA subsystem status message.
      • Technical message CHA subsystem.
      • Operator menu and display.
      • Seeing watchdog.
        The control of the CHA can be done through the DIGIBUS and OCSI channels separately, knowing that the presence when the latter is powered up means that the former cannot be used.
      • DIGIBUS channel.
        The CHA is a subscriber to DIGIBUS.
        The reception of messages is clocked by the BUS manager. Due to the repetition of the same message at regular intervals, the subsystem only reacts to variations in the message between two periods.
        Each new message is decoded and its information is translated into data usable by all functions.
        On transmission, the message is formatted and then updated in the exchange area of the DIGIBUS coupler. The pickup is also clocked by the bus manager.
      • OCSI channel.
        The operator has drop-down menus on the touch screen. It can issue orders, view, modify subsystem data, enter / execute a program, control the flow of menus, read status messages that appear over time. The screen is managed taking into account the character strings entered and the current operation of the CHA. Information related to the WEAPON also passes through the same channel: the state of the breech and the loading site.
      • Subsystem supervision.
  
  This supervision ensures the following processes:
  • Order management process.
    • He manages the reception of orders.
    • It conditions their execution.
    • It checks the consistency of the mechanical state.
    • It transmits the order to the functions responsible for using it:
      • . SELECTION function,
      • . LOADING function,
      • . PROTECTION function,
      • . SUPPLY / EMPTYING function
    • It manages the watchdogs of the subsystem whose role is to guarantee its security in the event of aberrant operation.
    • It cancels the current order if necessary.
  • Acknowledgment management process.
    It builds the messages that are sent to the DIGIBUS and OCSI dialog processes and performs the acknowledgment management. In this case, the function issuing an intervention request is put on hold for this acknowledgment. This wait can be interrupted or not by a change of order. Upon receipt of the acknowledgment, the function resumes its suspended processing.
  • Permanent memory management process (memory card 52 - Fig. 3).
    On power-up, this process is responsible for retrieving the information or operating parameters useful or necessary for the CHA, in particular:
    • The encoder origin, because it conditions the positioning of the conveyor at the cycle stop.
    • The composition of the conveyor because its consistency allows the selection of ammunition in the shortest possible time.
    • The wear indicators.
      When the on-board network disappears or the CHA goes into fault mode, this data is placed in the permanent memory of the subsystem.
      We will now set out some remarks relating to performance in processing and operating situations.
    • DIGIBUS processing: The processing time for DIGIBUS information is in all cases strictly less than 100 ms.
      The process that manages it ensures that all messages of interest to the CHA are taken into account, in particular when these arrive in the same period of the DIGIBUS frame, knowing that this situation can only happen at worst every 100 ms.
      When DIGIBUS sends an order, the CHA indicates to the CDT that it is acquired within a time less than or equal to 100 ms. However, there is a time for implementation of this order for the CHA which depends on its environment.
    • If the subsystem is on standby and in a coherent mechanical state, the execution time is less than or equal to 200 ms.
    • If the subsystem is executing an order, the reaction time is linked to the cancellation context, it is however less than or equal to 3s.
    • If the subsystem is in an inconsistent mechanical state, the delay is linked to the operator responsible for returning the CHA to a compliant state before any order execution.
• OCSI processing.
  The WEAPON information which passes through the OCSI controller is processed in a time less than or equal to 20 ms. The transfer time from the OCSI box to the computer 13 is less than or equal to 10 ms.
• Emergency stop.
  The response time of the subsystem following an emergency stop punch action is less than or equal to 150 ms. This time guarantees the mechanical movement stop.
  The subsystem report to the operator is less than or equal to 1 s.
• Initialization time.
  Insofar as the mechanical state of the CHA at power-up does not require the assistance of the operator (manual action), the total initialization including the test, until the order waiting phase, is less than or equal to 5 s.
• Break time.
  It depends on the technologies used. The one selected for the CHA guarantees a backup in 10 ms.
  We will now consider the availability and degraded operation of the management PLC function.
• Mechanical condition.
  The execution of an order is delayed if the mechanical state of the subsystem is not known.
  The function proceeds before the execution of the order to a preliminary mechanical initialization.
• Manual support.
  Manual management by the operator is paramount over the automation. If a crank is engaged during an operation, it is suspended. The operation is stopped immediately if the conveyor is in motion. In the case of a movement of the repressor or of the door, the operation stops at the end of the movement in progress.
  As soon as manual support has disappeared, the suspended operation resumes its course after an initialization phase as described above and if no new order has been ordered by the fire control.
• Emergency stop.
  A distinction is made between the emergency stop resulting from a software anomaly and that resulting from the emergency stop punch.
  • the software emergency stop leads, whatever the state of the CHA, to a blocking situation which prohibits all exchanges with the outside; only one power on can get out of it,
  • the hardware emergency stop proceeds in the same way as for manual handling.
  • Operating parameter.
    The loss of the encoder origin leads to a total unavailability of the CHA as part of its operational mission. However, this situation does not prohibit internal tests do not involve movement.
    The loss of the conveyor composition leads the selection function to perform a reconfiguration which increases the execution time of the selection order. If an reconfiguration is impossible due to the degradation of the permanent memory, the subsystem indicates that it is inoperative, which means that it cannot fulfill its operational mission. However, this situation does not prohibit any internal testing.
    The specific operations of the function are as follows:
  • Hand controls.
    If the operator engages the arm controls without being asked to do so by the CHA, the PLC function consequently causes:
  • sequence cancellation,
  • blocking of orders,
  • a blocking of mechanical movements, until the operator explicitly indicates the end of his manual operation.
  • Cut and power up.
    The function powers up a static internal self-test (without mechanical movement) to inform the operator of its availability status. It initializes the subsystem dialogue, in particular the transfer of information from its permanent memory to the fire control. It performs the mechanical initialization of the functions and places itself in a state of waiting for order.
    When the on-board network disappears, the function implements an operation to save vital information in the permanent memory and evaluates the signature which guarantees the consistency of this information when power is restored.
  • Battery standby.
    The presence of this information from the INSTRUCTION AND MAINTENANCE MEANS subsystem involves the function in a process of blocking mechanical movements. No order can be executed, no indicator light is on until this information disappears.
  • DIGIBUS connection / disconnection.
    Dialog is only possible when the subsystem is connected.
  • Bus silence.
    When the subsystem is connected as indicated above, the function monitors the periodic evolution of the short cycle number (NCC) which passes on the DIGIBUS frame every 10 ms. An absence of message or a non-evolution of the short cycle number for eleven cycles at 100 Hz, characterizes a "bus silence" and in this case, the function adopts an autonomous operating mode. In contrast to an interactive function mode via DIGIBUS or OCSI, the autonomous mode involves controlling the CHA through an external supply unit for the sole purpose of implementing external supply / emptying performed by the function of the same name . In this mode, the Dialogue is reduced, there is no degraded operation possible. The subsystem exits from this state as soon as the firing line again connects the CHA to the DIGIBUS and if no supply or emptying order is in progress.
  • Bus error.
    The function is responsible for monitoring transmission errors in DIGIBUS exchanges. It informs the operator of the number of errors it detects every minute.
    We will describe the intermediate functional architecture from which comes the physical architecture of the device according to the invention already described with reference to Fig.1 to 7B.
    We distinguish the elements:
    • CONVEYOR: mechanism 5 for transporting ammunition with electric motor 7 (magazine).
    • REFOULOIR: mechanism 9 for transferring ammunition with electric motor 11.
    • DOOR: protection mechanism 14 with electric motor 16.
    • BECAL: 13 calculator box responsible for controlling the mechanisms using sensors and actuators, under the supervision of the OCSI and DIGIBUS channels.
    • BECMO: control box 8 responsible for controlling the motors fitted to the door, the pressure ram and the conveyor.
    • BEAPE: operator dialogue interface 17 for external supply / emptying.
    • DAMIE: device 21 (Fig. 1) for extracting and inserting ammunition into a conveyor cell.
    • BECHV: sensor 36 (Fig. 2) intended to assess the emptiness of the loading path.
    • BEIMD, BEIMG: 30.31 redundant sensors (Fig. 2) responsible for reading ammunition bar codes.
    • FCPMC: sensor 12 (Fig. 2) responsible for ensuring the presence of ammunition at the loading station, during delivery.
• Various sensors (not shown):
  • BECOD: absolute encoder 19 (Fig. 2) of conveyor position.
  • FCPFE, FCPOU: door open / closed state sensor 34.35 (Fig. 2).
  • FCRRE: sensor 27 (Fig. 2) reentry state returned.
  • FCORE: sensor 28 (tool locked condition). We observe that :
  • DIGIBUS is a channel to which the AMA, ASS, TBP, CDT subsystems are connected.
  • SERVITUDES occupy two networks, one for BECAL, the other for BECMO in order to isolate the power elements from the control elements.
  
  The organic distribution of functions is as follows:
  • Selection function.
    It implements the BECAL 13 computer which receives the selection order via the OCSI or DIGIBUS channel. This controls the BECMO 8 power interface responsible for actuating the CONVEYOR 5 motorization. The positioning sequence or algorithm of the CONVEYOR is executed by the computer 13 by means of the position sensors BECOD 19 and of identification BEIMD, BEIMG, FCPMC 30, 31, 12.
    The manual control of this function is carried out by the operator via an auxiliary motor which equips the conveyor. During the automatic sequences, the manual interventions of the operator are requested by the computer 13.
  • Load function.
    It implements the BECAL 13 computer which receives the loading order via the OCSI or DIGIBUS channel. This controls the BECMO power interface 8 responsible for actuating the motorization of the REFOULOIR 9.
    The re-entry or exit sequence or algorithm of the repressor 9 is executed by the computer using FCRRE, BECHV 27, 36 sensors and BECMO information and the AMA and ASS subsystem. The manual movements of the REFOULOIR are conditioned and implemented in the same way as for the CONVEYOR.
  • Protection function.
    It implements the BECAL 13 computer which, if necessary, controls the BECMO 8 power interface responsible for actuating the motorization of door 14.
    It can be requested by the loading function described above.
    The door opening or closing sequence or algorithm is executed by the computer by means of the FCPFE, FCPOU 34.35 sensors.
    The BECHV 36 "empty chamber" sensor is physically mounted on the door 14 because it is located in the delivery axis.
  • Supply / emptying function.
    It uses the selection function when it is necessary to rotate the CONVEYOR. It also implements the BECAL computer which receives the supply / emptying order via the DIGIBUS and OCSI channels or (in stand-alone mode) through the BEAPE 26 box (Fig. 2).
    This computer runs the corresponding algorithm, under the control of the operator who has a dialog interface.
  • in external operation: from the BEAPE 26 box
  • in internal operation: OCSI DIGIBUS operator consoles
    The DAMIE manual supply / emptying device is reversible to allow internal and external use. It is equipped with the FCORE 28 sensor, the status of which is used by the computer. The identification of the ammunition or the state of the cells are given by the BEIMD, BEIMG, FCPMC 30, 31, 12 sensors. Their information is used internally by the computer responsible for managing and protecting them.
  • PLC management function.
    It is filled by the computer 13. It constitutes the central control element of the automatic loading automation, it is in particular responsible for managing communication with the other subsystems, ensuring the safety of the CHA, preserving these operating parameters, to accept or not the execution of orders from the operator.
    The mission of the software installed in the BECAL calculator is through its hardware environment:
    • 1) realize the DIGIBUS dialog interface, realize the OCSI dialog interface.
    • 2) to carry out the positioning of the mechanisms: - REFOULOIR, CONVEYOR, DOOR.
    • 3) ensure the security of the subsystem,
    • 4) to carry out the self-diagnosis of the subsystem,
    • 5) to execute the sequences relating to orders, in a nominal or degraded function situation.
      In particular :
      • the day before,
      • the selection,
      • the loading,
      • supply,
      • emptying,
      • automatic or manual triggered tests.

We will examine the internal modes of operation of the device.

These are the following modes:

Normal mode characterizes the nominal operation of the CHA. It implies total availability and undegraded performance of the subsystem.

The degraded mode characterizes the non-nominal operation of the CHA. It indicates that the subsystem is unable to accomplish its mission without human intervention. This mode is also called semi-automatic or manual. The subsystem has more or less degraded performance.

The operational mode materializes the context in which the CHA guarantees its capacity to process all the orders provided during an operational implementation. the maintenance mode is that in which the CHA executes the orders reserved for the maintenance of the subsystem. This involves locating the functional elements which have broken down and which characterize degraded operation.

The launch mode is that in which the subsystem places itself at power-up to indicate that it is in a hardware and software initialization phase.

The interactive mode is the usual operating mode of the CHA characterized by the interactivity of the exchanges between the subsystem and its environment.

In this mode all the possibilities of using the CHA can be implemented.

The autonomous mode is that in which the CHA confines itself in the event of BUS silence (particular DIGIBUS anomaly). Only external supply / dump operations are possible. The disappearance of the BUS silence leads the subsystem to resume an interactive operating mode as soon as the current operation is completed.

The automatic mode is the mode of use which requires the functioning of the automaton (automatic management of the CHA and its movements).

Manual mode is the mode available to the operator by default if the subsystem is powered down or has failed. If the subsystem is in automatic operation, the operator imposes manual mode, by taking over the arm controls (cranks 22,23, Fig.1).

The CHA under these conditions remains energized but no longer provides monitoring or management (the operator uses the CHA as it pleases). It's in as a general rule, the attitude adopted in the event of a serious breakdown or total unavailability.

It is said that the CHA is broken down when it is completely unavailable. However, it is also considered that the subsystem has failed if it only accepts manual operation.

Insofar as the management PLC function is in working order, the subsystem, despite the fault state in which it may be, allows the execution of the triggered tests necessary for its maintenance.

If the operator indicates that manual care has ended, the CHA returns to an automatic operating mode.

The operator-char interface uses the DIGIBUS 41 functional interface which will be described later.

The command message comes from the conduct of TIR through which the operator's orders and acknowledgments pass.

The device is also associated with an interface intended for a workshop operator in order to ensure the control or maintenance of the device.

In the present example, this interface uses a terminal of the touch screen type.

• une zone de messages de service. Les messages sont inscrits "au fil de l'eau".
• une zone de dialogue opérateur. Elle est elle-même découpée en :
  • un champ de touches de commande,
  • un champ de touches de menus,
  • un champ réservé à des indications données à l'opérateur.

The screen of this terminal is divided into two main areas:

• a service message area. The messages are written "on the fly".
• an operator dialog. It is itself divided into:
  • a field of command keys,
  • a menu key field,
  • a field reserved for indications given to the operator.

The control keys allow the operator to act directly on the operation, to acknowledge a request sent by the CHA or to modify the operating parameters of the CHA.

• Mode nominal : il a accès aux ordres de chargement, de veille, de sélection, d'approvisionnement et de vidage.
• Mode maintenance : il a accès à tout ce qui concerne les mouvements élémentaires, les tests, les modifications d'états des organes ou de l'environnement et il peut modifier les informations de la mémoire permanente.
• Mode programme : dans ce mode, il saisit, liste ou modifie un programme avec certaines instructions particulières. En ce qui concerne la saisie des actions à mener, elle se fait par l'intermédiaire des menus des modes précédents. Il a la possibilité de donner le nombre d'exécution du programme. Il peut le lancer, l'arrêter, le faire continuer ou abandonner.

The menu keys allow the operator to develop the desired action. Initially, the operator chooses between three operating modes:

• Nominal mode: it has access to loading, standby, selection, supply and emptying orders.
• Maintenance mode: it has access to everything relating to elementary movements, tests, changes in the state of organs or the environment and it can modify information in the permanent memory.
• Program mode: in this mode, it enters, lists or modifies a program with certain specific instructions. As for entering the actions to be carried out, this is done via the menus of the previous modes. It has the possibility of giving the number of execution of the program. He can launch it, stop it, have it continue or abandon it.

In certain cases, for example in Program mode during listing, the area reserved for service messages can be reduced.

In the course of menus, the operator can be brought to give numerical values. For these cases, a numeric keyboard appears in the menu.

• 1) au CHA d'indiquer à l'opérateur :
  • si l'approvisionnement est autorisé,
  • si le vidage est autorisé,
  • si la munition n'est pas reconnue.
• 2) à l'opérateur d'indiquer au CHA :
  • si c'est une opération de vidage qu'il désire faire,
  • si c'est une opération de vidage qu'il désire terminer,
  • si c'est une opération d'approvisionnement qu'il désire faire,
  • si c'est une opération d'approvisionnement qu'il désire terminer,
  • le type de munition introduite,
  • si il rejette la séquence en cours.
• 3) de bloquer le CHA en situation d'arrêt d'urgence (sécurité) pour inspection éventuelle d'un tube. Le déroulement de la séquence suspendue reprend dès que l'arrêt d'urgence est réenclenché.

The BEAPE 26 box of the block diagram shown in Fig. 2 allows:

• 1) the CHA to indicate to the operator:
  • if supply is allowed,
  • if emptying is authorized,
  • if the ammunition is not recognized.
• 2) the operator to indicate to the CHA:
  • if it is an emptying operation that he wishes to do,
  • if it is an emptying operation that he wishes to complete,
  • if it is a supply operation that he wishes to do,
  • if it is a supply operation that he wishes to complete,
  • the type of ammunition introduced,
  • if it rejects the current sequence.
• 3) block the CHA in an emergency stop (safety) situation for possible inspection of a tube. The sequence of the suspended sequence resumes as soon as the emergency stop is reset.

The device which has just been described makes it possible to carry out the automatic loading of ammunition in an artillery piece in particular of a tank gun with a maximum of security as for the choice of the ammunition, a maximum of speed of implementation and minimal risk and effort for staff.

Claims (17)

1. A loading control device for a cannon, notably for a cannon equipping the turret of an armoured vehicle, comprising :

   - a frame (1),

   - a revolving magazine (5) intended to store the ammunition and which is mounted in said frame, said magazine being intended to be positioned near to the gun chamber,

   - a device (9) to deliver the ammunition stored in the magazine (5) to the gun chamber, the delivery device being associated with said magazine,

   - means (8) to control the movement of the revolving magazine (5) with a view to transporting the piece of ammunition of the selected type towards the delivery device (9) and transferring said ammunition using the delivery device towards the gun chamber, said control means (8) comprising motors (7, 43) able to revolve the magazine in both directions,

   - means (17, 18, 13) to select the type of ammunition to be used,

   - electronic means (13) to manage the ammunition when the magazine (5) is loaded with ammunition, placed on board the vehicle, comprising :

   . a computer (13) incorporating a central processing unit (50), a set of memories (52) intended to contain automatic loading software, data related to the operation of automatic loading in time, and data computed by the central processing unit (50) according to the process flow of the loading programme, input-output and serial data link circuits (53, 54), external dialogue circuit (51),

   . means (12) to recognise the type of ammunition to be found in each particular place in the magazine, characterised in that the computer is arranged on a panel (2) of said frame (1), and in that the recognition means are formed of sensors (12) which recognise codes carried on each piece of ammunition designating the corresponding type of ammunition, said sensors being associated with electronic units (30, 31) respectively connected to the electronic management means (13) and to the means (8) to control ammunition transfer, and in that the motors are constituted by a main electric motor (7) and an auxiliary electric motor (43) to move the magazine manually in the event of a failure, and in that the selection means (17,18,13) enable the magazine to be reread and reconfigured, the selection function being such that in the event of a failure the algorithm asks the operator to perform a manual rotation manoeuvre indicating the rotational direction and the number of steps to make to bring the piece of ammunition to the required spot, the selection means checking that the operator has duly carried out the instructions in that the position sensor is able to operate and reiterating its request if necessary, taking into account the new conditions and position of the revolving magazine.
2. An automatic device according to Claim 1, characterised in that a sensor (12) to identify a piece of ammunition to the right has been provided in association with a first electronic unit (30) and a sensor (12) to identify a piece of ammunition to the left has been provided in association with a second electronic unit (31), and in that said sensors left and right (12) are arranged on either side of the position of the rammer (9) associated with the conveyor (5).
3. A loading control device according to Claims 1 or 2, characterised in that the means to control the movement of the revolving magazine (5) comprise an electronic circuit intended, according to the commands it receives from the management means as well as to the position of the ammunition in the revolving magazine, to control the rotation of the electric motor (7) which drives the revolving magazine in the appropriate direction to bring the piece of ammunition of a predetermined type closest to the delivery axis to the position of the rammer (9).
4. A loading control device according to one of Claims 1 to 3, characterised in that the central processing unit (50) of the electronic management means (13) comprises a microprocessor (65) connected to a control bus (68) in which a buffer circuit (69) is inserted, the control bus (68) being in addition connected to a priority coder (71), to an interrupt hierarchy system logic (72), to a computer memory access time controller (73), timing circuits (74) which are in turn connected to an insulation circuit (75), to a guard dog storing circuit (76) and to a decoding logic (78), the latter also being connected to the control bus (68).
5. An automatice loading device according to Claim 4, characterised in that the microprocessor is in addition connected to an address bus (79) in which a buffer circuit (80) has been inserted, the decoding logic (78) being connected to the address bus and in that it is in addition connected to a data bus (81) in which a buffer circuit (82) has been inserted, the data bus (81) being in turn connected to the timing circuits (74).
6. A loading control device according to one of Claims 1 to 5, characterised in that set of memories (52) of the management unit (13) comprises a bank (85) of read-only memories connected to the data bus (81) as well as to the address bus (79) which lead to the microprocessor (65), the read-only memory bank containing the automatic loading software, a bank (86) of backed-up memories connected to the address bus (79) and to the data bus (81), the bank (86) of backed-up memories containing data related to the operation of the automatic load over time and a bank (87) of random access memories connected to the data bus (81) and to the address bus (79) and containing data computed by the central processing unit (50) according to the process flow of the loading programme.
7. A loading control device according to Claim 6, characterised in that the set of memories (52) comprises in addition a decoding logic (90) connected to the read only memorie bank (85), to the backed-up memory bank (86) and to the random access memory bank (87) and connected to the address bus (79) and to a line of selection bits (91), said decoding logic (90) being in addition connected to the data bus (68), an exchange management and error signal generator logic (93) connected to the control bus (68) and a $\overline{\text{DTACK}}$

   

   signal generation counter (94) commanded by a timer signal also applied to the management logic (93), the buffer circuits (88, 89, 92) being respectively inverted in the data bus (81), address bus (79) and the control bus (68) on the side of the set of memories (52).
8. A loading control device according to one of Claims 1 to 7, characterised in that each of the input-output and serial data link circuits (53, 54) of the computer (13) operates under the control of the central processing unit (50) circuit and comprises serial data links (100, 101), a gate (102) with several all or nothing inputs, a gate (103) with several all or nothing outputs, the inputs (102) are of the type which allow the computer to know the logic status of peripheral devices such as sensors, command devices when the computer (13) addresses then reads the status of a gate to which these inputs are connected, the outputs (103) are of the type allowing the computer to send command data to these peripherial devices by means of output gates which it addresses and in which it describes the status of the corresponding outputs.
9. A loading control device according to one of Claims 1 to 8, characterised in that the means (8) to control the movement of the revolving magazine (5) and the transfer of the ammunition by the delivery device to the gun chamber comprise means to control an electric motor (7) which drives the revolving magazine (5), means to control an electric motor (11) which drives the rammer (9) and means to command an electric motor (16) which drives a separation door between the position of the rammer and the gun chamber to be loaded.
10. A loading control device, according to Claim 9, characterised in that the means (8) to control the movement of the revolving magazine and the transfer of the ammunition comprise a single power unit (116) intended to supply a single motor from among the three electric motors (7, 11, 16), a single closed-loop speed system and a selection module (141) of the electric motor to be supplied according to the situation of the device.
11. A loading control device according to one of Claims 9 and 10, characterised in that the means (8) to control the movement of the revolving magazine and the transfer of the ammunition comprise in addition a control circuit (119) combining the control functions as well as the production of speed instructions for each of the electric motors (7, 11, 16) under consideration and a serial adapter circuit (132) linked with the computer (13).
12. A loading control device according to one of Claims 9 to 11, characterised in that the power unit incorporates a bridge (116) formed of two half bridges (116A, 116B) each with two transistors (117A, 117B) and which are associated with corresponding drivers (118A, 118B), the power unit (116) being connected to a sifting module (115) ensuring the distribution of electrical energy whereas the half-bridges (116A, 116B) are connected to a circuit (121) which monitors the temperature of the half-bridges, the drivers (118A, 118B) being connected to a circuit (120) which monitors the supply to the drivers, said monitoring circuits (121, 120) forming part of the control circuit (119), the power unit (116) being in addition connected to a data link bus (166) with a general circuit connector (151) of the device forming an insulated test peripheral.
13. A loading control device according to one of Claims 9 to 12, characterised in that the control circuit (119) of the means (8) to control the movement of the revolving magazine (5) and the transfer of the ammunition incorporates the circuit (121) which monitors the temperature of the power half-bridges (116A, 116B) and the circuit which monitors the supply of the drivers (118A, 118B) of the power bridge (116), a circuit (123) which monitors the network voltage, an instruction generating circuit (126) associated with a rotational direction circuit (127) and whose output is connected to a null instruction circuit (125), an emergency stop monitoring circuit (128), connected to an insulating contactor driver (129) which in turn is connected to an excess voltage control circuit (130) for the corresponding electric motors, a circuit (131) which monitors the temperature of the motors, the circuit (120) which monitors the supply to the drivers (118A, 118B) of the power half-bridges (116A, 116B), the circuit (121) which monitors the temperature of the power half-bridges, the emergency stop monitoring circuit (128), the instruction generating circuit (126), the insulating contactor driver (129) and the circuit (131) which monitors the temperature of the motors (7, 11, 16) being connected to the serial adapter circuit (132).
14. A loading control device according to one of Claims 10 to 13, characterised in that the selection module (141) incorporates a set of contactors (142) intended to connect on the power bridge (116) the particular electric motor selected from among the others (7, 11, 16) by the computer (13), a driver (143) for the contactors (142), an authorisation generator (146) connected firstly to the selection driver (143), a back-geared motor brake and "brake consumes" data generator driver (147), and a selection control circuit (148), the selection module (141) being connected by a bus (137) to the control circuit (119), to the serial adaptor circuit (132), to a data link (149) with the motor (11) of the rammer (9), to a data link(150) with the motor (7) of the conveyor (5), to a data link (138) with the motor (16) of the door (14) and to the general circuit connector (151).
15. A loading control device according to one of Claims 10 to 14, characterised in that the closed-loop speed system (156) incorporates a circuit (157) to reestablish the counter-electromotive force of the electric motor to be controlled, a command signal generator (162) connected to the input of the re-establishment circuit (157) as well as to a data link bus (166) with the power bridge (116) of the first and second equalizer circuits (159, 161), a first analog adder circuit (158) connected upstream of the first equalizer (159) as well as to the re-establishment circuit (157), a second analog adder circuit (160) placed between the first and second equalizers (159, 161) and connected in addition to an electrical current detector (145) for the motor which is part of the selection module (141) and to a excess voltage reset to zero circuit (163), a maximum current circuit (164) and an excess voltage circuit (165) associated with the reset to zero circuit (163).
16. A loading control device according to one of Claims 10 to 15, characterised in that the adaptor card (132) incorporates an emitter serial-parallel data adaptor circuit (133) associated with a multiplexer (134) and a receiver serial-parallel data adaptor (135) associated with a multiplexer (136).
17. A tank incorporating an automatic loading device for a cannon according to one of the above Claims integrated into the turret.

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