EP0467754B1 - Dispositif de commande de chargement automatique d'un canon - Google Patents

Dispositif de commande de chargement automatique d'un canon Download PDF

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Publication number
EP0467754B1
EP0467754B1 EP91401913A EP91401913A EP0467754B1 EP 0467754 B1 EP0467754 B1 EP 0467754B1 EP 91401913 A EP91401913 A EP 91401913A EP 91401913 A EP91401913 A EP 91401913A EP 0467754 B1 EP0467754 B1 EP 0467754B1
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EP
European Patent Office
Prior art keywords
circuit
ammunition
control
bus
loading
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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EP91401913A
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German (de)
English (en)
French (fr)
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EP0467754A1 (fr
Inventor
Gérard Bouvet
Alain Larochette
Mohamed Ben-Ahmed
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Giat Industries SA
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Giat Industries SA
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Publication of EP0467754A1 publication Critical patent/EP0467754A1/fr
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F41A9/61—Magazines
    • F41A9/64—Magazines for unbelted ammunition
    • F41A9/76—Magazines having an endless-chain conveyor
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
    • F41A9/00—Feeding or loading of ammunition; Magazines; Guiding means for the extracting of cartridges
    • F41A9/50—External power or control systems

Definitions

  • the present invention relates to automatic loading devices with rotating magazine for guns, in particular guns fitted to turrets of armored vehicles.
  • Modern armored vehicles are required to use ammunition of various types depending on the situations they face in the field.
  • 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.
  • 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.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • ammunition identification sensors 12 On either side of the position of the repressor 9 are placed ammunition identification sensors 12.
  • the actuator 11 actuation motor 9 is also carried by the panel 2 of the frame 1.
  • 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.
  • an absolute sensor 19 for positioning the cells 6 of the conveyor 5.
  • 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.
  • 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.
  • 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.
  • 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.
  • the housing 13 of the computer can receive at least ten cards.
  • 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.
  • the central unit card 50 of the computer contained in the BECAL box 13 is organized around a microprocessor 65 with 16 bits 68000.
  • 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.
  • 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.
  • 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.
  • DAISY CHAIN hard-wired interrupt prioritization logic
  • 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.
  • microprocessor 65 takes place asynchronously. For each access to memory or to a peripheral, the microprocessor waits for a response from its interlocutor (signal DTACK ⁇ ).
  • the time after which the signal 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 BERR ⁇ .
  • the central unit card 50 manages the system.
  • the priority coder 71 codes these levels in three pieces of information accessible to the microprocessor 65.
  • the central processing unit takes into account both vectored interrupts from 68000 devices and autovectorized interrupts that can come from 6800 devices, for example.
  • 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.
  • the device located just after in the chain is then warned that its interruption is not taken into account and also puts its CHAIN OUT ⁇ high.
  • 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.
  • the restart logic 70 ensures that the line is kept low for a given time, for example greater than 100 ms RESET ⁇ stop and restore.
  • the initialization signal is supplied by the converter card 56.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • This card is intended to contain in EPROM and PROM memories, the software of the automatic loading device.
  • 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.
  • 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.
  • the latter is in turn connected to a signal generation counter 94 DTACK ⁇ controlled by a clock signal at 16 MHz also applied to the management logic 93.
  • the logic 93 of management of exchanges and generation delivers a signal BERR ⁇ and a signal 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.
  • the memory card 52 is supplied from the card 56 also contained in the BECAL box 13.
  • 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.
  • the present embodiment has a capacity of 128 Kmots.
  • the reading is carried out either on bytes or on 16-bit words.
  • This division generates a bus error signal 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).
  • the data is accessible in bytes and on odd addresses only.
  • 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.
  • the energy required for the backup can be provided either by an internal circuit or by the card 57.
  • the memory card generates a signal DTACK ⁇ intended for microprocessor 65 to which it is connected by a line 95.
  • the signal DTACK ⁇ is transmitted to the microprocessor for each access in order to signal to them that the exchange is taking place correctly.
  • 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.
  • 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.
  • serial links are of the asynchronous type operating in full duplex mode.
  • 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.
  • 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.
  • serial links have priority over all or nothing inputs.
  • 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.
  • 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.
  • 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.
  • Each of the half-bridges 116a, 116b is completed by a circuit 118a, 118b for controlling the corresponding transistors 117a, 117b.
  • a control circuit 119 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.
  • 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.
  • a setpoint generation circuit 126 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the CHA loading device also includes an internal / external supply device to allow the insertion or removal of ammunition from the conveyor;
  • 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.
  • 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.
  • 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.
  • 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 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 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the repression cycle is broken down into several phases which generally follow the stage of selecting a munition.
  • the algorithm must ensure manual transfer via the operator. During the acknowledgments, the sensors are checked.
  • the algorithm performs via the operator (in manual) the evacuation thereof.
  • 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.
  • 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.
  • the function asks the operator to specify the type of ammunition supplied.
  • the supply function (emptying ensures a certain number of specific operations).
  • 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.
  • 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.
  • 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;
  • 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.
  • 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.
  • the subsystem 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.
  • 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.
  • this interface uses a terminal of the touch screen type.
  • 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.
  • the area reserved for service messages can be reduced.
  • 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.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Programmable Controllers (AREA)
  • Control Of Multiple Motors (AREA)
  • Safety Devices In Control Systems (AREA)
  • Control By Computers (AREA)
EP91401913A 1990-07-20 1991-07-09 Dispositif de commande de chargement automatique d'un canon Expired - Lifetime EP0467754B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR9009328A FR2664966A1 (fr) 1990-07-20 1990-07-20 Dispositif de commande de chargement automatique d'un canon.
FR9009328 1990-07-20

Publications (2)

Publication Number Publication Date
EP0467754A1 EP0467754A1 (fr) 1992-01-22
EP0467754B1 true EP0467754B1 (fr) 1997-03-05

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EP91401913A Expired - Lifetime EP0467754B1 (fr) 1990-07-20 1991-07-09 Dispositif de commande de chargement automatique d'un canon

Country Status (6)

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US (1) US5233125A (enrdf_load_stackoverflow)
EP (1) EP0467754B1 (enrdf_load_stackoverflow)
JP (1) JP2580085B2 (enrdf_load_stackoverflow)
KR (1) KR920003022A (enrdf_load_stackoverflow)
DE (1) DE69124856T2 (enrdf_load_stackoverflow)
FR (1) FR2664966A1 (enrdf_load_stackoverflow)

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RU2153139C1 (ru) * 1999-06-28 2000-07-20 Государственное унитарное предприятие Конструкторское бюро приборостроения Механизм подачи выстрелов артиллерийской установки
US6213110B1 (en) 1999-12-16 2001-04-10 Odyssey Paintball Products, Inc. Rapid feed paintball loader
USRE45986E1 (en) 1999-12-16 2016-04-26 Gi Sportz Direct Llc Spring loaded feed mechanism for paintball loader
KR20030070251A (ko) * 2002-02-23 2003-08-30 윤미숙 섬유보강 투수성 콘크리트 블록 및 그의 제조 방법
US20070017495A1 (en) 2004-10-14 2007-01-25 Heddies Andresen Procedure and device for feeding balls into the projectile chamber of a handgun
DE102005040407B4 (de) * 2005-08-26 2007-05-16 Rheinmetall Waffe Munition Vorrichtung zur Identifizierung des Munitionstyps einer Munition
DE102005040406A1 (de) * 2005-08-26 2007-03-01 Rheinmetall Waffe Munition Gmbh Verfahren und Vorrichtung zur zielgerichteten Munitionszuführung
WO2007035601A2 (en) 2005-09-15 2007-03-29 National Paintball Supply, Inc. Wireless projectile loader system
FR2900467B1 (fr) * 2006-04-28 2010-12-31 Giat Ind Sa Dispositif de chargement des munitions pour vehicule militaire
US8402959B1 (en) 2008-03-19 2013-03-26 Kee Action Sports I Llc Magnetic force feed projectile feeder drive mechanism
CN101692179B (zh) * 2009-09-28 2011-12-21 湖南银宝科技发展有限公司 枪弹智能远程控制交叉管理系统
DE102010016963A1 (de) 2010-05-17 2011-11-17 Krauss-Maffei Wegmann Gmbh & Co. Kg Waffensystem, Verfahren zum Verschießen und Erkennen von Munitionskörpern
US8656820B1 (en) * 2010-08-26 2014-02-25 Ares, Inc. Electronically controlled automatic cam rotor gun system
IT1404036B1 (it) * 2010-12-17 2013-11-08 Oto Melara Spa Veicolo armato con struttura migliorata.
WO2014205313A2 (en) 2013-06-21 2014-12-24 Kee Action Sports I Llc Compressed gas gun having built-in, internal projectile feed mechanism
SE537591C2 (sv) * 2013-11-07 2015-07-07 Bae Systems Bofors Ab Ammunitionshanteringssystem och metod för sortering av blandade ammunitionstyper i ett magasin
DE102017107442B4 (de) * 2017-04-06 2021-03-18 Krauss-Maffei Wegmann Gmbh & Co. Kg Vorrichtung zum Laden einer Rohrwaffe mit Munitionskörpern
USD961002S1 (en) 2019-12-30 2022-08-16 Kore Outdoor (Us), Inc. Projectile loader
USD992671S1 (en) 2020-10-08 2023-07-18 Canadian Imperial Bank Of Commerce, As Agent Projectile launcher and loader
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KR102773458B1 (ko) * 2023-07-14 2025-02-27 우주산업플랜트 주식회사 탄약 정비 자동화 시스템

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Also Published As

Publication number Publication date
DE69124856D1 (de) 1997-04-10
US5233125A (en) 1993-08-03
FR2664966B1 (enrdf_load_stackoverflow) 1994-07-13
DE69124856T2 (de) 1997-07-24
KR920003022A (ko) 1992-02-29
EP0467754A1 (fr) 1992-01-22
JPH0682193A (ja) 1994-03-22
JP2580085B2 (ja) 1997-02-12
FR2664966A1 (fr) 1992-01-24

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