EP1494347A1 - Dispositif d'entrainement d'une arme - Google Patents

Dispositif d'entrainement d'une arme Download PDF

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Publication number
EP1494347A1
EP1494347A1 EP04014268A EP04014268A EP1494347A1 EP 1494347 A1 EP1494347 A1 EP 1494347A1 EP 04014268 A EP04014268 A EP 04014268A EP 04014268 A EP04014268 A EP 04014268A EP 1494347 A1 EP1494347 A1 EP 1494347A1
Authority
EP
European Patent Office
Prior art keywords
motors
weapon
motor
speed
torque
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.)
Granted
Application number
EP04014268A
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German (de)
English (en)
Other versions
EP1494347B1 (fr
Inventor
Thomas Czeppel
Roger Sembtner
Bernhard Stehlin
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Moog GmbH
Original Assignee
Moog GmbH
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Filing date
Publication date
Application filed by Moog GmbH filed Critical Moog GmbH
Publication of EP1494347A1 publication Critical patent/EP1494347A1/fr
Application granted granted Critical
Publication of EP1494347B1 publication Critical patent/EP1494347B1/fr
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Classifications

    • 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
    • F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
    • F41A27/28—Electrically-operated systems

Definitions

  • the invention relates to a drive device for aligning a weapon, which is connected to at least one axis rotatably connected to a base, and / or to Balancing movements of the base, with a first electric motor and at least a second electric motor used to hold and move the weapon around the axle are in operative connection with this, according to the preamble of claim 1.
  • a generic drive device is known from DE 33 41 320 C2. These Drive device comprises two drive motors, which together with a sprocket for aligning a weapon are engaged and operated in one direction only be in order to achieve the highest possible setting accuracy of the weapon.
  • weapons that are rotatably mounted on a base and with a regulated drive device can be aimed at a target, in their Center of gravity stored to minimize the required drive power and order to reduce the torque disturbances that act on the weapon when the base is moved.
  • a weapon is only for the acceleration of the weapon and for the compensation of the bearing friction drive energy needed.
  • the drive is only needed if the weapon is to be aimed at a target or to hold the Weapon on target with moving base.
  • the springs are based on the one hand on a base, one Underlay or a weapon platform and on the other hand at the weapon itself, that a torque arises, which is preferably just as large as that Torque, which arises because the weapon is not in its center of gravity is stored, the unbalance of the weapon.
  • a major disadvantage of these springs is that at different angles of inclination of the base to the environment a different Torque arises. Especially with a constantly moving base with a weapon mounted rotatably on it therefore acts a constantly changing Torque on the weapon, which are compensated by the drive device got to.
  • auxiliary drive devices are known, in addition to a main electric drive via a manually connectable electric auxiliary drive
  • the auxiliary drive only a limited performance and thus also has a lower power consumption.
  • This with mobile weapon carriers used concept allows for a standstill of the weapon and the weapon carrier the shutdown of the main drive, what the necessary drive energy for the electric drive device and thus also the heat development in the mobile Kumarlich reduced.
  • main and Auxiliary engine can only be used as an alternative to the drive of the weapon.
  • the auxiliary drive can in case of failure of the main engine, the operability of the drive device maintained at least limited.
  • a disadvantage of these drives is that a mechanical or electrical switching coupling is needed with this second auxiliary motor can be disconnected from the drive of the weapon. Also needed the switching on and off of the auxiliary drive a certain period in which this Drive device is only partially functional.
  • the present invention is therefore based on the object, a drive device to provide for aligning a weapon that has low drive power needed and avoids the disadvantages of known drives.
  • the automatic control of this drive device according to the invention in dependence a measured amount of movement allows in particular for weapons the are not stored in their center of gravity, i. have a large imbalance, the Reduction of the required drive power for aligning the weapon and / or for Balancing movements of the base and / or holding the weapon in one big imbalance.
  • Due to the positively coupled active connection of the motors with the Weapon is in operation no mechanical switching on and off of the motors necessary or possible. This can also affect a coupling between the engines and the Weapon be waived.
  • the motors have a permanent mechanical Connection with the weapon to their drive, which may also include a transmission includes.
  • the selection of a suitable translation between the rotational movement the engines and the movement of the weapon allows the adaptation of the drive corresponding specifications for the alignment and / or compensation movements of the engine as well as to hold the weapon.
  • the automatic control of the drive device also be directed to the energy efficient power consumption of the motors, i. that in addition to a movement size and the power consumption of the engines as Manipulated variable is used for the control device.
  • the invention provides that the control device at least in the specific Speed range controls both motors and the motors in this speed range jointly apply the torque for the drive of the weapon.
  • the control of the motors must be in this particular speed range of Drive the weapon can not be applied only by a motor, but it is a Joint drive of the weapon by at least two motors possible. Outside This area is the drive of the weapon only by a motor.
  • Speed range is the total drive torque between the weapon and the base is larger than the torques in this speed range of one Motor to be applied alone. This can also be done in this speed range a higher acceleration can be achieved.
  • the invention provides that by means of the control device in the specific Speed range of a motor is driven so that its torque increases with increasing Speed decreases and the other motor is driven so that its Torque increases with increasing speed.
  • the overlaying one with increasing Decreasing speed and an increasing torque results in the certain speed range to a relatively balanced torque.
  • By controlling the one motor with a decreasing with increasing speed Torque allows even at low speeds, especially at a speed 0 already has a high torque, thereby holding a not Focused weapon is facilitated on a target.
  • the course of the sloping Torque of a motor limited from a high Torque at a low speed up to a torque 0 at a higher Speed, the specific speed range in which both motors of the control device be controlled.
  • control device can be designed so that the control the motors are driven according to certain drive characteristics, and that a falling drive characteristic for the one motor and a rising drive characteristic for the other engine so superimpose in the specific speed range, that in this particular speed range the sum of the torques of the motors remains essentially the same. While the speed is in the specific speed range changes, remains the torque acting between the weapon and the base equal, whereby achieved independently of the speed of the same effect drive will, which is a precise alignment of the weapon and / or compensation for movement the base allows. Especially with weapons that are not in their focus are stored on a base, balancing the imbalance requires a hold the gun on the target necessary nominal torque, regardless of the on the weapon acting rotary motion are provided by the drive device got to.
  • This can be the torque of the other Motor with a speed increasing torque above the overlay area at further increasing speed on a constant Torque corresponding to the sum of the torques in the specific speed range remain.
  • Such an engine may interfere with the engine with a declining torque over a very wide speed range to one lead constant drive torque.
  • the control device can the engines related to the movement of the weapon around the axis have a different speed-torque behavior.
  • a translation between the engine and the weapon which is the speed of the engine Engines implemented in a rotary motion of the weapon, e.g. through a gearbox, already by referring the speed-torque behavior to the movement of the weapon considered.
  • the engines between weapon and base can have a different ratio exhibit.
  • a modification of the drive device provides that the motors in a motor housing are arranged and have a common motor shaft.
  • the common Arrangement of the motors in a common motor housing and around a common motor shaft allows a very simple design and operation the drive device.
  • the windings of the motors are according to a desired Speed-torque behavior interpret and on the common To arrange motor shaft and must during operation of the drive device by the Regulating device are controlled accordingly.
  • a variant of the drive device according to the invention provides that the motors are brushless electric motors. Brushless electric motors make possible by their low wear high reliability of the drive device.
  • the motors have an electronic commutation, which is one for the motors common position encoder is derived.
  • An advantageous embodiment provides that at least one engine, preferably the engine with a lower maximum speed, by means of a circuit breaker of his Power electronics separable and designed to be switchable again.
  • the shutdown of an engine considering its speed-torque behavior of Its power electronics can increase the load on the electronics and thus prevent long-term damage.
  • the Switching range in which a disconnection and connection of the engine should take place, exactly preferably within a range of ⁇ 10% of the maximum speed.
  • a motor At a speed above the maximum speed, a motor generates an induced Voltage that counteracts the supply voltage applied to the motor and in its amount is greater than the applied supply voltage.
  • the present invention relates to a control method for driving a weapon which is rotatable about at least one axis with a base is connected to a first electric motor and at least one second electric motor, for holding and moving the weapon about the axis with this in operative connection stand, wherein for applying a certain torque both motors at positively coupled active connection with the weapon at least over a certain Speed range as a function of a measured amount of movement and to achieve automatically controlled as energy-efficient as possible power consumption of the engines and apply the torque together about the axis, with a Motor is driven so that its torque with increasing speed decreases and the other motor is driven so that its torque with increasing speed increases.
  • the motors may preferably be in dependence on at least one measured Controlled variable are controlled, the torque to drive the weapon in Dependence on this controlled variable according to at least one predetermined characteristic is divided on the engines.
  • the consideration of a measured controlled variable for the allocation of the torque on the engines allows a faster and targeted regulation.
  • the controlled variable In order to enable a fast, accurate control of the drive device, can the controlled variable a measured speed between weapon and basis or one of be derived from this speed derived size.
  • the direct correlation between the measured Speed of the weapon and the impressed by the motors speed allows the fast and accurate control of the weapon.
  • a variant of the control method provides that at least one engine is preferred the motor with a lower maximum speed, by means of a circuit breaker disconnected from its power electronics and switched back on. is the motor is in a critical operating power range for the power electronics, The motor can be protected by a controlled circuit breaker to protect the power electronics be separated from this. Likewise, a disconnection from the power electronics conceivable when the engine is in an inefficient operating range.
  • An embodiment of the invention provides that the engine in response to a certain speed, preferably above its maximum speed, and separated depending on a certain speed, preferably below its maximum Speed, is switched back on. This regulation allows optimum utilization the specific speed range and safely prevents stress on the power electronics.
  • connection and / or disconnection of a motor also time-dependent be controlled.
  • the time-dependent control of switching on and / or off can cause frequent cycling of the circuit breaker with a corresponding load prevent the electronics and the engine.
  • by the time-dependent Controlling the connection and / or switching off a delay of the renewed connection the one motor after a recent separation from the power electronics reached. This is especially important when driving the weapon in the Speed range is moved, in which also the threshold for disconnecting and connecting of a motor is located.
  • Another implementation of the regulatory procedure provides that the engines of two separate electronic units are supplied. This can be the case of failure Drive chain from electronics unit and motor another chain at least one in maintained its efficiency limited drive of the weapon.
  • the inventive drive device of a weapon shown in FIG. 1 shows a weapon 1 mounted on a shaft 2 rotatable about an axis A on a base 3 is.
  • the shaft 2 is connected to a drive wheel 4, to which the motors 5 and 6 engage in direct mechanical connection through their output gears 7 and 8.
  • the desired by a user speed of the weapon 1 is the control device 10 predetermined by a signal 11.
  • This signal 11 can be both from a Control handle generated manually as well as generated by a parent position controller become.
  • the signal 11 for the desired speed of the weapon 1 is at a Summation point 12 compared to the signal 13 for the measured speed of the weapon 1.
  • the measured speed signal 13 can both from one to the base 3 of the Weapon 1 related rotary signal transmitter 9 come, as well as from an inertial measuring Rate of rotation encoder, e.g. a gyroscope.
  • the weapon formed difference signal 14 is forwarded to a speed controller 15.
  • the speed controller 15 forms from the difference signal 14 to reach the desired speed of the weapon required signal 16, which in the same Way is forwarded to the two signal amplifiers 17 and 18.
  • the signal amplifier 17 and 18 receive as a further input from the rotary signal generator. 9 measured speed between the weapon 1 and the base 3 or one of these Speed derived variable, the signal 19.
  • the two signal amplifiers 17 and 18 generate from the signals 16 and 19, the output signals 21 and 22, to the respective current controller with subsequent power electronics 23 and 24 of the two Motors 5 and 6 are forwarded.
  • the characteristic of the signal amplifier 17 is designed so that the gain of the Signal 16 is proportional to the height of the signal level of the signal 19. there initially takes the gain of the signal 10 linearly with the signal 19, wherein at a signal value zero from the signal 19, the signal value of the output signal 21st is also zero. With increasing signal value of the input variable 19 takes the Amplification of the signal 16 proportional to a maximum value. At a further increase of the input signal 19, the output signal 21 remains on the maximum value. Depending on the speed-torque behavior of the motors and power electronics, it may be advantageous to amplify the input signal 16 is not in a linear relationship to input 19 too but to select a customized context.
  • the signal amplifier 18 has in contrast to the signal amplifier 17 at low speeds between the weapon 1 and the base 3 its maximum gain, with increasing signal level of signal 19 decreases. Also in this signal amplifier 18 is a linear relationship between the gain of the signal 16 and the input signal 19, again depending on the characteristics of the Motors 6 and the power electronics 24 selected a non-linear relationship can be. Above a certain level for the signal 19 is connected to the Current controller with subsequent power electronics 24 through the output 22 a signal level zero forwarded. Since in this state of gain of the current controller with subsequent power electronics 24 the motor 6 is de-energized, that must entire torque to drive the weapon 1 by the motor 5 are applied.
  • the current regulators with subsequent power electronics 23 and 24 convert the output signals 21 and 22 of the two signal amplifiers 17 and 18 in the motors. 5 and 6 tuned streams around. These currents are in the motors 5 and 6 depending from the speed-torque behavior of the motors into a corresponding one output torque converted via the output pinion 7 and 8, the drive wheel 4 and the shaft 2 acts on the weapon 1.
  • a switch 25 preferably an electronic Switch, arranged by the motor 6 separated from the power electronics 24 can be.
  • the switch 25 is driven by a signal amplifier 26, the in this embodiment has a two-point characteristic.
  • the signal amplifier 26 receives as input the speed-dependent signal 19.
  • the two-point characteristic in the signal amplifier 26 is set so that the motor 6 always from Current controller 24 is disconnected when a certain speed is exceeded. there This speed preferably correlates with the maximum speed of the motor 6.
  • the dependent of the speed between weapon 1 and base 3 signal 19 its polarity and amplitude change frequently.
  • Fig. 2 shows a further embodiment of the drive device according to the invention.
  • the speed controller 15 signal 16 formed only to a signal amplifier 18 passed.
  • the signal amplifier 18 receives the speed from between Weapon 1 and base 3 dependent signal 19 as the second input.
  • the output signal 22 of the signal amplifier 18 is the one directly to the current regulator with subsequent power electronics 24 and on the other to a summing point 27 passed. At the summing point 27 is formed by the formation of the difference Signals 16 and 22, the output signal 21 is generated, which is connected to the current controller with subsequent Power electronics 23 is forwarded.
  • the signal amplifier 18 has its maximum gain at low speeds.
  • the maximum gain remains starting from a signal value zero of the signal 19 at a rising Signal level initially constant and only falls from a certain signal level of the signal 19 linearly to a signal value zero of the output 22 from.
  • the weapon 1 is provided solely by the motor 6, as located at the summing 27, the signals 16 and 22 cancel and the output 21, a signal level Zero passes, the power to the current controller 23, the motor 5 is de-energized.
  • the drive is performed the weapon 1 through both motors 5 and 6. If the signal level of the signal 19 Further, the output 22 of the signal amplifier 18 switches the motor 6 de-energized, which then moves the drive device only by the motor 5 becomes.
  • FIG. 3 shows the drive characteristics D M5 , D M6 of the motors 5 and 6 as well as the sum torque D A4 jointly applied by the motors 5 and 6 on the drive wheel 4.
  • the drive characteristics D M5 , D M6 of the motors 5 and 6 overlap in the entire operating range of the motor 6, wherein the initial torque of the motor 6 corresponds to the maximum torque M max of the motor 5.
  • the drive characteristics D M5 , D M6 each have a linear course in the overlapping area, which is why its torques add up to a constant total torque D A4 on the drive wheel 4.
  • this total torque D A4 initially corresponds to both the initial torque M max of the motor 6 and the maximum torque M max of the engine falls 5.
  • the torque M of the motor 5 from its maximum value M max to a value 0 at a maximum speed n max , M5 off again. This course at high speeds n is followed by the total torque D A4 on the drive wheel 4.
  • FIG. 4 shows the course of the current consumption I M5 , I M6 of the motors 5 and 6, which correlates with the drive characteristics D M5 , D M6 from FIG. 3, over the rotational speed n.
  • the progression of the current consumption I M5 , I M6 clearly shows that the motor current I of the motor 6 despite the high torque M of the motor 6 at a low speed n is relatively small and continues to decrease linearly up to its maximum speed.
  • the motor current I of the motor 5 increases in proportion to the torque M linearly up to a maximum value.
  • the curves of the motor currents of the motors 5 and 6 are proportional to their drive characteristics D M5 . D M6 .
  • the sum of the current absorbed by the motors 5 and 6 is low at low speeds n, although a high torque M is already applied by the motors 5 and 6 on the drive wheel 4.
  • the recorded motor current I increases linearly in the overlapping area to the extent that the total torque is provided at the drive wheel 4 to an increasing proportion of the motor 5.
  • the drive device is suitable for aligning a weapon 1, for compensating movements of the base 3 and for holding the weapon 1, if it can not be stored in its center of gravity.
  • the motors used are designed for the full performance of the drive device, ie the required maximum speed and the required maximum torque M max . Therefore, these motors require even at a standstill or at low rotational speeds n a very high current I, especially if constantly a nominal torque must be applied to compensate for an imbalance. In such drives, a reduction of the maximum speed can reduce the power consumption, which, however, also limits the operability of the drive device.
  • the drive task at standstill and low speeds n is taken from the motor 6 with a decreasing drive characteristic D M6 , while the motor 5 is connected proportional to increasing speeds n and a part the drive task takes over.
  • the drive device Since the motor 6 receives a significantly lower motor current I than the motor 5 and, as described above, since the drive device is operated mainly at low speeds n, the drive device according to the invention for aligning a weapon 1 and / or for compensating for movements of a base. 3 or the control method for driving a weapon 1 a significantly reduced energy consumption during operation.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
EP20040014268 2003-07-02 2004-06-17 Dispositif d'entrainement d'une arme Expired - Fee Related EP1494347B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10329861 2003-07-02
DE2003129861 DE10329861B3 (de) 2003-07-02 2003-07-02 Antriebsvorrichtung und Regelungsverfahren zum Ausrichten einer Waffe

Publications (2)

Publication Number Publication Date
EP1494347A1 true EP1494347A1 (fr) 2005-01-05
EP1494347B1 EP1494347B1 (fr) 2006-08-16

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EP20040014268 Expired - Fee Related EP1494347B1 (fr) 2003-07-02 2004-06-17 Dispositif d'entrainement d'une arme

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EP (1) EP1494347B1 (fr)
DE (2) DE10329861B3 (fr)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012015036A1 (de) * 2012-07-31 2014-02-06 Schneider Electric Motion Deutschland Gmbh Verfahren zum Betreiben eines mehrere Elektromotoren aufweisenden elektrischen Antriebs
DE102014104896B4 (de) 2013-04-12 2022-05-12 Okuma Corporation Elektromotor-Steuervorrichtung

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4042069A (en) * 1974-03-08 1977-08-16 Hitachi, Ltd. AC Elevator control system
DE3341320A1 (de) * 1983-11-15 1985-05-23 Hoesch Ag, 4600 Dortmund Steuerbarer drehantrieb
DE19951915A1 (de) * 1999-10-28 2001-05-10 Diehl Munitionssysteme Gmbh Richtantrieb
US20030025469A1 (en) * 2001-08-01 2003-02-06 Zhenjia Zhou Moving body drive control device

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US2414924A (en) * 1944-11-16 1947-01-28 Westinghouse Electric Corp Electrical system and apparatus for positioning guns and other movable objects
DE2939547A1 (de) * 1979-09-28 1981-04-09 Ficht GmbH, 8011 Kirchseon Einrichtung zum steuern von lafetten
FR2631179B1 (fr) * 1988-05-06 1991-04-12 Signaux Equip Electroniques Dispositif pour commander au moins un moteur electrique d'asservissement avec une puissance elevee a partir d'un reseau basse tension, en particulier pour la motorisation d'une tourelle embarquee sur un char de combat
DE10204052A1 (de) * 2002-02-01 2003-08-14 Krauss Maffei Wegmann Gmbh & C Richtanlage für einen Raketenwerfer

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4042069A (en) * 1974-03-08 1977-08-16 Hitachi, Ltd. AC Elevator control system
DE3341320A1 (de) * 1983-11-15 1985-05-23 Hoesch Ag, 4600 Dortmund Steuerbarer drehantrieb
DE3341320C2 (fr) 1983-11-15 1989-08-10 Hoesch Ag, 4600 Dortmund, De
DE19951915A1 (de) * 1999-10-28 2001-05-10 Diehl Munitionssysteme Gmbh Richtantrieb
US20030025469A1 (en) * 2001-08-01 2003-02-06 Zhenjia Zhou Moving body drive control device

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102012015036A1 (de) * 2012-07-31 2014-02-06 Schneider Electric Motion Deutschland Gmbh Verfahren zum Betreiben eines mehrere Elektromotoren aufweisenden elektrischen Antriebs
DE102012015036B4 (de) * 2012-07-31 2020-03-19 Schneider Electric Automation Gmbh Verfahren zum Betreiben eines mehrere Elektromotoren aufweisenden elektrischen Antriebs
DE102014104896B4 (de) 2013-04-12 2022-05-12 Okuma Corporation Elektromotor-Steuervorrichtung

Also Published As

Publication number Publication date
EP1494347B1 (fr) 2006-08-16
DE502004001184D1 (de) 2006-09-28
DE10329861B3 (de) 2005-01-13

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