EP3317604B1 - Vorrichtung und verfahren zum motorgetriebenen zielen - Google Patents
Vorrichtung und verfahren zum motorgetriebenen zielen Download PDFInfo
- Publication number
- EP3317604B1 EP3317604B1 EP16734376.3A EP16734376A EP3317604B1 EP 3317604 B1 EP3317604 B1 EP 3317604B1 EP 16734376 A EP16734376 A EP 16734376A EP 3317604 B1 EP3317604 B1 EP 3317604B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- support
- motor
- saturation
- axis
- nominal speed
- 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.)
- Active
Links
- 238000000034 method Methods 0.000 title claims description 8
- 238000005259 measurement Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims 2
- 229920006395 saturated elastomer Polymers 0.000 claims 2
- 230000005540 biological transmission Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000035939 shock Effects 0.000 description 2
- 230000006641 stabilisation Effects 0.000 description 2
- 238000011105 stabilization Methods 0.000 description 2
- 230000010355 oscillation Effects 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/06—Elevating or traversing control systems for guns using electric means for remote control
-
- 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
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
- F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41G—WEAPON SIGHTS; AIMING
- F41G5/00—Elevating or traversing control systems for guns
- F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
- F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks
Definitions
- the present invention relates to the pointing or the motorized orientation of an element in a predetermined direction and in particular the alignment of a weapon on a line of sight.
- a pointing device comprising a fixed frame and a steerable support on a steerable weapon system relative to a reference frame such as that of the vehicle carrying the weapon system in the case of a weapon system.
- the support of the pointing device is mounted on the frame of the weapon to be orientable around two axes of rotation, namely a site axis and a bearing axis, by means of two electric motors.
- These motors are controlled so as to bring and maintain the orientable support aligned in a direction corresponding to the line of sight determined by the service of the weapon.
- the recoil of the weapon When shooting, the recoil of the weapon generates a shock which causes a sudden rotation of the support.
- the motors are controlled to oppose this sudden rotation until the saturation of the engine control which limits the risk of damage to the electronics of the device but makes it impossible to maintain the alignment of the support on the line of aiming. There is then a shift between the actual angular position of the support relative to the line of sight.
- the engine control does not allow the engines to catch up quickly so that, in case of continuous shooting, there is a risk that the second shot, then the next, are further and further away from the target.
- An object of the invention is to provide a means to improve the accuracy of the alignment of a motorized support in case of shock or any other physical phenomenon resulting in saturation of the engine.
- the reference inertial position is the position in which the support was located just before the saturation of the engine. This position is measured via the inertial angular velocity sensor. With the invention, the nominal speed setpoint is increased to quickly bring the support back to the reference inertial position.
- the pointing device comprises a fixed frame 1 in which is mounted a support 2 for pivoting about an axis 3 here vertical.
- the frame 1 is arranged to be fixed on a carrier, a vehicle or a tank turret for example.
- the support 2 is arranged to carry the element to be pointed, a weapon or a pointing device for example, and is connected to the frame 1 by bearings coaxial with the axis 3.
- the support 2 is adjustable in angular position about the axis 3 by means of an electric motor 4 having an output shaft connected via movement transmission means to a ring coaxial with the axis 3 and integral with the support 2.
- the motion transmission means are, for example, gears, a belt, cables ...
- the motor can also be mounted in direct contact with the element to be driven and thus connect the frame 1 to the support 2.
- the support 2 is also equipped with an inertial sensor of angular velocity around the axis 3, namely a gyrometer 5.
- the electric motor 4 and the gyrometer 5 are connected to a computer control unit 6 arranged to execute a control program and having an interface allowing an operator of the pointing device to input data into the control program.
- the control computer unit 6 continuously records the angular velocity measured by the gyrometer 5.
- control program is illustrated on the figure 2 in the form of a control chain generally designated at 10 and arranged to control the electric motor 4 according to a nominal speed setpoint ⁇ calculated from data entered by the operator of the pointing device.
- the control chain comprises a main control loop 20 and a correction loop 30 which intervenes in case of saturation of the electric motor 4.
- the main control loop 20 comprises an element 21 for controlling the motors which determines the control parameters of the electric motor 4 as a function of a difference between a speed setpoint ⁇ 1 and a speed of the support 2, denoted ⁇ M.
- the speed ⁇ M is measured by the gyrometer 5.
- the correction loop 30 comprises an estimator 31 of a difference between a reference inertial position prior to saturation and an actual inertial position and a corrector 32 arranged to correct the nominal speed setpoint ⁇ as a function of this difference.
- This correction is an integral proportional type correction that provides a corrected speed instruction ⁇ C.
- the correction loop 30 also comprises a detector 33 of the saturation of the electric motor 4 from saturation information coming from the control element 21.
- the detector 33 makes it possible to monitor the occurrence of a saturation of the electric motor 4 and is arranged to activate the correction loop 30 in case of saturation of the electric motor 4.
- An adder 34 adds the nominal target .theta speed and the speed setpoint corrected .theta C to give the speed setpoint .theta 1.
- the speed setpoint ⁇ 1 is equal to the nominal speed setpoint ⁇ .
- the correction loop 30 is activated by the detector 33 so that the nominal target .theta speed is corrected by the corrector 32 that provides the velocity command corrected .theta C.
- the support 2 can be mounted in the frame 1 to be adjustable in position along two perpendicular axes, for example.
- the support 2 can be mounted in the frame 1 to be adjustable in location and bearing relative to the frame 1 by means of two motors and using either an angular inertial sensor with two sensitive axes or two inertial sensors angular sensitive axis.
- the invention is applicable to any pointing device arranged to orient any element in a predetermined direction.
- the support can be equipped with several inertial sensors: a first sensor used for the conventional stabilization control loop and a gyrometer for the correction loop.
- the method can be implemented continuously by adding an over-position loop absolute (or inertial).
- the implementation device is then devoid of tripping and stopping elements of the function 33; there is no measurement of the reference by the estimator 31 and the speed instruction provided by the operator is always corrected by the speed reference from the corrector 32.
- This implementation considerably reduces the impact of friction and thus increase the oscillation stabilization performance of the slave system. This method can therefore also be used as a friction compensator.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Electric Motors In General (AREA)
- Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
- Control Of Position Or Direction (AREA)
Claims (4)
- Verfahren zum Steuern einer Zielvorrichtung, umfassend ein ortsfestes Gestell (1), an dem ein Träger (2) angebracht ist, um um mindestens eine Drehachse (3) mit Hilfe mindestens eines Motors (4) drehbar zu sein, wobei der Träger mit mindestens einem Inertialsensor (5) zum Messen der Winkelgeschwindigkeit um diese selbe Achse versehen ist, wobei das Verfahren die Schritte umfasst:- Regeln der Steuerung des Motors in Abhängigkeit von einer Differenz zwischen einem nominalen Geschwindigkeitssollwert und einer Messung des Sensors zum Messen der Winkelgeschwindigkeit, und Überwachen eines Auftretens einer Sättigung des Motors;- im Falle einer erfassten Sättigung Bestimmen eines Korrekturwertes für den nominalen Geschwindigkeitssollwert in Abhängigkeit von einer Abweichung zwischen einer Referenz-Inertialposition vor der Sättigung und einer tatsächlichen Inertialposition und Anwenden des Korrekturwertes auf den nominalen Geschwindigkeitssollwert.
- Verfahren nach Anspruch 1, bei dem der Korrekturwert über eine Korrektur vom Typ Proportional-Integral-Korrektur erhalten wird.
- Zielvorrichtung, umfassend ein ortsfestes Gestell (1), einen Träger (2), mindestens einen Motor (4) und eine Steuereinheit (6), in der der Träger (2) an dem ortsfesten Gestell (1) derart angebracht ist, dass er um mindestens eine Drehachse (3) mit Hilfe des mindestens einen Motors (4), der mit der Steuereinheit (6) verbunden ist, drehbar ist, wobei der Träger (2) mit mindestens einem Inertialsensor (5) zum Messen der Winkelgeschwindigkeit um diese selbe Achse verbunden ist, und bei der die Steuereinheit (6) ausgebildet ist, um:- die Steuerung des Motors in Abhängigkeit von einer Differenz zwischen einem nominalen Geschwindigkeitssollwert und einer Messung des Sensors zum Messen der Winkelgeschwindigkeit zu regeln, und ein Auftreten einer Sättigung des Motors zu überwachen;- im Falle einer erfassten Sättigung Bestimmen eines Korrekturwertes des nominalen Geschwindigkeitssollwertes in Abhängigkeit einer Abweichung zwischen einer Referenz-Inertialposition vor der Sättigung und einer tatsächlichen Inertialposition und Anwenden des Korrekturwertes auf den nominalen Geschwindigkeitssollwert.
- Vorrichtung nach Anspruch 3, bei der der Korrekturwert über eine Korrektur vom Typ Proportional-Integral-Korrektur erhalten wird.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR1556304A FR3038377B1 (fr) | 2015-07-03 | 2015-07-03 | Procede et dispositif motorise de pointage |
PCT/EP2016/065586 WO2017005656A1 (fr) | 2015-07-03 | 2016-07-01 | Procede et dispositif motorise de pointage |
Publications (2)
Publication Number | Publication Date |
---|---|
EP3317604A1 EP3317604A1 (de) | 2018-05-09 |
EP3317604B1 true EP3317604B1 (de) | 2019-06-05 |
Family
ID=55072765
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP16734376.3A Active EP3317604B1 (de) | 2015-07-03 | 2016-07-01 | Vorrichtung und verfahren zum motorgetriebenen zielen |
Country Status (8)
Country | Link |
---|---|
US (1) | US10145654B2 (de) |
EP (1) | EP3317604B1 (de) |
CN (1) | CN107810380B (de) |
FR (1) | FR3038377B1 (de) |
IL (1) | IL256454B (de) |
RU (1) | RU2658555C1 (de) |
WO (1) | WO2017005656A1 (de) |
ZA (1) | ZA201800246B (de) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN112462773B (zh) * | 2020-11-27 | 2022-09-02 | 哈尔滨工程大学 | 一种欠驱动水面船的路径跟踪抗饱和鲁棒控制方法 |
Family Cites Families (12)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3405599A (en) * | 1964-12-02 | 1968-10-15 | Cadillac Gage Co | Weapon stabilization system |
SE442442B (sv) * | 1980-10-27 | 1985-12-23 | Bofors Ab | Servosystem innefattande en programmerbar signalenhet for dempning av svengningar i eldror vid avfyrning |
RU2045734C1 (ru) * | 1991-12-23 | 1995-10-10 | Шаповал Иван Андреевич | Электропривод |
US5413028A (en) * | 1993-11-12 | 1995-05-09 | Cadillac Gage Textron Inc. | Weapon stabilization system |
EP1154219A1 (de) * | 2000-05-11 | 2001-11-14 | Oerlikon Contraves Ag | Verfahren und Vorrichtung zur Korrektur von dynamischen Geschützfehlern |
CH695248A5 (de) * | 2000-12-19 | 2006-02-15 | Contraves Ag | Verfahren und Vorrichtung zum Korrigieren von Schiessfehlern. |
FR2821928B1 (fr) * | 2001-03-09 | 2003-08-29 | Sagem | Systeme de conduite de tir |
US6820531B1 (en) * | 2003-12-01 | 2004-11-23 | Textron Systems Corporation | Positioning system with continuous-range inclination and rotation angles |
DE102013006939A1 (de) * | 2013-04-23 | 2014-10-23 | Rheinmetall Waffe Munition Gmbh | Adaptive Beschleunigungsbegrenzung |
US9593913B1 (en) * | 2015-05-14 | 2017-03-14 | The United States Of America As Represented By The Secretary Of The Army | Digital positioning system and associated method for optically and automatically stabilizing and realigning a portable weapon through and after a firing shock |
CN204902666U (zh) * | 2015-08-28 | 2015-12-23 | 四川建筑职业技术学院 | 一种全自动射击的枪架系统 |
CN105605967B (zh) * | 2015-12-25 | 2017-09-01 | 广州市刑事科学技术研究所 | 新型射击样本采集设备 |
-
2015
- 2015-07-03 FR FR1556304A patent/FR3038377B1/fr active Active
-
2016
- 2016-07-01 RU RU2018103946A patent/RU2658555C1/ru active
- 2016-07-01 EP EP16734376.3A patent/EP3317604B1/de active Active
- 2016-07-01 US US15/741,674 patent/US10145654B2/en active Active - Reinstated
- 2016-07-01 WO PCT/EP2016/065586 patent/WO2017005656A1/fr active Application Filing
- 2016-07-01 CN CN201680037983.3A patent/CN107810380B/zh active Active
-
2017
- 2017-12-20 IL IL256454A patent/IL256454B/en active IP Right Grant
-
2018
- 2018-01-12 ZA ZA2018/00246A patent/ZA201800246B/en unknown
Non-Patent Citations (1)
Title |
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None * |
Also Published As
Publication number | Publication date |
---|---|
IL256454A (en) | 2018-03-01 |
US10145654B2 (en) | 2018-12-04 |
WO2017005656A1 (fr) | 2017-01-12 |
FR3038377A1 (fr) | 2017-01-06 |
FR3038377B1 (fr) | 2018-06-15 |
US20180195837A1 (en) | 2018-07-12 |
RU2658555C1 (ru) | 2018-06-21 |
ZA201800246B (en) | 2019-07-31 |
CN107810380B (zh) | 2019-03-22 |
EP3317604A1 (de) | 2018-05-09 |
CN107810380A (zh) | 2018-03-16 |
IL256454B (en) | 2018-08-30 |
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