JP2648223B2 - How to avoid obstacles of gun servo - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a method for avoiding obstacles of a gun servo, and in particular,
Performs elevation operation based on the forced elevation angle command generated by the area determination table logic circuit that receives the position feedback signal of the angle detector that detects the current position of the gun and the angle command angle from the shooting command device, and avoids obstacles. The present invention relates to a novel improvement for minimizing a delay in angular difference operation time due to operation.

[Prior Art] Conventionally, there are various obstacle avoidance methods of this kind of a gun servo. Among them, a typical configuration is described as follows. The method shown in FIG. 5 and FIG. 5 can be mentioned for the elevation system.

That is, what is indicated by reference numeral 1 in FIG. 4 is a shooting command device, and an angle command 1A for generating a predetermined angle command angle from the shooting command device 1 is input to a first adder / subtracter 2, and the first addition / subtraction is performed. The first output 2 a from the device 2 is input to the first control circuit 3.

A turning position signal 5a transmitted from a turning system 5 (not shown) is input to the obstacle avoiding operation circuit 4, and immediately before entering the obstacle turning area (A), the forcible elevation command (4a) is issued from the obstacle avoiding operation circuit 4. ) Is output.

When the first control circuit 3 receives the compulsory elevation command 4a, it can ignore the value of the first output 2a from the first adder / subtractor 2 and output a command in the elevation direction.

The first control output 3a of the first control circuit 3 is input to a second adder / subtractor 6, which has a servo motor 8 for operating a load 7 as a gun based on an angle command 1A. The rate feedback signal 9a from the tach generator 9 connected to is input as feedback.

A second output 6a from the second adder / subtractor 6 is input to a third adder / subtractor 11 via a second control circuit 10, and the second adder / subtractor 11 receives a drive current 12a from the servo motor 8 A part is fed back as the current feedback signal 12aA.

The third output 11a from the third adder / subtractor 11 is supplied to the servo motor 8 via the third control circuit 12 as the drive current 12a.
Has been applied.

Furthermore, a position feedback signal 13a indicating the current position of the gun as an absolute signal from an angle detector 13 such as a synchro transformer connected to the servomotor 8
Are input to the first adder / subtractor 2 in a feedback manner.

Therefore, in the conventional method described above, the shooting commanding device 1
In order to drive the servo motor 8 via the aforementioned adders / subtractors 2, 6, 11 and the respective control circuits 3, 10, 12 and the obstacle avoidance operation circuit 4 based on the angle command 1A from FIG. Thus, the current command position of the gun and the angle command angle 1Aa from the firing command device 1
When the obstacle avoidance area (A) exists in between, the gun servo system keeps the angle command angle until just before the vehicle enters the obstacle avoidance area (A) despite the existence of the obstacle avoidance area (A). Go straight to (1Aa) and go to this obstacle avoidance area (A)
, And the turning operation is stopped during this elevation operation period.

Further, at the elevation angle (B), after performing the elevation operation until the vehicle gets over the obstacle avoidance area (A), the circuit is configured to perform the rectilinear operation again toward the angle command angle (1Aa).

[Problem to be Solved by the Invention] The conventional method for avoiding obstacles of a gun servo has the following problems because it is configured as described above.

That is, in the obstacle avoidance operation circuit in the conventional method, since the vehicle travels straight toward the angle command angle (1Aa) until immediately before the obstacle avoidance area (A) enters, the obstacle avoidance area (A)
Elevation operation is required along the axis.

While the elevation angle operation is being performed, the operation of the turning servo system is in a stopped state, so that there is wasted time from the viewpoint that the gun moves from the current position (C) to the angle command angle (1Aa).

Therefore, this dead time is a fatal obstacle to the quick reaction required for the gun servo system.

The present invention has been made in order to solve the above-described problems. In particular, an area in which a position feedback signal of an angle detector for detecting a current position of a gun and an angle command angle from a firing command device are input. An object of the present invention is to provide a method for avoiding obstacles of a gun servo, which performs an elevation operation based on a forced elevation angle command generated by a determination table logic circuit and minimizes a delay in an angle difference operation second due to an obstacle avoidance operation. .

[Means for Solving the Problems] The obstacle avoidance method of the gun servo according to the present invention avoids an obstacle avoidance area existing between the current position of the gun and the angle command angle from the firing command device, and sets the angle command angle to In the obstacle avoidance method of a gun servo adapted to follow, a position feedback signal from an angle detector for detecting the current position of the gun and the angle command angle are input to an area determination table logic circuit, and the area determination table logic is input. In this method, a compulsory elevation command is generated in the "yes" area of the circuit, and the elevation operation is unconditionally performed by the compulsory elevation command.

[Operation] In the obstacle avoidance method of the gun servo according to the present invention,
As shown in FIG. 3, an obstacle avoidance area (A) and each zone I to V are set, and as shown in Table 1, an area judgment table in the area judgment table logic circuit is set. I have.

Therefore, the gun current position information and the angle command angle information transmitted from the firing command device are input to the area determination table logic circuit, and these two input signals are input together with the turning system and the elevation system. Therefore, it is possible to determine which zone I to V in the area determination table.

In the case described above, in the case of the relative positional relationship indicated by “YES” in the table of the area determination table shown in Table 1,
By generating a forced elevation command and adding it to the second adder / subtractor to which the rate feedback signal of the elevation servo system is inputted, the elevation operation can be performed unconditionally,
Obstacle avoidance area (A) at an early point in time when the gun starts moving
And can move directly to the angle command angle.

[Embodiment] A preferred embodiment of an obstacle avoidance method for a gun servo according to the present invention will be described below with reference to the drawings.

Note that the same or equivalent parts as those in the conventional example are denoted by the same reference numerals and described.

1 to 3 show a method of avoiding obstacles of the gun servo according to the present invention. FIG. 1 is a block diagram,
FIG. 2 is an explanatory diagram showing a gun servo state, and FIG. 3 is an explanatory diagram showing a basic model of an obstacle avoidance area and an example of zone setting.

In FIG. 1, reference numeral 1 denotes a shooting command device, and a predetermined angle command angle 1A from the shooting command device 1.
The angle command 1A having a is input to the first adder / subtractor 2, and the first output 2a from the first adder / subtractor 2 is supplied to the first control circuit 3
Has been entered.

The first control output 3a of the first control circuit 3 is input to a second adder / subtractor 6, which has a servo motor 8 for operating a load 7 as a gun based on an angle command 1A. The rate feedback signal 9a from the tach generator 9 connected to is input as feedback.

A second output 6a from the second adder / subtractor 6 is input to a third adder / subtractor 11 via a second control circuit 10, and the second adder / subtractor 11 receives a drive current 12a from the servo motor 8 A part is fed back as the current feedback signal 12aA.

The third output 11a from the third adder / subtractor 11 is supplied to the servo motor 8 via the third control circuit 12 as the drive current 12a.
Has been applied.

Furthermore, a position feedback signal 13a indicating the current position of the gun as an absolute signal from an angle detector 13 such as a synchro transformer connected to the servomotor 8
Are input to the first adder / subtractor 2 in a feedback manner.

Further, the angle command 1A and the position feedback signal 13a are input to an area determination table logic circuit 20, and the area determination table logic circuit 20 includes a turning system.
The angle command 21a and the gun current position signal 21b from 21 are applied together.

The area determination table logic circuit 20 has a built-in area determination table as shown in Table 1 below.

That is, the area determination table in the area determination table logic circuit 20 is formed in a matrix manner with respect to the angle command angle 1Aa of the angle command 1A and the current position of the gun from zone I to zone V. The elevation angle command 22 is configured to be added to the second adder / subtractor 6.

As shown in FIG. 3, each of the zones I to V is set around the obstacle avoidance area (A).

The obstacle avoidance method of the gun servo according to the present invention is configured as described above, and its operation will be described below.

First, a position feedback signal 13a as gun current position information and angle command angle information of an angle command 1A from the shooting command device 1 are input to the area determination table logic circuit 20.

The two input signals of the current gun position information and the angle command angle information are input together with the turning system and the elevation system to determine which zone in the area determination table (Table 1). Can be

Therefore, as shown in FIG. 2, if the obstacle avoidance area (A) exists between the position feedback signal 13a, which is the gun current position, and the angle command angle 1Aa of the angle command 1A, as shown in FIG. As shown, when the current gun position is in zone I and the angle command angle is in zone III, the forced elevation command 22 is added to the second adder / subtractor 6, and the added value is immediately applied to the servomotor 8. Thus, the elevation angle operation can be performed unconditionally.

Therefore, this operation is performed as shown in FIG. 2, and there is no useless operation along the obstacle avoidance area (A) as compared with the operation by the conventional method (indicated by a dashed line).
At an early point, it is possible to jump over the obstacle avoidance area (A) and follow the angle command angle 1Aa.

The setting of the zones shown in Table 1 and FIG. 3 is an example, and the zone setting can be arbitrarily set in the area determination table.

[Effects of the Invention] The obstacle avoidance method of the gun servo according to the present invention is configured as described above, so that the following effects can be obtained.

That is, by adding the compulsory elevation angle command output from the area determination table logic circuit and applying it to the servomotor, the elevation angle operation can be performed unconditionally, and the obstacle avoidance area is set at an early point in time when the gun starts moving. It can jump over and directly follow the angle command angle.

Therefore, by eliminating the waste of the operation time in the obstacle avoidance area, it is possible to completely eliminate the hindrance of the quick action required for the gun servo system.

[Brief description of the drawings]

1 to 3 show a method of avoiding an obstacle of a gun servo according to the present invention. FIG. 1 is a block diagram, FIG. 2 is an explanatory diagram showing a gun servo state, and FIG. FIG. 4 is an explanatory view showing a basic model of an obstacle avoidance area and an example of zone setting, FIG. 4 is a block diagram showing a conventional obstacle avoidance method of a gun servo,
FIG. 5 is an explanatory view showing a conventional gun servo state. 1 is a shooting commander, 1A is an angle command, 1Aa is an angle command angle,
A is an obstacle avoidance area, 13 is an angle detector, 13a is a position feedback signal, 20 is an area determination table logic circuit, and 22 is a compulsory elevation angle command.

Claims (1)

(57) [Claims] An obstacle avoiding area (A) existing between a current position of a gun and an angle command angle (1Aa) based on an angle command (1A) from a firing command device (1) is avoided, and said angle command angle is avoided. In the obstacle avoidance method of the gun servo, the position feedback signal (13a) from the angle detector (13) for detecting the current position of the gun and the angle command angle are stored in an area determination table logic circuit (20). The forced elevation angle command (22) is generated in the "yes" area of the area determination table logic circuit (20), and the unconditional elevation operation is performed by the forced elevation angle command (22). The feature is how to avoid obstacles of gun servo.