JPS62229409A - Tilt angle controller - Google Patents

Abstract

PURPOSE:To previously avoid such a trouble that a searching direction deviates from a target by providing a tilt angle holding and controlling means that holds and controls the tilt angle of a set elevating body approximately to a constant. CONSTITUTION:The tilt angle holding and controlling means 8B is provided with an angle speed detectors 7A and a tilt angle detector 7B, both of which are loaded on a light projector 6, a reference signal forming part 22 forming a reference signal S0 corresponding to the set value of a tilt angle based on a gradient angle signal S2 detected by the tilt angle detector 7B, a comparison and control part 24 which compares the reference signal S0 outputted from the reference signal forming part 22 with an angle signal S1 based on an angle speed signal S1' outputted from the angle speed detector 7A and outputs a control signal if necessary, and an elevating and driving part 14 which is energized and driven by the control signal from the comparison and control part 24. The elevating and driving part 14 serves as a tilt angle manually setting means 8A and the tilt angle holding and controlling means 8B.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an inclination angle control device, particularly when applied to a searchlight floodlight (elevating body) etc. fixedly mounted on a ship body (rocking body), etc. 1 shows a preferred tilt angle control device;

[Conventional technology]

Generally, when a searchlight is fixedly attached to the hull as a rocking body and work is performed under the searchlight, the angle of inclination of the searchlight, that is, the inclination of the floodlight (elevating body) that is the main body of the searchlight, is It is necessary to maintain the angle constant regardless of pitching, rolling, etc. of the hull.

For this reason, conventionally, for example, a simple structure has been adopted in which a changeover switch such as a dual push button type that can change the direction of energization is inserted between the power source and the elevation motor that drives the projector in elevation. This method is relatively widely used. In this case, the operator manually operates the push button for forward rotation of the motor or the push button for reverse rotation of the motor each time, thereby allowing the tilt angle of the projector to be set to a desired value.

[Problem that the invention seeks to solve]

However, in the conventional example described above, even if the elevation motor is controlled and the searchlight floodlight is made to capture the target, the searchlight may fluctuate if the ship's pitching, rolling, or other shaking occurs. There is an inconvenience in that the search light may deviate significantly from the target.

In this case, an additional and troublesome re-operation is required, in which the operator has to make one changeover switch and scan the tilt angle of the floodlight over a wide range to re-acquire the target, which only adds to the burden on the operator. Another disadvantage is that the searchlights reduce the efficiency of the entire work.

[Object of the Invention] The present invention has been made in view of the problems of the conventional example. In particular, once the inclination angle of the elevating body is set, even if the rocking body swings thereafter, The object of the present invention is to provide a tilt angle control device that can maintain a set tilt angle as much as possible.

[Means for solving problems]

Therefore, in the present invention, in a tilt angle control device provided with a tilt angle manual setting means that can manually set the tilt angle in a predetermined direction of an elevating body fixedly attached to a rocking body, when the rocking body swings, However, the above object is achieved by including a tilt angle holding control means for controlling the tilt angle of the elevating body set by the tilt angle manual setting means to be maintained substantially constant. be.

[Embodiments of the invention]

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

In this embodiment, the hull 2 as a rocking body (see Fig. 4)
The case is shown in which the searchlight 4 is fixedly installed.

First, in FIG. 1, 6 indicates a projector as an elevating body, and 8 indicates the inclination angle (inclination angle or elevation angle) of the projector 6 in a specific direction.
A tilt angle control device is shown.

Of these, the light projector R36 receives power from a power supply (not shown) and searches for a specific or unspecified target (object). is configured in a cylindrical shape. Further, this projector 6 is equipped with an angular velocity detector 7A that detects the temporal change rate of the swinging of the projector 6 as an angular velocity and outputs an angular velocity signal SI' corresponding to the angular velocity.
and a tilt angle detector 7B that detects the tilt angle of the projector 6 and outputs a corresponding tilt angle signal S2 at a predetermined position on its side surface (see FIG. 3).

On the other hand, the inclination angle control device 8 includes a manual inclination angle setting means 8A for manually adjusting the inclination angle of the projector 6 in a specific direction, and an inclination of the projector 6 set by the manual inclination angle setting means 8A. The tilt angle holding control means 8B controls the angle to be held substantially constant. Here, the inclination angle of the light projector 6 and the inclination angle of the search direction are configured to correspond to l:l.

Of these, the tilt angle manual setting means 8A includes a power supply unit (DC) 10 for power supply, and a dual push button type changeover switch 12 that can change the direction of current flow from the power supply unit IO by manual operation by the operator. , and an elevation drive section I4 that rotates forward or backward according to a predetermined operation of the changeover switch 12 to vary the inclination angle of the body of the projector 6.

Furthermore, this elevating drive unit 14 has an elevating motor 16 and a gear mechanism 18 that transmits the rotational force of the elevating motor 16 to the projector 6. Specifically, as shown in FIG.
It is constructed as shown in FIG. That is, in these figures, the elevation drive unit 14 is installed on one side of a substantially U-shaped pivot mechanism 19 that pivots the projector 6 so that it can be elevated and elevated. The output shaft of the elevation motor 16 mounted at a predetermined position on the side is the first. Second. Third transmission gear 18A
, 18B, and 18C to a worm wheel 18D, and the rotational force of this worm wheel 18D is connected to the support shaft 20 of the projector 6 (see FIG. 2). Here, the transmission gear 18A.

18B, 18C and worm wheel 18D are gear mechanism 1
8. Therefore, by appropriately operating the changeover switch 12 to control the current direction,
The rotational direction of the elevation motor 16 can be rotated forward or reverse, so that the tilt angle of the projector 6 can be manually controlled.

Furthermore, the tilt angle holding control means 8B includes an angular velocity detector 7A and a tilt angle detector 7B attached to the projector 6,
A reference signal forming unit 22 that forms a reference signal S0 corresponding to the set value of the inclination angle based on the inclination angle signal S2 detected from the inclination angle detector 7B, and a reference signal output from the reference signal forming unit 22. S. and an angular velocity signal S1 outputted from the angular velocity detector 7A, and an angle signal S1 based on the angular velocity signal S, /, and outputs a control signal as necessary.
4, and the above-mentioned elevation drive section 14 which is energized and driven by the control signal from the comparison control section 24. Here, this elevation drive section 14 is configured to operate as the tilt angle manual setting means 8A.
It is configured to be used both as the tilt angle holding control means 8B.

Further, in this embodiment, the tilt angle holding control means 8B is +?
If a drift signal is generated in the angular velocity detector 7A and the comparison control unit 24 based on the reference signal S0 from the base signal forming unit 22 and the tilt angle signal s2 from the tilt angle detector 7B, the light projector 6 It also includes a drift correction section 26 that corrects the variation in the inclination angle.

To explain this in more detail, the reference signal forming section 22 includes a low-pass filter 28 (
Hereinafter, simply referred to as "[, PF"], a hold circuit 30 that holds a predetermined angle signal from this LPF 28 to form and output a reference signal S0, and a hold trigger contact (normal (closed) 32. Further, the hold trigger contact 32 is turned on and off in conjunction with the changeover switch 12 of the manual tilt angle setting means 8A.

In other words, the hold trigger contact 32 is set to turn off (open) when any push button of the changeover switch 12 is operated and energized, and to turn on (closed) when it is not operated. ing.

Therefore, when the changeover switch 12 is operated to change the inclination angle of the projector 6, a detection signal 82 corresponding to the new inclination angle is sent from the inclination angle detector 7B to the LPF at a predetermined timing.
28. This tilt angle signal S2
If it is a predetermined low frequency signal, it passes through the LPF 28 and is input to the hold circuit 30. Then, when the setting of the tilt angle is completed and the changeover switch 12 is changed to the non-operated state, the hold trigger contact 32 is immediately turned on, the hold circuit 30 samples the tilt angle signal S2 corresponding to the set value, and the hold circuit 30 samples the tilt angle signal S2 corresponding to the set value. hold.

As a result, the hold circuit 30 outputs the reference signal S0 corresponding to the hold signal only while the hold trigger contact 32 is on. In this case, when a severe disturbance etc. is applied to the projector 6 and the tilt angle detector 7B, the signal S2 is accompanied by a high frequency component, but such a signal S2 is blocked by the LPF 28 and influences the formation of the reference signal S0. It seems like it never happens.

Further, the comparison control section 24 controls the reference signal S. It is equipped with an adder 34 whose reference input is .

The comparison input terminal (-) of the adder 34 receives the signal 3. from the angular velocity detector 7A. Adder 36 that relays /
and an integrator 38 that integrates it. Furthermore, the output end of the adder 34 is a relay contact 40 (normally closed).
It is connected to the elevating motor 16 of the elevating and elevating drive section 14 via a motor drive circuit 42 . That is, here, the comparison control section 24 is constituted by the adders 34 and 36, the integrator 38, the relay contact 40, and the motor drive circuit 42.

Of these, the relay contact 40 is turned on and off in the same way as the hold trigger contact 32, and the switch 1
It is set to be linked to 2.

Therefore, when the operation of the changeover switch 12 is finished,
In the adder 34, the reference signal S0 and the angle signal S1 integrated by the integrator 38 are compared. and,
As a result, a difference occurs between the two, and the adder 34 outputs the control signal S,
When is output, the motor drive circuit 42 is driven based on this, and the elevation motor 16 is driven. As a result, the tilt angle of the projector 6 is maintained and controlled to be substantially constant even when the projector 6 swings.

Furthermore, the drift correction section 26 includes an adder 44 for comparison.
and an LPF 46 for blocking high frequency signals. Of these, the reference signal S0 is applied to the reference input terminal (+) of the adder 44, and the tilt angle signal S2 is applied to the comparison input terminal (-). Further, the output terminal of the LPF 46 is connected to the comparison input terminal (-) of the adder 36 of the comparison control section 24 as shown.

Therefore, the correction control signal S4 is output only when there is a difference between the values of the reference No. 18 S0 and the tilt angle signal Sz.

If this signal S4 has a predetermined low frequency,
It passes through the LPF 46 and is added to the adder 36 of the comparison control section 24.
The angular velocity signal 31' is corrected.

Incidentally, as shown in FIG. 1, a manual turning angle setting means 48 acts on the above-mentioned floodlight 6 and the elevation driving section 14, which allows both to turn within a predetermined range as a unit and to determine the search direction. It is made up like this. This turning angle manual setting means 48 is the tilt angle manual setting means 8A described above.
Similarly, it is composed of a power supply section 50, a double push button type changeover switch 52, and a rotation drive section 54.

Of these, the swing drive section 54 is composed of a swing motor 56 that can rotate forward and reverse, and a gear mechanism 58 that transmits the rotation of the swing motor 56 to the shaft support mechanism 19. Specifically, as shown in FIGS. 2 and 3, the searchlight 4 includes a box-shaped base mechanism 60 on which the pivot mechanism 19 is rotatably installed. An angle manual setting means 48 is provided. That is, the rotation of the swing motor 56 mounted at a predetermined position of the base mechanism 60 is caused by the first rotation. Second transmission gear 58A.

58B (each of which constitutes the gear mechanism 58) is transmitted to the rotating shaft 19A of the shaft support mechanism 19.

Therefore, by controlling the rotation of the rotation motor 56 by operating the forward or reverse rotation push button of the changeover switch 52, the operator can adjust the rotation angle of the shaft support mechanism 19, that is, the projector 6, and adjust its direction. can be set.

Next, the overall operation of this embodiment will be explained.

First, as described above, the operator selects the changeover switch 52 for the manual turning angle setting means 48 and the manual tilting angle setting means 8A.
and 12 as appropriate to set the search direction and search inclination angle of the projector 6 to predetermined values. Let the inclination angle at this time be, for example, θ (elevation angle) (see Figure 4 (11 (21)).
. Thereafter, by putting the changeover switch 12 in the non-operated state, the reference signal S0 corresponding to the inclination angle θ is outputted from the reference signal forming section 22 as described above. Almost parallel to this, as described above, the comparison control section 24 and the drift correction section 26 immediately enter the standby state.

In this state, if the hull 2 does not oscillate due to pitching or rolling, the values of the angle signal SI integrated by the integrator 38 of the comparison control section 24 and the reference signal S0 are approximately equal, so the comparison control section The control signal S at 24 becomes approximately zero.

Therefore, the inclination angle θ does not change and remains constant.

However, when the hull 2 begins to swing and the inclination angle θ begins to change, this change is detected by the angular velocity detector 7A as an angular velocity signal 81'. In this case, the angle signal S
1 and the reference signal S0, the adder 34 outputs a control signal S3 corresponding to this difference. and,
This signal S.

The motor drive circuit 42 is driven by this, and the elevation motor 16 is rotated by an amount commensurate with this drive. As a result, the inclination angle of the projector 6 is automatically controlled to offset the change due to the swing, and the set value θ is approximately maintained. Since the detection of the angular velocity is repeated thereafter, the above-mentioned control is executed immediately when the vibration continues or occurs.

FIG. 4(1) shows a case where pitching occurs in the hull 2 and the pitching angle becomes α, and FIG. 4(2) shows a case where the rolling angle becomes β due to rolling. In contrast, in this embodiment, the inclination angle of the projector 6 is controlled independently of the hull 2 in any case, and the inclination angle θ in the search direction is maintained substantially constant.

On the other hand, in the case of the tilt angle control described above, if no drift occurs in the output of the angular velocity detector 7A or the integrator 38 and the tilt angle remains θ, the detection signal S2 from the tilt angle detector 7B and the reference The reference signals S0 from the signal forming section 22 are substantially equal. Therefore, the control signal S in the drift correction section 26
4 becomes approximately zero, and the comparison control section 24 is not involved in any way. However, when the above drift occurs,
The inclination angle θ changes by that amount, and a gentle fluctuation occurs in the inclination angle. The new tilt angle due to this change is detected by the tilt angle detector 7B.
Detected by. In this case, the detection signal S
2 and the reference signal S0. Therefore, the control signal S4 from the adder 44 corresponding to this difference is
6 and is added to the angular velocity signal 81', and the tilt angle is corrected by that amount. If the signals S and / are zero, correction control is performed only for the drift.

Further, if it is desired to change the above-mentioned inclination angle θ, the changeover switch 12 and 52 are operated to control the elevation motor 16 and the turning motor 56 to change the direction and inclination angle to the desired direction. In this case, the hold trigger contact 32 of the reference signal forming section 22 will open and close, so the reference signal S0 will also be newly updated and will be used for the next tilt angle control.

As described above, in this embodiment, even if the hull 2 swings after the tilt angle of the search direction by the floodlight 6 is set, the tilt angle is maintained substantially constant. Therefore, since the search direction does not deviate significantly, there is almost no need for troublesome re-operations as in the conventional example. Therefore, compared to the conventional example, there is an advantage that the labor and burden on the operator is significantly reduced. Further, even if drift occurs, its influence is eliminated as much as possible, so there is an advantage that more precise tilt angle control becomes possible. Furthermore, in this case, since the LPF 28.46 is arranged at the necessary location, even if a severe disturbance is applied to the projector 6, this disturbance will not affect the projector, and stable and accurate control will be performed. have.

On the other hand, since the above-mentioned tilt angle control is made possible by using relatively inexpensive angular velocity detectors, tilt angle detectors, integrators, etc., compared to using expensive equipment such as particle gyros, , the overall cost will be lower.

In addition, in the above-mentioned embodiment, the tilt angle holding control means 8
Although the configuration is such that the drift correction section 26 is installed in the B, the present invention is not necessarily limited to this, and the drift correction section 26 may be removed as necessary to create a configuration that is more like a front vehicle. good.

In addition, although the above-mentioned embodiments are applied to a searchlight floodlight as an elevating body, the present invention is not necessarily limited to this, and may be applied to, for example, a photographing first imaging device, an aiming device, etc. Applicable. Moreover, the rocking body is not necessarily limited to use in a ship (vessel), and may be similarly applied to a rocking body on land.

〔Effect of the invention〕

As described above, according to the present invention, even if the rocking body oscillates after the tilt angle of the elevating body is set by the tilt angle manual setting means, the automatic control action of the tilt angle maintenance control means is effective. The angle of inclination is kept almost completely constant. For this reason, by applying the present invention to, for example, a searchlight fixed to a ship's hull, situations such as the search direction being significantly deviated from the target due to swinging can be avoided, and re-search and evacuation operations can be almost eliminated. It is no longer necessary, and the labor and effort required to maintain the angle of inclination can be significantly reduced, and the work efficiency of the entire work using the searchlight can be greatly improved, which is unprecedented. An excellent tilt angle control device can be provided.

Furthermore, the invention as claimed in claim 2 has the effect that the automatic control by the tilt angle holding control means can be performed more precisely and stably by the action of the drift correction control section.

[Brief explanation of drawings]

Fig. 1 is a schematic block diagram showing a case where an embodiment of the present invention is applied to a searchlight, Fig. 2 is a partially cutaway front view showing an outline of the searchlight, and Fig. 3 is a partially cutaway of Fig. 2. The left side view and FIG. 4 (11(2) are explanatory diagrams for explaining the relationship between the rocking motion of the hull and the inclination angle of the floodlight. 2. Hull as a rocking body, 6. ... Floodlight as an elevating body, 8... Tilt angle control device,
8A...Inclination angle manual setting means, 8B...
- Tilt angle holding control means, 26... Drift correction control section. Patent applicant Tokyo Co., Ltd. Instrument Figure 2 Figure 3 Figure 4 (f)

Claims (2)

[Claims] (1) In a tilt angle control device equipped with a manual tilt angle setting means that can manually set the tilt angle in a predetermined direction of an elevating body fixedly attached to a rocking body, when the rocking body swings. An inclination angle control device characterized by comprising inclination angle holding control means for controlling the inclination angle of the elevating body set by the inclination angle manual setting means to be maintained substantially constant even when the inclination angle is set by the inclination angle manual setting means. (2) In a tilt angle control device equipped with a manual tilt angle setting means that can manually set the tilt angle in a predetermined direction of an elevating body fixedly attached to a rocking body, when the rocking body swings. The tilt angle holding control means is provided to control the tilt angle of the elevating body set by the tilt angle manual setting means to be maintained substantially constant even when the tilt angle of the elevating body is set by the tilt angle manual setting means, and the tilting angle of the elevating body is controlled to be controlled to maintain substantially constant the tilt angle of the elevating body when the tilt angle holding control means drifts. A tilt angle control device characterized in that the tilt angle holding control means is provided with a drift correction control section that corrects an angle change.