KR20170077566A - Controlling method of automatic vibration system for military firing exercises - Google Patents

Abstract

The present invention provides a control method of an automatic entrainment system for a shooting exercise capable of realizing an actual environment such as an automobile, a ship and an airplane in a limited space, and an external environment such as an airplane, .
To this end, a base plate; A motion plate spaced upward from the base plate and foldable on both sides; A spherical bearing mounted on a lower portion of the motion plate, the spherical bearing being mounted on the base plate; a center shaft formed on the base plate and supported by the spherical bearing at an upper portion thereof, ; A cam follower unit detachably attached to a lower portion of the motion plate, the cam follower unit being detachably attached to the base plate so as to be positioned below each of the cam follower units; And a driving motor connected to the cam unit to provide a driving force for rotating the cam, the driving unit being connected to the driving motor to drive the cam follower unit, 1. A method for controlling an automatic excitation system for a training exercise, the method comprising: transmitting data for generating a necessary fluctuation to the motion plate; Generating a drive motor speed control value for operating each of the drive motors to correspond to the required fluctuation in the motion plate; Operating each of the drive motors based on the drive motor speed control value; Monitoring movement of the motion plate in response to actuation of the drive motor; And compensating the fluctuation caused by the driving motor speed control value and the fluctuation of the actual motion plate due to the monitoring based on the data through the monitoring.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for an automatic vibration system for a shooting training,

[0001] The present invention relates to a control method of an automatic excavation system for a shooting training, and more particularly, to a control method of an automatic excavation system for a shooting training capable of securing a plurality of degrees of freedom so that disturbance can be applied .

The conventional simulator for shooting training is mostly a simulator that outputs a target in front of a shooting trainer as a 2D or 3D image and a shooting trainer takes a shooting attitude and shoots a target.

Such conventional simulators for shooting training can not realize the occurrence of fluctuations directly affecting the attitude of the shooting trainee and thus can not provide an environment for actual shooting.

In particular, it provides a practical environment, such as vehicles, ships and airplanes, in a restricted space, such as shooting situations in vehicles where external environments and driving operations cause heave, rolling and pitching Therefore, the development of a system and a system control method capable of improving the human, material, and temporal costs incurred in breeding firearms due to the absence of the system that can be applied to maritime and land fire It is necessary.

Korean Patent Registration No. 10-0643178 (Publication Date: November 10, 2006) "Three-axis stabilization device for compensating mechanical disturbance of rolling motion" Korean Patent Laid-Open Publication No. 10-2015-0115272 (Publication date: Oct. 10, 201) "Rotational simulator for multi-passenger boarding and a circular structure simulation system using the same"

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a vehicle control system capable of realizing an actual environment such as an automobile, a ship and an airplane in a limited space, The object of the present invention is to provide a control method of an automatic excitation system for shooting training.

In particular, it is an object of the present invention to provide a control method of an automatic excitation system for shooting training, which can secure freedom of up and down heave, rolling and pitching, and can control the generation, have.

Another object of the present invention is to provide a control method of an automatic excavation system for shooting training, which is easy to move, disassemble and assemble by implementing a detachable structure between parts.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. And will be included in a wide range.

According to another aspect of the present invention, there is provided a control method for an automatic excitation system for shooting training, comprising: a base plate; A motion plate spaced upward from the base plate and foldable on both sides; A spherical bearing mounted on a lower portion of the motion plate, the spherical bearing being mounted on the base plate; a center shaft formed on the base plate and supported by the spherical bearing at an upper portion thereof, ; A cam follower unit detachably attached to a lower portion of the motion plate, the cam follower unit being detachably attached to the base plate so as to be positioned below each of the cam follower units; And a driving motor connected to the cam unit to provide a driving force for rotating the cam, the driving unit being connected to the driving motor to drive the cam follower unit, 1. A method for controlling an automatic excitation system for a training exercise, the method comprising: transmitting data for generating a necessary fluctuation to the motion plate; Generating a drive motor speed control value for operating each of the drive motors to correspond to the required fluctuation in the motion plate; Operating each of the drive motors based on the drive motor speed control value; Monitoring movement of the motion plate in response to actuation of the drive motor; And compensating the fluctuation caused by the driving motor speed control value and the fluctuation of the actual motion plate due to the monitoring based on the data through the monitoring.

According to a preferred embodiment of the present invention, the fluctuation caused by the driving motor speed control value and the compensation of the actual motion plate fluctuation due to the monitoring are performed through intellectual PID control.

As described above, according to the present invention, the following effects can be expected.

By creating a situation in which confusion can occur in a limited space, it is possible to provide an environment in which the shooter can actually take advantage of it, which has the advantage of improving the shooting ability of the land and air force.

There are other advantages that can be achieved by realizing the same environment as the actual training environment, thereby reducing the cost of actual training on the land and sea.

In addition, there is another advantage that the structure capable of detachably attaching the parts to each other is implemented to facilitate the disassembly and assembly, and the mobility and storage of the system can be improved.

In addition to shooting training, there are other benefits that can be extended to automotive, ship and aircraft simulations, games, 4D experience and entertainment.

In addition, other effects of the present invention can be achieved not only in the embodiments described above and in the claims of the present invention, but also in terms of the effects that can be easily obtained from them and the possibility of provisional advantages contributing to industrial development And that they will be included in a broader range.

1 is a view showing an automatic excitation system for shooting training according to the present invention.
2 is a view showing a center support member according to the present invention.
3 to 4 are views showing the lifting and driving member according to the present invention.
5 is a control block diagram of a controller according to the present invention.
FIG. 6 is a diagram showing the configuration of an intellectual PID controller of a control method of an automatic excitation system for shot training according to the present invention.
FIG. 7 is a flowchart illustrating a control method of an automatic excitation system for shooting training according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

First, the configuration of the automatic excitation system for shooting training, which is the object of the control method of the automatic excitation system for shooting training according to the present invention, will be described.

As shown in FIGS. 1 to 4, the present invention can provide an environment in which a shooter can actually take place by creating a situation in which fluctuations can occur in a limited space, thereby improving the shooting ability of the land and sea forces A motion plate 200, and a center support 200. The system includes a base plate 100, a motion plate 200, and a center support 200. The base plate 100, the motion plate 200, Member 300, a lifting drive member 400, and a controller.

The base plate 100 is provided with a base on which the motion plate 200, the center support member 300, and the lifting and driving member 400 are installed. The motion plate 200 is spaced apart from the upper surface of the base plate 100 by providing a space in which the shooter takes a posture and is composed of a folding plate hingedly coupled to both sides of the center plate So that both sides of the motion plate 200 can be made foldable.

In addition, the center support member 300 includes a holder 310 and a center shaft 320. The holder 310 is detachably mounted to the lower portion of the motion plate 200 and has a spherical bearing. The center shaft 320 is inserted into a casing 330 detachably installed on the base plate. The center shaft 320 has a flange structure. The center shaft 320 is detachably inserted into the upper center of the casing 330, And the center shaft 320 is inserted into the bush 340 having an inner peripheral surface smoothly machined. In addition, the center shaft 320 has an outer circumferential surface which is lifted and raised on the inner circumferential surface of the bush 340, a spherical body supported by a spherical bearing at an upper end thereof, and an elastic body 350 to support the center shaft 320 together with the holder 310 so that the center shaft 320 can be lifted and lowered and the buffering action is imparted.

Next, the elevation driving member 400 includes a cam follower unit 410, a cam unit 420, and a driving motor 430.

The cam follower unit 410 is installed at a lower portion of the motion plate 200 to generate a vibration of the motion plate 200. The cam follower unit 410 is attached to the motion plate 200 in the z- The front and rear sides of the center support member 300 are arranged in such a manner that they can be disposed at positions where it is possible to cause the top and bottom heaving, rolling in the x-axis direction, and pitching in the y- A pair of brackets 411 detachably installed at three points in total and a roller shaft 413 rotatably installed on a pair of brackets 411 on both sides and having a follower roller 412 mounted on the outer periphery thereof .

The cam unit 420 is detachably installed on the base plate 100 so as to be positioned below each of the cam followers 410 so that the cam follower member 410 is lifted and lowered according to the rotation of the cam 421, It is possible to cause the motion plate 200 to be vertically moved in the z-axis direction, rolling in the x-axis direction, and pitching in the y-axis direction.

To this end, the cam unit 420 includes a pair of supports 423 detachably mounted on the base plate 100 such that a cam 421 formed in a disk shape is positioned below each of the follower rollers 412, A cam shaft 422 which is rotatably installed on a pair of supports 423 on both sides and is mounted on an outer circumferential surface of the cam 421 so as to rotate so as to generate a lifting stroke to lift the follower roller 412 .

Here, it is preferable that a bearing of the cam shaft 422 is installed inside each of the supports 423 so as to minimize the mechanical friction with the cam shaft 422.

The driving motor 430 is connected to the cam shaft 422 to provide a driving force for rotating the cam 421. The driving motor 430 generates a rotational driving force by the supply of current and is a geared motor controlled by a servo system The lower portion is detachably mounted on the support block, and the support block can also be detachably installed on the base plate 100. [

The rotation shaft of the cam shaft 422 and the driving motor 430 is connected by a coupler 440 so that the rotational driving force of the driving motor 430 can be transmitted to the cam shaft 422.

According to the operation of the elevation drive member 400 constructed as described above, the motion plate 200 is moved up and down in the z-axis direction with respect to the center support member 300, rolling in the x- And pitching in the y-axis direction can be generated. That is, when the lifting and driving member 400 installed at three points, i.e., the front side and the rear side of the center support member 300 generate the same upward or downward stroke at the same time, the up and down movement can be realized. The upward and downward strokes of the lifting and descending member 400 installed on the front side of the center support member 300 cause the upward and downward strokes to be generated and the lifting and driving member 400 installed on both sides of the rear side of the center support member 300, Conversely, when the downward or upward stroke is generated, it is possible to implement the shaking motion. The upward and downward strokes of the lifting and descending member 400 installed on the rear left side of the center support member 300 are generated and the lifting and descending driving member 400 installed on the rear right side of the center support member 300 is positioned at the rear left stroke Conversely, when the downward or upward stroke is generated, it is possible to realize the rolling motion. In addition, when a stroke is randomly generated in the lifting and driving member 400 installed on both the front side and the rear side of the center support member 300, it is possible to alternately generate the swaying motion and the lateral swaying motion.

5, the controller is connected to the driving motor 430 in a wired or wireless manner to control the operation of the driving motor 430. As shown in FIG.

5, a microcontroller unit (MCU) of the Cortex-Mx series is used to increase the response speed of the system. The movement of the motion plate 200 is controlled by a gyroscope and acceleration The output of the MCU can be controlled by using pulse width modulation (PWM), a digital-to-analog converter (DAC) and a communication port to control the driving motor 430 do.

The control method of the automatic excitation system for shot training as described above is as follows as shown in the above figures and FIG.

First, the motion plate 200 is lifted up and down in the z-axis direction to generate necessary vibration to provide an actual shooting situation, rolling in the x-axis direction, and longitudinal motion in the y- (stroke of the cam) and the motion frequency of the pitching to the MCU.

The drive motor 430 is operated so as to correspond to the required fluctuation of the motion plate 200 so that the drive motor speed control can be performed to satisfy the motion distance and the motion frequency of the motion plate 200 in accordance with the rotation of the cam 421. [ Value.

Next, each of the drive motors 430 is operated based on the drive motor speed control value, and the speed is controlled using the PWM method.

Then, the gyro sensor and the acceleration sensor measure the movement of the motion plate 200 according to the operation of the driving motor 430, and the measured values are transmitted to the controller. The fluctuation caused by the driving motor speed control value, The difference value of the actual motion plate 200 fluctuation is monitored.

Based on the data through the monitoring, the fluctuation caused by the driving motor speed control value and the fluctuation of the actual motion plate 200 due to the monitoring are compensated through the intellectual PID control so that the fluctuation required for the motion plate 200 .

The controller controls each of the driving motors 430 to vertically move in the z-axis direction, roll in the x-axis direction, and move in the y-axis direction PID (proportional integral derivative) control to precisely control the pitching.

According to the intellectual PID control, the system can be designed to have a robustness against the input to follow the input and the disturbance to the applied input when the input follow-up and the aperiodic disturbance occur in the design of the excitation system do.

As shown in FIG. 6, in detail, the intellectual PID control is required to reset the parameters of the existing PID control by changing the dynamic characteristics of the control object, or to control the existing PID control for the system where the control object is highly nonlinear or acyclic disturbance. There is a problem in that it is not necessary to model the control object in order to solve such a problem and it is not necessary to adjust the control parameters easily even if the control parameters are easily adjusted and the characteristics of the control model are changed, Lt; / RTI > This intellectual PID control was simulated by adding a proportional unit in order to match the double differential value of the existing error with the control amount. Simulation was performed at 5 [sec], and the reference input was applied at size 1, 10 [Hz]. In order to confirm robustness against disturbance, it was simulated to evaluate the robustness against disturbance by applying size 0.3, 2 [Hz]. The parameter 1 / α of the control used in the simulation was selected as 10, and a small value proportional unit was added to the closed loop system in order to apply the sum of the output of the double derivative and the output of the delay element to the perturbation error. Loop control system. According to this, it is shown that the robustness against the reference input (1, 10 [Hz]) and the cyclic disturbance (0.3, 2 [Hz]) are excellent. In addition, when the characteristics of the plant were changed, the existing controller caused many errors, but the intellectual PID control was confirmed to be robust against the change of the plant. Accordingly, by controlling the drive motor 430 through the above-described intellectual PID control, the motion plate 200 can be moved in the up and down directions in the z-axis direction, rolling in the x-axis direction, It is possible to precisely control the pitching.

As described above, the technical idea of the present invention is to provide an automatic entrainment system for shooting training that can realize an actual environment such as an automobile, a ship, and an airplane in a limited space, As shown in FIG.

It will be apparent to those skilled in the art that various modifications, substitutions, and alterations can be made hereto without departing from the spirit and scope of the present invention as defined by the appended claims. It will be possible. Therefore, the embodiments disclosed in the present invention and the accompanying drawings are intended to illustrate and not to limit the technical spirit of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments and the accompanying drawings . The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: Base plate
200: Motion plate
300: center support member
310: holder
320: center shaft
330: casing
340: Bush
350: elastic body
400:
410: Cam follower unit
411: Bracket
412: Follower roller
413: Roller shaft
420: Cam unit
421: Cam
422: camshaft
423: Support
430: drive motor
440: Coupler

Claims (2)

A base plate; A motion plate spaced upward from the base plate and foldable on both sides; A spherical bearing mounted on a lower portion of the motion plate, the spherical bearing being mounted on the base plate; a center shaft formed on the base plate and supported by the spherical bearing at an upper portion thereof, ; A cam follower unit detachably attached to a lower portion of the motion plate, the cam follower unit being detachably attached to the base plate so as to be positioned below each of the cam follower units; And a driving motor connected to the cam unit to provide a driving force for rotating the cam, the driving unit being connected to the driving motor to drive the cam follower unit, 1. A method for controlling an automatic exciter system for shooting training, comprising a controller for controlling operation of a motor,
Transmitting data for generating necessary fluctuations in the motion plate;
Generating a drive motor speed control value for operating each of the drive motors to correspond to the required fluctuation in the motion plate;
Operating each of the drive motors based on the drive motor speed control value;
Monitoring movement of the motion plate in response to actuation of the drive motor; And
And compensating for the fluctuation caused by the driving motor speed control value and the fluctuation of the actual motion plate due to the monitoring based on the data through the monitoring.
The method according to claim 1,
Wherein the fluctuation caused by the driving motor speed control value and the compensation of the actual motion plate fluctuation due to the monitoring are performed through intelligent PID control.

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