RU2150064C1 - Self-propelled gun (modifications) - Google Patents

Abstract

FIELD: military equipment. SUBSTANCE: the invention is devoted to perfection of the instrument system of self-propelled gun and has three modifications. In the gun with the system of gyro indication located in the turret the on-board computer and the training and elevation drives are connected via electronic adders of training and elevation angles. The first modification has a transmitter of gun elevation angles relative to the horizontally adjusted part of the sight connected to the electronic adder of elevation angles and on-board computer. In the second modification the gun elevation channel has a transmitter of the angle of traverse the gun about the trunnion axis relative to the turret body connected to the elevation angle adder. In the third modification the gyro indication system is installed directly on the gun swinging part and connected to the on-board computer and electronic adders of training and elevation angles. In the first and second modifications the transmitter of the angle of turret traverse relative to the chassis body is connected to the on-board computer and electronic adder of training angles. EFFECT: enhanced accuracy of fire, enhanced system and enhanced reliability. 4 cl, 4 dwg

Description

 The invention relates to the field of artillery weapons intended for firing from closed fire positions and is dedicated to improving the instrument complex of self-propelled artillery guns.

 Considering the increasing requirements for improving the temporal and accuracy characteristics of firing from closed fire positions, the emergence of the requirement of autonomy from closed fire positions, the emergence of the requirement of autonomy for conducting a combat weapon, determined by the survival conditions of the weapon in modern combat, the instrument complex of the gun received significant development.

So in a 120-mm self-propelled mortar company Diehl, Germany (Wehrtechnik, 1985, N 12, pp. 70-75; Military Technology, 1986, N 3, p. 48) instrument complex along with traditional means for firing with closed fire positions includes:
- processor;
- control and indication device;
- a sensor for determining the location (current-sensing equipment sensor);
- a gyroscopic device with orientation to the north, etc.

 In this case, the sensor for determining the location and the gyroscopic device are located in the bow of the base chassis.

 The most perfect solution that more fully realizes the capabilities of a significantly more complex and expensive equipment is the invention "Self-propelled artillery" on the application for the invention of the Russian Federation 95110714/09 2108614, C1 (Bulletin "Inventions" N 16/97), adopted as a prototype.

 A block diagram of this self-propelled gun is shown in FIG. 1.

Here:
1 - equipment for determining the location;
2 - a gyroscopic indicating system equipped with roll and pitch sensors;
3 - sight;
4 - commander's cupola located on the tower;
5 - gun;
6 - drive horizontal guidance;
7 - drive vertical guidance;
8 - tower;
9 - on-board computer;
10 - angle sensor of the commander’s turret relative to the tower;
11 - chassis chassis;
12 - sensor rotation angle of the tower relative to the chassis;
13 - communications;
14 - commander’s console with display;
15 - laser range finder located in the commander's cupola;
16 - night observation device, aligned with a laser rangefinder and placed in the commander's cupola.

 The onboard computer is connected as shown in FIG. 1 with a gyroscopic pointing system and apparatus for determining the location of two-way communication, as well as with vertical and horizontal guidance drives with one-way communication.

 The equipment for determining the location of 1 includes a track device, incl. track sensors, a computer, a tablet or a course-laying device, etc. works in conjunction with a gyroscopic guidance system 2, which is structurally made with roll and pitch sensors. In motion mode, the gyroscopic pointing system performs the functions of the heading system, continuously measuring changes in the directional angle and transmitting information about its value and direction to the equipment 1. At the same time, in the parking mode, the gyroscopic indicating system 2, located in tower 8, is used to turn the tower at a given angle.

 In preparation for firing at the gun from the SOB machine, the coordinates of the target are transmitted by means of communication 13, by which the computer 9, using information about the gun’s own location, calculates the settings for firing. The calculated settings for firing, taking into account the roll and pitch angles, are received for working out in the drives of the horizontal 6 and vertical 7 guidance of the gun 5.

 When shooting, when turning the gun 5 to restore interference from the angle sensor 12 and the angle sensors of the gyroscopic indicating system 2, the current values of the angles supplied to the computer 9 are taken, where the coordinate conversion problem is solved, and the generated turn and aim angles are sent to work out the turn (shooting down) in drives horizontal 6 and vertical 7 guidance guns 5.

 Placing a gyroscopic pointing system in a tower allows generating guidance data with higher accuracy than for its location in the chassis body for the guidance control system.

The disadvantages of this technical solution adopted for the prototype are:
- low speed guidance control system;
- insufficient reliability and accuracy of working out given angles;
- computer overload with the tasks of working with guidance drives.

 This is primarily due to the fact that the main elements of the guidance control system provided by the prototype have different performance (the gyroscopic pointing system is critical) and provide information about the angles in different planes.

 The aim of the present invention is to increase the accuracy of shooting, reduce the time of guidance and restore aiming during firing, expand the scope of tasks solved by computers in the process of firing, increase the reliability of the guidance control system and, as a result, increase the efficiency of firing.

 This goal is achieved by the fact that the onboard computer and the horizontal guidance drive are connected by an electronic horizontal adder, the output of the onboard computer is connected to the control input of the electronic horizontal adder, the second output of the turret angle sensor relative to the chassis is connected to the second input of the electronic angle adder horizontally, and the output of the electronic totalizer of angles horizontally connected to the input of the horizontal guidance drive. In addition, the onboard computer and the vertical guidance drive are connected via an electronic vertical angle adder, the second input of the vertical vertical angle adder connected to the output of the vertical angle sensor of the gun relative to the horizontal part of the sight, and the second output of the vertical angle sensor of the gun relative to the horizontal part of the sight the input of the onboard computer, and the output of the electronic adder of angles vertically connected to the input of the vertical guidance drive.

 A block diagram of the proposed technical solution (option 1) is presented in FIG. 2. In FIG. 3 shows a second embodiment of the proposed tool. In FIG. 4 shows a third embodiment of the proposed tool.

The self-propelled gun in the first embodiment contains:
1 - equipment for determining the location;
2 - a gyroscopic indicating system equipped with roll and pitch sensors;
3 - sight;
4 - sensor vertical angles of the gun relative to the horizontal part of the sight;
5 - gun;
6 - drive horizontal guidance;
7 - drive vertical guidance;
8 - electronic vertical angle adder;
9 - on-board computer;
10 - electronic horizontal adder;
11 - chassis chassis;
12 - sensor rotation angle of the tower relative to the chassis;
13 - communications;
14 - remote commander with a display.

 The gyroscopic guidance system 2 is located in the tower. In the proposed technical solution, it can be used, as in the prototype, a commander’s turret with means for determining angles and ranges to shelter ridges (or another similar technical solution).

 In addition, similarly to the prototype, in order to reduce the clotting time of the gun after firing to move to a new firing position due to the time to turn the turret along the axis of the chassis body, the rotation angle sensor 12 of the tower relative to the chassis body 11 is provided with equipment for determining location 1 (this connection is provided through the on-board computer 9, i.e., a solution equivalent to the prototype is applied that does not change the technical characteristics).

 The connection of the onboard computer 9 with the gyroscopic indicating system 2 and the location determination equipment is identical to the prototype, for which the outputs of the onboard computer are connected to the inputs of the gyroscopic indicating system and the location determination equipment, the information outputs of which are connected to the inputs of the onboard computer.

Artillery gun work
In preparation for firing at the gun from the SOBA vehicle, the coordinates of the target are transmitted via communication means 13, on which the onboard computer 9, using information about the gun’s own location (coordinates of the position of the SAO according to the results of surveys of equipment to determine the location of 1 and the position of the gun relative to the north the survey results of the gyroscopic guidance system 2) calculates the settings for firing, which, taking into account the roll and pitch, enter the electronic adders of the horizontal angles 10 (turret angle respect to the chassis body in the plane of the turret) and vertical 8 (boresight angle relative to the horizontal plane).

 The horizontal horizontal adder 10 receives from the tower rotation angle sensor 12 relative to the chassis body the current value of the tower rotation angle relative to the chassis body 11 in the plane of the tower overhead, which are compared with the given tower rotation angle and a signal proportional to the mismatch angle is fed to the horizontal guidance drive 6 In the process of horizontal guidance, the horizontal guidance drive 6, the rotation angle sensor 12, and the electronic sum are constantly involved in the guidance control loop ator.

 The on-board computer 9 periodically interrogates the gyroscopic indicating system 2 and provides the electronic adder 10 with new values of the turret turning angles relative to the chassis body and the process is repeated until the gun is guided in a predetermined horizontal direction. The frequency of the survey is determined by the change in the pitch and roll angles, which at the final stage of guidance (at low twists) practically do not affect the accuracy of guidance over the horizon.

 At the same time, the electronic adder 8 from the vertical angle sensor 4 of the gun relative to the horizontal part of the sight 3 receives the current value of the angle of the gun in the vertical plane, which is compared with the given aim angle and a signal proportional to the misalignment angle is fed to the vertical guidance 7 for testing.

 In the process of vertical guidance in the control loop, a vertical guidance drive 7, a vertical angle sensor 4 guns relative to the horizontal part of the sight 3, and an electronic adder of angles 8 are constantly involved. The on-board computer only performs monitoring functions.

 Similarly, the guidance process occurs when knocking the tip after the shot.

 As a result of the fact that the performance of angle sensors and electronic adders is qualitatively higher than the performance of the gyroscopic indicating system (ten microseconds and tens of milliseconds), the speed of the entire guidance control system is significantly increased. In addition, as shown above, the on-board computer 9 is released to solve other problems. Structurally, the electronic adders 8, 10 can be made in the form of separate electronic units or be independent parts of the on-board computer. In addition, with an increase in the speed of the gyroscopic indicating system, the functions of electronic adders at the software level of the computer, which is part of the location determination equipment, or any other, cannot be ruled out.

 The presented technical solution is preferable for modernization or refinement in the process of creating self-propelled artillery guns, which already have in the tower an automatically horizontal sight for firing from closed fire positions, an on-board computer and a gyroscopic indicating system.

 A certain redundancy of the proposed gun guidance system in this case is forced and economically justified.

 When creating new artillery systems, along with a further increase in speed and reliability of the gun guidance system, the goal is to simplify the system and reduce its cost. This goal is achieved by the fact that the onboard computer and the horizontal guidance drive are connected via an electronic horizontal adder, the output of the onboard computer is connected to the control input of the electronic horizontal adder, the second output of the turret angle sensor relative to the chassis is connected to the second input of the electronic angle adder horizontally, and the output of the electronic totalizer of angles horizontally connected to the input of the horizontal guidance drive, in addition, an angle sensor is installed on the implement rotating the gun around the axis of the pins with respect to the tower casing, and on-board computer and the drive are connected through the vertical guidance electronic adder angles vertical, with the angle sensor about the axis of trunnions guns connected to an electronic adder vertical angles, whose output is connected to the input drive vertical guidance.

 The block diagram of the proposed technical solution in FIG. 3.

Here:
1 - equipment for determining the location;
2 - a gyroscopic indicating system equipped with roll and pitch sensors;
3 - sight;
4 '- sensor angle of rotation of the gun around the axis of the pins relative to the tower body;
5 - gun;
6 - drive horizontal guidance;
7 - drive vertical guidance;
8 - electronic vertical angle adder;
9 - on-board computer;
10 - electronic horizontal adder;
11 - chassis chassis;
12 - sensor rotation angle of the tower relative to the chassis;
13 - communications;
14 - remote commander with a display.

 Compared with option 1, the proposed technical solution completely preserves the horizontal guidance subsystem, and the vertical guidance subsystem includes a sensor 4 '(Fig. 3) of the angle of rotation of the gun around the axis of the pins relative to the tower body, the sensor of vertical angles 4 of the gun relative to the horizontal part of the sight (Fig. 2).

 The connection of the onboard computer 9 with the gyroscopic indicating system 2 and the location determination equipment is identical to the prototype, for which the outputs of the onboard computer are connected to the inputs of the gyroscopic indicating system and the location determination equipment, the information outputs of which are connected to the inputs of the onboard computer.

 In this regard, the operation of the horizontal guidance guidance subsystem is preserved, as in option 1.

 The on-board computer from the calculated aiming angle, taking into account the values of the angle of roll-pitch of the gun, obtained from the sensors of the gyroscopic indicating system 2 determines the angle of rotation of the barrel of the gun around the axis of the pivots relative to the turret body, which enters the vertical angle electronic adder 8. At the same time, from the angle sensor turning 4 'guns around the axis of the pins relative to the tower body, the current vertical angle of rotation of the gun barrel about the axis of the pins, which is compared with the received m from the onboard computer. A signal proportional to the mismatch angle defined in the electronic adder 8 is fed to the vertical guidance 7 for testing.

 In the process of vertical guidance in the guidance control loop, the vertical guidance drive 7, the angle sensor 4 'of the guns around the axis of the pivots and the electronic adder 8 are constantly involved. The on-board computer 9 periodically polls the angle sensors of the gyroscopic indicating system 2 and issues new values of the angles to the electronic adder 1 the turn of the gun barrel around the axis of the pins relative to the tower body and the process is repeated until the gun barrel is pointed vertically. The frequency of the survey is determined by the change in the pitch and roll angles, which at the final stage of guidance (at low twists) practically do not affect the accuracy of vertical guidance.

 Similarly, the guidance process occurs when knocking the tip after the shot.

 The technical solution presented in this version (option 2) is superior to option 1 in speed, since a rather lengthy process of automatic (and especially manual) horizontal sight 3 is excluded.

 With the exception of the complex device of the automatic horizontal sight 3, the reliability of the guidance control system is increased and its cost is reduced. From sight 3 for duplication, only the simplest and most reliable optomechanical part of the "Hertz Panorama" type should be left.

 This technical solution has practically no restrictions on its application and can be implemented both on systems with low ballistics (such as the mentioned Diehl 120-mm mortar) and on systems with significantly higher loads (long-range howitzers of caliber 152 - 155 mm and more). At the same time, high efficiency parameters are provided when firing at areal (large-sized targets).

 Artillery systems of the type of 120-mm Nona self-propelled guns, intended, in the future, to a large extent for the selective destruction of the most important small, highly protected targets, require a significant increase in the accuracy of guidance. This goal is achieved by the fact that the on-board computer and horizontal and vertical guidance drives are connected by electronic horizontal and vertical angle combiners, a gyroscopic indicating system is mounted on the swinging part of the implement, for example, on the cradle, and the second output of the gyroscopic indicating system is connected to the input of the electronic angle combiner horizontally, its third output is connected to the input of the electronic adder of angles vertically, and the outputs of the electronic adders of angles horizontally and vertically accessed to the inputs of horizontal and vertical guidance drives.

 A block diagram of the proposed technical solution is presented in FIG. 4.

Here:
1 - equipment for determining the location;
2 - system of gyroscopic indication;
3 - sight;
4, 4 'are excluded;
5 - gun;
6 - drive horizontal guidance;
7 - drive vertical guidance;
8 - electronic vertical angle adder;
9 - on-board computer;
10 - electronic horizontal adder;
11 - chassis chassis;
12 - sensor rotation angle of the tower relative to the chassis;
13 - communications;
14 - remote commander with a display.

 A feature of this technical solution is that the gyroscopic indicating system is installed directly on the swinging part of the gun (for example, on the cradle), thereby automatically determining the position of the gun barrel in space, i.e. intermediate sensors of vertical angles 4 (option 1), 4 '(option 2) are excluded; pitch sensors. The gyroscopic pointing system itself is a three-dimensional sensor. Only the turret angle sensor relative to the chassis is stored, which is necessary to ensure the operation of the location equipment.

 The connection of the onboard computer 9 with the gyroscopic indicating system 2 and the location determination equipment is identical to the prototype, for which the outputs of the onboard computer are connected to the inputs of the gyroscopic indicating system and the location determination equipment, the information outputs of which are connected to the inputs of the onboard computer.

 The on-board computer 9, using information about the gun’s own location and target coordinates, received from the SOB machine by means of communication 13 calculates the firing settings (turn-off from the north-horizontal direction and the vertical angle of the gun’s barrel), which enter the electronic angle adders horizon 10 and vertical 8. There are also received the current values of the angles of the position of the barrel horizontally from the direction to the north and vertically from the gyroscopic indicating system 2.

 The obtained values of the mismatch angles are received for testing, respectively, in the drives of horizontal and vertical guidance. In the process of guidance, the on-board computer 9 is practically not involved and its connection with the gyroscopic indicating system 2 is caused by the need to control the correctness of the development of the given guidance angles.

 Along with the almost complete release of the on-board computer 9 from the guidance tasks, increasing reliability by reducing the angle sensors, it is possible to achieve the accuracy of guidance required for hitting small-sized, unobservable from guns.

 The greatest accuracy effect in this solution is achieved with the use of a gyroscopic indicating system, based on the so-called laser gyroscopes.

Claims (3)

 1. Self-propelled artillery gun including a chassis, a turret with a gun, a sight, a gyroscopic pointing system connected to location equipment, horizontal and vertical guidance drives connected to the on-board computer, communications equipment, a tower rotation angle sensor relative to the chassis body, and exits the onboard computer is connected to the inputs of the gyroscopic target designation system and equipment for determining the location, the information outputs of which are connected to the inputs of the onboard computer, from characterized in that the onboard computer and the horizontal guidance drive are connected by an electronic horizontal angle adder, the onboard computer output being connected to a control input of the horizontal horizontal adder, the second output of the tower rotation angle sensor relative to the chassis is connected to the second input of the horizontal angle adder and the output of the horizontal horizontal angle combiner is connected to the input of the horizontal guidance drive, in addition, the onboard computer and the vertical guidance drive are connected inen by means of an electronic vertical angle adder, the second input of the vertical vertical angle adder connected to the output of the vertical angle sensor of the gun relative to the horizontal part of the sight, and the second output of the vertical angle of the gun relative to the horizontal part of the sight connected to the input of the side computer, and the output of the electronic angle adder vertically connected to the input of the vertical guidance drive.  2. Self-propelled artillery gun including a chassis, a turret with a gun, a sight, a gyroscopic pointing system connected to location equipment, connected to the onboard computer of a horizontal and vertical guidance drive, communication equipment, a tower rotation angle sensor relative to the chassis body, and exits the onboard computer is connected to the inputs of the gyroscopic target designation system and equipment for determining the location, the information outputs of which are connected to the inputs of the onboard computer, from characterized in that the onboard computer and the horizontal guidance drive are connected by an electronic horizontal angle adder, the onboard computer output being connected to the control input of the horizontal horizontal adder, the second output of the tower rotation angle sensor relative to the chassis is connected to the second input of the horizontal horizontal adder , and the output of the horizontal horizontal angle adder is connected to the input of the horizontal guidance drive, in addition, the implement’s rotational angle sensor trunnion axis relative to the tower body and the onboard computer and an actuator connected to the vertical guidance by the electronic adder angles vertical, with the angle sensor axis relative to the trunnions guns connected to an electronic adder vertical angles, whose output is connected to an input drive vertical guidance.  3. Self-propelled artillery gun including a chassis, a turret with a gun, a sight, a gyroscopic pointing system connected to location equipment, horizontal and vertical guidance drives connected to the on-board computer, communications equipment, a tower rotation angle sensor relative to the chassis body, and exits the onboard computer is connected to the inputs of the gyroscopic target designation system and equipment for determining the location, the information outputs of which are connected to the inputs of the onboard computer, from characterized in that the onboard computer and the horizontal and vertical guidance drives are connected by electronic horizontal adders of the horizontal and vertical angles, the gyroscopic indicating system is mounted on the implement, for example on its cradle, the first output of the gyroscopic indicating system connected to the input of the onboard computer, the second output of the gyroscopic system instructions - to the input of the electronic adder of angles horizontally, its third output is connected to the input of the electronic adder of angles vertically, and the outputs of the electronic adder Angles of horizontal and vertical angles are connected to the input of the horizontal and vertical guidance drives.

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