RU2207487C1 - Stabilization and gun-laying system - Google Patents

Abstract

FIELD: automatic control systems, in particular, stabilization and laying systems of artillery armament of movable objects, for example, weapon unit of infantry fighting vehicle. SUBSTANCE: the stabilization and laying system has connected in series sensing element, adder, power amplifier and an actuating drive, whose output is connected to the input of the sensing element, as well as a source of control action, whose output is connected to the second input of the adder, use is also made of a current transmitter, voltage transmitter and a compensating signal conditioner, whose output is connected to the third input of the adder. The input of the current transmitter is connected to the first output of the power amplifier, and the output - to the first input of the compensating signal conditioner, the input of the voltage transmitter is connected to the second output of the power amplifier, and the output - to the second input of the compensating signal conditioner. EFFECT: enhanced accuracy of operation. 2 dwg

Description

 The invention relates to automatic control systems, and in particular to stabilization and guidance systems of artillery armament of moving objects, for example, a weapon block of an infantry fighting vehicle (BMP).

 Known systems for controlling inertial objects, for example, antenna systems [1], in which difficulties arise when generating a compensation signal proportional to the first derivative of the control action. This leads to a complication of circuit designs, for example, to the use of buffer tracking systems.

 Also known (adopted as a prototype) is the stabilization and guidance system of the T-80 tank (stabilizer 2E 42) [2], which has a speed error compensator in its structure. The block diagram of this system is presented in figure 1. The system comprises serially connected sensing element 1, adder 2, power amplifier 3 and actuator 4, the output of which is connected to the input of the sensing element 1. In addition, the system contains a control source 5 (control panel), the output of which is connected to the second input of the adder 2 , as well as through the former first derivative of the control action 6 with the third input of the adder 2.

 The system operates as follows. When the system is in guidance mode from the source of the control action 5, in order to reduce the speed component of the dynamic error, the signal of the first derivative of the control action is used, which is received at the output of the driver 6, the input of which is connected to the output of the source of the control action 5. The signal from the output of the driver 6 is fed to the input adder 2 with the opposite sign with the speed error signal coming from the sensing element 1. By selecting the value of the signal of the shaper 6, a minimum speed ibki system when pointing from the source 5 of the control action.

 The disadvantage of the described system is the reduced accuracy when operating in stabilization mode due to the lack of the ability to compensate for the speed error caused by disturbances from the turns of the carrier during its movement over rough terrain. In this mode, there is no guidance, which means that the compensator does not work according to the signal of the first derivative of the control action.

 The proposed technical solution is aimed at improving the accuracy of work by reducing the speed error of the system by providing the ability to compensate for the speed error, both in the guidance mode and in the stabilization mode when the media is rotated (BMP body).

 The essence of the proposed technical solution lies in the fact that in the stabilization and guidance system containing a serially connected sensing element, an adder, a power amplifier and an actuator, the output of which is connected to the input of the sensitive element, as well as a control source whose output is connected to the second input of the adder , a current sensor, a voltage sensor and a compensating signal driver are introduced, the output of which is connected to the third input of the adder, moreover, the current sensor input is connected nen to the first output of the power amplifier, the output - to the first input of the compensating signal voltage sensor input coupled to the second output of the power amplifier, and an output - to a second input of the compensating signal.

The application materials are illustrated by drawings, where:
- figure 1 presents a block diagram of a stabilization and guidance system (stabilizer 2E 42), adopted as a prototype;
- figure 2 presents a block diagram of the proposed stabilization and guidance system.

 Information confirming the possibility of implementing the proposed technical solution to obtain the above technical result, are as follows.

 The proposed stabilization and guidance system (figure 2) consists of a series-connected sensor 1, an adder 2, a power amplifier 3 and an actuator 4, the output of which is connected to the input of the sensor 1.

 The system also includes: a control source 5, the output of which is connected to the second input of the adder 2; a current sensor 6, the input of which is connected to the first output of the power amplifier 3, and the output to the first input of the compensator signal shaper 7; a voltage sensor 8, the input of which is connected to the second output of the power amplifier 3, and the output to the second input of the shaper of the compensating signal 7.

 In addition, the output of the shaper of the compensating signal 7 is connected to the third input of the adder 2.

 The proposed system works as follows.

For the DC motor used in the actuator 4, the expression is known:
U _LW = U _{mind out} = I _LW • R + E, - (1)
where E is the engine EMF;
I _ДВ - current in the motor anchor circuit;
R is the total resistance of the anchor circuit, including the external resistance of the power source and wires.

Е = К _В • Ф • n = К _ДВ • n. - (2)
K _DW = K _E • Ф,
where K _E - constant engine coefficient;
F - constant magnetic flux of the engine;
n is the engine speed.

Consequently:
K _DW • η = U _UM -I _DW • R. - (3)
From formula (3) it is seen that in order to obtain a compensation signal proportional to the speed of rotation of the electric motor, it is necessary to subtract from the voltage at the output of the power amplifier a component proportional to the current flowing through the motor (I _DW • R).

 To ensure the generation of this compensation signal, a current sensor 6 is introduced into the system, which measures the current in the motor. The input of the current sensor 6 is connected to the first output of the power amplifier 3. In addition, a voltage sensor 8 is inserted into the system, which measures the voltage at the second output of the power amplifier 3. The signal from the current sensor 6 is supplied to the first input of the driver 7, and the signal from the voltage sensor 8 is supplied to the second shaper input 7. Shaper 7 implements formula (3) and generates at its output a compensation signal proportional to the speed of rotation of the electric motor, and hence the speed of rotation of the control object. Moreover, in this case, in contrast to the prototype, a compensation signal is generated both in the guidance mode from the control source 5 (control panel) and in the stabilization mode during turns of the carrier body. This provides compensation for the speed error of the system in all modes of operation of the stabilization and guidance systems, which ultimately improves its accuracy parameters.

 The proposed technical solution was verified by electronic modeling, as well as by experimental verification of the layout of the stabilization and guidance system of the weapon block of a promising BMP. The test results showed that the proposed solution can reduce the speed error by about 20%.

 According to the results of an experimental check, the proposed technical solution is included in the documentation of the modernized stabilizer for the weapons block of the promising BMP.

Literature
1. The basics of designing tracking systems. Ed. ON THE. Lakota, M., "Mechanical Engineering", 1978, pp. 15-21.

 2. Stabilizer 2E 42. Technical description. Archive of the All-Russian Research Institute "Signal", 1998

Claims (1)

 A stabilization and guidance system comprising a sensing element, an adder, a power amplifier and an actuator in series, the output of which is connected to the input of the sensitive element, as well as a control source whose output is connected to the second input of the adder, characterized in that a current sensor is introduced into it , a voltage sensor and a shaper of the compensating signal, the output of which is connected to the third input of the adder, and the input of the current sensor is connected to the first output of the power amplifier, move - with a first input of the compensating signal voltage sensor input coupled to the second output of the power amplifier, and an output - to a second input of the compensating signal.

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