RU2347172C2 - Fol-up guidance system - Google Patents

Abstract

FIELD: weaponry.

SUBSTANCE: invention relates to ACS, namely, to fol-up guidance systems with a limited turn-around angle and can be used incorporated with the guidance systems of the mobile robotic complexes, self-propelled artillery, missile launchers and rocket-gun complexes. The fol-up guidance system comprises an actuator drive, power amplifier, firing stop mechanisms, current transducer with its input connected to the power amplifier. Note that the proposed system incorporates additionally an error meter, amplifier, adder, speed pickup and scaling circuit. The position transducer is mechanically coupled with the guided object while the actuator drive is connected to the guided object and speed transducer inputs.

EFFECT: higher reliability.

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Description

The invention relates to automatic control systems, and in particular to tracking systems for guiding objects with a limited angle of rotation, and can be used in guidance systems for mobile robotic systems, self-propelled artillery systems, launchers of missile and missile-cannon systems.

A follow-up system is known in which, when the limit switch of the guidance angle (electric stop) is triggered, the input control signal corresponding to the movement of the induced object toward the stop is disconnected ("ZSU-23-4M. Power guidance drives 2E2." Technical Description PB 1.452.010 TO . - 1972).

The absence of a braking device in the system when the induced object moves at high speed towards the stop leads to their collision, which makes it possible for the object to fail.

A follow-up guidance system is also known, in which, after the limit switch of the guidance angle is triggered, along with the input control signal corresponding to the object moving toward the stop, the object is dynamically braked by closing the armature of the electrical machine amplifier to a resistor ("ESP RBU-6000/1000" Technical description BK1.421.072 TO. - 1974).

In both monitoring systems mentioned above, due to the influence of an external moment (for example, the moment of imbalance or wind moment), self-oscillations occur in the area of operation of the limit switch (electric stop). The consequence of this is the low reliability of the systems.

Closest to the claimed invention in terms of features is a stabilization and guidance system according to the RF patent for utility model RU 6610 U1, F41G 7/00, 1998, adopted as a prototype.

The block diagram of the prototype is presented in figure 1.

The system comprises in series a sensing element, an amplifier, a limiting device, a power amplifier, an electric motor, a gearbox and an object, as well as a limit switch and a current sensor, the input of which is connected to the output of the power amplifier. A threshold device is introduced into the system, the first and second inputs of which are connected respectively to the output of the current sensor and to the output of the limit switch, and the output of the threshold device is connected to the second input of the limiting device.

In dynamics, this system stabilizes the angular position of the object according to the signals of the sensing element. When the object approaches the mechanical stop, the limit switch is activated, and the angle between the positions of the mechanical stop and the limit switch can be from several angular minutes to several degrees for various known stabilization systems. The signal at the input of the power amplifier is limited by the limiting device only when the limit switch is activated and there is a voltage at the output of the current sensor that exceeds the voltage corresponding to the rated current of the motor armature. In this case, the input voltage of the power amplifier is limited in such a way that the object is pressed against the mechanical stop, eliminating self-oscillations of the stabilization system on the stop and overheating of the electric motor.

The disadvantage of the prototype is the low reliability associated with the possibility of failure of the actuator and the object due to the impact of the latter on the mechanical stop. These impacts occur due to the lack of braking during the movement of the object towards the mechanical stop due to the inertia of the object.

The technical result of the claimed invention is to increase the reliability of the tracking guidance system by eliminating the impact of the induced object on the mechanical stop.

The invention consists in the following. The tracking guidance system includes an actuator, a power amplifier, a current sensor, the input of which is connected to the output of the power amplifier, an angle limiter associated with the induced object. In contrast to the prototype, a mismatch meter, an amplifier, an adder, a speed sensor, a scaling device, a position sensor mechanically connected to an induced object, a phase switch, a phase-sensitive limiter, and a current limiting device are introduced into the system. The input of the mismatch meter is the input of the tracking system, and the output is connected to the input of the amplifier. The adder, power amplifier and actuator are connected in series. The actuator is mechanically connected to the inputs of the induced object and the speed sensor. The electrical output of the speed sensor is connected to the first input of the adder through a scaling device. The output of the position sensor is connected to the second input of the mismatch meter. The first input of the phase switch is connected to the output of the angle limiter, and the output to the second input of the adder. The first input of the phase-sensitive limiter is connected to the output of the amplifier, the second input to the output of the angle limiter, and the output to the third input of the adder. The first input of the current limiting device is connected to the output of the current sensor, the second input to the output of the angle limiter, and the output to the fourth input of the adder. The second input of the phase switch is connected to the output of the speed sensor.

The invention is illustrated by graphic materials, where in Fig. 1 a block diagram of a prototype is shown, in Fig. 2 is a block diagram of a claimed invention, in Figs. 3-5, examples of implementation of individual nodes of a tracking guidance system are shown, namely: in Fig. 3 - 4 is an electric diagram of a phase-sensitive signal limiter; FIG. 5 is a block diagram of a current limiting device.

The following notation is used in the figures:

1 - mismatch meter,

2 - amplifier

3 - phase switch

4 - adder

5 - power amplifier,

6 - actuator,

7 - induced object,

8 - speed sensor,

9 - scaling device,

10 - position sensor,

11 - driver signal preload,

12 - switch

13 - angle limiter,

14 - phase-sensitive signal limiter,

15 - current sensor,

16 is a current limiting device,

17 - buffer differential scaling amplifier,

18 - precision rectifier,

19 - integrator

20 - a comparator.

The inventive tracking guidance system (figure 2) contains serially connected: a mismatch meter 1, the first input of which is an input to the system, an amplifier 2, a phase-sensitive signal limiter 14, an adder 4, a power amplifier 5, an actuator 6, mechanically connected to the inputs of the control object 7 and speed sensor 8. The electrical output of the speed sensor through a scaling device 9 is connected to the second input of the adder. The induced object is mechanically connected to the position sensor 10, the output of which is connected to the second input of the mismatch meter. The tracking system also includes a phase 3 switch and an angle limiter 13 associated with the induced object. The output of the angle limiter is connected to the first input of the phase 3 switch and to the second input of the phase-sensitive limiter 14. The second input of the phase switch is connected to the output of the speed sensor, and the output to the third input of the adder. In addition, the system includes a current sensor 15, the input of which is connected to the output of the power amplifier, and a current limiting device 16, the first input of which is connected to the output of the current sensor 13, the second input to the output of the angle limiter, and the output to the fourth input of the adder.

The tracking system operates as follows. The object 7 is guided by the mismatch signal generated by the mismatch meter 1. When the induced object approaches the maximum working angle, the corresponding (for example, lower) limit switch of the angle limiter 13 is triggered. The signal from the angle limiter is fed to the second input of the phase-sensitive limiter 14, the first input of the phase switch 3 and the second input of the current limiting device 16. The phase-sensitive limiter by the signal of the angle limiter 12 limits the amplitude of the input control signal, corresponding to the movement of the induced object in the direction of the mechanical stop to the value necessary for the current drive 6 to flow through the actuator (for example, an electric motor), sufficient to compensate for the moment of unbalance of the object. This limits the speed of approaching the mechanical stop, but at the same time, it keeps the possibility of pointing the object in the angle zone between the limit switch of the angle limiter and the mechanical stop. When the phase of the input control signal changes, that is, when the induced object is removed from the angle restriction zone, the mismatch signal is not limited. The phase 3 switch, by the signal of the angle limiter, additionally connects to the input of the adder 4 a complete feedback signal on the speed of the induced object, which contributes to the inhibition of the latter in the restriction zone when moving towards the mechanical stop. When moving in the opposite direction from the stop, the phase switch does not pass an additional speed feedback signal, and the object is guided in the area between the mechanical stop and the limit switch of the angle limiter in the same way as in the working area. The current limiting device 16 restricts the signal at the input of the power amplifier 5 only when the limit switch of the angle limiter 13 is activated and there is a voltage at the output of the current sensor 15 that exceeds the voltage corresponding to the rated current flowing through the actuator of the actuator 6, that is, when the induced object reaches a hard stop . Thus, the area of working angles expands and the actuator of the actuator is protected when the object reaches a hard stop.

Consider the process of movement of an object in the region of the upper mechanical stop (see figure 3). Suppose that when the object is moving up, the polarity of the signal of the speed sensor 8 is negative. After operation of the upper limit switch of the angle limiter, the supply voltage + 27 V (mains supply) is supplied to relay K2.1 and through diode V3 to relay K3.1. K2.2 contacts open, K3.2 contacts close. The signal from the speed sensor through normally closed contacts K1.2, diode V2, contacts K3.2 is fed to the adder 4 and, subtracted from the mismatch signal, generates a braking signal proportional to the speed of the object toward the stop. The object is decelerated. When pointing the object away from the mechanical stop (the voltage from the limit switch of the limiter of the angles of the upper stop continues to flow), the polarity of the signal of the speed sensor 8 changes to positive. The positive polarity signal to the adder will be blocked by the V2 diode, and there will be no braking signal.

The limitation of the error signal on the upper mechanical stop occurs as follows (see figure 4). Suppose that when an object moves up, the polarity of the signal at the output of the amplifier is positive. After the limit switch of the limiter of the angles of the upper stop is activated, the supply voltage +27 V (mains supply) is supplied to relay K2.1. K2.2 contacts close. The mismatch signal of positive polarity through the diode V3 is fed to the zener diode V4 and is limited to the stabilization voltage of the zener diode. When pointing the object away from the mechanical stop, the polarity of the error signal changes to the opposite. The passage of a signal of negative polarity to the Zener diode V4 will be prevented by the diode V3, that is, there will be no limitation of the mismatch signal. The magnitude of the limitation is made by choosing the value of the resistor R1 and the type of zener diodes.

The process of current limitation on the upper mechanical stop occurs as follows (see figure 5). A voltage proportional to the current flowing through the actuator electric motor is supplied from the current sensor to a buffer differential scaling amplifier 17. The scaled current feedback signal is supplied to a precision rectifier 18, where its module is allocated. The current feedback signal module is supplied to the integrator 19, the second input of which receives the set voltage corresponding to the rated current flowing through the actuator electric motor 6. From the integrator output, the signal is transmitted to the comparator 20 and then to the key V1 connected to the adder.

If the current of the electric motor does not exceed the rated current, a negative voltage is present at the output of the integrator, the key V1 is closed. When the electric motor exceeds the rated current at the output of the integrator, the output voltage increases with a certain time constant. When the output voltage passes through zero, the comparator switches to another stable state, opening the key V1, which, in turn, limits the signal from the output of the adder. When the current of the actuator electric motor decreases, that is, when the object is removed from the hard stop, a negative potential is formed at the output of the integrator, closing the key V1. Current limit mode is removed. When the guidance object approaches the lower mechanical stop, the formation of the braking signal, current limitation, switching on and off the limitation of the error signal occurs in a similar way.

Thus, when the limit switch of the angle limiter 13 is triggered, the amplitude of the error signal corresponding to the movement of the induced object towards the mechanical stop is limited, a braking signal is generated proportional to the speed of the object to the mechanical stop and the signal is limited at the input of the power amplifier 5 when the object reaches the mechanical stop . When the induced object moves in the opposite direction from the mechanical stop, the limitation of the mismatch signal is removed, and the braking signal is turned off. Thus, at the entrance to the restriction zone, guaranteed braking of the induced object is ensured, which excludes impact on the hard mechanical stop, overheating of the actuator electric motor 6 is eliminated and at the same time, the object can be controlled in the restriction zone. The process of smooth guidance in the opposite direction from the mechanical stop is carried out in the entire range of angles, including in the restricted area.

The proposed technical solution was verified by electronic modeling, as well as experimentally on the layout of the tracking guidance system. The test results confirm the absence of the impact of the induced object on the mechanical stop, the absence of overheating of the electric motor, the possibility of smooth guidance of the object in the entire range of angles.

In the practical implementation of the proposed invention can be used known circuit designs of the adder in digital, analog or digital-analog form.

As an executive drive can be used electric motors of direct or alternating current with a gearbox or hydraulic drives.

As a power amplifier, electric machine, semiconductor or hydraulic amplifiers can be used.

As a mismatch meter, computers, processing units containing computers, gyroscopic devices, analog mismatch measuring devices, such as rotating transformers, as well as their combinations and other known circuit solutions, can be used.

As an amplifier, analog, digital and digital-to-analog input signal processing units can be used.

As a speed sensor, tachogenerators of direct and alternating current, pulse speed sensors, optoelectronic rotation sensors, gyrotachometers can be used.

As a position sensor can be used potentiometers, rotary transformers, selsyn, digital angle sensors.

As a limiter of the angles, a position sensor in combination with a threshold device (in particular, an angle sensor in combination with a computer), as well as a block of mechanical, induction, capacitive, optoelectronic and other sensors can be used.

Claims (1)

A tracking guidance system comprising an actuator, a power amplifier, a current sensor, the input of which is connected to the output of a power amplifier, an angle limiter associated with an induced object, characterized in that a mismatch meter, an amplifier, an adder, a speed sensor, a scaling device are introduced into it, a position sensor mechanically connected with the induced object, a phase switch, a phase-sensitive limiter and a current limiting device, while the input of the mismatch meter is the input of the tracking system systems, and the output is connected to the input of the amplifier, the adder, power amplifier and actuator are connected in series, the actuator is mechanically connected to the inputs of the induced object and the speed sensor, the electrical output of the speed sensor is connected to the first input of the adder through a scaling device, the output of the position sensor is connected to the second the input of the mismatch meter, the first input of the phase switch is connected to the output of the angle limiter, and the output to the second input of the adder, the first input of the phase-sensitive an analyzer is connected to the output of the amplifier, the second input to the output of the angle limiter, and the output to the third input of the adder, the first input of the current limiting device is connected to the output of the current sensor, the second input to the output of the angle limiter, and the output to the fourth input of the adder, the second input The phase switch is connected to the output of the speed sensor.

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