RU2401973C2 - Method of shooting from combat vehicle weapons complex and device to this end - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: proposed method consists in detecting, identifying, taking for tracking and tracking of target. Besides angular corrections are determined from mathematical expressions to deflect gun barrels with due allowance for said corrections relative to aiming line in compliance with control signal and to shoot on target. Prior to shooting, threshold value of control signal Δα_thr is defined, while, prior to processing control signal Δα, it is compared with threshold value of Δα_thr. In case Δα>Δα_thr, required level of control signal is obtained using pre-generated additional control signal.

EFFECT: high accuracy and fast operation on combat complex.

7 cl, 12 dwg, 3 tbl

Description

The invention relates to the field of weapons and military equipment, in particular to the firing of artillery weapons of a combat vehicle (BM).

An analysis of the literature shows that there are methods of firing that provide the specified accuracy, stability and speed of the system by increasing the gain of the open loop, increasing the degree of astatism, applying regulation of error derivatives / 1, Besekersky VA, Popov EP Theory of Automatic Control Systems, p. 324 /.

To implement this method, correction filters are introduced into the system structure or parameters of existing correction filters are changed / 1, Besekersky V.A., Popov E.P. Theory of automatic control systems, pp. 325-328, 333-335 /.

The disadvantage of this method and the system that implements it is the need to change the structure and parameters of the circuit, in particular power drives, which are already optimally formed in relation to solving other problems (target tracking, guidance) of various types of artillery weapons included in a single weapon unit (single stabilizer) . In addition, the introduction of corrective filters has its drawbacks. In particular, an increase in the loop gain, decreasing the steady-state static error, can lead to an increase in the transient oscillation and, accordingly, to an increase in the transition process time, i.e. to reduce performance.

The closest technical solution, selected as a prototype, is a method of firing weapons of a combat vehicle at a target, which consists in detecting and recognizing a target, taking for tracking and tracking a target, determining angular corrections of firing from mathematical expressions, deviating with regard to their weapon barrels relative to the line of sight and target shooting / 2, Russian Patent No. 2172463. Method for firing a combat vehicle at a target and a system for its implementation. Shipunov A.G., Berezin S.M., Bogdanova L.A. 08/20/2001. Bull. No. 23 dated 08/20/2001 (prototype) /.

The known system of firing a combat vehicle at a target, selected as a prototype of the claimed system, contains a sighting and navigation system, a data block on the external environment, a series-connected on-board computer system (AC), which includes, in turn, a block for generating angles aiming and derivation and a lead angle forming unit, then stabilizer power drives and an artillery mount / 2, Russian Patent No. 2172463. Method for firing a combat vehicle at a target and a system for its implementation. Shipunov A.G., Berezin S.M., Bogdanova L.A. 08/20/2001. Bull. No. 23 dated 08/20/2001 (prototype) /.

Features of the design of the automatic loader, in particular the vertical location of the shots, necessitates the development of large loading angles. In addition, the use of a digital stabilizer with a significantly expanded bandwidth (BMP-3⇒ BMD-4) tightened the requirements for the rate of fire and led to the fact that the functioning of the weapon (shooting) takes place in unsteady modes, especially in the "series" mode, which assumes set rate of fire.

In developing the control signal operated in a stepped exposure Δα · 1 (t), where Δα - the control signal providing the desired angle of the barrel umklapp, for example, the angle of loading α _charge to the angle of sight α ₀ for the requirement for accuracy δ <δ ^ext = 0.5 etc. transient time is tens of seconds. In the "series" mode, to ensure the required pace (N = 10-12 rds / min), it is necessary to fire at overshoot, which leads to a decrease in accuracy.

Thus, the disadvantage of the above method and the system that implements it with the existing constructive solution is the impossibility of simultaneously providing the requirements for accuracy and speed of the system when firing a 100 mm shell, especially when firing a "series".

The objective of the proposed method and the system that implements it is to provide specified requirements for the accuracy and speed of armament of combat vehicles by improving the characteristics of transients accompanying the preparation and implementation of firing and due to the need to develop spasmodic (step) control actions, see Fig. 1.

The problem is achieved in that in the known method of firing weapons of a combat vehicle at a target, including target detection and recognition, target acquisition and tracking, determination of angular corrections of firing from mathematical expressions, deviation taking into account their weapon barrels relative to the line of sight in accordance with the control signal and shooting at a target, according to the invention prior to firing control signal determined threshold value (Δα _pores) on the deviation of the weapon barrel, and before execution y ravlyaetsya signal (Δα) for the deviation of the weapon barrel produce its comparison with a threshold value Δα _pores and in case of exceeding the threshold value Δα> Δα _then establish the desired level of the control signal and to define additional control signal which is formed with the stabilizer arms characteristics in time combined ( t) with two time sections, and in the first section - in the form of a linear dependence, in the second section - in the form of a quadratic, from the relations:

where α _nach - the initial angular position of the barrel, rad;

α _con - the final angular position of the barrel, rad;

ω _rat - the rational rate of change of the additional control signal, rad / s;

α - generated additional control signal for testing Δα, rad;

Δα ₁ - the value of the angle worked out in the first section, rad;

Δα ₂ = f (Δα) - the value of the angle worked out in the second section, rad;

, рад/с;

, rad / s;

b = -ω _rac , rad / s ² .

The task is also achieved by the fact that in the known system of firing weapons of a combat vehicle against a target containing a sighting and sighting system, a navigation system, an environmental data block, weapons with power drives, an on-board computer system including an aiming angle generation unit and derivations and a device for the formation of lead angles, the inputs of which are connected through the corresponding inputs of the on-board computer system with the outputs of the sighting, navigation systems and data block of the external in accordance with the invention, the control unit and the device for generating an additional control signal are additionally introduced in series, the first and second inputs of which are connected to the first and second outputs of the on-board computer system, and the first, second, third and fourth outputs are connected to the first inputs of the drives, respectively, vertical and horizontal guidance artillery mount.

In a particular case, the additional control signal generating device is made in the form of series-connected comparison unit and the additional control signal generating unit, while the first and second outputs of the additional control signal generating device are the first and second outputs of the additional control signal generating unit, the third and fourth outputs are respectively, the third and fourth outputs of the comparison unit, and the first, second and third inputs are tsya respectively first, second and third inputs of the comparator.

The additional control signal generating unit is made in the form of series-connected angle value generating unit in the second section and the additional control signal parameter generating unit, the four outputs of which are connected to four inputs of the additional control signal calculating unit, the fifth input of which and the third input of the additional control signal generating unit connected to the output of the first constant value setter (ZPZ), while the input of the additional An additional control signal is the input of the angle value forming unit in the second section, connected to the second input of the additional control signal generating unit, and the output is the output of the additional control signal calculating unit.

The additional control signal parameter generating unit is made in the form of a first quadrator (K1) and a first divider (D1) connected in series, a second constant value adjuster (ZPZ2) and a first multiplier device (MU1) connected in series, a second divider (D2) and a first adder in series (SUM1), the third divider (D3) connected in series and the second adder inverse input (SUM2), the third constant value setter (ZPZ3) connected in series and the second multiplier the second device (MU2), with the output D2 connected to the second input of the SUM2, the output D3 connected to the second input of the SUM1, the output of MU2 with the second input of D1, the first input of the additional control signal generating unit is inputs D3 and MU2, the second input is input D2 , the third input is the inputs MU1, K1, D2, D3, the first output is the output D1, the second output is the output MU1, the third output is the output SUM1, the fourth output is the output SUM2.

The additional control signal calculation unit is made in the form of a series-connected time clock, a first comparison element (ES1), a second quadrator (K2), a third multiplier device (MU3) and a third adder (SUM3), the second input of which is connected to the output of the fourth multiplier device (MU4 ), the input connected to the first output of ES1, as well as the fifth multiplying device (MU5), the first input of which is connected to the second output of ES1, while the first input of the block for calculating the additional control signal i The second input is MU3, the second input is the second input of MU4, the third input is the input of the time setter, the fourth input is the second input of ES1, the fifth input is the second input of MU5, and the output of the block is the output of SUM3 and the output of MU5.

The angle value generating unit in the second section is made in the form of a fourth constant value setter (ZPZ4), a second comparison element (ES2), a fifth constant value setter (ZPZ5) and a sixth multiplier (MU6) connected in series, the first input connected to the second the output of ES2, and the fourth adder (SUM4), the second inputs of which are connected respectively to the outputs of the sixth and seventh constant-speed drives (ZPZ6) and (ZPZ7), while the input of the block is the first input of ES2, and in the output is the SUM4 output and the ZPZ5 output.

It is the signal generated by the device for generating an additional control signal that according to the method provides the minimum transition time while preparing for the shot and accuracy when firing with the existing structure of the BM control system and thereby achieving the object of the invention. This allows us to conclude that the claimed invention is interconnected by a single inventive concept.

A comparative analysis of the claimed solutions with the prototype shows that the claimed method differs from the known one in that, before firing, based on the characteristics of the stabilizer, the structure and parameters of the additional control signal designed to reach the desired level of the control signal are determined.

The proposed group of inventions is illustrated by drawings.

Figure 1 presents a view of the control signal supplied to the input of the power drives of the stabilizer, the sequence diagram of the operation of the vertical guidance drive when firing 100 mm guns with unguided shells before and after the introduction of an additional (combined) control signal for the aiming angle α = 18 °.

Figure 2 presents the dependence of the transition process on the rate of change of the linear control signal ω at different values of the angle of the barrel Δα.

Figure 3 shows the dependence of the rational speed ω _rat on the desired angle of transfer of the barrel Δα.

Figure 4 presents a diagram of the formation of an additional control signal of the proposed method.

Figure 5 shows a graph of the dependence of the angle Δα ₂ from the angle of the barrel Δα at ω _rat = 0.85 rad / s.

Figure 6 presents the graphs of the input and output signals of the drive during the formation of the control signal 1 - in the form of a stepwise effect, 2 - according to the linear law, 3 - by the proposed method.

Figure 7 presents the structural diagram of the firing system of a combat vehicle.

On Fig shows a structural diagram of a device for generating an additional control signal.

Figure 9 shows the structural diagram of the block forming the additional control signal α.

Figure 10 shows the structural diagram of the block forming the parameters of the additional control signal.

Figure 11 shows a structural diagram of a unit for calculating an additional control signal.

On Fig shows a block diagram of a unit for setting the angle Δα2.

In accordance with the instruction manual / 3 /, the procedure for firing 100 mm BM guns with unguided projectiles is as follows: measuring the range to the target, calculating and working out the aiming angle by the barrel, working out the loading angle, then returning to the aiming angle, shooting, working out the ejection angle of the sleeve , return to the position coordinated with the line of sight, see the sequence diagram shown in figb. Thus, when firing, for example, 100 mm unguided shells, the control signals to the drive and, accordingly, the drift angles of trunks Δα can reach 35–40 °. In this case, the control actions are stepwise, see figure 1.

On the other hand, the use of BMD-4 weapon stabilizer drives in comparison with BMP-3 digitally controlled brushless brushless motors has increased the passband from 2-3 Hz (BMP-3) to 50-60 Hz and the maximum guidance speed to 60 ° / s versus 35 ° / s (BMP-3). This led to an increase in the oscillation of the contour, the appearance of overshoots and, accordingly, a longer entry into the permitted shooting zone. Traditionally, the size of the shooting resolution zone for armored vehicles is determined by a deviation of ± 0.5 etc.

As an example, consider firing 100 mm shells in the "series" mode. When ensuring the rate of fire N = 10-12 rounds / min, permission to shoot comes at the first entry into the neighborhood | δ | <0.5 etc. the drift angle of the barrel. In this case, the shot is fired after the delay time t _app at the moment of the angular position of the barrel, significantly exceeding the required angle, i.e. when overshooting the output signal, leading to a range error of up to hundreds of meters.

This is explained as follows. The time t _zap includes the response time of the electromagnet of the gun, the response time of the projectile, the ignition time of the capsule, the time from ignition of the capsule to the start of the projectile movement along the barrel, the time of the projectile movement along the barrel (in accordance with the ballistic processes for the type of projectile under consideration). For the 2A70 gun when firing a 3UOF19 shell, the time t _zap = 54-74 ms.

Table 1 shows, by way of example, the simulation results of the firing process from a 100-mm gun for different angles Δα (3UOF19 shell).

Table 1 The angle of transfer of the barrel Δα, mrad Time of entry into the zone | δ | <0.5 etc., s Overshoot Deviation from the required angle after 54 (74) ms, mrad Range deviation, m 1st time 2nd time mrad % 630 0.678 77.5 24.2 3.8 23.25 (25.6) 495 (545) 580 0.631 73.0 24.0 4.1 22.3 (23.9) 415 (444) 520 0.576 67.3 22.5 4.3 21.4 (22.6) 349 (368) 450 0.511 59.5 21.5 4.8 20.2 (21.1) 289 (302) 365 0.433 48.0 20.6 5,6 19.1 (19.6) 204 (210) 255 0.331 27.3 18.0 7.0 17.9 (17.9) 111 (111) 80 0.184 0.28 3,1 3.6 1.3 (1.0) 3 (2)

Graphs of the dependence of the transition time on the rate of change of the linear control signal for different angles of transfer Δα are presented in figure 2. As follows from the graphs, the transition from a stepped control signal to a signal that varies linearly with a constant rational speed ω _rac can significantly reduce the time of the transient process. In this case, the value of the rational velocity ω _rac for a large range of angles of barrel transfer Δα is in a narrow range. (The rational speed ω _paс is the rate of change of the linear signal at which the minimum transient time is provided.). The dependence of the value of the rational speed ω _rac on the angle Δα is presented in Fig.3. Here, ω _rac is 0.8-0.85 rad / s for a wide range of considered transfer angles. Moreover, the optimum is more pronounced, the larger the angle of transfer Δα.

However, when using a control signal that varies linearly, the value of the overshoot even increases compared to a step signal.

To eliminate overshoot, the drive response to a control signal that varies with constant acceleration is also considered. The formation of such a control signal allows you to get the output signal without overshoot, but in this case, the transition process compared with a linear signal increases by 5-7 times.

Further research showed that the formation of the control signal should be carried out in two sections: sequential use of linear and quadratic dependencies. This allows you to get a transition process with high speed and without overshoot.

Thus, the control signal is formed combined: in the first section - in the form of a linear dependence on the time interval [0, t ₁ ], in the second section - in the form of a quadratic dependence on the time interval [t ₁ , t ₂ ] from the relations:

,

,

,Where

,

,

,

.

.

The dependence of the value of the angle Δα ₂ on the angle Δα Δα ₂ = f (Δα) is determined before shooting for a particular drive from the condition that there is no overshoot in the output signal with a minimum duration of the second section with the desire Δα ₂ → min.

The dependences by which the values of the control signal are calculated are obtained from the geometric interpretation of the quadratic section as part of a parabola with a vertical axis of symmetry, the ordinate of the vertex of which corresponds to the required value of the lead angle, the abscissa of the vertex of the parabola - the time of action of the quadratic control signal (in the second section from t ₁ to t ₂ ).

A graphic diagram of the formation of the control signal of the proposed method is presented in figure 4.

The calculated dependencies are presented below.

b = -ω _rat ,

Δα = α _con -α _beg .

Thus, when generating a control signal by the proposed method, a rational combination of speed is achieved when practicing the required throw angle and firing accuracy by firstly choosing a rational value of the rate of change of the control signal in the first linear section ω = ω _rat and secondly by choosing the angle Δα2 processed in the second section Δα ₂ = f (Δα). The type and parameters of the functional dependence of f are determined previously before the start of shooting for a particular drive (see figure 5).

After the preparatory operations, the generated additional control signal is issued to the drive.

Table 2 shows the values of the transient time in the vertical guidance drive when practicing various aiming angles and generating a control signal by the proposed method, i.e. with combined control.

table 2 Transient time for stepped and proposed combined input The angle of transfer of the barrel Δα, mrad Transient time, s Step effect Combined input 630 77.5 0.862 580 73.0 0.823 520 67.3 0.760 450 59.5 0.688 365 48.0 0.579 255 27.3 0.508 80 0.28 0,200

Figure 6 shows graphs of control signals for three ways of setting them: 1 - stepwise action, 2 - linear signal, 3 - proposed signal type: combined control signal and the corresponding signals at the output of the drive on the example of the aiming angle α ₀ = 309 mrad ( Δα = 365 mrad, D = 5 km).

However, as can be seen from figure 2, to introduce an additional control signal makes sense, starting only with the value of the required angles of transfer, exceeding a certain threshold value Δα _then .

Therefore, before processing the control signal Δα, Δα is compared with the threshold value Δα of the _pores and, if the threshold level is exceeded, they reach the required level of the control signal from the previously generated additional control signal.

Thus, the proposed method of forming the leading edge of the control signal (or an additional control signal) allows to reduce the transient time from tens of seconds to one second or less; eliminate overshoot, ensuring a smooth entry into the resolution zone | δ | <δ ^add , and accordingly increase the accuracy of shooting, which is especially important in the "series" mode with the required rate of N = 10-12 rds / min.

To confirm the technical feasibility, the following is an example of the functioning of the inventive device.

The control signal at the output of the additional control signal generating unit is generated as follows (see Fig. 8).

At the first and second inputs of the comparison unit from the corresponding outputs of the computer system, signals of aiming angles α ₀ are received, at the third input of the comparison unit from the control unit, the values of the loading angles α _charge and ejection of the sleeve α of the _{selected guill.} . In accordance with the drive operation sequence diagram, the values of the angle α _begin from the set {0, α ₀ , α _charge , α ₀ , α _{selected gil} are formed in the comparison unit _. } and the corresponding value α _con from the set {α ₀ , α _zar , α ₀ , α _{chosen gil.} , 0}. The value of the control signal, which provides the required angle of the barrel shift, Δα = α _con -α _beginning , is calculated and compared with the threshold signal value Δα _then determined previously for a particular drive.

If the value of Δα is less than Δα _then , the value of the control signal is supplied from the third to fourth output of the comparison unit to the first inputs of the drives through the corresponding channel.

If the value of Δα is greater than Δα of _pores , then the value of Δα from the first to second outputs of the comparison unit is supplied to the first and second inputs of the additional control signal generating unit, from the outputs of which the generated additional control signals are supplied to the first inputs of the armament stabilizer power drives.

The signal at the output of the additional control signal generating unit is generated as follows (see Fig. 9).

At the input of the unit for forming the angle Δα ₂ from the output of the comparison unit, the value of the control signal is supplied, which provides the required angle of the barrel Δα.

From the output of the block, the value of the angle Δα _{2 is} supplied to the first input of the block for generating the parameters of the additional control signal. At the same time, its value Δα is supplied to its second input from the comparison unit, and the value of the rational speed ω _rac , which also goes to the fifth input of the additional control signal calculation unit, is supplied to the third input from the output of the first constant value setter ЗЗЗ1. Simultaneously with it, from the outputs of the unit for forming the parameters of the additional control signal, the generated values of signals a, b, t _r , t ₁ arrive at the corresponding inputs.

An additional control signal is generated at the output of the block for calculating the additional control signal — the output of the block.

The unit for generating parameters of an additional control signal is built on analog elements (Fig. 10).

The value of the rational speed ω _rac from the output of the first constant-voltage generator ZPZ1 goes to the input of the first quadrator K1, to the first inputs of the second and third divider D2, D3 and to the second input of the first multiplier device MU1, the first input of which from the second constant-voltage generator ZPZ2 receives a signal equal to -1. At the output of MU1 - the second output of the block under consideration, the value of the parameter of the additional control signal b is formed, which is equal to the product - 1 · ω _rac .

поступает на первый вход первого делителя Д1, одновременно на второй вход которого с выхода второго множительного устройства МУ2 поступает произведение сигналов Δα₂ и 4. Для получения данного произведения на второй вход МУ2 с выхода соответствующего блока поступает значение угла Δα₂, на первый вход МУ2 с выхода третьего задатчика постоянного значения ЗПЗ3 - сигнал, равный 4. На выходе Д1 - первом выходе блока формируется значение параметра дополнительного управляющего сигнала а как частное, равное

.Output K1 signal

arrives at the first input of the first divider D1, simultaneously the second input of which from the output of the second multiplying device МУ2 receives the product of signals Δα ₂ and 4. To obtain this product, the angle Δα ₂ , the first input of МУ2 s the output of the third constant value setter ZPZ3 - a signal equal to 4. At the output D1 - the first output of the block, the parameter value of the additional control signal is generated and as a quotient, equal to

.

с выхода ДЗ поступает на первый инверсный вход второго сумматора СУМ2 и на второй вход первого сумматора СУМ1. На второй вход Д2 с выхода блока сравнения поступает значение Δα. Частное

с выхода Д2 поступает на первый вход СУМ1 и на второй вход СУМ2. На выходе СУМ1 - третьем выходе блока формируется сигнал t_об, равный

, на выходе СУМ2 - четвертом выходе блока формируется сигнал t₁, равный разности

.The value of the angle Δα ₂ from the output of the corresponding block also goes to the second input D3. Private

from the DZ output it goes to the first inverse input of the second adder SUM2 and to the second input of the first adder SUM1. The second input D2 from the output of the comparison unit receives the value Δα. Private

from the output D2 goes to the first input of SUM1 and to the second input of SUM2. At the output of SUM1 - the third output of the block, a signal t _{about is formed} , equal to

, at the output of SUM2 — the fourth output of the block, a signal t ₁ equal to the difference

.

The additional control signal calculation unit is built on analog elements (Fig. 11).

, где f - требуемая частота формирования управляющего сигнала. На второй вход ЭС1 с четвертого выхода блока формирования параметров дополнительного управляющего сигнала поступает значение времени t₁.From the output of the time setter t to the first input of the first element of comparison ES1, the time value is received, starting from zero to the value of t _r supplied to the input of the setter from the third output of the additional control signal generating unit, with a step Δt defined as

where f is the desired frequency of the formation of the control signal. The second input ES1 from the fourth output of the block forming the parameters of the additional control signal receives the value of time t ₁ .

If the value of t is less than the value of t ₁ , then from the second output of ES1, the value of time t goes to the first input of the fifth multiplying device MU5, the second input of which from the output of the RFP1 receives the value of ω _rat . At the output of MU5, the product ω _rac · t is formed.

In this case, at the output of the block for generating an additional control signal — at the first input of the corresponding drive, a control signal is generated that varies linearly.

If the value of t is greater than the value of t ₁ , then the value of t from the first output of ES1 is fed to the input of the second quadrator K2 and to the first input of the fourth multiplier device MU4. At the second input of MU4, from the second output of the additional control signal parameter generating unit, the value of parameter b is received. At the output of MU4, the product b · t is formed.

From the output K2, the square of the time value t ² goes to the first input of the third multiplying device МУ3, the second input of which from the first output of the parameter formation block of the additional control signal receives the value of parameter a. The product a · t ² from the output of MU3 is fed to the first input of the third adder SUM3, the second input of which from the output of MU4 receives the signal bt. At the output of the SUM3, the sum of the signals a · t ² + bt is formed. In this case, at the output of the additional control signal generating unit, at the first input of the corresponding drive, an additional control signal is generated corresponding to the second section — varying in quadratic dependence.

The block for setting the angle Δα2 is built on analog elements (see Fig. 12).

At the first input of the second ES2 comparison element, the output of the comparison unit receives the value of the control signal that provides the required barrel angle Δα, and is compared with the signal received at the second input of ES2 from the fourth constant-voltage setpoint ЗЗЗ4 and equal to 0.27. If the value of Δα is greater than the reference value, then at the output of the block for setting the value of the angle Δα ₂ , a value equal to 0.051 rad is generated. If it is less, then the signal Δα is supplied to the first input of the sixth multiplier device МУ6, the second input of which receives a signal from the sixth constant value setter ЗЗЗ6 equal to the value of the coefficient k ₁ for the corresponding section. The product Δα · k ₁ from the output of MU6 is fed to the first input of the fourth adder SUM4, the second input of which receives a signal from the seventh constant value setter ЗЗЗ7, equal to the value of the coefficient k ₂ . In this case, the signal Δα · k ₁ + k ₂ is formed at the output of the block for setting the value of the angle Δα ₂ - the output of the SUM4.

As an example of implementation, the process of firing unguided projectiles from a 100-mm gun at a ground target is considered.

Prior to the start of shooting, the type of ammunition is selected.

After aiming the gunner’s sight (or the commander’s sight) on the target, which is part of the sighting and sighting system (OPS), a laser rangefinder measures the distance to the target. The range value enters the computing system (AE).

Preliminarily, aircraft data are entered into the aircraft (for example, either in the form of shooting tables, or in the form of a table of approximating coefficients). Data on the external environment (air density and temperature, longitudinal and transverse wind speeds) are either entered from the appropriate sensors, or information from weather bulletins, previously entered into the aircraft, is used.

For the proposed method (and device), the introduction of the value of the loading angle of the 100-mm gun, the angle of ejection of the sleeve, the value of the rational speed ω _rat for the corresponding drive, the threshold value of the angle Δα _pores , the parameters of the additional control signal in the second section in the form of a table of approximating coefficients should be provided (see table 3).

Table 3 Δα Δα <0.27 0.27 <Δα Coefficients (to ₁ Δα + to ₂ ) to ₁ -0.389 0 to ₂ 0.153 0.051

In the computing system, in accordance with the received data, the value of the aiming angle α ₀ is calculated and fed to the input of the device for generating an additional control signal. In the comparison unit, the value of the aiming angle is compared with the value of Δα _then .

If the value of α _{0 is} greater than Δα _pores , then the value of α _{0 is} fed to the input of the additional control signal generating unit, from the output of which an additional control signal generated according to the invention as a combined action is supplied to the input of the vertical guidance drive. The drive smoothly fulfills the generated control signal, exposing the barrel of the cannon mount to the desired aiming angle. On figa this corresponds to the time interval [0, t ₁ ].

Next, an automatic loading cycle of the gun is carried out. Corresponds to the time interval [t ₁ , t ₂ ].

To do this, the gunner presses the appropriate button on the control panel. At the time of loading, the stabilizer is disconnected from tracking the mirror of the gunner’s sight and from the control unit (CU) the value of the charging angle α _zar is supplied to the device for generating an additional control signal. The process of generating an additional control signal to reach the charging angle is repeated in accordance with the above. The weapon swivels to the loading angle and stops. At the same time, the bar of the loading mechanism is tilted with a shot of a given type. Next, the drive of the sending mechanism is automatically turned on and the shot is loading.

, что соответствует интервалу времени [t₂, t₃], см. фиг.1.After loading, the barrels of the weapon block must be put on the line of fire, i.e. throw over

, which corresponds to the time interval [t ₂ , t ₃ ], see figure 1.

For this, the vertical guidance drive switches to the tracking mode of the mirror of the gunner’s sight and brings the weapon to the aiming angle α ₀ , taking into account the firing resolution scheme for the additional control signal generated according to the invention. The weapon block is set to the angle of aim. The gunner fires a shot.

After the shot (time interval [t ₃ , t ₄ ]), the signal for bringing the gun to the ejection angle of the sleeve α _select is applied to the vertical guidance drive. The drive brings the weapon block to the angle of the ejection sleeve, transferring it to

as described above. The retractable parts of the gun move forward, the wedge of the gun opens and the sleeve is extracted into the open ejection hatch.

в исходное положение. Таким образом, цикл завершен.Further (in the time interval [t ₄ , t ₅ ]) the HV drive switches to the tracking mode of the sighting line of the gunner’s sight, transferring the weapon block to an angle

to the starting position. Thus, the cycle is completed.

Using the proposed method and the system that implements it will provide the following advantages over the existing one:

т.д.1. The time of the transition process in the stabilizer drives is reduced from tens of seconds to a level not exceeding 0.8-0.9 s, which makes it possible to provide firing in the "series" mode with the declared tempo. This ensures the specified accuracy

etc.

2. Overshoot is eliminated, a smooth entry into the δ δ ^additional zone is ensured, which avoids shock modes, and premature structure wear is prevented.

Information sources

1. Besekersky V.A., Popov E.P. Theory of automatic control systems, M .: "Science", 1966.

2. Russian Patent No. 2172463. Method for firing a combat vehicle at a target and a system for its implementation. Shipunov A.G., Berezin S.M., Bogdanova L.A. Prior. No. 99115860 from 07.19.99. Bull. No. 23 dated 08/20/2001.

3. The unified fighting compartment B8Y01 for light category vehicles by weight. Manual. 4.1. Technical description. KBP, 2004.

Claims (7)

1. The method of firing the weapons of a combat vehicle on a target, including target detection and recognition, target acquisition and tracking, determination of angular corrections of firing from mathematical expressions, deviation based on their weapon barrels relative to the line of sight in accordance with the control signal and target firing, characterized in that prior to the firing control signal determined threshold value (Δα _pores) on the deviation of the weapon barrel, and before execution of the control signal (Δα) for the deviation of the weapon barrel roizvodyat its comparison with a threshold value Δα _pores and in case of exceeding the threshold value Δα> Δα _then establish the requested control signal level and to define additional control signal which is formed with the stabilizer arms characteristics in time combined (t) with two time sections, and on the first section - in the form of a linear dependence, in the second section - in the form of a quadratic dependence from the relations:

,
Where
α _nach - the initial angular position of the barrel, rad;
α _con - the final angular position of the barrel, rad;
ω _rat - the rational rate of change of the additional control signal, rad / s;
α - generated additional control signal, rad;
Δα ₁ is the angle worked out in the first section, rad;
Δα ₂ = f (Δα) is the angle worked out in the second section, rad;

rad / s
b = -ω _rac , rad / s ² . 2. A weapon system for firing weapons of a combat vehicle at a target, comprising a sighting and sighting system, a navigation system, an environmental data block, weapons with power drives, an onboard computer system, including an aiming and derivation angle generating unit and a lead angle forming device, the inputs of which are connected through the corresponding inputs of the on-board computer system with the outputs of the sighting and navigation systems and the data block on the external environment, characterized in that it is provided with a series-connected control unit and the imaging apparatus further control signal, the first and second inputs connected respectively to the first and second outputs of the onboard computer system, and the first, second, third and fourth outputs coupled to first inputs of the actuators, respectively vertical and horizontal guidance artillery gun. 3. The system according to claim 2, characterized in that the additional control signal generating device is made in the form of series-connected comparison unit and the additional control signal generating unit, while the first and second outputs of the additional control signal generating device are, respectively, the first and second outputs of the generating unit additional control signal, the third and fourth outputs are respectively the third and fourth outputs of the comparison unit, and the first, second and retim inputs are respectively first, second and third inputs of the comparator. 4. The system according to claim 3, characterized in that the unit for generating an additional control signal is made in the form of series-connected units for generating an angle value in the second section and a unit for generating parameters of an additional control signal, the four outputs of which are connected to four inputs of the unit for calculating an additional control signal, the fifth input of which and the third input of the parameter block of the additional control signal are connected to the output of the first constant value setter (ZPZ1), p and this input unit for generating an additional control signal is an input unit for generating angle values in the second portion connected to the second input unit for generating additional control signal parameters, and output - calculating block output additional control signal. 5. The system according to claim 4, characterized in that the unit for generating parameters of the additional control signal is made in the form of series-connected first quadrator (K1) and first divider (D1), series-connected second second constant value setter (ZPZ2) and the first multiplier device (MU1 ), the second divider (D2) and the first adder (SUM1) connected in series, the third divider (D3) and the second adder inverse input (SUM2) in series, the third constant values (ZPZ3) and the second multiplying device (MU2), and the output D2 is connected to the second input of the SUM2, the output of D3 is connected to the second input of the SUM1, the output of MU2 is to the second input of D1, the first input of the block for generating additional control signal parameters are inputs D3 and MU2 , the second input is the input D2, the third input is the inputs MU1, K1, D2, D3, the first output is the output D1, the second output is the output MU1, the third output is the output SUM1, the fourth output is the output SUM2. 6. The system according to claim 4, characterized in that the block for calculating the additional control signal is made in the form of series-connected time clock, first comparison element (ES1), second quadrator (K2), third multiplier device (MU3) and third adder (SUM3) the second input of which is connected to the output of the fourth multiplying device (MU4), the input connected to the first output of ES1, as well as the fifth multiplying device (MUS), the first input of which is connected to the second output of ES1, while the first input of the calculation unit additionally the control signal is the second input Muz, the second input - MU4 second input, the third input - time source input, a fourth input - ES1 second input, fifth input - MU5 second input and output unit - SUMZ yield and yield MU5. 7. The system according to claim 4, characterized in that the angle value generating unit in the second section is made in the form of a fourth constant value setter (ZPZ4), a second comparison element (ES2), a fifth constant value setter (ZPZ5) and a sixth connected in series a multiplying device (MU6), the first input connected to the second output of ES2, and the fourth adder (SUM4), the second inputs of which are connected respectively to the outputs of the sixth and seventh constant value adjusters (ZPZ6) and (ZPZ7), while the input th block is the first input ES2, and - output and SUM4 ZPZ5 yield.

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