RU2540448C2 - Drive of horizontal guidance and stabilisation - Google Patents

Abstract

FIELD: weapons and ammunition.

SUBSTANCE: invention relates to systems of automatic control and regulation, in particular to the drives of horizontal guidance of stabiliser of armament of the object for military use (OMU) of tank support fighting vehicle. Additionally the voltage converter of drive of horizontal guidance (HG), a power amplifier of the HG drive and the test and control equipment are mounted. And the control unit additionally comprises a module of digital exchange, a unit of protection, a module of diagnostics and setting. The module of digital exchange of the control unit is electrically connected through the digital channels of exchange with external devices, a module of diagnostics and setting, a unit of protection, and an input of the control module connected through the digital channels of exchange with the module of diagnostics and setting and the unit of protection electrically connected to the AC power supply of the object for military use, the test and control equipment through the digital channel of exchange is electrically connected to the module of diagnostics and setting, the voltage converter of HG drive is electrically connected to the onboard net of OMU and the power amplifier of the HG drive. The control module and the amplifier of the HG control unit are electrically connected to the power amplifier of the HG drive.

EFFECT: enhanced functional capabilities.

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Description

The invention relates to automatic control and regulation systems, in particular, to a horizontal guidance drive of an armament stabilizer of a tank support combat vehicle (BMPT-object 199, BMPT-172).

Known stabilizer tank weapons 2E42-4, the horizontal guidance drive (GN) which is made according to the electrical circuit diagram BS1.370.012 E3 and described in BS1.370.012TO, TU. The GN drive of this stabilizer is taken as a prototype.

(See also the book by V.V. Korneev, M.I. Kuznetsov and others. "Fundamentals of automation and tank automatic systems", M., Ministry of Defense, 1976, publication of the Academy of Armored Forces named after Marshal R. Malinovsky .).

The block diagram of the drive GN stabilizer prototype is shown in figure 1.

The main drive of the stabilizer-prototype is a main drive made on the basis of an electric machine amplifier (EMU) 8, consisting of an electric motor (ED EMU) 8.1 and a generator (Gen. EMU) 8.2, working in tandem with an Executive DC motor (ID) 7.2 electric motors (EDGN) 7, includes a gun mounted on tower 13 with a GN absolute velocity sensor mounted on it (GT-GN) 9, GN reducer (Red. GN) 12, mechanically connected to tower 13 and GN motor (EDGN) 7, GN control panel (GGUGN) 1, a master device with abilization (ZUS) 2 with a position sensor of an inertial object independently stabilized in space by GN, electrically connected to the GN control panel (PGN) 1, external devices 3, electrically connected to a stabilizing master (ZUS) 2 with a position sensor independently stabilized in space inertial facility for GN and control panel for GN (ПУГН) 1, control unit (БУ) 5, electrically connected through its own analogue control module 6 with its own amplifier ГН (У-ГН) 10 and with an absolute sensor th angular velocity GN (GBV-HT) 9, and electrically connected through the external device 3 with the switching unit (BK) 4 drives GN. The composition of the electric motor (EDGN) 7 also includes a blower fan (BO) 7.1, which serves to provide the specified thermal regime of the DC direct-current motor (ID) 7.2 of the electric motor (EDGN) 7 and is electrically connected to the analog control module 6 of the control unit (BU) 5, stabilizer.

The GN drive of the stabilizer adopted for the prototype is an autonomous drive that provides guidance and stabilization of the main armament of the tank in the GN plane according to the signals from the stabilization master (ZUS) 2 and the absolute angular velocity sensor (GT-GN) 9.

The principles of operation of the electric drive GN in the mode of stabilization and stabilized guidance are largely similar. The electric drive GN is a system of automatic regulation, the operation of which is based on the principle of working out the mismatch (error), i.e. comparing the actual value of the adjustable parameter with its predetermined value. Let us consider separately the operating modes of the electric drive GN.

GN stabilization mode - GN gun stabilization mode is carried out relative to the signal of the mirror position sensor along GN (ZUS) 2, which has independent mirror stabilization (line of sight) in the GN plane, which is provided by gyrostabilizer (ZUS) 2.

When the tank moves over rough terrain, the turret 13 (cannon) is subject to external disturbances in the form of oscillations of the tank body, friction in pursuit of the turret 13, as well as disturbances due to the unbalanced turret 13 relative to the axis of rotation.

These perturbations cause the turret 13 (guns) to deviate from the directional (angle) mirror signal set by the signal along the GN (ZUS) 2 directions. The angle between the given and the actual direction of the tower 13 (guns) in the horizontal plane in this case determines the stabilization error of the GN drive. A signal proportional to the stabilization error is processed by the stabilizer GN drive, which rotates the turret 13 (gun) in the direction of decreasing the GN error.

The stabilization error of the GN drive obtained in this way is processed by the analog control module 6 of the stabilizer control unit (BU) 5, some signals from which through external devices 3 control the switching on of the switching unit (BC) 4 of the GN drive, which starts the drive engine (ED EMU) 8.1 of the machine amplifier ( EMU) 8, and other signals through the amplifier (U-GN) 10 arrive at the control windings of the generator (Gen. EMU) 8.2, forming a current difference in them, in accordance with the magnitude and direction (sign) of which (Gen. EMU) 8.2 produces tension the action under which the actuating motor (ID) 7.2 of the electric motor (EDGN) 7 through the gearbox (Rev. GN) 12 rotates the turret 13 (gun) of the tank in the direction of reducing the mismatch between the set value of the signal from the position sensor (angle) of the mirror on GN (ZUS ) 2 and the true position of the tower 13 (guns) in the horizontal plane.

To increase the stability of the GN drive and, as a result, to obtain the specified stabilization error, feedbacks are processed into the control loop of the GN stabilizer drive, processed by analog control module 6 of the control unit (BU) 5:

- current feedback OST-GN of the executive motor (ID) 7.2 of the electric motor (EDGN) 7 generated (EMU) 8;

- feedback on the speed of OSS-GN rotation of the shaft of the Executive motor (ID) 7.2 of the electric motor (EDGN) 7 generated (EMU) 8;

- feedback on the absolute angular velocity of the ω-GN tower 13 (guns) in the GN plane, formed by the absolute angular velocity sensor for GN (GT-GN) 9.

To ensure a given thermal regime of the Executive engine (ID) 7.2 in different conditions of its operation, a blower (VO) 7.1 is introduced into the electric motor (EDGN) 7.

Stabilized guidance mode on GN - the stabilized guidance mode of tower 13 (guns) on GN is also carried out by a signal from the mirror position (angle) sensor along GN (ZUS) 2. When a target is detected, the gunner with the control panel (PUGN) 1 directs a line stabilized in the GN plane sighting (reticle) (ZUS) 2 on the target in the GN plane. The signal from the mirror position sensor for GN (ZUS) 2, proportional to the GN error, is fed to the input of the analog control module 6 of the control unit (BU) 5, where it is converted similarly to the GN stabilization mode described above. The executive electric motor (ID) 7.2 of the electric motor (EDGN) 7 through the gearbox (Rev. GN) 12 turns the turret 13 (gun) of the tank in the direction of decreasing the GN error, similar to the stabilization mode in the GN plane considered above.

To reduce the speed error during guidance, the signal from the control panel (PUGN) 1 is fed to the input of the analogue control module 6 of the control unit (BU) 5 of the weapon stabilizer.

Other signals from external devices 3 related to (ZUS) 2, (ПУГН) 1, switching unit (БК) 4, are signals from a set of devices and components included in both the stabilizer and the equipment of the tank as a whole.

The above design of the electric motor of the stabilizer-prototype GN has the following disadvantages:

- the electric machine drive GN stabilizer prototype does not allow to achieve high rates of accuracy of stabilization;

- the electric machine drive of the stabilizer-prototype GN provides a maximum speed of transfer and mining of no more than 24 ° / s, which is not enough when working in target designation mode and when the tank moves over rough terrain with sharp maneuvers of its chassis;

- the electric stabilizer prototype motor drive GN has a short life and is difficult to maintain, due to the presence of both an EMU design and an EDGN design and collector blower fans with brush assemblies, which requires additional periodic maintenance with replacement of worn brushes;

- the electric stabilizer motor drive of the stabilizer during operation causes sparking in the area of the collector assembly of EMU, EDGN and VO, which in a certain combat situation can lead to a fire inside the tank;

- the electric machine drive GN stabilizer does not meet modern requirements for the ratio of the overall dimensions of the drive and its useful power;

- the design (EMU) and EDGN are not tight, which also imposes restrictions on their operation;

- increased noise in the fighting compartment from the rotating parts of the electric motor and generator, which are part of the EMU, as well as the fan blowing the executive engine ID of the electric motor EDGN;

- the control module, which is part of the prototype control unit, exchanges data with external devices 3 and (ZUS) 2 via analog circuits, which negatively affects the noise immunity of the transmitted signals and, ultimately, affects the signal quality of the stabilization error;

- the structure of the prototype control module is implemented using analog circuitry - this approach is obsolete and requires revision in favor of digital technologies. Also, the analog control module does not allow technical diagnostics of the electric drive of the stabilizer, which adversely affects the configuration and control of the electric drive of the stabilizer in combat conditions, thereby increasing the complexity of its maintenance;

- in the design of the control unit of the stabilizer-prototype there is no protection (blocking the GN drive) when the alternating supply voltage of 36 B 400 Hz disappears, which during operation can lead to spontaneous (unauthorized) guidance (transfer) of the tower in the GN plane.

The objectives of the invention are:

- improving the accuracy of stabilization of the electric motor stabilizer;

- increase the maximum speed of transfer and testing of the electric motor of the stabilizer to at least 40 ° / s;

- improving the reliability and service life of the electric drive of the stabilizer, and with it the military object (hereinafter - OVN);

- reduction of fire hazard inside the OVN associated with the operation of the electric motor stabilizer;

- increase the specific power of the electric motor stabilizer;

- the exception of the output of the electric motor stabilizer of the stabilizer after a flooding of the housing (chassis) OVN;

- increase the ergonomic performance of the electric drive stabilizer;

- improving the quality of the error signal of the electric motor stabilizer;

- improving the convenience and reducing the complexity of maintenance of the electric motor stabilizer with the possibility of rapid assessment of its parameters;

- the introduction of blocking control circuits of the electric motor of the stabilizer in the event of a power failure with an alternating voltage of 36 V 400 Hz.

These goals are achieved by the fact that in the well-known horizontal guidance drive of the weapon stabilizer of the arsenal of weapons, containing a turret (cannon) with an absolute velocity sensor mounted on it, a geared gearbox, mechanically connected to the turret and a geared electric motor, a geared electric motor, and a geared control panel, a stabilization master with a position sensor of an inertial object independently stabilized in space by GN, electrically connected to the GN control panel, external devices, electrically connected to adayuschim stabilization device with a position sensor independently stabilized in inertial space object by GN and GN control, control unit, electrically connected through its own control unit with its own amplifier and GBV sensor of absolute angular rate of GN, the invention further introduced:

- voltage converter drive GN;

- power amplifier drive GN;

- test equipment

in addition, the following are additionally introduced into the control unit:

- digital exchange module;

- module diagnostics and settings;

- protection block,

wherein the digital exchange module of the control unit is electrically connected through digital communication channels with external devices, the diagnostic and tuning module, the protection unit and the input of the control module, which in turn is connected through the digital communication channels with the diagnostic and tuning module and the protection unit, electrically connected to a queue with an alternating voltage of the power supply,

test equipment through a digital exchange channel is electrically connected to the diagnostic and tuning module,

the voltage converter of the GN drive is electrically connected to the on-board power supply network and the power amplifier of the GN drive;

the control module and the GN amplifier of the control unit are electrically connected to the GN drive power amplifier, which rotates the closed-type GN synchronous brushless electric motor, which rotates the turret with a gun through the GN reducer in the direction specified by the stabilization master with a position sensor independently stabilized in space of the inertial object along the GN .

Comparative analysis with the prototype shows that the inventive drive horizontal guidance stabilizer armament Aries differs in the presence of new elements, namely:

- voltage converter drive GN;

- power amplifier drive GN;

- test equipment;

- digital exchange module;

- module diagnostics and settings;

- block of protection;

and their relationships with other elements of the drive horizontal guidance of the stabilizer and Aries.

A comparison of the proposed solutions with other technical solutions shows that the newly introduced elements are quite well known in the art, but their introduction in this connection into the horizontal guidance drive of the weapon stabilizer allows you to:

- to increase the accuracy of stabilization of the GN electric drive due to the use of a new (with a larger passband) GN electric drive, consisting of a power amplifier forming a control for a closed type synchronous brushless electric motor with vector control, which is combined with a new quality of feedback on the speed of rotation of the ED shaft and feedback on the current of the electric motor generated by the power amplifier of the GN drive, allows you to improve the quality factor of the control circuit of the electric drive GN. In total, these measures can improve the accuracy of stabilization of the electric drive GN, not less than (15-20)%;

- to increase the maximum speed of transfer and testing of the mains voltage of the stabilizer to at least 40% due to the use of a high-voltage converter for the ATS internal voltage, working in conjunction with a new power amplifier and a closed-type synchronous brushless electric motor of closed type with vector control;

- to increase the reliability of the stabilizer by replacing the outdated electric motor drive GN with a modern electric drive with vector control by an executive electric motor GN, which eliminates all the shortcomings of the electric machine drive GN stabilizer prototype;

- to exclude the possibility of a fire inside the IH due to the use of a voltage converter stabilizer, a power amplifier and a closed type collectorless electric motor in the GN drive, the design of which eliminates sparking;

- to increase by 1.5 times the specific power of the electric motor of the stabilizer by reducing the mass of the voltage converter, power amplifier compared to the EMU and the electric motor of the main motor of the electric motor of the stabilizer-prototype;

- to exclude the failure of the GN stabilizer drive after the flooding of the HV case (chassis) due to the use of a closed type GN motor and the design of the voltage converter and power amplifier forming a closed sealed volume;

- to improve the ergonomic performance of the electric motor of the stabilizer due to the exclusion from the design of the proposed electric motor of the stabilizer of constantly rotating parts of the electric motor and generator, previously included in the EMU, as well as the fan blowing the executive motor ID of the electric motor EDGN;

- improve the quality of transmission and processing of the error signal of the electric drive of the stabilizer by introducing into the structure of digital information exchange channels;

- to increase the convenience and reduce the complexity of the maintenance of the electric drive of the stabilizer by introducing into the structure of the control unit a tuning and diagnostics module having a digital information exchange channel used when connecting external test equipment. In the conditions of manufacture and operation of the electric motor of the stabilizer, the test equipment allows you to quickly evaluate the condition of the electric motor of the mains and carry out its adjustment if necessary;

- to exclude spontaneous (unauthorized) guidance or transfer of the tower in the GN plane due to the loss of an alternating supply voltage of 36 V, 400 Hz or the absence of information exchange between the digital exchange module of the control unit with external devices that transmit signals from the stabilizing master and the control panel via GN . The problem is solved by using the stabilizer of the protection unit in the control unit of the electric drive GN, which analyzes the presence of an alternating supply voltage of 36 V, 400 Hz and the presence of exchange with external devices. In case of non-compliance with the conditions specified in the protection unit, the electric motor of the stabilizer is blocked.

Figure 1 shows the structural diagram of the electric drive GN stabilizer prototype 2E42-4 object 188; figure 2 shows the claimed structural diagram of an electric drive GN stabilizer weapons.

Abbreviations adopted in the text and in figure 1, and figure 2:

BK - switching unit;

BMPT - tank support combat vehicle;

BU - control unit;

IN - blower;

Gen. EMU - generator of an electric machine amplifier;

GN - horizontal guidance;

GT-GN - absolute velocity sensor for GN;

ZUS - a master stabilization device with a position sensor of an inertial object independently stabilized in space along GN;

ID - executive engine;

KPA - test equipment;

OVN - military facility;

OSS-GN - feedback on the speed of EDGN;

OST-VN - current feedback EDGN;

PUGN - GN control panel;

PN - voltage converter drive GN;

Red. GN - GN drive gear;

U-GN - GN amplifier of the control unit;

UM - power amplifier drive GN;

EDGN - electric motor drive GN;

EMU - electric machine amplifier;

ED EMU - drive electric motor of the EMU generator;

ω-GN - signal of absolute angular velocity along GN.

The inventive drive horizontal guidance of the stabilizer of armaments Aries (figure 2) contains a control panel for GN (PUGN) 1, a master stabilization device (ZUS) 2 with a position sensor independently stabilized in space of the inertial object along GN, electrically connected to the control panel for GN (PUGN) ) 1, external devices 3, electrically connected to the stabilization master (ZUS) 2 with a position sensor of an inertial object independently stabilized in space by GN and the control panel by GN (PGN) 1, and in The existing devices 3 are electrically connected through the information exchange channel to the digital exchange module 4 of the control unit (CU) 5, and the digital exchange module 4 is electrically connected via digital exchange channels to the input of the control module 6 of the control unit (CU) 5, configured to process the error signal GN drive and target angular velocity signal along GN, followed by summing with negative feedback signals for speed and current (EDGN) 7 generated by power amplifier (UM) 8, and absolute angular velocity signal for GN, gender obtained from the absolute angular velocity sensor according to the GN (GT-GN) 9, and the control module 6 and the GN amplifier (U-GN) 10 of the control unit (BU) 5 are electrically connected to the power amplifier of the GN (UM) drive 8, which the queue is electrically connected to the voltage converter of the drive GN (PN) 11, electrically connected to the aircraft network of the military purpose object (OVN), and rotates the shaft of the closed-type synchronous brushless electric motor GN (ED GN) 7.

Closed-type electric motor GN (ED GN) 7, as in the stabilizer prototype GN drive, rotates the turret 13 with the gun in the direction specified by the stabilization master (ZUS) 2 through the GN reducer (Rev. GN) 2 with the position sensor independently stabilized in the space of an inertial object along GN. Additionally, a diagnostic and tuning module 14 has been introduced into the control unit (BU) 5 of the horizontal guidance drive of the inventive weapons armament stabilizer, through digital channels of exchange, which is electrically connected to the test and control equipment (KPA) 15 connected to the setup and diagnostics, and also to the control unit (BU ) 5, the protection unit 16 is introduced, which is electrically connected in turn with an alternating supply voltage of a military object (OVN). Moreover, the diagnostic and tuning module 14 and the protection unit 16 are connected through digital communication channels with the inputs of the control module 6, and with the digital exchange module 4 of the control unit (CU) 5.

The main gun drive of the OVN weapons stabilizer is an autonomously operating turret (gun) guidance and stabilization drive in the main gun plane.

The position (angle) sensor of an independently stabilized inertial object according to the GN of the stabilization master, the absolute angular velocity sensor according to the GN, the GN control panel, the tower GN drive power amplifier generate an error signal on the GN at the corresponding inputs of the control unit, the signal according to the absolute angular velocity of the tower ( guns) on GN, the signal of the angular velocity of the target on GN, feedback signals on the speed of rotation of the shaft and the current of the actuator motor drive GN.

The GN drive contains a control panel (PGN) 1, a stabilization device (ZUS) 2 with a position (angle) sensor of an inertial object independently stabilized in space by GN, electrically connected respectively to external devices 3 and with a control panel (PGN) 1, output from which in turn is connected to external devices 3, the output of which through the information exchange channel is connected to the input of the digital exchange module 4 of the control unit (CU) 5.

Received and processed by the digital exchange module 4, the GN drive error signal and the target angular velocity signal along the GN (generated by external devices 3 when the weapon is aimed at the target along the GN) are input to the digital control module 6.

Received by the digital control module 6, the GN drive error signal and the GN target angular velocity signal are processed in it according to the specified algorithm, followed by summing with the negative feedback signals for speed and current (EDGN) 7 generated by the power amplifier (UM) 8, and the absolute signal the angular velocity according to the GN obtained from the sensor of the absolute angular velocity according to the GN (GT-GN) 9. The signal thus obtained at the output of the control module 6 is a direct low-current control signal for the GN drive.

The low-current control signal of the GN drive from the output of the digital control module 6 is fed to the input of the GN amplifier (U-GN) 10, where it is amplified and fed to the control input of the power amplifier (AM) 8, electrically connected to a high-voltage voltage converter (PN) 11, powered from wiring network of the OVN facility.

The power control signal from the output of the power amplifier (UM) 8 of the GN drive rotates the output shaft of the closed-type executive synchronous electric motor (EDGN) 7 electrically connected with it, which rotates the turret 13 (gun) OVN through the gearbox (Red. GN) 12 in the direction specified by the master stabilization device (ZUS) 2 with a position (angle) sensor independently stabilized in space inertial object on GN.

To configure the electric drive of the main gun stabilizer of weapons and its diagnostics both as part of the OVN and during its manufacture, a control and diagnostic module 14 has a diagnostic and tuning module 14 that works in conjunction with a digital exchange module 4, a digital control module 6, and through digital exchange channels with control and testing equipment (KPA) connected during setup and diagnostics 15.

To exclude emergency situations arising from the loss of an alternating supply voltage of 36 V 400 Hz RHI or when the connection via the information exchange channel between external devices 3 and the digital exchange module 4 is interrupted, the protection unit 16 is introduced into the control unit (BU) 5. The protection unit 16 works together with the digital exchange module 4, the digital control module 6. The hardware and software part of the protection unit 16 allows you to determine the presence of a supply alternating voltage of 36 V 400 Hz Aries and the presence of a break in the communication on the digital channel of information interaction Corollary 3 with external devices.

Most of the new elements of the horizontal stabilizer drive of the weapon stabilizer are more convenient to implement as part of the software of the control unit, while the processing of the data received by the unit will be carried out by the controller, consisting of the following modules:

- analog-to-digital converter;

- digital-to-analog converter;

- discrete input-output;

- digital exchange, which is the controller's ports.

The digital control module can be made in the form of subroutines for controlling the outputs of the digital-to-analog converter GN and digital outputs of the controller. At the same time, the correcting links of the GN drive used by the digital control module are 1st and 2nd order digital filters obtained by bilinear conversion of analog prototypes, and the frequency of processing the data received by the control unit and the output of control signals to the GN drive power amplifier will be determined the specified frequency of the signal processing cycles by the controller of the control unit.

The settings and diagnostics devices and the protection unit are both hardware and software built-in to the OVN, as well as tools connected to the control connector of the stabilizer control unit.

(See the book edited by Bogner R. and Konstantinidis A. "Introduction to Digital Filtering" translated from English. - M .: Mir, 1976).

The output amplifier of the control unit GN can be performed according to a circuit built on an operational amplifier, in the feedback of which a transistor stage with a symmetrical current output is introduced.

(See the book Horowitz P., Hill W. "The Art of Circuit Engineering", trans. From English. - 4th ed. Revised and enlarged. - M.: Mir, 1993).

The inventive drive horizontal guidance and stabilization works as follows.

The principle of operation of the horizontal horizontal guidance electric drive is based on the fact that this drive is an automatic control system whose operation is based on the principle of working out the mismatch (error), i.e. comparing the actual value of the adjustable parameter with its predetermined value. The direction in the horizontal plane, which you want to give the tower 13 (gun), is the specified value of the adjustable parameter for the electric motor stabilizer.

Stabilization mode.

When moving the WHS over rough terrain to the tower 13 (gun), external disturbances act in the form of vibrations of the WH body, friction in the pursuit (support) of the tower, electric motor (EDGN) 7 of the GN drive, as well as disturbances due to the unbalance of the tower 13 relative to the axis of rotation.

These disturbances cause the tower 13 (guns) to deviate from the direction given by the stabilization master (ZUS) 2. The angle between the given and the actual direction of the tower 13 (guns), in this case, determines the error of stabilization of the electric drive GN. A signal proportional to the stabilization error, through external devices 3, is fed to the input of the digital exchange module 4, where it is processed according to a given algorithm.

Next, the received digital error signal (code) for GN arrives at the input of the digital control module 6, where it is filtered and summed with the corresponding negative feedback signals according to the absolute angular velocity (ω-GN) of tower 13 (guns) according to the GN generated by the signal from the absolute angular velocity sensor (GT-GN) 9, mounted on the tower 13 (gun), as well as negative feedback signals on the shaft rotation speed (OSS-GN) and current (OST-GN) of the executive electric motor (EDGN) 7, formed by a power amplifier (PA) 8 power ode to GBV.

The indicated feedback signals, as in the prototype stabilizer, can improve the quality factor and stability of the stabilizer’s electric drive, thereby ensuring the required quality of control of the electric drive, which is combined with new digital control algorithms implemented in the digital control module 6 of the control unit (BU ) 5, allows to reduce the stabilization error of the tower 13 (guns) in the GN plane.

Thus, the received and processed digital control module 6, the GN control signal is supplied to the GN amplifier 10 of the control unit (BU) 5, which generates a control signal amplified by current and voltage for the power amplifier (PA) 8. The received GN signal is converted by the power amplifier (UM) 8 into power signals for controlling the windings of an executive electric motor (EDGN) 7. To power the output transistor control cascade (EDGN) 7 of a power amplifier (UM) 8, a high-voltage voltage is generated from voltage of the Aries internal power supply network by a static voltage converter (PN) 11.

The influence of the power control amplifier (UM) 8 power control signals on the windings of the executive electric motor (EDGN) 7, mechanically connected to the GN gearbox (Red. GN) 12, leads to the rotation of its shaft and, as a consequence, to the rotation of the tower 13 (guns) along the GN to the side reduce the stabilization error in GN, thereby keeping the direction of the tower 13 (guns) at the target.

Stabilized guidance mode.

The stabilized guidance of the tower 13 (guns) is also carried out according to the signals of the stabilization master (ZUS) 2, which is connected electrically with the control panel via GN (PGN) 1 and external devices 3, which respectively generate a drive error with GN through the digital exchange channel at the inputs of external devices 3 and the target angular velocity signal.

The gunner (operator) of the OVN control panel (PUGN) 1 on GN guides the stabilized line of sight (sighting mark) of the master stabilization device (ZUS) 2 on the target. The signal from the GN position (angle) sensor of the stabilizing master (ZUS) 2, proportional to the GN error and the aiming line speed (sighting mark), is processed by the stabilizer GN drive, which rotates turret 13 (gun) in the direction of decreasing GN error, similar to that described above stabilization mode.

The technical advantages, feasibility and reliability of the main gun of the weapons stabilizer implemented according to the claimed structural scheme are confirmed by state tests of the stabilizer model B07C142 as part of the experimental product 199 in the territory of the Federal State Unitary Enterprise “38 Central Research Institute of the Russian Federation” in Kubinka, as well as in serial production at NPK OJSC Uralvagonzavod N. Tagil.

Claims (1)

1. A horizontal guidance and stabilization drive, comprising a gun mounted on a turret with a GN absolute velocity sensor mounted on it, a GN reducer mechanically coupled to the turret and the GN motor, the GN electric motor, the GN remote control, the stabilization master with the position sensor independently stabilized in space of an inertial object along GN, electrically connected to the control panel along GN, external devices, electrically connected to a master stabilization device with a sensor the position of the inertial object independently stabilized in space by the GN and the GN control panel, the control unit is electrically connected through its own control module to its own GN amplifier and to the absolute angular velocity sensor along the GN, characterized in that the voltage converter of the GN drive is inserted into it, the amplifier GN drive power, control and testing equipment, in addition, a digital exchange module, a diagnostic and tuning module, a protection unit, and a mod For the digital exchange of the control unit, it is electrically connected through digital channels of exchange with external devices, the diagnostic and tuning module, the protection unit and the input of the control module, which in turn is connected via digital channels of communication with the diagnostic and tuning module and the protection unit, electrically connected in turn with with an alternating supply voltage of a military-purpose facility, test equipment through a digital exchange channel is electrically connected to a diagnostic and tuning module, a voltage converter GN water is electrically connected to the on-board network of the military facility and the GN drive power amplifier, the control unit and the GN amplifier of the control unit are electrically connected to the GN drive power amplifier, which rotates the shaft of a closed type synchronous brushless electric motor, which rotates the turret with the gun in the direction through the GN reducer specified by the stabilization master with a position sensor of an inertial object independently stabilized in space by GN.

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