RU2552877C1 - Combat module weapon stabiliser - Google Patents

Abstract

FIELD: weapon and ammunition.SUBSTANCE: new components are added with the respective connections with other PWM elements to the combat module weapon stabilizer, namely HT absolute angular speed sensor, the fighting module position sensor containing the reducer of the fighting module position sensor, the fighting vehicle HT position sensor, and the logic unit, the adder, the first correction link, the second correction link, the third correction link are added to the control unit (CU).EFFECT: improvement of accuracy of horizontal stabilisation of the installed weapon, adding of the capability of exact horizontal positioning of the fighting module, setting to the marching position for convenience of exit of a driver mechanic, improvement of technical and operational specifications of the stabiliser of arms of fighting modules of the named above fighting vehicles and fighting modules of remotely-controlled weapon systems.2 dwg

Description

The invention relates to automatic control and regulation systems, in particular to weapon stabilizers (hereinafter referred to as ST) combat modules (hereinafter referred to as BM) of vehicles such as tanks, infantry fighting vehicles, armored personnel carriers, etc., incorporating an arms stabilizer, containing the necessary set of external and internal sensor equipment, which is part of the weapons control and stabilization system (SUSV).

The invention allows, due to the introduction of new units, to increase the accuracy of stabilization of installed weapons of vehicles such as tanks, infantry fighting vehicles, armored personnel carriers, etc., thereby improving the range of target recognition by the gunner, increasing the probability of hitting the target from the first shot, which is very important when working in real combat conditions, and also improves the working conditions of the driver of the combat vehicle.

Known stabilizer of tank weapons 2E42-2 BS 1.370.009 of the T-72 tank (object 184), made according to the electrical circuit diagram of BS 1.370.009 E3 and described in BS 1.370.009 TO, TU.

The structural diagram of the stabilizer of tank weapons (hereinafter referred to as STV) is shown in figure 1. This stabilizer tank weapons adopted as a prototype.

(See) 1) V.V. Korneev, M.I. Kuznetsov et al. "Fundamentals of automation and tank automatic systems", Moscow: Ministry of Defense, 1976, publication of the Academy of Armored Forces named after Marshal Malinovsky R.Ya.

2) Ministry of Defense of the USSR, Main Armored Directorate. Tank T-72B. Technical description and instruction manual. Book One, Moscow: Military Publishing House, 1986 107 p.

The stabilizer of tank weapons - the prototype mainly consists of two drives:

- vertical guidance drive (hereinafter - HV) and stabilization;

- horizontal guidance drive (hereinafter - GN) and stabilization.

The main drive of the weapon stabilizer is built on the basis of an electromechanical drive, and the main drive is based on an electro-hydraulic drive.

The operating principles of the HV and GN drives in the stabilization and stabilized guidance modes are very similar. Each of these two drives is an automatic control system, 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.

The weapons stabilizer of the combat module (hereinafter referred to as the BM BM), adopted as a prototype, is two autonomous drives for GN and HV, providing guidance and stabilization of the main weapons of the combat module (BM) of the T-72 tank in GN and HV planes according to signals, coming respectively from the stabilization master for GN (hereinafter referred to as ZUS-GN) installed directly in armament (B) and from the master stabilization device for HV (hereinafter referred to as ZUS-VN) installed on the combat module (BM).

Consider the operation of each of the VN and GN drives of the weapon stabilizer of the combat module (SV BM) separately.

VN stabilization mode - VN armament stabilization mode is carried out relative to the signal from the VN angle sensor - VN sighting line position sensor (ZUS-VN) 1 sighting system (PC) 2, which has independent stabilization of the sighting line (mirror) in the VN plane, that is provided by its own gyrostabilizer of the master stabilization device according to VN (ZUS-VN) 1.

When the tank moves (hereinafter referred to as a military target, abbreviated as IOD) over rough terrain for armament (B) 3, external disturbances in the form of oscillations of the OVN 4 hull, friction in the trunnions (bearings) of armament (B) 3, and friction in the executive hydraulic cylinder VN (GP) 5, as well as disturbances due to unbalanced weapons (B) 3 relative to the axis of the pins.

These disturbances cause the deviation of the armament (B) 3 from the position (angle) sensor specified by the signal of the independently stabilized line of sight along the VN (ZUS-VN) 1 position. In this case, the rotor of the position sensor of the line of sight along VN (ZUS-VN) 1 is mechanically connected to the axis of the outer frame of the three-stage gyroscope, and the stator is mechanically connected through a parallelogram mechanism with armament (B) 3 in the VN plane, thereby experiencing the same angular vibrations during movement OVN, as weapons (B) 3 in the plane of VN.

The angle between the given and the actual direction of armament (B) 3 in the vertical plane in this case determines the error of stabilization of the weapon stabilizer in the BH plane.

The VN stabilization error thus obtained from the stator of the position (angle) sensor along the VN (ZUS-VN) 1 of the aiming complex (PC) 2 is fed to the input of the analogue control module (MU) 6 of the control unit (BU) 7 of the weapon stabilizer, forming on it input error signal (error) in the HV plane. The processed signal from the output of the control module (MU) 6, proportional to the stabilization error in the VN plane, is fed to the input of the VN (V-VN) amplifier 8, where it is amplified to the value necessary to control the control mechanism of the cylinder of the VN (GP) hydraulic actuator 5, which provides rotation of the weapons (B) 3 in the direction of reducing the mismatch between the set signal value from the stator of the position sensor (angle) of the line of sight along HV (ZUS-VN) 1 and the true positions of the arms (B) 3 in the HH plane.

To increase the stability of the HV drive and, as a result, to obtain the specified stabilization error, feedback on the absolute angular velocity of the armament (V) 3 in the HV plane from the absolute angular velocity sensor (DUS-VN) 9, processed by the analog control module, was introduced into the control circuit of the HV drive of the stabilizer MU) 6 control unit (CU) 7.

The control of turning on the hydraulic drive VN (GP) 5 is carried out at the command of the control unit (BU) 7 by a signal from external devices 10 and provided that there are no locks on the VN drive.

VN stabilized guidance mode - VV stabilized guidance mode (V) 3 is also carried out according to the signal from the VN (ZUS-VN) line of sight sensor 1 of the sighting system (PC) 2. When a target is detected, the gunner with the guidance panel (PU-N ) 11 directs, as described above, the line of sight stabilized in the HH plane (sighting mark) (ZUS-VN) 1 at the target in the HL plane. The signal from the position sensor (angle) of the lines of sight on VN (ZUS-VN) 1, proportional to the stabilization error on VN, is fed to the input of the control module (MU) 6 of the control unit (BU) 7, where it is converted with the output of a control signal to the amplifier (U-VN) 8. The VN (GP) 5 hydraulic actuator rotates the armament (V) 3 in the direction of decreasing the VN error, similarly to the stabilization mode in the VN plane considered above.

Other signals from external devices 10 associated with (ZUS-VN) 1 and (PU-N) 10 (PC) 2 are signals from a set of devices and components included in both the weapon stabilizer and the OVN equipment as a whole.

GN stabilization mode - armament stabilization mode (B) 3 for GN is carried out according to the signal of the position (angle) sensor for GN (ZUS-GN) 12 weapon stabilizer. The master stabilization device for GN (ZUS-GN) 12 is rigidly fixed to the armament (B) 3 and consists of a three-stage gyroscope with a position sensor for the outer frame, the mechanism of which is similar to the gyrostabilizer of the master stabilizer for stabilizer for VN (ZUS-VN) 1 of the sighting system ( PC) 2.

When moving overhead cross-country on a combat module (BM) 13 (weapons (B) 3, external disturbances in the form of oscillations of the hull of the tank 4, friction in pursuit of the combat module 14 (BM) 13, as well as disturbances due to the imbalance of the combat module (BM) ) 13 relative to the axis of rotation.

These disturbances cause the deviation of the combat module (BM) 13 (armament (B) 3 from the direction specified by the signal of the position (angle) sensor of the stabilization device in GN (ZUS-GN) 12 directions. The angle between the given and actual direction of the combat module (BM) 13 ( armament (B) 3) in the horizontal plane in this case, and determines the error of the stabilizer of armament (SV) for GN.The signal, proportional to the error of stabilization, is processed by the drive of the GN of the stabilizer of armament (SV), turning the combat module (BM) 13 (armament (B) 3 down error. If stabilization fighting module (BM) 13 is carried out simultaneously and the line of sight stabilization of GBV sighting system (PC) 2 (dependent stabilization of the line of sight).

The GN stabilization error thus obtained from the GN stabilization master (ZUS-GN) 12 is processed by the analog control module (MU) 6 of the control unit (BU) 7 of the weapon stabilizer (ST). The signal from the first output of the control module 6 through the amplifier (U-GN) 15 enters the power amplifier (UM-GN) 16. The electric machine power amplifier (UM-GN) 16, in turn, produces a voltage of the corresponding sign and amplitude, under which the executive electric motor (ED-GN) 17 through the gearbox (Rev. GN) 18 rotates the combat module (BM) 13 (armament (B) 3 Aries in the direction of decreasing the mismatch between the set value of the signal from the position sensor (angle) of the stabilizer setting device for GN ( ZUS-GN) 12 and true laid it fighting module (BM) 13 (arms (B) 3) in a horizontal plane.

To increase the stabilization accuracy and reduce the GN drive error, a compensation signal is additionally used in its circuit, proportional to linear acceleration (BM) 13 in the transverse vertical plane, formed by a linear acceleration sensor (DLU) 19, connected by an electrical signal to the control module (MU) 6 of the unit control (BU) 7 and rigidly mounted on the combat module (BM) 13.

The control of turning on the power amplifier GN (UM-GN) 16 of the GN drive is carried out at the command of the control unit (BU) 7 by a signal from external devices 10 and provided that there are no locks on the GN drive.

Stabilized guidance mode on GN - stabilized guidance mode of the combat module (BM) 13 (armament (B) 3) on GN is also carried out by a signal from the position (angle) sensor of the stabilizer on the GN (ZUS-GN) 12. When the gunner detects a target guidance panel (PU-N) 11 on the GN (PC) 2 directs the line of sight (reticle) on the GN of the aiming complex (PC) 2 on the target in the GN plane, which is provided by the magnets of the gyro stabilizer and the signal from the position sensor (angle) according to the GN of the master stabilization device according to GN (ZUS-GN) 12 weapon stabilizer (SV). The signal from the position (angle) sensor of the GN stabilization device (ZUS-GN) 12, proportional to the GN stabilization error, is input to the control module (MU) 6 of the control unit (BU) 7, where it is converted as described above. The executive electric motor (ED GN) 17 through the gearbox (Rev. GN) 18 turns the combat module (BM) 13 (armament (B) 3 Aries, and with it the line of sight (PC) 2 in the direction of decreasing GN error, similar to that discussed above stabilization mode in the GN plane.

Emergency turn mode on GN - the mode provides the turnaround of the combat module (BM) 13 on GN (armament (B) 3 from the driver’s hatch to ensure its unhindered exit from the AHV through its own hatch. The mode is activated when the driver presses the MB button (driver) on the shield located at his workplace.

When the “MB” button is pressed on the driver’s dashboard related to the OVN 4 case, a discrete signal is issued to the control module (MU) 6 of the control unit (BU) 7 and then through (U-GN) 15 to (UM-GN) 16 The executive electric motor (ED-GN) 17 through the gearbox (Rev. GN) 18 rotates the combat module (BM) 13 relative to the OVN 4 case to the left, until the driver-mechanic releases the “MB” button on the driver’s shield. In this case, the driver estimates the position (BM) 13 (armament (B) 3 relative to the housing OVN 4 (the moment the button “MB” is released), in which he is provided with unhindered exit from the housing OVN 4 only indirectly, by the location of the elements on the roof of the rotating conveyor automatic loader rotating with (BM) 13 and located at its rear (behind the back of the seat).

The disadvantages of the above CB BM prototype are:

- low accuracy of stabilization of installed weapons on GN;

- the lack of the ability to accurately bring BM on GN to the required traveling position, providing ease of exit for the driver from the HVA body through its own hatch.

The technical objectives of the claimed invention are:

- improving the accuracy of stabilization of installed weapons on GN (reduction of error by at least 20%);

- providing the ability to accurately bring the combat module (BM) on GN to the stowed position for easy exit of the driver;

To achieve the specified technical result, a known weapon stabilizer (BM) of the combat module (BM) of the weapon control and stabilization system, comprising a combat module (BM) kinematically connected through the epaulet to the military object’s body (AIS), weapons (B), kinematically fixed on the combat module (BM), external devices associated with the sighting system (PC), which in turn consists of a master stabilization device for VN (ZUS-VN), mechanically connected to weapons (V) and electrically connected to bullets gunner’s control volume (PU-N), control unit (BU), which includes a control module (MU), VN amplifier (U-VN), GN amplifier (U-GN), VN drive with hydraulic drive (GP), GN drive with a linear acceleration sensor (DLU), rigidly connected to the combat module (BM) and electrically connected to the control module (MU) of the control unit (BU), the power amplifier GN (UM-GN), the executive electric motor GN (ED-GN), gearbox (Rev. GN) mounted on a combat module (BM) and kinematically connected with the shoulder strap, with rigidly mounted weapons (B), an absolute sensor angular velocity along the HV (DUS-VN) and the master stabilization device on the GN (ZUS-GN), and electrically connected to the control module (MU) of the control unit (BU), while the master stabilization device on the GN (ZUS-GN) is electrically connected to the gunner’s control panel (PU-N) of the aiming complex (PC), characterized in that according to the invention it is additionally introduced:

- GN absolute velocity sensor (DUS-GN),

- the position sensor of the combat module (DPBM), containing:

- gearbox (Rev. DPBM),

- position sensor (DP),

and the control unit (BU) additionally introduced:

- logic block (BL),

- adder (∑),

- the first link of correction (ZK1),

- the second link of correction (ZK2),

- the third link of correction (ZK3),

moreover, the absolute velocity sensor for GN (DUS-GN) is rigidly mounted in service (B) and is electrically connected to the second correction link (ZK2) of the control unit (BU),

the sensor of the position sensor (DP) is kinematically connected to the gearbox (Rev. DPBM), which in turn is connected with the overhead, and is electrically connected to the control module (MU) and the third correction link (ZK3) of the control unit (BU), and the module of the position sensor of the combat module (DPBM) is rigidly connected to the combat module (BM),

in turn, the second correction link (ZK2) and the third correction link (ZK3) are connected to the inputs of the adder (∑), and the output of the adder (∑) is connected to the first correction link (ZK1), in turn, the output of the first correction link (ZK1) is connected the first input from the logic unit (BL), the second input of the logic block (BL) is connected to the gunner’s control panel (PU-N) of the aiming complex (PC), and the output of the logic block (BL) is connected to the control module (MU) of the control unit (BU) ) weapons stabilizer (ST) combat module (BM).

A comparative analysis with the prototype shows that new components have been introduced into the inventive weapons stabilizer of the combat module (SV BM) of the weapon control and stabilization system, namely:

- GN absolute velocity sensor (DUS-GN),

- the position sensor of the combat module (DPBM), containing:

- gearbox (Rev. DPBM),

- BM position sensor (DP) in the GN plane,

and the control unit (BU) additionally introduced:

- logic block (BL),

- adder (∑),

- the first link of correction (ZK1),

- the second link of correction (ZK2),

- the third link of correction (ZK3),

their relations with other elements of the weapons stabilizer of the combat module (SV BM) and AIS.

Comparison of the proposed solution 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 inventive weapon stabilizer of the combat module (SV BM) allows us to solve the following problems:

1. To increase the accuracy of stabilization of the installed weapons for main guns as part of the BM BM (error reduction by at least 20%) due to the introduction of positive feedback (with respect to the signal of the GN drive error) into the control channel of the main drive of the main engine (BM) in the horizontal plane (GN), obtained by algebraic summation with given signal coefficients:

- from the absolute angular velocity sensor for GN (DUS-GN), processed by the second correction link (ZK2),

- the position sensor of the combat module (DPBM), processed by the third link of correction (ZK3),

with subsequent processing of the total signal thus obtained by the bandpass filter of the first correction link (ZK1) of the control unit (BU) (in the description).

The total signal thus obtained is fed to the first input of the logic unit (BL) of the control unit (CU).

The logic block (BL) provides the solution to the following tasks:

- limitations of the amplitude of the feedback on the disturbance of the combat module (BM) in accordance with a given value determined by the mechanical parameters of the Aries;

- changes in the feedback coefficient of the disturbance of the combat module (BM), depending on the level of the GN signal from the gunner’s control panel (PU-N), which arrives at the second input of the logic block (BL).

2. To provide the ability to accurately bring the combat module (BM) along the main engine to the stowed position for the convenience of the driver-driver coming out of the OVN housing by using the signal from (DPBM) in the control channel of the main drive of the control module (MU) of the control unit (CU). When the “MB” button is pressed, on the driver’s dashboard, the BM BM switches from the GN drive error signal (from the ZUS-GN) to the signal processing of the difference between the current position of the combat module (BM) and set in advance (when setting up the BM BM) in control module (MU) the required position of the combat module (BM), corresponding to its traveling position.

The present invention allows to improve the technical and operational characteristics of the weapon stabilizer (ST) of combat modules of the above combat vehicles and combat modules of remotely controlled weapons systems, to solve issues of their operational configuration and diagnostics, which is achieved by using a digital controller in the proposed SV control unit (BU) developed on a new elemental base, built on a modern digital platform using high-speed digital information exchange channels for data with external devices;

The device and operation of the claimed invention are illustrated in graphic materials.

Figure 1 shows the structural diagram of CB BM - prototype; figure 2 shows the claimed structural diagram of CB BM.

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

BL - logic block;

BM - combat module;

BMP - infantry fighting vehicle;

BTR - armored personnel carrier;

BU - weapon stabilizer control unit;

B - installed weapons;

VN - vertical guidance;

GN - horizontal guidance;

GP - VN hydraulic drive;

DLU - linear acceleration sensor;

DPBM - position sensor of the combat module;

DUS-VN - absolute velocity sensor for VN;

DUS-GN - absolute velocity sensor for GN;

ZK1 - the first link of correction;

ZK2 - the second link of correction;

ZK3 - the third link of correction;

ZUS-VN - a stabilization master with a position sensor of an inertial object independently stabilized in space by VN;

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

MB - signal from the button of the driver mechanic;

MU - control module;

OVN - military facility;

PC - sighting system;

PU-N - gunner control panel;

Ed. GN - GN reducer;

Ed. DPBM - reducer of the position sensor of the combat module;

SV BM - weapons stabilizer of the combat module;

SV - weapons stabilizer;

STV - stabilizer of tank weapons;

SUSV - weapon control and stabilization system;

U-VN - VN amplifier;

U-GN - GN amplifier;

UM-GN - GN power amplifier;

ED-GN - GN electric motor;

β _BM - electrical signal from the position sensor of the combat module;

∑ - adder;

ω _BM - an electrical signal proportional to the speed of rotation of the combat module;

ω _B is an electrical signal of the absolute angular velocity of the weapons of the combat module with DUS-GN;

ω _B1 is an electrical signal proportional to the absolute angular velocity of the weaponry of the combat module after processing by the second correction unit (ZK2).

The weapon stabilizer of the combat module contains HV and GN drives and serves to guide, stabilize, and control the installed weapons of the combat module.

The sensitive element of the VN stabilization device (ZUS-VN) 1 of the sighting system (PC) 2 is mechanically connected to the installed armament (B) 3. Armament (B) 3 is kinematically connected via the trunnion assembly to the combat module (BM) 4, which the line through the overhead 5 is kinematically connected by the body of the OVN 6.

The gunner’s control panel (PU-N) 7 of the sighting system (PC) 2 is electrically connected to the VN stabilizer (ZUS-VN) 1, which in turn is electrically connected to external devices 8 and the control module (MU) 9 of the control unit ( BU) 10. External devices 8, in turn, are also electrically connected to the control module (MU) 9 of the control unit (BU) 10.

The gunner’s control panel (PU-N) 7 of the sighting system (PC) 2 is electrically connected to the GN stabilizer (ZUS-GN) 11. The GN stabilizer (ZUS-GN) 11 is fixed to the armament (B) 3 and consists of a three-stage gyroscope with an external frame position sensor, the mechanism of which is similar to the operation of the gyrostabilizer of the stabilizer of the stabilization device on VN (ZUS-VN) 1 of the aiming complex (PC) 2 and is electrically connected to the control module (MU) 9 of the control unit (BU) 10.

The VL absolute velocity sensor (DUS-VN) 12 is rigidly connected to the installed armament (B) 3 and is electrically connected to the control module (MU) 9 of the control unit (BU) 10.

The linear acceleration sensor (DLU) 13 is rigidly connected to the combat module (BM) 4 and is electrically connected to the control module (MU) 9 of the control unit (BU) 10.

The OVN 6 case is electrically connected to the control module (MU) 9 of the control unit (BU) 10 by a signal along the + 27V from MB circuit.

The GN absolute velocity sensor (DUS-GN) 14 is rigidly connected to the installed armament (B) 3 and is electrically connected to the second correction link (ЗК2) 15 of the control unit (БУ) 10, which is a filter that limits high frequencies and a notch filter, eliminating the resonance band of the mechanical part of the BM along GN.

The housing of the combat module position sensor (DPBM) 16 is rigidly connected to the combat module (BM) 4. The position sensor (DP) 17 of the combat module position sensor (DPBM) 16 is mechanically connected through the gearbox DPBM (Rev. DPBM) 18 and is electrically connected with a control module (MU) 9 and a third correction link (ZK3) 19 of the control unit (BU) 10, which is a low-frequency differentiating element of the first order with a rollback in the high-frequency region.

The second correction link (ZK2) 15 and the third correction link (ZK3) 19 are electrically connected to the adder (∑) 20, which in turn is electrically connected to the first correction link (ZK1) 21, which is a band-pass filter.

The first correction link (ZK1) 21 is electrically connected to the first input of the logic unit (BL) 22, which is a key device with a built-in function to limit the amplitude and slope of the feedback perturbation. The gunner’s control panel (PU-N) 7 of the aiming complex (PC) 2 is electrically connected to the second input of the logic unit (BL) 22, which in turn is electrically connected to the control module (MU) 9 of the control unit (BU) 10.

The control module (MU) 9 is electrically connected to the VN amplifier (V-VN) 23 of the control unit (BU) 10, which in turn is electrically connected to the control mechanism of the cylinder of the VN (GP) hydraulic actuator 24. The VL (GP) hydraulic actuator 24 mechanically connected with the combat module (BM) 4 installed armament (B) 3. The drive motor of the pumping unit hydraulic drive VN (GP) 24 is connected to the "airborne wiring system" and is included in the operation from the control unit (BU) 10.

The control module (MU) 9 is electrically connected to the GN amplifier (U-GN) 25 of the control unit (BU) 10, which in turn is electrically connected to the GN power amplifier (UM-GN) 26. The GN power amplifier (UM-GN) 26 electrically connected to the GN motor (ED-GN) 27, which in turn is mechanically connected to the GN reducer (Ed. GN) 28.

The power amplifier GN (UM-GN) 26 is electrically connected to "+ 27V from the on-board power supply network" and is included in the operation from the control unit (BU) 10.

GN gearbox housing (Rev. GN) 28 is rigidly connected to the combat module (BM) 4 and kinematically connected to shoulder strap 5.

The control unit (CU) 10 is electrically connected to "+ 27V from the OBN flight network."

Operating modes of the weapon stabilizer of the combat module.

VN stabilization mode - VN armament stabilization mode is carried out relative to the signal from the VN angle sensor - VN sighting line position sensor (ZUS-VN) 1 sighting system (PC) 2, which has independent stabilization of the sighting lines (mirrors) in the VN plane, that is provided by its own gyrostabilizer of the master stabilization device according to VN (ZUS-VN) 1.

When moving the overhead line over rough terrain to the armament (B) 3, external disturbances act in the form of vibrations of the front casing 6, friction in the trunnions (bearings) of the armament (B) 3, friction in the executive cylinder of the hydraulic drive VN (GP) 24, as well as disturbances due to imbalance of weapons (B) 3 relative to the axis of the pins.

These disturbances cause the deviation of the armament (B) 3 from the position (angle) sensor specified by the signal of the independently stabilized line of sight along the VN (ZUS-VN) 1 position. In this case, the rotor of the position sensor of the sighting lines along VN (ZUS-VN) 1 is mechanically connected to the axis of the outer frame of the three-stage gyroscope, and the stator is mechanically connected through a parallelogram mechanism to the armament (V) 3 in the VN plane, thereby experiencing the same angular oscillations during the movement of the OVN, as the armament (B) 3 in the VN plane.

The angle between the given and actual direction of armament (B) 3 in the vertical plane, in this case, determines the error of stabilization of the weapon stabilizer in the BH plane.

The VN stabilization error thus obtained from the stator of the position (angle) sensor along the VN (ZUS-VN) 1 of the aiming complex (PC) 2 is fed to the input of the control module (MU) 9 of the control unit (BU) 10 of the weapon stabilizer, forming at its input error signal (errors) in the HV plane. The processed signal from the output of the control module (MU) 9, proportional to the stabilization error in the VN plane, is fed to the input of the VN (V-VN) amplifier 23, where it is amplified to the value necessary to control the control mechanism of the cylinder of the VN (GP) 24 hydraulic actuator, which provides rotation of the weapons (B) 3 in the direction of reducing the mismatch between the set signal value from the stator of the position sensor (angle) of the line of sight along HV (ZUS-VN) 1 and the true positions of the arms (B) 3 in the HH plane.

To increase the stability of the HV drive and, as a result, to obtain the prescribed stabilization error, feedback on the absolute angular velocity of armament (B) 3 in the HV plane with (ДУС-ВН) 12, processed by the control unit (MU) 9 of the control unit, has been introduced into the control loop of the drive of the HV stabilizer (CU) 10.

The control of the inclusion of the hydraulic drive VN (GP) 24 is carried out at the command of the control unit (BU) 10 by a signal from external devices 8 and in the absence of locks on the VN drive.

HF stabilized guidance mode - HF stabilized guidance mode (B) 3 is also carried out according to the signal from the VL (ZUS-VN) line of sight sensor 1 of the sighting system (PC) 2. When a target is detected, the gunner’s gunner’s control panel (PU- H) 7, as described above, directs the line of sight (sighting mark) (ZUS-VN) 1 stabilized in the HH plane (ZUS-VN) 1 at the target in the HL plane. The signal from the position sensor (angle) of the VL sight lines (ZUS-VN) 1, proportional to the VL stabilization error, is fed to the input of the control module (MU) 9 of the control unit (BU) 10, where it is converted with the control signal output to the amplifier (U-VN) 23. The VN (GP) 24 hydraulic drive rotates the armament (V) 3 in the direction of decreasing the VN error, similarly to the stabilization mode in the VN plane considered above.

Other signals from external devices 8 associated with (ZUS-VN) 1 sighting system (PC) 2 and control module (MU) 9 of the control unit (BU) 10, are signals from a set of devices and components that are included in the weapons stabilizer, as well as in the OVN equipment as a whole.

GN stabilization mode - the weapon stabilization mode (B) 3 for GN is carried out according to the signal of the position (angle) sensor along the GN (ZUS-GN) 11 of the weapon stabilizer.

When moving AEC over rough terrain to a combat module (BM) 4 (armament (B) 3), external disturbances act in the form of vibrations of the Aries 6 corps, friction in pursuit of 5 combat module (BM) 4, as well as disturbances due to the unbalance of the combat module ( BM) 4 relative to the axis of rotation.

These disturbances cause the deviation of the combat module (BM) 4 (armament (B) 3) from the directional stabilization device (angle) specified by the signal of the stabilization device along the GN (ZUS-GN) 11 directions. The angle between the given and actual direction of the combat module (BM) 4 (weapons (B) 3) in the horizontal plane in this case determines the error of the weapon stabilizer according to GN. A signal proportional to the stabilization error is processed by the armament stabilizer drive GN, turning the combat module (BM) 4 (armament (B) 3) in the direction of reducing the error. When stabilizing the combat module (BM) 4, the line of sight is also stabilized along the GN of the aiming complex (PC) 2.

The GN stabilization error thus obtained from the GN stabilizer (ZUS-GN) 11 is processed by the control module (MU) 9 of the weapon stabilizer control unit (BU) 10. The signal from the output of the control module (MU) 9 through the amplifier (U-GN) 25 enters the power amplifier (UM-GN) 26. The power amplifier (UM-GN) 26, in turn, produces a voltage of the corresponding sign and amplitude, under the action of which the executive electric motor (ED-GN) 27 through the gearbox (Rev. GN) 28 turns the combat module (BM) 4 (armament (B) 3) Aries in the direction of decreasing the mismatch between the set value of the signal from the position sensor (angle) of the stabilizer setting device in GN (ZUS-GN) 11 and the true position of the combat module (B ) 4 (arms (B) 3) in a horizontal plane.

The inclusion of the power amplifier GN (UM-GN) 26 of the GN drive is controlled by the command of the control unit (BU) 10 by a signal from external devices 8 and in the absence of interlocks by the GN drive.

To increase the stabilization accuracy and reduce the GN drive error, a compensation signal is additionally used in its circuit, proportional to the linear acceleration of the BM in the transverse vertical plane, generated by the linear acceleration sensor (DLU) 13, connected by an electric signal to the control module (MU) 9 of the control unit (BU ) 10 and rigidly mounted on the combat module (BM) 4.

Additionally, in order to increase the accuracy of stabilization of the installed armament for GN in the BM BM (error reduction by at least 20%), feedbacks were introduced on the absolute angular velocity of weapons (B) 3 in the GN plane with (ДУС-ГН) 14 and a signal from the position sensor combat module (DPBM) 16, processed respectively by the second correction link (ZK2) 15 and the third correction link (ZK3) 19 of the control unit (BU) 10.

"Β _BM " is an electrical signal from the position sensor (DP) 17 of the combat module position sensor (BPBM) 16, the signal value from which is proportional to the angle of rotation of the combat module (BM) 4 relative to the OVN 6 case, due to the mechanical coupling of the DPBM gearbox (Red . ДПБМ) 18 and shoulder strap 5 of the WHS.

"Ω _B " is an electrical signal of the absolute angular velocity of the armament of the combat module s (DUS-GN) 14.

The outputs (ZK2) 15 and (ZK3) 19 are respectively:

- "ω _B1 " electrical signal proportional to the absolute angular velocity of the weaponry of the combat module after processing by the second correction unit (ZK2) 15;

- “ω _BM ” an electric signal proportional to the rotation speed of the combat module after processing by the third correction unit (ZK3) 19.

After algebraic summing of signals with (ЗК2) 15 and (ЗК3) 19 in the adder module (∑) 20, a compensation signal is generated for the perturbation velocity of the combat module (BM) 4 in the GN plane, which is processed by the first correcting link (ЗК1) 21, which is a band filter. The output of the first correction link (ZK1) 21 goes to the first input of the logic unit (BL) 22, which is a key device that prohibits the passage of the correction signal to the control module (MU) 9 when a signal is received from the gunner’s control panel (PU-N) 7 of the aiming complex (PC) 2 through the second input of the logic unit (BL) 22 of the control unit (BU) 10.

The introduction of a compensation signal for the disturbance of the combat module (BM) 4 in the GN plane into the control module (MU) 9 allows to increase the quality factor of the control loop, which makes it possible to introduce an additional coefficient by mistake and, therefore, reduce it.

Stabilized guidance mode on GN - stabilized guidance mode of the combat module (BM) 4 (armament (B) 3) on GN is also carried out by a signal from the position (angle) sensor of the stabilizer of the GN stabilization (ZUS-GN) 4. When the gunner detects a target the gunner’s control panel (PU-N) 7 on the GN (PC) 2 directs the line of sight (aiming mark) on the GN of the aiming complex (PC) 2 on the target in the GN plane, which is provided by the magnets of the gyro stabilizer and the signal from the position sensor (angle ) on the GN of the master device is stable GN (ZUS-GN) 11 weapons stabilizer. The signal from the position (angle) sensor of the GN stabilization device (ZUS-GN) 11, proportional to the GN stabilization error, is input to the control module (MU) 9 of the control unit (BU) 10, where it is converted as described above. The executive electric motor (ED-GN) 27 through the gearbox (Rev. GN) 28 rotates the combat module (BM) 4 (armament (B) 3) air guns, and with it the line of sight of the aiming complex (PC) 2 in the direction of decreasing the GN error , similarly to the stabilization mode considered above in the GN plane.

Emergency turn on GN and turn on GN to stowed position - the mode provides a turn of the combat module (BM) 4 on GN from the driver’s hatch with the “MB” button (driver mechanic) pressed on the driver’s mechanic shield.

When the “MB” button is pressed on the driver’s mechanic’s shield, related to the OVN 6 case, a discrete signal “+ 27V from MB” is issued to the control unit (MU) 9 of the control unit (BU) 10.

In this case, the control is switched in the control module (MU) 9 of the control unit (BU) 10 to the signal from the position sensor (DP) 17 of the position sensor of the combat module (DPBM) 16 and its summation with a pre-set delay. As a result, an error signal is generated which, through (U-GN) 25, is supplied to the GN power amplifier (UM-GN) 26.

The executive electric motor (ED-GN) 27 through the gearbox (Rev. GN) 28 turns the combat module (BM) 4 relative to the OVN 6 case to the left, until the error enters the established zone or until the “MB” button on the driver’s mechanic shield stops pressing.

Most of the new elements such as a logic unit (BL), adder (∑), the first correction link (ZK1), the second correction link (ZK2), the third correction link (ZK3), the control unit of the inventive ST BM with a combat module position sensor are implemented as part software of the controller of the control unit (CU) of the CB BM, while the processing of the received and transmitted data is carried out by the controller modules, such as analog-to-digital conversion and digital-to-analog conversion modules.

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

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

(See the book Voytitsky S.A., Voytitskaya G.N. An analog-to-digital signal converter for a sine-cosine rotary transformer in a rotary support device of a small-sized ground-based radar // Bulletin of Tula State University. Ser. Control systems. 2010. Issue. one).

(See Oppenheim A., Schafer R. Digital Signal Processing. M: Technosphere, 2006. 856 pp.).

Thus, the technical tasks set in the application have been achieved.

The technical advantages given in the description, the feasibility and reliability of the weapon stabilizer of the combat module, implemented according to the claimed structural scheme, are confirmed by tests of a prototype SV BM on the test base of OJSC SKB PA and OJSC KEMZ of the city of Kovrov, OJSC 61BTRZ St. Petersburg and OAO UKBTM, OAO NPK Uralvagonzavod Nizhny Tagil.

Claims (1)

The weapon stabilizer of the combat module of the control and stabilization system of weapons, containing the combat module kinematically connected through the epaulet to the body of the military target, weapons kinematically mounted on the combat module, external devices associated with the sighting system, which in turn consists of a master stabilization device for VL mechanically connected with weapons and electrically connected with the gunner’s control panel, a control unit including a control module, an HV amplifier, amplifies only GN, HV drive with hydraulic drive, GN drive with linear acceleration sensor, rigidly connected to the combat module and electrically connected to the control module of the control unit, GN power amplifier, GN executive electric motor, gearbox mounted on the combat module and kinematically connected with the shoulder strap, with rigidly mounted in arsenal of the VL absolute encoder and the GN stabilizer, and electrically connected to the control unit of the control unit, while the stabilizer The GN position is electrically connected to the aiming gunner’s control panel, characterized in that the absolute angular velocity sensor along the GN is additionally introduced into it, the position module of the combat module containing the reducer of the position sensor of the combat module, a position sensor, and a logic unit is additionally introduced into the control unit , adder, the first correction link, the second correction link, the third correction link, and the GN absolute velocity sensor is rigidly mounted and is electrically connected to the second link m correction of the control unit, while the sensitive element of the position sensor is kinematically connected to the gearbox of the position sensor of the combat module, which in turn is connected with the shoulder strap, and is electrically connected to the control module and the third link of the correction of the control unit, and the housing of the position sensor of the combat module is rigidly connected the module, in turn, the second correction link and the third correction link are connected to the inputs of the adder, and the output of the adder is connected to the first correction link, in turn, the output of the first correction link and AI is connected by the first input to the logic unit, the second input of the logic unit is connected to the control panel of the aiming gunner, and the output of the logic unit is connected to the control module of the weapon stabilizer control unit of the combat module.

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