UA60908A - Drive of horizontal pointing and stabilization of tank arms - Google Patents

Description

Description of the invention

The invention belongs to automatic control and regulation systems, including stabilization and 2 guidance of tank weapons.

Known guidance drives and stabilizers of the 2328M (2328M-2) tank weapon are described in the printed source of technical information - "Stabilizer! of the 2328M (2328M-2) tank weapon", M.: Voenizdat, 1979, p. 84-106. The essential features of these drives are that in the mode of stabilization and stabilized guidance, they work using gyroscopic angle and angular speed sensors (gyrotachometers). The 70 disadvantages of these stabilizers include: insufficient accuracy of stabilization, which they are able to provide; insufficient reliability associated with the possibility of the occurrence of favorable conditions for the process of voltage increase at the terminals of the executive motor, which is accompanied by a violation of switching processes and can cause the failure of the executive motor. 12 The first of the indicated shortcomings is somewhat improved thanks to the solution closest in technical essence to the claimed invention - the horizontal guidance and stabilization drive 2342 (БС1.370.00879), known from the "Technical description of the product 2342 БС1.370.008Т0", VNYI "Signal" , Kovrov, 1979, Appendix, sheet. 4. The structural diagram of this drive is shown in Fig. 1. The indicated drive of horizontal guidance and stabilization 2342 was accepted by the authors as a prototype. The prototype drive is a closed system and includes a serially connected unit sight - range finder - tracking device (BPVPS) 1, amplifier 2, adder

C, electric machine power amplifier 4 (EMPP), executive motor 5 (VD), control object 6, for example, a tank tower, gyrotachometer 7, the output of which is connected to the second inverting input of the adder 3. BPVPS 1 is installed on the control object b and includes a control panel and a gyroscopic stabilizer (not shown in Fig. 1). The control panel has manual controls, thanks to which, in the guidance mode with a rollover speed of 29 (under conditions of maximum deviation of the specified manual controls in the corresponding " direction), the angle sensor installed on the shaft of the gyroscopic stabilizer generates a signal proportional to the maximum angle of misalignment between the axis of the gyro stabilizer and the position of the control object 6, for example, the position of the tank tower. On the axis of the outer frame of the angle sensor, the rotor of a rotating transformer is mounted, the stator of which is rigidly connected to the control object, for example, a tank tower. The output of co

BPVPS 1 is the winding of the rotor of the rotating transformer, which is connected to the input of the amplifier 2, the output of which is connected to the input of the adder 3. The output of the gyrotachometer 7 is connected to the second - inverting input of the specified adder, in which the output signal of the amplifier 2 is algebraically combined with the output signal gyro tachometer at 7. The output of adder C is connected to the input of EMPP 4, to which the control signal is applied. The output of the EMPP 4 o is directly connected to the input of the executive motor 5, which is mechanically connected to the control object 6, thanks to which the indicated control signal causes the rotational movement of the control object, for example, o an unbalanced tank tower, at maximum speed ( without taking into account the time of the transition process).

It should be noted that, in contrast to the proposed invention, the connection between the contacts of the rotor winding of the rotating transformer included in (BPDPOS) 1 and the amplifier 2 is directly direct. "

The prototype drive preserves the disadvantage of the previously considered analogue drive regarding the possibility of 70 modes of operation of the executive engine, which lead to insufficient reliability of its operation, namely: in the prototype drive when guiding an unbalanced tank tower with a tipping speed under the conditions of its " transverse inclination (rolling) conditions may arise for an additional increase in voltage at the terminals of the executive motor. This is due to the additional acceleration of the latter, which is caused by the moment of imbalance of the control object (for example, the tank turret), when the sign of the disturbing moment from the imbalance of the specified control object coincides with the sign of the moment created by the engine executive. At the same time, the increasing voltage at the terminals of the executive motor, which is accompanied by a violation of the switching processes, can cause the executive motor to fail.

The task of the invention is to increase the reliability of the operation of the drive for horizontal guidance and stabilization of tank weapons due to the protection of the executive motor from the specified increased voltage on its 20 terminals in the mode of guidance of an unbalanced turret with a tipping speed under conditions of tank roll.

The task is solved due to the fact that in the horizontal guidance and stabilization drive of the tank weapon system, which works in the guidance mode with a rollover speed under the conditions of the presence of the tank roll and includes in its composition a serially connected sight-rangefinder-tracking device unit, an amplifier, an adder , an electric machine power amplifier, an executive motor, a gyrotachometer and a control object, for example, in the form of a tank tower 22, while a gyrotachometer and a sight-rangefinder-tracking device unit are mounted on the object ve. control, and the output of the amplifier is connected to the first - non-inverting input of the adder, with the second - inverting input of which the output of the gyro tachometer is connected, a key is inserted, made with the possibility of switching the output of the sight-rangefinder-tracking device unit with the input of the amplifier and connected in series between them, and also connected in series is the unit of module selection, threshold comparator, differentiator and single vibrator, the output 60 of which is connected to the control input of the key, which in its output is connected to the input of the amplifier, and the input of the unit of module selection is connected to the output of the electric machine power amplifier at the same time as the input of the executive motor.

Inserting the key in the presence of a control signal allows you to switch the output of the sight-rangefinder-tracking device unit with the input of the amplifier, which provides the possibility of creating a braking torque on the executive motor under the condition that the voltage at its terminals approaches a critical value.

The introduction of the module selection block allows you to rectify and measure the voltage at the terminals of the executive motor.

The introduction of a threshold comparator allows you to compare the value of the reference signal with the measured voltage at the terminals of the executive motor under conditions when the latter exceeds the value of the reference signal, to form a signal, for example, in the form of a rectangular pulse of positive polarity.

The input of the differentiator allows you to generate positive and negative pulses (corresponding to the fronts of a rectangular pulse) under the conditions of receiving a corresponding signal from the output of the threshold comparator at its input. 70 The input of the oscillator allows, in accordance with the positive pulse coming from the output of the differentiator, to generate a key control signal in the form of a rectangular pulse of positive polarity, which switches the output of the sight-rangefinder-tracking device unit with the input of the amplifier, thanks to which a pulse braking torque is created on the executive motor.

A comparative analysis with the prototype revealed that the claimed device is distinguished by the presence of /5 New blocks, namely: a key, a module selection block, a threshold comparator, a differentiator, a monovibrator, as well as a difference in the connections of known component parts of the circuit to each other, so and their connections with the introduced new blocks. Until now, the authors and the applicant were not aware of drives for horizontal guidance of tank weapons, which would be characterized by the composition and connections inherent in the device being claimed.

Therefore, the proposed technical solution meets the "novelty" criterion.

A comparison of the proposed technical solution with the known technical solutions regarding the drives for horizontal guidance and stabilization of tank weapons revealed that separately taken parts of its scheme, namely: a key, a module selection block, a threshold comparator, a differentiator, a monovibrator, which are part of the claimed device, are known by themselves and are widely used in technology, but their use in the specified connection with other component blocks of the device allows to create a pulse braking torque on the executive motor under conditions of approaching the voltage at its terminals to a critical value (set by the reference signal). This allows us to conclude that the presented "technical solution" meets the "inventive level" criterion.

The essence of the invention is explained by the drawings: Fig. 1 shows the block diagram of the prototype device; Fig. 2 shows the structural diagram of the proposed device (according to an independent clause of the patent formula); Fig. 3 shows one of the options for the specific implementation of the proposed device; about in fig. 4 shows timing diagrams explaining the operation of the proposed device. Gee!

The proposed device, shown in Fig. 2, includes: unit sight-rangefinder-tracking device (BPVPOS) 1, amplifier 2, adder 3, electric machine power amplifier (EMPP) 4, executive motor 5, control object (OK) 6, for example, a tank tower, a gyrotachometer 7, a module allocation unit (BVM) 8, a threshold Ge comparator 9, a differentiator 10, a single vibrator 11 and a key 12. BPVPS 1 and a gyrotachometer 7 are installed on a control object 6, for example, on a tank tower . The output of the BPVPS 1 through the serially connected key 9, the amplifier 2, the first input of the adder 3, the EMPP 4 and the executive motor 5 is connected to the input of the OK 6, for example, to the tower of the tank, which may be unbalanced. At the same time, the output of EMPP 4 through the serially connected BVM block 8, the threshold comparator "

With, the differentiator 10 and the single vibrator 11 is connected to the control input of the key 12. The output of the gyrotachometer 7, pt") from installed on the control object 6, is connected to the second - inverting input of the adder 3. In the composition

BPVPS 1 includes a control panel and a gyroscopic stabilizer, on the shaft of which an angle sensor is installed (in Fig. 2; 2 is not shown). The rotor of a rotating transformer is mounted on the axis of the outer frame of the angle sensor, the stator of which is rigidly connected to the tank tower. The rotor winding of the rotating transformer is connected to the output

BPVPS 1. b» Introduced new blocks, namely: BVM 8, threshold comparator 9, differentiator 10, single vibrator 11 and key 12 (see fig. 2, 3) can be performed, respectively, on the basis of operational amplifiers 13, 14, 15, 16 and about the transistor T17 and the relay RI18, one of the ends of the winding of which is connected to the negative contact 19 of the power source.

A reference power source 20 is included in the threshold comparator 9. o A possible version of the BVM 8 can be built according to the scheme of a two-semi-periodic rectifier with an input signal, implemented on operational amplifiers 13 and 14 and include three resistors

K21, K22, K23Z and diode 24. The output of EMPP 4 is connected by voltage through the resistor K21 to the inverting input of the operational amplifier 13 and through the resistor K22 - to the cathode of the semiconductor diode 024, the inverting input of the operational amplifier 14 and the non-inverting input of the operational amplifier 13, the output of which is connected to its own inverting input through resistor K23. Non-inverting input of operational amplifier 14

P» is connected to the body, and the output is to the anode of the semiconductor diode 024. The output of the operational amplifier 13 is the output of the BVM 8.

The threshold comparator 9, in addition to the operational amplifier 15, includes three resistors K25, K26, K27. Output 6bo BVM 8 through resistor K25 is connected to the non-inverting input of the operational amplifier 15, the inverting input of which is connected to the case through resistor K26. At the same time, the inverting input of the operational amplifier 15 is connected to the positive electrode 20 of the reference power source through the resistor K27. From the output of the operational amplifier 15, the signal is fed to the input of the differentiator 10.

The differentiator 10 in this specific version of the scheme is made using the capacitor C28, 65 resistor K29 and the semiconductor diode Y30. The input of the differentiator 10 through the capacitor C28 is connected to the anode of the semiconductor diode YuOZO, which is connected to the case through the resistor K29. The cathode contact of the semiconductor diode OYUZO is at the same time the output contact of the differentiator 10.

The monovibrator 11 can be implemented using the operational amplifier 16 and the transistor T17, the load of the collector circuit of which is the winding of the relay P18. In addition, the single-vibrator circuit 11 includes three resistors KZ1, kZ32, KZZ, capacitor C34 and diode 035. The input of the single-vibrator 11 is connected to the output of the differentiator 10, as well as to the inverting input of the operational amplifier 16, the output of which is through the series-connected capacitor C34 and resistor K32 is connected to its own non-inverting input, which Through the resistor

KZ1 is connected to the inverting input of the operational amplifier 15, which is part of the threshold comparator 9. At the same time, the output of the operational amplifier 16 is connected to the base of the transistor 7/0 through the resistor KZZ. T17, the emitter of which is connected to the body, and the collector through the winding of relay P18 - to the negative electrode 19 of the power source. At the same time, the base of the T17 transistor is connected to the anode of the YZ5 semiconductor diode, the cathode of which is connected to the housing.

One of the variants of the implementation of the key 12 can be with the use of normally closed contacts KZb and KZ7 of the P18 relay, which open in the presence of a control signal at the output of the operational amplifier 16.

The timing diagrams illustrating the operation of the proposed device are shown in Fig. 4, where: y - the curve of the voltage change at the output of BVM 8;

Resistance - the value of the reference voltage set in the threshold comparator 9;

TSO, - curve of voltage change at the output of threshold comparator 9;

Odif - curve of voltage change at the output of differentiator 10;

Shro is the voltage change curve at the output of the operational amplifier 16, which is part of the single-vibrator 11.

The operation of the drive for horizontal guidance and stabilization of tank weapons under the conditions of guidance with the transfer speed of an unbalanced tank tower, which has a transverse slope (roll), is reduced to the following.

Under the conditions of maximum deflection (maximum angle of rotation) of the control panel handles, which is part of the BPVPS 1 (in Fig. 2, C is not shown) in the appropriate direction, the gyroscopic stabilizer maximally deflects the outer frame of the angle sensor (in Fig. 2, C is not shown) ). Fixed on the axis of the outer frame of the angle sensor, the rotor of the rotating transformer rotates relative to the stator, which is rigidly connected to the tank tower. At the same time, a signal of the maximum angle of misalignment between the axis of the gyro stabilizer and the position of the tank tower is formed, which through the normally closed contacts KZb, KZ7 of relay P18 (corresponding to the position of the closed key so z 12) enters the input of amplifier 2. The output signal of amplifier 2 is algebraically summed with the electrical signal from the output of the gyro tachometer 7, proportional to the speed of rotation of the executive motor 5. Under the conditions of the maximum angle of misalignment between the axis of the gyro stabilizer and the position of the control object (for example, the Ge! turret of the tank), the signal at the output of the amplifier 2 exceeds the negative feedback signal by the module according to the speed, which is formed by the gyrotachometer 7. The resulting control signal at the output of the adder З о зв leads to the saturation of EMPP 4, the output voltage of which is supplied to the terminals of the executive motor 5. The last Ge rotates the control object (for example, the tank tower) relative to the body with the maximum with a tipping speed to the side corresponding to the direction of deflection (rotation) of the control panel handles.

In the overturning mode at the maximum speed under the conditions of the presence of the tank roll under the influence of the imbalance moment at the time when the signs of the moment acting on the control object (for example, the tank tower) "

The imbalances and the moment of the executive engine coincide, the control object (for example, the tank tower) p s gains additional acceleration. Under these conditions, the voltage at the terminals of the executive motor 5 additionally increases.

Connected to the output of the electric machine power amplifier 4 (see Fig. 4), the allocation unit of the module 8 "z" forms an Ohm signal proportional to the voltage module at the terminals of the executive motor 5, which is compared with the Ethelon signal Resistance In the threshold comparator 9. In the case when the module of the voltage at the terminals of the executive motor 5 exceeds the value of the reference signal O por, the threshold comparator 9 forms a signal in the form of a b" pulse of positive polarity y,., in accordance with the leading edge of which the differentiator 10 forms a pulse of positive polarity O diff, which starts the univibrator 11. Operational the amplifier 16 of the single-vibrator 11 (see Fig. 3) forms the control signal of the OO transistor T17. The latter opens and leads to the flow of current from the supply winding of relay P18. Contacts KZb and KZ7 of the RI18 relay open, thus disconnecting input 5r of amplifier 2 from the output of BPVPS 1. As a result, the negative feedback signal from the output of the gyro tachometer o 7 through the inverting input of the adder Z and the electric machine power amplifier 4 ensures the establishment of the so mode " "blocking" of the executive motor 5, thus effecting braking of the control object (for example, a tank tower).

The length of the pulse at the output of the operational amplifier 16 (included in the monovibrator 11) as a whole depends on the system parameters and is chosen in such a way as to ensure that after the end of the specified pulse, the voltage module at the terminals of the executive motor 5 decreases to a value of (30-40)95 less in comparison with » the reference voltage in the threshold comparator 9.

At the end of the pulse passage time from the output of the operational amplifier 16, the transistor 717 closes, the flow of current in the winding circuit of the relay P18 stops, as a result of which the key 12 closes, connecting the output of the BPVPS 1 to the input of the amplifier 2. After that, the control object (for example, the tank tower ) accelerates again to the maximum tipping speed. The operation cycle of the device is repeated according to the presence of conditions of increased voltage at the terminals of the executive motor 5 in comparison with the reference signal Ш cf.

Thus, the drive for horizontal guidance and stabilization of tank weapons according to the invention provides protection of the executive motor from overvoltage at its terminals, thanks to which an increase in the reliability of the specified drive as a whole is ensured.

All blocks and nodes of the drive of horizontal guidance and stabilization of tank weapons can be made on the element base of serial industrial production, including: introduced new blocks - BVM 8, threshold comparator 9 and single vibrator 10 - can be implemented on operational amplifiers of serial production, for example, series 140UD7, transistors 2Т83З0А and relay type РЕС 47.

Claims (1)

Formula of the invention Drive for horizontal guidance and stabilization of tank weapons, which includes unit 70 sight-rangefinder-tracking device and serially connected amplifier, adder, electric machine power amplifier, executive motor, control object, for example, a tank tower, as well as a gyrotachometer , mounted on the control object together with the sight-rangefinder-tracking device unit and its output is connected to the second - inverting input of the adder, which is distinguished by the fact that it includes a key designed to switch the output of the sight-rangefinder-tracking device unit with the input of the amplifier, and the unit of module selection, threshold comparator, differentiator and monovibrator are connected in series, the output of which is connected to the control input of the key, whose output is connected to the input of the amplifier, and the input of the unit of module selection is connected to the output of the electric machine power amplifier at the same time with an executive motor input. « with Zo o b) o so - and 0 o s o so 6o bo