UA60908C2 - Drive of horizontal pointing and stabilization of tank arms - Google Patents

Abstract

The invention includes block sight-range-finder û tracing unit, connected in sequence amplifier, adder, electro-machine power booster, executive motor, control object, for instance, the tank turret, and gyro-tachometer mounted at the control object together with the block sight-range-finder û tracing unit, it is with its output connected to the second û inverting input of the adder. To the unit are included the key made with possibility of switching of the output of the block sight-range-finder û tracing unit to the input of the amplifier, and connected in sequence block of module separation, threshold comparator, differentiator and univibrator, output of this one is connected to the control input of the key, this is with its output connected to the input of the booster, and the input of the block of the module separation is connected to the output of electro-machine booster of power together with the input of the executive motor. The invention provides increase of reliability of operation in the mode of pointing of non-equilibrated control object with reversible speed under conditions of transverse inclination (heel) of tank due to protection of executive engine against increased power coming to existence at that at its terminals.

Description

Description of the invention

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

The well-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 stabilization and stabilized guidance mode they work using gyroscopic angle and angular speed sensors (gyrotachometers). The 70 disadvantages of these stabilizers include: - insufficient accuracy of stabilization, which they can 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 commutation processes and can cause the failure of the executive motor. 12 The first of the mentioned 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 specified drive of horizontal guidance and stabilization 2342 is 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 (BPVPOS) 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 6 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 mode of 22 guidance with a rollover speed (under conditions of maximum deviation of the specified manual controls (39 corresponding side), the angle sensor installed on the shaft of the gyro 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 turret. The rotor of the rotary transformer is mounted on the axis of the outer frame of the angle sensor, the stator of which is rigidly connected to the control object, for example, the tank turret.

BPVPS 1 is the winding of the rotor of the rotary transformer, which is connected to the input of the amplifier 2, the output of which av 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 composed with the output signal of the gyrotachometer o 7. The output of adder C is connected to the input of EMPP 4, to which a control signal is applied. The output of the EMPP 4 Ha") is directly connected to the input of the executive motor 5, which is mechanically connected to the control object 6, thanks to which the specified control signal causes the rotational movement of the control object, for example, about an unbalanced tank tower, with a maximum speed (without taking into account the time of the transient process).

It should be noted that, in contrast to the proposed invention, the connection between the contacts of the rotor winding of the rotary transformer, which is part of (BPDPO) 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 aiming 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 executive motor. At the same time, the increasing voltage at the terminals of the executive motor, which is accompanied by a violation of av! 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 20 of its terminals in the mode of guidance of an unbalanced tower with a rollover 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 the gyrotachometer and a sight-rangefinder-tracking device unit are mounted on the object

HF) 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 gyrotachometer is connected, a key is inserted, made with the possibility of switching on the output of the sight-rangefinder-tracking device unit with the input of the amplifier and connected in series between them, as well as a module selection unit, a threshold comparator, a differentiator and a monovibrator, the output 60 of which is connected to the control input of the key, which is connected to the input of the amplifier by its output, and the input of the module selection unit is connected to the output of the electric machine power amplifier at the same time as the input of the executive engine.

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 single-vibrator allows, in accordance with the positive pulse coming from the differentiator output, 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, due 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, however, their use in the specified connection with other component blocks of the device allows to create a pulsed braking torque on the executive motor under the condition that the voltage at its terminals approaches the critical value (set by the reference signal). This allows us to conclude that the presented i) technical solution meets the "inventive level" criterion.

The essence of the invention is explained by the drawings: Fig. 1 shows a 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 variants of the specific implementation of the proposed device; o Fig. 4 shows time 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 "o comparator 9, a differentiator 10, a single vibrator 11 and a key 12. BPVPS 1 and a gyrotachometer 7 are installed on the control object 6, for example, on the tower tank 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 tank tower, which may be unbalanced. At the same time, the output of EMPP 4 through the serially connected BVM block 8, the threshold comparator "

C, the differentiator 10 and the single vibrator 11 are connected to the control input of the key 12. The output of the gyrotachometer 7, sv) s 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 (not shown in Fig. 2). The rotor of the rotary 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 rotary transformer is connected to the output

BPVPS 1.

Ge» Introduced new blocks, namely: BVM 8, threshold comparator 9, differentiator 10, monovibrator 11 and key 12 (see Fig. 2, C) can be performed, respectively, on the basis of operational amplifiers 13, 14, 15, 16 and a transistor T17 and 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 composition of 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. The non-inverting input of the operational amplifier 14 (F) is connected to the case, and the output is connected 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 variant 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 YOOZO, 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, KkZ32, 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 CZ34 and the resistor K32 is connected to its own non-inverting input, which is connected through the resistor KZ1 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 through the resistor KZZ to the base /o of the transistor 117, the emitter 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 options for the implementation of the key 12 can be with the use of normally closed contacts KZ6 and KZ37 of the P18 relay, which open in the presence of a control signal at the output of the operational amplifier 16.

Time diagrams illustrating the operation of the claimed 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;

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

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

She is the curve of the voltage change 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 conditions of maximum deflection (maximum angle of rotation) of the control panel handles, which is part of the BPVPS 1 (not shown in Fig. 2, C) in the appropriate direction, the gyroscopic stabilizer maximally deflects the outer frame of the angle sensor (in Fig. 2, C not shown) given). Fixed on the axis of the outer frame of the angle sensor, the rotor i) of the rotary transformer turns 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 modulus according to the speed, which is formed by the gyro tachometer 7. The resulting control signal at the output of the adder Z o zv leads to the saturation of the EMPP 4, the output voltage of which is supplied to the terminals of the executive motor 5. The last "o rotates the control object (for example, a tank tower) relative to the body of maximum overturning speed to the side corresponding to the direction of deviation (turn tu) 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 moment of unbalance at the time when the signs of the moment acting on the control object (for example, the tower of the tank) " Unbalance and the moment of the executive motor coincide, the control object (for example, the tower tank) with c 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 block of allocation of the module 8;" generates an Ohm signal proportional to the voltage module at the terminals of the executive motor 5, which is compared with the reference signal Opor In the threshold comparator 9. In the event that the voltage module at the terminals of the executive motor 5 exceeds the value of the reference signal О por, the threshold comparator 9 forms a signal in the form

Ge" of a 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 single-vibrator 11. The operational amplifier 16 of the single-vibrator 11 (see o Fig. 3) forms a control signal for the O. transistor T17. The latter opens and leads to the flow of current

Ge) power supply of the P18 relay winding. Contacts KZb and KZ7 of relay P18 are opened, thereby disconnecting the input of the amplifier 2 from the output of the BPVPS 1. As a result, the negative feedback signal from the output o of the gyrotachometer 7 through the inverting input of the adder Z and the electric machine power amplifier 4 ensures the establishment of the "anti-circuit" mode of the executive engine 5, thus performing 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 compared to (Ф, the reference voltage in the threshold comparator 9. ka. After the completion 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 BPVPS 1 to the input amplifier 2. After that, the control object (for example, a tank tower) is again accelerated to the maximum tipping speed. The cycle of the device is repeated according to the presence of conditions of increased voltage at the terminals of the executive motor 5 compared to 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 a module selection unit, a threshold comparator, a differentiator and an oscillator 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 module selection unit is connected to the output of the electric machine power amplifier at the same time with an executive motor input. 6) (ee) "c) (o) "c) (Se) - and? (o) («c) se) («c) IR e) ime) bo b5