US3604897A - Electronic ballistic computer for tank fire control system - Google Patents

Electronic ballistic computer for tank fire control system Download PDF

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US3604897A
US3604897A US754424A US3604897DA US3604897A US 3604897 A US3604897 A US 3604897A US 754424 A US754424 A US 754424A US 3604897D A US3604897D A US 3604897DA US 3604897 A US3604897 A US 3604897A
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signal
ballistic
signals
flight
time
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William E Mcadam Jr
Roy G Clutterbuck
Millard M Frohock Jr
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Raytheon Co
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Hughes Aircraft Co
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/06—Aiming or laying means with rangefinder
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G3/00—Aiming or laying means
    • F41G3/08—Aiming or laying means with means for compensating for speed, direction, temperature, pressure, or humidity of the atmosphere
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F41—WEAPONS
    • F41G—WEAPON SIGHTS; AIMING
    • F41G5/00—Elevating or traversing control systems for guns
    • F41G5/14—Elevating or traversing control systems for guns for vehicle-borne guns
    • F41G5/24—Elevating or traversing control systems for guns for vehicle-borne guns for guns on tanks
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06G—ANALOGUE COMPUTERS
    • G06G7/00—Devices in which the computing operation is performed by varying electric or magnetic quantities
    • G06G7/48—Analogue computers for specific processes, systems or devices, e.g. simulators
    • G06G7/80—Analogue computers for specific processes, systems or devices, e.g. simulators for gunlaying; for bomb aiming; for guiding missiles

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  • Haskell and Robert Thompson ABSTRACT A computer circuit for generating signals related to the ballistics of a plurality of projectile or ammunition types, the signals including time of flight, superelevation, and ballistics drift signals.
  • the computer includes a plurality of parallel channels, and a first adjustable operational amplifier, which operates on the range information by a selected ballistics normalizing transfer function to generate an individual normalized range signal for a selected individual one of the plurality of projectile or ammunition types, a first multiplier means for multiplying the normalized range signal received from the operational amplifier by a partial derivative of non- 7 standard air pressure and temperature, each parallel channel including a function generator coupled to receive and operate on the normalized range signal with a nonlinear transfer function common to the ballistics of all of the projectile types for generating an exponential function signal related to the selected projectiles, and a second adjustable operational amplifier coupled to the function generator for operating on the function signal by a selected individual unnon'nalizing transfer function for each projectile for generating signals related to the ballistics of the project
  • This invention relates generally to analog computers, and relates more particularly to a computer for generating signals which are related to functions of an input signal for standard conditions and the partial derivative of any variations in the standard conditions.
  • range information has heretofore been fed to a computer circuit which would produce output signals related to the ballistics of a projectile when the physical characteristics such as its velocity, ambient atmospheric condition, gravitational conditions, the shape, the mass, and the spin were known or assumed.
  • these signals were generated by function generators which were specifically mechanized for each specific projectile.
  • function generators have been mechanized using electromechanical range followup serves to position the armatures of padded range function potentiometers. Since other projectiles could have other ballistics characteristics as a result of different velocities, masses, shapes, and so forth, it became necessary to remechanize the function generator so that the generated output signals were related to the ballistics of the new projectile.
  • Another object of this invention is to provide a ballistic computer circuit which is operable to produce ballistics function signals related to the ballistics of a plurality of projectile types for standard conditions and for variations in the standard conditions.
  • Another object is to provide a ballistic computer in which selected ballistic signals are operated on as constants to correct for ballistic deflection angles and kinematic angles.
  • Still another object is to provide improvements in a ballistics computer having the advantages that: a small number of function generators can be utilized for producing functions of an input signal having one or more variables; variations in nonstandard conditions including air density as a result of atmospheric pressure and temperature variation, variations in the drag coefficient as a result of changes in the mach number due to changes in air temperature, changes in muzzle velocity as a result of tube wear and propellant temperature, and changes in crosswind and range wind coefficients as a result of any of the above can be compensated for outside of the function generator, and that lends itself to solid state implementation, is simplified relative to other known devices, and has a small size.
  • a computer circuit having one or more parallel channels wherein each channel is operable to receive input information, such as a range signal when the computer is implemented as a ballistics computer.
  • the range signal R which is preferably an AC modulated signal R sin out but can be DC and isalgg hereinafter referred to by its magnitude R for purposes of sim-' plicity of symbols is first fed through an adjustable ballistics term multiplier which normalizes the range information R with a specific range normalizing transfer function or term R,,, derived from standard ballistic and environmental conditions for the selected projectile type. Thereafter, the normalized range information R/R, is fed through a multiplier circuit which operably multiplies the signal by the partial derivative of nonstandard air temperature and pressure.
  • the general case multiplication factor is a first order in-line partial approx- More specifically, for a ballistic computer the in-line partial derivative is for changes AR,, in the normalizing term l/R, as a result of variations in air pressure AP and air temperature AT. Consequently, the in-line partial multiplication correction factor becomes R A n R.)
  • the function is multiplied by a term related to the ratio of the change in a condition to a standard condition to produce a product and is also summed with this product.
  • the normalizing term 1 /R is inversely proportional to a function of air temperature T and proportional to air pressure P
  • the factor AR,,/ R, is proportional to Then the partially corrected signal is fed in parallel on each of the plurality of channels to a function generator which operates on the normalized range signal in accordance with a predetermined transfer function, which itself is normalized, and therefore is common to a multiplicity of projectile types.
  • each individual function generator is then fed to another individual adjustable ballistics term multiplier which operates on the received function signal with a specific unnormalizing transfer function to produce an output signal on each channel related to the selected projectile.
  • the resulting output signals from these last-mentioned ballistics term multipliers include time of flight information I, and superelevation information 5,, related to the ballistics of the selected projectile at the particular range. By adjusting the two multipliers, the ballistics terms are changed to those associated with another projectile type.
  • Both the superelevation signal and the time of flight signal are fed through other multiplier circuits which multiply the signals by the partial derivative of nonstandard air temperature and pressure and through another multiplier circuit which further multiplies by a first order approximation of a partial derivative of nonstandard propellant grain temperature and effective full charge whereupon the superelevation signal and the time of flight signal are corrected for nonstandard conditions. More specifically, since the partial derivative is for initial velocity V the partial derivative is for change in initial velocity AV, due to changes in propellant grain temperature T, and efiective full charge EFC.
  • the in-line partial multiplication factor becomes an W
  • the in-line partial technique for multiplier function F(u, v, w) would be implemented with a single function generator for producing the function F (u,,, v,,, w,,) for predetermined conditions and multiplying this function by the in-line partial multiplication factors (1T1.
  • U (1+1. v0 and (1+k) the computer compensates for ballistic drift by multiplying the superelevation signal by a separate ballistic constant for each selected ammunition and compensates for crosswind effects by multiplying the time of flight signal by separate ballistic constants for each selected ammunition.
  • FIGS. 1A and 1B taken together as indicated in FIG. 1C, are block diagrams illustrating the ballistic computer and resolver circuit
  • FIG. 2 is a schematic diagram of an adjustable ballistic term multiplier of the type used in the computer illustrated in FIGS. 1A and 18;
  • FIG. 3 is a block diagram of a master slave multiplier of the type used in the computer illustrated in FIGS. 1A and 18;
  • FIGS. 4A through 4F are timing diagrams of the waveforms of signals developed in the master slave multiplier of FIG. 3;
  • FIG. 5 is a schematic diagram of a function generator circuit of the type used in the computer circuit illustrated in FIG. 1A and includes a rectifier, a break point selector, and a straight line approximation function generator;
  • FIG. 6 is a diagram of one signal waveform produced by the function generator circuit of FIG. 5;
  • FIG. 7 is a circuit diagram of the follow and clamp circuit used in the computer circuit illustrated in FIG. 1B.
  • FIG. 8 is an analog switch of the type used in the computer circuit of FIG. 1B.
  • FIGS. 1A and 1B wherein range information R sin wt and nonstandard condition information are fed into a computer which generates a supereleva tion signal s, a time of flight signal 1,, a ballistic drift signal 1 and a crosswind coefiicient 1;,, in accordance with ballistic equations whereupon these signals are used for generating fire control signals such as elevation E, and deflection D.
  • the ballistic characteristics of the rojectile and environmental conditions must be known in order to generate fire control signals in accordance with the ballistic equations. For example, it is desirable to know the ef fects of ballistic conditions, such as the projectiles mass, initial velocity, and environmental conditions such as shape, size, spin velocity, the air density, air temperature, air pressure, crosswind, propellant temperature, angular turret rate, etc.
  • the resulting signals such as superelevation s, time of flight t,, ballistic drift 1 and crosswind coefficient K will also differ for each projectile.
  • a first variable multiplier 954 which multiplies or operates on the range signal R by an individual ballistic term including an individual normalizing transfer function 1/R, to produce a normalized range signal R/R, for each individual projectile; function generating circuits 956 and 958 in two parallel channels which operate on the normalized range signal with a single predetermined transfer function common to the ballistics of a plurality of projectile types for generating the nonlinear function signals f, (R/R and f,(R/R,,), respectively, which are related to the selected projectiles; and variable multipliers 960 and 962 for multiplying or operating on the nonlinear function signals by individual second ballistic terms on unnormalizing transfer functions e and t,,,,,, which are related to the selected individual projectile.
  • K is a term, dependent upon projectile inertia, spin velocity, and lift and moment coefficients, which may be determined for each ammunition.
  • the crosswind coefiicient 1 for standard conditions is found by where K, is an ammunition dependent coefficient.
  • signals which are a function of the ballistics equations can be produced by circuits which operate on the range infonnation R in accordance with transfer conditions for ballistic terms and normalized functions.
  • a signal related to time of flight t,,, for standard conditions is g 7 produced by a circuit which operates on a range signal R in accordance with the following approximate equation:
  • transfer functions R e, and t are ballistic terms which are related to the particular projectile or ammunitions ballistic and environmental condition, and can be treated as linear for any fixed set of standard conditions, while transfer functions f,(R/R,,) and f,(R/R,,) are functions which are independent of the projectile type and condition or, in other words, which are common to all of the projectile types.
  • the advantage of this is that only one such nonlinear function generator per ballistic signal need be mechanized for a plurality of projectile types and that nonstandard conditions signals can be applied to the computer outside of the function generator, as will be explained subsequently.
  • the range signal R is first normalized by multiplying by a standard condition normalizing term or individual transfer function related to a selected individual one of a plurality of ammunition types l/R using a ballistics constant multiplier circuit 954, which is hereinafter also referred to as ballistic term multiplier, and which is adjustable for each ammunition.
  • the normalizing term l/R is corrected for changes l/AR, resulting from variations in air pressure AP and changes in air temperature AT by multiplying the term by an in-line partial multiplication factor 1 8) where:
  • the normalizing term l/R is inversely proportional to a function of air temperature T and proportional to air pressure P whereupon the factor B can be produced by the portion of the in-line partial derivative circuit of FIG. 1A which includes as a portion thereof, a summing amplifier 940.
  • the summing amplifier 940 receives the sensed air temperature input signal AT/T at one input and multiplies it by a temperature constant K.
  • the summing amplifier 940 also receives the sensed air pressure input signal AP/P at a second input terminal. These signals are summed and the output signal 8 of the amplifier 940 then becomes:
  • the partially corrected superelevation signal 6, and the time of flight signal t are fully corrected for nonstandard conditions by further multiplying them by the in-line partial multiplication factors (1+8) and (lKH) which are respectively dependent upon variations in the normalizing term l/R, as a result of variations in air temperature AT and air pressure AP and dependent upon varia tions in initial velocity AVo as a result of variations in a func tion of effective full charge EFC and variation in propellant grain temperature ATg.
  • the partially corrected superelevation signal e is thus further corrected for nonstandard conditions and is identified by the equation:
  • the partially corrected time of flight signal t is further corrected for nonstandard conditions and becomes:
  • the factor H can be produced by a second in-line partial derivative circuit of FIG. 1A wherein a sensed propellant grain temperature signal ATg/Tg is received by an adjustable ballistic term multiplier 942, multiplied by a separate ballistic term K, for each selected ammunition, and is then fed to one input of a summing amplifier 948.
  • An effective full charge signal (EFC) is received by an adjustable ballistic term multiplier 944, is multiplied by a separate ballistic term K for each selected ammunition, and is fed through a function generator 946.
  • the function generator 946 can be a 2 or more straight line approximation function generator of a type to be described in more detail subsequent for producing an output signal flK -EF C) which is fed to another input of the summing amplifier 948.
  • the resulting output signal of amplifier 948 is the factor H where:
  • a nonstandard temperature-pressure coefficient signal B, which is to be applied to the standard condition normalized range signal R/R is fed to and reproduced at the output of a master multiplier 964 which forms part of the first and second in-line partial derivative multiplier, in response to air temperature and pressure sensor inputs AT/T and APIP
  • the standard condition normalized range signal R/R when applied to one input of a slave multiplier 966 in the first in-line partial derivative multiplier, is multiplied by the pressure-temperature coefficient B to produce an output signal R/R,,.,'(B) which is fed to an inverting input of an operational amplifier 968 which forms part of the first in-line partial derivative multiplier.
  • the master-slave multiplier is of the general type described in US. Pat. No. 3,493,737, issued to Roger H. Edelson, on Feb. 3, 1970 and assigned to the same assignee.
  • the signal R/R is also fed directly to a noninverting input of the operational amplifier 968 to produce an output signal:
  • R/R is the normalized range signal for nonstandard pressure-temperature conditions
  • AP is the change in air pressure from a standard condition pressure
  • P0 is the standard condition air pressure
  • K is a temperature coefficient
  • AT is the change in air temperature from a standard condition air temperature
  • the normalized range signal R/R is then fed to function generators 956 and 958 which are connected in parallel circuit relationship to produce nonlinear ballistic function output signals f,( R/R,,) and f,(R/R,,), respectively in accordance with their single predetermined transfer functions.
  • These nonlinear function output signals are then fed to ballistic constant multipliers 960 and 962 respectively, which are hereinafter also referred to as ballistic term multiplier, and which multiply them by the unnonnalizing standard condition ballistic terms or transfer functions e and 1 respectively for the selected projectile type. Consequently.
  • the output signal e f,(R/R,,) of the ballistic constant multiplier 960 is related to the su perelevation e for the particular projectile at the particular range R in accordance with the preceding ballistic equation (equation 4) which is partially corrected for nonstandard temperature-pressure conditions.
  • the output signal t,,,,fi( R/R,,) of the ballistic constant multiplier 962 is related to the time of flight I of the selected projectile at the particular range R in accordance with the preceding equation for time of flight 1, (equation 7), which is partially corrected for nonstandard temperature-pressure conditions;
  • a master multiplier 970 which forms part of the third in-line partial derivative multiplier receives grain temperature and effective full charge sensor input signals (AT,,K,,/T,fl E.F.C.-Ke) for producing the muzzle velocity coefficient H which, along with the temperature-pressure coefficient 8 is applied in series circuit with the function generators to correct the partially corrected superelevation e, and time of flight I signals by means of the circuit illustrated in FIG. 1B.
  • the partially corrected superelevation signal 6 is fed through a first slave multiplier 972 which forms part of an in-line partial derivative multiplier circuit and is multiplied by the temperature-pressure coefficient B to produce an output signal 6 (3) which is fed to an input of an operational amplifier 974 which also forms part of this in-line partial derivative multiplier circuit.
  • the partially corrected superelevation signal e is also fed directly to another input of the operational am lifier 974 which also forms part of this in-line partial derivative multiplier circuit, whereupon the output signal thereof on the channel becomes e,( l+B).
  • This output signal is then fed through a second slave multiplier 976 which forms part of another in-line partial derivative multiplier circuit wheein it is multiplied by the muzzle velocity coefficient H to produce a signal e,( l+B)H which is fed to an input terminal of the operational amplifier 978 in this same in-line partial derivative multiplier circuit to invert and amplify the input signal by a factor 2.
  • the signal e,( 1+8) is also fed directly to another input of the operational amplifier 978, whereupon the operational amplifier produces a superelevation output signal 6 on the channel which is corrected for nonstandard conditions where:
  • f( E.F.C. is an empirically derived function ofeffective full charge for a selected ammunition A
  • T standard condition propellant grain temperature
  • K a temperature coefficient for a selected ammunition.
  • the partially corrected time of flight signal I is fed through a first slave multiplier 980 which forms part of a separate inline partial derivative multiplier wherein it is multiplied by the temperature-pressure coefficient B received from the master multiplier 964 to produce an output signal 0,8 which is fed to one input of an operational amplifier 982 which also forms part of the in-line partial derivative multiplier circuit.
  • the partially corrected time of flight signal t is also fed directly to another input of the operational amplifier 982 wherein the further corrected time of flight output signal t, (l+B) is produced on the channel.
  • This further corrected time of flight signal is fed through a second slave multiplier 984 which forms part of still another in-line partial derivative multiplier circuit wherein it is multiplied by the muzzle velocity coefficient Hto produce a signal t,-,-( 1+B)H which is fed to an inverting input of an operational amplifier 986 of this same in-line partial derivative multiplier circuit.
  • the further corrected time of flight signal t,,( 1+8) is also fed directly to another input of the operational amplifier 986 which produces a fully corrected nonstandard condition time of flight output signal 2, on the channel where:
  • This time of flight signal I is fed to a master multiplier 988 for use as a time of flight multiplier signal T, as will be explained in more detail shortly.
  • the computer 950 also generates a parallax correction signal p to compensate for the offset distance at the turret between the line of sight and the gun line.
  • the range signal R is fed to a function generator 990 and a rectifier 992.
  • the output of the rectifier is fed to a break point selector 994 which determines the gain slope and offset of the function generator 990 for producing a parallax correction output signal p at the range R wherein:
  • D is the offset distance between the line of sight and the gun line
  • R is the measured range
  • R is a crossover range where line of sight crosses the gun line.
  • pe pe pe ue e D,,,. l/R1/R
  • D,,, is a constant for each tank.
  • the range signal R is fed to the ballistic term multiplier 954, illustrated in FIG. 2 for producing a normalized range signal R/R in accordance with the normalizing transfer function l/R, for each selected one of a plurality of projectiles.
  • the ballistic term multiplier 954 is an operational amplifier having a plurality of n parallel selectable gain set input resistance circuit branches which each include one of a plurality of junction F ET transistors 996 through 996n connected in series with one of a plurality of resistors 998 through 998n respectively, the resistance circuit branches being connected to one input of an amplifier 1000.
  • the subscript n represents the circuit elements in the nth resistance circuit and is equal to a corresponding number of projectiles.
  • junction F ET transistors 996 through 996n In operation, only one of the junction F ET transistors 996 through 996n is turned on by a positive voltage signal +V applied to its gate terminal through a resistor of resistors 1002 through 10021:, respectively, while all other ones of the FETS 996 through 996n are turned off by a negative voltage V applied to the gate terminals thereof through the other ones of respective resistors 1002 through 1002n.
  • the projectile or ammunition selected has a linear ballistic term or normalizing transfer function l/R which is set into the ballistic term multiplier 954 as a normalizing transfer function by the sum of the series resistances in the circuit branch between the source terminal and drain terminal of F ET transistor 996 when it is turned on, and the resistor 998 connected between the FFT transistor 996 and one input of the operational amplifier 1000.
  • an ammunition selection switch 1004 through l004n is positioned so that a+V voltage is applied through the resistor 1002 to the gate terminal of FET transistor 996 to turn it on while all other F ET transistors will have a -V voltage applied to their gate terminals by the switch, such as 996n, and are turned off.
  • the operational amplifier 1000 can be a ,uA709 High Performance Operational Amplifier, manufactured by Fairchild Semiconductor Corporation and described and illustrated in their handbook, Fairchild Semiconductor Linear Integrated Circuits Applications Handbook, 1967.
  • the operational amplifier 1000 is compensated for a gain of unity and a feedback resistor 1006 is connected between the output terminal of the operational amplifier 1000 and one input terminal thereof so that the gain of the the ballistic term multiplier 954 is proportional to the ratio of the resistance of feedback resistor 1006 and the sum of the resistances between the source terminal and drain terminal of the turned on FET transistor 996 and resistor 998 and can be expressed by the term l/R,,,,.
  • the received range signal R is multiplied by the ballistic term transfer function l/R whereupon the output signal of the ballistic term multiplier 954 is a normalized range signal R/R,, for standard conditions for the selected ammunition.
  • the zero offset of operational amplifier 1000 can be set by a center pickoff on a potentiometer 1008 wherein the pickoff voltage is substantially zero volts and is applied to one input terminal of the operational amplifier 1000 through a resistor network.
  • the ballistic term or transfer function l/R will be different since the resistance of resistors 993 through 99811 is selected to fit the different ballistic terms for different projectiles.
  • the selected normalized range output signal R/R is specifically related to the selected projectile. The output signal R/R is then fed to the ballistic function generator 956 and the ballistic function generator 958.
  • the normalized range signal R/R Before being fed to the function generators the normalized range signal R/R, on the main channel is corrected in series circuit for nonstandard air temperature and air pressure conditions by an in-line partial derivative multiplier including a master-slave time division multiplier 964-966.
  • the time-division multiplier can be an electronic multiplier of the type described in US. Pat. No. 3,493,737, issued to Roger H. Edelson on Feb. 3, 1970 and assigned to the same assignee. Additional description of the operation of this type of multiplier is contained in the book ELECTRONIC ANALOG AND HYBRID COMPUTERS. (McGraw-Hill 1964) pp. 268-281, especially FIGS. 7-15 on pg. 273.
  • multiplier output is the average of a train of pulses in which the duty cycle is the ratio of two variables and the amplitude is controlled by another variable.
  • a master-slave time-division multiplier is illustrated in FIG. 3 and described briefly herein as including the master portion 964 and the slave portion 966. Even though only one slave 966 is illustrated in FIG. 3, one master can be used to drive a plurality of slave circuits as is illustrated in FIG. 1A.
  • the master-multiplier 964 includes a first master inverter 1010 that is coupled to receive the DC input signal e and performs an inversion operation thereon, and provides a signal -e,, which is the inverse of the received signal.
  • a second master inverter 1012 receives the inverted DC input signal -2 performs an inversion operation thereon and provides an output signal e Accordingly, the first master inverter 1010 and the second master inverter 1012 fed the opposite polarity output signals e and e,,, respectively, to a first master switch 1014 and a second master switch 1016.
  • the first master inverter 1010 also operates to adjust the gain of the "e signal applied to the first master switch 1014 and applied through the second master inverter 1012 to the second master switch 1016. If a system gain of one is desired, the first master inverter 1010 can be set to provide signals to the master switches 1014 and 1016 that have a unity gain in relation to the amplitude of the DC output signal e The second master inverter 1012 always operates with a gain of one. With a unity system gain, the e,, input must be larger than the DC input (AP/P K(AT/T,,) for proper circuit operation.
  • the first master switch 1014 and the second master switch 1016 are further coupled to receive opposite polarity gating signals A and A from the output terminals 1018 and 1020 ofa switch driver 1022 to allow alternating sequential operation of the respective switches.
  • a summing integrator 1024 is coupled to receive the output of the first master switch 1014 and the second master switch 1016 and to receive the (AP/P KAT/T input signal for summing or integrating the currents produced by the (AP/P,,) K(AT/T,) input signal and the ---e,, and e reference signals.
  • a threshold detector 1026 is coupled to receive the output of the summing integrator 1024 and changes threshold levels between a and a relatively threshold level in response to the trigger output of a trigger circuit 1028.
  • the switch driver 1022 When a threshold level is exceeded by the output signal received from the summing integrator 1024 the switch driver 1022 generates an output pulse which is fed to switch the polarity of its opposite polarity gating signals A and A the terminals 1018 and 1020 at the constant repetition rate of the trigger circuit 1028.
  • the output of the trigger circuit 1028 is applied to the threshold detector 1026 to cause the threshold detector to change output states upon receiving trigger signals from the trigger circuit 1028, thereby maintaining the repetition rate of the master portion gating signal outputs A and A equal to the repetition rate of the trigger circuit 1028 with an asymmetrical duty cycle pulse as will be explained in more detail with reference to FIG. 4.
  • the gating signal outputs A and A at terminals 1018 and 1020 are in duty cycle form (ratio of on-time to the sum of on-time and off-time) off-time) and are alternately sequentially switched from AP A AP A T 'FF TJ E r, ed to ed and back again?
  • the slave multiplier 966 includes a first slave inverter 1030,
  • a second slave inverter 1032, a first slave switch 1034 and a second slave switch 1036 that operates as described previously for the master inverters 1010 and 1012 and the master switches 1014 and 1016, respectively, of the master portion 964.
  • the input to inverter 1030 is an AC signal R/R sin (wt), having a period that is long with respect to the period of the output A and A of the master multiplier.
  • First slave switch 1034 and second slave switch 1036 are coupled to terminals 1018 and 1020 of the master portion 964 via gate terminals 1038 and 1040, respectively, of the slave multiplier 966 to alternately sequentially cause the first slave switch 1034 and the second slave switch 1036 to change state in accordance with threshold level changes being detected by the threshold detector 1026.
  • the outputs of the first slave switch 1034 and the second slave switch 1036 are coupled together and applied to a low pass averaging or ripple filter 1042 to produce a filtered output signal product that can be represented by the following relationship:
  • the master portion 964 divides the quantity AP AT r g- T.
  • the operation of the master-slave time-division multiplier of FIG. 3 can best be understood with reference to FIG. 4 wherein: the waveforms A and A illustrate the gating voltage outputs A and A of the switch driver 1022 at the terminals 1018 and 1020, respectively; waveforms C and D illustrate the output current waveforms of the first master switch 1014 and the second master switch 1016, respectively; waveform E illustrates the output voltage waveform of the summing integrator 1024; and waveform F illustrates the output voltage waveform of the threshold detector 1026. All of the 1 ll waveforms of FIG. 4 are correlated to the specific times of t 1,, l and with the period T equal to n-t, and the period T equal to 1 -1,.
  • the gating signal B at terminal 1018 goes negative and gates the first master switch 1014 to the off or nonconducting state, and the gating signal A at terminal 1020 goes positive and gates the second master switch 1016 to the on or conducting state.
  • the first switch 1014 remains ofl andithe second switch 1016 remains "on.”
  • the summing integrator 1024 receives current resulting from the reference level e provided by the second master switch 1016, and by the resulting AP AT EF W) current (not shown), and produces the negative-going ramp voltage E. Because master switch 1014 is nonconducting, there is no e charging current from the first master switch 1014 applied to the summing integrator 1024 during the T period.
  • the output signal F of the threshold detector 1026 changes from a negative output value to a positive output value.
  • the output of the threshold detector 1026 fed to switch driver 1022 goes from a negative value to a positive value the output of the switch driver 1022 changes the polarity of its gating signals A and A at terminals 1018 and 1020.
  • the gating signal A at terminal 1018 goes positive and the first switch 1014 changes from the off or nonconductive state to the on" or conducting state, and the gating signal A at terminal 1020 goes negative and causes the second master switch 1016 to change from the on" or conducting state to the ofF or nonconducting state.
  • the summing integrator 1024 is charged from the negative threshold level toward the positive threshold level by the sum of the e,, current C from the first master switch 1014 (FIG. 3) and by the current, and produces the positive-going ramp voltage E.
  • the master portion 964, or time-division portion of the time-division multiplier of FIG. 3 carries its division information (e,,,/e in the form of a duty cycle.
  • the duty cycle is the ratio of the total on" time (T T,) to total time (T,+T). It should be recalled that there are three charging currents being applied to the summing integrator 1024 during this total cycle time (T +T).
  • T +T The AP A T Po TO current is applied during the (T +T periods, while the e,, current D from the switch 1016 is only applied during the T period and the e current C from the switch 1014 is only applied during the T period.
  • the average value of the charging currents applied to the summing integrator 1024 is therefore given by the equation:
  • R R and R being various circuit resistances (not shown) which help control the system gain.
  • R R and R being various circuit resistances (not shown) which help control the system gain.
  • summing integrator 1024 may contain an operational amplifier (not shown) in which R,, R and R are the input resistances, each being responsive to its respective one of the input signals e and e,, and connected to a common summing point.
  • the equation then becomes Dividing all the terms of the equation by e (T +T,) combining like terms, and transposing terms, the resulting expression then becomes:
  • the multiplication by the time-division multiplier is accomplished by the slave portion 966 by selectively applying the grating pulses A and A at the derived duty cycle and the negation thereof to the first slave switch 1034 and the second slave switch 1036 via the terminals 1038 and 1040, while applying the -/R sin (wt) signal from inverter 1030 to switch 1034 and the (RIR sin (wt) signal from inverter 1032 to switch 1036.
  • Averaging filter 1042 can be fabricated in accordance with the principles described in ELECTRONIC ANALOG AND HYBRID COM- PUTERS, pp. 277-281.
  • (R/R,, )sin(mt) signal only flows through the switch 1034 to the averaging filter 1042 during the T period.
  • e represents the value of the AC normalized range signal (R/R sin (wt) for the duration of a particular duty cycle; and as noted above the duration of the duty cycle is much shorter than the AC period of the signal (R/R sin (wt), and hence the change in magnitude of R/R sin (wt) during any duty cycle is'relatively smallJ
  • This output signal (R/R sin (wt) B is fed to the operational amplifier 968 of HG. 1A.
  • FIG. illustrates a function generator 956 for producing an output function fl.(R/) via a plurality of line slope segments.
  • the circuit includes a break point selector 1044 and a switched resistor network 1046, including a plurality of resistance branches which are selectively summed in response to output signals received from the break point selector 1044 wherein the selectively summed resistances are coupled to the input of an operational amplifier 1048 to vary its gain approximately in accordance with a single nonlinear exponential transfer function, such as thef,(R/Rn) function shown in FIG. 6.
  • the circuitry of FIG. 5 can be used with either a DC or an AC input analog voltage such as the normalized range signal (R/Rn) or (R/Rn) sin (mt).
  • a DC or an AC input analog voltage such as the normalized range signal (R/Rn) or (R/Rn) sin (mt).
  • two-position switch 1050 is placed in the AC position (reverse of that shown), so that both the range input signal (R/Rn) sin (wt) and an AC reference signal at the same frequency and phase as the range input signal (R/Rn) sin (wt); being applied to input terminals 1052 and 1054, respectively, can be converted into output DC voltages which are respectively proportional to the rms value of the respective AC voltages, by the use of precision rectifiers 1056 and 1058.
  • Precision rectifier 1056 produces a +DC output voltage proportional to normalized range R/Rn, while precision rectifier 1058 produces a DC output voltage proportional to the AC reference signal input.
  • Normalized range signal R/Rn sin (wt) and the AC reference voltages are directly applied to the switched resistor network 1046 since they can be utilized therein without being converted into DC voltages first.
  • switch 1050 With a DC input analog voltage and a DC constant reference voltage, switch 1050 is placed in the DC position, as shown in FIG. 5.
  • the DC normalized range signal R/Rn is then directly applied to both the break point selector 1044 and the switched resistor network 1046 via input terminal 1060.
  • the DC constant reference voltage is applied via input terminal 1062 directly to the switched resistor network 1046, and also applied through inverter 1064 to the break point selector 1044, since a negative DC reference voltage is required for proper operation of the break point selector 1044.
  • the break point selector 1044 includes a plurality of operational amplifiers 1066, 1 and 1070. Each operational amplifier has an inverting input terminal designated by the number 2, a noninverting input terminal designated by the number 3, and an output terminal designated by the number 6. A resistor 1072 is connected between the noninverting input and ground in order to minimize the bias current error inherent in operational amplifiers. Comparison circuits composed of resistors 1074 and 1076, 1078 and 1080, and 1082 and 1084 are respectively parallel coupled through switch 1050 between input terminal 1060 and the output terminal of inverter 1064 for respective reception and comparison of the normalized range signal R/Rn and the DC constant reference voltage.
  • each comparison circuit The respective junctions of the pairs of resistors contained in each comparison circuit are respectively coupled to the inverting inputs of operational amplifiers 1066, 1068 and 1070.
  • Each of operational amplifiers 1066, 1068 and 1070 produces a negative output signal when a positive voltage is coupled to its inverting input.
  • R/Rn With a distant target, the range and hence the amplitude of the normalized range signal R/Rn is greater than with a close target.
  • the size of the resistances 1074, 1076, 1078, 1080, 1082 and 1084 are chosen such that if the range progressively increases R operational amplifier 1066 is turned on first; then with a further increase in range R operational amplifier 1068 is turned on next; and with a still further increase in range R operational amplifier 1070 is turned on last.
  • the output of operational amplifier 1066 is fed through resistor 1084 to the base terminal of a PNP transistor 1086 to turn on the transistor and cause the voltage drop across the collector resistor 1088 to change from a negative to a positive voltage.
  • the signal taken ofi the collector of transistor 1086 will hereinafter be referred to as switching or break point select signal A and will be positive in potential at this time.
  • the output of operational amplifier 1068 goes low or negative.
  • the output of operational amplifier 1068 is fed through resistor 1090 to the base terminal of a PNP transistor 1092 to turn on the transistor 1092 and cause the voltage drop across its collector resistor 1094 to change from a negative to a positive voltage.
  • the signal taken off the collector of transistor 1092 will hereinafter be referred to as switching or break point select signal I; and will be positive in potential at this time.
  • the amplitude of normalized range signal R/Rn will also increase.
  • the output of operational amplifier 1070 goes low or negative.
  • the output of operational amplifier 1070 is fed through resistor 1096 to the base terminal of transistor 1098 to turn on the transistor 1098.
  • the voltage drop across the collector resistor 1100 changes from a negative to a positive voltage.
  • the signal taken off the collector of transistor 1098 will hereinafter be referred to as switching or break point select signal c and will be positive in potential at this time.
  • These switching or break point select signals a, b, and c are fed to the resistor network 1046 to selectively vary the gain of the operational amplifier 1048.
  • the resistor network 1046 includes a first set of parallel resistance branches 1102 which are coupled to receive the normalized range signal R/Rn and are responsive to the application of the break point select signals a, b and c for setting the gain slope, or a, slope factor of the apt term, of the nonlinear function f, (R/Rn) produced at the output of operational amplifier 1048.
  • the R/Rn factor of the apt term is the input analog voltage R/Rn which is applied through switch 1050 to resistor 1104 and to the source terminals of PET transistors 1106, 1108 and 1110.
  • the resistor network 1046 also includes a second set of parallel resistance branches 1112 which are connected in common to input terminal 1062 through switch 1050 for reception of the reference voltage, and are responsive to the application of the reference voltage and the break point selector signals a, b and c to bias the projected gain slope level to intercept the coordinates of the function f,( R/Rn) at the points a, b and c of FIG.
  • the intercept voltage b occurred before the break point select voltage V since it is part of the a,x+b,- equation of the first line segment.
  • the production of the b, term (representing the intercept voltages b,, b b and b,) of the nonlinear function f,(R/Rn) at the output of operational amplifier 1048 is achieved by the circuit operation of the resistance presented to the inverting tenninal of the operational amplifier 1048 by the second set of parallel resistance branches in cooperation with the reference voltages.
  • the operational amplifier 1048 includes an amplifier 1116 such as previously referenced [LA709 and has a feedback resistor 1118 connected between its output terminal (6) and its inverting input terminal (2).
  • the noninverting input terminal (3) is connected through resistor 1120 to the reference potential to minimize the bias current error inherent in operation amplifiers.
  • the combination of the slope set resistor 1104 and the intercept set resistor 1114 operate as gain set resistances wherein the gain of the operational amplifier is proportional to the ratio of the resistance of the feedback resistor 1118 and the sum of the parallel resistances of the slope set resistor 1 104 (operating on the input signal (R/Rn) and the intercept set resistor 1114 (operating on the reference voltage).
  • the function generator 956 will generate the first line segment illustrated in FIG. 6 until the increasing input analog voltage exceeds the voltage V (represented by point a in FIG. 6).
  • the positive switching, or break point select, signal a is produced by the break point selector circuit 1044 and is fed through resistors 1122 and 1124 to the gate terminals of FET, transistors 1126 and 1128 in the first set of parallel resistors 1102 and the second set of parallel resistors 1112, respectively, to turn them on.
  • the sum of the parallel resistances of resistor 1122 and the resistance branch, including the resistance between the source terminal and the drain terminal of turned on FET transistor 1126 and resistance 1130 will effectively reduce the gain slope resistance of the operational amplifier 1048, thereby effectively increasing the slope of the second line slope segment between the voltage levels V and V designated as points a and b in FIG. 6.
  • the sum of the parallel resistances of resistor 1114 and the resistance branch including the resistance between the source terminal and the drain terminal of turned on FET transistor 1128 and resistor 1132 operate on the reference voltage to bias the operational amplifier 1048 gain, so that a projection of the second line slope segment will intercept the ordinate of the graph in FIG.
  • third line slope segment between break point voltages V and V as represented by points b and c in FIG. 6, is produced when the break point select signal b changes from a negative potential to a positive potential and is applied through resistor 1134 to the base electrode of F ET transistor 1136 and through resistor 1138 to the base electrode of FET transistor 1140, respectively.
  • the positive switching or break point select signal b turns on FET transistors 1 136 and 1 140 so that their respective source to drain resistances and the resistance of resistors 1142 and 1144, respectively, are summed in parallel with the previously described resistance branches to respectively further reduce the gain slope resistance of the operational amplifier 1048, thereby effectively increasing the slope of third line slope segment between voltage level V and V (designated as points b and c in FIG. 6) and, in cooperation with the reference voltage, to further bias the operational amplifier 1048 gain so that a projection of the third line slope segment will intercept the ordinate of the graph in FIG. 6 at a predetermined point'b
  • the fourth line slope segment following the break point voltage V as represented by point 0 in FIG.
  • the resulting output signal f (R/Rn) on the output terminal of operational amplifier 1048 is received by the adjustable ballistic term multiplier 960 (FIG. 1A) wherein it is multiplied by the linear unnorrnalizing ballistics transfer function e,,,,.
  • the adjustable ballistics constant multiplier 960 is arranged the same as the adjustable ballistics term multiplier 954 illustrated in FIG. 2 with the exception that the value of the resistances 998-998n and feedback resistor 1006 are selected in accordance with the unnorrnalizing transfer function e for each ammunition type.
  • the output signal from this adjustable ballistics constant multiplier 960 is proportional to superelevation e, in accordance with the previously described superelevation equations.
  • the ballistics function generator 958 for generating the nonlinear ballistic function fl(R/Rn) and the adjustable ballistic term multiplier 962 for multiplying the nonlinear function signal by the unnorrnalizing ballistic term or linear unnorrnalizing transfer function r illustrated in FIG. 1A are embodied in the same way as the ballistic function generator 956 of FIG. 5 and the adjustable ballistic term multiplier 954 of FIG. 2, respectively, with the exception that the resistances of the resistors therein are selected so that the resultant ballistic function signal output I, will closely approximate the smooth curve and expression represented by time of flight equations for generating the partially corrected time of flight signal t As previously described with reference to FIG.
  • the partially corrected superelevation signal 6 and the partially corrected time of flight signal if are each fed through a pair of slave multipliers to further correct for nonstandard conditions in accordance with the partial derivatives B and II. More specifically. the partially corrected superelevation signal a, is fed through the slave multiplier 972, the operational amplifier 974, the slave multiplier 976 and the operational amplifier 978 to produce the superelevation output signals e for nonstandard conditions:
  • slave multipliers 972, 976, 980 and 984 are all implemented the same way as the slave multiplier 966 as illus trated in FIG. 3.
  • the master multiplier 970 for driving the slave multipliers 976 and 984 is implemented in the same manner as master multiplier 964 illustrated in FIG. 3.
  • the parallax correction signal p is produced by the function generator 990, rectifier 992 and break point selector 994 which are implemented in the same manner as the circuits of FIG. 5. Since, however, the function of parallax 1 1 GTF) is inversely proportional to range it is generated as the function generator decreases the number of parallel resistance branches as the range increases, which is just opposite of the mode of operation described with reference to FIG. 5.
  • the elevation control signals E and deflection control signals D for driving the fire control system in elevation and deflection, respectively, are generated in response to the superelevation signal e and time of flight signal I, which have been corrected for ballistic drift angle 1;,,, wind deflection angle 1 angular turret rate 1 parallax p, jump D E and droop Ed-Dd.
  • the superelevation signal e is fed through a ballistic term multiplier 1160 of the type illustrated in FIG. 2 wherein it is multiplied by a selected ballistic drift constant K, for each selected ammunition and can include an in-line partial multiplier of the previous type to generate a drift angle signal 1 in accordance with the previously described equation.
  • This drift angle signal 1 is then fed to one summing input of an operational amplifier 1162 whereafter the circuit will utilize this ballistic drift angle signal to correct the elevation control signal E and the deflection control signal D as will be explained in more detail shortly.
  • the crosswind signal V, received from a wind sensor is fed through a variable ballistic term multiplier 1164 of the previously described type wherein it is multiplied by a crosswind coefficient K for each selected ammunition to generate the signal V K
  • This signal is then fed through a slave multiplier 1166 of the type illustrated in FIG. 3 wherein it is multiplied by the temperature-pressure correction coefficient B to generate an output signal V K B which is fed to an inverting input of a summing operational amplifier 1168.
  • the signal V,,K is also fed directly to a noninverting input of the operational amplifier 1168 wherein the output signal V K,,( l-B) is produced to correct for nonstandard conditions.
  • the time of flight multiplication factor T for the slave multiplier 1170 is produced when the time of flight signal I, is fed to the master multiplier 988.
  • the period of the AC signal t, sin w! must be many times longer than the duration of the duty cycle of the master multiplier 988.
  • the master portion will operate substantially as described above for a DC input signal for any particular duty cycle.
  • the first slave switch 1034 and the second slave switch 1036 receive the output T of the master portion 988 as described above and provide an output signal at their common outputs corresponding to the pulse width modulated output of the master portion 988.
  • the output of the first slave switch 1034 and the second slave switch 1036 are applied to an averaging filter 1042 to produce a filtered output signal that can be represented by the following relationship:
  • the waveforms A through F illustrated in FIG. 4 are applicable to the master-slave time-division multiplier for an AC signal t, sin wt applied to the master portion 988 and a DC signal V K,,( l-B) applied to the slave portion 1170.
  • the angular rate in azimuth a), of the turret is fed through a follow and clamp circuit 1172 wherein it is stored as a DC signal when the right lead lock input signal RILL is received.
  • FIG. 7 A typical follow and clamp circuit operable to sample w or to, (FIG. 1B) in a disturbed or nondisturbed fire control system is illustrated in FIG. 7 and includes a switch 1182 responsive to a DC signal 0),.
  • An amplifier 1184 has an input coupled to ground through a suitable resistor 1186 and coupled through a resistor 1 188 to the switch 1182.
  • the output of the amplifier 1184 is coupled through a series connected feedback resistor 1190 and switch 1192 to the input thereof as well as being coupled through a parallel capacitor 1194 to the output of the amplifier.
  • the switches 1188 and 1192 are respectively responsive to switch control units 1198 which is responsive to the right lead lock control signal RtLL.
  • the switches 1188 and 1192 are closed for filter operation and are opened for hold operation when the RtLL is terminated, this condition being for disturbed and nondisturbed operation.
  • the switches 1 188 and 1 192 remain closed as shown so that filter action is provided.
  • switch 1198 is closed in the absence of an RILL signal.
  • switch 1198 causes the switches 1182 and 1192 to open so that the operator selected angular target tracking rate is stored as a DC signal al
  • This DC signal is then fed through a slave multiplier 1174 of the type previously described wherein it is multiplied by the time of flight signal T to generate a kinematic lead angle signal w T.
  • this kinematic lead angle signal T is fed through an analog switch 1176a as a single gyro kinematic lead angle signal 72,,- to another input of the operational amplifier 1162 for correcting the deflection signal D and elevation signal E.
  • the other two input terminals 1208 and 1210 are connected to a ground terminal.
  • a switch signal RtLL is received at an input terminal 1212.
  • This switch signal RILL is normally at a low level when the computer is not in a COMPUTE mode, so that the inputs at terminals 1208 and 1210, which are at ground level, are coupled to the output terminal 1214 and 1216, respectively.
  • the interface diode circuit 1218 is forward biased so that one end of the base current resistor 1220 is at the ground level.
  • This ground level signal is fed through the threshold circuit 1222, including two series diodes to reverse bias an NPN transistor 1224 off.
  • a base emitter resistor 1226 is connected between the base terminal of the transistor 1224 and its emitter terminal.
  • a biasing network including resistors 1228 and 1230 connected between the emitter terminal and a +12 v. terminal and a resistor 1232 are connected between the +12 v. terminal and the +50 v. level tenninals at one end and the base terminal of transistor 1234 to maintain the base terminal voltage at around 12 v.
  • transistor 1224 depending upon the state of transistor 1224.
  • the level of the signal applied to the base terminal of transistor 1234 is above +12 v. and reverse biases the transistor 1234 which is part of a differential amplifier circuit.
  • the transistor 1234 turned OK, the other transistor 1236 of the differential amplifier is forward biased on as a result of the voltage level at the emitter terminal, resulting from current flow through a current source resistor 1238 and the potential developed across the collector resistor 1240.
  • the junction FET transistors 1242 and 1244 are turned on by a signal applied to the gate terminals from the collector terminal voltage developed across collector resistor 1240.
  • the FET transistors 1242 and 1244 turned on, the ground level signal received at the input terminals 1208 and 1210 are conducted through the source and drain terminals of FET transistors 1242 and 1244 to the output terminals 1214 and 1216, respectively.
  • transistor 1234 of the differential amplifier is turned off, the voltage drop across a collector resistor 1246 is low, resulting in a low voltage level signal which is applied to the gate terminals of the FET transistors 1248 and 1250, thereby turning them off.
  • the input signals cu t; and m t, applied to the input terminals 1204 and 1206 cannot be conducted to the output terminals 1214 and 1216, respectively.
  • the collector voltage of transistor 1234 is fed to the gate terminal of PET transistors 1248 and 1250 to turn them on, whereupon the input signal w t and w t, are conducted through the source and drain terminals of the FET transistors to the output terminals 1214 and 1216, respectively.
  • the superelevation signal a is also fed directly to the input of an operational amplifier 1252 to produce an output signal a where:
  • These output signals ,8 and a from the operational amplifiers 1162 ans 1252 can be fed directly through analog switches 1254a and 1254b of the previously described type to an input of the operational amplifiers 1180 and 1257, respectively, when the cant resolver signal C is at the off level. If the cant signal C is on, it can be first fed through a cant resolver 1256 before being fed through the analog switches 1254a and 1254b to the inputs of the operational amplifiers 1180 and 1257, respectively, when the cant resolver is turned on. Although a cant resolver is specifically referred to, it should be understood that other types of resolvers could be used instead.
  • the output signals a and B from the operational amplifiers are fed to one winding thereof and are resolved into turret coordinates which take into account the incline angle of the turret relative to the horizontal and produces output signals which are resolved in accordance with this cant angle.
  • One way to perform this operation would be to have a first winding which is connected to a pendulum so that the first winding is moved relative to a stationary second winding, whereupon the inductive coupling between the legs of the windings will vary with the position of the movable winding.
  • the output signal of the cant resolver 1256 then becomes an uncorrected deflection signal D and an uncorrected elevation signal E where:
  • the input terminals of operational amplifier 1180 has a gain set resistor therein which multiplies the parallax coefficient by the deflection parallax constant D determined for each tank.
  • the operational amplifier 1257 has a gain set resistor associated with the input thereof which effectively multiplies the parallax coefficient by the elevation parallax constant D determined for each tank. If the system is a two-gyro system, the angular turret rate in elevation signal w times time of flight signal w t, is fed to another input of the operational amplifier 1257 to compensate for the kinematic lead angle in elevation.
  • the angular gun-line rate in elevation signal w is fed to a second follow and clamp circuit 1262 of the type previously described with reference to FIG. 7 which stores it as a DC signal m
  • This DC signal w is fed through a slave multiplier 1264 of the type previously described wherein it is multiplied by the time of flight signal T to produce an output signal w t,
  • This kinematic lead angle in elevation (n t; is fed through the analog switch 1176b and SG switch 1178 to an input of operational amplifier 1257 and the kinematic lead angle in deflection (a l; is fed through 30 switch 1178 to an input of the operational amplifier 1180 in the deflection channel.
  • the outputs of the operational amplifiers H08 and 1257 are fed through the analog switches 1278a and 1278b of the previously described type which will conduct the signals only when the COMPUTE signal is received by them.
  • Operational amplifiers 1280 and 1282 receive the output signals from the analog gates 12782 and 1278b, respectively, along with a bore sight correction signal Db in deflection and a bore sight correction signal Eb in elevation, respectively. These operational amplifiers 1278a and 127812 generate the deflection correction signal D and elevation correction signal E which arefed to a servoamplifier.
  • a land vehicle fire control ballistic computer comprising:
  • computer channel means including a plurality of circuits including first circuit means having an input coupled to receive a range signal for operating on the range signal in accordance with a transfer function related to ballistic equations which includes terms for selected standard conditions including standard ballistic conditions and standard environmental conditions for a selected one of a plurality of ammunition types and second and third circuit means in a first output channel and a second output channel respectively for operating on the operated on range signal in accordance with transfer functions related to ballistic equations which include terms for the standard conditions to produce a time-of-flight signal on the first output channel and a superelevation signal on the second output channel; and
  • partial derivative multiplier means each coupled in said computer channel means between the range signal input and the time-of-flight and superelevation signal outputs and to the output of selected circuit means to receive the output signals from said circuit means for changing the output signals in accordance with a first order approximation partial derivative (1+K(Au/u corresponding to small order changes Au in any selected standard conditions :4 where K is a positive or negative constant, u is the general case for any of the standard conditions for correcting the time-of'flight signal and the superelevation signal for changes in the selected condition.
  • said plurality of circuit means includes a plurality of individual operational amplifiers including a first common operational amplifier for operating on the range signal in accordance with a normalizing standard condition transfer function
  • said second circuit means includes a second and a third operational amplifier coupled in series circuit relationship to operate on the operated on range signal for producing a time of-flight signal on the first output channel
  • said third circuit means includes other first and second operational amplifier means coupled in series circuit relationship with one another to operate on the operated on range signal for producing the superelevation signal in said second output channel;
  • each of said partial derivative multiplier means includes a multiplier circuit each selectively coupled in said computer channel means between the range signal input and the time-of-fiight signal output and superelevation output and between the output of selected ones of said plurality of operational amplifiers and to the input of any subsequent means in said computer channel means for operably multiplying the output signal of selected operational amplifiers in accordance with the first order approximation partial derivative corresponding to changes in selected standard conditions for correcting the time-offlight signal and the superelevation signal for changes in the selected standard conditions.
  • the land vehicle fire control ballistic computer of claim 2 further including additional circuit means for producing fire control deflection signals and elevation signals in response to the time-of-flight signal and the superelevation signal including means for operating on the superelevation signal by a transfer function corresponding to a selected ballistic drift constant for an ammunition type and means for selectively summing the resultant signal with an angular turret rate in azimuth signal times the time-of-flight signal, and a crosswind signal times a crosswind coefficient constant signal for a selected ammunition type having combined therewith a partial derivative factor corresponding to the effects of changes in standard condition air pressure and air temperature times the time-of-fiight time to produce a corrected deflection signal.
  • said plurality of circuit means further includes additional circuit means for producing fire control deflection and elevation signals in response to the time-of-flight signal and the superelevation signal including means for operating on the superelevation signal by a transfer function corresponding to selected ballistic drift constant for an ammunition type and means for selectively summing the resultant signal with an angular turret rate in azimuth signal times the time-of-flight signal, and a crosswind signal times a crosswind coefficient constant signal for a selected ammunition type having combined therewith a partial derivative factor corresponding to the effects of changes in standard condition air pressure and air temperature times the time-of-flight time to produce a corrected deflection signal.
  • the ballistic computer for producing fire control signals for the ballistics of projectile types wherein the improvement comprises:
  • first means coupled to receive a range signal for multiplying the received range signal by a function comprising a normalizing function to produce a normalized range signal which is standardized relative to a single function common to the ballistics of a plurality of projectile types;
  • each of said output channels including a second means and a third means, said second means coupled to receive the normalized range signal for multiplying the normalized range signal by the single function common to the ballistics of a plurality of projectile types for producing a function signal, and said third means coupled to receive the function signal from said second means for multiplying the function signal by a function comprising an unnormalizing function for producing the ballistic signals for the projectile type; and
  • partial derivative means selectively coupled to receive the signal produced by at least one of said first through third means for multiplying the signal by the ratio of change in a standard condition to the standard condition and to sum the ratio of change in standard condition and the produced signal to produce a partial derivative signal times the produced signal.
  • said partial derivative multiplier means includes a first partial derivative circuit means coupled in series circuit relationship between first means and said second means for summing the approximate partial derivative corresponding to changes in selected standard conditions relative to the standard conditions for correcting the normalized range signal in accordance with the effects thereon of the changes in selected standard conditions.
  • said first partial derivative circuit means combines a signal corresponding to the effects of changes in air pressure and air temperature on the normalized range signal.
  • said first partial derivative circuit means generates and combines with the normalized range signal, a signal where AT is the change in air temperature, T is the standard condition air temperature, AP is the change in air pressure and P, is the standard condition air pressure.
  • said partial derivative multiplier means includes a second partial derivative circuit means and a third partial derivative circuit means coupled in series circuit relationship to receive the ballistic signal from said third means for summing the approximate partial derivative corresponding to changes in selected standard conditions relative to the standard conditions for correcting the ballistic signals in accordance with the effects thereon of the changes in selected standard conditions.
  • ATg is the change in propellant grain temperature
  • Tg is standard condition propellant grain temperature
  • Kg is derived ballistic constant for an ammunition type
  • E.]F.C. is the effective full charge
  • K, is a derived ballistic constant for an ammunition type
  • k is a or 1 having a magnitude greater than 1.
  • the ballistic computer of claim 12 in which said first means and said third means multiply the received signals by linear functions derived from the effects of ballistic conditions and environmental conditions including the projectile mass m, projectile diameter d, drag coefiicient K and atmospheric density p, and initial projectile velocity V and said second means multiples the received normalized range signal by a nonlinear function.
  • the ballistic computer of claim 15 in which said first means multiplies the received normalized range signals by approximately the term m/pd' K and one of said third means multiplies the received signals by approximately the term mg/2pd V K 17.
  • the ballistic computer of claim 12 in which said first means and said third means are adjustable for multiplying the received signals by individual ones of a plurality of constant functions, each including individual terms derived from the effects of ballistic conditions and environmental conditions on individual ones of a plurality of projectile types.
  • the ballistic computer of claim 7 including means for producing fire control deflection and elevation signals in response to the time-of-flight signal and the superelevation signal including means for multiplying the superelevation signal by a selected ballistic drift constant for an ammunition type and selectively summing the resultant signal with an angular turret rate in azimuth signal times the time-of-flight signal, a crosswind signal times a crosswind coefficient constant for a selected ammunition type having summed therewith a partial derivative corresponding to the effects of changes in standard condition air pressure and air temperature times the time-of-flight time to produce a corrected deflection signal.
  • circuit multiplier means coupled to directly receive the output signal from at least one of said first, second, or third means for multiplying the output signal in operable parallel circuit relationship with the output of at least one of l0l00l 0089

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3720131A (en) * 1971-01-28 1973-03-13 Hughes Aircraft Co Built-in test for tank fire control computer
US3733465A (en) * 1971-06-16 1973-05-15 Us Army Log-base analog ballistics computer
US3886334A (en) * 1970-08-27 1975-05-27 Singer Co Method and apparatus for simulating a class of aircraft
US4008869A (en) * 1976-01-07 1977-02-22 Litton Systems, Inc. Predicted - corrected projectile control system
FR2459443A1 (fr) * 1979-06-15 1981-01-09 Thomson Brandt Procede et dispositif de determination des elements de tir d'un projectile
US4317650A (en) * 1978-09-13 1982-03-02 The Solartron Electronic Group Limited Weapon training systems
FR2528964A1 (fr) * 1982-06-16 1983-12-23 Europ Propulsion Dispositif de visee d'une arme de tir avec correction de l'influence de la temperature
US4494198A (en) * 1981-03-12 1985-01-15 Barr & Stroud Limited Gun fire control systems
DE19753752C1 (de) * 1997-12-04 1999-07-29 Eurocopter Deutschland Vorrichtung und Verfahren zur Bestimmung des Auftreffpunkts eines ballistischen Flugkörpers
US20050263000A1 (en) * 2004-01-20 2005-12-01 Utah State University Control system for a weapon mount
US8336776B2 (en) 2010-06-30 2012-12-25 Trijicon, Inc. Aiming system for weapon

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JPS60149945U (ja) * 1984-03-16 1985-10-04 内田　秀俊 果樹用休眠打破剤塗布具
RU2514966C1 (ru) * 2012-11-23 2014-05-10 Елизавета Сергеевна Палехова Способ обучения стрельбе при переменном ветре

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US2670134A (en) * 1944-12-29 1954-02-23 Bell Telephone Labor Inc Computer for multiple ballistics
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US2947474A (en) * 1944-12-30 1960-08-02 Arthur W Vance Computing systems
US2624510A (en) * 1945-03-22 1953-01-06 Coste Lucien J B La Electronic aircraft gun fire control computer
US2669386A (en) * 1946-06-26 1954-02-16 Bell Telephone Labor Inc Gun data computer having spot correction means
US3288030A (en) * 1963-07-01 1966-11-29 Bofors Ab Fire control system for weapons
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Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3886334A (en) * 1970-08-27 1975-05-27 Singer Co Method and apparatus for simulating a class of aircraft
US3720131A (en) * 1971-01-28 1973-03-13 Hughes Aircraft Co Built-in test for tank fire control computer
US3733465A (en) * 1971-06-16 1973-05-15 Us Army Log-base analog ballistics computer
US4008869A (en) * 1976-01-07 1977-02-22 Litton Systems, Inc. Predicted - corrected projectile control system
US4317650A (en) * 1978-09-13 1982-03-02 The Solartron Electronic Group Limited Weapon training systems
FR2459443A1 (fr) * 1979-06-15 1981-01-09 Thomson Brandt Procede et dispositif de determination des elements de tir d'un projectile
US4494198A (en) * 1981-03-12 1985-01-15 Barr & Stroud Limited Gun fire control systems
FR2528964A1 (fr) * 1982-06-16 1983-12-23 Europ Propulsion Dispositif de visee d'une arme de tir avec correction de l'influence de la temperature
DE19753752C1 (de) * 1997-12-04 1999-07-29 Eurocopter Deutschland Vorrichtung und Verfahren zur Bestimmung des Auftreffpunkts eines ballistischen Flugkörpers
US6186441B1 (en) 1997-12-04 2001-02-13 Eurocopter Deutschland Gmbh Device and method for determining the impact point of a ballistic missile
US20050263000A1 (en) * 2004-01-20 2005-12-01 Utah State University Control system for a weapon mount
US7549367B2 (en) 2004-01-20 2009-06-23 Utah State University Research Foundation Control system for a weapon mount
US8336776B2 (en) 2010-06-30 2012-12-25 Trijicon, Inc. Aiming system for weapon

Also Published As

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FR2016146B1 (https=) 1974-05-03
JPS4936146B1 (https=) 1974-09-27
GB1277251A (en) 1972-06-07
NL6912797A (https=) 1970-02-24
FR2016146A1 (https=) 1970-05-08
SE355881B (https=) 1973-05-07
NL159189B (nl) 1979-01-15
CA922415A (en) 1973-03-06
DE1937412B2 (de) 1973-07-12
DE1937412A1 (de) 1970-02-26
BE737685A (https=) 1970-02-02

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