EP0229864B1 - Dispositif de stabilisation d'un appareil à grande dynamique sur un porteur de dynamique moindre - Google Patents

Dispositif de stabilisation d'un appareil à grande dynamique sur un porteur de dynamique moindre Download PDF

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Publication number
EP0229864B1
EP0229864B1 EP86100960A EP86100960A EP0229864B1 EP 0229864 B1 EP0229864 B1 EP 0229864B1 EP 86100960 A EP86100960 A EP 86100960A EP 86100960 A EP86100960 A EP 86100960A EP 0229864 B1 EP0229864 B1 EP 0229864B1
Authority
EP
European Patent Office
Prior art keywords
support
sensor block
control loop
control
devices
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
EP86100960A
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German (de)
English (en)
Other versions
EP0229864A1 (fr
EP0229864B2 (fr
Inventor
Otto Dr. Rer.Nat. Beyer
Bertold Dipl.-Math. Kirst
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Northrop Grumman Litef GmbH
Original Assignee
Litef GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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First worldwide family litigation filed litigation Critical https://patents.darts-ip.com/?family=8194857&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=EP0229864(B1) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by Litef GmbH filed Critical Litef GmbH
Priority to EP86100960A priority Critical patent/EP0229864B2/fr
Priority to AT86100960T priority patent/ATE45420T1/de
Priority to DE8686100960T priority patent/DE3664961D1/de
Priority to IL80674A priority patent/IL80674A0/xx
Priority to US07/006,001 priority patent/US4924749A/en
Publication of EP0229864A1 publication Critical patent/EP0229864A1/fr
Publication of EP0229864B1 publication Critical patent/EP0229864B1/fr
Publication of EP0229864B2 publication Critical patent/EP0229864B2/fr
Application granted granted Critical
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • 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
    • F41G5/16—Elevating or traversing control systems for guns for vehicle-borne guns gyroscopically influenced
    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus

Definitions

  • the invention relates to a device for stabilizing a on a low dynamic carrier e.g. a tank, ship or the like, mounted higher dynamic device, in which the movements of the low dynamic carrier are detected by a central sensor block on the carrier.
  • a low dynamic carrier e.g. a tank, ship or the like
  • low-dynamic carrier is understood to mean a body of comparatively great inertia, which changes its position in space only comparatively slowly when subjected to a certain force.
  • higher dynamic device is understood to mean a lighter body which can be accelerated comparatively quickly when subjected to force.
  • the sensor block can contain at least such a number of gyros that the three rotational movement components can be measured in space (three independent measuring axes) and, depending on the version, three uniaxial accelerometers.
  • a weapon tracking system in particular for ship guns, in which control loops are used for weapon tracking, to which a command variable generated by a gyro system and corresponding to the angular velocity of the carrier is subordinate.
  • the gyro system which is fixed to the carrier, comprises three gyroscopes without an accelerometer. For a simple technical adjustment of the gun alignment, two separately implemented amplifiers are used in an analog system.
  • DE-A1 3 332 795 discloses a fire control and navigation system for movable weapon carriers, in particular for battle tanks, in which a single central sensor block using strapdown technology is used for primary stabilization, for example of a target or sighting device, or for secondary stabilization of a weapon.
  • a single central sensor block using strapdown technology is used for primary stabilization, for example of a target or sighting device, or for secondary stabilization of a weapon.
  • which comprises two biaxial, dry, dynamically tuned gyros and three uniaxial accelerometers, and in which the acceleration values or rotation rates are output and processed in digital format.
  • the line of sight must also be stabilized with a central sensor package.
  • a relatively small deflection mirror with a much higher dynamic range than the carrier (tank) can be stabilized.
  • the gyroscopes and accelerometers must therefore be attached to the deflecting mirror and the inertial sensors and the entire digital processing must be designed for the high bandwidth of this deflecting mirror. This places high demands on the overall quality of the sensor block and on the bandwidth of the digital control in particular.
  • the invention has for its object to stabilize devices mounted on a comparatively low-dynamic carrier with significantly higher dynamics in their position in space in a technically simple manner and with flexible adaptation options to the type, number and individual dynamics of the individual device, the common inertial sensors on Carriers are attached.
  • the invention is based initially on the knowledge that the angles of interference that occur on a comparatively slow carrier (armored turret) quickly become very small with increasing frequency.
  • an approximately three times larger bandwidth is required than the measured bandwidth of the interference angles at the tank tower.
  • the line of sight stabilization places even higher technical requirements, for which an even fifteen times greater bandwidth of the control loops and sensors is required.
  • This basic knowledge is plausible because a tank tower weighing several tons can only move relatively slowly.
  • the lighter cannon already shows a higher dynamic and the relatively light deflection mirror of the optical aiming devices (rifle scope of the gunner, periscope of the commander) show a very high dynamic.
  • the device according to the invention it is possible to stabilize the devices themselves with the aid of a common inertial sensor package (for example a strapdown system) on the carrier and with angle sensors or rotary speed sensors or angle measuring devices, in particular resolvers, in particular.
  • a common inertial sensor package for example a strapdown system
  • angle sensors or rotary speed sensors or angle measuring devices in particular resolvers, in particular.
  • the bandwidth of the carrier is generally significantly smaller than that of the devices to be stabilized.
  • an analytical platform as an inertial sensor package, it also continuously delivers the position and location of the carrier itself and the quantities derived from it for additional tasks, for example in the context of a central fire control system.
  • the number of devices to be stabilized and their bandwidth is not limited.
  • the process enables a modular structure in an optimal way and is suitable for different types of vehicles regardless of Number of devices to be stabilized.
  • the highest stabilization quality is required for the rifle target.
  • the control loops for this device with the corresponding encoders will therefore have the highest bandwidth.
  • the other devices to be stabilized for example a commander's periscope and the weapons, can then be equipped with control loops, the bandwidth of which is individually matched to the dynamics of these devices.
  • the gyroscope as sensors and the control loops for stabilizing the devices must each have such a wide range that the movements of the devices in the room can be completely detected and stabilized.
  • a known battle tank for example, six uniaxial turning gyros are currently required for this.
  • This known solution becomes particularly complex when several devices are to be stabilized on a common carrier, since one gyro package is required for each device.
  • the inertial sensor block detects the movements of the tower coordinate system.
  • the output variables of the inertial sensor block are used as reference variables for the individual stabilization control loops of the devices.
  • Each device e.g. weapon, sight device, sighting device and the like
  • Each device is provided with its own control loop with the device-specific bandwidths.
  • the position of the devices in relation to the carrier is detected with angle sensors, the output signals of which control actuating devices on the devices via closed control loops of high bandwidth. Changes in the position or movement of the tower are therefore taken into account as a reference variable in the control loops of the devices.
  • a main battle tank 1 with a turret 2 is provided as a low-dynamic carrier.
  • a number of devices to be stabilized are mounted in the turret 2, in particular a cannon 4 as the main weapon of the tank, a commander's periscope 5 and a gunner aiming device 6.
  • the central sensor block 3 is mounted as a complete unit in the turret and detects the relatively slow turret movements relative to one earth fixed navigation coordinate system.
  • the central sensor block 3 (e.g. strapdown package) delivers position data or position changes of the carrier (tower 2) via a data line 12 to a connection point 13 within a closed control loop 10, which for Stabilization of one of the devices 4, 5, 6 mounted in the tower 2 is used.
  • the position data of the carrier supplied at the connection point 13 serve in the control loop 10 as a subordinate reference variable.
  • the (relative) position data of the control loop 10 (actual data) are supplied by angle sensors, in particular resolvers 14.
  • the command variable determining the position of the carrier is superimposed and fed as a manipulated variable to one or more steep links 15 for the respective device.
  • an inertial central sensor system with accelerometers
  • data about the location, the position and the movements of the wearer are available.
  • the central sensor block (the analytical platform) provides the position of the vehicle in an earth-fixed navigation system, so that orientation in unknown terrain and in poor visibility or under difficult environmental conditions is facilitated.
  • the strapdown system also provides data on the speed and angular velocity of the tower for better fire control, for example to correct the muzzle velocity of the projectile of the cannon 4. All of this data is provided via a data bus 11 (FIG. 2).
  • a data bus 11 (FIG. 2).

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Gyroscopes (AREA)
  • Aiming, Guidance, Guns With A Light Source, Armor, Camouflage, And Targets (AREA)
  • Crystals, And After-Treatments Of Crystals (AREA)
  • Control Of Position Or Direction (AREA)
  • Machine Tool Units (AREA)
  • Lubricants (AREA)
  • Photoreceptors In Electrophotography (AREA)

Claims (9)

1. Dispositif de stabilisation d'un appareil (4, 5, 6) monté sur un porteur (2) et déplaçable par rapport à celui-ci, avec une vitesse de réponse à des déviations à partir d'une position de repos qui est grande par rapport au porteur, comprenant
- une boucle de régulation (10) associée à l'appareil et comprenant un dispositif de réglage (15) pour la régulation de déviations de l'appareil par rapport à une position de repos, ladite boucle de régulation présentant une largeur de bande adaptée à la vitesse de réponse de l'appareil,
- une unité de détection (3) pour l'enregistrement des changements de position du porteur dans un système inertiel avec au moins trois axes de mesure, caractérisé en ce que
- l'unité de détection est montée sur le porteur (2) en tant que bloc détecteur central (3) et équipée de détecteurs dont la largeur de bande est adaptée à la vitesse de réponse comparativement lente du porteur,
- l'appareil (4, 5, 6) est muni de capteurs angulaires (14) qui déterminent la position de l'appareil par rapport au porteur selon au moins deux axes et dont les signaux de sortie sont transmis au dispositif de réglage (15) en tant que variable réglan- te, et
- des dispositifs (13) sont prévus dans la boucle de régulation (10) pour fournier à la boucle de régulation les signaux délivrés par le bloc détecteur et représentant la position du porteur dans le système inertiel en tant que grandeur de référence.
2. Dispositif selon la revendication 1, caractérisé en ce que le bloc détecteur central (3) est un système strapdown.
3. Dispositif selon l'une des revendications 1 ou 2, caractérisé en ce que l'appareil (4, 5, 6) est équipé de trois capteurs angulaires (14) pour la détermination de sa position par rapport au porteur (1, 2) selon trois axes orientés orthogonalement les uns aux autres.
4. Dispositif selon l'une des revendications 1 ou 2, caractérisé en ce que des résolveurs sont utilisés comme capteurs angulaires (14).
5. Dispositif selon l'une des revendications 1 ou 2, caractérisé en ce que des génératrices tachymé- triques sont utilisées pour la mesure de vitesses de rotation en tant que source de signaux des capteurs angulaires (14).
6. Dispositif selon l'une des revendications 1 ou 2, caractérisé en ce que la boucle de régulation est une boucle analogique et que l'électronique associée au bloc détecteur inertiel (3) est réalisée en technique numérique.
7. Dispositif selon l'une des revendications 1 à 6, caractérisé en ce que le porteur (1, 2) est un char et que l'appareil est un canon (4) ou un viseur (6) ou un périscope (5).
8. Disposition selon l'une des revendications 1 à 7, caractérisé en ce que les calculs de navigation nécessaires pour la détermination de la position du porteur (1, 2) sont effectués avec l'électronique numérique du bloc détecteur central.
9. Dispositif selon la revendication 7, caractérisé en ce que les valeurs de mesure nécessaires pour la compensation des perturbations balistiques lors du tir et/ou pour la formation de la dérivation dynamique sont déterminées par le bloc détecteur inertiel (3) et mises à disposition pour le calcul de conduite de tir.
EP86100960A 1986-01-24 1986-01-24 Dispositif de stabilisation d'un appareil à grande dynamique sur un porteur de dynamique moindre Expired - Lifetime EP0229864B2 (fr)

Priority Applications (5)

Application Number Priority Date Filing Date Title
EP86100960A EP0229864B2 (fr) 1986-01-24 1986-01-24 Dispositif de stabilisation d'un appareil à grande dynamique sur un porteur de dynamique moindre
AT86100960T ATE45420T1 (de) 1986-01-24 1986-01-24 Einrichtung zur stabilisierung hochdynamischer geraete auf einem niederdynamischen traeger.
DE8686100960T DE3664961D1 (en) 1986-01-24 1986-01-24 Device for stabilizing a highly dynamic body on a less dynamic carrier
IL80674A IL80674A0 (en) 1986-01-24 1986-11-17 Method and device for the stabilization of high-dynamics devices on a low-dynamics support
US07/006,001 US4924749A (en) 1986-01-24 1987-01-21 Method and apparatus for stabilizing high-dynamics devices

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP86100960A EP0229864B2 (fr) 1986-01-24 1986-01-24 Dispositif de stabilisation d'un appareil à grande dynamique sur un porteur de dynamique moindre

Publications (3)

Publication Number Publication Date
EP0229864A1 EP0229864A1 (fr) 1987-07-29
EP0229864B1 true EP0229864B1 (fr) 1989-08-09
EP0229864B2 EP0229864B2 (fr) 1993-06-23

Family

ID=8194857

Family Applications (1)

Application Number Title Priority Date Filing Date
EP86100960A Expired - Lifetime EP0229864B2 (fr) 1986-01-24 1986-01-24 Dispositif de stabilisation d'un appareil à grande dynamique sur un porteur de dynamique moindre

Country Status (5)

Country Link
US (1) US4924749A (fr)
EP (1) EP0229864B2 (fr)
AT (1) ATE45420T1 (fr)
DE (1) DE3664961D1 (fr)
IL (1) IL80674A0 (fr)

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US5481957A (en) * 1992-07-06 1996-01-09 Alliedsignal Inc. Aiming and pointing system for ground based weapons equipment
DE4238512C1 (de) * 1992-11-14 1994-01-20 Deutsche Aerospace Inertialstabilisierungssystem
US5413028A (en) * 1993-11-12 1995-05-09 Cadillac Gage Textron Inc. Weapon stabilization system
FR2718857B1 (fr) * 1994-04-15 1996-08-14 Giat Ind Sa Procédé et système de stabilisation d'un organe mobile asservi porté par un châssis insuffisamment rigide.
RU2138758C1 (ru) * 1998-08-17 1999-09-27 Открытое акционерное общество "Специальное конструкторское бюро приборостроения и автоматики" Привод наведения и стабилизации танкового вооружения
FR2824132B1 (fr) * 2001-04-27 2007-07-13 France Etat Dispositif, et procede associe, apte a determiner la direction d'une cible
DE50204077D1 (de) * 2002-01-16 2005-10-06 Contraves Ag Verfahren und Vorrichtung zum Kompensieren von Schiessfehlern und Systemrechner für Waffensystem
DE10217177A1 (de) * 2002-04-18 2003-10-30 Krauss Maffei Wegmann Gmbh & C Kampffahrzeug, insbesondere Schützen- und Kampfpanzer
US6860131B2 (en) * 2002-09-26 2005-03-01 Newfrey Llc Rekeying a lock assembly
US7844397B2 (en) * 2005-03-29 2010-11-30 Honeywell International Inc. Method and apparatus for high accuracy relative motion determination using inertial sensors
US8019538B2 (en) * 2007-07-25 2011-09-13 Honeywell International Inc. System and method for high accuracy relative navigation
USD753543S1 (en) 2013-06-14 2016-04-12 Wargaming.Net Llp Armored vehicle
USD746173S1 (en) * 2013-06-14 2015-12-29 Wargaming.Net Llp Armored vehicle
USD753688S1 (en) * 2013-07-26 2016-04-12 Wargaming.Net Limited Display device portion with a graphical user interface showing an armored vehicle
USD736793S1 (en) * 2013-08-26 2015-08-18 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD742895S1 (en) * 2013-08-26 2015-11-10 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD742393S1 (en) * 2013-08-26 2015-11-03 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
US10371479B2 (en) * 2013-09-11 2019-08-06 Merrill Aviation, Inc. Stabilized integrated commander's weapon station for combat armored vehicle
USD736795S1 (en) * 2013-10-16 2015-08-18 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD738890S1 (en) * 2013-10-17 2015-09-15 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD736796S1 (en) * 2013-10-17 2015-08-18 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD741346S1 (en) * 2013-10-17 2015-10-20 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD741345S1 (en) * 2013-10-17 2015-10-20 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD739863S1 (en) * 2013-10-17 2015-09-29 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD741347S1 (en) * 2013-10-18 2015-10-20 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD736799S1 (en) * 2013-10-18 2015-08-18 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD739420S1 (en) * 2013-10-18 2015-09-22 Wargaming.Net Llp Display device portion with a graphical user interface showing an armored vehicle
USD1114824S1 (en) * 2024-09-27 2026-02-24 Wargaming.Net Limited Display device portion depicting a graphical user interface
USD1109177S1 (en) * 2024-09-27 2026-01-13 Wargaming.Net Limited Display device portion depicting a graphical user interface
USD1114825S1 (en) * 2024-09-27 2026-02-24 Wargaming.Net Limited Display device portion depicting a graphical user interface

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Also Published As

Publication number Publication date
ATE45420T1 (de) 1989-08-15
US4924749A (en) 1990-05-15
EP0229864A1 (fr) 1987-07-29
IL80674A0 (en) 1987-02-27
DE3664961D1 (en) 1989-09-14
EP0229864B2 (fr) 1993-06-23

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