EP0229864B2 - 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
EP0229864B2
EP0229864B2 EP86100960A EP86100960A EP0229864B2 EP 0229864 B2 EP0229864 B2 EP 0229864B2 EP 86100960 A EP86100960 A EP 86100960A EP 86100960 A EP86100960 A EP 86100960A EP 0229864 B2 EP0229864 B2 EP 0229864B2
Authority
EP
European Patent Office
Prior art keywords
control
carrier
control loop
fighting vehicle
support
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 - Lifetime
Application number
EP86100960A
Other languages
German (de)
English (en)
Other versions
EP0229864A1 (fr
EP0229864B1 (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(B2) "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 DE8686100960T priority Critical patent/DE3664961D1/de
Priority to EP86100960A priority patent/EP0229864B2/fr
Priority to AT86100960T priority patent/ATE45420T1/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
Application granted granted Critical
Publication of EP0229864B2 publication Critical patent/EP0229864B2/fr
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 a certain force is applied.
  • higher-dynamic device is understood to mean a lighter body that comparatively quickly when subjected to force can accelerate.
  • a weapon tracking system is known, 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 support, 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 dynamics of the sensor block as a whole 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 device according to the invention it is possible to stabilize the devices themselves with the aid of a common inertial sensor package (e.g. strapdown system) on the carrier and with angle sensors or rotary speed sensors or angle measuring devices, in particular resolvers. It is of great importance that the bandwidth of the inertial sensor package only has to be so large that the movements of the low-dynamic carrier are correctly recorded.
  • 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 provides the position and location of the tiger itself and the quantities derived from it for additional tasks, for example as part of a central fire control system. In principle, the number of devices to be stabilized and their bandwidth is not limited.
  • 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.
  • an inertial central Sensor systems with accelerometers provide data on the location, location and movements of the wearer.
  • 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). Furthermore, with the aid of distance measurements from the armored vehicle to the target, point stabilization and dynamic lead formation can be implemented exactly.

Landscapes

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

Claims (7)

1. Dispositif de stabilisation d'un appareil (4, 5, 6) monté sur un véhicule de combat équipé d'un canon (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 véhicule de combat, 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 la 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 de changements de position du véhicule de combat dans un système inertiel avec au moins trois axes de mesure,
- l'unité de détection étant réalisée sous la forme d'un système strapdown central (3) avec électronique numérique associée, et le système strapdown (3) étant monté sur le véhicule de combat (2) et équipé de détecteurs dont la largeur de bande est adaptée à la vitesse de réponse comparativement lente du véhicule de combat,
- l'appareil (4, 5, 6) étant muni de capteurs angulaires (14) qui déterminent la position de l'appareil par rapport au véhicule de combat selon au moins deux axes et dont les signaux de sortie sont transmis au dispositif de réglage (15) en tant que variable réglante,
- des dispositifs (13) étant prévus dans la boucle de régulation (10) pour fournir à ladite boucle de régulation (10) les signaux délivrés par le système strapdown (3) et représentant la position du porteur dans le système inertiel en tant que grandeur de référence, et
- les valeurs de mesure nécessaires pour la compensation des perturbations balistiques lors du tir du canon et/ou pour la formation de la dérivation dynamique étant déterminées à l'aide du système strapdown (3) et mises à disposition pour le calcul de conduite de tir.
2. Dispositif selon la revendication 1, 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.
3. Dispositif selon la revendication 1, caractérisé en ce que des résolveurs sont utilisés comme capteurs angulaires (14).
4. Dispositif selon la revendication 1, caractérisé en ce que des génératrices tachymétriques sont utilisées pour la mesure des vitesses de rotation en tant que source de signaux des capteurs angulaires (14).
5. Dispositif selon la revendication 1, caractérisé en ce que la boucle de régulation est une boucle analogique.
6. Dispositif selon l'une quelconque des revendications 1 à 5, 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).
7. Dispositif selon l'une quelconque des revendications 1 à 6, 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.
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
DE8686100960T DE3664961D1 (en) 1986-01-24 1986-01-24 Device for stabilizing a highly dynamic body on a less dynamic carrier
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.
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 EP0229864B1 (fr) 1989-08-09
EP0229864B2 true 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
DK1329683T3 (da) * 2002-01-16 2005-12-12 Contraves Ag Fremgangsmåde og apparat til kompensering af skydefejl og system-computer til våbensystem
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
WO2006104552A1 (fr) * 2005-03-29 2006-10-05 Honeywell International Inc. Procede et dispositif de determination haute precision du mouvement relatif au moyen de capteurs inertiels
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
USD742393S1 (en) * 2013-08-26 2015-11-03 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
USD736793S1 (en) * 2013-08-26 2015-08-18 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
USD741346S1 (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
USD741345S1 (en) * 2013-10-17 2015-10-20 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
USD739420S1 (en) * 2013-10-18 2015-09-22 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
USD1109177S1 (en) * 2024-09-27 2026-01-13 Wargaming.Net Limited Display device portion depicting a graphical user interface
USD1114824S1 (en) * 2024-09-27 2026-02-24 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
EP0229864A1 (fr) 1987-07-29
EP0229864B1 (fr) 1989-08-09
DE3664961D1 (en) 1989-09-14
US4924749A (en) 1990-05-15
IL80674A0 (en) 1987-02-27

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