JPH0547983Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an improvement of a control device for an automatic loading mechanism that automatically loads ammunition for, for example, a combat vehicle.

[Prior Art] Conventionally, a control device for this type of automatic loading mechanism detects the operating position of the loading mechanism from the rotation angle of a cam in a drive section using a position detection encoder.
The position of the loading mechanism can be controlled using the detection output of the position detection encoder as a feedback signal.

That is, the conventional control device is equipped with a so-called position control type control system. Since such a control device exclusively performs position control, the bullet moves by a required stroke at a constant loading speed regardless of the type of bullet, except for disturbance conditions such as inclination.

FIG. 3 is a functional block diagram showing a schematic configuration of a conventional control device, and each reference numeral in the figure has the following information or function.

Xr: Target value Kp: Position gain due to software unit 11 Kv: Speed gain due to hardware unit 12 Ki: Current gain due to hardware unit 12 K: Motor voltage/current conversion constant T: Motor electrical time constant Kt: Motor torque constant Km: Motor induced voltage constant Jm: Motor inertia moment Dm: Motor viscosity coefficient Kl: Motor load spring constant Jl: Load inertia moment Dl: Load viscosity coefficient Y: Displacement of controlled object Hi: Current feedback gain Hp: Position feedback gain [ Problems to be solved by the invention] There are multiple types of ammunition for combat vehicles, and each type has different characteristics such as shape and strength.

For example, in terms of shape, the taper of the tapered part (the part with different diameter) from the bullet head to the cartridge part is different, and bullet types with a large taper may interfere with the rear end surface of the chamber (gun barrel) during loading operation. become. This is because in the automatic loading mechanism, the center line of the ammunition and the center line of the gun barrel at the loading start position are aligned, but in the latter half of the loading operation, the front part drops due to the weight of the ammunition. Furthermore, the strength of the cartridge differs depending on the structure and weight of each type of bullet.

As described above, in the conventional automatic loading mechanism control device that automatically loads ammunition having different characteristics such as strength and shape, it is necessary to determine the loading speed that will not cause improper loading or damage to any ammunition. be.

However, even if a faster loading speed is possible depending on the type of bullet, the speed is intentionally slow due to the above reasons, and the performance of the automatic loading mechanism is not fully demonstrated.

Therefore, the present invention has developed a control device for an automatic loading mechanism that is capable of both position control and speed control with a single control loop configuration, and that can accurately load the required stroke at the optimal loading speed according to the characteristics of the bullet type. The purpose is to provide.

[Means for Solving the Problems] In order to achieve the above object, the present invention provides a position detector for detecting the operating position of the automatic loading mechanism, which is equipped with a drive motor and automatically loads ammunition, etc. The detection feedback signal from the rotational speed detector that detects the rotational speed of the drive motor, and the bullet type signal corresponding to the bullet type are respectively input to the calculation means, and the bullet type calculated here is input to the calculation means. The optimum loading speed according to the characteristics of the seeds is given as the speed command of the drive motor.

[Function] With the above configuration, position control and speed control are possible in the loading operation, and since the loading speed changes depending on the bullet type, the loading speed can be set at the optimum loading speed according to the characteristics of the bullet type. Accurate positioning becomes possible.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a schematic configuration of an embodiment of the present invention, and when a loading command (operation start command) is given from the control device 10, the drive motor 1
Rotate accordingly. The rotational force of the drive motor 1 is transmitted to the cam 3 via the deceleration mechanism 2.
The cam 3 is provided with a cam groove 3a whose radius of curvature has changed to a predetermined state, and one end of a rotating lever 4a of the speed increasing mechanism 4 is engaged with this cam groove 3a. Therefore, when the cam 3 rotates, the rotation lever 4a is displaced as the radius of curvature of the cam groove 3a changes, and this displacement is magnified by the speed increasing gear 4b, speed increasing chain 4c, etc., and the rammer 5a of the loading section 5 is communicated. When the rammer 5a receives the driving force and moves forward in the left direction in the figure, the ammunition 6 is loaded into the gun by this forward movement.

While the above operation is being performed, the cam 3
The rotation angle Y is detected by the position detection encoder 7 (position detector), and the position feedback gain Hp
Also, the rotational speed Y of the drive motor 1 is detected by the tachogenerator 8 (speed detector),
It is fed back to the software section (calculating means) of the control device 10 as a speed feedback gain Hv.

FIG. 2 is a functional block diagram showing the configuration of the control device 10, in which the parts surrounded by two-dot chain lines are the software section 11 and the hardware section 12, respectively.
It shows. The position gain generating section 13 calculates the position gain Kp using the software section 11 based on the position feedback gain Hp. The speed gain generating section 14 generates a speed gain by the software section 11 based on the speed feedback gain Hv.
This is to calculate Kv. Switching element 1
5 is programmed to switch depending on the bullet type signal. Since the points other than those mentioned above are the same as those in FIG. 3, the explanation thereof will be omitted here.

The operation of the control device for the automatic loading mechanism configured as above will be explained. Now, when the operator specifies the type of bullet to be loaded by operating the operator panel, the switching element 15 switches to the specified bullet type (DS bullet), so that the velocity gain Kvds can be calculated according to the characteristics of the DS bullet. Become.

When the loading operation starts in response to a loading command, the rotation angle of the cam 3 and the rotation speed of the drive motor 1 are fed back to the control device 10 as a position feedback gain Hp and a speed feedback gain Hv, respectively, and an error signal (software A drive voltage for the drive motor 1 is generated by the hardware section 12 based on the output of the hardware section 11 .

In this way, the loading operation can be precisely stopped at a predetermined position and at an optimal loading speed depending on the characteristics of the ammunition to be loaded by position and speed control.

In addition, when performing the backward movement of the loading section 5,
What is necessary is to perform a reverse operation of the drive motor 1. Further, in the above embodiment, a case has been described in which the rammer 5a of the loading section 5 is driven, but the tray 5b is also similar to the above embodiment by providing a required cam groove in the cam 3 and providing an increasing/decelerating mechanism. This allows for precise drive control. Furthermore, regarding the types of bullets, in the above embodiment, the types are DS bullets and HT bullets, but it is sufficient to provide as many velocity gains Kv as the number of bullet types.

[Effects of the invention] According to the invention described above, both position control and speed control are possible with a single control loop configuration, and it is possible to accurately load the required stroke at the optimum loading speed according to the characteristics of the bullet type. It is possible to provide a control device for a possible automatic loading mechanism.

[Brief explanation of the drawing]

Fig. 1 is a schematic configuration diagram of an embodiment of a control device for an automatic loading mechanism according to the present invention, Fig. 2 is a functional block diagram of the control device shown in Fig. 1, and Fig. 3 is a diagram of a conventional control device for an automatic loading mechanism. FIG. 2 is a functional block diagram showing an example. 7...Position detection encoder (position detector),
8...Tachometer generator (rotation speed detector), 1
0...control device, 11...software section (calculating means).

Claims (1)

[Scope of utility model registration request] In an automatic loading mechanism that is equipped with a drive motor and automatically loads ammunition, etc., a detection feedback signal from a position detector that detects the operating position of the automatic loading mechanism and a rotation speed detector that detects the rotational speed of the drive motor are detected. The detection feedback signal and the bullet type signal corresponding to the bullet type are respectively input to the calculation means, and the optimum loading speed according to the characteristics of the bullet type calculated here is given as the speed command of the drive motor. A control device for the automatic loading mechanism.