RU2203470C2 - Method for remote control of rates and angles of laying of artillery mounts and installation for their realization - Google Patents

Abstract

FIELD: military equipment. SUBSTANCE: dynamic local pressure feedback is additionally introduced in the servo system by correction of the variable functions of it, in the circuit of the artillery mount speed of rotation of the axle of rotation feedback servo system, its signal is summed up with the speed feedback signal, and proceeding from the stability of the hydraulic drive, the pressure signal input coefficient is determined at time constant Td twice lower with respect to hydraulic drive time constant The. The problem is also solved due to the fact that in the installation containing a hydraulic pump connected to the power lines to the hydraulic pump connected to the power lines to the hydraulic motor, the regulator switching on the error sensors installed on the axle of rotation of the artillery mount are actuated connected to the input of the hydraulic motor by the variable-induction pressure pickups, as well as to the point of installation of the error sensors by the elastic- compensating device. The problem is also solved due to the fact that the elastic-compensating device is made of two fixed disks fastened by an intermediate cross bushing, with lugs located in the bushing grooves on the disk surface. The lugs are spring-loaded on lateral ends. EFFECT: enhanced dynamic and accuracy characteristics of the artillery mount. 3 cl, 14 dwg

Description

 The invention relates to military equipment, in particular to methods for controlling the speeds and angles of guidance of gun mounts, and can be used in servo systems operating in more aggressive external environments with an increased level of mechanical loads, for example, in ship gun mount systems.

 Known methods for controlling the speeds and angles of guidance of gun mounts by correcting the tracking system due to the introduction of various feedbacks (Machine-building hydraulic drive. Edited by VN Prokofiev - M.: Machine building, 1978, p. 318, 367).

 However, when correcting, in particular, a servo system with a volume hydraulic actuator, the introduction of feedback on the rotational speed of the axis of rotation of the gun mount often leads to a loss of stiffness of the characteristics to moment disturbances in the medium and high frequency range of impacts, and the feedback loop itself is unstable in speed and causes enough low frequency vibration.

 Known ship gun mount, containing a tracking system with a volumetric hydraulic drive of horizontal and vertical guidance, including each hydraulic pump connected through an appropriate gearbox with the axis of rotation of the gun mount, mismatch sensors introduced into the system, sensors for the rotation speed of the gun mount (AK-630, AK-630M TO Artillery mounts , Technical Description, Operating Instructions, pp. 87-95).

 The disadvantage of such installations is insufficient accuracy characteristics due to the large kinematic errors of hydraulic drives.

 The main objective of the invention is to increase the dynamic and accuracy characteristics of the gun mount by increasing the stiffness and damping of the resonant bursts of the oscillating link located in the loop of the servo system, which is a hydraulic actuator, in order to make the gun mount competitive in the world market.

 Another technical task is, in accordance with this method, the creation of a servo system hydraulic actuator operating under conditions of significant momentary disturbances with high accuracy characteristics of the kinematic links of a mechanical transmission.

The solution to this problem is provided by the fact that in the method of controlling the speed and angles of guidance of a gun mount containing a servo system with a volume hydraulic actuator, by correcting its variable functions due to the introduction of feedback into the servo system of feedback on the rotational speed of the gun mount axis, dynamic local pressure feedback, summarize its signal with a speed feedback signal and, based on the hydraulic drive stability, determine the signal input coefficient pressure at a time constant T _d half as much with respect to the time constant of the hydraulic drive T _gp .

 The solution to this problem is also ensured by the fact that the gun mount containing the hydraulic pump connected by power lines to the hydraulic motor, the regulator including the mismatch sensors, is additionally equipped with inductive pressure sensors connected to the input of the hydraulic motor, as well as an elastic compensating device at the installation site of the mismatch sensors. The elastic compensating device is made of two fixed disks fastened by the intermediate cross sleeve with protrusions located in the grooves of the sleeve on the surface of the disk, the protrusions being spring-loaded at the lateral ends.

 The invention is illustrated by drawings, where figure 1 shows a block diagram of a gun mount; figure 2 - hydraulic drive; figure 3 is a diagram of a hydraulic hydraulic actuator; figure 4 is a structural diagram of a hydraulic actuator; figure 5 is a diagram of a horizontal guidance gear; 6 is a diagram of a vertical guidance gear; in FIG. 7 - installation diagram of the mismatch sensor; in Fig.8 - cross sleeve; in FIG. 9 - disk elastically compensating element, in two projections; in FIG. 10 - electric circuit of the amplifier; figure 11 is a structural image of a mathematical model of a hydraulic actuator; Fig.12 is a characteristic of the momentary stiffness of a closed hydraulic actuator and weak feedback on rotation speed; Fig.13 is a graph of the attenuation coefficient versus time constant; on Fig - dependence of the hard feedback on speed from dynamic feedback on pressure.

 Gun mount (AU) 1 includes a rotating 2 and swinging 3 parts, which provide guidance of the machine 4 in horizontal and vertical planes. Guiding mechanisms are located on the rotating part of the gun mount - a horizontal guidance gear 5 engaged with the shoulder strap 6 and a vertical guidance gear 7 engaged with the cradle sector 8. On the output shaft 9 (Fig. 5) of the main gear of the horizontal guidance gear there is a backlash gearing 10 with a gear ratio at which the angle of rotation of its output shaft 11 is equal to the angle of rotation of the shoulder strap, which avoids additional kinematic coupling stresses in the gear chain - epaulette.

 The tracking system of the gun mount includes a power unit and an electronic one. The power elements of the tracking system include two volumetric hydraulic actuators 12 of horizontal and vertical guidance, respectively, located on the rotating part of the gun mount and controlled independently of each other from the master device (CCP) 13. The CCP (system control devices) is located outside the installation and determines the movements of the command axis 14 (unmeasured coordinate, figure 4) rotation of the gun mount.

 The horizontal guidance hydraulic drive is identical to the vertical guidance hydraulic drive.

 Each hydraulic actuator (figure 2) is composed of a drive motor 15, a hydraulic pump (H) 16 volumetric regulation axial-piston type. The hydraulic pump belongs to the amplification part of the servo system. The power lines 17 of the pipeline pump is connected to a hydraulic motor (GM) 18, which refers to the Executive part of the tracking system. The output shaft 19 is connected to the rotary axis (adjustable coordinate) rotation reducer of the gun mount rotation 20 (the gun mount axis 21 is the horizontal axis for the horizontal guidance drive and the vertical axis 22 is the cradle sector axis for the vertical guidance drive).

 A safety valve 23 is installed in each power line to limit the maximum pressure of the working fluid in one of the lines.

 The pump is controlled remotely by a two-stage control mechanism 24 (type nozzle - damper - valve) with a magnetic electromechanical transducer (EM) 25 (Fig. 3), which converts the flow of the working fluid into the movement of the hydraulic motor.

 To generate braking signals on the chase 6 at the extreme angles of the working area for horizontal guidance (respectively, on the cradle sector, the stops of the working area for vertical guidance are not shown) installed hard stops 26.

 The electronic part of the tracking system includes a control station (CS) 27, designed to form the angle of rotation of the command axis of the control system (αg - control action) and its derivative for the power part.

 The control station (SU) is located in the central post of the ship. Hard stops are connected to the electronic braking unit (BT) 28 of the control station.

 The true values of the controlled variables are compared with the corresponding prescribed values at the input of the electronic controller of the tracking system. The controller (figure 4) includes a measuring part, which includes the mismatch sensors DP 29 and PP 30, which provide information about the angular displacements of an adjustable value - the axis of rotation (horizontal and vertical) of the gun mount. The sensors are closed by the main feedback 31 of the output with the input, which, in fact, serves to measure the result of the system. As mismatch sensors, sine-cosine rotating transformers are used, interconnected in transformer mode. The giving sensor DP is installed in the control panel and is connected with the command axis 14 of rotation (not shown). The receiving horizontal guidance PP is mounted on the output shaft 11 of the backlash-free gearing (Fig. 5), which made it possible to increase the accuracy characteristics. Receiving PP vertical guidance (Fig. 6) is installed directly on the vertical axis of rotation of the gun mount (on the cradle axis). At the installation site, the mismatch sensors have a clamping elastic compensation device 32 (Fig. 7), which consists of two identical disks 33 with protrusions 34 on the surface that are included in the grooves of the intermediate cross sleeve 35. To increase the accuracy of measuring the angle of rotation of the axles of the gun mount in the protrusions of the sides recesses are made under the spring end 36, which allows to neutralize errors in alignment caused by the poor-quality surface of the contacting protrusions of the disks and the cross sleeve.

 A local correcting hard feedback 37 is introduced into the tracking system according to the rotational speed of the gun mount axes, the signals of which are implemented by the sensors according to the rotational speed. As sensors for speed, a giving tachogenerator (TD) 38, mounted on the command axis in the control panel (not shown), and a receiving tachogenerator (TP) 39, mounted on the output shaft 19 of the hydraulic motor, are used. In the tracking system, correctional dynamic feedback 40 for pressure is additionally introduced, the signals of which are realized by two inductive pressure sensors (DD) 41 installed on each of the hydraulic power lines.

The formation of the control signal is carried out using R-elements, respectively designated R _TD 42, R _TP 43, R _PP 44, R _DD 45, placed in a functional electronic amplifier (UN) 46 of the control station.

 The servo system is powered from the ship network (NETWORK) 47 through the control unit (BU) 48 located outside the installation.

 The control of speeds and angles of guidance is carried out from the master device CCP 13 through the control system 27. The control principle is illustrated by the example of the operation of the hydraulic horizontal guidance. Vertical guidance is indicated in parentheses.

In the "initial position" mode, the power is connected to the control unit 13, to the control unit 27, to the tachogenerators TD38, TP39 and pressure sensors DD41 hydraulic actuator. From the electric motor 15, the hydraulic drive pipelines are replenished with a working fluid, but there are no suction or discharge in the power lines 17, because the electromagnet EM 25 of the control mechanism 24 does not receive the control signal αg (angle of rotation of the command 14 axis of the control panel), therefore, the shaft 19 of the hydraulic motor 18 does not rotate. The system is in a coordinated position in which the position of the command axis coincides with the position of the axis of rotation of the gun mount 20, i.e., αg = α _p (α _p is the angle of rotation of the gun mount axis).

When accompanied by an artillery target from the control panel, the command "remote control" is given. At the input of the control action, which is the rotation of the shaft of the DP 29 sensor, by some angle αg relative to the coordinated position, determined by turning it through the angle α _p depending on the position of the gun mount relative to the given direction of the target, the voltage of the changing phase f (sin αg) is received. These voltages are rectified in the form of a displacement task f (sin θ), the value of which is determined by the value of the mismatch angle θ = αg-α _p , and the phase is determined by the direction of rotation relative to the agreed position, i.e. a sign of the angle, and pre-summed local feedback feedback signals from the tachogenerators TD 38, TP 39 and the pressure from the DD41 sensors to the input of the UN 46 electronic amplifier are received. The output signals from the sensors giving DP 29 and receiving PP 30 are received at the same input. Thanks to the correcting elements of the R-circuit, a control signal is generated with frequency correction for voltage and power to the required value of the variable output, which is sent to EM 25 of the control mechanism, in the form of the difference in currents of a certain polar the value determined by the mismatch phase θ. Upon receipt of the control signal U _control on the EM in the 18 power lines, a pressure difference occurs, which ensures the speed and direction of rotation of the 19 GM shaft, which through the gearbox rotates the gun mount in the horizontal or vertical plane so that the mismatch angle approaches zero until αg = α _p .
When the pressure in any of the power lines is higher than the permissible one, one of the safety valves 23 is activated, which allows the working fluid to pass from the high-pressure line to the low-pressure line.

 When tracking the target, there may be cases of the AC approach to the hard stops 26. When approaching one of the stops by horizontal (vertical) guidance, the signal enters BT 28. The latter, having received the signal, turns off the control signal, and at the same time it only sums the signals from the tachogenerator TP 39 and two sensors DD 41. This signal is fed to the input of the amplifier UN 46, where it is amplified by direct current with frequency-dependent correction and is formed into a voltage feedback current, as the difference between the currents of the amplifier of the EM pump. With the further movement of the AC towards the hard stop and touching it, the DD voltage increases and, due to the action of negative pressure feedback, the hydraulic drive is unloaded, which ensures the minimum braking angle and allows not to bring the pressure increase in the power cavities to the value at which the operation starts safety valves. In this case, the signal TP 39 decreases and as the currents in the amplifier decrease, the hydraulic drive stops.

The hydraulic drive of the ship system is, together with the adjustable hydraulic motor, a pronounced oscillatory link, the features of which include a low attenuation coefficient (ξ _GP <0.2), as well as a narrow passband of the pump control mechanism 16 in combination with a resonant frequency response. Considering that the system operates under shock loads under the additional influence of the spectrum of torque perturbations M _at low and medium frequencies, in addition, the rigidity of the mechanical transmission reducer, which reduces its dynamic properties, determined the transfer functions of the links by the hydraulic drive stiffness.

 In FIG. 11 shows a mathematical model of the hydraulic actuator, it is located according to the structural diagram (figure 4) and the transfer functions of its constituent parts.

где W_сж(Р) - передаточная функция гидропривода по моменту гидромотора (М_гм) с передаточной функцией

и потоку сжатия жидкости (Q_сж), равная

Исходя из условия его устойчивости, в тракте управления по скорости ошибки ∂_o передаточная функция гидропривода следящей системы, охваченного главной обратной связью 31, имеет вид

где ω_гм - скорость вращения гидромотора;
Q_гп - поток гидроприводов;
К_гп - коэффициент передачи;
Т - постоянная времени;
ξ - коэффициент затухания.The transfer function Wp (P) for the stiffness of an open volumetric hydraulic actuator has the form

where W _cf (P) is the transfer function of the hydraulic drive at the moment of the hydraulic motor (M _gm ) with the transfer function

and fluid compression flow (Q _sr ) equal to

Based on the condition of its stability, in the control path according to the error rate ∂ _{o the} transfer function of the hydraulic drive of the servo system covered by the main feedback 31 has the form

where ω _gm is the speed of rotation of the hydraulic motor;
Q _gp is the flow of hydraulic drives;
To _gp - gear ratio;
T is the time constant;
ξ is the attenuation coefficient.

When correcting the volumetric hydraulic drive in terms of compensating for momentary disturbances, as well as for effectively damping the resonance of the hydraulic drive (resonances of 5.2 Hz) and increasing the stability of the high-speed feedback 37 with the transfer function W _cc (P), the determining dynamics of the closed drive in the medium-frequency region is introduced feedback 40 pressure W _d (P) with a differentiating element R _dd .

Частотные характеристики в области средних частот 1/Т_д... 1/Т_гп (Т_гп - постоянная времени гидропривода), определяющие зависимость моментной жесткости замкнутого гидропривода при постоянной времени датчиков давления 41 Т_д = 0,16 с и слабой обратной связи по скорости вращения вала гидромотора 18 (кривая 1 фиг.12), показали, что объемный гидропривод теряет одно из своих основных качеств - жесткость к моментным возмущениям (кривая 2 - характеристика разомкнутого гидропривода).The transfer function of the error rate ∂ _o from momentary disturbances when the system is closed by dynamic feedback with the transfer function with respect to pressure and rotation speed ω _{gm of the} hydraulic motor with the transfer function W _gm (P) = ω _gm / M _{gp is} obtained in the form

Frequency characteristics in the mid-frequency region 1 / T _d ... 1 / T _gp (T _gp is the hydraulic drive time constant), which determine the dependence of the momentary stiffness of the closed hydraulic drive at a pressure sensor time constant of 41 T _d = 0.16 s and weak feedback for the rotational speeds of the hydraulic motor shaft 18 (curve 1 of Fig. 12), showed that the volumetric hydraulic drive loses one of its main qualities - rigidity to moment disturbances (curve 2 - characteristic of an open hydraulic drive).

To prevent the volumetric hydraulic actuator from losing its stiffness characteristics to moment disturbances, we performed a correction of the rigid negative velocity feedback W _ck (P), the effectiveness of which would depend on the amplification factors of both circuits K _ck (Fig. 14, curve 1 - without introducing pressure feedback , curve 2 - introduced pressure feedback with a differentiating coefficient K _d / K _{d max} ). K _SKK - the total gain along the high-speed circuit, K _{d max} - based on the stability of the hydraulic actuator, the maximum gain feedback pressure.

To reduce the possible negative effect of pressure feedback 40 in this frequency domain, we determined the dependence of hard high-speed feedback on dynamic pressure feedback signals, while the time constant T _d should be as small as possible.

где λ - общий коэффициент усиления гидропривода

К₂ - коэффициент пропорциональности;
T_э, ξ_э - параметры эквивалентной передаточной функции.When assessing the effect of the time constant T _d on the damping properties of pressure feedback, the equivalent transfer function of a hydraulic actuator closed by pressure feedback at T _k = T _{n was} determined while neglecting small pump time constants compared to T _gp and T _d

where λ is the total hydraulic drive gain

K ₂ - coefficient of proportionality;
T _e , ξ _e - parameters of the equivalent transfer function.

In order to achieve the required stability margins of the drive, the amplitude of the hydraulic drive 12 was determined to be sufficient as the vibrational link ξ, provided that an increase in the damping factor should not reduce its time constant T _rn and the gain K _{ccc of the} system, which leads to a decrease in the cutoff frequency of the system.

Степень влияния коэффициента затухания гидропривода эквивалентной передаточной функции и значения Т_д на устойчивость обратной связи по скорости вращения вала гидромотора представляется кривой 1 на фиг.13 при Т_д = 0,066 с, кривой 2 - при Т_д = 0,16 с. Коррекция системы по динамическому давлению определила, что демпфирующие свойства динамической обратной связи по давлению практически не зависят от постоянной времени Т_д, что выполняется при 2Т_гп = Т_д, и при данной структуре коррекции некоторое уменьшение дифференцирующего коэффициента ввода динамической обратной связи по давлению (кривая 2 фиг.14) не ведет к значительному снижению добротности скоростного контура. Таким образом, для объемного гидропривода, работающего в условиях значительных моментных возмущений, величина постоянной времени корректирующего элемента в цепи обратной связи по давлению принимается Т_д = 2 Т_гп при коэффициенте ввода обратной связи по давлению К_д = 0,6 К_{д мах} (кривая 2, фиг.12).The damping coefficient of the hydraulic drive of the equivalent transfer function of the value of the constant T _d is determined

The degree of influence of the hydraulic drive attenuation coefficient of the equivalent transfer function and the value of T _d on the feedback stability of the rotational speed of the hydraulic motor shaft is represented by curve 1 in Fig. 13 at T _d = 0.066 s, curve 2 - at T _d = 0.16 s. The dynamic pressure correction system determined that the damping properties of the dynamic pressure feedback are practically independent of the time constant T _d , which is performed at 2T _rn = T _d , and with this correction structure, there is a slight decrease in the differential coefficient of input of dynamic pressure feedback (curve 2 Fig. 14) does not lead to a significant decrease in the quality factor of the high-speed circuit. Thus, for a volume hydraulic actuator operating under conditions of significant momentary disturbances, the value of the time constant of the correction element in the pressure feedback loop is taken T _d = 2 T _gp with a pressure feedback input coefficient K _d = 0.6 K _{d max} (curve 2, Fig. 12).

 In the adjusted system, with the obtained gain parameters, by obtaining a harmonic law of speed change and compensating installation of measuring error sensors, the accuracy of monitoring the position of the axis of rotation of the gun mount in vertical and horizontal guidance is increased to 3 etc., 2 etc.

Claims (3)

1. A method for remote control of the speeds and angles of guidance of a gun mount containing a servo system with a volume hydraulic actuator by correcting its variable functions due to the introduction of feedback into the loop of the servo system on the rotational speed of the gun axis, characterized in that a dynamic local feedback is additionally introduced into the servo system pressure connection, summarize its signal with a speed feedback signal and, based on the hydraulic drive stability, determine the signal input coefficient by pressure time constant T _d, at half relative to the time constant T _r of hydraulic drive.  2. Installation of remote control of the speeds and angles of guidance of the gun mount, containing a hydraulic pump connected by power lines to the hydraulic motor, a regulator including mismatch sensors mounted on the axis of rotation of the gun mount, characterized in that it is additionally equipped with inductive pressure sensors connected to the input of the hydraulic motor, and at the place of installation of the mismatch sensors with an elastic compensating device.  3. Installation according to claim 2, characterized in that the elastic compensating device is made of two fixed disks fastened by the intermediate cross sleeve with protrusions located in the grooves of the sleeve on the surface of the disk, the protrusions being spring-loaded at the side ends.

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