EP0341160B1 - Device for controlling at least a follow-up action electric motor with a high power from a low tension network, in particular for the motorisation of a turret mounted on an armoured vehicle - Google Patents
Device for controlling at least a follow-up action electric motor with a high power from a low tension network, in particular for the motorisation of a turret mounted on an armoured vehicle Download PDFInfo
- Publication number
- EP0341160B1 EP0341160B1 EP89401266A EP89401266A EP0341160B1 EP 0341160 B1 EP0341160 B1 EP 0341160B1 EP 89401266 A EP89401266 A EP 89401266A EP 89401266 A EP89401266 A EP 89401266A EP 0341160 B1 EP0341160 B1 EP 0341160B1
- Authority
- EP
- European Patent Office
- Prior art keywords
- converter
- controlling
- turret
- motor
- type
- 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
Links
- 239000003990 capacitor Substances 0.000 claims description 3
- KPLQYGBQNPPQGA-UHFFFAOYSA-N cobalt samarium Chemical compound [Co].[Sm] KPLQYGBQNPPQGA-UHFFFAOYSA-N 0.000 claims description 3
- 230000002441 reversible effect Effects 0.000 claims description 3
- 229910000938 samarium–cobalt magnet Inorganic materials 0.000 claims description 3
- 230000033001 locomotion Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000002427 irreversible effect Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F41—WEAPONS
- F41A—FUNCTIONAL FEATURES OR DETAILS COMMON TO BOTH SMALLARMS AND ORDNANCE, e.g. CANNONS; MOUNTINGS FOR SMALLARMS OR ORDNANCE
- F41A27/00—Gun mountings permitting traversing or elevating movement, e.g. gun carriages
- F41A27/28—Electrically-operated systems
Definitions
- the present invention relates to a device according to the preamble of claim 1, that is to say a device for controlling at least one electric servo motor with high power from a low voltage network, in particular for the motorization of a turret on board a combat tank.
- this preamble is based on a state of the art according to article 54 (2).
- Electric solutions based on medium or medium voltage are also known.
- the direct use of the low voltage network present on the tank implies a limitation of the installed power which does not ultimately allow the shooting on all terrain.
- As for the medium voltage solution it requires a very powerful and therefore very bulky converter which is generally not possible to integrate on a tank.
- the available power is not in practice sufficient to allow the firing in progress.
- the converter simultaneously supplies two amplifiers connected respectively to a motor controlling the axis of the turret bearing and to a motor controlling the axis of the site of the weapon carried by the turret .
- the converter does not need to be very powerful and it is therefore not very bulky. There is therefore ultimately available, in a volume compatible with that available on a combat tank, sufficient permanent power to allow the shooting in progress in good operational conditions.
- the converter is a mono-quadrant convertor of the push-pull type, in order to avoid any return of energy to the source.
- the voltage delivered by the converter is a medium voltage of the order of 270 volts.
- the accumulator As for the accumulator, it consists of a battery of electrochemical capacitors connected in parallel.
- the electric motor is advantageously of the collector and permanent magnet type with samarium-cobalt.
- This device is located between a computer which gives the commands relating to each of the two axes, and the input axis of the reduction mechanisms respectively driving the turret whose inertia is of the order of 40,000 m2 kg, and the journaling of the weapon whose inertia is around 7,500 m2 kg.
- It essentially consists of a step-up converter C followed by two reversible switching amplifiers A1 and A2 connected respectively to a motor M1 for controlling the turret bearing axis and to a motor M2 for controlling the axis of site of the weapon carried by the turret.
- an electric energy accumulator B of the capacitive type is interposed between the converter C and the two amplifiers A1 and A2.
- the converter C is supplied by the low voltage on-board network, for example 24 volts, and delivers at its output a medium voltage of the order of 270 volts, which obviously involves taking a certain number of safety measures for protection Staff. It draws on this network a power which is approximately ten times smaller than that which is finally brought into play in the device, ie for example 5 kW at peak, and can therefore be achieved in a compact form. It is planned single-sided, therefore irreversible, and push-pull type with all or nothing regulation.
- Amplifiers A1 and A2 are based on the principle of current choppers operating in four quadrants.
- the amplifier A1 corresponding to the axis of the turret is dimensioned at 40 kW at peak, while the amplifier A2 corresponding to the axis of the weapon is dimensioned at 12 kW at peak.
- These electronic power amplifiers have bandwidths of 500 Hz and excellent linearity, as well as excellent efficiency above 95%.
- the electronic switching amplifier in fact constitutes an adapter device without losses other than those necessary for the internal functioning of its own circuits, making it possible to constantly adapt the input power characterized by a constant voltage and a "free" current flow to the physical output quantities, that is to say the current linked to the motor torque and the voltage linked essentially to the speed of the shaft.
- the electric motors M1 and M2, coupled by gearboxes suitable for the site and deposit axes, are designed to be able to operate as a generator.
- they are of the collector and permanent magnet type with samarium-cobalt, so as to have a high volume torque and a rectangular torque-speed range of use.
- the accumulator B which constitutes one of the essential elements of the control device according to the invention, it has a relatively high nominal capacity of the order of 1 Farad. It will, for example, be made up of 80 electrochemical capacitors of 12,500 ⁇ F each in parallel.
- This accumulator makes it possible to recover, in the form of potential electrical energy, the kinetic energy available on the mechanical axes of the turret and the weapon, thanks to the reversibility of the control chains.
- This aspect is essential if we consider that the losses of the device, for example in readjustment, represent 10% of the energy involved, the 90% remaining residing in a potential energy-kinetic energy exchange, and vice versa.
Landscapes
- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Eletrric Generators (AREA)
- Dc-Dc Converters (AREA)
- Electrical Discharge Machining, Electrochemical Machining, And Combined Machining (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Description
La présente invention concerne un dispositif selon le préambule de la revendication 1, c'est-à-dire un dispositif pour commander au moins un moteur électrique d'asservissement avec une puissance élevée à partir d'un réseau basse tension, en particulier pour la motorisation d'une tourelle embarquée sur un char de combat.The present invention relates to a device according to the preamble of claim 1, that is to say a device for controlling at least one electric servo motor with high power from a low voltage network, in particular for the motorization of a turret on board a combat tank.
Il est à noter que ce préambule est basé sur un état de la technique selon l'article 54 (2).It should be noted that this preamble is based on a state of the art according to article 54 (2).
Le plus souvent, la motorisation de la tourelle d'un char est assuree par un systeme asservi hydraulique. Ür, dans un tel systéme, les pertes et les échaufrements qui en résultent ne permettent pas une utilisation sur de longues periodes comme celles nécessitées par exemple par le tir en marche, c'est-à-dire la faculté de tirer avec une précision et donc une efficacité suffisante lorsque le porteur est en marche.Most often, the motorization of the turret of a tank is ensured by a hydraulic servo system. Ür, in such a system, the losses and the resulting heat build-up do not allow use over long periods such as those required for example by shooting on the fly, that is to say the ability to fire with precision and therefore sufficient efficiency when the carrier is on.
On connaît également des solutions électriques à base ou moyenne tension. L'utilisation directe du réseau basse tension présent sur le char implique une limitation de la puissance installée qui ne permet pas en définitive le tir en marche en tout terrain. Quant a la solution à moyenne tension, elle nécessite un convertiseur tres puissant et donc très volumineux qu'il n'est généralement pas possible d'intégrer sur un char. De plus, là encore, la puisance disponible n'est en pratique pas suffisante pour permettre le tir en marche.Electric solutions based on medium or medium voltage are also known. The direct use of the low voltage network present on the tank implies a limitation of the installed power which does not ultimately allow the shooting on all terrain. As for the medium voltage solution, it requires a very powerful and therefore very bulky converter which is generally not possible to integrate on a tank. In addition, here again, the available power is not in practice sufficient to allow the firing in progress.
La présente invention a donc pour but principal de remédier à ces inconvénients et, pour ce faire, elle a pour objet un dispositif du type susmentionné qui se caractérise essentiellement en ce qu'il comprend, en combinaison :
- un convertisseur élévateur de tension,
- un amplificateur à découpage réversible alimenté par le convertisseur et fournissant le courant nécessaire au moteur à commander, qui est du type pouvant fonctionner en générateur, et
- un accumulateur d'énergie électrique de type capacitif intercalé entre le convertisseur et l'amplificateur.
- a step-up converter,
- a reversible switching amplifier supplied by the converter and supplying the current necessary for the motor to be controlled, which is of the type which can operate as a generator, and
- a capacitive type electrical energy accumulator interposed between the converter and the amplifier.
Dans l'application particulière envisagée ici, le convertisseur alimente simultanement deux amplificateurs connectés respectivement à un moteur de commande de l'axe de gisement de la tourelle et à un moteur de commande de l'axe de site de l'arme portee par la tourelle.In the particular application envisaged here, the converter simultaneously supplies two amplifiers connected respectively to a motor controlling the axis of the turret bearing and to a motor controlling the axis of the site of the weapon carried by the turret .
Ainsi, grâce a la récupération de l'énergie cinétique de la tourelle et de l'arme sous forme d'énergie électrique dans l'accumulateur capacitif, le convertiseur n'a pas besoin d'être très puissant et il est donc peu volumineux. On dispose donc en définitive, sous un volume compatible avec celui disponible sur un char de combat, d'une puissance permanente suffisante pour permettre le tir en marche dans de bonnes conditions opérationnelles.Thus, thanks to the recovery of the kinetic energy of the turret and the weapon in the form of electrical energy in the capacitive accumulator, the converter does not need to be very powerful and it is therefore not very bulky. There is therefore ultimately available, in a volume compatible with that available on a combat tank, sufficient permanent power to allow the shooting in progress in good operational conditions.
De préférence, le convertisseur est un convertseur monoquadrant de type push-pull, afin d'éviter toute restitution d'énergie à la source.Preferably, the converter is a mono-quadrant convertor of the push-pull type, in order to avoid any return of energy to the source.
Dans un mode de réalisation particulier de l'invention, la tension delivree par le convertisseur est une moyenne tension de l'ordre de 270 volts.In a particular embodiment of the invention, the voltage delivered by the converter is a medium voltage of the order of 270 volts.
Quant à l'accumulateur, il est constitué par une batterie de condensateurs électrochimiques connectés en parallèle.As for the accumulator, it consists of a battery of electrochemical capacitors connected in parallel.
Enfin, le moteur électrique est avantageusement du type à collecteur et à aimants permanents au samarium-cobalt.Finally, the electric motor is advantageously of the collector and permanent magnet type with samarium-cobalt.
Une forme d'exécution de l'invention est décrite ci-après à titre d'exemple, en référence au dessin annexé dans lequel la figure unique est un schéma d'un dispositif de commande conforme à l'invention, dans son application à la motorisation électrique deux axes d'une tourelle de char.An embodiment of the invention is described below by way of example, with reference to the accompanying drawing in which the single figure is a diagram of a control device according to the invention, in its application to the two-axis electric motorization of a tank turret.
Ce dispositif se situe entre un calculateur qui donne les commandes relatives à chacun des deux axes, et l'axe d'entrée des mécanismes réducteurs entraînant respectivement la tourelle dont l'inertie est de l'ordre de 40.000 m² kg, et le tourillonnement de l'arme dont l'inertie est de l'ordre de 7.500 m² kg. Il est essentiellement constitué par un convertisseur élévateur de tension C suivi de deux amplificateurs à découpage réversibles A₁ et A₂ connectés respectivement à un moteur M₁ de commande de l'axe de gisement de la tourelle et à un moteur M₂ de commande de l'axe de site de l'arme portée par la tourelle.This device is located between a computer which gives the commands relating to each of the two axes, and the input axis of the reduction mechanisms respectively driving the turret whose inertia is of the order of 40,000 m² kg, and the journaling of the weapon whose inertia is around 7,500 m² kg. It essentially consists of a step-up converter C followed by two reversible switching amplifiers A₁ and A₂ connected respectively to a motor M₁ for controlling the turret bearing axis and to a motor M₂ for controlling the axis of site of the weapon carried by the turret.
Conformément a l'invention, un accumulateur d'énergie électrique B de type capacitif est intercalé entre le convertisseur C et les deux amplificateurs A₁ et A₂.According to the invention, an electric energy accumulator B of the capacitive type is interposed between the converter C and the two amplifiers A₁ and A₂.
Le convertisseur C est alimenté par le réseau de bord basse tension, par exemple 24 volts, et délivre à sa sortie une moyenne tension de l'ordre de 270 volts, ce qui implique évidemment de prendre un certain nombre de mesures de sécurité pour la protection du personnel. Il prélève sur ce réseau une puisance qui est environ dix fois plus petite que celle qui est finalement mise en jeu dans le dispositif, soit par exemple 5 kW en crête, et peut donc être réalisé sous une forme compacte. Il est prévu monoquadrant, donc irréversible, et de type push-pull avec une régulation tout ou rien.The converter C is supplied by the low voltage on-board network, for example 24 volts, and delivers at its output a medium voltage of the order of 270 volts, which obviously involves taking a certain number of safety measures for protection Staff. It draws on this network a power which is approximately ten times smaller than that which is finally brought into play in the device, ie for example 5 kW at peak, and can therefore be achieved in a compact form. It is planned single-sided, therefore irreversible, and push-pull type with all or nothing regulation.
Les amplificateurs A₁ et A₂ sont basés sur le principe des hacheurs de courant fonctionnant en quatre quadrants. L'amplificateur A₁ correspondant à l'axe de la tourelle est dimensionnè a 40 kW en crête, tandis que l'amplificateur A₂ correspondant à l'axe de l'arme est dimensionné à 12 kW en crête. Ces amplificateurs électroniques de puissance ont des bandes passantes de 500 Hz et une excellente linéarité, ainsi qu'un excellent rendement supérieur à 95 %. L'amplificateur électronique à découpage constitue en effet un dispositif adaptateur sans pertes autres que celles nécessaires au fonctionnement interne de ses propres circuits, permettant d'adapter en permanence la puissance d'entrée caractérisée par une tension constante et un débit de courant "libre" aux grandeurs physiques de sortie, c'est-à-dire le courant lié au couple moteur et la tension liée essentiellement à la vitesse de l'arbre.Amplifiers A₁ and A₂ are based on the principle of current choppers operating in four quadrants. The amplifier A₁ corresponding to the axis of the turret is dimensioned at 40 kW at peak, while the amplifier A₂ corresponding to the axis of the weapon is dimensioned at 12 kW at peak. These electronic power amplifiers have bandwidths of 500 Hz and excellent linearity, as well as excellent efficiency above 95%. The electronic switching amplifier in fact constitutes an adapter device without losses other than those necessary for the internal functioning of its own circuits, making it possible to constantly adapt the input power characterized by a constant voltage and a "free" current flow to the physical output quantities, that is to say the current linked to the motor torque and the voltage linked essentially to the speed of the shaft.
Les moteurs électriques M₁ et M₂, couplés par des réducteurs appropriés aux axes de site et de gisement, sont prévus pour pouvoir fonctionner en générateur. Dans l'exemple particulier décrit ici, ils sont du type à collecteur et à aimants permanents au samarium-cobalt, de manière à présenter un couple volumique élevé et un domaine d'utilisation couple-vitesse rectangulaire.The electric motors M₁ and M₂, coupled by gearboxes suitable for the site and deposit axes, are designed to be able to operate as a generator. In the particular example described here, they are of the collector and permanent magnet type with samarium-cobalt, so as to have a high volume torque and a rectangular torque-speed range of use.
Quant à l'accumulateur B, qui constitue l'un des éléments essentiels du dispositif de commande selon l'invention, il a une capacité nominale relativement élevée de l'ordre de 1 Farad. Il sera par exemple constitué par la mise en parallèle de 80 condensateurs électrochimiques de 12500 µF chacun.As for the accumulator B, which constitutes one of the essential elements of the control device according to the invention, it has a relatively high nominal capacity of the order of 1 Farad. It will, for example, be made up of 80 electrochemical capacitors of 12,500 µF each in parallel.
Cet accumulateur permet de récupérer sous forme d'énergie électrique potentielle, l'énergie cinétique disponible sur les axes mécaniques de la tourelle et de l'arme, grâce à la réversibilité des chaines de commande. Cet aspect est essentiel si l'on considère que les pertes du dispositif, par exemple en recalage, représentent 10 % de l'énergie mise en jeu, les 90 % restant résidant dans un échange énergie potentielle-énergie cinétique, et réciproquement.This accumulator makes it possible to recover, in the form of potential electrical energy, the kinetic energy available on the mechanical axes of the turret and the weapon, thanks to the reversibility of the control chains. This aspect is essential if we consider that the losses of the device, for example in readjustment, represent 10% of the energy involved, the 90% remaining residing in a potential energy-kinetic energy exchange, and vice versa.
Ainsi, grâce à cet ensemble de dispositions, on dispose en permanence d'une énergie suffisante pour assurer le tir en marche dans de bonnes conditions. Le tir en marche crée en effet de nouvelles périodes d'utilisation qui sont plus longues que celles destinées auparavant à uniquement recaler et pointer l'arme. Il est en outre nécessaire d'avoir une bonne bande passante afin d'obtenir une précision dynamique permettant d'atténuer les mouvements perturbateurs de l'engin porteur. Enfin, l'encombrement du dispositif doit être compatible avec le volume disponible dans cet engin porteur, en l'occurrence un char de combat.Thus, thanks to this set of provisions, there is always sufficient energy available to ensure the shooting in progress in good conditions. Shooting in motion indeed creates new periods of use which are longer than those intended previously only to readjust and point the weapon. It is also necessary to have a good bandwidth in order to obtain dynamic precision making it possible to attenuate the movements. disruptive to the carrier. Finally, the size of the device must be compatible with the volume available in this carrier, in this case a battle tank.
Claims (6)
- Device for controlling at least one electric servomotor with high power from a low-voltage network, in particular for motorizing a turret on a tank, characterized in that it comprises, in combination :- a voltage booster converter (C),- a reversible chopping amplifier (A₁, A₂) fed by the converter (C) and delivering the current required by the motor to be controlled (M₁, M₂), which is of the type able to operate as a generator, and- a capacitive type electric energy accumulator (B) inserted between the converter (C) and the amplifier (A₁, A₂).
- Device according to claim 1, characterized in that the converter (C) feeds simultaneously two amplifiers (A₁, A₂) connected respectively to a motor (M₁) controlling the lateral deflection axis of the turret and to a motor (M₂) controlling the elevational axis of the weapon carried by the turret.
- Device according to claim 1 or 2, characterized in that the converter (C) is a monoquadrant converter of push-pull type.
- Device according to anyone of claims 1 to 3, characterized in that the voltage delivered by the converter (C) is a medium voltage of about 270V.
- Device according to anyone of claims 1 to 4, characterized in that the accumulator (B) is formed by a battery of electrochemical capacitors connected in parallel.
- Device according to anyone of claims 1 to 5, characterized in that the electric motor ((M₁, M₂) is of the type with collector and samarium-cobalt permanent magnets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| AT89401266T ATE100574T1 (en) | 1988-05-06 | 1989-05-03 | DEVICE FOR CONTROLLING AT LEAST ONE HIGH-PERFORMANCE CUT-OFF MOTOR FROM A LOW-VOLTAGE NETWORK, IN PARTICULAR FOR MOTORIZING A TANK TOWER. |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| FR8806161A FR2631179B1 (en) | 1988-05-06 | 1988-05-06 | DEVICE FOR CONTROLLING AT LEAST ONE ELECTRIC SERVO MOTOR WITH HIGH POWER FROM A LOW VOLTAGE NETWORK, PARTICULARLY FOR THE MOTORIZATION OF A TURRET ON BOARD ON A COMBAT TANK |
| FR8806161 | 1988-05-06 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP0341160A1 EP0341160A1 (en) | 1989-11-08 |
| EP0341160B1 true EP0341160B1 (en) | 1994-01-19 |
Family
ID=9366096
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP89401266A Expired - Lifetime EP0341160B1 (en) | 1988-05-06 | 1989-05-03 | Device for controlling at least a follow-up action electric motor with a high power from a low tension network, in particular for the motorisation of a turret mounted on an armoured vehicle |
Country Status (8)
| Country | Link |
|---|---|
| EP (1) | EP0341160B1 (en) |
| AT (1) | ATE100574T1 (en) |
| CA (1) | CA1311263C (en) |
| DE (2) | DE68912393T2 (en) |
| ES (1) | ES2019856T3 (en) |
| FR (1) | FR2631179B1 (en) |
| GR (1) | GR900300144T1 (en) |
| IL (1) | IL90194A (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10329861B3 (en) * | 2003-07-02 | 2005-01-13 | Moog Gmbh | Drive device and control method for aligning a weapon |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US2457532A (en) * | 1945-06-20 | 1948-12-28 | Arma Corp | Gun control compensating mechanism |
| US2628535A (en) * | 1949-11-15 | 1953-02-17 | Glenn L Martin Co | Gun control system |
| CA1155200A (en) * | 1979-01-18 | 1983-10-11 | Craig L. Joseph | System for controlling the movement of a movable gun and turret |
| DE2939547A1 (en) * | 1979-09-28 | 1981-04-09 | Ficht GmbH, 8011 Kirchseon | Infinitely variable speed drive for gun-laying - uses two electric motors driving gun and outer wheels of planetary gear |
| JPS592594A (en) * | 1982-06-25 | 1984-01-09 | Hitachi Ltd | Motor group power supply circuit |
-
1988
- 1988-05-06 FR FR8806161A patent/FR2631179B1/en not_active Expired - Lifetime
-
1989
- 1989-05-03 ES ES89401266T patent/ES2019856T3/en not_active Expired - Lifetime
- 1989-05-03 DE DE68912393T patent/DE68912393T2/en not_active Expired - Lifetime
- 1989-05-03 DE DE198989401266T patent/DE341160T1/en active Pending
- 1989-05-03 AT AT89401266T patent/ATE100574T1/en not_active IP Right Cessation
- 1989-05-03 EP EP89401266A patent/EP0341160B1/en not_active Expired - Lifetime
- 1989-05-04 IL IL90194A patent/IL90194A/en unknown
- 1989-05-05 CA CA000598817A patent/CA1311263C/en not_active Expired - Lifetime
-
1991
- 1991-09-27 GR GR90300144T patent/GR900300144T1/en unknown
Also Published As
| Publication number | Publication date |
|---|---|
| DE341160T1 (en) | 1990-10-18 |
| DE68912393T2 (en) | 1994-07-28 |
| DE68912393D1 (en) | 1994-03-03 |
| IL90194A (en) | 1992-11-15 |
| ATE100574T1 (en) | 1994-02-15 |
| ES2019856A4 (en) | 1991-07-16 |
| CA1311263C (en) | 1992-12-08 |
| FR2631179B1 (en) | 1991-04-12 |
| GR900300144T1 (en) | 1991-09-27 |
| EP0341160A1 (en) | 1989-11-08 |
| FR2631179A1 (en) | 1989-11-10 |
| ES2019856T3 (en) | 1994-05-16 |
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