JPH0740871Y2 - Automatic loading device - Google Patents

Description

[Detailed Description of the Invention] [Industrial field of application] The present invention relates to an automatic loading device (hereinafter abbreviated as ALS) equipped in, for example, a combat vehicle.

[Prior Art] FIGS. 3 to 5 are views showing a conventional ALS. In FIG. 3, 1 is a drive motor (servo motor), 2 is a speed reducer,
Reference numeral 3 denotes a cam which retracts (returns) in a directed manner in the rammer cam groove 3a. Similar to the muller portion 5a, the tray portion 5b can be reciprocated by providing a desired cam groove on the cam 3 and having the speed increasing gear 4 as shown in FIG. Further, if the loading stroke S is determined, the forward target value xo and the backward target value xa are also determined, and since the position gain Kp of the software unit 11 is constant, a constant speed is always maintained unless the load changes. Each reference numeral in FIG. 5 has the following information or function.

Xr: Target position (xo or xa at target value), Kp: Software position gain (constant), Kv: Hardware speed gain (constant), Ki: Hardware current gain (constant), K: Motor voltage Current conversion constant, T: Motor electric time constant, Kt: Motor torque constant, Km: Motor induced voltage constant, Jm: Motor inertia moment, Dm: Motor viscosity coefficient, K
l: Spring constant between motor loads, 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]

In the above-described configuration of the conventional device, the load and the output of the drive motor 1 change due to the influence of various loading conditions described below, so that the loading speed changes and stable loading operation cannot be performed.

Effect of tilt angle When the ALS tilts back and forth due to terrain and vehicle tilt,
Since the gravitational component of the ammunition 6 and the loading portion 5 works, the load fluctuates. For example, upward loading will add a gravitational component and thus increase the load.

Influence of ambient temperature When the temperature becomes low, the contraction state changes due to the difference in the material of the gearbox case and the gear train that compose the speed reducer 2 or speed increaser 4 of the drive section, the reduction of the bearing gap due to the case contraction, and the lubricating oil of the sliding section. Friction of the drive unit increases due to an increase in viscosity of grease or the like. For example, in low temperature loading, the load will increase due to increased friction.

Influence of drive motor supply voltage The maximum output of the drive motor 1 is determined by the supply voltage and the current value. Generally, the current value has a limit value to protect the motor and related equipment, and a current exceeding the limit value will flow. Absent. Further, the power source of the combat vehicle is a battery power source, and if other electronic devices are used, the ALS drive motor supply voltage drops.

Impact of ammunition The load varies because the weight varies depending on the ammunition type.

Due to such various loading conditions, if the loading speed decreases, defective loading is likely to occur, and if the loading speed increases, ammunition or the like may be damaged.

Therefore, an object of the present invention is to provide an automatic loading device capable of accurately loading at a constant speed under any conditions.

[Means for solving problems]

The present invention has taken the following means in order to solve the above problems and achieve the object. That is, while the ammunition is being position-controlled by the controller software and moved by the driving force generated by the drive motor to be loaded into a predetermined loaded object, the inclination angle of the loaded object, the ambient temperature, the A means for changing the position gain of the controller software according to each condition of the supply voltage to the drive motor and the type of the ammunition is provided to keep the loading speed constant.

[Action]

By taking such measures, the loading speed is constantly changed due to the change of the position gain of the controller software, which is made in consideration of the inclination angle of the loaded object, the ambient temperature, the supply voltage to the drive motor and the ammunition conditions. The output of the drive motor is controlled so as to be constant.

〔Example〕

FIGS. 1 and 2 (a) (b) (c) are views showing an embodiment of the present invention, and FIG. 1 is a block diagram showing a configuration of a main part of a controller of an automatic loading device, 2 (a) (b)
FIG. 2 (c) is a diagram showing the position gain coefficient under various loading conditions, FIG. 2 (a) is a diagram showing the relationship between the inclination angle and the position gain coefficient, and FIG. 2 (b) is an ambient temperature and the position gain coefficient. And FIG. 2 (c) is a diagram showing the relationship between the supply voltage and the position gain coefficient.

In FIG. 1, reference numeral 21 is a software section, and 22 is a hardware section. As shown in FIG. 1, for the position gain Kp of the software section 21, a position gain coefficient predetermined by various loading conditions shown in FIGS. 2 (a) (b) (c) is used as the loading condition signal SA. input. The inclination angle is detected by the inclination sensor for detecting the front-rear inclination attached to the loading mechanism section, and the ambient temperature is detected by the temperature sensor for detecting the ambient temperature attached to the gear box of the drive section. Is detected by measuring the current of the resistance part inserted between the motor terminals. Each of these detected values is converted into a voltage or a current and becomes the loading condition signal SA.
The bullet type signal SB is also input to the position gain Kp. This ammunition type signal SB is input by the operator when the ammunition is stored in the automatic loading device. The CPU of the ALS controller 20 stores the above-mentioned types of ammunition, reads out coefficients from each address, and stores / calculates each coefficient. The tilt sensor, the temperature sensor, the current detector and the like have known configurations.

Here, when the tilt angle is θ [deg], the ambient temperature is t [° C], the supply voltage is e [V], and the DS ammunition X ₁ is used as the type of ammunition, the position gain Kp of the software section 21 is as follows. Determined by.

Kp = Xθ × Xt × Xe × X _{1 As described} above, the position gain Kp of the software unit 21 changes according to various loading conditions. As a result, software department 21
Output (deviation x position gain) changes, and the output of the drive motor is controlled so that the desired loading speed is achieved.

The present invention is not limited to the above embodiment. For example, in the above-described embodiment, an example in which the tilt sensor for detecting the front-rear tilt is attached to the loading mechanism section as the tilt angle detecting means has been shown, but the tilt angle sensor may be attached outside the turret or the vehicle section. Further, in the above-mentioned embodiment, an example in which the temperature sensor is attached to the loading mechanism portion as the ambient temperature detecting means, particularly the drive gear box incorporating the cam and the speed increasing / reducing device has been shown, but the temperature sensor may be attached to other portions. Good. An electric sensor is preferable as the sensor, but it goes without saying that another sensor may be used. Of course, various modifications can be made without departing from the scope of the present invention.

[Effect of device]

According to the present invention, the ammunition is moved by the driving force generated by the drive motor while the position is controlled by the controller software, and when the ammunition is loaded into a predetermined loaded object, the inclination angle of the loaded object, A means for changing the position gain of the controller software according to each condition of the ambient temperature, the voltage supplied to the drive motor, and the type of ammunition is provided to keep the loading speed constant. Also in the above, it is possible to provide an automatic loading device capable of performing accurate loading at a constant speed.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a main part of a controller in an automatic loading apparatus according to an embodiment of the present invention. 2 (a), (b) and (c) are diagrams showing the position gain coefficient under various loading conditions, and FIG. 2 (a) is a diagram showing the relationship between the tilt angle and the position gain coefficient, FIG. FIG. 2B is a diagram showing the relationship between the ambient temperature and the position gain coefficient, and FIG. 2C is a diagram showing the relationship between the supply voltage and the position gain coefficient. 3 to 5 are views showing a conventional ALS, FIG. 3 is a schematic view of a drive system of an automatic loading device, FIG. 4 is a view showing a loading completed state of the drive system, and FIG. It is a block diagram of a control system. 20 ... ALS controller, 21 ... Software section, 22 ... Hardware section, SA ... Loading condition signal, SB ... Ammunition type signal.

Claims (1)

[Scope of utility model registration request] 1. An automatic loading device for loading ammunition onto a predetermined object to be loaded by moving the ammunition by a driving force generated by a drive motor while controlling the position of the object by a controller software. A means for changing the position gain of the controller software according to the conditions of the ambient temperature, the supply voltage to the drive motor and the type of ammunition, and the loading speed is made constant. Automatic loading device.