Registers – Ordnance or weapon systems computer – Aiming
Patent
1979-11-13
1981-11-24
Gruber, Felix D.
Registers
Ordnance or weapon systems computer
Aiming
89 1815, 89 41LE, 235411, 318592, 318594, 364423, F41G 322, G05D 320
Patent
active
043026664
ABSTRACT:
A position control system is disclosed for aiming a mobile rocket launcher having positionable axes in the azimuth and elevation planes. The control system has a separate control subsystem for each axis of movement, and each such subsystem includes an initial aiming signal processor providing a course positioning function and a reaiming signal processor providing a fine positioning function. The initial aiming processor receives signals representing a desired position (DP), a feedback signal representing the actual position (AP) updated at predetermined sampling intervals, and an error signal (E) representing the difference between DP and AP. From signals representing AP and E, and a constant representing the stopping time of the launcher mechanism for a given control axis, the initial aiming processor produces a predicted position signal (PP) which represents the position that the launcher will reach upon termination of the actuator drive for that axis. The signal PP is then compared with the signal representing DP and depending upon a predetermined relationship between the predicted and desired positions of the launcher an actuator control signal is generated for driving the associated actuator at either a full forward or full reverse speed, or stopping and braking the associated launcher mechanism. The reaiming processor incorporates an error averaging network and an actuator signal function generator. The former averages, over a given time interval, the magnitude and directon of the error signal E, and the latter is responsive to the time average error (AE) to generate a forward or reverse actuator drive signal for an incrementally variable duration T.sub.c, that increase or decrease with the magnitude of AE and is timed to remove any remaining error in the position of the launcher for the given control axis. The reaiming processor is reactivated after each rocket launching to reaim the launcher to correct for any disturbance to its original position caused by the firing recoil, and the correlation provided by the function generator between the average error AE and the signal duration T.sub.c is updated from time to time to compensate for varying actuator drive characteristics due to wear and environmental conditions.
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patent: 3309963 (1967-03-01), Salomonsson
patent: 3600659 (1971-08-01), Danchuk
patent: 3904945 (1975-09-01), Hassan et al.
patent: 4021714 (1977-05-01), Jones et al.
patent: 4028604 (1977-06-01), Togo et al.
patent: 4118774 (1978-10-01), Franke
patent: 4166406 (1979-09-01), Maughmer
Gruber Felix D.
The Boeing Company
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