Motor driver program on heavy machine gun model for remote controlled weapon station (RCWS)

摘要

A remote weapons station also known as remote weapon system is a remotely operated weaponized system for light and medium caliber weapon. Speed and high accuracy shooting of RCWS is main goal. Direction of firing adjusts position of target that identified by camera. This study aims to create a program that can control the movement of heavy machine gun models. Data of target is x, y coordinates and r (range), sent by the computer vision through TCP/IP communication. The system also provides environmental data required for calculation of ballistic. The data are temperature, relative humidity, wind velocity and wind direction. To accommodate movement the pan and tilt of model, it is necessary data in spherical coordinate represented by the angle theta, angle phi and range rho. Angle phi is used to drive the pan motor. Angle theta is used to drive the tilt motor. While the distance (rho) is used by ballistic computers to calculate correction angles phi and theta. Ballistic calculations are affected by environmental conditions and other ballistic data. The test results indicate the program has worked well in acquiring the target coordinate data, environmental data, and controls movement of the barrel of heavy machine gun models towards the target appropriately. For multiple target data, the program also success to control the movement efficiently, it begins from the closest target to position of the barrel.