High-performance gimbal control for self-protection weapon systems

摘要

The gimbal and control system for a high performance, acquisition, tracking and pointing system is described. This system provides full hemispherical coverage, precision stabilization, rapid position response, and precision laser pointing. The high performance laser pointing system (HPLPS) receives position and rate cues form an integrated threat- warning-system, slews to the predicted target location, acquires, tracks, and designates the target. The azimuth and elevation axes of the HPLPS are inertially stabilized with independent, high bandwidth, inertial rate loops. The cue to position control loop is implemented using a time-optimal control algorithm which slews each axis of the platform to the predicted target location with high accuracy and zero overshoot in minimum time. After cuing to position,m auto- track mode engages with a type 4, high bandwidth track loop. Track loop integrators are initialized to keep the platform moving at the cued target rate as control transfers from position cue to auto-track mode. After initially tracking with a narrow field of view tracking sensor, an active laser track is performed with a narrower field of view laser-spot- tracking sensor. The gimbal electronics use a Texas Instruments TMS320C30 digital signal processor and proprietary software executive to achieve the performance required for the 960 Hz control loop sample rates. Optical encoder, resolver, and high bandwidth fiver-optic-gyro sensors are used. Linear amplifiers drive the azimuth and elevation mirror motors and a sine wave commutated amplifier drives the outer gimbal motor.