Controller and Software Development for the XM91 Autoloader

摘要

The XM91 autoloader was successfully demonstrated 57 times at the U.S. ArmyTechnology Show held at Aberdeen Proving Ground, MD from 1 to 4 October 1990. Each demonstration included both a loading and downloading of a full-length 140-mm dummy round of ammunition in a full-size gun. The demonstration were attended by numerous dignitaries from the press, military, Department of Defense, and Congress. The successful development and demonstration of the autoloader included important efforts in design and fabrication of mechanical, electrical, and computer software components and subsystems. This report describes key elements in the development of the controller/software package, which has been used in the overall development and testing of the physical autoloader. The autoloader controller is embedded in a general software package that contains a number of other features not directly related to control functions. First, this report presents a discussion of the main software/hardware elements that relate directly to control functions. Emphasis is given to the transfer of technology from research to development of the servocontrol approach used. Secondly, some of the interesting and important characteristics of the overall software package are discussed to provide a summary of lessons learned for future software development projects.