METHOD AND APPARATUS FOR SWITCHING OVER FROM MANUAL TO AUTOMATIC CONTROL OF A MOTOR-DRIVEN DEVICE ADAPTED TO BE DIRECTED ONTO A MOVING TARGET

摘要

1317957 Sighting RHEINMETALL GmbH 2 June 1970 [4 June 1969] 26654/70 Heading F3C In a method for switching over from manual to automatic control of a motor-driven device intended to be directed on to a moving target, after an initial phase an operator directs the motor-driven device manually on to the target by using a manual control to supply values ## and ## of the lateral and elevational velocities of the target to the motor-driven device for controlling movement thereof, at a point of time chosen by the operator the values ## and ## of the lateral and elevational angular velocities supplied by the manual control are replaced at least partially by values #*# and #*# or the lateral and elevational angular velocities of the target calculated by a computer on the basis of the values ## and ## supplied by the manual control, to provide an anticipatory control for facilitation or automation of target tracking. The values #*# and #*# of the lateral and elevational angular velocities supplied by the computer are adjusted to the values ## and ## of the lateral and elevational angular velocities supplied by the manual control before switching over from manual to automatic control. When switching from manual to automatic control, the values ## and ## of the lateral and elevational angular velocities coming from the manual control may not be completely replaced by the values #*# and #*# of the lateral and eleva- ;ional angular velocities supplied by the comouter so as to allow manual control to be used for correction purposes. The amount allowed for correction purposes may be continuously adjustable. In a gun having a motor-driven device mounted thereon, lead angles # and Á and the gravity compensation angle α of the gun are calculated by computer and the motoririven device is moved with respect to the barrel axis of the gun. The gun drives are controlled manually and the lateral and elevational angular velocities #*# and #*# for the gun are calculated by the computer, taking account of the variation with time #α of the gravity compensation angle α. The Specification describes a basic circuit diagram of a control system, a geometric illustration for devising the basic equations of the method, a block circuit diagram of the computer, an adapter device which is connected between the computer and the drives of the gun, and an auto-control device.