Turret Drive Servo System

The signal electronics (AXCON) and power electronics (DRUi) process all the signals necessary for automatic control of the drives. The customer interface (CIF), located in the AXCON, is designed as a project specific I/O board and serves as a link between all external turret
components, such as aiming handles, gyroscopes, fire control computers and the vehicle specific signals such as safety switches deck clearance, limit damping etc. The signal electronics is available with different standardised interfaces, e.g. CAN-bus, MIL 1553. RS 485, RS 422. as well as various analog inputs and outputs.

The communication between the AXCON and DRUi is based on a high-speed interface with an SDLC-protocol. The design of the AXCON and DRUi as intelligent sub-components allows flexible adaptation to specific customer needs without modification of hardware or wiring.

The central processing unit (CPU) generates all the signals for optimum automatic control of the drives. The CPU is part of the power electronics and feature standardised hardware. The controller structure consists of several cascaded control loops which guarantee optimum dynamics and rigidity by means of observer modules and adaptive parameter assignment. The power electronics (DRUi) is designed as a PWM controlled MOSFET circuit for the output stage. The high degree of system efficiency guarantees the availability of the system at high service levels over long periods of time without thermal overloading. Moreover, it also allows for prolonged operation without recharging of the batteries, resulting in an important tactical advantage.

Accommodation of the signal electronics (AXCON) and the power electronics (DRUi) in separate housings enables the boxes to be placed ideally regarding available space, keeping the length of power cables to a minimum. Different power units can be combined in one system simultaneously depending on turret construction and requirements. The circuit boards of the signal electronics could also be integrated into the housing of the fire control computer and are available for the control of 2, 3 or more axes.

System Description

The purpose of the TDSS (Turret Drive Servo System) aiming and stabilising systems is to ensure that loads are positioned as accurately as possible. The reference position should also be maintained regardless of any interference. The DACS III TDSS aiming and stabilising system, designed to the latest state-of-the-art technology, has the following distinguishing features:

• Brush-less servomotors
• Motor-Feed-Back (MFB) Sensors
• Adaptive controller structure
• Custom-designed interfaces to other systems, such as turret- and vehicle electronics or the fire control computer (FCC)
• Serial High-Speed Link to Built-In-Test (BIT) and comissioning-tool (DACS-View)
• Intelligent and autonomous MOS-FET power amplifier DRUi
• Direct on-board battery power supply (24/48 up to 270 V DC)
• Gear with - maximum rigidity
  • minimum backlash
  • optimum de-coupling
• Automatic switchover from powered aiming to manual mode
• Modular and scalable structure: System can be updated without modification to built-in components
• Single source supplier for the entire system

Typical Configuration with Axis Controller (AXCON)

Technical data Mechanical

Rotary Gear Drive Type ERG 100

• Transmission of rotary movements for traverse or elevation drives
• Application Traverse drive for turrets up to approx. 1'500 kg
  Elevation drive for barrels up to approx. 35 mm
• Rotary gear drives for turrets of up to 17 tons available
  Mechanical Interface
• See dimension drawing # 43 805 108 (example for typical version)
  Signal and Power Interface
• Power connector type VG 95 234 A 28-22P
• Signal connector type VG 95 328 C 14-15S
• Brake connector type VG 95 328 C 10-6P
  Technical Main Data
• Maximum output torque 100 Nm
• Gear ratio motor : pinion 17.0 : 1 to 91.0 : 1
• Rigidity with motor shaft blocked > 45 kNm/rad
• Backlash with motor shaft blocked < 10 arc minutes
  (< 3 arc minutes on special request)
• Weight with motor 16 kg
• Dimension (l x w x h) 225 x 87 x 322 mm

Rotary Gear Drive Type ERG 200

• Transmission of rotary movements for traverse or elevation drives
• Application Traverse drive for turrets up to approx. 3'000 kg
  Elevation drive for barrels up to approx. 105 mm
• Rotary gear drives for turrets of up to 17 tons available
  Mechanical Interface
• See dimension drawing # 43 805 171 (example for typical version)
  Signal and Power Interface
• Power connector type VG 95 234 A 28-22P
• Signal connector type VG 95 328 C 14-15S
• Brake connector type VG 95 328 C 10-6P
  Technical Main Data
• Maximum output torque 200 Nm
• Gear ratio motor : pinion 12.56 : 1 to 28.78 : 1
• Rigidity with motor shaft blocked > 150 kNm/rad
• Backlash with motor shaft blocked < 3 arc minutes
• Weight with motor and manual back up 51 kg
• Dimension (l x w x h) 285 x 108 x 395 mm

Rotary Gear Drive Type ERG 400 / 800 / 2500

• Transmission of rotary movements for traverse or elevation drives
• Application Traverse drive for turrets up to approx. 5'500 kg
  Elevation drive for barrels up to approx. 120 mm
• Rotary gear drives for turrets of up to 17 tons available
  Mechanical Interface
• See dimension drawing # 43 805 044 (example for typical version)
  Signal and Power Interface
• Power connector type VG 95 234 A 28-22P
• Signal connector type VG 95 328 C 14-15S
• Brake connector type VG 95 328 C 10-6P
  Technical Main Data
• Maximum output torque 400 Nm
• Gear ratio motor : pinion 11.31 : 1 to 31.14 : 1
• Rigidity with motor shaft blocked > 150 kNm/rad
• Backlash with motor shaft blocked < 3 arc minutes
• Weight with motor and manual back up 60 kg
• Dimension (l x w x h) 264 x 176 x 529 mm

Linear Drive Type ELG 10

• Transmission of linear movements for elevation drives
• Application Elevation drive for barrels up to approx. 20 mm
  Mechanical Interface
• See dimension drawing # 43 805 189 (example for typical version)
  Signal and Power Interface
• Power connector type MIL-C-38999 / 20WE06PN
• Signal connector type MIL-C-38999 / 20WB35PN
• Brake connector type MIL-C-38999 / 20WA35PN
  Technical Main Data
• Maximum output force 10 kN
• Gear ratio motor : screw 1 : 1
• Screw pitch 10 / 15 / 20 / 25 mm
• Rigidity with motor shaft blocked > 50 MN/m
• Backlash with motor shaft blocked < 0.1 mm
• Weight with motor and manual back up 25 kg
• Dimension (l x w x h) 319 x 87 x 125 mm

Linear Drive Type ELG 30

• Transmission of linear movements for elevation drives
• Application Elevation drive for barrels up to approx. 105 mm
  Mechanical Interface
• See dimension drawing # 43 801 585 (example for typical version)
  Signal and Power Interface
• Power connector type VG 95 234 A 28-22P
• Signal connector type VG 95 328 C 14-15S
• Brake connector type VG 95 328 C 10-6P
  Technical Main Data
• Maximum output force 30 kN
• Gear ratio motor : screw 1.5 : 1 to 2.62 : 1
• Screw pitch 10 or 15 mm
• Rigidity with motor shaft blocked > 90 MN/m
• Backlash with motor shaft blocked < 0.05 mm
• Weight with motor and manual back up 49 kg
• Dimension (l x w x h) 348 x 120 x 246 mm

Linear Drive Type ELG 60

• Transmission of linear movements for elevation drives
• Application Elevation drive for barrels up to approx. 155 mm
  Mechanical Interface
• See dimension drawing # 43 805 113 (example for typical version)
  Signal and Power Interface
• Power connector type VG 95 234 A 36-3P
• Signal connector type VG 95 328 C 14-15S
• Brake connector type VG 95 328 C 10-6P
  Technical Main Data
• Maximum output force 75 kN
• Gear ratio motor : screw 1.5 : 1 to 4.9 : 1
• Screw pitch 10 or 15 mm
• Rigidity with motor shaft blocked > 200 MN/m
• Backlash with motor shaft blocked < 0.05 mm
• Weight with motor and manual back up 85 kg
• Dimension (l x w x h) 564 x 256 x 150 mm

Technical data Power Electronics

Type AXCON III

• Signal interface between TDSS and handles, gyros, operator's panels, sight electronics, fire control computer. Software to operate and control the system. Software to process all I/O signals, multi level BIT.
  nApplication Signal interface for multi axis AC servo system
  Mechanical Interface
• See dimension drawing # 43 805 022 (example for typical version)
  Signal and Power Interface
• Power connector type KPT 7A 8-3AP-EW
• Customer interface connector type KPSE 07E 18-32P
  Technical Main Data
• Customer signal interface Digital I/O, Encoder, RS 422/485, DAC, ADC, CAN Bus, MIL 1553
• GDS interface RS 485 high speed link to control up to three power electronics type, DRUi Handle bus, gyro bus, DACSView (diagnose interface)
• Power supply voltage 24 V DC
• EMI / EMC protection According to MIL STD 461 ground army
• Environmental conditions According to MIL STD 810 ground mobile
• Weight 6 kg
• Dimension (l x w x h) 256 x 222 x 98 mm

Power Electronics Type DRUi 360 A I DRUi 720 A / 840 A / 940 A

• Power electronic to control one axis of a AC servo system RS 485 signal interface to AXCON III. Software to operate and control the system in all relevant modes of operation, e.g. torque loop, speed loop.
• Application Single axis AC servo power electronic
  Mechanical Interface
• Type DRUi 360 A-24/48 V-M-12-F
  See dimension drawing # 43 801 699 (example for typical version)
• Type DRUi 720/840 A-24/48 V-M-18-F
  See dimension drawing # 43 801 700 (example for typical version)
  Signal and Power Interface
• Power connector type CA 3102E 36-5P
• Signal connector type KPSE 07E 14-19P
  Technical Main Data
• RS 485 high speed link to signal electronic type AXCON III
• Maximum motor phase current
  DRUi 360 A 360 Amp resp. 600 Amp peak
  DRUi 720/840 A 720 Amp resp., 840 or 940 Amp peak
  nPower supply voltage 24 up to 48 V DC
• Protected against over current and over temperature
• EMI / EMC protection According to MIL STD 461 ground army
• Environmental conditions According to MIL STD 810 ground mobile
• Short circuit proof
• Weight
  DRUi 360 A 22.0 kg
  DRUi 720/840 A 34.5 kg
• Dimension (l x w x h)
  DRUi 360 A 241 x 269 x 256 mm
  DRUi 720/840 A 360 x 250 x 275 mm

Dual and Single Axis Gyro

• Measurement of inertial speed for one or two measurement axis
• Application Feedback or feed forward gyro for TDSS
  Mechanical Interface
• See dimension drawing # 43 805 024 (single axis gyro)
  # 43 805 023 (dual axes gyro)
  Signal and Power Interface
• Power connector type KPT 2E 8-33P
• Signal connector type KPT 2E 12-10P
  Technical Main Data
• Power supply voltage 24 V DC
• Maximum measurement range +/- 1.75 rad/sec
  (optional +/- 17.5 rad/sec)
  Resolution up to 24 bit
• Signal interface Digital synchronous data transfer
• No moving parts, fully digitised unit, on line BIT integrated
• EMI / EMC protection According to MIL STD 461 ground army
• Environmental conditions According to MIL STD 810 ground mobile
• Weight single axis gyro 0.88 kg
  dual axis gyro 1.54 kg
• Dimension single (l x w x h) 122 x 90 x 56 mm
  dual (l x w x h) 135 x 115 x 86.5 mm

Motion Control Handle

• Simultaneous control of two axes performed by deflecting the hand grip
• Up to five different multi function switches may be integrated in each hand grip
• Two hand grip and one hand grip version available
  Mechanical Interface
• See dimension drawing # 43 805 056 / 43 805 057
  Signal and Power Interface
• Power connector type KPSE 02E 8-33P
• Customer switches connector type VPT 02SE 12-10S
• Customer signal connector type VPT 02SE 10-6S (optional)
  Technical Main Data
• Power supply voltage 24 V DC
• Customer signal interface for speed Digital 1 to 100 kHz, RS 485, demand (optional), CAN Bus,
  others on request
• Speed law programmable
• EMI / EMC protection According to MIL STD 461 ground army
• Environmental conditions According to MIL STD 810 ground mobile
• Weight 1Hd-Grip 1.9 kg
  2Hd-Grip 2.7 kg