SubscribeElectromechanical Aiming and Stabilisation System - DACS IV
The signal and power electronics box Twin-DRUi processes 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, end control 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 design of the Twin-DRUi as an intelligent, CPU based system 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. They are 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 in heavy duty over long periods of time without thermal overloading.
Moreover, it also allows for prolonged operation without recharging of the batteries (silent watch), resulting in an important tactical advantage. The unification of the signal and power electronics within the Twin-DRUi enables the box to be placed ideally regarding available space, keeping the amount and 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 IV TDSS aiming and stabilising system, designed to the latest state-of-the-art technology, has the following distinguishing features:
- 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 commissioning tool (DACS-View)
- Intelligent and autonomous MOSFET power amplifier Twin-DRUi
- Direct on-board battery power supply (24/48 up to 270 V DC)
- Modular and scalable structure: System can be updated without modification to built-in components
Typical Configuration with Twin Driver Unit
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
Power Electronics Type DRUi Twin 180 A / 300 A
- This component forms a complete TDSS integrated in one single box, consisting of a signal interface electronic and a two axis power electronic. Signal interface electronic to interface the TDSS with handles, gyros, operator's panels, sight electronics, fire control computer. Power electronic to control a two axis AC servo system. Software to operate and control the system in all relevant modes of operation, e.g. torque loop, speed loop, stabilised loop, slaved loop, position loop, dynamic contour matching, all mode transitions, multi level BIT.
- Application Complete two axes TDSS electronics
Mechanical Interface - See dimension drawing # 43 805 073
Signal and Power Interface - Power connector type CIR03R 22-22P DXX
- Signal connector type VPT07YZ 18-32P
Technical Main Data - Power supply 24/48 V DC
- Maximum motor phase current 180/300 Amp
- Customer signal interface Digital I/O, RS 485, DAC DC, CAN Bus, MIL 1553
- 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 17 kg
- Dimension (l x w x h) 327 x 238 x 159 mm
Power Electronics Type DRUi Twin 360 A-24V / 600 A-24V / 100A-270V
- This component forms a complete TDSS integrated in one single box, consisting of a signal interface electronic and a two axis power electronic. Signal interface electronic to interface the TDSS with handles, gyros, perator's panels, sight electronics, fire control computer. Power electronic to control a two axis AC servo system. Software to operate and control the system in all relevant modes of operation, e.g. torque loop, speed loop, stabilised loop, slaved loop, position loop, dynamic contour matching, all mode transitions, multi level BIT
- Application Complete two axes TDSS electronics
Mechanical Interface - See dimension drawing # 43 805 030
Signal and Power Interface - Power connector type CIRS03RFP 36-5P-B16
- Signal connector type VPT07YZ 18-32P
Technical Main Data - Power supply 24 / 48 or 270 V DC
- Maximum motor phase current 360A / 600A or 100 Amp (at 270V)
- Customer signal interface Digital I/O, RS 485, SDLC, FM1, CAN Bus, MIL 1553
- 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 25 kg
- Dimension (l x w x h) 420 x 285 x 160 mm
Dual and Single Axis Gyro
Use
- 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 87 mm
Hand Controller
- 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 - On request
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 2.0 kg
