OPEN-LOOP FIRE CONTROL SYSTEM FOR RAPID-FIRE WEAPON SYSTEMS INTEGRATED INTO LAND VEHICLES.

Abstract

The invention relates to a fire control system for open-loop control of barrel angle to reduce recoil and suspension-induced firing deviations in rapid-fire weapon systems integrated into land vehicles, and its characteristic feature is;The weapon system must have an open-loop controller that, for different muzzle angles (?) and firing conditions, uses simulation and / or real-world experience-based projectile trail data to define the relationship between muzzle angle (?) and steady-state projectile altitude by applying linear interpolation between successive data points in the projectile trail data; calculates the corrected muzzle angle (?C) using the coordinate information of the target point (N) and the applicable firing condition, and determines the calculated corrected muzzle angle (?C) as the muzzle angle to be applied by the weapon system.

Description

1 TARIFF OPEN FOR VEHICLE-INTEGRATED RAPID-FIRE WEAPON SYSTEMS. CYCLE SHOT CONTROL SYSTEM Technological Field: The invention concerns recoil and suspension in rapid-fire weapon systems integrated into land vehicles. To reduce shot deviations caused by open-loop control of barrel angle. It relates to the fire control system. 10 State of the Art: In rapid-fire weapon systems integrated into land vehicles, target guidance is crucial. The process generally involves the geometric and 15-degree relationship between the target location and the weapon's position. This is carried out according to ballistic relationships. In such systems, the determined barrel angle, It provides the necessary direction for achieving the goal under ideal conditions. With this... Together, the recoil forces, especially those occurring during burst fire, affect the vehicle body and It is able to create dynamic movements on the suspension system and initially 20 ensuring the calculated barrel alignment maintains its ideal position for subsequent shots It can make things more difficult. The recoil force generated during firing is transmitted to the vehicle body to which the weapon system is attached. By being transferred, it can create vertical movement in the body and head-striking motion. Vehicle mass, suspension spring and damping characteristics, wheel rigidity and rebound 25 Parameters such as the position at which the force is applied to the vehicle are relevant to the dynamic behavior. It has an effect on it. Especially in successive bursts of fire, the vehicle is still ahead of the previous one. While still under the influence of the movement created by the shot, it is subjected to a new recoil force. It is able to remain there, and as a result, a small but significant amount of damage is detected in the barrel's path, within target distance. Changes can occur that can turn into significant deviations. 30 2 In current targeting approaches, the barrel angle is only relevant to the target coordinates and Determining the dynamic state of the vehicle at the moment of firing according to ideal ballistic relationships. This can lead to insufficient consideration. Acceptable in terms of the first shot. Even if a certain level of accuracy is achieved, the suspension system oscillates as the burst of fire continues. Due to the repeated effect of recoil forces, bullet traces are 5 meters from the intended point. It can move away. As the firing frequency increases, the vehicle's previous recoil decreases. The available time is also decreasing so that the effects can be dampened, and the deviation between shots This can become more pronounced. To reduce such deviations, sensors are used to provide feedback. solutions such as powered control structures or active suspension systems While these systems can be used, they require additional hardware, measuring elements, and control infrastructure. This may require measurement of the system's instantaneous movement and feedback. Correcting it through this method can increase the complexity of the control structure. Therefore... the behavior of the vehicle and suspension system under rebound forces in advance that it can be modeled and the shot deviation resulting from the behavior in question is in the barrel angle A simpler control approach is needed, which can be reduced with an appropriate correction. 15 It is located. On the other hand, the vehicle's behavior at different barrel angles and in burst conditions can be predicted beforehand. Simply determining the source is not enough. The limited number of experiments conducted beforehand... or a continuous control of simulation data that can be used at different target locations 20 It needs to be converted into information. Therefore, the relationship between the bullet trajectory and the barrel angle... the modeling of the relationship in a way that allows for the calculation of intermediate values ​​as well, and the target an appropriate barrel angle that compensates for recoil and suspension effects depending on its position Identifying one of the technical needs that must be addressed in the known state of the art. It constitutes. 25 Patent document number CN113108653A describes the coordinated operation of missile clusters. an intelligent collaboration system for its operation and its implementation method It explains that the system provides data between the missile group, the unmanned aerial vehicle, and the ground system. to facilitate the exchange, the unmanned aerial vehicle is used as a central communication node. It uses and tasks sharing between missiles, joint detection, online correction and It aims to perform functions such as collaborative attacks. 3 together in the document in question, the return of a rapid-fire weapon mounted on a land vehicle Modeling the dynamic effects of recoil force on vehicle suspension of a projectile A structure for determining the corrected muzzle angle from trace data. because it is not present, cumulative effect from platform movement during burst firing It does not provide a solution for eliminating targeting biases. 5 Patent document number US20120067201A1 describes a target for a firearm sight. It relates to the indicator system. The system includes a shooter's position detection system. is received, electromechanical movement by the processor according to the position in question. The position of the indicator is calculated and the indicator moves via servo motors. 10 by assisting the user in aiming their weapon at the identified target. This system is also used in weapons found on land vehicles or aircraft. It is applicable. However, this document primarily focuses on the target location. the aiming is to transmit the target to the user via a physical aiming indicator, and the shot The rebound force generated during this process and the dynamic response of the vehicle suspension are 15. Since it did not determine the corrected barrel angle specific to rapid fire, taking that into account, the beginning Even if the aiming is accurate, successive shots may result from platform movement. It does not offer a compensatory mechanism to reduce bullet dispersion. In conclusion, a new 20 that can overcome the disadvantages mentioned above. Technology is needed. Description of the invention: The primary purpose of the invention is to create rapid-fire weapon systems integrated into land vehicles, with a firing rate of 25 shots. the reaction force generated on the vehicle body and suspension system The aim is to reduce shooting errors caused by dynamic movements, especially in rapid fire. Small deviations in barrel angle caused by recoil affect the range of the target. The problem of the error turning into a mistake and this error increasing as the number of shots increases is being resolved. For this purpose, the barrel angle to be applied to the target should be determined not only according to the ideal geometric relationship, but also according to 30 the effect of vehicle and suspension behavior on bullet traces It is determined. 4 Thanks to this invention, the accuracy of the first shot as well as the accuracy of the entire burst of shots can be improved. This ensures that the recoil forces act on the vehicle sequentially. The resulting error accumulation is corrected by the open-loop controller. This is suppressed by using the barrel angle. This advantage is particularly true when the firing frequency is 5. It becomes more noticeable when the levels rise. Multi-segment linear modeling of bullet trajectory data obtained from simulations and / or real shots. Its use within the interpolation model provides the appropriate location corresponding to the target position. It allows for the systematic determination of the barrel angle. Thus, only 10 not for specific barrel angles for which data has been obtained beforehand, but for those angles in between. It is also possible to calculate the corrected barrel angle for targeting conditions. By reducing the angle intervals between data points, the model's sensitivity also improves. It can be increased. Another advantage of the invention is that different burst firing conditions are taken into account in the control calculation. It is possible to obtain recoil forces acting on the vehicle depending on the firing frequency. Since the frequency and consequent bullet trajectory change, the data set for the relevant shooting condition... by using This ensures that 20 single and unchanging shots are fired in different burst patterns for the same target. Accuracy losses that may result from the use of a particular barrel angle is being reduced. The previously obtained data set and interpolation model of the open-loop controller. It works through, after obtaining the target coordinates, the appropriate data range is 25 determining and calculating the corrected barrel angle based on this range This structure ensures the accuracy of the vehicle's suspension behavior during firing. Its effect is included in the control process and the barrel angle to be applied to the target. Small but effective corrections can be made. The invention is not solely based on the use of simulation data. Bullet trajectory data. Since this can also be obtained from real firing experiments, the control model is a real system. It can be created or improved by taking into account the behavior of the system. validation with experimental data and using application-specific bullet trajectory data This allows it to be made more precise. The improvement in shooting accuracy achieved with the invention is particularly noticeable at high rates of fire. It reaches significant levels. In example applications, as the number of shots increases in the passive system. absolute shooting errors grow rapidly, and this occurs when an open-loop controller is used. The increase was found to be significantly limited under different target and firing conditions. Error reductions of approximately 80-85% and even higher under certain conditions can be achieved. This significantly improves the technical impact of the system in terms of rapid-fire accuracy. This shows that. In conclusion, the invention takes into account suspension-induced shot deviations, in series. Reducing error accumulation in shots, barrel angle suitable for different shooting conditions. determination, calculation of intermediate values ​​through interpolation and simulation of the model 15 or weapons integrated into land vehicles, thanks to the fact that they can be created using real experimental data. It provides higher and more stable burst firing accuracy in its systems. Explaining the Figures: The invention will be described by referring to the attached figures, so that the features of the invention can be explained. It will be understood and appreciated more clearly, but the purpose of this invention is this obvious It is not about limiting it with regulations. On the contrary, the invention is defined by the accompanying claims. all alternatives, modifications, and options that could be included within the defined area The aim is to cover their equivalences. The details shown are only for 25 of the present invention. It is shown to illustrate the preferred arrangements and both the methods shaping, as well as the most useful and conceptual features of the invention's rules and principles It should be understood that these drawings are presented to provide an easily understandable definition. In these drawings; Figure 1 is a physical model of the mobile weapon platform. 30 Figure 2 shows the time-dependent reaction force caused by the firing of three example burst modes. It is a visual representation. 6 Figure 3 shows point H, target point N, target point components, and barrel angle. This is a visual representation showing the geometric relationship between them. Figure 4 Three different firing modes of projectile for N(300,500) target in passive system It is a visual showing the traces. Figure 5 shows the multi-segment linear relationship between barrel angle and steady-state projectile altitude. This is a visual representation illustrating the interpolation relationship. Figure 6 Serial firing of the proposed controller with passive system for target N1(300,200). This is a visual representation showing a comparison of the results. Figure 7 Serial firing of the proposed controller with passive system for N2(400,350) target. This is a visual representation showing a comparison of the results. 10 Figure 8 Serial firing of the proposed controller with passive system for N3(500,400) target. This is a visual representation showing a comparison of the results. Illustrations that will help understand this invention are shown in the attached image. They are numbered and listed below with their names. 15 Explanation of References: ksf Front suspension spring coefficient KSR Rear suspension spring coefficient 20 ktf Front wheel rigidity ktr Rear wheel rigidity CSF Front suspension damping coefficient CSR Rear suspension damping coefficient m1 Vehicle body mass 25 J2 Vehicle body mass inertia m3 Front wheel mass m4 Rear wheel mass lf Front wheelbase Rear wheelbase 30 G Center of gravity of the vehicle body H is the point where the recoil force of the projectile acts. 7 N Target Point y1 Vertical movement of the vehicle body φ Barrel angle φC is the barrel angle calculated by the open-loop controller. β Head impact motion of the vehicle body 5 y3 Vertical movement of the front wheel mass y4 Vertical movement of the rear wheel mass yrf Front road profile yrr Rear road profile Ft Reaction force from projectile 10 Number of shots R is the sum of absolute shooting errors. Detailed Description of the Invention: The terminology used here is intended solely to describe specific applications. and does not limit the scope of the invention. Used here The term "and / or" refers to any of the items listed as related. It includes one and all combinations thereof. Also, the singular "one" used here, "one" The terms "number" and "specified" are used in their plural forms unless the context explicitly indicates otherwise. It is designed to include singular forms such as those mentioned above. Furthermore, the terms used in this specification... The terms "includes" and / or "contains" refer to the specified features, steps, processes, It indicates the presence of elements and / or components, but one or more other features, steps, processes, elements, components and / or groups thereof It will be understood that it does not exclude its existence or addition. 25 Unless otherwise noted, all terms used herein (including technical and scientific terms), in the sense that a person with general knowledge in the field to which this invention belongs would generally understand it They have the same meaning. Furthermore, the terms defined in commonly used dictionaries, 30 it should be interpreted as idealized or exaggerated unless otherwise explicitly defined here. It will be understood that it will not be interpreted in an official sense. 8 The description of the invention will reveal a series of techniques and steps. Each of these... one provides separate benefits, and at the same time, one or more of them or some In these situations, all of the other techniques described can be used in combination. Accordingly, To ensure clarity, each step in the disclosure of the invention should be presented as 5 steps if possible. By doing this, unnecessary repetition of all combinations will be avoided. Together, the specification and claims, such combinations fully constitute an invention and claims. It should be read with the understanding that it falls within its scope. The invention describes a rapid-fire weapon system integrated into a land vehicle, capable of firing 10 rounds per minute. the recoil force generated affects the vehicle's suspension system and vehicle body. shooting deviations caused by the dynamic effects it creates It relates to a fire control system and control method aimed at reducing fire. Within the scope of the invention, the projectile reaction force (Ft) generated during rapid firing is 15. The vertical and angular movements that occur on the vehicle body are taken into consideration, and the effects of these movements on muzzle angle (φ) and bullet trajectories This is determined by using different barrel angles (φ) and / or different burst firing conditions. barrel angle using simulation or real experimental data obtained below Multi-part linear interpolation model 20 representing the relationship between (φ) and bullet trajectory. is being created and corrected towards the target point (N) through the said model. The barrel angle (φC) is calculated. This allows for the assessment of the suspension system and the firing mechanism. This ensures a reduction in projectile deviations caused by the reaction force (Ft). Figure 1 shows an example of a land vehicle equipped with a rapid-fire weapon system. The physical model is shown. In the example application, the land vehicle has four degrees of freedom. It is modeled as a graded semi-vehicle model. In the example application, the barrel its mass is low compared to the mass of the vehicle body and the firing is done while the vehicle is stationary. Due to the admission he made, the effect of barrel movement on vehicle dynamics was neglected. However, this acceptance does not define the fundamental working principle of the invention. It is not a limiting feature but is used in the construction of the mathematical model. This is an example of a modeling assumption. 9 The mathematical model corresponding to the physical model shown in Figure 1 is an example. In practice, four interconnected second-order differential equations This occurs. Through the differential equations in question, the vehicle body is determined. vertical movement (y1), head impact movement of the vehicle body (β), vertical movement of the front wheel mass 5 The vertical motion (y3) and the vertical motion (y4) of the rear wheel mass can be calculated. ?̈? = 𝑐 ?̇? − ?̇? + ?̇?𝑙 + 𝑐 ?̇? − ?̇? − ?̇?𝑙 + 𝑘 (𝑦 − 𝑦 + 𝛽𝑙 ) + 𝑘 𝑦 − 𝑦 + 𝛽𝑙 − 𝐹 si n(𝜑 + 180 ) (1) ?̈? = 𝑐 𝑙 ?̇? − ?̇? + ?̇?𝑙 − 𝑐 𝑙 ?̇? − ?̇? − ?̇?𝑙 + 𝑘 𝑙 (𝑦 − 𝑦 + 𝛽𝑙 ) − 𝑘 𝑙 𝑦 − 𝑦 + 𝛽𝑙 − 𝑏𝐹 si n(𝜑 + 180 ) + 𝑎𝐹 cos(𝜑 + 180 ) (2) ?̈? = −𝑐 ?̇? − ?̇? − ?̇?𝑙 − 𝑘 𝑦 − 𝑦 + 𝛽𝑙 + 𝑘 𝑦 − 𝑦 (3) ?̈? = −𝑐 ?̇? − ?̇? + ?̇?𝑙 − 𝑘 𝑦 − 𝑦 + 𝛽𝑙 + 𝑘 (𝑦 − 𝑦 ) (4) Equation 1 describes the dynamic movement of the vehicle body in the vertical direction, front and rear. the vertical component of the projectile reaction force (Ft) due to the effects of suspension elements It is expressed by taking into account the head-on impact motion (β) of the vehicle body with Equation 2. The mass inertia of the vehicle body (J2) is formed by the front and rear suspension elements. moments and the reaction force (Ft) originating from the projectile transferred to the system from point H is 20 It is defined by considering the effects it produces. Equation 3, front wheel vertical movement of mass (y3), front suspension damping coefficient (csf), front suspension spring It is defined based on the coefficient (ksf), front wheel rigidity (ktf), and front road profile (yrf). Equation 4 describes the vertical movement of the rear wheel mass (y4) through the rear suspension and rear It defines the wheel parameters. These four equations together add up to 25. When unwound, the vehicle hull and under a given projectile reaction force (Ft) The dynamic response of the suspension system can be determined, and this dynamic response can be applied to the barrel. The direction of travel and its effect on the bullet trajectory can be simulated. In the prototype application of the invention, the barrel angle can be varied between 10° and 60°, and three 30° The sample burst mode is being used. In the first sample burst mode, one shot is fired every two seconds. In second sample firing mode, one shot per second, and in third sample firing mode, two shots per second. The firing is being carried out. In these firing modes, the firing sources affecting the system... The time-dependent variation of the reaction force (Ft) is shown in Figure 2. From Figure 2 As can be seen, with increasing firing frequency, the vehicle system is subjected to a certain amount of time. A larger number of reaction force inputs are applied within this range. As a result... During rapid fire, the vehicle's suspension and body movements affect the accuracy of subsequent shots. 5 Its effect can be increased. 10°–60° barrel angle range and three different firing modes. It does not establish the necessary technical limits of the invention, but rather the working principle and controller of the invention. These are sample application parameters used to demonstrate performance. Figure 3 shows the target-aim relationship between point H and target point (N). 10 The horizontal position component of the target point N relative to the point H is Nx, and the vertical position component is Nx. It is expressed as Ny. The angle of the barrel aimed at the target is indicated by φ. In a passive system, when the coordinates of the target point (N) are known, the corresponding coordinates of the target can be determined. Equation 5 is used to calculate the barrel angle (φ): 𝜑 = atan( ) (5) Accordingly, the passive system adjusts the barrel angle depending on the geometric position of the target point. determining, however, the recoil force (Ft) caused by the shots during bursts of fire on the ground vehicle the dynamic effects it produces on the suspension system and the body of the vehicle over the next 20 years It does not take into account the result of the shots when determining the barrel angle. In the example application, the horizontal effective range of the weapon system was taken as 500 m. With this... However, the 500m value in question is an example value used in simulation studies. and does not constitute a technical limit of the invention. For example, 25 for target points N(300, 500). When Equation 5 is used, the passive system barrel angle is calculated as 30.9638°. With the given barrel angle, the target can be fired at in three different modes for a duration of 10 seconds. The bullet traces in the target plane from the series of shots fired are shown in Figure 4. In Figure 4, since the vehicle is initially stationary, the first shot reaches the target point, but In subsequent shots, due to the effect of recoil forces, the bullet traces were 30 meters from the target point. It appears to have receded. Bullet traces are observed after a transitional regime response. 11 The altitude is approaching. This situation affects the suspension system and the vehicle during rapid fire. It reveals the effect of the body dynamics on firing accuracy. Error values ​​obtained in the passive system for the target point N(300,500) are given in Table 1. It is shown: 5 Firing Mode Number of Shots (n) Maximum Error Total Absolute Errors (R) Error per shot R / n 1st mode 6 -1.385 m 6.5810 m 1.0968 2nd mode 11 -3.765 m 37.3457 m 3.3951 3rd mode 21 -9.191 m 176.785 m 8.4183 Table 1. Errors of passive system burst shots for N (300, 500) target points. As seen in Table 1, as the number of shots per unit time increases, the maximum error and shot... The error rate per shot is increasing. Especially in the third shot mode, the absolute number of shots is 21. The sum of the errors (R) reaches 176.785 m and the error per shot is 8.4183. 10 Therefore, the primary purpose of an open-loop controller is to control burst firing after the transient regime. to be used for target point (N) taking into account the approaching continuous regime missile altitude The goal is to determine the corrected barrel angle (φC). In military systems, rapid fire is one of the 15 most critical factors determining the dynamics of the battlefield. It is one of the elements. Fire superiority, suppression, and increasing the probability of a hit are achieved through rapid fire. That is the primary purpose. For this, accuracy in all shots is more important than accuracy in the first shot. Reaching the designated target with minimal error is a more important issue. In this respect, the shot... Error per shot (R / n) is used as an indicator of the success of control systems. Table 1 shows this. From this perspective, as the number of shots per unit time decreases, the accuracy decreases by 20. It is increasing. In the passive system, equation 5 is applied when the target coordinate is communicated to the system. The barrel angle is being adjusted. The simulation results also show that a large portion of the shots were fired. The bullet trail appears to be concentrated at the altitude where it enters a continuous regime. The open design will be... The purpose of the circuit controller is to calculate the altitude at which the shots enter a steady state, thus controlling the barrel. The goal is to calculate the angle (φ). This requires a two-stage systematic process. 25 This has been done. In the first stage, for each firing mode, the limit values ​​of the barrel angle [10° A total of 11 simulations were performed with 5-degree increments between -60°. Therefore... A total of 33 simulations were conducted in three shooting modes. In each simulation, the bullet... The altitude at which the track settled into a steady-state regime was recorded. These records are given in Table 2. 12 Firing Mode Barrel Angle Continuous Reg m Transmission Phase 1st mode 10o 83.6354 15o 128.5863 20o 175.6184 25o 225.6414 30o 279.7835 35o 339.5051 40o 406.7758 45o 484.3644 50o 576.3365 55o 688.9677 60o 832.5368 2nd mode 10o 86.1697 15o 131.6580 20o 179.2985 25o 230.0309 30o 285.0253 35o 345.7991 40o 414.4087 45o 493.7560 50o 588.1267 55o 704.1760 60o 852.8869 3rd mode 10o 87.6555 15o 133.3025 20o 181.1284 25o 232.0824 30o 287.3459 35o 348.4555 40o 417.4941 45o 497.4050 50o 592.5406 55o 709.6712 60o 859.9970 Table 2. Steady-rate altitude values ​​of bullet traces as a function of barrel angle. The dataset in Table 2 represents the multi-segment open-loop controller used by the invention. It is used in the creation of the linear interpolation model. Here, 10°–60° Data was obtained in 5° increments within the range, and the angle range and increment in question are 5°. Quantity is not essential for invention. Obtaining data at smaller angle intervals. In this way, the accuracy of the interpolation model can be increased. Figure 5 shows the barrel angle-continuous regime altitude data from Table 2 for three example firing modes. It shows the interpolation models obtained using. Table 2 contains 10 Multi-part linear relationships are created by establishing linear relationships between consecutive data points. An interpolation model is obtained. This allows for direct simulation or experimentation. Even at intermediate barrel angles that have not been determined, the constant regime between projectile altitude and barrel angle remains constant. 13 The relationship can be determined, or conversely, corresponding to a specific target altitude. The barrel angle can be calculated. In one application of the invention, the data set in question and the multi-part linear array created from it... The interpolation model is created beforehand and used with the open-loop controller. 5 is presented. After the controller determines the target coordinates and the firing condition to be applied, Then, using the model in question, it calculates the corrected barrel angle (φC). The invention is an open-loop controller that, after receiving target coordinate information, samples The application performs the following sequence of operations: 10 1) The coordinate information Nx and Ny for the target point (N) are obtained. 2) The firing mode to be used is determined. 3) The initial muzzle angle (φ) is calculated using Equation 5. 4) Example: In a 500 m simulation, the vertical component of the target is Ny = 500 tan(φ) 15 It is updated according to its relationship. 5) In which range does the Ny value fall within the dataset in Table 2? It is determined. 6) Linear line dependent on barrel angle using the limit values ​​of the defined range. The equation is formed. 20 7) Corrected value corresponding to Ny from the generated linear equation. The barrel angle (φC) is calculated. 8) The calculated φC value is assigned as the muzzle angle to be applied by the weapon system. Here, the 500 m value used in the fourth step is the horizontal range of the example simulation 25. This stems from its value, and a different target distance or weapon system's different When it comes to effective range, the relevant geometric relationship is appropriate to the target position. It is applied. Therefore, the value of 500 m represents the working principle of the invention. It does not limit it. This process results only in the following according to the target geometry. Instead of using the passive barrel angle (φ), the suspension of the land vehicle is used during rapid fire. and through a model representing the effect of body dynamics on bullet traces The corrected barrel angle (φC) is obtained. 14 The technical effect provided by the open-loop controller, which is the subject of the invention, compared to a passive system. In order to determine this, three different target points were selected in the sample application. Target points were determined as N1(300,200), N2(400,350) and N3(500,400). Each The target point was simulated for 10 seconds in three different sample firing modes. Accordingly, 5 Six shots were fired in the first mode, eleven in the second mode, and twenty-one in the third mode. The numerical results of the simulations are given in Tables 3, 4, and 5. Shooting Mode Simulation along the shot number (n) Control status Barrel angle Absolute shot their mistakes sum (R) Per shot average absolute error (R / n) 1st mode 6 Pas fs stem 33.6901 o 4.4324 m 0.7387 Suggested controller 33.7627 o 2.2479 m 0.3746 2nd mode 11 Pas fs stem 33.6901 o 24.5060 m 2.2278 Suggested controller 33.9744 o 5.6143 m 0.5104 3rd mode 21 Pas fs stem 33.6901 o 116.7398 m 5.5590 Suggested controller 34.4833 o 15.0001 m 0.7143 Table 3. Rapid fire performance at target N1 (300,200). Specifically, in the third firing mode, the absolute firing errors in the passive system are 116.7398 m. the sum (R) is reduced to 15.0001 m when an open-loop controller is used. It is observed that under the same conditions, the average error per shot decreased from 5.5590 to 0.7143. its value is decreasing. Shooting Mode Simulation along the shot number (n) Control status Barrel angle Absolute shot their mistakes sum (R) Per shot average absolute error (R / n) 1st mode 6 Pas fs stem 41.1859 o 8.2061 m 1.3677 Suggested controller 41.2518 o 4.9774 m 0.8296 2nd mode 11 Pas fs stem 41.1859 o 42.6283 m 3.8753 Suggested controller 41.4551 o 13.0776 m 1.1889 3rd mode 21 Pas fs stem 41.1859 o 206.1102 m 9.8148 Suggested controller 41.9799 o 37.1832 m 1.7706 Table 4. Rapid fire performance at target N2 (400,350). Table 4 shows the R / n of the passive system, especially in the third mode where the firing frequency is high. The value is 9.8148, and when an open-loop controller is used, this value is... It appears to have dropped to 1.7706. 20 Shooting Mode Simulation along the shot number (n) Control status Barrel angle Absolute shot their mistakes sum (R) Per shot total absolute Error (R / n) 1st mode 6 Pas fs stem 38.6598 o 9.1610 m 1.5268 Suggested controller 38.7330 o 4.9956 m 0.8326 2nd mode 11 Pas fs stem 38.6598 o 48.5364 m 4.4124 Suggested controller 38.9500 o 11.9340 m 1.0849 3rd mode 21 Pas fs stem 38.6598 o 233.5883 m 11.1233 Suggested controller 39.4964 o 30.4705 m 1.4510 Table 5. Rapid fire performance at N3 (500,400) target. The sum of absolute firing errors (R) in the passive system in the third firing mode of the N3 target. The distance is 233.5883 m and the error per shot is 11.1233 when using an open-loop controller. The values ​​in question were obtained as 30.4705 m and 1.4510 m respectively. 5 When Tables 3–5 are considered together, it can be seen that the open-loop controller that is the subject of the invention has different characteristics. Absolute firing errors compared to passive systems under target points and different burst firing conditions It appears that the total (R) decreases. Especially as the number of shots per unit time increases, passive The cumulative error increase occurring in the system is measured by the open-loop controller as 10 Significantly improved by small but effective barrel angle (φC) corrections calculated. It has been determined that it is restricted. In the invention, the creation of a multi-component linear interpolation model is involved. The bullet trajectory data used does not have to consist solely of simulation data. 15 This data can be obtained from real firing tests, as well as from simulations and real-life situations. The experimental data can also be used together. Similarly, the 10°– used in the example application. 60° muzzle angle range, 5° data increments, three different firing modes, specified firing frequencies, The invention's operating principle includes a horizontal range of 500 m and target coordinates N₁, N₂, and N₃. Example 20 is given to explain and demonstrate the technical effect of an open-loop controller. These are the parameters. The invention thus creates a rapid-fire weapon integrated into a land vehicle. in systems, the reaction force (Ft) caused by projectile impact on the suspension system and vehicle body. simulation and / or the effect of the dynamic behavior it produces on the bullet trajectory through a multi-component linear interpolation model created from real experimental data taking into account and determining the corrected barrel angle (φC) for the target point (N) series 25 It helps to reduce shooting errors that occur during firing.

Claims

16 REQUESTS 1- The invention is a barrel for a weapon system integrated into a land vehicle and capable of rapid firing. It is an open-loop fire control system for controlling the firing angle, and its feature is;  For different barrel angles (φ) and firing conditions, the recoil force (Ft) resulting from the shot is 5 the dynamic effects of the vehicle's suspension system on the vehicle body simulation and / or real experience-based bullet trace obtained depending on data,  linear relationships between consecutive data points in the bullet trace data in question By applying interpolation, the barrel angle (φ) and the steady-state projectile 10 a multi-part linear interpolation model that describes the relationship between altitude,  According to the coordinate information of the target point (N) and the firing conditions to be applied. corrected using the multi-part linear interpolation model in question calculates the barrel angle (φC) and the calculated corrected barrel angle (φC) of the weapon. an open-loop controller that determines the muzzle angle to be applied by the system 15 It is characterized by its inclusion. 2- It is an open-loop fire control system according to Claim 1, and its feature is that the bullet trajectory data is serially processed. the state of continuous regime reached by the bullet traces after the temporary regime during firing or It is characterized by the inclusion of altitude. 20 3- It is an open-loop fire control system according to any of the previous requirements, and its feature is;  Receives coordinate information relating to the target point (N),  determines the firing conditions to be applied, Calculates the initial barrel angle (φ) from the target coordinates, 25  the value corresponding to the vertical component of the target in the bullet trajectory dataset determining the range in which it is located  one of the boundary values ​​of the interval in question forms a linear equation,  using the aforementioned linear equation, the corrected barrel angle (φC) calculating and 30  The open circuit assigns the calculated barrel angle (φC) as the barrel angle of the weapon system. It is characterized by having a loop controller. 17 4- It is an open-loop fire control system according to any of the previous requirements, and its feature is; Dynamic behavior of the land vehicle, vertical movement of the vehicle body (y1), vehicle body head-on motion (β), vertical movement of the front wheel mass (y3) and rear wheel with four degrees of freedom half-vehicle model including the vertical motion (y4) of its mass It is characterized by its modeling. 5 5- It is an open-loop fire control system according to Claim 4, and its characteristic feature is the dynamic in question. of the model;  front suspension spring coefficient (ksf), rear suspension spring coefficient (ksr), front wheel rigidity (ktf), rear wheel rigidity (ktr), front suspension damping coefficient 10 (csf), rear suspension damping coefficient (csr), vehicle body mass (m1), vehicle body mass inertia (J2), front wheel mass (m3), rear wheel mass (m4), front wheelbase (lf), rear wheelbase (lr), and recoil force from the shot It is characterized by being generated using parameters that include (Ft). 6- In a weapon system integrated into a land vehicle and capable of rapid firing, the firing source reaction force (Ft) occurring on the suspension system and vehicle body of a land vehicle a barrel designed to reduce shooting errors caused by the dynamic effects it introduces It is an angle control method, and its characteristic is;  Simulation and / or actual firing for multiple barrel angles (φ) and firing conditions 20 Obtaining bullet trace data from experiments,  The barrel angle (φ) and bullet trajectory position and / or can be determined from the obtained bullet trace data. a multi-segment linear relationship describing the relationship between steady-state projectile altitude Creating an interpolation model,  Obtaining the coordinate information of the target point (N), 25  Determining the firing conditions to be applied, Calculation of the initial barrel angle (φ) with respect to the target point (N),  using the aforementioned multi-part linear interpolation model to the target point Calculation of the corresponding corrected barrel angle (φC) for (N) and  The calculated corrected barrel angle (φC) to be applied to the weapon system is 30 Determining the angle involves the steps involved in the process. 18 7- This is a barrel angle control method according to claim 6, characterized by its multi-segment linear design. In creating the interpolation model, corresponding to different barrel angles (φ) Determination of continuous regime projectile altitudes and linear correlation between successive data points. It is characterized by the application of interpolation. 8- This is a barrel angle control method according to Claim 7, and its characteristic is; the corrected barrel angle. During the calculation of (φC), the vertical component of the target is found in the bullet trajectory dataset. Determining the range, using the boundary values ​​of that range to create a linear line. formulating the equation and the barrel angle (φC) corresponding to the vertical component of the target. It is characterized by its calculation from the equation of the linear line in question. 10 20 30

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