CN102589351B - Digitizing collection device and detection method based on antiaircraft gun operation parameter of weather modification - Google Patents
Digitizing collection device and detection method based on antiaircraft gun operation parameter of weather modification Download PDFInfo
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- CN102589351B CN102589351B CN201210057367.8A CN201210057367A CN102589351B CN 102589351 B CN102589351 B CN 102589351B CN 201210057367 A CN201210057367 A CN 201210057367A CN 102589351 B CN102589351 B CN 102589351B
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Abstract
The invention discloses a digitizing collection device and a detection method based on antiaircraft gun operation parameter of weather modification and relates to the technical field of weather modification gun operation detecting and sensing and automatic control, a position detecting circuit of the device is composed of a coaxial duplex complementary multi-turn potentiometer and a corresponding signal conditioning circuit, wherein the coaxial duplex potentiometer is composed of two independent potentiometers, a quantity detection circuit is composed of an approach switch, a 4N 25 optical coupler and a central processing unit, wherein the central processing unit is connected with all the circuits through a data bus/address bus/control bus, the coaxial duplex potentiometer is arranged at a rotation position of the azimuth angle controller of an antiaircraft gun of weather modification in the way of the coaxial duplex complementary multi-turn potentiometer, the approach switch is arranged at the ejection port of the antiaircraft gun so as to complete the automatic detection on the position and the angle of pitch of the antiaircraft gun operation; therefore, based on the TCP/IP (Transmission Control Protocol/Internet Protocol) data transmission, the time and number of shell launching can be detected automatically.
Description
Technical field
The present invention relates to weather modification big gun and penetrate on-stream monitoring and sensing and automatic control technology field, especially a kind of numeralization collecting device and detection method thereof based on figure antiaircraft gun job parameter.
Background technology
According to people's wish, by manual intervention, make some local weather phenomenon towards being conducive to the predetermined destination party of people to conversion, to overcome or to alleviate the disaster that bad weather causes, the scientific and technical measure of this nature remodeling claims weather modification, is called for short the shadow.
Along with social development and scientific and technical progress, the scientific and effective property that height in weather modification is bombarded rain and beaten hail (hereinafter to be referred as shadow operation) more and more receives people's concern, shadow job information is collected and management is a routine work of weather modification vocational work, job information is collected and can greatly be increased work efficiency fast and easily, allow administrative department obtain in time the real time information of operation one line, for the assessment of operation command and operational benefit provides basic data, solve the technical barrier that commander, operation, assessment disconnect mutually for many years.
At present, beginning and ending time, shell transmitting quantity and the azimuth of figure antiaircraft gun operation and the elevation angle are all rely on artificial method to obtain and by phone or radio station, relevant information be reported to shadow commander department and administrative department, therefore, exist work data acquisition difficulty, equipment operation condition the actual conditions such as cannot monitor in real time, expend a large amount of human and material resources, because intermediate link is too many, manually cause that error and inaccurate situation happen occasionally, be badly in need of setting up a set ofly penetrating operation detection system based on modernization big gun.Inventor once penetrated for current big gun in 2008 that operating system intellectuality is low, the problem of poor stability, propose a kind of taking Cygnal C8051F340 single-chip microcomputer, HBR110 voice recognition chip as core, by SANG1000 obliquity sensor, the big gun of CANG10 electronic compass and other peripheral circuits composition is penetrated operation detection system and has been delivered one section of relevant article " meteorological big gun is penetrated detection system design " (author: Li Dong, Guo Weibo, Fan Changyuan, Huang Hua).But, in " meteorological big gun is penetrated detection system design ", there are a lot of key technology defect problems:
1, azimuth determination problem: adopting electronic compass measurement is azimuth sensor CANG10, utilize earth's magnetic field to realize orientating function, can obtain high Precision angular measurement in laboratory, because antiaircraft gun belongs to metal, very large to measuring electromagnetic field effects around, the electronic compass certainty of measurement being installed to after antiaircraft gun declines greatly, has time error to reach tens degree, its precision does not reach measurement requirement far away, and 4800 yuan of the expensive for example CANG10 of this sensor sensors/only;
2, the test problems of number of rounds: the method by speech recognition obtains number of rounds, what bombard the employing of voice recognition module is HBR110 or RSC-300 voice recognition chip, at Gao Bugao not of the discrimination in laboratory, and affected by environment very large, the method is not suitable for product;
3, the angle of pitch is measured problem: adopt obliquity sensor SANG1000 to measure, 4800 yuan/of the expensive for example SANG1000 of this sensor sensors.
Owing to there is no at present figure antiaircraft gun job parameter numeralization collecting device, and " meteorological big gun is penetrated detection system design " method has the shortcomings such as cost is high, precision is low and does not reach the designing requirement of figure antiaircraft gun job parameter numeralization collecting device far away.Inventor penetrates the automatic information collecting technology such as operation beginning and ending time, shell transmitting quantity and azimuth and the elevation angle by the big gun of concentrating on studies, numeralization collecting device and detection method thereof based on figure antiaircraft gun job parameter have been proposed, to passing through to introduce this device, method, Real-Time Monitoring operation beginning and ending time, shell transmitting quantity and orientation and the elevation angle, for job management provides science data, can reach object scientific, standardized management, also can provide sound assurance for safety in production.
Summary of the invention
Object of the present invention has two, the first, proposes and designs a kind of figure antiaircraft gun job parameter numeralization collecting device; The second, the coaxial complementary multiturn potentiometer azimuth measuring method of a kind of duplex based on figure antiaircraft gun is proposed.
For achieving the above object, technical solution provided by the invention is, a kind of numeralization collecting device based on figure antiaircraft gun job parameter is provided, comprises central microprocessor U1, orientation detection circuit U 6, pitching testing circuit, amount detection circuit U7, gsm module circuit, clock circuit, power control circuit, ferroelectric memory circuit; Especially, described orientation detection circuit is made up of a complementary multiturn potentiometer of coaxial duplex and corresponding signal modulate circuit, co-shaft duplex potentiometer is made up of two independent potentiometers, each potentiometer is the signal of telecommunication by signal conditioning circuit separately by electric resistance changing, and the signal of telecommunication obtains corresponding digital signal after microprocessor carries A/D conversion; Described amount detection circuit is mainly made up of IDB40NA approach switch J1 and 4N25 photo-coupler U5, central microprocessor U1; Described central microprocessor U1 is connected with above-mentioned each circuit by data/address bus/address bus/control bus.
Described corresponding signal modulate circuit refers to the first one-channel signal modulate circuit and the second one-channel signal modulate circuit and identical, mainly comprise co-shaft duplex potentiometer RPD1, central microprocessor U1, TLC2652 high precision operating amplifier U2, TL431 voltage-reference U3, AD8221 instrumentation amplifier U4, K switch 1, K2; Its K switch 1, K2 are controlled by microprocessor U1.
Further, the detection method of the numeralization collecting device based on figure antiaircraft gun job parameter is provided, especially installation aspect, described co-shaft duplex potentiometer RPD1 is the rotation place U8 that is arranged on figure antiaircraft gun azimuth controller with the form of coaxial complementary multiturn potentiometer.Described IDB40NA approach switch J1 is mounted in the U9 of ejector opening place of antiaircraft gun, and while often exiting a shell case through IDB40NA approach switch J1, IDB40NA approach switch J1 just exports a low and high level and changes, thereby detects number of rounds.
Further, provide the detection method of the numeralization collecting device based on figure antiaircraft gun job parameter, especially the coaxial complementary multiturn potentiometer azimuth measuring method of the duplex based on figure antiaircraft gun, comprises the steps:
(1) adopt based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex, each potentiometer of duplex potentiometer in device is carried out to resistance measurement, because duplex is that the complementary full azimuth that can realize antiaircraft gun is measured;
(2) add a suitable power supply to duplex potentiometer two ends, the centre tapped voltage of potentiometer changes with potentiometer rotation, has realized the conversion of voltage measurement to angular surveying;
(3) the voltage of measuring center tap can measure potentiometer resistance, thereby obtain azimuth measurement data at any angle, i.e. the measurement data of the figure antiaircraft gun machinery anglec of rotation;
(4), under the instruction of central microprocessor LPC2387, deposit azimuth determination data in memory.
The key technical indexes of the present invention is in table one:
Table one the key technical indexes
| Leading indicator | Number range |
| Azimuth accuracy | ＜1° |
| Angle of pitch precision | ＜1° |
| Beginning and ending time | ＜2S |
| Number of rounds detects | ＞99％ |
| Operating voltage | 12V DC (inner lithium battery power supply) |
| Operating current | < 200MA (average current) |
| Operating temperature | -20℃+70℃ |
| Working relative humidity | < 95%, without condensation |
| Storage temperature | -40℃+85℃ |
| Communication frequency | 900/1800Mhz |
| The information interaction time | < 20S (average time) |
| Stand-by time | > 60 hours (inner lithium battery power supply) |
Compared with the prior art, the present invention has advantage and remarkable result are as follows:
1, device is arranged on figure antiaircraft gun, orientation and the angle of pitch that can complete antiaircraft gun operation detect automatically; Realize the automatic detection of shell launch time and quantity, related data storage; GPRS transfer of data based on TCP/IP, its system front end is arranged on figure antiaircraft gun operation field.
2, related data can be real-time transmitted to shadow administrative department, allow administrative department obtain in time the real time information of operation one line, for the assessment of operation command and operational benefit provides basic data, solve the technical barrier that commander, operation, assessment disconnect mutually for many years, avoid because of intermediate link many, manually cause that error and inaccurate situation occur, for meteorological figure antiaircraft gun operation is scientific, standardized management provides powerful guarantee.
3, propose and adopt " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex " that it is completed azimuth is measured at any angle, solve the blind area of potentiometer in rotary course, made the measurement of orientation angles bring up to 360 ° of full angles from 340 ° of original left and right.
4, this device has job information capacity gauge fast and easily, greatly increases work efficiency, and saves a large amount of human and material resources simultaneously.
Brief description of the drawings
Fig. 1 is hardware circuit the general frame schematic diagram of the present invention.
Fig. 2 is the complementary multiturn potentiometer one-channel signal of coaxial duplex of the present invention modulate circuit schematic diagram.
Fig. 3 is number of rounds testing circuit schematic diagram of the present invention.
Fig. 4 is the embodiment of the present invention, the mounting portion schematic diagram of described device A on figure antiaircraft gun.
Fig. 5 is the embodiment of the present invention, the described mounting portion schematic diagram based on the coaxial complementary multiturn potentiometer of duplex.
Fig. 6 is further embodiment of this invention, and described IDB40NA approach switch is with regard to the scheme of installation of J1.
Detailed description of the invention
Referring to Fig. 1～Fig. 5, the present invention includes central microprocessor U1, orientation detection circuit U 6, pitching testing circuit, amount detection circuit U7, gsm module circuit, clock circuit, power control circuit, ferroelectric memory circuit.Described central microprocessor U1 is connected with above-mentioned each circuit by data/address bus/address bus/control bus.The central microprocessor U1 of harvester adopts LPC2387 chip, the operation that the acquisition of information of control whole system is processed with signal processing, communicate by letter etc.LPC2387 microprocessor is 16/32 the ARM7TDMI-S CPU based on a support real-time simulation, and the high speed Flash memory embedding with 512kB, the memory interface of 128 bit widths and unique accelerating structure can move 32 codes under maximum clock speed.
Described orientation detection circuit U 6 is made up of a complementary multiturn potentiometer of coaxial duplex and corresponding signal modulate circuit, described corresponding signal modulate circuit refers to that the first one-channel signal modulate circuit is identical with the second one-channel signal modulate circuit and circuit, mainly comprise co-shaft duplex potentiometer RPD1, central microprocessor U1, TLC2652 high precision operating amplifier U2 and voltage-reference U3TL431, K switch 1, K2; Its K switch 1, K2 are controlled by central microprocessor U1.Co-shaft duplex potentiometer is made up of two independent potentiometers, and each potentiometer is the signal of telecommunication by signal conditioning circuit separately by electric resistance changing, and the signal of telecommunication obtains corresponding digital signal after microprocessor carries A/D conversion; In Fig. 2, RPD1 is a potentiometer in co-shaft duplex potentiometer, and measuring circuit adopts the mode of 4 line systems to design, and in the circuit of 4 line systems, needs accurate constant-current source, in addition, due to the output signal of unit measuring circuit a little less than, signal need to be amplified, after amplification, carry out again A/D conversion.In Fig. 2, U1 is LPC2387 central processing unit, and RPD1 selects WDD35 conduction to mould potentiometer, in constant-current source circuit design, selects TLC2652 high precision operating amplifier and voltage-reference TL431.
In Fig. 2, K switch 1, K2 are subject to microprocessor control, and when in shown position, voltage-reference U3 makes the V of U2
+end input voltage is 2.5V, according to ideal operational amplifier feature, has V
+=V
-=2.5V and V
-end no current flows out, and the electric current that flows through R1 is 0.5mA.No current in R3 and R4, having electric current in potentiometer RPD1 to equal R1 electric current is 0.5mA, the constant-current source that the potentiometer RPD1 electric current of flowing through is 0.5mA, differential amplifier circuit fortune side is TLC2652.R0 and R1 select has the high-accuracy resistance that same temperature is floated, and when K switch 1, K2 are during all in another location, the electric current of the R0 that flows through is also constant 0.5mA, will be temperature-compensating and calibration use.
In Fig. 3, the function of amount detection circuit U7 has been the automatic detection of antiaircraft gun operation bullet amount, and main circuit will be made up of IDB40NA approach switch J1 and 4N25 photo-coupler U5, central microprocessor U1; J1 is approach switch IDB40NA, artillery shell is through out-of-date, output level changes, U5 is 4N25 photo-coupler, and Main Function is anti-interference and complete electrical level match, and proximity transducer operating voltage is 12 volts, 3.3 volts of central processing unit operating voltages, U1 is LPC2387 central processing unit, completes the low level real-time detection of the height of approach switch, to obtain the real-time detection of number of rounds.
In addition, the angle of pitch that pitching testing circuit mainly completes antiaircraft gun operation detects automatically, and main circuit will be made up of obliquity sensor BX-1XN-232 and corresponding interface circuit.Gsm module main circuit will complete after the antiaircraft gun end of job by the azimuth of operation, the angle of pitch, by data such as bullet amount, operation beginning and ending times and be real-time transmitted to shadow administrative department by TCP/IP mode, and circuit is made up of GTM900 and corresponding interface circuit.
Clock circuit obtains the clock of circuit operation, and the antiaircraft gun operation beginning and ending time is provided, and circuit is by DS1302 and corresponding the electric circuit constitute.Power control circuit completes the functions such as the automatic protection of capacity check, automatic charge control, battery low-electricity quantity and the high low temperature of environment of battery.Serial port circuit completes the data communication interface of crystal display button or computer and this device, is mainly made up of MAX232 and peripheral circuit.The long-time storage of the setting of ferroelectric memory circuit implement device parameter and antiaircraft gun operation significant data, main circuit will be made up of FM25H20 and respective peripheral circuit.
Liquid crystal display and function button part mainly complete all information and show and to installing man-machine interactive operation, comprise the functions such as system parameter setting, clock adjustment, scaling instruction TCP/IP address, azimuth pitch angle arrange.This modular circuit can be independent of outside harvester.
Fig. 4, Fig. 5 provide a kind of detection method of the numeralization collecting device based on figure antiaircraft gun job parameter, especially installation aspect.Fig. 4 has shown the installation site of described device on figure antiaircraft gun, has the hole of 2 6mm on figure antiaircraft gun, is just in time applicable to this equipment and installs.In addition, pitch sensor is just designed in equipment, does not need independent installation.Fig. 5 has shown that described co-shaft duplex potentiometer RPD1 is the rotation place U8 that is arranged on figure antiaircraft gun azimuth controller with the form of coaxial complementary multiturn potentiometer.Described IDB40NA approach switch J1 is mounted in the U9 of ejector opening place of antiaircraft gun, and while often exiting a shell case through IDB40NA approach switch J1, IDB40NA approach switch J1 just exports a low and high level and changes, thereby detects number of rounds.
The present invention also provides the detection method of the numeralization collecting device based on figure antiaircraft gun job parameter, and especially the coaxial complementary multiturn potentiometer azimuth measuring method of the duplex based on figure antiaircraft gun, comprises the steps:
(1) adopt based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex, each potentiometer of duplex potentiometer in device is carried out to resistance measurement, because duplex is that the complementary full azimuth that can realize antiaircraft gun is measured;
(2) add a suitable power supply to duplex potentiometer two ends, the centre tapped voltage of potentiometer changes with potentiometer rotation, has realized the conversion of voltage measurement to angular surveying;
(3) the voltage of measuring center tap can measure potentiometer resistance, thereby obtain azimuth measurement data at any angle, i.e. the measurement data of the figure antiaircraft gun machinery anglec of rotation;
(4), under the instruction of central microprocessor LPC2387, deposit azimuth determination data in memory.Described azimuth detection design is to adopt " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex ".
Big gun is penetrated the key technology that operation azimuth determination is collector, can accurately measure the azimuth of antiaircraft gun by adopting " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex ", due to the rotation of potentiometer machinery, its resistance is different, by measuring resistance just can measuring appliance the angle of rotation, in fact the mechanical anglec of rotation of multiturn potentiometer is 360 °, and electrical equipment angle does not reach 360 °, conventionally only have 340 ° of left and right, its senior especially price is also very expensive, can reach 350 ° of left and right, so just there is measurement blind area, propose thus " based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex ", by the resistance measurement of each potentiometer to duplex potentiometer, because duplex is the complementary azimuth determination that just can realize antiaircraft gun, the measurement of resistance adds a suitable power supply normally to potentiometer two ends, the centre tapped voltage of potentiometer changes with potentiometer rotation, voltage by measuring center tap just can be measured potentiometer resistance, thereby obtain the mechanical anglec of rotation, solved the blind area of potentiometer in rotary course.
Algorithm design principle a: potentiometer has a blind area in rotary course, such as electrical measurement scope is just to have the blind area of 30 ° such as 0 °～330 °, in this blind area, measured value is 0 entirely, cannot reach the requirement of system.Therefore system adopts duplex potentiometer to complete measuring at any angle.
Potentiometer is to install with the form of coaxial complementation, add after power source to them, they simultaneously all can be to voltage dividing potential drop, two AD chips also all be sampled to got voltage, when be taking first potentiometer as benchmark? when again should be taking second potentiometer as benchmark? how to avoid the problem that blind area voltage cannot be measured? these two potentiometers this how co-ordination completes the measurement to angle jointly? here just involve the problem that a thresholding is set.Setting thresholding is U
l～U
h(if potentiometer voltage is 3.3 volts, is chosen as 0.9～2.7 volt).The voltage of getting in real time when potentiometer 1 is at U
land U
hbetween time, now just take measurement of an angle with potentiometer 1; The magnitude of voltage of getting in real time when potentiometer 1, beyond threshold value, now just takes measurement of an angle with potentiometer 2.
If total voltage is U
0, the voltage that potentiometer 1 is got is in real time U
1, the voltage that potentiometer 2 is got is in real time U
2.When real-time the got voltage of potentiometer 1 is in thresholding, i.e. U
l≤ U
1≤ U
htime:
The voltage of getting in real time when potentiometer 1 beyond thresholding, i.e. U
1< U
lor U
1> U
htime:
Wherein, θ---azimuth, zero graduation can be revised according to actual installation position;
U
2B---the voltage recording when potentiometer 1 is U
htime potentiometer 2 magnitude of voltage, and this value can Measurement accuracy out.
Calculate rear θ, just obtain relative bearing, equipment is installed on antiaircraft gun and proofreaies and correct the rear antiaircraft gun true bearing angle that just can obtain by zero graduation.
Use procedure after apparatus of the present invention are installed:
Device and installation of sensors are on antiaircraft gun, turn on the power switch, check each indicator lamp, after indicator lamp is normal, device has just entered azimuth and the angle of pitch of real time automatic detection antiaircraft gun, now can carry out antiaircraft gun operation, when antiaircraft gun completes the synchronization of first bombard operation, just automatically record the time started of operation and the azimuth of this bullet of firing, the angle of pitch, start timer simultaneously, if do not have operation just the last activity duration to be recorded in 20 seconds (this time can arrange as required), and the mode of passing through note or TCT/IP is by the beginning and ending time of this subjob, the azimuth pitch angle data of bullet of often firing is transmitted into administrative center.Whole process, except processing Switching Power Supply, all the other processes complete entirely automatically.
Claims (4)
1. the numeralization collecting device based on figure antiaircraft gun job parameter, comprises central microprocessor (U1), orientation detection circuit (U6), pitching testing circuit, amount detection circuit (U7), gsm module circuit, clock circuit, power control circuit, ferroelectric memory circuit; It is characterized in that, described orientation detection circuit (U6) is made up of a complementary multiturn potentiometer of coaxial duplex and corresponding signal modulate circuit, co-shaft duplex potentiometer is made up of two independent potentiometers, each potentiometer is the signal of telecommunication by signal conditioning circuit separately by electric resistance changing, and the signal of telecommunication obtains corresponding digital signal after central microprocessor (U1) carries A/D conversion; Described amount detection circuit (U7) is mainly made up of approach switch IDB40NA and 4N25 photo-coupler (U5), described central microprocessor (U1); Described central microprocessor (U1) is connected with above-mentioned each circuit by data/address bus/address bus/control bus; Described corresponding signal modulate circuit refers to that the first one-channel signal modulate circuit is identical with the second one-channel signal modulate circuit and circuit, mainly comprise co-shaft duplex potentiometer RPD1, described central microprocessor (U1), TLC2652 high precision operating amplifier (U2), TL431 voltage-reference (U3), AD8221 instrumentation amplifier (U4), K switch 1, K2; Its K switch 1, K2 are controlled by described central microprocessor (U1).
2. a kind of numeralization collecting device based on figure antiaircraft gun job parameter according to claim 1, it is characterized in that, described co-shaft duplex potentiometer RPD1 is rotation place (U8) that is arranged on figure antiaircraft gun azimuth controller with the form of coaxial complementary multiturn potentiometer.
3. a kind of numeralization collecting device based on figure antiaircraft gun job parameter according to claim 1, it is characterized in that, IDB40NA approach switch (J1) is arranged on the ejector opening place (U9) of antiaircraft gun, while often exiting a shell case through IDB40NA approach switch (J1), IDB40NA approach switch (J1) is just exported a low and high level and is changed, thereby detects number of rounds.
4. a detection method for the numeralization collecting device based on figure antiaircraft gun job parameter according to claim 1, is characterized in that, comprises the steps:
(1) adopt based on the coaxial complementary multiturn potentiometer azimuth determination method of duplex, each potentiometer of duplex potentiometer is carried out to resistance measurement, because duplex is that the complementary full azimuth that can realize antiaircraft gun is measured;
(2) add a suitable power supply to potentiometer two ends, the centre tapped voltage of potentiometer changes with potentiometer rotation, has realized the conversion of voltage measurement to angular surveying;
(3) the voltage of measuring center tap can measure potentiometer resistance, thereby obtain azimuth measurement data at any angle, i.e. the measurement data of the figure antiaircraft gun machinery anglec of rotation;
(4) described central microprocessor (U1) adopts LPC2387 chip, under its instruction, deposits azimuth determination data in memory.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103808209B (en) * | 2014-02-21 | 2016-06-01 | 成都信息工程学院 | A kind of based on shadow antiaircraft gun operation numeralization collecting device azimuth algorithm |
| CN104567547B (en) * | 2015-01-08 | 2016-04-13 | 成都信息工程学院 | A kind of work data acquisition system for shadow rocket and data processing method |
| CN104932034B (en) * | 2015-06-16 | 2017-04-05 | 中国气象科学研究院 | A kind of collection of Weather modification operation data and identifying system and its method |
| CN105532339B (en) * | 2015-12-30 | 2018-06-22 | 雷神科技（天津）有限公司 | Two-way trigger type figure antiaircraft gun system |
| CN106688743A (en) * | 2016-12-29 | 2017-05-24 | 雷神科技（天津）有限公司 | Antiaircraft gun launching data online monitoring device and analyzing system |
| CN106969667B (en) * | 2017-05-10 | 2018-06-05 | 成都信息工程大学 | A kind of bullet number detection data processing method of shadow rocket meticulous process intelligent acquisition device |
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| CN1504725A (en) * | 2002-11-28 | 2004-06-16 | 上海自动化仪表股份有限公司 | Multiple rotating absolute encoder |
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| US4772836A (en) * | 1985-09-27 | 1988-09-20 | S.A.M.M. - Societe D'applications Des Machines Motrices | Motorized electric control device |
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