SYSTEM

TECHNICAL FIELD

The present disclosure relates to a weapon control system for remote control of a weapon, said weapon control system comprising a weapon support. The present disclosu re fu rther relates to a method for control of a weapon control system.

BACKGROUND ART

It is today known weapon control system a for remote control of a weapon The weapon control systems comprise a weapon support a rranged to hold a weapon, a motor arranged to operate so as to rotate the weapon support and a servo control arrangement arranged to feed signals to the motor to control of the rotation of the weapon support. The wea pon control systems are control led from remote control units. The weapon control systems may be mounted on for example land vehicles or sea based vehicles.

SUMMARY OF THE INVENTION

One object of the present invention is to improve the behaviour of such weapon control systems for example when not powered.

In this disclosure, a solution to the problem outlined above is proposed. The present disclosure relates to a weapon control system for remote control of a weapon. The weapon control system comprises a weapon support, at least one motor/generator, a first servo control arrangement, at least a second servo control arrangement and a servo control arrangement switch. The weapon support is adapted to hold a weapon. The at least one motor/generator is arra nged to rotate the weapon su pport in at least one plane. The first servo control arrangement is arranged to feed cu rrent/signals to the at least one motor/generator for control of the rotation of the wea pon su pport in the at least one plane. The at least a second servo control arrangement is arranged to feed current/signals to the at least one motor/generator for control of the rotation of the weapon support in the at least one plane. The servo control arra ngement switch is arranged to switch between connecting the first and at least one second servo control arrangement to the at least one motor/generator.

Accordingly, the at least one motor/generator is always connected to a servo control arrangement, either the first servo control arrangement or the at least one second servo control arra ngement. Thereby, the use of the motor/generator can be optimized . The motor/generator can be adapted to act as a generator for example during circumstances when power is lost. The first or second servo control arrangement can be ada pted for control when the motor/generator acts as a generator. Accordingly, the connected servo control a rrangement ca n be adapted to improve behaviour of the weapon du ring these circumstances, even if power is lost.

The servo control arrangement switch is in one option arranged to switch between connecting the at least one second servo control arrangement in a powered mode of operation and the first servo control arrangement in a non-powered mode of operation. Accordingly, the at least one second servo control arra ngement can be adapted for control when the weapon control system in a powered mode of operation. The first servo control arrangement can be adapted for control when the weapon control system is in the non-powered mode of operation. The motor/generator ca n then be adapted to acts as a generator in this non-powered mode of operation. An improved behaviou r of the handling of the weapon in the non-powered mode of operation can then be provided .

In one option, the servo control arrangement switch is arranged to receive a selector signal. The servo control arrangement switch is further arranged to switch between connecting the first and at least one second servo control a rrangement to the at least one motor/generator based on the selector signal . The selector signal may indicate a n event occasioned state of the weapon control system. The event occasioned state may for exam ple be at least partly occasioned by an event caused by input from a remote control unit of the weapon control system and/or caused by a fail u re in the weapon control system. Each state may be associated to a powered mode of operation or a non-powered mode of operation. The weapon control system ca n be designed for switching to connecting to the first servo control arrangement based on the value of the selector signa l . The connecting of the first servo control arrangement may be fu nctioni ng as a safety feature for safe control.

The weapon control system comprises in one option further a control element arranged to obtain the selector signal.

The control element may be arranged to obtain the selector signal based on an event occasioned state of the control element. Each state of the control element may be associated to a powered mode of operation or a non-powered mode of operation. The states may comprise at least one state at least partly occasioned by an event caused by input from a remote control unit. The states may comprise at least one state at least partly occasioned by an event caused by a failure in the weapon control system.

The wea pon control system comprises further in one option a remote control unit.

The remote control unit may comprise user input means for example comprising a servo switch. The remote control unit may be arranged to transmit event information to the control element related to the setting of the user input means.

The remote control unit may comprise a control hand le. The remote control unit may be arranged to transmit event information to the control element related to whether the control handle is in an active position or not, such as whether a dead man's grip of the control handle is activated or not. The connecting of the first servo control arrangement upon reception of a selector signal indicating that the dead man's grip is not active may function as a safety feature for safe control . In one option a current/signal from the at least one motor/generator is fed to the connected first or second servo control arrangement.

This feature secu res that the motor/generator can act as a generator. The at least one second servo control arrangement is in one example remotely operator controlled. The at least one second servo control arrangement is arranged to receive velocity commands at least partly based on commands from the remote control unit and control the at least one motor/generator based on the received velocity commands. The first servo control arrangement is in one option a loca l servo control arrangement which is not operating according to velocity com mands.

Thereby the local servo control arra ngement can be adapted for control when the motor/generator acts as a generator.

In one option, at least when the first servo control arra ngement is connected, the motor/generator operates as a generator feeding a cu rrent/signal to the first servo control arrangement, said current/signal being occasioned by forces/accelerations acting on the weapon control system and/or a weapon mou nted thereto.

As the motor/generator acts as a generator, current from the generator can be used for supporting ma nua l movement of the weapon mounted in the weapon support of the weapon control system. For example, a person may want to rotate the weapon manually by pushing/pu lling the weapon. The cu rrent generated from a rotation caused by the push/pull of the wea pon can be used for facilitating the manual movement of the weapon. Further, if the weapon is subjected to unwanted forces such as strong winds or accelerations (due to movements in a platform where the weapon control system is located), the cu rrent generated from the rotation of the weapon induced can be used for dampening and/or smoothening the rotation of the weapon. In one option, the first servo control arrangement is a rranged to feed current/signals to the at least one motor/generator for control of the rotation of the weapon support so as to dampen accelerations and/or so facilitate manual movement of a weapon mou nted thereto. Weapon control system comprises in one option further at least one weapon held by the weapon support.

The at least one weapon thereby forms part of the weapon su pport system.

The weapon control system comprises in one option a first motor/generator arranged to rotate the weapon support in a first plane and a second motor/generator arranged to rotate the weapon su pport in a second pla ne different from the first plane, wherein each motor/generator is fed by signals from a corresponding first or second servo control arrangement.

Thereby the weapon can be rotated in three dimensions.

The present disclosure further relates to a method for control of a weapon control system. The weapon can be held by a weapon support. At least one motor/generator is arranged to rotate the weapon support in at least one plane. The at least one motor is controlled by a connected servo control arrangement. The method comprising steps of determining a state of the weapon control system from a plu ra lity of states, wherein each state is associated to a non-powered mode of operation or a powered mode of operation, if the connected servo control a rrangement is adapted for control in the mode of operation associated to the determined state, maintain the connection to the connected servo control arra ngement, if the connected servo control arrangement is not adapted for control in the mode of operation associated to the determined state, switch con nection to connect an alternative servo control arrangement adapted for control in the mode of operation associated to the determined state, a nd feed current/signals from the connected servo control arrangement to the at least one motor/generator for control of the weapon su pport in accorda nce with the determined state of the weapon control system.

In one option, a first servo control arrangement of the servo control arrangements is adapted for control in the non-powered mode of operation and a second servo control arrangement of the servo control arrangements is ada pted for control in the powered mode of operation.

The method for control of a weapon comprises further in one option a step of obtaining a selector signa l based on the determined state of the weapon control system, wherein the con nection is maintained or switched based on the selector signal.

In one option, the states of the weapon control system a re event occasioned states, wherein at least one of the states is at least pa rtly occasioned by an event ca used by input from a remote control unit. In one option, the states of the weapon control system are event occasioned states, wherein at least one of the states is at least pa rtly occasioned by an event caused by a failure in the weapon control system.

The method for control of a wea pon comprises further in one option a step of feeding a current/signal from the at least one motor/generator to the connected first or second servo control a rrangement.

The at least one second servo control arra ngement obtains in one option a

current/signal to control the velocity (rotational speed) of the motor/generator.

The at least one second servo control arra ngement is in one option at least partly remotely operator controlled. The at least one second servo control arrangement receives velocity comma nds at least partly based on commands from the remote operator, and controls the at least one motor/generator based on the received velocity comma nds. In one option, the first servo control arrangement is a local servo control

arrangement which is not operating according to velocity commands.

In one option, at least when the first servo control arrangement is connected, the motor/generator operates as a generator feeding a current/signal to the first servo control arrangement, said current/signal being occasioned by forces/accelerations acting on the weapon control system and/or a weapon mounted thereto. The method fu rther comprises the step of obtaining current/signals for the at least one

motor/generator for control of the rotation of the weapon su pport, based on the current/signal generated by the generator, so as to dampen accelerations and/or so facilitate manual rotation of a weapon mounted thereto.

The generator may then be used for powering equipment such as search lights, a warning lamp, different types of sensors, etc. The equipment may be provided without a n extra generator or battery, thus making the weapon control system less bulky. The method for control of a weapon comprises in one option: connecting said first servo control arrangement or said at least one second servo control arrangement to one motor/generator to rotate the weapon support in a first plane, connecting an additional first servo control arrangement or an additional at least one second servo control arrangement to an additional motor/generator to rotate the weapon support in a second plane different from the first plane, a nd feeding cu rrent/signals from the connected first and additional first servo control arrangement or the at least one second and additional second servo control arrangement to the motor/generator and additiona l motor/generator, respectively, for control of movement of the weapon su pport.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing will be apparent from the following more particular description of the example embodiments, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating the example embodiments.

Fig 1 discloses schematically a weapon control system according to a first example. Fig 2 discloses schematically a weapon control system according to a second example.

Fig 3 discloses schematically a weapon control system according to a third example.

Fig 4 illustrates a first servo control arrangement in a weapon control system according to a first example.

Fig 5 illustrates a first servo control arrangement in a weapon control system according to a second example.

Fig 6 is a block scheme illustrating the components of a weapon control system according to one example.

Fig 7 is a flow chart illustrating a method performed in a weapon control system.

DETAILED DESCRIPTION

Aspects of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. The apparatuses and methods disclosed herein can, however, be realized in many different forms and should not be construed as being limited to the aspects set forth herein. Like numbers in the drawings refer to like elements throughout. The terminology used herein is for the purpose of describing particular aspects of the disclosure only, and is not intended to limit the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

In Fig 1, an example of a weapon control system 100 for remote control of a weapon is disclosed. The weapon control system 100 comprises a weapon support 101, a

motor/generator 102, a first servo control arra ngement 103, at least one second servo control arrangement 104 a nd a servo control arra ngement switch l05 arranged to connect the first or a second servo control a rrangement to motor/generator 102. The motor/generator 102 is arra nged to rotate the wea pon su pport 101 in at least one plane. The weapon control system may be placed or mounted on a ny mova ble or stationary platform. The movable platform is for exa mple a vehicle such as a land based vehicle or a sea based vehicle. The land based vehicle may be a tank. The sea based vehicle may be a ship. The weapon control system may be used for example in military applications, police applications and security applications. In the illustrated example, the weapon support 101 is mou nted on top of the motor/generator 102. The weapon support 101 is mounted on top of the

motor/generator 102 to follow the rotation of the motor/generator. Thus, when the motor/generator 102 rotates, the weapon support follows the rotation of the motor/generator 102. The motor/generator is mounted in relation to a su pporting structure (not shown) to rotate the weapon su pport 101 in at least one plane. The weapon support is characteristically rotated in one plane such as horizontal rotation or a vertical rotation in relation to the supporting structure.

The weapon su pport 101 is arra nged to support mounting of one or a plurality of weapons, for example two or three weapons. I n one example the weapon support comprises means for detachable arranging said at least one or a plurality of wea pons in the weapon su pport. I n one example, the wea pon(s) is (a re) permanently mou nted in the weapon support a nd forms part of the weapon control system .

The first servo control arrangement 103 and second servo control arrangement 104 are, when connected a rranged to feed current/signals 109 to the motor/generator for control of the rotation of the weapon support in the at least one plane. Further, the first servo control arrangement 103 and second servo control arrangements 104 a re, when connected, arranged to receive current/signals 108 fed from the

motor/generator. The servo control arrangement switch is arra nged to connect the second servo control arra ngement to the motor/generator in a powered mode of operation. The powered mode of operation is available when the weapon control system is powered by a powered sou rce. The servo control arra ngement switch 105 is fu rther arranged to con nect the first servo control arrangement in a non-powered mode of operation. The non-powered mode of operation is activated when the wea pon control system is not powered. In the il lustrated exa mple, the non-powered mode can be activated also during certain circu mstances when the weapon control system is powered. This will be described more in detail below. In the illustrated example, the servo control arra ngement switch 105 is arra nged to receive a selector signal 107. The servo control arrangement connector 105 is arranged to connect the first or second servo control a rrangement to the

motor/generator based on the selector signal 107.

Accordingly, the servo control arrangement switch is arranged to activate the powered mode and the non-powered mode based on the selector signal 107. The selector signal is inherently zero when the weapon control system is not powered . The servo control arrangement then connects the first servo control arrangement to the motor/generator. As soon as the weapon control system is powered, the selector signal will assu me a "high" value indicating that the weapon control system is in the powered mode. Accordingly, the motor/generator is connected to the second servo control arrangement. Thus, when the weapon control system is powered, the default value of the selector signal 107 is "high" . However, the selector signal 107 can during certain circu mstances be set to the zero value also when the weapon control system is powered. The selector signal 107 may indicate selection of the first servo control arrangement when a dead man's grip on a control handle is not active at the remote control unit. The selector signal 107 may indicate selection of the first servo control arrangement based on an operator selection that the weapon control system is not controlled from the remote control unit.

At least in the non-powered mode of operation, wherein the first servo control arrangement is connected, the motor/generator operates as a generator. In this mode of operation, the motor/generator feeds a current/signa l to the first servo control arrangement based on external infl uence on the motor/generator. For example, the weapon can be rotated manually by rotating the weapon or weapon support. A person then manually pushes or pulls the wea pon(s) or weapon support. The generator then generates a current/signal to the fi rst servo control arrangement for facilitating the movement of the weapon. In another example, the wea pon control system may be subjected to external forces (movement of the supporting structure, wind, rough sea with high waves, etc) The generator then may generates a

current/signal to the fi rst servo control arrangement for facilitating or dampening the movement of the wea pon .

Thus, for exa mple, if the weapon or weapon support is rotated by ma nual force, the motor/generator acting as generator feeds a cu rrent/signal at least partly generated by the manual force acting on the weapon or weapon support to the first servo control arrangement. The first servo control a rrangement then obtains a

current/signa l based on the cu rrents/signal fed from the motor/generator. The obtained current/signa l is then fed to the motor/generator. Th us, the obtained current/signal fed to the motor/generator can be used for supporting movement of the weapon. For exa mple, this obtained cu rrent/signal may be facilitating manual movement of the weapon. It may also be used for dampening accidental movement of the weapon for example due to strong winds or accelerations in the platform.

The first servo control a rrangement is characteristically a loca l servo control arrangement which is not operating according to velocity comma nds. The first servo control arrangement may be arranged to control the velocity of the motor/generator

The second servo control a rrangement is characteristically remotely operator controlled. The second servo control arrangement can be arranged to receive input signals 110 from a remote control unit and control the motor/generator 102 based on the signals from said remote control unit. The second servo control a rrangement may be arranged to control the velocity of the motor/generator.

In Fig 2, an example of a weapon control system 200 for remote control of a weapon is disclosed. The weapon control system 200 comprises a weapon support 101, a motor/generator 102, a first servo control arrangement 103, at least one second servo control arrangement 104, a servo control arra ngement switch l05 arranged to connect the first or at least one second servo control a rrangement to the

motor/generator and a remote control unit 211. The motor/generator 102, first servo control arrangement 103, at least one second servo control arrangement 104, and servo control a rrangement switch l05 and the operations thereof are described in relation to Fig 1. The remote control unit 211 is arranged to obtain the selector signal 107.

In the illustrated example, the remote control unit 211 comprises user input means such as a servo switch 230. The servo switch 230 can be formed in a user interface of the remote control unit 211. The servo switch may be manually operated. The servo switch may be switchable at least between a non-powered mode of operation and a powered mode of operation. The remote control unit 211 is then arranged to provide the selector signal 107 based on the setting of the servo switch. The remote control unit 211 may be arranged to generate the selector signal 107 having a zero value to indicate that the non-powered mode of operation has been selected by means of the servo switch. The remote control unit 211 may be arranged to generate the selector signal 107 having a "high" value to indicate that the powered mode of operation has been selected by means of the servo switch. Thus, in example, the selector signal 107 indicates selection of the first servo control arrangement based on an operator selection that the weapon control system is not controlled from the remote control unit.

In the illustrated example, the the remote control u nit 211 comprises user input means in the form of an activatable control handle 231. The activatable control handle 231 can be formed in the user interface of the remote control unit 211. The activatable control handle 231 is manually operated. The activatable control handle may be switchable between an inactive state and an active state. In the inactive state, the weapon control system is in one example arranged to be in the non-powered mode of operation. In the active state, the weapon control system is in one example arranged to be in the powered mode of operation. The remote control u nit 211 is then a rranged to form the selection signal based on the activation of the control handle. The remote control unit 211 may be arranged to generate the selector signal 107 having a zero value to indicate that the non-powered mode of operation has been selected when the activata ble control handle is inactive. The remote control unit 211 may be arranged to generate the selector signal 107 having a "high" value to indicate that the powered mode of operation has been selected when the activatable control handle is active. The activatable control handle is for example activated by a dead man ^' s grip. As discussed in relation to Fig 1, the servo control arrangement switch 105 is arranged to receive the selector signal 107. The servo control arra ngement switch 105 is further arranged to connect the first or at least one second servo control arrangement to the motor/generator based on the selector signal 107. In one example, the selector signal 107 indicates selection of the first servo control arrangement when a dead man's grip on a control handle is not active at the remote control unit.

The remote control unit 211 is further arranged to provide input signals 110 to the characteristically remotely operator controlled second servo control arrangement 104. The second servo control a rrangement is then a rranged to control the

motor/generator 102 based on the input signa ls from said remote control unit 211. In Fig 3, an example of a weapon control system 300 for remote control of a weapon is disclosed. The weapon control system 300 comprises a weapon support 101. The weapon support is as described i n relation to figs 1 a nd 2 arranged to su pport mou nting of one or a plu rality of weapons. In one example the weapon support comprises means for detacha ble arranging said one or a plura lity of weapons in the weapon support. In one example, the one or a plu rality of wea pon(s) is (are) permanently mou nted in the weapon support. The one or a plurality of weapons then forms pa rt of the weapon control system .

The weapon control system fu rther comprises a first motor/generator 302a arranged to rotate the weapon support in a first plane a nd a second motor/generator 302b arranged to rotate the weapon support in a second pla ne different from the first plane. In the il lustrated example, the weapon su pport 101 is mou nted on top of the first and second motors/generators 302a, 302b. The weapon support 101 is mounted on top of the first and second motors/generators 302a, 302b to follow the rotation of the first and second motors/generators 302a, 302b. Thus, when the first and second motors/generators 302a, 302b rotate, the weapon support follows the rotation of the first and second motors/generators 302a, 302b. The first a nd second motors/generators are mou nted in relation to a su pporting structu re (not shown) to rotate the wea pon su pport 101 in at least two planes. The weapon su pport is characteristically rotated in a horizontal rotation and a vertica l rotation in relation to the supporting structu re. In practice, the wea pon support is in one example mounted on the first motor/generator so as to follow the rotation of that motor/generator. Further, the first and second motors/generators are arranged on top of each other so that the first, upper motor follows the rotation of the second, lower motor. In one exam ple, the u pper motor is electrically connected to the lower motor by means of a slip ring.

In the following, the weapon control system is described in relation to a non-limiting example wherei n the second, lower motor/generator 302a is horizontally rotatable in relation to the supporting structure and the first, upper motor/generator 302b is vertically rotatable in relation to the su pporting structure. I n accordance with this example, the first motor/generator 302a is connected to a nd controlled by a first, vertical servo control arrangement 303a or at least one second, vertica l servo control arrangement 304a . The connected first, vertical servo control arrangement 303a or at least one second, vertical servo control a rra ngement 304a is arranged to feed current/signals 309a to the first motor/generator 302a for control of the rotation of the weapon support in vertical plane. Further, the connected first, vertical servo control arrangement 303a or at least one second, vertical servo control arrangement 304a is arranged to receive cu rrent/signa ls 308a fed from the first motor/generator 302a. The first and at least one second vertica l servo control arrangements comprises some or all of the featu res as described in relation to figs 1 a nd 2. Further, the second motor/generator 302b is connected to and controlled by a first, horizontal servo control arrangement 303b or at least one second, horizonta l servo control arra ngement 304b. The connected first, horizonta l servo control arrangement 303b or at least one second, horizontal servo control arra ngement 304b is arranged to feed current/signa ls 309b to the second motor/generator 302b for control of the rotation of the weapon support in the at horizontal plane. Further, the connected first servo control arrangement 303b or at least one second servo control arrangement 304b is a rra nged to receive current/signals 308b fed from the second motor/generator 302b.

The first and at least one second horizontal servo control arrangements comprises some or all of the features as described in relation to figs 1 and 2. Thus, in the illustrated exa mple each motor/generator 302a, 302b is fed by signals from a corresponding first or second servo control arrangement.

The weapon control system 300 fu rther comprises a servo control arrangement switchl05 arranged to connect the respective first or second servo control arrangement to its respective motor/generator 302a, 302b. The servo control arrangement switchl05 is arranged to connect the second servo control

arrangements to their respective motor/generator in a powered mode of operation. The servo control arrangement switch l05 is further arra nged to con nect the first servo control arrangements to their respective motor/generator in a non-powered mode of operation. The powered and non-power modes of operations were discussed in more detail in relation to fig 1.

I n the illustrated exam ple, the servo control arrangement switchl05 is arranged to receive a selector signa l 107. The servo control arrangement is arranged to connect the respective first or second servo control arrangement to the respective

motor/generator based on the selector signa l 107. The selector signal 107 was discussed in more detail in relation to fig 1.

Thus, the servo control arrangement switch is arranged to con nect to the horizontal first servo control arrangement and the vertical first servo control a rrangement in the non-powered mode of operation. Fu rther, the servo control arra ngement switchlOS is arranged to connect to the horizontal second servo control arrangement and the vertical second servo control arrangement in the powered mode of operation.

The second servo control arrangements 304a, 304b ca n be arranged to receive input signals 110 from a remote control unit (not shown) and control the respective motor/generator 302a, 302b based on the input signals from said remote control unit. In Figures 4 and 5, examples of weapon control systems 400, 500 are disclosed comprising a motor/generator 402, a servo control arrangement switch405, a first servo control arrangement 403 and a second servo control arrangement 404. The servo connector arrangement 405 is arranged to operate as discussed in relation to figures 1-3. Further the servo connector arrangement is fed with a selector signal 407. The selector signal 407 was discussed in relation to figures 1-3.

In the following, the operation of the first servo control arrangement will be described more in detail. When connected, the first servo control arrangement 403 is arranged to receive a current/signal 108 from the motor/generator 402. The received signal 108 is fed to a sensor arrangement 411 arranged to sense the signal/current. The sensor arrangement 411 comprises for example a relay, a transistor and/or a Hall sensor. Further a first potentiometer 406 is arranged in the signal path after the sensor arrangement 411. The first potentiometer is arranged to receive a sensor signal from the sensor arrangement 411 and to output a feedback signal 409 based on the sensor signal. In one example, the feedback signal 409 is proportional to the received sensor signal. The feedback signal 409 is fed back as an input to the motor/generator 402. The feedback signal is fed to the motor/generator over a line 412. Thus, the feed-back signal provides for an extra force facilitating manual movement of the weapon mounted to the weapon control system.

Further, an additional feed-back loop may be provided. This additional feed-back loop is internal in the first servo control arrangement. The additional feed-back loop feeds back the feedback signal 409 to the input to the first servo control arrangement. In practice, in the illustrated example is this achieved by an adding element 413 arranged to combine the feedback signal 409 with the current/signal from the motor/generator 402. In the illustrated example, the feed-back loop comprises a gate 414 or the like. The opening/and closing of the gate controlled by the first potentiometer 416. The first potentiometer 416 is arranged to control the gate to close when the received sensor signal exceeds a predetermined value. Upon closing of the gate 414, feedback loop to the adding element 413 is closed. Upon closure of this feedback-loop, movement of the weapon mounted to the weapon control system, characteristically due to strong winds and/or accelerations acting on the weapon, can be dampened. This may prevent or decrease damages to the weapon control system and/or weapon. The feed-back loop to the adding element 413 may also comprise a dampening element 415 such as a resistor or second potentiometer. The dampening element 415 is arranged to influence the dampening effect of the first servo control arrangement 403.

In one example, the predetermined value of the first potentiometer and/or a resistance value of the dampening element is settable. Accordingly, there may be arranged at the first servo control arrangement a user interface for setting the predetermined value of the first potentiometer and/or a resistance value of the dampening element.

When selected the second servo control arrangement 402 is arranged to receive the current/signal 108 from the motor/generator 402. The second servo control arrangement processes the received current/signal 108 and feeds a signal 409 to the generator/motor 402. In the illustrated example, the signal is fed over line 412.

In Fig 5, the weapon control system 500 further comprises a current/signal indicator 516 provided in the feedback loop to the adding element 413. The current/signal indicator 516 is arranged to indicate when the dampening feed-back loop is activated. As is clear from the above, the dampening feed-back loop is activated when the weapon control system and/or weapon(s) mounted thereto is subjected to undesirable large forces/accelerations. Thus, the current/signal indicator 516 may functions as an alarm. In one example, the current/signal indicator is arranged to provide visual and/or audio indication. The visual indication may comprise a lamp and/or a LED and/or an indication or text message on a display. The indication may be provided at the location of the weapon and/or at a remote location, such as at a remote control unit for remote control of the weapon control system. Other indications may also be used. In one example, a second current/signal indicator (not shown) may be arranged in the signal path after the first potentiometer. This second current/signal indicator then indicates that the weapon is rotating in the non-powered mode of operation. In Fig 6, a weapon control system 600 is disclosed comprising first servo control arrangement 603 and a second servo control arrangement 604. Examples of first servo control

arrangements are for example disclosed in relation to figures 4 and 5. The first servo control arrangement is in the illustrated example connected to a local Human Machine Interface, HMI, 626. The local HMI 626 comprises for example elements for setting a predetermined value of the first potentiometer and/or a resistance value of the dampening element of the first servo control arrangement in figures 4 and 5. Alternatively or in addition thereto a remote control unit 621 comprising a remote Human Machine Interface, HMI may comprise elements for setting a predetermined value of the first potentiometer and/or a resistance value of the dampening element of the first servo control arrangement in figures 4 and 5. The second servo control arrangement is for example a velocity driven servo control arrangement. A servo control arrangement selector 605 is arranged to select the first servo control arrangement 603 or second servo control arrangement 604. The servo control arrangement switch 605 receives a selector signal 107. The selector signal 107 has been discussed more in detail in relation to figures 1 to 3. In the illustrated example, the selector signal 107 is received from a local control element 620. However, the selector signal 107 may be based on information from the remote control unit 621. The remote control unit 621 is arranged to feed input signals 110 to the local control element 620 for control of the second servo control a rrangement 604.

The control element 620 comprises in the illustrated example a processor 625 and/or at least one gyro 622 and/or a position servo 623 and/or a video tracker 624. In the illustrated example, the control element 620 is arranged to feed direction commands 627 to the second servo control arrangement 604. The plane commands are calculated by the processor 626. The direction commands are calculated based on input signals from available sensors such as the at least one gyro 622 and/or the video tracker 624. The control element 620 may be arranged to calculate desired rotational positions of the weapon by means of the position servo 623 based on the input signals 110 from the remote HMI 621. The direction commands 627 may be formed also based on the calculated desired rotational positions of the weapon.

Thus, the control element 620 is arranged to obta in the selector signa l based on an event occasioned state of the control element 620. Each state of the control element is associated to a powered mode of operation or a non-powered mode of operation. The the states may comprise at least one state at least partly occasioned by an event caused by input from the remote control unit 621. The states may comprise at least one at least partly occasioned by an event caused by a failure in the weapon control system.

In Fig 7, an example of a method 700 for control of a weapon control system is illustrated. A weapon can be held by a weapon support. At least one motor/generator is arranged to rotate the weapon su pport in at least one plane. The at least one motor is controlled by a connected servo control arrangement.

The method com prises a step of determining 740 a state of the weapon control system from a plura lity of states. Each state is associated to a non-powered mode of operation or a powered mode of operation,

If the connected servo control arrangement is adapted for control in the mode of operation associated to the determined state, the connection to the connected servo control arrangement is maintained 741 in a next step. If on the other hand the connected servo control arrangement is not adapted for control in the mode of operation associated to the determined state, the connection is switched 742 to connect an alternative servo control arra ngement ada pted for control in the mode of operation associated to the determined state. The states of the weapon control system may be event occasioned states. In one example, at least one of the states is at least pa rtly occasioned by an event caused by input from a remote control unit. I n one additional or alternative example, at least one of the states is at least partly occasioned by an event caused by a failure in the weapon control system. In different embod iments, a first servo control a rra ngement of the servo control arrangements is adapted for control in the non-powered mode of operation and/or a second servo control arrangement of the servo control arrangements is adapted for control in the powered mode of operation. The at least one second servo control arra ngement obtains in different embodiments a cu rrent/signa l to control the velocity ( rotational speed) of the motor/generator.

The second servo control arrangement may be at least partly remotely operator controlled. Accordingly, the at least one second servo control arra ngement receives velocity commands at least partly based on com mands from the remote operator, and controls the at least one motor/generator based on the received velocity commands. In one embodiment, the first servo control a rrangement is a local servo control arrangement which is not operating according to velocity commands.

At least when the first servo control arrangement is connected, the motor/generator may operate as a generator feeding a current/signa l to the first servo control arrangement. The current/signa l is occasioned by forces/accelerations acting on the weapon control system a nd/or a weapon mounted thereto. The method fu rther comprises the step of obtaining cu rrent/signals for the at least one motor/generator for control of the rotation of the weapon support, based on the cu rrent/signal generated by the generator, so as to dampen accelerations and/or so facilitate manual rotation of a wea pon mounted thereto.

The method comprises optionally a step of obtaining 745 a selector signa l based on the determined state of the weapon control system . The connection is then maintained or switched based on the selector signal.

Thereafter, current/signals are fed 743 from the connected servo control

arrangement to the at least one motor/generator for control of the weapon su pport in accordance with the determined state of the weapon control system .

The method further comprises a step of feeding 744 a current/signal from the at least one motor/generator to the con nected first or second servo control arrangement.

In different embodiments, the weapon su pport is rotated in a first plane and a second plane different from the fi rst plane. The method for control of a wea pon control system may comprise connecting said first servo control a rrangement (103) or said at least one second servo control arrangement (104) to one motor/generator to rotate the weapon su pport in the first plane, connecting an additional first servo control arrangement ( 103) or an additiona l at least one second servo control arrangement ( 104) to an additiona l motor/generator to rotate the weapon su pport in the second plane different from the first plane, and feeding current/signa ls from the connected first and additional first servo control arrangement or the at least one second a nd additiona l second servo control arrangement to the motor/generator and additional motor/generator, respectively, for control of movement of the weapon support.

In accordance with these em bodiments, the step of mai ntaining connection 741 or switching connection 742 is made for both motors/generators. Further, the step of feeding currents/signals to the motors/generators 743 for control of movement of the weapon su pport comprises in accordance with this example feeding currents/signals from the connected first servo control arra ngement or the connected at least one second servo control a rrangement to the motor/generator and feeding additional cu rrents/signals from the additional first servo control arrangement or the connected at least one additional second servo control arrangement to the additional motor/generator. Thus, different cu rrents/signa ls are fed to the respective motor/generator for control of the movement of the weapon support in the first pla ne a nd the second pla ne.

Further, the step of feeding a cu rrent/signa l from the at least one motor/generator to the connected first or at least one second servo control arrangement 744 comprises in accordance with this example that the motor/generator feeds a current signal to the connected first or at least one servo control arra ngement and the additiona l motor/generator feeds a current/signa l to the connected additional first or at least one additional second servo control arrangement. However, in accorda nce with this example, the connection of the fi rst servo control arrangement or the second servo control a rrangement is characteristically

coordinated such that the first servo control arrangement and the additiona l first servo control arrangement are connected at the same time. Consequently, the second servo control a rrangement a nd the additional second servo control arrangement are connected at the same time.

In some implementations and according to some aspects of the disclosure, the functions or steps noted in the blocks can occur out of the order noted in the operational illustrations. For example, two blocks shown in succession can in fact be executed substantially concurrently or the blocks can sometimes be executed in the reverse order, depending upon the functionality/acts involved. In the drawings and specification, there have been disclosed exemplary aspects of the disclosure. However, many variations and modifications can be made to these aspects without substantially departing from the principles of the present disclosure. Thus, the disclosure should be regarded as illustrative rather than restrictive, and not as being limited to the particular aspects discussed above. Accordingly, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation.

It should be noted that the word "comprising" does not necessarily exclude the presence of other elements or steps than those listed and the words "a" or "an" preceding an element do not exclude the presence of a plurality of such elements. It should further be noted that any reference signs do not limit the scope of the claims, that the example embodiments may be implemented at least in part by means of both hardware and software, and that several "means", "units" or "devices" may be represented by the same item of hardware.

In the drawings and specification, there have been disclosed exemplary embodiments. However, many variations and modifications can be made to these embodiments. Accordingly, although specific terms are employed, they are used in a generic and descriptive sense only and not for purposes of limitation, the scope of the embodiments being defined by the following claims.