Automation in howitzer

Present by

1. Gajanan S. Gunjal

2. Prathmesh R. Kumbhare

3. Rohan J. Bobhate

Guided by

Prof. N M KARAJANGI

History of howitzerScenario * without automation * with automation How automation can be brought into the picture * Fuzzy * servo mechanism & Math modelling Simulation and compensationAdvantages / disadvantagesFuture modification

AGENDA

Indirect projectile firing mechanism

Based on Principle of Projectile motion * Formula

iN brief

Range = (velocity) sin2(angle) /2*gravity 2

Traditional howitzer firing process

Draw backs in manual firing methods

1) Low firing rate

2) Manual error can’t be eliminated

3) Accuracy depend on how experience solder is

4)Time consuming during moving howitzer vertically and horizontally

From manual to automatic

Replace all the manual operated wheel by servo motor

Design a drivers for servo motor

Assign an intelligent controller for precise “motion control” such as

Fuzzy

GENERAL BLOCK DIAGRAM

Fuzzy Systems

Fuzzy Knowledge base

Input Fuzzifier InferenceEngine Defuzzifier Output

Fuzzifier

Fuzzy Knowledge base

Fuzzy Knowledge base

I nput Fuzzifier I nferenceEngine Defuzzifier OutputInput Fuzzifier I nferenceEngine Defuzzifier Output

Converts the crisp input to a linguistic variable using

the membership functions stored in the fuzzy

knowledge base.

Inference EngineFuzzy

Knowledge baseFuzzy

Knowledge base

I nput Fuzzifi er I nf erenceEngine Defuzzifier OutputInput Fuzzifi er I nf erenceEngine Defuzzifier Output

Using If-Then type fuzzy rules converts the fuzzy input to the fuzzy output.

Defuzzifier

Fuzzy Knowledge base

Fuzzy Knowledge base

I nput Fuzzifi er I nferenceEngine Defuzzifier OutputI nput Fuzzifi er I nferenceEngine Defuzzifier Output

Converts the fuzzy output of the inference engine

to crisp using membership functions analogous to

the ones used by the fuzzifier.

DefuzzifierFuzzy

Knowledge baseFuzzy

Knowledge base

I nput Fuzzifier I nferenceEngine Defuzzifier OutputI nput Fuzzifier I nferenceEngine Defuzzifier Output

• Converts the fuzzy output of the inference engine to crisp using membership functions analogous to the ones used by the fuzzifier.

• Five commonly used defuzzifying methods:– Centroid of area (COA)– Bisector of area (BOA)– Mean of maximum (MOM)– Smallest of maximum (SOM)– Largest of maximum (LOM)

DefuzzifierFuzzy

Knowledge baseFuzzy

Knowledge base

I nput Fuzzifi er I nferenceEngine Defuzzifier OutputI nput Fuzzifi er I nferenceEngine Defuzzifier Output

DefuzzifierFuzzy

Knowledge baseFuzzy

Knowledge base

I nput Fuzzifi er I nferenceEngine Defuzzifier OutputI nput Fuzzifi er I nferenceEngine Defuzzifier Output

( ),

( )

AZ

COAA

Z

z zdzz

z dz

( ) ( ) ,BOA

BOA

z

A Az

z dz z dz

*

,

{ ; ( ) }

ZMOM

Z

A

zdzz

dz

where Z z z

Rule's

Aggregate

All Steps Together looks like

Defuzzification

Introduction

● MATLAB fuzzy logic toolbox provides facility for the development of fuzzy-logic systems using− graphical user interface (GUI) tools− command line functionality

● There are five primary GUI tools− Fuzzy Inference System (FIS) Editor− Membership Function Editor− Rule Editor− Rule Viewer− Surface Viewer

GUI Tools

Methods for computing firing angle

● Three different methods are implemented for computing firing angle of the HOWITZER:

● 1. Differential equation trajectory method.● 2. Fuzzy logic method.● 3. Firing table reading method.

● The values obtained are compared and conclusions are made.

Particular case for the experiment

● Taking one case for taking readings :● Projectile of 155mm standards is fired at 3500 meters and

wind velocity of 5 knots.

METHOD OF DIFFERENTIAL EQUATION Trajectory in realistic model with firing angle of vacuum model

SIMULINK model to compute final firing angle

Trajectory for the final firing angle computed using SIMULINK model

Database compiled in excel sheet

METHOD OF FUZZY LOGIC Fuzzy logic toolbox in MATLAB

Fuzzy rule viewer

SIMULINK model for fuzzy system

METHOD OF READING FIRING TABLE Angle of firing extracted from the firing table of army manual

Software Results

● For the particular case following results are obtained:

● 1. Firing angle for differential equation method is 9.4 degree.

● 2. Firing angle for fuzzy logic method is 9.5 degree.● 3. Firing angle extracted from firing table is 9.7 degree.

● These all results are in close agreement with each other.

Thank you