Transcript
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
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