Defense Technical Information Center - jJFlow rate control is mecha-nized by spool position feedback using a flapper nozzle actuated by the spool. The fluidic stabilization system

HDL-CR-8O.1O01i LVE jJJ W A Stilly of Fl1116llIcsu StAb~lltZ81tem SYstlsu

*,14 for Combat Vehicles: Fital 211191t

by Chula L Abbftt

I9w I -m M. Tommy

Prepinred by

Under cottra1DAAC.30-77-C-O100

I D~AAGWS7"--004

U.S. Army Electronict Roesarc1ýand Development Cornmentj

Harry Diamond Laboralorwe

I AdeipH, MO 207S3

Aeprnu fmt pwae r,4.mw diwlbuaoe. un~hwif'd.

0 16052~~wm71 - -- j! -*

a dI

The firadings in this report are not tobe construed as an official Dtpartment ofthe Army position unless so designated byother authorized dooments.

Citation of manufaoturers' or tradenames does not constitute an official en-dorsement or approval of the use thereof.

Destroy this report when it is nolonger needed. Do not return it to theoriginator. .4

I

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,I

PAGESARE

MISSINGIN

ORIGINALDOCUMENT

0 INAL RE ST. 4

.1117,#UD OF (/LUTIDIC f~

PU 4TABLI AIONSSTE_

FO PKr JHCESRUr10

j -0 n.-iAbbott A

I ~L. 1. Chambliaas Documentation

~~~~~~ BTpetarDeelopment Engineek

XDI I. D SchafferyWr. Project Engineer

IF* AIRKNEAEOM MANUPACTURING COMPANY

0 -one", *AIA

REPORT NO. 41-2304B

TOTAL PAGES 1;i

1'

,, ,', ATTACHMENTS: HDL-CR-80-100-1

I~i

REV BY APPýVED DATE PAGES AND/oR PARAGRAPHS AFFECED

NC OKI TBT/DJS 6-28-79 - Original IssueA OKI TBT/DJS 2-15-80 Reference made to second draft

issue of attached reoort.B OKI TBT/DJS 4-28-80 Subject report revised to incor-

porate changes requested by HDL 'Iunder Letter DELHD-R-CM-FS,dated March 6, 1980.

8I

L . .. .6.,W q, . .,• ,, ....i . . ' ' ' i"I •7 -•.. ... i' ": ' ' . ...::.. .. i' :: S

AIRKUEARCH MANU~rACTURINOS COMPANY or' ARIZONA

PHaENIX, A011RaNA

FINAL REPORT

GUN STABILIZATION SYSTEMSAT:Ari 8,18

41-2304B DTtArl2p18

The attached report is the final report for a study programconducted by AiResearch for the Department of the Armyr Harry DiamondLaboratories, under Contracts DAAG39-77-C-0l00 and DAAG-78-C-0049.

An AiResearch report number has been assigned to the report forUt.record and retrieval purposes.

0. K. IsaacsEngineering Sciences

Attachment: Report with above title

DDCTAIu;jjoin. .

I 41-2304BPage 1 of 1.

UNCLASSIFI1EDSECUSITY CLAaIIIIIFCATION OF TWIS PAGE fUSo DNA Eaftnol

REPORT DOCUMAEWTATION PAGE WMAD N48MTW5II

3s. 0VT AESGSI"No. 37 UEISET ATALOG qUMOE

HDL-CR-80-0- ogVN __________

4.TITLE fiOW SuU68610 L. TYPE OF 111111011 a 00C46 CoVumsC

L A Study of Fluidic Gun inal 4-6-77tfor 4-3r-7Stabilization Systems .ld4677t -076.PEAONPOING 01M. MEPOOT NM

~ I '~ For Combat Vehicles :Final Report 41____230g____7. AUTWOR(A) IL COMNTECoT ON GRANT NMUNIIIII(J

Charles L. Abbott Stephen M. Tennecy DAAG39-77-C-0l0O 0U Thmas~. i~~ttu Charles Paras DAAG39-78-C-0049111 , pPPOMwIMP1 ORGANIZATIONM AME AMC ACOMMS 1@. 51 gVAIN . &

AiResearcb Manufacturing Co. of Arizona An Vw gui

Ill South 34th StreetV ~ ~~Poeix AZ 85010 ____________

It. CONT111L6ING OPFFCE HAMS AC A09111611 It. REPORTY DATEHarry Diamond Laboratories April 1980 '

2800 Powder Mill Road I. W1deaR OF PAGI

Ade3.ehi MD 20783 ,

14, VNONITURING AOENCY AN AM AQVIIIIII dUII(OF A d ifft to 641M

Unclassi fled

I*. 061TRIGUTISM ZTATEMENTf to! hi Ad. ep.)

Approved for public releasel distribution unlimited.

It, SUPPLEMENTARY MOVES1.1HDL Projects: 304834, 356834DRCMS Code: 8-612603.Hl.80011.GG-GGPRON: Al8R0lO7O1AlA, 1A825538GGA9

wa tbliainsstdeveoemo tblzto ftemi

Fluidicdi technologyte

for motion smlfensig couttoan srvaveotol ThA ovtro sy5 ~sstem wasII denh s aeveroe o tblzto fteming

program encompassed system dynamic analysis, laboratorytesing, nd n-ehiledevelopment..

r~Al D 7~ EIINQ O3 IOULT UNCLhSSIFIED1 SECURITY C1AS31PICATION OPP Twig PAGEfIa Dmee Nesedf)

FOREWORD

This is the final report of a program conducted byAiResearch Manufacturing Company of Arizona, a Division ofThe Garrett Corporation. The purpose of the program was tostudy, define, design, fabricate, and test a two-axis gunstabilization system using fluidic technology. Work per-formed under the present contract constitutes the fourth yearof effort on a program sponsored by the U.S. Army HarryDiamond Laboratories (HDL) to demonstratm the reliability,ruggedness, and cost advantages of flidic technology incomponents of a gun stabilization syst,,•.

The primary objective of the present contract was todesign and fabricate a two-axis system capable of meeting orexceeding the performance requirements of the electro-hydraulic add-on stabilization system now used on the M60Altank. The system was installed, tested, and demonstrated inan M48AS tank at the AiResearch test laboratory in Phoenix,Arizona.

The program was authorized by the Department of the Armyunder Contracts DAAG39-77-C-0100 and DAAG39-78-C-0049 andwas conducted from April 6, 1977, to April 30, 1979, underAiResearch Master Work Orders 3409-248128-01-OXOO and3409-248126-01-OXOO.

Technical direction and support were provided byJ Mr. J. Joyce (Program Monitor) of HDL. Technical supportwas provided also by Mr. Jack Connors of the Weapon SystemBranch, Armament Research and Development Command.

3

1j1

,i

P ~~CONTENTS___

FOREZfORD 3 ag

1. INTRODUCTION. 7.. . .. * ..

2. SYSTEDEFINITION . . . . . . . . . . . . .

• I! 2.1 General Description . . 722Dynamic Analysis ... * ~ * * ::12•. ,2.3 Controller Performance Speiiatin . . . 1

2.4 Hardware Design . . . . . o o . o 23

3. COMPONENT DEVELOPMENT ............. 23

3.1 Rate Sensor Development . . ........ 23Vi i ' 3.2 Fluidic Amplifiers.. . . . . . 30

j~t • 3.3 Air Compressor 30...... .. : 303.4 Fluidic Input Servovalves . o e 373.5 Handle Position Sensor . . . . . . . . . . 373.6 Notch Filter o . ..... . . . . . . . . 39

4. ON-VEHICLE TESTI....... . . .... 41

5. RELIABILITY STUDY . o . . • • . . . . . . .. 47

6. CONCLUSIONS AND RECOMMENDATIONS . . . . . . . . 48

SYMBOLS . . . . . . . . . . . . . . . , . . . . 51;Ii.DISTRIBUTION . . . . . . . . . . . . . ... .. 53

APPENDIX A.--Rate Sensor and Amplifier DimensionalDescription ..... ... .. . 57

APPENDIX B.--Detailed Stacking Sequence . . . . . . 69

FIGURES

,1 General block diagram of traverse-axiscontroller system .. a... . . . . .

S2 General block diagram of elevationcontroller system .. ... ,.. 8

3 Schmatiodiagram of traverse controller,system . . . . . . . . . . ... . . . . .. 9

7, ,

CONTENTS (Contd)

4 Schematic diagram of elevation controller

5 Fluidic angular rate sensor*..........16 Fluidic gun stabilization system components .. 13[7 Simplified block diagram of azimuth system .. 148 Simplified block diagram of elevation

system. . .. . . . . . . . . . . 159 Turret actuation system response ... . 16

10 Gun elevation actuation system response . . . . 1711 Predicted closed loop response of

12 azimuth system ....... . .2112 Predicted closed loop response of

elevation system. . . . . . . . 2213 Installed azimuth controller . . . . . . . . . . 24L14 Installed elevation controller . .... .25

15 Installed gunner's handle position sensor .. 2616 Effect of splitter asymmetry on rate

sensor offset . . . . .. . . . . 2817 Effect of nozzle exit asymmetry on rate*

sensor offset . . . . . . ** . . . . . . 2918 Effect of rate sensor adjustments .... .31

19 Rate sensor sensitivity . . . . . . . . . . . . 32:120 Motor-compressor assembly . . . . . . . . . . . 34

21 Compressor speed control block diagram . . . . . 3522 Compressor speed control schematic diagram . . . 3623 Pneumatic input portion of fluidic-hydraulic

servovalves ......... .. . . 3824 Gunner's handle position sensor .... 4025 M48A5 tank . . . . . . . . . . . . . . . . . . . 4226 Frequency response test setup . . . . . . . . . 43

-;27 Predicted and actual closed loop responses i* Iof azimuth system . . . . . . . . . . 44

28 Predicted and actual closed loop responsesof elevation system . . . . . . . . . . . . . 45[1

TABLES

I Amplifiers in Fluidic Gain Block . . . . . . . . 33 UII Roll Down and Pivot Turn Data . . . . . . .. 46

III Projected Reliability . . . . . . . . . . . . . 47

6

'Ain

1. INTRODUCTION

The system described in this report is intended forinstallation in combat vehicles such as tanks and armoredpersonnel carriers, for the purpose of assisting the gunnerin maintaining accurate gun alignment with the selected tar-get while the gun mounting is being subjected to random dis-

i [ •turbances caused by vehicle motion over uneven terrain. Thesystem uses fluidic angular rate sensors and amplifiers oper-ating with air as the fluid medium to sense angular rate,perform dynamic compensation, and operate servovalves toreposition the gun and turret to maintain target alignment.A dynamic analysis of the system is presented. Componentswere designed, fabricated, tested, and assembled into a sys-tem which was installed and tested on an M48A5 tank.

2. SYSTEM DEFINITION

2.1 General Description

The system developed was designed to sense gun motion,amplify and dynamically compensate the signal, and operatevalves which reposition the turret and gun actuators to keepthe gun aligned with the target. The controllers for the1. elevation and traverse axes, while similar in concept, aredesigned differently to accommodate differences in thedynamic performance between the elevation and traverse actua-1: tion systems. Block diagrams of the traverse- and elevation-axis systems are shown in Figures 1 and 2, and schematic dia-grams of the fluidic controllers are shown in Figures 31.i and 4.

Al

7

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HIAL,Figue 1. Geneal bockdiagam o traerseaxi

LAU/LEAO PRMEIUN~ CONT L IFCN6NI4

GUNNER -CWNA O AOAVLAOLIEMAND ;

Figure 2. General block diagram of elevation xicontroller system.

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0

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100

[]', ,i "

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Rate sensing is performed by a laminar jet angular ratesensor (LJARS), a device developed at the Harry DiamondLaboratories. This device, shown schematically in Figure 5and detailed in Appendix A, senses angular rate by measuringthe Coriolis-induced curvature in a jet issuing from a nozzlewhen the nozzle is rotated.

~~ ROTATION Q

SUPLY77 A V

PRISUUNE

_,, 1*.

Figure 5. Fluidic angular rate sensor.

The rate sensor output is amplified and compared tothe pressure signal representing the commanded rate from the"gunner. The commanded rate signal is obtained by a gunner'shandle position sensor which is mechanically linked to thegunner's handle valve. As the gunner commands a rate, thevalve motion produces an offset in a pneumatic flapper valve.The resulting error signal is dynamically compensated by aresistor-volume combination which performs a lag or a lag-lead function. The compensated error signal is then appliedto the servovalve which controls flow to the actuator ormotor.

i The servovalve in the elevation axis controllercontains pressure feedback. A pressure control valve isdynamically suited to suppressing the high frequency disturb-ances encountered in the elevation axis.

I :[ 1-1

K.' I/ 1 II 2 ' _ " i I I . . . .. I . . .. .

U - . . . . ..i .... • ...... i •' .. . .i • -• 'T . ...- ' ..... ...... r ' ..... '

The servovalve contained in the traverse axis control-ler is a flow rate control valve. Flow rate control in thetraverse axis is desirable to obtain smooth, constant ratetarget tracking performance. Flow rate control is mecha-nized by spool position feedback using a flapper nozzleactuated by the spool.

The fluidic stabilization system is contained pri-marily in three packages illustrated in Figure 6: (1) atraverse (azimuth) controller which is located on the turretwall in the position presently occupied by the electro-hydraulic stabilization system servovalve assembly; (2) theelevation controller which is installed in the position onthe gun presently occupied by the electrohydraulic stabili-zation system manifold and servovalve assemblyl and (3) agunner's handle position sensor assembly located on top ofthe gunner's handle valve assembly, replacing the cover and

* the arms used to sense the position of the gunner'shydraulic power valves in the electrohydraulic stabiliza-tion system. Also illustrated are three of the componentsused from the electrohydraulic stabilization system.

2.2 Dynamic Analysis

Dynamic performance of the system was predicted using alinear frequency response model derived from experimentalmeasurements. (Refer to simplified block diagrams inFigures 7 and 8.) Transfer functions for the turret driveand gun actuation systems were obtained by measuring gun andturret motion with a rate gyroscope while the turret drivemotor and gun actuator were being excited sinusoidally byservovalves driven by a signal generator. Data obtainedfrom these tests are plotted in Figures 9 and 10 for theazimuth and elevation axis, respectively. Curve fit equa-tions are also plotted in Figures 9 and 10.

The azimuth transfer function was approximated by the

following curve fit equation.

- +

T I W H ih

\T + I N )('WT

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~-300---now]

Figure 9. Turret actuation systeum response.

16jj

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~ H PREDICT9D-ACTUAL

0

-2O

~-40

0.0

0.1 1010 100FREQUENCY, Hz

Figure 10. Gun elevation actuation system resporlie.

17

where 141 angular velocity of turret (rad/s),

w angular veoiycommand to servoval.ve

IS aLaplace transform variable (rad/s)p

W hull suspension natural frequency inH azimuth axis#

22 rad/sp1

ahull suspension damping ratio,

a0.15,

aturret djeive natural frequency,

*26 rad/s,

tT N turret drive damping ratio,

- 0.030, 1* turret moment of inertia,L

- 3143 kg-rn-a,

SHa hull moment of inertia

a18,435 kg-nt-s.

The elevation actuation system transfer function was approx-imated byL

OG1 +KS

G GI

18

where

* angular' rate of gun in elevation axisG (radle),

ev angular rate command to servovalve(rad/e),

T servovalve droop time constant,

f 0.318 s,

K * 3.33 x 10-4s

- gun barrel resonant frequencyo

• 131.9 rad/s,

CG - gun barrel damping ratio,

• 0.10,

LTe empirical transport delay,

U 0.007 s.

2.3 Controller Performance Specification.,Closed loop performance of the azimuth system is calcu-

lated by the function

OT GTS+ GTHT•H

where HT is the transfer function of the azimuth controllerand is shaped to obtain optimum closed loop dynamicresponse. Nearly optimum performance is achieved when

TS~'lT SHTKL i + lS)l + Si I i" (1+ ,,)l+ ,, I+ TO

19

4 __ [

S - ,- j

.. .. ":.. ...

•i•Ii

where

KL a 100, specified system loop gain,

• 0.05 sI dynamic compensation lead time

a - 0..281 s constantc,

To 2.54 a dynamic compensation lag

T r 1.60 S time constants, [153 0.008 s, response time constant of servo-

valve input diaphragms and asso-ciated pneumatic ducting,

r * 0.005 s, transport delay time associatedr with rate sensor and fluidic ampli- ,

fier.

Predicted closed loop response of turret motion to hullmotion is plotted in Figure 11.

Closed loop performance of the elevation system is cal-culated by the next equation.

IG

G GE_1 + GEHEH

Nearly optimum performance is obtained when

eT IIHE = KL + TS) (i+T s) 1 + ( rIS-7)

where

76- T7 - 0.133 s, dynamic compensation lead timeconstants,. X T 0. 396 aotntdynamic compensation lag time

T 6 T~- 0.96 ~constants.3

Predicted closed loop response of gun motion to hullmotion is plotted in Figure 12.

20

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22

-....- . . -

I .-2.4 Hardware Design

Hardware designed for this program is contained inthree packages. The elevation axis package occupies thespace presently occupied by the electrohydraulic systemservovalve and associated manifold and mounts directly to

L the actuator. The azimuth axis package occupies the space* under the ballistic computer presently utilized by the elev-

trohydraulic system azimuth servovalve and manifold. Thegunner's handle position sensor replaces the cover on thegunner's handle valve assembly and is linked to the gunner'spower valves. Several components provided with the electro-hydraulic system were utilized in the fluidic system. Amongthese are the stabilization solenoid valve, antibacklashmechanism, pilot check valves, and filter.

Both controllers were constructed around a concept thatused a machined housing on which the laminated manifoldswere mounted and which provided interconnections betweenmanifolds.

The components, in turn, were mounted on the laminatedmanifolds which provide the interconnections between compo-

. nents. Major components mounted in this manner are thelaminated rate sensors and fluidic amplifiers, servovalves,and air compressors.

The fluidic rate sensor and amplifiers operate on airwhich is supplied by a compressor at approximately 10 psi.The pneumatic-hydraulic interface is made with modified ser-vovalves of the same type used in the electrohydraulic sys-tem.

Photographs of the azimuth and elevation controllersand the handle pickoff assembly in their installed positionsare presented in Figures 13, 14, and 15.

3. COMPONENT DEVELOPMENT

3.1 Rate Sensor Development

The laminar jet rate sensor required several ref in*-"ments in design and method of manufacture to meet theaccuracy requirements of a gun stabilization system. Errorsare introduced by offset and gain shifts when rate sensorsupply pressure and fluid temperature (i.e., viscosity)vary.

23

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ism

The effect of gain shift on system performance is toAi change system damping and suppression ratios. No attempt

was made to reduce or compensate for sensor gain varietions[I because damping and suppression ratio changes were not sig-

nificant over the limited environmental conditions encoun-tered during testing. Gain compensation could be applied tothis system during future development to accommodate moresevere environmental conditions.

The effect of offset shift, however, was more. pronouncedbecause sensor offset appears as drift that must be removedperiodically by repositioning the gunner's null adjustmentknob. Too frequent readjustment is objectionable and reduces

SI the gunner's ability to hold and track the target.

Offset shifts resulting from prescure and temperaturevariations occur primarily because of manufacturing inac-curacies and asymmetries in rate sensor splitter, supply noz-zle, and output channels. As noted in Figure 16, the effectof splitter asymmetry (i.e., the splitter not located on thejet center line) is an offset in output pressure, &PO, thatincreases or decreases monotonically with Reynolds number,

SNR. Offsets due to splitter asymmetry were removed by pro-* viding an adjustment that moves the splitter to the jet

center line by bending the sensor body.

The effect of asymmetry in nozzle exit geometry is abending of the jet as it leaves the nozzle (see Figure 17).The bending angle, cv, is sensitive to Reynolds number becausethe flow separation points move differently as Reynolds num-ber is increased or decreased. The result is a nonmonotonicoutput pressure offset that can be removed by the splitteradjustment at only one value of Reynolds number. Variationsin Reynolds number about that one value cause positive ornegative offsets in output pressure. By providing an adjust-ment that enables the sides of the nozzle to be moved rela-tive to each other and parallel to the nozzle center line, arelative position can be found where the flow separationpoints will remain in reasonably symmetrical correspondencewith each other as Reynolds number is varied over some range.Jet bending angle and therefore offset pressure, APO, willremain constant over this range of Reynolds number.

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I 29

By alternately manipulating the splitter symmetryadjustment and the nozzle symmetry adjustment, a setting cantbe found where offset pressure, APoP will remain near zero

over a Reynolds number range sufficient to accommodateexpected variations in supply pressure and temperature.

The Reynolds number range over which APo remains near

zero increases as variations in geometry due to manufacturingtolerances are decreased. The rate sensor hardware used inthis program was fabricated by numerically controlled wireelectrical discharge machining (wire 3DM) process. This pro-cess provided the best accuracy obtainable from the manu-facturing methods that were reasonably available.

H•: Figure 18 exhibits data showing the reduction in offsetvariation obtained by manipulating the splitter and nozzlesymmetry adjustments. Rate sensor sensitivity is plotted inFigure 19.

Another source of offset variation with changes inReynolds number is asymmetry in the length and the width ofthe output channels. An early rate sensor model was pur-posely designed with unequal output channels to accommodate amore efficient installation position. Offset variation wasreduced by a subsequent rate sensor redesign that incorpor-ated symmetrical output channels.

3.2 Fluidic Amplifiers

To amplify the low level rate sensor signal to a valuesuitable for actuating the system servovalve, nine stages offluidic amplification were used. This amplifier cascadeyielded a steady-state gain of approximately 3 x 10'. Lami- -nar proportional amplifiers (detailed in Appendix A) wereused for the first seven stages because of their quiet, highgain performance. The output stages were turbulent center-vent amplifiers which were well suited for driving a blockedload such as the servovalve input. For each stage of ampli-fication, the amplifier size and supply pressure used areshown in Table I. Detailed stacking orders of laminatesused to assemble the gain blocks for each control axis arepresented in Appendix B.

3.3 Air Compressor, ~Each of the two controllers contain identical pneumatic i

power supplies. They consist of a motor-compressor assembly#

electronic speed control, and pressure regulator.30

i . ... -

Ir6

42tm~J-

U 4ADJUST 0AFTIERSPLITTER.XADJUSTMENT

-28 '- ONLY

H I USABLE2; 14 ___OPERATINGRANGE--

14C -

0 ' NOZZLE -

".I. , • ADJUSTMENT"-

-' 28 _ b,-0.80 mm.... ....... ___

, huO.89 mm-4

""i,-42 X1p-17.8 mm

V -

" V Figure 18. Effect of rate sensor adjustments.

0J

I:f l42 ip Iw I I I I 7. I r

[ 31

IL

!i•- - UI °x

42-

~28 bs w0.U9 mmHh -0.89 mmNP m17.8 mmS!~ ~~14-•''°I

0 ý01200 1400

REYNOLDS NUMBERt L p

Figure 19. Rate sensor sensitivity.

N3

32[]11

I I I I I

TABLE I. AMPLIFIERS IN FLUIDIC GAIN BLOCK

L Stage os h Ps(mm) (Own) (kPa)

II -- II ,I

1 0.76 0.76 0.15

2 0.76 0.64 0.25

3 0.76 0.51 0.474 0.76 0.4i 0.825 0.76 0.25 2.17

6 0.51 0.18 8.727 0.76 0.25 2.17

I8 0.51 0.18 27.58V 9 0.89 0.25 55.16

The air compressor is a rotary vane pump using four car-bon vanes. The rotcr is attached to the shaft of a PNIModel U9g4T printed motor, shown in Figure 20. Supply pres-sure from the compressor is regulated by controlling thecompressor-motor speed with an elactronic control using pros-1i sure feedback. The block diagram and the schematic are shownin Figures 21 and 22, respectively. The control circuit usespower supplied by the tank's batteries. The added load on

V the electric system is approximately five amps per axis.

The 24 Vdc nominal supply is regulated to 12 Vdc with asolid-state voltage regulator. The 12 Vdc supply is thenused as a reference. The output of a National SemiconductorModel LX1602 solid-state pressure transducer is compared tothe referenc's, amplified, and dynamically compensated. Thissignal is then used to pulse duration modulate a rectangularwave generator producing a rectangular wave whose on-time isinversely propo:ctional to pressure (pulse duration modu-• lated) . The rectangular wave is then power amplified to drivethe motor, maintaining the compressor output pressure con-stant.

S3i

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[ 33

iI i

00

to

04

.0

34)

wcc

-II

AusL j

I-, '

I L-to

IL

35

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i . .. . .. .. .. .. . ... ...', _'-• • .. ::- ' ...... ....... .... ... • •. • - - ,•] • __-- E • ' '

0>

-v-

Eu

UAUcc-

CLu

36U

I;

L 3.4 Fluidic Input Servovalves

Standard electrohydraulic servovalves were adapted toaccept pneumatic input signals. For the azimuth axis, a MoogModel 35 flow control valve was used, with a Moog Model 15pressure control valve used on elevation. The coils and mag-nets were removed from both valve bodies, leaving the feedbackflapper valves installed. A diaphragm assembly was installedin place of the electrical parts. The fluidic output pres-sure applies force to the diaphragms which, in turn, drivethe armature (flapper valve). This concept is shown inFigure 23.

A requirement of the diaphragm drive was sufficient gain(hydraulic valve saturation at fluidic output, &Po N 7 kPa)

with negligible phase shift. This requirement was met with adiaphragm area of 3.22 cm2 (0.5 in.'). Diaphragm displace-ment necessary to drive the valve full open is approximately0.076 mm (0.003 in.).

The hysteresis inherent in the hydraulic spool valves,although within the manufacturer's specifications, wasexcessive for this application. A dither signal applied tothe servovalves eliminated the excessive hysteresis. Thedither signal was generated with a fluidic oscillator circuit(refer to Figures 3 and 4), operating at approximately 30 Hz.

The dither signal is separated from the rate signal with adiaphragm. The diaphragm transmits pulses from the oscil-lator to the rate signal, but prevents any net flow between[ oscillator and the rate signal that might affect the ratesignal. The dither amplitude is adjusted by varying thesupply pressure to the oscillator and is set at a valueslightly less than that necessary to obtain gun or turretmotion resulting from the 30 Hz signal.

3.5 Handle Position Sensor

During operation in the unstabilized mode, the gunner'shandle mechanically positions hydraulic spool valves where onevalve supplies hydraulic power to the elevation actuator andthe other supplies power to the azimuth hydraulic motor. Toenable the gunner to track a moving target during operationin a stabilized mode, hardware was designed that mechanicallysensed the gunner's power handle displacement from center(null) position.

3L 37

---, 4.A.4

[ , . . * A ." . ,,*I*

-- FLUIDIC OUTPUT- I

I I"

\I

ARMATURE

\N-FLAPPER

Figure 23. Pneumatic input portion of fluidic-hydraulicservovalves.

38

38[

- -v € . . . , • _ . . . . . ."-IIl I

Two linkage arms clamp directly to the spools of thepower valves. As either spool is moved from its null (off)position, the linkage arms move a cylindrical cam zlong itsaxis. Figure 24 shows the cutaway cam and linkag". A cam1! follower then transmits the cam motion, through a mechanicallinkage, to a reverse flow flapper nozzle which, in turn,produces *a differential pressure output that is a function ofvalve position. The pneumatic AP from the flapper nozzle isthen summed with the rate signal in the fluidic stack.

The cam profile and linkage assembly were,designed sothat the APO with respect to spool position had the same non-

lirearities as the rate versus spool position resulting fromhydraulic shaping. Rate versus spool position shaping wasdetermined from Reference 1. The shaped handle positionsignal (gunner's commanded rate) is compared to the ratesensor output. As a result, only those raten not commandedby the gunner will be attenuated by the controller.

Precise shaping of the cams was found to be criticalnear the center (null) position for accurate trucking.

3.6 Notch Filter

The response of the elevation actuation system to atest signal displayed a severe structural resonance at 19 Hz(see Figure 10) due to gun bending. An effort was startedto build a notch filter to attenuate the signal at theresonant frequency, thereby preventing the possibility ofsystem instability at 19 Hz. An all-fluidic notch filterwas investigated by 3DL and a laboratory breadboard circuitwas built up that approximated the required notch function.However, when the stabilization system components were readyfor installation in the vehicle, the notch filter was notready for incorporation, so the system was installed andtesting was started. AS testing progressed and dynamic com-pensation was being performed, no system instability wasobserved at the gun resonant frequency. Since the work onthe notch filter was done to eliminate an instability at19 Hz, that offort was stopped shortly after testing on thevehicle began.

1Kam•nski, A. P., "A Mathematical Representation of thelM60AI Azimuth and Elevation Control and Add-On Stabilization

System." System Analysis, Defense Division, ChryslerCorporation, Technical Report No,, CDE-SA-TR-71-09,2 November 1971.

1. 39

- I

IIl

0- 00 I

0 L4)0U

400

. . . . . .'.4

1. The reason for absence of the predicted instability isnot clearl• understood; however, It is probably due to manyfactors, among which are:

1. Approximately 6 dB of mechanical resonance in.the gyro used to measure the gun motion.

2. Rapid nonlinear roll-off characteristics ofthe fluidi. resistors used for dynamic com-pensation.

3. A small amount of decoupling between the gunand the control unit through the hydraulicactuator where the control was mounted.

4. ON-VEHICLE TESTING

Testing was performed with the fluidic stabilization

system installed in an M48A5 tank (see Figure 25) at theGazrett-AiResearch laboratory test facility at Phoenix,Arizona. Frequency response tests were performed by instal-ling a Moog Model 31 electrohydraulic flow control servo-valve in parallel with the stabilization servovalve for eachaxis. By exciting the electrohydraulic servovalve with theoscillating output of a frequency response analyzer, hullmotions could be simulated. The resulting motion of the gunand the turret was measured with the rate gyroscopes of theexisting hydraulic stabilization system. The test setupschematic is illustrated in Figure 26. The disturbancesuppression ratios for the azimuth and elevation axes arm

V( plotted versus disturbance frequency as shown in Figures 27and 28. Also shown for comparison is the performance datafor the electrohydraulic add-on stabilization system nowused on the M60 battle tank.

Measurements were made on the system also while thetank was undergoing single-axis maneuvers. Results of fiverepetitions of the aim retention test specified inReference 2 are tabulated in Table II. All data were withinthe specified limits. A short bump course, shown inFigure 25, was constructed and utilized to conduct qualita-tive testing and to provide visual demonstrations to mill-tary personnel.

2 "Vehicle Specification, Tank, Combat, M6OAl 11655316Rev. C," Paragraph 4.4.32.1.11, U.S. Army Tank AutomotiveCommand.

I., 41

[~1

.. .. .. . - I. ---I-

Figure 25. M48A5 tarn,i"

42

M '-70807

LA

40

.4)

> 0

go4

uj 0.i a1

43.

LuL

NyeM

U c

H04

C!o

444.

I04~ ___-

H0

1P _____0 8.LW-n H

_ _ 0_ ;00~ o:oov

1. _ _ _5

TABLE II. ROLL DOWN AND PIVOT TURN DATA

Run Pull off (mile) Final (mile)No. (6 mile maximum) (3 mile maximum)

1 5 2"2 6 2

3 4 1

4 5 25 4 1

-. AzimuthRun Pull Of (mile) Final (mils)No. (9 mil maximum) (3 mile maximum)

1 9 42 8 3

3 8 44 9 45 7 3

Test performed per Reference 2, Paragraph4.4.32.1.11

Null drift and a reduction of system gain were encoun-tered as excessively high temperatures were reached duringextended periods of operation. Temperature compensation ofthe fluidic circuits was not attempted during this programphase.

46

* - -'h.--v"'J•-•' • •,,-"-- -- ' , '

5. RELIABILITY STUDY

A reliability analysis based upon field data conserva-tively extrapolated to gun stabilization requirements wasconduc ted.3

"L Projected reliability of the fluidic gun stabilization

system is shown in Table III.

1 TABLE III. PROJECTED RELIABILITY

Estimatedfailures Reliability

Component or per 10 MTBFsubassembly hours hours

H xElevation or azimuth

Fluidic circuit 2 500P000

Servovalve 20 50,000,

Standby valve 10 100,000Vane compressor 50 20t000,•:i' assembly'

Pilot check valves 10 100,000(2 required)

Null adjust 5 200,000

Total for each axis 97 10,309

Double for both 194 5.155I Gunners handle 20 50o000(! control assembly

Antibacklash cylinder 10 100,000Hydraulic shutoff 20 50,000valve

Filter for hydraulic 10 100,0000system

254 3,937 hr UTBF

3W. T. Fleming and H. R. Gamble, "Reliability Data forSFluidic Systems," AiResearch Manufacturing Co. ofArizonti, Phoenix, AZ, HDL-76.092-1 (December 1.976).

~i

I

I I I I

a CONCLUS S AND RECOMPAEDATIONS k

The concept of fluidic angular rate sensing and controlof turret and gun actuation systems to pgovida stabilizationhas been shown to have the capabili-ty to meet aim retentionspecifiLcations written for th* electwohydraulic adid-on stab,-ilization systems currently In use on the N6OAl tank, Theotechnology base now exists to permit user cosmands to under-take development programs for specific vehicles without unduetechnological risk.

Several areas should bo focal points of subsequentdavelypment efforts. jj

o Circuit compensation for gain and offsetcould extend specified performance over orentsevere environuental conditions.

0 A more accurate match of the shaping of thegunner's handle position signal to the gun-ner's hydraulic valve profile could improvetarget tracking performance.

o The pneumatic compressor used during this Iiprogram to supply the fluidic circuits was anadaptation of a readily available comercialdesign and was deficient in several respectsLAn improved power supply design could reducethe output noise and also reduce the wear pro-ducts, both of which were encountered to somedegree. A broadly oriented program to developa compact, efficient, and reliable pneumaticpower supply tailored to the requiraments offluidic circuts in general should be under- Iiitaken. :

0 Due to present controller designs, separateteesting of the pneumatic and hydrauliccomponent& is not convenient. Iodula"Oconttruotion would allow the ,fluidic con-trollers to be removablc without disturbinghydraulic connections and thereby parmiteasy renowal for adjustment and calibration.

o Advanood vehicles currently under develop-ment require communication between the gunstabilization system ana other vehicle

48?

,. - - -~ - ,---

"I. systems such as stabilized sights and elec-tronic fire control computers. A program forevaluation of existing and proposed pneu-matic to electronic interface devices shouldbe initiated so that the advantages offluidic rate sensing and control could beextended to these other vehicle systems.

o Cost analyses have shown that nonfluidicsystem components govern system cost.Hydraulic servovalves are traditionallyexpensive components that could perhaps

I benefit from incorporation of fluidic tech-nology. It is recommended that servovalveprograms be established.

I49

ii

II 4

[[ __ _ _ __ _ _ _ __ _ _ _

_ _ _ _ _ _ - - -

j SYMBOLS

bs -power jet nozzle width

GE - elevation actuation system transfer function

GT - azimuth actuation system transfer function

HE = elevation controller transfer function

HT - azimuth controller transfer function

h - power jet nozzle height

J a gun moment of inertia

J a hull moment of inertia

J turret moment of inertia

K 3.33 x 10- a

KL - system loop gain

NR- Reynolds number

Ps " supply pressure

4P * differential pressure

aPo - differential output pressure

* PI - inlet pressureS a Laplace transform variable

F X a power nozzte exit to splitter distance

o= jet bending angle

•I CG = gun barrel damping ratio

CH - hull suspension damping ratio

"CT - turret drive damping ratio

11 a - angular velocity

0 . commanded angular velocity of gunC

SG angular rate of gun in elevation axis

[ 51

[t n

SYMBOLS (CONT'D)

# = angular velocity of hull in elevation axisH

;V angular rate command to servovayve

P - kinematic viscosity

- commanded angular velocity of turret1C

*H angular velocity of hull in azimuth axis

-T angular velocity of turret

V angular velocity command to servovalve

P - fluid density

T, T 2 - azimuth axis dynamic compensation lead timeconstants

3T - azimuth axis dynamic compensation lag timeconstant

T response time constant of servovalve inputdiaphragms, and associated pneumatic ducting

T 6, T , elevation axis dynamic compensation lead timeconstants

Te, T-U elevation axis dynamic uompensation lag time

re = empirical transport delay

TG servovalve droop time constant

7r - transport delay time associated with rate sensorr and fluidic amplifier

WG - gun barrel resonant frequency

WH w hull suspension natural frequency in the azimuthaxis

OT = turret drive natural frequency i

52

,F ... ..•,, I; , ,

V.

DI STRýBtJTION

* Defense Documentation'CenterCameron Station, Building 5Alexandria, VA 22314

ATTN: DDC-TCA (2 copiesa

Di rectorApplied Technology LaboratoryIi Fort Eustis, VA 23604

ATN: Ceorge W. Fosdick, DAVDL-EU-SYA

CoananderUSA Missile Res & Dev CommandRedstone Arsenal, AL 35809

ATTN; DRDMI-TGC, William GriffithATTN: DlbDMI-TGC, J. C. Dunaway

CommanderUSA Mobility Equipment R&J CenterFoct Belvoir, VA 22060

ATTN: DRDME-EM, R. N. Ware

CommanderUS Army ARRADCOMDover, NJ 07801

ATTN: DRDAR-LCN-P, A. E. SchmidlinATTN: DRDAK-LCW-E, Mr. J. Connors

r2 ATTN: DRDAR-LCW', Mr. R. WrennATTN: DRDAR-SCF, Mr. J. Schmitts

Commande r"USA Tank Automotive Reg & Dev ConuaandArmor & ,omp Div, DRDTA-RKTBuilding 215Warren, M1 48090ATTN: T. KozowykATTN: M. Steele

ATTN: DfPLTA-RCAATTN; DRDTA-RC, Mr. E. R. JackovichATTN: DRDTA-RCAF, Mr. A. FarkasATTN: DRDTA-ZE, Mr. C. BradleyATTN: Col. K. H. Dobbu, Dir., TASL

J L

153

Now

iI

DISTRIBUTION (CONTD)

CommanderNaval Air Development CenterWarminDterv PA 18974Ct

ATTN: R. NcGiboney, 30424

Naval Air Systems CommandDepartment of the NavyWashit•gton, DC "0360

ATTN: CODL .IR-52022J, D. Houck

DirectorUS Army Materiel Systems Analysis AgencyAberdeen Proving Ground, MD 21005

ATTN: DRXSY-GA, Mr. G. Zeller IHQ, DARCOMGerman Liaison Office L5001 Eisenhower Ave.Alexandria# VA 22333

ATTN: Mr. Sellmer

CommanderUS Army ARRADCONWatervliet, NY 12189 LATTN: DRDAR-LCD, Mr. F. John

Office of the Deputy Chief of Staff for Res, Dev, &Acquisition

Department of the ArmyWashington, DC 20310

ATTN: DAMA-CSZ, Dr. Henry Smith

Ciumuander OVDR&EPentagon, Room 3D1089Washington, DC 20310

ATTN: George C. Kopcsak

Director of Combat DevelopmentHQ, US Army Armor CenterFt. Knox, KY 40121

ATTN: ATZK-CD-SDATTN: ATZK-CD-MS

54

¶ / I I

L• DISTRIBUTION (CONT'D)

L CommandlerUS Army Armor CeuterFt. Knox, KY 40121

Project Manager, M60 Tank DevelopmentDRCPM-M60TDWarren, MI 48090

CornmanderNaval Ship Engineering CenterPhiladelphia DivisionPhiladelphia, VA 19112

* ATTN: CODE 6772, D. Keyser

CommanderAir Force Flight Dynamics LaboratoryWright-Patterson AFB, OH 45433

ATTN: AFFDL/FGL, H. Snowball

Harry Diamond LaboratoriosATTN: Chief, Div 10000ATTN: Chief, Lab 13000

ATTN: Pkiblic Affairs OfficeATTN: Record Copy, 94100ATTN: HDL Library, 41000 (3 copies)ATTN: Chairman, Editorial CommitteeATTN: Technical Reports Branch, 41300ATTN: Chief, 13400 (35 copies)

' t. 55

L. . I ...; [Z _Z i2 •7 .. . • := ..•• a -• ....7,,2 -: ...

L i_________

APPENDIX A,--RATE SENSOR AND AMPLIFIERDIMENS IONAL DESCRIPTION

Figure A-I defines the profile of the laminate propor-tional amplifiers used for amplification of the angular ratesignal.

Figure A-2 delineates the profile of the angular rate* sensor used in the stabilization system.

Figures A-3, A-4, and A-5 are computer-generated draw-"* ings identifying the features of the rate sensor profilal

"L" designations are lines and "A* designations ate arcs.

Table A-I is a list of the coordinate data associatedwith the features designated in Figures A-3, A-4, and A-5.Coordinate reference point is the center of A-l; that is

:X 0, Y - 0.

All dimensions given in Appendix A are in inches.

157

i..-Ii

Ii

1 5

I II II I I IN0V

I'

iL

I-I

I~I

_ _-JŽN-t- I

__________ ____

_ _ _ Ii• ... +•.• •-• • .•,• ........... .... •'"" •" ..................... •,,•, ..... 4. ............ . 1, '•, ••, •., •• .... •,•:•:_-•_ • ,"I•;,•:.,L ,L.•!••, ..... _•L.' -I

r~r4'II

0,7

59~

0

o H .'

04

600

II Uii[',.F

f I

a6

I{ a

3 ,• 4 . . .. . -_. . Ii

60 I1

A-

1�

A', LLI +

I + 04h

U

.1.4

0

tbd0

1.40LA

A)L0

A)

I,0'.4

IAIi1 61

9 1..

El

.44

41.1

iihi

• 0

P4

62

}'

Elt

11

27

13

112I .a

I ;Figure A-5. Rate sensor profile identification.

,II63

tI

T&JBLE A-I. COORDINATED DATA.

Name End point 1 End point 2

Ll Xl a -0.259C0001 X2 - 0.0000Y1 m 0.08750000 Y2 a 0.08750000

L2 Xl - -0.2590001 X? a 0.0000'Y1 - -0.08750000 Y2 - -0.03750000

L3 Xl m' -0.3951983 X2 a -1.0685000Y1 - 0.01751900 Y2 wt 0.01750000

L4 Xl w -0.3951983 X2 a -1.085000Y¥1 - -0.01750000t Y2 u -0,31750000

LS Xl • -1.095000 X2 - -1.095000YI = -0.02750000 '2 " -0.07100000

L6 X1 " -1.620PI) X2 m -1.320000Y1 - 0.07400000 Y2 - 0.1170000

L7 Xl - -L926040 X2 - -1.944686'1 • 0.06910927 Y2 a 0.09432953

L8 Xl •-1.799470 X2 a -1.92750311 * 0.004972618 Y2 - 0.01842627

L9 Xl " -1.820000 X2 a -1,020000Y'1 -0.1170000 Y2 m -0.07400000

L10 Xl * -1.826040 X2 m -1.944684Y'1 -0.06910926 Y2 - -0.09432860

LII X1 -3,.799478 X2 - -1.927509Y11 -0.004972612 Y2 - -0.01842830

L12 xi - -1.095000 X2 - -1.047540Yl - -0.07100000 Y2 * -0.1640590

L13 Xl - -1.095000 X2 a -1.095000Y1 - 0.02750000 Y2 w 0.07100000

L14 Xl a -1.095000 X2 a -1.047540Y1 a 0.07100000 Y2 m 0.1640590

64" ~[I

I'S' ,•"• • _• -... __..• .. - _'T. .. .

I. TABLE A-I. COORDINATED DATA (CONTID).

Name End point 1 End point 2

L15 Xl a -1.325000 X2 a -1.325000Y1 - 0.2700000 Y2 a 0.1200000

L16 Xl - -1.424529 X2 a -1.455471Y1 = 0.1131491 Y2 a 0.3368510

LI7 Xl w -1.922255 X2 - -1.485784Yl - 0.5578561 Y2 a 0.3761601

L18 X1 a -2.033000 X2 a -2.033000Yl a 0.4840000 Y2 a 0.3583321

L19 Xl w -1.822500 X2 a -1.933000SY1 - 0.1213301 Y2 - 0.1851269

L20 Xl w -1.822500 X2 a -1.933001Y! v -0.1213301 Y2 - -0.1851278

L21 Xl - -2.033000 X2 - -2.033000Y1 m -0.4840000 Y2 a -0.3583327

* L22 Xl w -1.922255 X2 a -1.485784Y1 - -0.5578561 Y2 - -0.3761601

L23 X1 * -1.455471 X2 - -1.424529Y1 w -0.3368510 Y2 a -0.1131491

L24 Xl - -1.325000 X2 a -1.325000Yl - -0.2700000 Y2 a -0.1200000

A' L25 Xl - -1.149692 X2 - -1.206851I nY 0.06003524 Y2 a 0.2847885

L26 Xl = -1.149692 X2 - -1.206851Y1 - -0.06003524 Y2 a -0.2847885

L27 Xl -1.130000 X2 a -1130000Y1 " 0.06250000 Y2 a 0.1037259

L28 X1 a-1.130000 X2 - -1.130000* Y1 - -0.1037257 Y2 - -0.06250000

* 65

*61

TABLE A-I. COORDINATED DATA (CONTD) .

Name Radius Center Start angle End angle

Al 0.08750000 X - 0.0000 270.0000 450.00002 0 0 Y - 0.0000

A2 0.08000000 X a -0.3951983 270.0000 324.4024Y " 0.9750000

A3 0.08000000 X a -0.3951983 35.59763 90.00001y a -0.09750000 F

A4 0.8750000 X -0.2590001 90,.00001 144.4024y 0.0000

A5 0.08750000 X - -0.2590001 215.5976 270,000y w 0.0000

A6 0.01000000 X a -1.085000 180.0000 270.0000Y a 0.2750000

A7 0.01000000 X a -1.085000 90.00001 180.0000Y - -0.2750000

AB 0.3000000 X - -0.8299999 109.4712 180.0000Y - 0.1037258

A, 0.03000000 X a .08299999 180.0000 250.5288

Alo 0.005000000 X a -1.825000 0.0000 60.00062Y w 0.1170000

All 0.005000000 X - -1.825000 257.9992 360.0000 FY a0.07400000

A12 0.3000000 X a -1.882310 204.9945 257.9995Y - 0.3877733

A13 0.4000000 X - -1.885699 209.3935 264.0011Y - 0.4162358}m

A14 0.04499999 X a -2.195000 24.99446 209.3933Y m 0.2420000

66I

[I

•,•.••:'7!"•r•• •, '1,I II I I

TABLE A-I. COORDINATED DATA (CORT'D).

SName Radius Center Start angle End angle

A15 0.3000000 X - -1.882309 102.0003 155.0057Y a -0.3877726

A16 0.4000000 X a -1.885700 95.99960 150.6062y u -0.4162374

A17 0.04499999 X a -2.195000 150.6060 335.0056Y a -0.2420000

Al8 0.005000000 X a -1.800000 275.9997 444.0018y - 0.0000

A19 0.005000000 X a -1.825000 0.0000 102.0008Y a -0.07400000

A20 0.005000000 X a -1.825000 300.0007 360.0000¥ - -0.1170000

A21 0.2000000 X a -0.8693728 207.0216 261.0102Y a -0.07319380

A22 0.06000000 X - -0.9100001 279.0600 469.4713Y - 0.3300000

A23 0.06000000 X - -0.9100001 250.5288 441.'0102Y - -0.3300000

A24 0.2000000 X a -0.8693728 98.96876 152.9785Y - 0.07319380

A25 0.06000000 X - -1.265000 14.26902 180.0000Y - 0.2700000

A26 0.05000000 X - -1.375000 187.8753 360.0000Y - 0.1200000

A27 0.05000000 X -- 1.505000 7.875351 67.39883Y * 0.3300000

A28 0.08000000 X --1.953000 67.39081 180.0000Y * 0.4840000

67

[_____________

LI-" LI

TABLE A-I. COORDINATED DATA (CONCLUDED).

Name Radius Center Start angle End angle

A29 0.2000000 X • -1.833000 180.0000 240.0001Y -0.3583321A30 0.2000000 X - -1.833000 120.0001 180.0000

Y - -0.3583327

A31 0.9000000 X - -1.953000 180.0000 292.6012Y - -0.4840000

A32 0.05000000 X - -1.505000 292.6012 352.1247Y a -0.3300000

A33 0.05000000 X - -1.375000 0.0000 172.1147Y - -0.12000•0

A34 0.6000000 X = -1.265000 180.0000 345.7310Y = -0.2700000

A35 0.01000000 X a -1.140000 0.0000 165.7310Y = -0.06250000

A36 0.01000000 X = -1.140000 194.2691 360.0000Y = 0.6250000

68

I", APPENDIX B.--DETAILED STACKING SEQUENCE

A detailed list of the parts that were used to buildthe fluidic gain blocks in the azimuth and elevation axisfollows. Some part numbers are followed by M, H1, or H1,which represent a modification of the standard parts.These mod~fied parts are shown in Figure B-1. All partshave an orientation notch near one corner, as shown on the draw-ing preceding the parts list. The orientations of thenotches are relative to one another and are denoted by a'letter in the parts list. The orientation key shows theposition assigned to eauh letter.

The stacking sequence starts from the rate sensor andbuilds to the final output stage. Each stacking sequencestarts with the bottom of the stock and all communicationwith th~e stack is made through the bottom.

The gain blocks were divided to form several stacks(two in azimuth and four in elevation) to aid in communi-cating with the various amplifiers in the cascade. Smallerstacks are made the packaging more flexible.

315I020, M 211021iM1 315 1 M2

(~OO ~ 0.200 0 ~i .2WS D'A ' °07~ 0 0 .

0 *00 0 0

0 !00 0* ) 0.0 0 04 0

315504&JM 3155216 M

)A I~00e0cc

Figure B-i. Modified standard parts.

69

, A

ORIENTATION KEY

AZIMUTH AXIS STACK NO. 1

Stack Part Orien-, Descrip- QuantitySequence Number tation tion Required Remarks

1 3155033 A Transfer 52 3155021 H Gasket 13 3155219 G Nozzle 14 3155021 M, C Vent 1 Modified part5 3155219 G Nozzle 16 3155021 M, C Vent 1 Modified part7 3155221 B Nozzle 18 3155021 M1 C Vent 1 Modified part9 3155221 B Nozzle 1

10 3155021. M, G Vent 1 Modified part11 3155221 G Nozzle 112 3155021 M, H Vent 1 Modifted part13 3155221 B Nozzle I14 3155021 M1 H Vent 1 Modified part15 3155221 B Nozzle 116 3155021 M, C Vent 1 Modified part

17 3155221 G Nozzle 118 3155018 C Gasket 119 3155018 C Gasket 120 3155040 F Gasket 121 3155300 F Nozzle 622 3155040 F Gasket 1

0 23 3155300 F Nozzle 624 3155040 F Gasket 125 3155000 F Nozzle 626 3155040 F Gasket 1'7 3155300 F Nozzle 628 3155040 F Gasket 12.) 3155300 F Nozzle 630. 3155018 H Gasket 131 3155216 C Exhaust 232 3155237 C Exhaust 133 3155236 H Vent 234 3169138 C Amp 1 h 0.032

70

• E l. ..... . ... . . • . .. .. .

1.i

AZIMUTH AXIS STACK NO. I (CONTD)

Stack Part Orien- Descrip- QuantitySequence Number tation tion Required Remarks

35 3155236 H Vent 236 3155237 H Exhaust 137 3155216 C Exhaust 2

* 36 3155016 A Gasket 139 3155021 F Gasket 140 3155300 H Nozzle 541 3155040 H Gasket 142 3155300 H Nozzle 543 3155040 H Gasket 144 3155300 H Nozzle 545 3155040 H Gasket I46 3155300 H Nozzle 547 3155040 H Gasket 148 3155300 H Nozzle 349 3155040 H Gasket 150 3155191 H Transfer 2

-I51 3155116 C Transfer 2S52 3155040 C Gasket 1

53 3155020 G Cap 254 3155040 G Gasket 1

S55 3155020 D Cap 256 3155018 A Gasket 157 3155021 D Gasket I58 3155044 C Gasket 159 3155216 M F Exhaust 2 Modified part60 3155237 A Exhaust 161 3155236 A Vent 262 3169138 F Amp 1 h - 0.03063 3155236 A Vent 264 3155237 A Exhaust 165 3155216 M F Exhaust Modified part66 3155021 H Gasket 167 3155040 E Gasket 168 3155221 C Nozzle 369 3155217 A Exhaust 170 3155221 H Nozzle 371 3155040 H Gasket 172 3155221 H Nozzle 373 3155217 A Exhaust 174 3155221 H Nozzle 375 3155040 H Gasket 1

Fl 71

AZIMUTH AXIS STVACK NO. 1 (CONTD)

Stack Part Orion- Doscrip- Quantity CSequence Number tation tion ReAutired Remarks

76 3155221 H Nozzle 3

77 3155217 A Exhaust 1S78 3155219 H Nossle 3

79 3155040 H Gaiket 180 3155219 H Nozizle 381 3155217 A Exhaust 182 3155219 H NozIzle 383 3155018 H Gasket 184 3155219 H NozEzle 385 3155217 A Exhaust 186 3155219 H Nozzle 387 3155018 H Galsket 188 3155040 A Gasket 1

J 89 3155021 D Gasket 190 3155216 M C Exhaust 2 Modified part91 3155237 H Exhaust 192 3155236 C Vent 293 3169138 C Amp 1 h - 0.02594 3155236 C Vent 295 3155237 C Exhaust 196 3155216 M C Exhaust 1 Modified part97 3155018 F Gasket 198 3155021 A Gaiket 199 3155221 G Nozzle 1

100 3155217 H Exhaust 1101 3155219 G Nozzle 1102 3155040 H Gasiket 1103 3155219 B Nozzle 1104 3155217 H Exhaust 1105 3155219 G Nozzle 1106 3155040 D Gasket 1107 3155216 M F Exhaust 2 Modified part108 3155237 F Exhaust 1109 3155236 A Vent 2110 3169138 F Amp 1 h - 0.020ill 3155236 A Vent 2112 3155237 A Exhaust 1113 3155216 M F Exhaust 2 Modified part114 3155018 C Gasket 1115 3155116 G Transfer 2116 3155110 E Transfer 2117 3155019 A Gasket 5

72

-II I -I -I77kII I I I I II I

I IAZIMUTH AXIS STACK NO. 2

Stack Part Orien- Descrip- QuantitySequence Number tation tion Required Remarks

S1 3155034 A Gasket 12 3155033 A Transfer 63 3155046 F Gasket 14 3155038 H Transfer 25 3155045 F Gasket 16 3155018 D Gasket 17 3155035 H Transfer 3"8 3155018 G Gasket 19 3155217 D Exhaust 4

10 3155021 Ma E Vent 1 Modified part11 3155237 B Exhaust 412 3155236 B Vent 213 3169138 G Amp 1 h a 0.01614 3155018 E Gasket 115 3155040 G Gasket 116 3155021 B Gasket 1

v 17 3155021 F Gasket 118 3155216 M D Exhaust 2 Modified part19 3155215 E Exhaust 120 3155213 D Vent 321 3155131 E Amp 222 3155213 D Vent 323 3155215 E Exhaust 124 3155216 M D Exhaust 2 Modified partIL 25 3155021 A Gasket 126 3155018 B Gasket 127 3155018 G Gasket 1

S28 3155219 G Nozzle 129 3155217 E Exhaust 130 3155219 B Nozzle 131 3155217 D Exhaust 132 3155219 B Nozzle 133 3155040 D Gasket 134 3155040 G Gasket 1

I 35 3155018 G Gasket 136 3155020 A Cap 437 3155018 D Gasket 1

- 38 3155027 F Resistor 439 3155118 G Transfer 240 3155046 C Gasket 141 3155018 E Gasket 142 3155020 A Cap 3

| 73

I ~ ~ ~ ~ ~ ~ ~ ~ ~ M i 0.• ... "w"'w2!'] T/L -- 77 ',- "• i] -- i W[I I. , _ . .. . ..- ,JI.. . t

AZIMUTH AXIS STACK NO. 2 (CONCLUDED)

Stack Part Orien- Descrip- Quantity

Sequence Number tation tion Required Remarks

43 3155018 G Gasket 144 3155018 G Gasket 1

45 3155216 M G Exhaust 3 Modified part46 3155237 B Vent 147 3155236 G Vent 148 3169138 B Amp 1 h - 0.01049 3155021 D Gasket 150 3155021 F Gasket 151 3155217 G Exhaust 152 3155021 M, B Vent 3 Modified part53 3155219 B Nozzle 254 3155018 E Gasket 155 3155216 M D Exhaust 3 Modified part56 3155215 D Exhaust 157 3155213 D Vent 358 3155131 E Amp 259 3155213 E Vent 260 3155018 G Gasket 161 3155018 B Gasket 162 3155219 B Nozzle 163 3155217 E Exhaust 164 3155221 G Nozzle 165 3155216 B Exhaust 166 3155221 B Nozzle 167 3155217 D Exhaust 168 3155221 G Nozzle 169 3155216 B Exhaust 170 3155021 G Gasket 171 3155022 F Gasket 172 3155020 M B Exhaust 2 Modified part73 3155000 G Vent 274 3155234 G Amp 275 3155000 B Vent 276 3155020 M B Exhaust 2 Modified part77 3155018 B Gasket 178 3155021 D Gasket 179 3155027 A Resistor 380 3155018 G Gasket 181 3155191 G Transfer 182 3155018 B Gasket 183 3155191 B Transfer 184 3155019 A Gasket 9

74

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ELEVATION AXIS STACK NO. I

Stack Part Orien- D¢scrip- QuantitySequence Number tation tion Requred Remarks

S1 3155033 A Transfer .52 3155047 G Gasket 13 3155062 H Exhaust 4

* 4 3155021 E Gasket 15 3155022 C Gasket 16 3155035 F Transfer 37 3155018 G Gasket 18 3155116 H Transfer 39 3155022 C Gasket 1

10 3155116 A Transfer 311 3155022 P Gasket 112 3155198 B Exhaust 213 3155237 B Exhaust 214 3155236 G Vent 215 3169138 B Amp 1 h - 0.03216 3155236 G Vent 217 3155237 B Exhaust 218 3155198 B Exhaust 219 3155021 C Gasket 120 3155219 E Nozzle 221 3155021 M, C Vent 1 Modified part22 3155219 E Nozzle 223 3155021 Ma F Gasket 1 Modified part24 3155219 E Nozzle 225 3155021 M2 A Vent 126 3155219 D Nozzle 127 3155021 M1 C Vent 128 3155217 B Exhaust 429 3155019 A Gasket 5

1. 75

4,

ELEVATION AXIS STACK NO. 2

Stack Part Orien- Descrip- QuantitySequence Number tation tion Required Remarks

1 3155033 E Transfer 52 3155217 G Exhaust 43 31 5021 M4 A Vent 1 Modified part4 3155219 H Nozzle 25 3155021 M, G Vent 1 Modified part6 3155219 C Nozzle 27 3155021 M, G Vent 1 Modified part8 3155219 C Nozzle 29 3155021 MI D Vent 1 Modified part

10 3155219 C Nozzle 211 3155021 M, E Vent I Modified part12 3155219 H Nozzle 213 3155021 M1 E Vent 1 Modifiod part14 3355219 H Nozzle 315 3155021 M, D Vent 1 Modified part16 3155219 C Nozzle 317 3155021 M, G Vent 1 Modified part18 3155219 H Nozzle 219 3155021 Mi G Vent 1 Modified part20 3155219 H Nozzle 321 3155021 M, G Vent 1 Modified part22 3155219 C Nozzle 223 3155021 Mi E Vent 1 Modified part.24 3155219 C Nozzle 225 3155021 M, E Vent 1 Modified part26 3155219 H Nozzle 227 3155021 M, D Vent 1 Modified part28 3155219 G Nozzle 229 3155021 M1 G Vent 1 Modified part30 3155219 C Nozzle 231 3155021 G Vent 132 3155219 C Nozzle 233 3155021 B Vent 134 3155219 H Nozzle 235 3155021 MI D Vent I Modified part36 3155219 C Nozzle 237 3155021 M, E Vent 1 Modified part38 3155219 H Nozzle 339 3155021 A Gasket 140 3155021 F Gasket 1

76

/'\_________________

ELEVATION AXIS STACK NO. 2 (CONCLUDED)

Stack Part Orien- Descrip- QuantitySequence Number tatiorn tion Requited Remarks "

41 3155217 H Exhaust 442 3155021 M, C Vent 2 Modified part43 3155219 C Nozzle 244 3155021 H1 G Vent 1 Modified part45 3155219 C Nozzle 246 3155021 Mi G Vent 1 Modified part47 3155219 C Nozzle 248 3155021 H1 B Vent 1 Modified part49 3155219 H Nozzle 250 3155021 HM D Vent 1 Modified part51 3155219 H Nozzle 252 3155021 H1 G Vent 1 Modified part53 3155219 C Nozzle 254 3155021 MI D Vent 1 Modified part55 3155219 H Nozzle 256 3155022 G Gasket 157 3155198 F Exhaust 258 3155237 A Exhaust 159 3155236 A Vent 260 3169138 F Amp 1 h * 0.03061 3155236 A Vent 262 3155237 F Exhaust 163 3155198 F Exhaust 264 3155019 A Gasket 5

7!I

Ii

- -

II

SHLZVATXON AXIS STACK NO. 3

Stack Part O~ien- Deacrip- QnantitySequence number t,%tion t~on_ Requiaed R marki

1. 3155033 G Transfer 32 3155022 D Gasket 13 3155035 B Transfer 34 3155219 H Nozzle5 3155040 H D Vent ,1 Modified part6 3155219 H Nozzle 17 3155021 MI H Vent 1 Modified part8 3155219 H Nozzle 19 3155040 M A Vent 1 Modified part

10 3155219 H Nozzle 111 3155040 M D Vent 1 Modified part12 3155219 C Nozzle I13 3155040 M n Vent 1 Modified part14 3155219 H Nozzle 115 315.5040 M E Vent 1 Modified part16 3155219 A Nozzle 117 3155040 M D Vent 1 Modified part18 3155219 F Nozzle 3.19 3155217 , C Exhaust 1 J20 315521D A Nozzle 121 3155040 M D Vent 1 Modified part22 3155219 A Nozzle 123 3155022 E Gasket 124 3155021 MK H Vent 1 Modified part25 3155219 H Nozzle 226 3155021 ml E Vent 1 Modified part27 3155219 H -Nozzle 228 3155217 A Exhaust 229 3155219 H Nozzle 230 3155021 M1 E Vent 1 Modified part31 3155219 H Nozzle 232 3155021 M, G Vent 1 Modified part33 3155022 G Gasket 134 3155018 F Gasket 135 3155216 M F Exhaust 2 Modified part36 3155237 H Exhaust 137 3155236 G Vent 138 3169-.38 C Amp 1 h * 0.02539 3155236 G Vent 140 3155237 H Exhaust 1

78

,I''

ELEVATION AXIS STACK NO. 3 (CONCLUDED)

$ .tack Part Orien- Descrip- QuantitySequence Number tation tion Required Remarks

41 3155216 M F Exhaust 2 Modified part42 3155018 H Gasket 143 3155018 C Gasket 1

. 44 3155018 H Gasket 145 3155198 F Exhaust 246 3155237 F Exhaust 147 3155236 A Vent 148 3169138 F Amp 1 h 6 (,02049 3155236 A Vent 1

I 50 3155237 F Exhaust 151 3155198 A Exhaust 252 3155021 B Gasket 153 3155191 A Transfer 254 3155021 E Gasket 155 3155191 F Transfer 356 3155019 A Gasket 5

I79

L

U ,

ELEVATION AXIS STACK NO. 4

Stack Part Orien- Descrip- QuantitySequence Number tation tion Required Remarks

1 3155033 A Transfer 42 3155018 D Gasket 13 3155035 H Transfer 34 3155018 B Gasket 15 3155217 E Exhaust 36 3155021 Ms E Vent 1 Modified part7 3155237 B Exhaust 48 3155236 C Vent 29 3169138 G Amp 1 h * 0.016

10 3155018 E Gasket 111 3155040 F Gasket 112 3155217 E Exhaust 113 3155021 M, D Vent 1 Modified part14 3155219 E Nozzle 115 3155040 M A Vent 1 Modified part16 3155219 E Nozzle 117 3155018 E Gasket 118 3155040 F Gasket19 3155217 B Exhaust 420 3155021 Ms G Vent 1 Modified part21 3155237 D Exhaust 422 3155236 E Vent 223 3169138 D Amp 1 h - 0.01024 3155018 B Gasket 125 31.55018 B Gasket 126 3155011 A Exhaust 227 3155021 B Gasket 128 3155040 C Gasket 129 3155040 B Gasket 130 3155027 F Cap 231 3,155018 E Gasket 132 3155027 C Cap 333 3155037 H Transfer 234 3155018 D Gasket 135 3155027 C Cap 236 3155018 G Gasket 137 3155040 B Gasket 138 3155040 C Gasket 139 3155217 B Exhaust 140 3155219 E Nozzle 141 3155040 M H Vent 1 Modified part

80

L ELEVATION AXIS STACK NO. 4 (CONCLUDED)

. Stack Part Orion- Descrip- QuantitySequence Number tati on tion Required Remarks

42 3155219 E Nozzle 143 ,,3155021 E Gasket 144 3155216 G Exhaust 345 3155213 B Vent 246 3155131 G Amp 247 3155018 D Gasket 148 3155018 D Gasket 149 3155011 H Exhaust 250 3155021 D Gasket 1.51 3155024 B Transfer 352 3155018 G Gasket 153 3155021 A Gasket 154 3155020 M B Exhaust 2 Modified part55 3155000 G Vent 256 3155234 G Amp 257 3155000 G Vent 258 3155020 H B Exhaust 2 Modified paLt59 3155035 F Transfer 360 3155217 E Exhaust 161 3155219 G Nozzle 162 3155217 E Exhaust 163 3155219 G Nozzle 164 3155216 E Exhaust 165 3155219 G Nozhle 146 3155216 E Exhaust 167 3155019 A Gasket 5

:01

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