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ABSTRACT
Chapter One
Introduction 1. background of BTR 2. Introduction of BTR 3. working principle of BTR 4. BTR in Ethiopia 5. Important parameter of BTR 6. Importance of of BTR 7. Limitation of Current BTR Found In Ethiopia
Chapter Two
Literature Survey 1. Turret control in BTR 2. Effect of the manually turret control 3. control system design 4. PID control 5. objective of the present work
Chapter Three
Design Analysis /Method 1. Introduction 2. BTR modeling 3. Turret Design With Gear Design 3.1 model BTR turret 3.2 gear design 4. Motor Selection For The Turret 5. Control System Design In The Turret 5.1 Objective of Control System 5.2 Control Problem 5.3 System Modeling 5.4 System Analysis 5.5 Describe The Controller 5.6 Optimal Control
LIST OF FIGURE
LIST OF TABLES
The BTR -70 is an eight wheeled armored personnel carrier, Originally developed during the late 1960s the industrial designator GAZ-4905. On August 21, 1972 it was accepted into service and would late be exported to Warsaw pact and other allies. Introduced as successor to the earlier BTR 60 it most closely resembles a BTR 60 PB. Other improvements include heavier as more plating and tires less prone to puncture. In other respects, the vehicle is very similar to the BTR 60 PB, with a more powerful petrol engine configuration and armament of a primary heavy machine gun and secondary PKT machine gun on roof mounted turret.
Like the BTR-60PB,the BTR-70 has good cross country capability, high road speed and large troop-carrying capacity. Its versatility and amphibious capability are also advantages. The primary disadvantage is its relatively light armor protection although its has been reported that the bow section possibly incorporates special layered armor. Weight Length Width Height Crew Armor Main armament Secondary armament Engine Power/weight Suspension Operational range Speed 7.62 mm PKT machine gun Gasoline 120 hp (88.2 kW) (x2) 20 hp/tone wheeled 88 400-600 km 80 km/h, swim 9 km/h ZMZ-4905 11.5 tones 7.535 m 2.80 m 2.32 m 3 (+7 passengers) 9 mm (front) 7 mm (side) 14.5 mm KPVT machine gun
Equipment
THE BTR-70 is powered by two gasoline engines. Early production vehicles had Gaz69B 6-cylinder engines of 115hp each installed but most vehicles have the stronger ZMZ-49-05 V-8 engines. The vehicle is fully amphibious, propelled when a float a single water jet mounted at the rear of the hull. The standard equipment includes a central tire-pressure regulation system that allows the driver to adjust the tire-pressure to suit the terrain being crossed. Also fitted is an R-123M radio set and R-124intercom.the drivers optical equipments of three vision blocks TNPO-115 and a day vision device TVNO-2B.the commander also has three TNPO-115's and TPKU-2B day or TKN-15night sight that works together with infrared search light QU3GA-2.the turret is fitted with a PP-61AM periscope sight for the gunner and the infantry with TNP-B devices. The armament consist of a heavy machine gun KPVT with 500 rounds and a coaxial 7.62 mm machine gun PKT with 2.00 rounds. Also on board are two "lgla" or "strela-3" MANPADS and optionally two AGS-17 grenade launchers at the expense of two infantry men.
Here is the important parameter we are going to control is the projectile angle. The firing velocity will always remain constant. The variation of the projectile angle will help us to
control the range,where the enemy is located. The range can be estimated using range finder camera system or involving those highly experienced military person for range estimation.
1.6 Limitation
The main limitation here is lack of flexibility during the mission due to manually the turret controlled. This thesis mainly focus on enhancing this limitation on the existing resource BTR-70.in addition there is limitation on the engine ,the current BTR found here in Ethiopia double two benzene engine which is not economical with fuel consumption. The document(manual) assessments related to the BTR-70 was the main problem.
The material selected to construct the vehicle`s body should withstand against penetration of the fires targeted at armoured vehicles. Penetration can be reduced by selecting appropriate thickness and angle of inclination of the plate. Anti- armour reactor can also be used on the body when necessary. In our design, the gun type specifically designed to attack armoured tanks with its full specifications such as maximum velocity of bullet, mass of bullet and calibre radius head (diameter of shot) are taken in to consideration.
Direction of shot
cos2 = C ( ) 1.43 Where, M= mass of projectile in Kgs. V= striking velocity (m/s) D= diameter of shot (mm) T= thickness of armour plate (mm) C=6.1-6.4 The turret is designed considering the following factors: Material availability penetration Ease of mounting armaments Ability to rotate 3600
The turret is hemispherical at the top and octagonal in design perspective of less tuuret penetration during the firing .
performance and less flexibility and time taking process during a single shot as a result of these deficiencies make the BTR out of use for the current military mission.
A control system is an interconnection of components forming a system configurations that will a provide a desired system response. The basis for analysis of a system is the foundation provided by linear system theory which assumes a cause -effect relationship for the components of a system. Therefore a component or process to be controlled can be represented by a block. The input-output relationship represents the processing of the inputs signal to provide an output signal variable often with a power amplification.
An open-loop control system utilizes an actuating devices to control the process directly without feedback.
control problem
system modeling
system analysis
optimal control
2,4.1 Introduction
In the control of dynamic systems, no controller has enjoyed both the success and the failure of the PID control. Of all control design techniques, the PID controller is the most widely used. Over 85% of all dynamic controllers are of the PID variety. There is actually a great variety of types and design methods for the PID controller. What is a PID controller? The acronym PID stands for Proportional-IntegralDifferential control. Each of these, the P ,the I and the D are terms in a control algorithm, and each has a special purpose. Sometimes certain of the terms are left out because they arenot needed in the control design. This is possible to have a PI, PD or just a P control. It is very rare to have a ID control.
Plant: system to be controlled Controller: provides the excitation for the plant. Designed to control the overall system behavior The Three Term Controller The transfer function of the PID controller looks like following.
A proportional controller (KP) will have the effect of reducing the rise time and reduce but never eliminate the steady state error. An integral control(Ki) will have the effect of eliminating the steady-state error, but it may make the transient response worse. a derivative control (Kd)will have the effect of increasing the stability of the system, reducing the overshot, and improving the transient response. Effects of each of controllers' KP, Kd and Ki on a closed-loop systems are summarized in the table .
In this configuration, the control signal u (t) is the sum of three terms. Each of these terms is a function of the tracking error e (t) . The term Kp indicates that this term is proportional to the error. The term Ki /s is an integral term, and the term Kds is a derivative term. Each of the terms works independently of the other.
The Typical Structure of a PID control system as shown in the fig. Where it can be seen that in a PID controller, the error signal e(t) is used to generate the proportional,integral,and derivative action with the resulting signals weighted and summed to form the control signal u(t) applied to the plant model. a mathematical description of the PID controller is
where u(t) is the input signal to plant model e(t) error signal , e(t) = r(t) - y(t) and r(t) is the reference input signal.
Fig
CHAPTER-THREE ENHANCING with DESIGN of BTR-70 MANUALLY CONTROLLED TURRET CONTROL SYSTEM DESIGN
3.1 Introduction
Here mainly focuses on the enhancement with design of the turret control. That is control system design is the primary issue in this chapter our system to be controlled ,the turret of BTR-70.
I. To find out the stress developed in the two gear mesh during operation, we use the Lewis equation for spur gear design.
where ,
-tangential load
b -width
y - form factor, data taken from the table, for the no of teeth and pressure angle which is Y = 0.465 20
=
N/mm2
Dynamic Effect
When a pair of gears is driven at the moderate or high speed and noise is generated ,inducing the velocity factor
where :
then we are going to design the Gear with the motor shaft .the required here is the form factor which is 'y'
)( )(
y = 0.309 Now referring to the table ith form factor y ith pressure angle 20 and D = Nm = 0 0187 e can find out the no of teeth
Hence no teeth on the pinion = 18,and from the relation , m = (18)(4.0) = 72 mm Hence, the pinion that drives the circular interior gear
module = 4.0 pitch diameter = N*m = 18*4 = 70 mm addendum = D + 2m = 72 mm +2(4) = 80 mm dedendum = D - 2.25m = 72mm - 2.25(4) = 63mm pitch = 12.56 width = 25mm
II. Another gear that coupled with the motor is that for the motor that drives the projectile angle the rack /data collected pitch diameter = 2000mm module =5.0 width = 25mm No. teeth =400 pressure angle 20
Here The Load Transmitted is Only The Weight Due To The Weapon. Which Is 22 Kg Hence W = 22kg*9.8 = 215.6 N
Lewis equation
)(
)(
= 2.1564 N/mm2
having taking this into consideration ,we are going to design the pinion now proceed he next step for ,similarly using the lewis equation
y = 0.277
Hence, the pinion that drives the projectile trajectory module = 5.0 pitch diameter = N*m = 14*5 = 70 mm addendum = D + 2m = 70 mm +2(5) = 80 mm dedendum = D - 2.25m = 70mm - 2.25(5) = 58.75mm pitch = 15.70 width = 25mm