Three-Dimensional Control of

De-spun Flying Munitions

Vehicles
Senior Design Team
12 Team Advisors

B. C. Chang (MEM) Team Sponsor

Timothy OHara (MEM)
Amanda Annesi (MEM) P. Nagvajava (ECE)
Jason Gomes (ECE) H. Kwatny (MEM) David Hepner (ARL)
Louis Bocchicchio (ECE)
 Project Organization Chart

Amanda Annesi
Project Manager

Mechanical Group Electrical Group

Amanda Annesi Timothy OHara Jason Gomes Louis Bocchicchio

(MEM) (MEM) (ECE) (ECE)

Senior Mechanical Senior Mechanical Senior Electrical Senior Computer

Engineer Engineer Engineer Engineer
Presentation Outline
Background
Problem Statement
Existing Technologies
Previous accomplishments
Proposed Work
Project Conceptualization
Design Approach
Methods of Solution
Deliverables
Management
Economic Analysis
Gantt Chart
Project Summary
Problem Statement

Current projectiles are lacking advanced precision

guidance systems

Partially de-spin a projectile in 3-dimensional space

Position control of projectile in 3-dimensional space

Project Background
Conventional Munitions are Less Effective at Longer
Ranges
Most Artillery Rounds Wasted No lethal Effect
Opportunity for Efficiency Improvement is Enormous
Reduced Collateral Damage
Accelerated Enemy Defeat
Causes of Inaccuracy

Natural elements acting on the projectile in flight

Defects during manufacturing
Worn gun tubes from which they are fired
Meteorological data
Propellant temperature
Variable initial velocities
Existing Technologies
Types of Technology
Canards Actuator System (CAS)
Air Brake System
Drawbacks
Reduced range
Lack of maneuverability and
accuracy
Expensive
Large
Current Application
ANSR
ERGM
Excalibur
Previous Senior Design
Accomplishments
Back Half

Motor

DSP Board

Front Half

Motor Support
Recommended Improvements
PID control is not sufficient for high frequencies
Explore multiple manufacturing techniques (i.e.
machining, wood working, rapid prototyping)
Filter out accelerometer, ADC noise
Develop and test magnetometer code
Develop a controller that can handle 20 Hz (different
control techniques)
24V motor control board
Plan for certain tasks taking longer then initially
estimated
Model the system more accurately
Design Approach
Two separate Control systems
Control of partial de-spun
Collect test data
Build controller
Guidance control
Canards
Thrusters
Valve system
Constraints & Challenges
High-G and temperature qualified parts
Responsive
Precise
Fits current infrastructure
Attractive cost / performance ratio
Survivable
Low Cost
Methods of Solution
Design and build front-end of projectile to interface
with the ARL supplied gyro/gimbal test unit
System Identification and State space representation
Determine optimal pole placement to obtain desired
transient response
PID Experimental Implementation
Design Build, Test, Simulate
Control Projectile
Roll
Yaw
Pitch
CAD Drawing of Model
Gyroscope with Gimbal
 Electrical components

Figure D-1: DSP Microprocessor circuit chip

Figure D-3: Magnetometer circuit chip

Figure D-4: JTAG Emulator

Figure D-2: Accelerometer circuit chip
Testing and Experimentation
Mount final prototype on gyro/gimbal for performance
evaluation
Test plan
Spin Projectile without control
Activate controller and collect data
Observe projectile reaction to outside interference
Adjust gyro/gimbal motor speeds
Evaluate partially de-spun projectile performance
results
Test Criteria
Position Control
Response Time
Overshoot
Stability
Deliverables
Working Prototype
Capable of de-spin and position control
Final Report
Dynamics Model
Simulation
Demonstration
Mechanical drawings
Circuitry Schematic
Economic Analysis
Prototype Design Costs
Item Cost

Computer / Software $ 11,234.00

Gimbal / Gyro Scope $ 3,000.00

Components $ 470.00

Travel / Utilities $ 1,930.00

Labor $ 108,000.00

Total Prototype Design Cost $ 124,624.00

Timetable: September - January
Timetable: January - May
Project Summary
Fully functional partially de-spun projectile
that can be controlled in a 3 degree
system.
Components that contribute to the
projectile
Testing to ensure it meets requirements
and expectations
 Thank You

The members of Senior Design Team 13 would like to

give special thanks to :
Dr. B.C. Chang
Dr. Harry Kwatny
Dr. Prawat Nagvajara
Mr. David Hepner
Army Research Laboratory
Drexel University
Questions??