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8th International Congress ofScienceDirect

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8th International Congress of Information and Communication Technology (ICICT-2019)
Modeling
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Procedia Computer Science 154 (2019) 377–382
Congress of Information and
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378 Ahmet Can Ceceloglu et al. / Procedia Computer Science 154 (2019) 377–382

controller has been used as a turret controller and it is still used. The PID controller sends the torque command to
the motor side by passing the speed command from the user and the difference in speed measured by the sensors
through appropriate mathematical expressions [2].
While this controller has many advantages, it does not meet the high performance criteria for complex control
structures. Therefore, new approaches are directed to artificial intelligence, which is the most common subject of
recent times. In order to make the control system more efficient, the control coefficients of the PID controller are
adjusted with multilayer artificial neural networks. The network is trained with the back propagation learning
algorithm to minimize control error. The input and layer numbers of this network are obtained by creating a
mathematical model of turret systems and optimizing them on appropriate simulation programs.
As a summary, the control tasks required to stabilize turret systems and have a high firing rate are very
difficult due to the challenges of today's battlefields. The uncertainties of the controlled system and the changes
in the non-linarite and operational environment also increase the complexity of the control task. Thus, the main
purpose is to minimize control error under rough conditions from random terrain [1].
In this work, we study stabilization for model of gun elevation axis by using PID Neural Network. We have
developed a different approach to further reduce the stabilization accuracy value. In section 2, we explain the
structure of Turret systems and what we actually doing for this system. Next, the plant of system is created for
the control systems in section 3 and the intelligence system is showed with figures and formulas in section 4. We
then present the simulation results using conventional PID and PID-NN in section 5.

2. Structure and working principles of Turret Stabilization Systems and Intelligence

The controller used for stabilization in most of the turret systems created with the latest technology is based
on the classic PID controllers. The structure of the PID controller may vary depending on the structures of the
systems to be used, and in the case of motor applications, the derivative part is generally ignored,and the PID
controller is used as the PI controller. High pass, low pass and notch filters are used to eliminate the sensor
noises used on the system and to avoid the resonance caused by the mechanical structure. The turret stabilization
is provided along both elevation and azimuth axis of the main weapon. In this approach according to classical
methods, the study of learning algorithms is important in order to detect changes in the turret environment and to
re-adjust the control values accordingly to optimize stabilization performance.
Any system can be described as independent in an unknown environment when it has the ability to act
properly for a long time without external interference. An intelligent system is based on skills such as perception,
learning, reasoning, and inference or decision-making from missing or ambiguous information. The ability of an
intelligent turret system to act appropriately in the face of any external disturbances that may occur means that
the ultimate goal is not to reduce the high-shot sensitivity. This is very logical for turret systems because a small
error can result in the loss of the crew in the turret sub-system. Learning techniques used in this study are
indicated together with necessary pictures. Also; the parameters used in intelligent control and artificial neural
networks are given to the importance and needs [1], [2].

3. Modeling of Control System

The gun elevation approaching model has been shown in Fig. 1. The coefficients used in this model are; the
applied torque is , elevation driveline stiffness is , elevation drive viscous damping coefficient is ,
elevation drive inertia is , angular displacement of driveline is angular displacement of gun is , Inertia of
gun , viscous damping coefficient of gun is

Fig.1. Approaching of Gun Elevation model [3]

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Rotational dynamics for the elevation drive equations, [3]

(1)
(2)
State variables,

(3)
(4)

(5)
(6)

The state-space equations are derived for elevation dynamics,

The elevation dynamics comprise 3 degree of freedom, arising from the angular displacements of breech,
muzzle and drive [4][5].In the present math model of turret elevation system is shown above. The stabilization of
elevation axis more important than azimuth axis because, the uncertain disturbances directly affect elevation axis.
So, we focus on this issue.

4. Algorithm Simulation and Results of Intelligence Turret Systems

Before starting adjusting control parameters, the turret system’s chirp signal response should be seen. Because,
mechanical effects are playing important role for turret system [3].If there is a problem in chirp signal response
as seen on Fourier transform, a notch filter or a better mechanical component should be used.
As seen below, the purpose our system’s fft response of chirp signal is shown. So, our component is seemly
good. We do not use any notch filter.
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380 Ahmet Can Ceceloglu et al. / Procedia Computer Science 154 (2019) 377–382

Fig. 2. FFT response of system of chirp signal effect

The control of structure of the gun turret systems consists of PID controller and Neural Network PID
controllers to stabilize the velocity of turret systems.
The back propagation neural network used for the tuning of the gains of the PID controller consists of an input,
an output and hidden layers. For creating inputs to the neural network design; error between reference and
velocity of gun, output of controller and velocity of gun are selected as shown in Fig. 3.

Fig.3. Detail of How to Adjusting Torque Signal

Comparable graphs for Conventional and Intelligent PID Controllers also are shown in Fig. 4 and Fig. 5.
These figures indicate that, using intelligent system which adjusts PID parameters with neural networks make a
better stable.
In the graphs, with the traditional PID controller used on the model of the gun elevation axis, gyro for the
angular velocity values on the barrel, the encoder speed with the angular displacement derivative on the rotor, the
disturbance value acting on the turret weapon system and in order to provide the stabilization the reference value
and the angular velocity measurement difference values are shown are shown.
When conventional PID controller is used, it is seen that error overshoot value is less than developed method,
but settling time value is shorter. This study, which is based on the ITAE criterion for controller comparisons,
has also been discussed and it has been shown that the developed method gives better results.
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Fig. 4. Used Conventional PID Controller

Fig.5. Used Intelligent PID Controller

The fact that the integral value of the time-weighted absolute error (ITAE) is as low as possible is generally
indicated as a good performance indicator in the PID controller design. The advantage of the ITAE criterion
calculated here is to change the system response to the control parameters and to determine the good or bad
effect. As stated, the smaller the ITAE criteria, the better the control parameters used in that system [6].

ITAE Criteria = 

Therefore, main results and parameters values for both controller and mathematical model of elevation are
shown in Table 1.

Table 1. Compared Results between conventional and intelligent control algorithms

Final Patch P I ITAE Epoch Learning Rate

Conventional PID 9 18 257.4044 - -
NN PID 5.81 18.9 173.9759 5000 0.4

5. Conclusions

In this study, an intelligent controller has been developed for the stabilization of the turret systems operating
under any disruptive land and compared with the existing studies.The developed controller was analyzed on the
elevation axis mathematical model of turret systems.We designed the intelligent algorithms and carried out
simulation on the model in MATLAB/Simulink. It could be seen that the control value could reach the set
velocity value stably. According to the results of classical methods and developed method control algorithms, it
is seen that although the error function overshoot value is higher in the classical method, the settling time value is
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smaller.The results show that the proposed controller performance can reach the desired stabilization aims values
with less overshoot.Also it is seen, the stability of NN-PID controller better than PID controller.

References

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