Peed Control of an Intelligent Tank Using PID Controller

Speed Control of an Intelligent Tank 
Using PID Controller 
Group 7:
Le Quang Son 41102924
Ngo Hoang Duong 41100662
Cao Van Dien 41100512
Phan Tuan Vu 41104317 
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Content
1/ some basic concepts
2/ The basic control system of intelligent tank
3/The deployment in reality 
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With combat vehicles Formerly owing to the weight , , 
and ground pressure of armored vehicles, this class of 
vehicles was exclusively full-tracked by human
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In modern warfare Vehicles in this category almost universally provide . 
a fording capability, and the lighter variants may swim 
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I S t. ome concep s
Light detecting resistors 
Normally the resistance of an LDR is very high,but when they are 
illuminated with light resistance drops dramatically
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1. IR sensors
IR Sensors work by using a specific light sensor to detect a 
select light wavelength in the Infra-Red (IR) spectrum
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2. Operating principles
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3. Fuzzy logic and fuzzy controller
F l i i f f l i l d l i d i d f fuzzy og c s a orm o mu t -va ue og c er ve rom uzzy set 
theory to deal with reasoning that is approximate rather than precise .
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Examples fuzzy controller
LP: large positive 
SP: small positive 
ZE: zero 
SN ll ti: sma nega ve 
LN: large negative 
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II. The basic control system of intelligent tank 
1. Hardware model 
The robot will manoeuvre itself towards the 
destination through the employment of light 
detection sensors
Th h th f IR b t lroug e use o sensors, o s ac es are 
detected and avoided through a decision 
making fuzzy logic controller
Figure 1, Location of the LDRs
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Th l ith hi h th t k d l ke a gor m on w c e an mo e wor s
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2. Build the transfer function and block diagram with 
DC motor 
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2 Build the transfer function and block diagram. 
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Closed block diagram 
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Compensate PID by GUI 
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3. ARCHITECTURE DESIGN
The architecture design is based on the (Time Triggered 
Protocol)TTP/C [9] communication protocol incorporate with 
RenesasM16C62p microcontroller 
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III. The deployment in reality
The objectives of land vehicle control are
i i di i• Dr v ng rect on
• Directional stability
V hi l d• e c e spee
• Distance control
T ti f• rac on orces
• Braking forces
O ti i ti f f l ffi i• p m za on o ue e c ency
In tactical situations the vehicle control designer must also consider: 
• Convoy operations
• Location of the vehicle in a hidden position
L i f h hi l i fi i i i• ocat on o t e ve c e n a r ng pos t on
• Firing during high vehicle speed
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1 M i B ttl T k St bili ti C t l. a n a e an a za on on ro 
S tys em.
The principal weapon of a main battle tank is typically a 105 
120 t d i t bl t tmm or mm cannon moun e n a raversa e urre
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CDR Line of Sight
Gun
Gunner PID Servo valve Turret
Gunner Servo valve Gun
Position Handle
Input
Compensation And
Gearbox
Handle
Input
PID
Compensation
and
Cylinder
Hull rate
Turret rate
Gun rate
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2 Navigation Controls and GPS. 
hil d i b l d hi l idl h i b l fi ldW e engage n com at, an ve c es must react to a rap y c ang ng att e e . 
They often utilize features of the terrain too small to show on maps(micro-terrain)
GPS systems are used as adjuncts to maintain correlated maps, rather than as 
waypoint-route navigators .Exception have occurred in Desert Storm,there
ere fe significant map feat resw w u
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Conclusion
This paper develops the defining equations for a dc 
motor and along with performance testing of the model.
This basic procedure can be expanded to build very complex 
simulation models of realistic engineering system 
The proposed PID controller works fine to control the speed of 
the tank
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Future work
PWM for DC motor 
With t k h a an ,we ave 
Integrated control
Glass cockpits 
Information and guidance system
Fuel and ammunition managements
Power managements
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REFERENCES
1. Speed Control of an Intelligent Tank Using PID Controller
(Modelling, Simulation, Architecture Design and GUI Implementation) 
2 Atif Ali Kh 1 Ad I Elb j i Y k 2 O i N 3 Bil l S Ch h b 4. an , nan . er aou a zan , uma r aseer , a . e a
Steven T.Karris, „Introduction to Simulink with Engineering 
Applications‟ Orchard Publications, , 
www.orchardpublications.com
3. MathWorks, 2001, Introduction to MATLAB, the MathWorks, 
Inc.
4. MathWorks, 2001, SIMULINK, the MathWorks, Inc.
5. Fundamentals of Control System, Instructor: Dr.Huynh Thai Hoang
6 Some documentary from Internet. 
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