MICROCOMPUTER BASED SHIP-BOARD GUN CONTROL q/2

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 NAVAL POSTGRADUATE SCHOOL
Monterey, California

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THESIS
MICROCOMPUTER BASED
SHIP-BOARD GUN CONTROL SYSTEM

by

Ahmet rdogan /
March 1981 "

hesis Advisor: U. Kodres

o-Advisors: R. Panholzer
R. Baird

Approved for public release; distribution unlimited.

> ..
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I 4EPORT NMUGER OVT ACCEWSION NO . JECIPIEN5T' CATALOG NUMSER

4 TITLE (4I Subttale) S TYPE OF REPORT 6 PERIOD COvE NO

Microcomputer Based Ship-board Gun Master's Thesis;

Control System March 1981
1. PNRFORIqNG ONG. REPORT NkuM9E

1. AUTOwfg) A. CONTRACT ON GNANT Wi,MUEFI(v)

Ahmet Erdogan
9 PERFORMING ONGANIZATION NAME AND 400114668 10. ROGAMA ELAUONI PRIOJCT TASK
.,T UNENS
Naval Postgraduate School ARIA-aORK
Monterey, California 93940

I1 CONTNOLLING OFFICE NAME AND ADDRESS 12 REPORT OATE

Naval Postgraduate School March 1981r

I
5-O PAGE[S
NOENI[I O
Monterey, California 93940
14. MONITORING AGrCY NAME & AOOlr0N S(U doell I e 1 Conee ||Inj Office) IS. SECUNITY CLASS. (of tise , ra )

Unclassified
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SCM £[DUl[

I. OiSTRIUTfON STATEMENT ( a tWo fievel)

Approved for public release; distribution unlimited.

IT OISTNieuTION STATEMENT (of tho*ee*at# ONoed IN Rose 20. II differel t W Riepeet)

,W SUPPLEMENTARY NOTES

Mvn s
"Microprocessor
Ship-board Gun Control System ADC/DAC
Microcomputer Interactive Display
Closed-Loop System
Plasma Display
20. Af'RACr (CaIM, 0 ,,wa Old& Of00ooaMo 4m11d
idma , 6, N &ma)
,
" " This study was undertaken to design and implement a micro-
computer based gun control and interactive display system which
is suitable as a model of a shipboard Gun Fire Control System and
Tactical-Situation display. The stand-alone system includes two
plasma display scopes, a microcomputer, a cathode ray tube (CRT),
an analog-to-digital, digital-to-analog (ADC/DAC) board and a
servo unit. The scope of the effort includes, calculation of
Do~
I OR
AN 3 1473 oeo. op , Nov5es oSEOLEWE UNCLASSIFIED
S/N 0|0104" 4401 I II:SEUITY CLASSIICATION O0 TWIS PAGE (49=6 Sage Slte )
I
 UNCLASSIFIED
su' .sec g eYn *S ImReSO.

#20 - ABSTRACT - (CONTINUED)

I -target information, prediction of target values, solution

of anti-air warfare and surface fire control problems. The
servo unit was connected to the computer through the ADC/
DAC board. The use of the servo unit and the true-motion
plotter emulates the shipboard weapon system environment.
Of major interest w'as the integration of the hardware
components and the software developed in this study into
a control of analog servo unit and a graphical display
system.

1473 UNCLASSIFIED
s/ Fora
DO
ifljfll-.44Ol, 2 ,,., qbam,,,,b-- , ,.,. ,,,---'- .,e
 Approved for public release; distribution unlimited.

Microcomputer Based
Ship-board Gun Control System

by
Ahmet Erdogan
Lieutenant, Turkish Navy
B.S., Naval Postgraduate School, 1979

Submitted in partial fulfillment of the

requirements for the degrees of

MASTER OF SCIENCE IN ELECTRICAL ENGINEERING

and
MASTER OF SCIENCE IN COMPUTER SCIENCE

from the
NAVAL POSTGRADUATE SCHOOL
March 1981

Author

Approved by:__ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _

Thesis Advisor

Co-Advisor

Chairman, Department o Ele 1 Engineering

-
"a Dean of Sfciende and Engineering

Dean of Information and Policy Sciences

3
 ABSTRACT

This study was undertaken to design and implement a

microcomputer based gun control and interactive display

system which is suitable as a model of a shipboard Gun Fire

Control System and Tactical-Situation display. The stand-

alone system includes two plasma display scopes, a micro-
computer, a cathode ray tube (CRT), an analog-to-digital,

digital-to-analog (ADC/DAC) board and a servo unit. The scope

of the effort includes, calculation of target information,
prediction of target values, solution of anti-air warfare
and surface fire control problems. The servo unit was con-

nected to the computer through the ADC/DAC board. The use

of the servo unit and the true-motion plotter emulates the
shipboard weapon system environment. Of major interest was
the integration of the hardware components and the software
developed in this study into a control of analog servo unit

and a graphical display system.

4
 TABLE OF CONTENTS

I. INTRODUCTION-------------------------------------- 14

I. INTRODUCTION TO THE PROBLEM---------------------- 18

A. PREFACE--------------------------------------- 18

B. SCENARIO-------------------------------------- 18

C. GENERAL COY-BAT INFORMATION CENTER

OPERATIONS------------------------------------ 25

1. Maneuvering Board Plotting Sheets--------26

2. Dead-Reckoning Equipment-----------------26

3. AAW Plot and Status Boards--------------28

4. Weapons Control Theory------------------- 29

D. ALGORITHM DEVELOPMENT------------------------ 30

1. The Closest Point of Approach----------- 30

2. The Surface Problem: Analytical

Determination of Sight Settings--------- 31

3. The Anti-Air Problem: Analysis of

Sight and Fuze Settings------------------ 32

E. DEVELOPMENT PLAN----------------------------- 33

II. GUN FIRE CONTROL AND BALLISTIC PROBLEMS

AND ALGORITHMS------------------------------------ 35

A. THE SURFACE PROBLEM: ANALYTICAL

DETERMINATION OF SIGHT SETTINGS------------- 35

1. The Range-Keeping Problem--------------- 35

a. Relative Target Motion-------------- 35

b. Evaluating Relative Target Motion - 37

2. The Gun Ballistic------------------------ 40

a. The Ballistics Problem-------------- 40

b. The Gun Ballistic Problem----------- 41

5 -
 c. Errors ----------------------------- 41

(1) Group A Errors ---------------- 41

(2) Group B Errors ---------------- 42

B. THE ANTI-AIR PROBLEM: ANALYSIS OF SIGHT

AND FUZE SETTINGS -------------------------- 42

1. Positioning Computations --------------- 43

a. Relative Target Position ----------- 43

b. Target-Motion Designation ---------- 43

c. Relative Target Motion ------------- 45

d. Horizontal and Vertical Rates ------ 46

e. Rates In and About the LOS --------- 47

2. Ballistics Computations ---------------- 49

a. Statement of the Problem ----------- 49

b. Ballistic Factors ------------------ 50

c. Relative Target Motion ------------- 51

d. Relative Target Movement ----------- 51

e. Advance Target Position ------------ 53

f. Time of Flight --------------------- 55

g. Fuze Settings ---------------------- 56

IV. HARDWARE COMPONENTS ---------------------------- 57

A. MICROCOMPUTER DEVELOPMENT SYSTEM ----------- 57

B. PLASMA PANEL DESCRIPTION ------------------- 58

C. PLASMA TOUCH PANEL DESCRIPTION ------------- 59

D. ANALOG INPUT/OUTPUT SYSTEM ----------------- 60

E. SERVOMECHANISM DESCRIPTION ----------------- 61

F. DATAMEDIA ELITE 2500 TERMINAL DESCRIPTION -- 63

6
V. DESIGN OF POWER CONTROL SYSTEM FOR THE FIRE
CONTROL SYSTEM 5-----------------------

A. GENERAL ----------------------------------- 65

B. OPERATION -------------------------------- 65

C. DESIGN CHARACTERISTICS -------------------- 66

D. DESIGN OF CLOSED-LOOP SYSTEM -------------- 68

1. Motor Characteristics ----------------- 71

2. Speed Control ------------------------- 75

3. Position Control ---------------------- 78

4. Analysis of System -------------------- 82

5. Analysis of Simple Position Control --- 82

6. Tacho Generator Feedback Compensation - 88

VI. CONCEPTUAL DESIGN CONSIDERATIONS -------------- 97

A. HARDWARE DESIGN CONSIDERATIONS ------------ 98

1. Simulators--Analog to Digital
Interface ----------------------------- 99

2. Analog to Digital--Digital to Analog

Interface a Functional Description
of the ADC/DAC Interface i--------------101

3. Digital to Analog--Servomechanism
Interface ----------------------------- 105

B. SOFTWARE DESIGN CONSIDERATIONS ------------ 105

i. Language Selection -------------------- 105

2. Transcendental Function --------------- 106

3. Floating Point Arithmetic ------------- 106

4. User Interface ------------------------ 106

5. Level of Correctness ------------------ 108

VII. SOFTWARE OVERVIEW ------------------------------111

A. GENERAL INFORMATION-- i-----------------------

B. DATA STRUCTURES ----------------------------111

7
 C. SOFTWARE FUNCTIONAL DESCRIPTION------------- 119

1. Modules Description---------------------- 119

2. Modules Interaction---------------------- 121

VIII. SYSTEM DESCRIPTION-------------------------------- 125

A. HARDWARE DEPENDENCIES------------------------ 125

B. SYSTEM CHARACTERISTICS----------------------- 127

C. SYSTEM DISPLAYS------------------------------- 130

1. Graphical Display Mode------------------- 130

2. Alphanumeric Display Mode---------------132

a. Input Mode--------------------------- 134

b. Display Mode------------------------- 136

C. Fire Control Mode-------------------- 137

d. Other Function-Defined Keys----------137

IX. CONCLUSIONS AND RECOMMENDATIONS------------------ 138

APPENDIX A: ALGORITHM DESCRIPTION--------------------- 142

A. THE CLOSEST POINT OF APPROACH (CPA)--------- 142

1. The Basic Relative Movement Problem -- 142

2. Other Uses of the Maneuvering Board -- 142

3. Maneuvering Board Problems---------------143

4. Problems That Normally Occur ----------- 143

5. The Least-Squares Fit Approach --------- 143

6. CPA Algorithm--------------------------- 145
B. GRAPHICS ON PLASMA DISPLAY------------------150
1. Physical Considerations-----------------150
2. Plasma Display Unit Capabilities---------150
3. Algorithm Design------------------------- 150
a. Windowing---------------------------- 152
b. Procedure to Check if a Given
Position Falls Within the Limits
of the Defined "Window'-------------- 132
8
 c. Normalization --------------------- 153

d. Plasma Reorientation -------------- 153

C. TRANSCENDENTAL FUNCTIONS ------------------ 155

1. Cosine and Sine Functions ------------- 156

2. Arc Tangent Function ------------------ 157

D. POSITIONAL DATA CONVERSION ---------------- 158

1. Convert LAT and LONG to X/Y

Coordinates --------------------------- 158

2. Convert a Given Position in Terms of

Bearing and Range from Own Ship to
X/Y Coordinates ----------------------- 159
3. Convert X/Y Coordinates of a Given
Position into Latitude and Longitude -- 159

APPENDIX B: INTERRUPT STRUCTURES ------------------- 160

A. BACKGROUND INFORMATION -------------------- 160

B. PRIORITY INTERRUPTS ----------------------- 166

C. 8080 MICROPROCESSOR INTERRUPT METHOD ------ 167

APPENDIX C: DESCRIPTION OF GRAPHIC DISPLAY

TECHNOLOGY ----------------------------- 170

A. GENERAL INFORMATION ----------------------- 170

B. PLASMA PANEL PHYSICAL DESCRIPTION --------- 171

C. TOUCH PANEL PHYSICAL DESCRIPTION ---------- 173

APPENDIX D: ANALOG INPUT/OUTPUT SYSTEM

DETAILED DESCRIPTION ------------------- 176

A. THEORY OF OPERATION ----------------------- 176

B. OPERATING INSTRUCTIONS -------------------- 177

1. Installation -------------------------- 177

2. Programming --------------------------- 177

3. Address Modification ------------------ 178

9
 4. Analog OUTPUT/INPUT RANGE SELECTION --- 178

C. SPECIFICATIONS--------------------------------- 181

APPENDIX E: FLOATING-POINT HARDWARE BOARD

DESCRIPTION---------------------------------- 183

A. GENERAL INFORMATION--------------------------- 183

B. DESCRIPTION OF MATH UNIT---------------------- 183

APPENDIX F: OPERATOR'S MANUAL FOR THE MULTIPURPOSE

CONTACT PLOTTER AND DUAL PURPOSE GUNFIRE
CONTROL SYSTEM AT THE NAVAL POSTGRADUATE
SCHOOL-------------------------------------- 186

APPENDIX G: PROGRAM LISTINGS--------------------------- 201

A. THE COMPLETE PROGRAMS FOR THE ADC-DAC

INTERFACE-------------------------------------- 208

B. EXTERNAL DECLARATIONS------------------------- 214

C. PROCEDURES BY MODULE---------------------------- 224

D. LISTINGS--------------------------------------- 224

LIST OF REFERENCES------------------------------------- 57

INITIAL DISTRIBUTION LIST------------------------------- -

10
 LIST OF TABLES

I. The SBC-310 High Speed Mathematics Unit

Functions and Execution Times ------------------- 107

II. Formats and Units Used for Input ---------------- 131

II

II
 LIST OF FIGURES

1. System Block Diagram --------------------------- 16

2. Initialization of Time and Display System ------- 21

3. General Contact Characteristics ---------------- 23

4. Graphical Presentation at Plasma Scope --------- 24

5. Graphic Representation of Factors Relating

to the Sight-Setting Problem ------------------- 36
6. Relative Target Motion ------------------------- 36

7. Range-Keeping Diagrams ------------------------- 38

8. Relative Target Motion Resolution -------------- 44

9. Advance Target Position and Prediction --------- 52

10. Elements of a Closed-Loop System --------------- 62

11. Power Control System Diagram for the Gun

Fire Control System ---------------------------- 67
12. System Transient--Response --------------------- 69

13. Armature Connection and Characteristics -------- 72

14. Field Connection and Characteristics ----------- 73

15. Simple Speed Control Diagram ------------------- 76

16. Simple Position Control Diagram ---------------- 79

17. Velocity Feedback Diagram ---------------------- 81

18. Tachogenerator Feedback System Diagram --------- 89
19. Teachogenerator Feedback System Reduced Form --- 92

20. Simulators--ADC/DAC Hardware Interface

Circuit Diagram -------------------------------- 100
21. Functional Diagram of the Parallel Port
SBC to MDS Interface --------------------------- 103

22. Data Structure for System Parameters ----------- 113

12
23. Data Structure for Contact Parameters --------- 117
24. Special Cases in Calculation of CPA ------------ 146
25. Windowing Schematic ---------------------------- 151
26. Interrupt Process Scheme ----------------------- 165
27. Analog Input/Output System Block Diagram -------- 180
28. Input and Display Keys Arrangement ------------- 191

1
13
 I. INTRODUCTION

An examination of currently used Naval Weapon Systems

reveals that the heart of the system, the computer, and the
tactical display system, do not represent today's advanced

technology. For correct and instant decisions, the display

system must display the whole picture of the tactical situa-

tion and interact with the fire control computer system.

Because a significant portion of the cost of building or

maintaining a warship is the electronics in its sensor and

weapons systems, and because a great amount of time and per-

sonnel power is employed in performing simple but important

tasks, microcomputers offer the potential to:

1. Reduce the hardware cost of digital systems.

2. Perform complex calculations at main and/or remote

stations and thus relieve the computational congestion at

larger central computing facilities.

3. Perform functions faster and more accurately than

currently handled by watch personnel, this reducing decision

and response times and the manning requirements of watch
sections. Examples of these functions are: the problem of
manual tracking of radar contacts, the solution of Maneuvering
Board problems, target selection and evaluation, the trans-

mission of weapon orders from CIC to the Weapons System

Central.

The purpose of this study is to design and partially

implement a microcomputer based gun fire control system with

14
an interactive display system suitable for a model of a ship-
board gun fire control system. The basic control system con-
sists of a microcomputer, a single board computer interfaced
with an ADC/DAC board, pre-amnplifier unit, SERVO amplifier

unit, motor tachometer unit and an operational amplifier unit.

The display system consists of 2 plasma display scopes, a

plasma touch panel and CRT which are all interfaced to the
microcomputer. The shipboard tactical environment is simu-
lated by interfacing the system to potentiometers via the
ADC board which emulates a sensor (radar) . The system block
diagram is shown in Figure 1.
The system is designed to support data reception, calcula-

tion of weapon orders, remote processing (manipulation and

handling of data to build the local data bases), information

display of graphical and alphanumerical data and a Man-
machine Interface. The environment emulated by the potenti-
ometers provides a data subset of the sensor (e.g., radar,
sonar). The subset of information is provided via the inter-

faced ADC/DAC to the Single Board Computer (SBC) which in

turn is interfaced to the microcomputer. The information
consists of the air target coordinate values.
It is the purpose of this thesis to demonstrate the design

approach of an accurate and fast weapon system. This system

was developed and implemented by using a general purpose micro-

computer system with an interactive plasma display which pro-

vides the man-machine user interface. The weapons system

15
 PlPlasma

One TWO

Touch
Panel
MDS

licromputer

SBC CRTi
3ingle Board
CmputerScreen

SERW System ADC/DAC Yyor

Sensor

Figure 1. System Block Diagram

16
environment was emulated by the servomechanism and the
analog plotter.

Chapter II contains the introduction to the problem and

the development strategy. The Gun Fire Control (GFC) and

ballistic problems and algorithms are discussed in Chapter

III. Chapter IV contains hardware components.
The design of the power control system for the fire

control system is given in Chapter V. Hardware and software

design considerations are presented in Chapter VI. Software
overview and system description are discussed in Chapters
VII and VIII. The final conclusions and recommendations of

this study are presented in Chapter IX.

17
 I!. INTRODUCTION TO THE PROBLEM

A. PREFACE
In order to carry out the design of a "microcomputer
based gun fire control system that is controlled by an inter-
active display system" for shipboard tactical application;
microcomputer plasma-display, ADC/DAC board and servo mech-

anism technologies were chosen as a technical base to design

the system. The main reason for selection of these devices

is that all of them are available at the Naval Postgraduate
School. The shipboard weapons system was simulated by a hard-

ware and software interface between the servo unit, sensors,

ADC/DAC board, microcomputer and display system. The servo
unit and potentiometers were responsible for emulating the
gun and sensors system via the interface.

This study deals with the design and partial implementa-

tion of the "gun control system," the "display system," the
"interface," and the establishment of a Tactical environment.

B. SCENARIO
in order for a ship to respond faster to hostile threats
and to maintain operational readiness as a unit of a task

force, it must be aware of the current operational environment.

The operational environment is defined as the subsurface,

surface and airborne contact profiles in the geographic area

of interest. The contact profile consists of friendly, hostile,

18
and unknown contacts with associated contact characteristics.
Contact characteristics are data such as latitude, longitude,
course, speed, range, bearing, elevation, etc.

For Naval ships not equipped with the Naval Tactical Data
System (NTDS), operations performed by the Combat Information

Center (CIC) during a normal peacetime watch include manual

tracking of radar contacts and the solution of maneuvering
board problems, in war situations, in addition to the above
processes, target recognition, evaluation, designation, dis-

play and sending the target values to the weapons control cen-
tral must be performed by CIC. The procedure is not only
time consuming but also requires from two to four persons in

peacetime and from ten to twenty persons (depending upon the

type of unit) in wartime. Communication between CIC and
Weapons Central is time consuming but vital for fast response
time and accuracy.
This study demonstrates the feasibility of implementing
an interactive display system using microcomputer and plasma

display technologies for the gun fire control system for non-
NTDS type ships. The display system implemented provides the
capability to present a surface, subsurface and airborne
contacts profile which constitutes the operational scenario
on which the display system is based. For the purpose of

this study, several potentiometers were utilized to emulate

the sensor (radar)

The operational scenario established for the study con-
sisted of the sensors detecting the contacts, contact

19
information forwarded manually or automatically to the micro-

computer system which generated a surface contact profile

data base for a geographic region. The data base is updated
at certain time intervals that can be determined by operator

and the time intervals must not be less than 17 sec. Upon
the reception of the data, the display system has the respon-
sibility for displaying the local data base.
The data base constitutes the information that is presented

at the display system in alphanumeric and graphical modes.

The display system has the capability to allow operator

interaction to query the system for presentation of specific

contact alphanumeric or graphical characteristics relative

to "ownship."
The initialization of the display system begins with the
setting of the system realtime clock. The operator enters:
hours, minutes, seconds, time zone number, time between up-
dates, own ship course, speed, geographic position of own ship
(latitude and longitude), geographic position of grid origin

(latitude and longitude) and grid scale. The CRT screen

presents the operator input as shown in Figure 2.
Upon completion of the entry of the time and basic
parameters of the tactical situation, the display system

enters a ready state for the reception of contact data inter-

action. Airborne track data comes from the tracking radar
(simulated by the A to D converter) and is automatically

entered into the system.

20
 -4

'-4

0
0-
-4

4.)
"-4

-4

21
 After the reception of inputs, the display system pre-

sents on the CRT screen the general contact characteristics

as shown in Figure 3. The general contact characteristics
are also presented in a graphical format at the plasma scopes

as shown in Figure 4.

At any time the operator can request one of several command

options from the keyboard. The command options allow the
operator to interact with the display system. The operator
may request general or specific contact data, set display

modes, and initialize or shut down display system hardware

components.

The graphical data display at the plasma scopes is pre-

sented in a primary and secondary mode. The primary plasma
mode presents the surface, airborne and subsurface contact
profile of interest showing the symbolic representation of
contacts with vector tails representing contact speed and

of course. The secondary plasma scope presents the desig-

nated target profile that is assigned to a weapon. The dis-
play shows the target in two planes and displays the tra-

jectory and the predicted target position.

The operator has the responsibility to analyze the data

presented, interact with the display system as necessary to
determine both the overall contact profile and any possible
threat to 'ownship" and direct the gun to the target. The
analysis is performed by utilizing the primary plasma display
as the main source of information. The visual information

22
 4

341

23-
24J
presented provides the operator with the necessary information

to take action.

The action taken, if any, develops in the following logi-

cal sequence. The operator identifies a potential threat at

the primary plasma display. The operator then uses the touch-
panel feature at the secondary plasma scope to plot the threat

relative to 'ownship' in surface and altitude vs. range plane

if it is an air target. Simultaneously the system sends the
predicted target values to the servo unit that emulates the

gun which was already directed to the present target position.

At any time the operator can obtain or request contact

characteristics and make changes in the initialization

p~arameters.

C. GENERAL COMABAT INFORMATION CENTER OPERATIONS (CIC)

During the normal situation, the CIC watch team varies

from two to ten or even more personnel, depending on the

size of the ship as well as on the complexity of the equip-

ment being used.

Among the problems that are normally solved by the CIC

personnel, special mention needs to be made of those of plotting

contacts and the determination of parameters such as course,

speed, bearing, elevation and closest point of approach (CPA)
of those contacts. This is a tedious and error-prone task;
it often requires most of the time and effort of the CIC
team. It is vitally important to detect, evaluate, display

and designate the target'. to the weapons for combat purposes.

25
The processes must be dcne ripidly, accurately and without
error. This has lead to the installation of equipment to

reduce the amount of workload in the CIC, while at the same

time improving the reliability of the information flow pro-
vided to the weapons central and the bridge; this equipment

includes dead-reckoning devices and the NC-2 plotter.

1. Maneuvering Board Plotting Sheets

The primary responsibility of CIC is for detection,

recognition, identification and designation of contacts,

provision of display information for decision makers and
finally for making recommendations on the tactical situation.

Accordingly, CIC must supply information on all kinds of

contacts within range. Contact course, speed and CPA infor-
mation, is usually found using the "Maneuvering Board" plotting

sheets.
The Maneuvering Board-plotting sheet (H.O. 2665-10)
has been prepared in order to facilitate the solution of a
ship's relative movement problem.

Although the use of the Maneuvering Board becomes

straightforward after some practice, it will normally require
the complete attention of one person during CIC operations.
2. Dead-Reckoning Equipment
This equipment maintains a continuous, up to the

minute, geographic plot of own ships' plot in the CIC:

The Dead-Reckoning System consists of the following

basic components: (1) Dead-Reckoning Analyzer (DRA);

(2) Dead-Reckoning Indicator (DRI); and (3) Dead-Reckoning

26
Time (DRT). Course and speed inputs of own ship are fed

into the DRA from Gyrocompass and pitometer-log and then to

the DRT, where they cause a movable source of light to trace

the ship-track continuously.
The major value of the DRT is its use in analyzing

ship movements and in planning and carrying out maneuvers.

As a geographic plotting device, the DRT displays true

courses and allows direct computation of true contact speeds.
Marking positions of the bug indicates true positions of

own ship; connecting these plotted positions yields the ship's

track. Plotting ranges and bearings of contacts, using

own ship's positions as references, establishes their true
positions. An experienced DRT operator can maintain simul-
taneous plots of as many as half a dozen contacts, at the

same time supplying essential data (as required) on contacts

that are being plotted.
A problem that is present, especially in Anti-Submarine

Warfare (ASW), is that of plotting fast moving ships, and

tight-turning submarines, which normally results in confused

and inaccurate DRT plots. In order to help solve these prob-

lems, as well as to reduce inconvenient delays in plotting
contacts because of information relayed through phone talkers,
the USN Mk NC-2plotting system was developed. The NC-2 plotter

consists of three major units: (1) The plotting table, (2) The
Dead-Reckoning indicator, and (3) Data converter.

The main advantage of the NC-2 plotting system is

its capability of receiving contact bearing and range information

27
directly from sources (radar repeaters and the sonar) . This
information is then translated, and presented as colored

points of light on the plotting table.

3. Anti-Air Warfare Plot and Status Boards

Airborne contacts plot on the AAW Plot boards are
relative to the own ship. These boards are transparent and
driven like a Maneuvering Board. Depending upon situation
and the type of unit, from one to five operators plot the
contact information relayed from radar operators via sound

power phone. The insufficiency of the technique has become

clear in case of supersonic aircraft and missile technology.
In all systems as mentioned above the target's rela-
tive position measurements are obtained from radar repeater

and plotted on the systems which are read to be used. The

range measurement accuracy is at best ±20 yards and bearing
measurement accuracy is -11 degrees with a well calibrated
repeater and a well trained operator. The own ship speed
and course are used to determine the own ship's velocity
vector. The course and speed of own ship may vary -_l degree
and t1 knot depending on the helmsman, weather conditions

and the ship instruction. The combined result and the

manual solution will cause an error of -_5 degrees in course
and _3 knots in speed of the target information. Also the
major disadvantage of the manual solution, in addition to
its poor accuracy, is the time required and the ability

to obtain solutions of either the target or own ship maneuvers

28
between radar position measurements which are typically three

or more minutes apart.

4. Weapons Control Theory

In the order of occurrence, a ship must detect, dis-
play, evaluate, disseminate target information (within the
ship) , and if necessary destroy targets. The following is
a description of the internal steps.

a. Detection. Detecting the target is the first and proba-

bly the most difficult part of the problem. Sensors are air
search radars, surface radar, passive ECM (electronic counter-
measure) equipment and optical devices.
b. Display. Depending on target type and class, target

data are displayed in the CIC of each ship.

c. Evaluation. The process of evaluating is continuous
from the moment of detection to the subsequent intercept of

the target. The tools used most often are the target's rela-
tive position, its course, speed, and altitude, and its

response to an 1FF (identification friend or foe) challenge.

Evaluation is a process which involves a continuing
appraisal or estimate of the existing air threat. It ter-

inates with the "splashing of the target." With very little

time available for detection and successful counter attack,
it is mandatory that responsibilities be decentralized as much

as possible. Sometimes, when confronted with a surprise

attack, there is no time for the weapons officer to wait for

information from CIC. The purpose of this study is to radically
decrease the information relay time and response time.

29
 d. Dissemination. Transmitting information to the other

units in the group, and keeping stations on a ship informed,

is the purpose of external and internal information

dissemination.
All ships use sound-powered telephones to complete
the communications link between CIC and weapons' battle
stations.

Television equipment has done much to eliminate the

excessive time consumed when transferring target data ex-

clusively by sound powered telephones. But telephones are
still used for action commands and they provide an audio
backup for visual information.
e. Fire Control. Once a gun projectile is fired it follows

a ballistic flight plan which is calculated by a computer

but cannot be controlled by the launching ship. Effective
gunfire depends on solving the fire control problem and
aiming the guns correctly.

D. ALGORITHM DEVELOPMENT

implementation of this study solves three different major

problems which are: the closest point of approach (CPA), the
gun fire control surface and the anti-air warfare problems.
1. The Closest Point of Approach (CPA)

K.H. Kerns and R.S. Cooper (Ref. 1] have described

a way of solving Maneuvering Board problems with the aid uf

a microcomputer. As described in that reference, Maneuvering
Board problems are divided in two basic categories.

30
 one is the relati.'e plot where the CPA of contacts
being tracked can be calculated. The center of the plot

represents the "reference" or "own" ship and any other point

represents the position of a "maneuvering" ship, plotted in

true bearing and range from the own ship at various times.
The other category is the vector diagram on the
"triangle of courses and speeds", this allows the operator to

calculate the course and speed of maneuvering ship (a contact)

given the own ship course and speed, and relative course and
speed of the contact (obtained from the relative plot).

Solution of this problem is explained in detail in Appendix A.

2. The Surface Problem: Analytical Determination of
Sight Settings
The sight-setting problem is the quantitative determina-

tion of sight angle (Vs), and sight deflection (Ds) . It con-

sists of two parts:
a. The range keeping problem.
b. Ballistic problem.

The sight setting problem is the principal part of

the fire-control problem. While other factors are involved,

no hits will be obtained unless the angles Vs and DS have been

correctly determined.
The best available estimate of the target distance at

the present instant is present range. Its continuous deter-

mination is the range-keeping problem. Calculation of the

corrections which must be included in Vs and Ds to compensate

for derivations from standard conditions and for other factors,

31
is the ballistic problem, and its solution is based on

present range. Problem and solution is presentpJ in detail

in Chapter III.

3. The Anti-Air Problem: Analysis of Sight and Fuze

Settings
Since an airplane may be climbing or diving, target

motion is not necessarily horizontal. Present target posi-

tion with respect to own ship is established by the three

coordinates: present range CR) , relative target bearing (Br),

and target elevation (E). R, Br and E are provided by radar.

in this study they are simulated by different potentiometers.

The direction of motion in a horizontal plane is des-

cribed by target angle (A), which is measured in a horizontal

plane. Target speed is defined by vertical speed or rate of

climb (dH), and air target horizontal ground speed (Sh) that
usually is called target horizontal speed. These two speeds

are simply components whose resultant is actual target speed

relative to earth. The use of Sh and dH simplifies the posi-

tioning-problem solution, for they indirectly define the inclina-

tion of target motion to the horizontal. It should be noted

that dH is vertical speed, being equivalent to the rate of

change of height (H). It also represents the total vertical

relative position since own ship moves only on the surface.

It is not practicable to obtain basic coordinates by

direct measurement at each instant, for any interruptions

or errors in individual measurements would be reflected in

the computed values of sight angle (Vs), sight deflection (Ds),

32
and fuze setting (F). Generally computers generate smoothed
target position gathered by several measurements and this

position is used as the basis of the solution for Vs, Ds

and F. The problem and detailed solution are presented
in Chapter III.

F. DEVELOPMENT PLAN
Upon completion of a 'top-down analysis' of the effort

required to implement the system, the project was divided

into three major areas:
1. Hardware and software interfaces required to control

the position and the speed of the Modular Servo System.

2. Hardware and software functions and capabilities to be

developed for the MDS Microcomputer.

3. Hardware and software interfaces required to provide

sensor to computer (from the potentiometer, ADC/DAC board,

SBC board to computer) communications between the ADC/DAC
board and the MDS Microcomputer.

From the analysis, a critical development path was

determined creating a development order (priority, time basis)

for the three major areas of the project.

one of the critical project areas is the software and
hardware interfaces between the MDS microcomputer system to

Single Board Compter (SBC) . This is provided by using

"programmnable peripheral interface" for parallel port communi-

cation between the MOS and SBC. The interface is explained

in detail in Chapter VI.

33
 At completion of the interface, the effort was directed
to the other two proejct areas in a Flip-Flop manner allowing

interim testing of the partial system configuration. Greater

emphasis was placed on the hardware and software development
at the MDS end, because of the greater proportion of develop-

ment effort required in this project area. The iterative

flip-flop development was highly desirable to provide feed-
back to the development process. The iterative process allowed
the development of an adequate test data set to test and

validate the system design upon completion.

The project development was evaluated under the following

guidelines:
- All hardware components and interfaces were tested on
a stand-alone basis before incorporating them into the system

design being implemented.

- Software development was approached in such a manner as
to allow testing at the procedure and module level.

design implementation,
- Upon completion of the system
the system was evaluated utilizing a test data set to demon-

strate system capabilities compared against design objectives.

34
 III. GUN FIRE CONTROL, BALLISTIC PROBLEMS AND ALGORITHMS

A. THE SURFACE PROBLEM: ANALYTICAL DETERMINATION OF SIGHT

SETTINGS
The sight-setting problem is the quantitative determina-

tion of sight angle (Vs) , and sight deflection (Ds) . It

consists of two parts: (1) The range keeping problem and

(2) Ballistic Problem. The sight-setting problem is the

principal part of the fire-control problem, for while other

factors are involved, no hits will be obtained unless the

angles Vs and Ds have been correctly determined. Graphic

representation of factors relating to the sight-setting
problem is shown in Figure 5.
1. The Range Keeping Problem
The best available estimate of the target distance
at the present instant is present range, and its continuous
determination is the range-keeping problem. The purpose

of this chapter is the theoretical determination of sight

settings for the surface fire-control problem.
a. Relative Target Motion
in almost all cases the distance to the target is

continually changing. There are two reasons why this dis-

tance, or range, must be kept. First, the instant of measure-

ment comes before the instant of firing, and during the inter-
val, the range varies. Second, range measurement may be

interrupted. In either event, present range is required for

the correct determination of Vs and Ds.

35
 Nrth

Ct

Figure 5. Graphic Representation of Factors Relating

to the Sight-Setting Problem Ai

So So

BBr

OWN SHIP

to th ih-etn rbe

Figure 6. Relative Target Movement

36
 Relative target motion is the apparent motion of

the target with respect to own ship, and is due to motions

of both own ship and target. The target position with respect
to own ship is established by the distance to the target
along the line of sight, or present range (R), and by the
target bearing from own ship, or relative target bearing (Br).

The problem of range keeping is to continuously

position the target by keeping track of the values of R and
Br, which are always changing except in very special and rare
circumstances. While R is the quantity of principal impor-
tance in the determination of sight settings, the continuous
determinations of R and Br are so intimately related that

they must both be examined together. Relative target motion

is shown in Figure 6.
b. Evaluating Relative Target Motion
The analysis of the problem is most conveniently

made with the aid of a vector diagram in which the motions

of own ship and the target are represented by vectors plotted
with respect to the line of sight. The range-keeping diagram

is shown in Figure 7.
The usual procedure in determining the components
in and across the LOS is using vectors and geometry. The
values of components are:

Yo = So cos Br

Yt = S cos A

Xo =So sin Br

37
 Xo
B( A Rd Br

xt
Dn dBr
et YtU

xt

Br

YO
So
North
X0 co

Figure 7. Range-Keeping Diagrams

38
 Xt = S sin A

where

Yo = Line component at own-ship velocity

Yt = Line component at target velocity

Xo = Gross component of own-ship velocity

Xt = Gross component at target velocity

A = Target angle

Br = Relative target bearing

So = Own-ship speed

S = Target speed

The quantities are shown in Figure 7.

Range rate (dR) is the algebraic sum of Yo and

Yt. A line component is called decreasing when it tends to

decrease the range, increasing when it tends to increase the

range shown in Figure 7b.

dR = Yo + Yt

The linear bearing rate RdBr is the algebraic

sum of Xo and Xt, and must be established before the angular

rate can be determined. Each X component is decreasing when

it causes a decrease in Br and increasing when it causes an

increasing Br. If the algebraic sum of Xo and Xt is decreasing,

RdBr is decreasing and Br is decreasing. If the sum is in-
creasing, Br is increasing as shown in Figure 7.

39
 RdBr = Xo + Xt

The angular rate should be expressed in minutes

of arc per second. The transition from linear to angular
measure is accomplished by dividing the linear rate by the

range rate, using the proper units.

dBr (minutes of arc per second) 196R Rr

where

dBr =Relative angular-bearing rate.

Range can be kept by multiplying the rates by

elapsed time to obtain increments of range (SR) and bearing

(-'Br) . When these increments are added algebraically to the
initial values of R and Br, new values are obtained. New

rates, and corresponding new increments can be computed on the

new R and Br to keep the range and bearing during the next
interval of time. By making the process continuous, present

range can be generated with no further measurements after the

initial determination. Thus, present range will be continu-
ously available even though there may be interruptions in
ranging.
2. The Gun Ballistic

a. The Ballistic Problem

The determination of sight angle (Vs) and sight

deflection (Ds) , based on present range, is the ballistic

problem. This involves the evaluation of the elements which,

40
when combined, give the values of Vs and Ds that will result
in a hit.

There is an angle of departure for standard condi-

tions corresponding to each possible target distance, or
present range, within the limits of maximum range of a gun.

Standard conditions are never obtained, and compensating cor-

rections must be applied to the standard angle of departure

to obtain the value of Vs which will provide the trajectory

required to hit a target at a given range. Similarly, correc-

tions must be computed to obtain the correct value of Ds.

b. The Gun Ballistic Problem
The gun ballistic problem takes into account the

calculable corrections which must be included in Vs and Ds,

under the normal conditions of aiming a gun with respect to

a line of sight which coincides with the line of position.
Range tables provide the data required for the

computation of the elevation angle depending upon the type

of gun. The range to use in entering the range table is the

best available estimate of the target distance at the instant

of rounds impact.
C. Errors
Gun ballistic characteristics test of the correc-

tions to compensate for the following variations from standard

conditions:
(1) Group A errors. The elements causing errors

not dependent on target bearing are

(a) Variation in initial velocity (I.V) due

to powder temperatures.

41
 (b) variations in I.V due to erosion.
(c) Variations in air density.

(d) Drift.
The first three of these elements cause
errors in range, the fourth is an error in deflection.

(2) Group B Errors. Group B errors include

elements causing errors which are dependent on target bearing.

(a) Wind.
(b) Motion of target.
(c) Motion of own ship.
Each of these factors causes an error in
range and deflection, for each generally has components in
and across the LOS.

All these calculations and corrections were

done in SWF (Surface warfare) program module.

B. ANTI-AIR PROBLEM: ANALYSIS OF SIGHT AND FUZE SETTINGS

The calculation of sight angle and sight deflection in the

AA problem are similar in many respects to the corresponding

calculations in the surface problem. The AA has the same

distinct parts, namely: (1) continuous target positioning,
and (2) continuous ballistics computing. The target's free-
dom of movement in three dimensions and the use of time fuzed

projectiles introduces additional complications. Since sight

and fuze settings are based on the instantaneous relative

target position, the positioning part of the AA problem is

presented first.

42
 1. Positioning Computations

a. Relative Target Position

Present target position with respect to own shi.p

is established by the three coordinates: present range (R),

relative target bearing (Br) , and target elevation (E).
These quantities are shown in Figure 8. R, E and Br are
provided by radar. In this study they are provided by differ-
ent potentiometers whose input of ADC/DAC board (simulation

of sensor).
It is not practicable to obtain the basic coor-
dinates by direct measurement at each instant, for any inter-
ruptions or errors in individual measurements would be re-
flected in the computed values of sight angle (Vs) , sight
deflection (Ds), and fuze setting (F). As usual in this

project, the computer generated relative target positions, and

these positions are used as the basis of the solution for Vs,
Ds and F.

b. Target-Motion Designation
Since an airplane may be climbing or diving, tar-

get motion is not necessarily horizontal, and three quanti-

ties are needed to define it, as shown in Figure 8a.
The direction of motion in a horizontal plane is

described by target angle (A), which is measured in a hori-

zontal plane just as in the surface problem The target speed

is defined by vertical speed or rate of climb (dH), and air

target horizontal ground speed (Sh) usually called target
horizontal speed. These two speeds are simply components

43
 C4-i

1-44

-4

U)

-414

44
whose resultant is actual target speed relative to earth.
The use of Sh and dH simplifies the positioning-problem
solution, for they indirectly define the inclination of tar-
get motion to the horizontal. It should be noted that dH is

a vertical speed, being equivalent to the rate of change of

height (H). It also represents the total vertical relative
motion, since own ship moves only in the horizontal.

In the project, target speed components are simu-

lated by potentiometers and scaled by S/W programs.

c. Relative Target Motion

For Anti-Air Fire Control relative target motion

is used to keep track of relative targe- _ i on in a manner

similar to that employed for Surface Fire Control. In other
words, the present values of R, Br, and E are generated.

This requires the determination of range rate (dR), relative

angular bearing rate (dBr), and angular elevation rate (dE).

These rates are multiplied by time increments (:T) to obtain
generated-range increments (.'cR), generated-bearing increments
(-cBr), and generated-elevation increments (.cE). The gen-
erated increments are added to the initial values of their
correspcnding coordinates (jR, jBr, and jE) to obtain the
generated values cR, cBr, and cE. Thus:

cR = jR + -It dR = jR + cR

cfr = jBr + t xdBr = jBr + cBr

cE = jE + At xdE = jE + AcE

45
 The initial values are obtained by sensors
(simulated by potentiometers) . The generated increments are

computed by the MDS system to which the change rates must be

added. The three rates dR, dBr, and dE completely describe
relative target motion and are determined by following these

two steps:

1. Resolve own-ship and target motions into horizontal

and vertical components of relative target motion.
2. Resolve the horizontal and vertical components into
the three rates with respect to the line of sight (LOS).

d. Horizontal and Vertical Rates

Since own-ship motion and part of the target motion
are defined by horizontal speeds and directions, it is a simple

process to determine relative horizontal target motion.

The line components (Yo and Yt) and cross com-

ponents (Xo and Xt) can be computed by using Br and A. Their

effects upon range and bearing may be considered as increasing
or decreasing as was done in the surface problem. The com-

ponents are combined to produce horizontal range rate (dRh)

and linear deflection rate (RdBs) as shown in Figure 8a.
Mathematically, the components may be computed

from these equations:

Yo = So cos Br

Yt =Sh cos A

Xo So sin Br

46
 Xt = Sh sin A

Horizontal range rate is conventionally considered

to be negative when it decreases the range, consequently
the expression for horizontal range rate is

dRh = -(Yo + Yt)

Linear deflection rate (RdBs) is algebraic sum

of Xo and Xt.

RdBs = Xo + Xt

The vertical relative motion is the rate of climb

(dH) as previously mentioned and is positive when the target

is climbing, negative when diving. Hence total relative

target motion is defined by 'Rh, RdBs and dH. When these
three rates are combined about the target position, their
resultant is the vector Sr, whose direction represents the

path and whose length represents the speed of the target

with respect to own ship.

e. Rates In and About the LOS

The horizontal and vertical rates are simply
7 employed in determining the rates at which the basic coor-

7 dinates R, Br and E are changing. It is helpful to recognize

the existence of the vector Sr, although it is not used directly
in maintaining target position. This single vector can be

resolved ii.to any number of components but those needed in

generating target position are:

47
 (1) Range rate, measured in or along the LOS,
(2) Bearing rate, measured perpendicular to the LOS in a
horizontal plane,

(3) Elevation rate, measured perpendicular to the LOS in a

vertical plane. The relations of the linear rates to Sr

are shown in Figure 8c.

Range rate along the LOS is direct range (dR).
Since the LOS is elevated dR is not the same as dRh, but has
a component due to dRh and dH, as shown in Figure 8b. Both
dRh and dH lie in the vertical plane through the LOS and are
inclined to the LOS by E and (90 -E), respectively. It can
be seen from the Figure Sc that:

dR = dH sin E + dRh cos E

The linear elevation rate (RdE) also has components

due to dRh and dH. It may be expressed as:

RdE = dH cos E - dRh sin E

The angular elevation rate (dE) is obtained by dividing the

linear rate by present ragne (R). Thus:

dE = R dE
R

The linear relative bearing rate (RdBs) is measured

perpendicular to the vertical plane through the LOS, and has

the same value whether measured in the the slant plane or in

the horizontal. Since relative target bearing (Br) is measured
in the horizontal, relative angular bearing rate (dBr) must

48
be computed for the horizontal by dividing RdBs by horizontal
range (Rh). It is evident that Rh = R cos E, hence:

dBr =RdBs
R cos E

2. Ballistic Computations
The purpose of generating present target position
is to provide a formulation upon which to base the calcula-
tions of sight angle, sight deflection, and fuze setting.

These are developed from present angle CR), relative target

bearing (Br) , and target elevation CE). Also we should con-
sider that an effective solution must be continuous and in-

stantaneous; such a solution is provided by the MDS system.

a. Statement of the Problem
A gun fired under a given set of conditions will

produce just one trajectory that is in no way affected by

target motion or by the point on the trajectory at which the

hit or burst occurs. The target may be at any point in a
given trajectory. Tho-refore, the problem is different than
the surface problem (calculation of time of flight).
No matter where the target is on the trajectory,

the angle of the departure or vertical gun elevation (Eg)

is the same. However, sight angle (Vs) and sight deflection

(Ds) will have different values for each point on the tra-

jectory. Evidently Vs and Ds dependent upon both present

range (R) and target elevation (E). Since corrections for
wind, and own-ship and target motions depend upon relative

49
target bearing (Br), sight settings in any practical case

also depend upon Br. The problem is to determine the values

of Vs and Ds which will place the bore axis in the space

position that will produce the trajectory required to hit the

target.
While in theory the correct values of Vs and Ds
will produce hits, a perfect evaluation of these two angles

is impossible. Some errors inherent in the solution methods

and others due to inaccurate estimates of such factors as air

density, wind and target motion are bound to exist. In addi-

tion, natural gun fire dispersion causes variations between
shots fired under seemingly identical conditions. Consequently,
projectiles are fuzed to burst near the plane to increase the
hitting probability. When the fuze bursts the projectile
close to the target, some of the fragments may hit the plane
regardless of small discrepancies in sight settings. In addi-
tion, the nearby blast effect may either damage the plane

or at least make it difficult to maintain a smooth, uninter-

rupted bombing run. So the determination of fuze setting (F)
is also a part of the problem when time fuzed projectiles are

used.
b. Ballistic Factors

In anti-air fire ballistic problem has the follow-

ing factors:

- Gravity
- Drift
- Target motion

50
 - Own-ship motion
- Wind
- IE.V. variations
- Air-density variations.

Effects of these factors depend on the type of gun. Gun

ballistic data that is generally restricted information.
C. Relative Target Motion
During the time of flight (Tf) the target moves

from the position it occupied at the instant of firing. It

is obvious that the gun should be fired not at the present

position but at the advance position the target will occupy

at the end of Tf. However, the LOS must be directed at the
present position hence the gun must lead the LOS (and the

target) by correction or elevation and deflection.

d. Relative Target Movement

The time of flight movement of the target rela-

tive to own ship is Tf xSr as shown in Figure 9. The velocity

Sr is simply the resultant of actual own-ship velocity and

actual target velocity. As long as own ship and target hold

their courses and speeds, the vector Sr is fixed in space.

in other words, its value is not instantaneous like the values
of the rates dR, RdBs, and RdE. These three rates have
instantaneous values only because they are measured with

respect to the LOS, which is continuously changing position

with respect to own-ship and target.
The vector Sr can be resolved into many different
sets of components that will completely describe it, and the

51
 44-

.4

-4 Ul
0.44

4 E-4

52
components of any chosen set will remain fixed in value so

long as Sr remains constant. The values of the rates dR,

RdBs, and RdE for the present target position form one set

of these components, and are already available from the posi-

tioning part of the problem. when the present values of rates
are each multiplied by Tf, their products are components of

relative target movement during Tf. when these components

are added vectorially as in Figure 9, they terminate at the

end of the vector Tf ( Sr and define the advance target posi-

tion with respect to the present target position.

e. Advance Target Position

The target position relative to own ship that will
exist at the end of the time of flight is the advance (or
predicted target position). Like the target position, it
is defined by these coordinates:
(1; Advance (or predicted) range (R2)
(2) Predicted relative target bearing (Br2)
(3) .-redicted target elevation (E2).
These quantities are predictions of the "present"
values of R, Br, and E that will eixst at the moment a pro-
jectile, fired at the present instant hits or bursts; i.e.,

at the end of the time of flight. The numeral 2 is used to

indicate predicted values pertaining to the advance position.

The advance position is obtained by the applica-

tion of various plane geometry and plane trigonometry relations.
The correct value of R2 can be computed by using
the plane geometry theorem direct equation.

53
 / 2
R2 = ((Tf - RdE 2 + (Tf RdBs)2 + (R+Tf -dR)2)1

The change in height during time of flight is

evidently Tf dH, since dH is the total vertical-motion

component.

The change in height during time of flight is

evidently Tf dH, since dH is the total vertical motion com-

ponent. Thus the height of advance target position, or H2,

in Figure 9c, is

H + TfI dH

Since H = R sinE

H2 = R sinE + Tf < dH

Predicted target elevation (E2) is evidently

tbe angle subtended at the gun by the predicted height (H2).

Thus:

R2+ Tf , dH
R sinE
sin E2

The elevation prediction (Vt) can be readily ob-

tained from the relation

Vt = E2 - E

The vertical gun elevation (Eg) must of course include the

prediction Vt to allow for the vertical change in target

position during the time of flight. The value of Vt is:

54
 Tf ( RdE
sin Vt R2

or
-i
Vt sin
t Tf x<RdE
R2
R2

and finally predicted elevation is:

sin - Tf x RdE
E2 = E+Vt = ER2

The change in relative target bearing during Tf

is the horizontal angle Dth, subtended by the horizontal dis-

tance between the advance target position and the vertical

plane through the LOS. It is clear from Figure 9c that

TE "RdBs
sin Dth = Rdcs
Rcos ET

and

Dth =
sinn 1 TfxRdBs
R2 cos E2

The sign of Dth is the same as that of RdBs, which has a

negative value in the illustration, since it tends to decrease.

Hence predicted relative bearing is:

Br2 = Br + Dth

f. Time of Flight

It has been stated that range, wind, I.V. varia-

tions, and air-density variations affect time of flight,

hence Tf should include corrections for each of these factors.

55
 Standard time of flight may be obtained from the
trajectory graph or calculated by a special algorithm when

entered with R2 and E2. In this study the following algorithm

is used. Initial velocity horizontal component is

I.V.x = I.V. Cos E2

Horizontal component of range is

R2x = R2 <cos E2

thus time of flight is

R2x
Tf- I. Vx

g. Fuze Settings

It should be obvious that the setting of a time

fuze must be based upon the time its projectile will be in
flight. In this study mechanical fuzes are assumed so that

air-density variations do not effect mechanical fuzes and

hence their settings are the samrae as the time of flight.

56
 IV. HARDWARE COMPONENTS

Given below is a list of the Hardware components used

in this study and discussed in this chapter.

1 MDS Microcomputer
1 SBC Board
1 ADC/DAC Board
1 Modular Servo System
2 2500 Plasma-Scope Gas Discharge Display System
1 Plasma-Scope Touch Panel
1 Datamedia Elite Video Terminal
6 Potentiometers

A. MICROCOMPUTER DEVELOPMENT SYSTEM "MDS" DESCRIPTION

The Intellec microcomputer development system (MDS) is

designed around Intel's popular 8080 microprocessor. The MDS

utilizes the INTEL SYSTEMS IMPLEMENTATION SUPERVISOR (ISIS-II),

as its operating system in conjunction with the INTELLEC

system "Firmware Monitor" package.

The 8080 has a 2-usec instruction cycle, a repertoire of

72 powerful instructions, unlimited subroutine nesting, and

a versatile interrupt scheme. The 8080 supports up to 65,536

(64K) words of memory and up to 512 I/O devices (256 input,

256 output). The basic hardware configuration includes

65,536 (64K) bytes of Random-Access-Memory (RAM), and six

fully implemented I/O interfaces to:

- a Teletype (including its paper tape reader),

- a CRT terminal (or other compatible device),
I
- a high-speed paper tape reader,

57
 - a high-speed paper tape punch,

- a line printer, and

- Intel's Universal PROM Programmer.

The "standard" configuration of the overall computer sys-

tem consists of the MDS microcomputer, a dual-diskette drive

(a quarter million bytes per floppy disk) , a CRT and/or tele-

type for man-machine interface, a resident high-level PL/M-80

compiler, and resident assembly language 8080/8085 macro

assembler.

B. PLASMA PANEL DESCRIPTION

This section describes the SAI Technology Company's Model
2500 Plasma-scope Gas Discharge Display System, which is

capable of displaying alphanumeric characters and/or graphics.

The plasmascope also features several configuration options

to provide full capability for interfacing with a keyboard and

various parallel and serial computer interfaces such as:

- The Interface I/O.

- The Display Buffer.
- The Vector Generator.
- The Character Generator.
- The Manual-Entry Keyboard.

The plasma panel contains 262,144 individual dots which

are capable of being discretely addressable in terms of se-

lecting specific x and y coordinate values for excitation;

e.g., to create or extinguish light. The panel is normally

driven by selecting parallel groups of lines on one axis (Y)

58
and scanning on the other (XM. This operation provides
displays of alphanumeric data using a data matrix/format for
characters and symbols. Also, by selecting single element

location in coordinated fashion, graphics can be created on

the display surface.
More specifically, the plasma panel consists of two panels

of clear glass each of which has embedded parallel electrodes

that are appropriately separated. The panels, aligned with
the electrodes at 90 degrees, are separated by a dielectric

and space seal. This spacer area is filled with a neon-based

gas.
The model 2500 Plasmascope has the following interface

capabilities:
- Parallel I/O Buffer, 16 bits.
- Differential I/O Buffer.

- Serial I/O Buffer.

- Data Channel Controls.
- Synchronous Interf ace.
- Asynchronous Interface.
- NTDS-3V 1/O.

C. PLASMASCOPE TOUCH PANEL DESCRIPTION

The touch panel is an input device for Plasmascope which

allows the operator to touch the display panel and convey
positional information to the computer. The touch panel
uses a crossed array of light beams projected just above the
display surface. When an x and y beam is broken by an obstacle

59
such as finger, the panel reads the x-y address into the comn-

puter. The panel then waits until the finger is repositioned

before sending a new address.

There are 16 horizontal and vertical light beams that

create a grid pattern of 256 positions which can be identified
by the touch panel logic; this logic transforms this posi-

tional data to an eight bit data word.

The word consists of 4 bits representing the horizontal

position and 4 bits representing the vertical position (x and
y coordinates respectively, referenced to the left upper corner).
These two 4-bit nibbles in conjunction with the touch-panel
status bit, makes the positional information available to the

user for any compatible 1/O device.

D. ANALOG INPUT/OUTPUT SYSTEM

These microcomputer peripherals provide two functions that

interface directly to Intel's SBC8O and Intellec MDS micro-

computers. The functions are: (1) Analog Data Acquisition

and (2) Analog Output. The devices are electrically and
mechanically compatible with any SBC80 and Intellec MDS.

Both analog input and output systems are contained on a single

printed circuit board that is treated as memory input or out-

put by the CPU. The cards will mate to any memory or I/O
slot. The analog interface for each system is a connector
at the opposite edge of the board from the bus connector.

The Data Acquisition system is available with up to 64

channels single-ended on one board. It includes an input

60
multiplexer, high gain instrumentation amplifier, 9-bit A/D

converter along with all the necessary timing, decoding and

corntroi logic. A DC,'DC converter (+5 to tl5V) is also avail-
able so that only the computer's power supply is required.

The Data Acquisition System is available with two optional

8-bit D/A converters to provide analog input and output on

the same board.

E. SERVOMECHANISM DESCRIPTION
The Feedback MS150 Modular Servo system is particularly
designed for experimental use by students and technicians who
are studying closed loop control systems, and who are con-

cerned with obtaining a general qualitative group of closed-

loop techniques which complement analytic investigations.

Components of the Closed-loop system servomechanism are shown

in Fig. 10. The components of the MS 150 DC System are:
- Operational Unit
- Attenuator Unit

- Pre-Amplifier Unit
- Servo Amplifier
- Power Supply

- Motor Unit
- Input Potentiometers

- Output Potentiometer
Each of the units of this equipment is fitted with magnetic
feet and can be attached to the base board in any desired

position.

61
i

'=41

- 0

_ _

j
_o C._

0
4-4

M ro

0
cn

r4

-4
L62

62
 The main power supplies for the Servo Amplifier Unit and

the Motor Tacho unit are fed through the cables terminating
in octal plugs fitted to both Motor Tacho and Servo Amplifier
Unit.
Both Power Supply Unit and Servo Amplifier Unit are fitted
with sockets from which :15V d.c. supplies can be drawn to
operate all other units of the system.
The major features of the control system are shown in
Figure 10. The 'input' and 'output' quantities are compared
to produce an 'error' signal which actually operates the

'forward path', which is the whole of the system between the

error signal and the final output. The forward path has an
amplifier and motor. Amplifier operates the motor which drives
the output or load through gearing.

In order to compare actual input and output quantities

which give the error signal (which operates the forward path)
the values must be converted to voltages. Transducers are
used in the input and feedback lines for conversion.
Tachogenerator feedback is used as a compensating system
that contains position control, velocity control and Velocity
feedback'. This provides a very powerful means of stabilizing

systems and improving the transient response.

F. DATAMEDIA ELITE 2500 TERMINAL DESCRIPTION

The Datamedia Elite 2500 Video Terminal is a stand-along

terminal containing an alphanumeric display, keyboard, storage,

( control logic and a synchronous/asynchronous communications
interface.

63
 The Elite 2500 can rEceive at data rates from 50 to 9600
band synchronous or asynchronous with a screen capacity of

1920 characters.
The Elite 2500 can store and identify 128 ASCII characters.
The standard display format is 80 character line by 25 lines.
Each character can be stored as a form field character or
Blink field character, or both. All characters are formed

on a 5 7 dot matrix.
The cursor, which is an underline, will identify the

position on the screen. The next character received will

be entered.

The DATAMEDIA Elite 2500 has special user definable "con-

trol functions" and the following device attributes:

- quiet operation
- editing plus roll mode

- 50 to 9600 band
- 80 characters per line
- no end of line hangups

- protected field
- computer derived or high light field (blink)
- addressable cursor

- added carriage time with printer transmit

- good reliability

- electronic keyboard.

64
 V. DESIGN OF POWER CONTROL SYSTEM FOR THE
GUNFIRE CONTROL SYSTEM

A. GENERAL
The Fire-Control System in this study is a shipboard

double purpose weapon. The power control system for this

weapon must be an electrically controlled hydromechanical

drive mounted on the carriage of the gun mount, and serves

to position the gun in azimuth and elevation in accordance

with commnand signals from the fire-control computer. For

the purposes of this study a modified servomechanism that

was available at the NPS was utilized to simulate the gun

mount. The design consideration for the real power control

system would be similar but understandably, much more demanding.
Since the azimuth and elevation servo systems are essen-
tially identical, just one servo system was designed.

B. OPERATION
The fire-control computer provides either present or
future target position data, depending upon the mode of com-
puter operation. These data are compared with positional
data from the gun. If the desired and actual positions do
not correspond, an error signal voltage is generated whose

amplitude is proportional to the difference between the de-

sired and actual gun position and whose phase is a measure

of whether the gun lags or leads the desired position. The
error signal is then amplified in a servo amplifier to a power

65
level sufficient to drive a DC servomotor. This servomotor,
in turn, is geared and linked mechanically to the gun indi-

cator (output potentiometer and indicator in this study).

As indicated in Figure 11, voltages from the computer via
DAC are supplied to the servomotor through the summing ampli-

fier and power amplifier as 1:1 coarse data. The rotor of

the servo is connected mechanically to the output gearing.

The resultant error-signal voltages, after being combined with

secondary signals to be discussed below, are amplified and
applied to the power amplifier. This amplifier error signal
serves to swing the gun to its desired position, i.e., on
target.

C. DESIGN CHARACTERISTICS

In the study of a comparable system by Slaughter and

Lachowski [Ref. 11] typical performance figures were given

as follows:
Maximum Angular Velocity: 30 Degrees/Second
Maximum Angular Acceleration: 75 Degrees/second2
The control loop in this study was designed to operate as

close as possible to these same constraints.

The specifications on the desired closed-loop response
were based on the velocity and acceleration characteristics

of the gun mount and the requirement for stable operation at

all time.
For example in Slaughter and Lochowski [Ref. 11] the

analysis and tests conducted to determine the transfer function

66
 >1 n

4 J - 4

- 4
0 r

67
of the 3"/50 gun mount, revealed that the plant to be con-

trailed would be of the approximate form:

G(s) = 6
s(s +3_7)

This transfer function in a unity feedback system would

have a closed loop response characterized by a damping ratio

of 0.7 and a natural frequency of 2.45 radians/second. Al-

though the damping ratio indicates that the system would surely
be stable, the low natural frequency indicates that the sys-
tem would be considerably more sluggish than desirable.
Considering the above factors, modifications were made

on the modular servo system so the test system had a transient-

response as shown in Figure 12. Characterized by a damping

ratio of 0.578 and a natural frequency 6.04 radians/second.

D. DESIGN OF CLOSED LOOP SYSTEM

A closed-loop control system is one in which the output

signal has a direct effect upon the control action. That is,

closed-loop control systems are feedback control systems.

The actuating error signal, which is the difference between
the input signal and the feedback signal (which may be the
output signal or a function of the output signal and its

derivatives) , is fed to the controller so as to reduce the

error and bring the output of the system to a desired value.

In other words, the term "Closed Loop" implies the use of

feedback action in order to reduce system error.

68
500 m.V/div

25 nm/sec

Figure 12. System Transient-Response

69
 The major features of any simple automatic control sys-
tem were shown in Figure 10.

The 'input' and 'output' quantities are compared to pro-

duce an 'error' signal which actually operates the 'forward

path'. The forward path is the whole of the system between

the error signal and the final output. In an electrical sys-
tern, for example, the forward path may take the form of an

amplifier operating a motor which drives the output as a

load through gearing.
En many cases it is necessary to use some form of trans-

ducer in the input and feedback lines in order to convert the

actual input and output quantities (which may be shaft angle

or some other variable) into a suitable form, commonly voltages,

which may then be compared to yield the error signal which

operates the forward path.

For the control system in this study one of the trans-

ducers in the feedback line is a tachogenerator providing a

voltage proportional to the output shaft speed, which in

conjunction with a position feedback signal is compared with
a desired position represented by an input voltage.
The portion of the system used to compare input and output

and produce an error is commonly termed the 'error channel'.

it is important to note that there is a 'closed loop' in the

system from the error through the forward path and back through
the output transducer to the comparison unit. It is the effect

of this closed loop which gives feedback systems their particu-

lar properties both advantageous and disadvantageous.

70
 The great advant-age of a feedback or closed-loop system
is that since it is 'error-operated' it contains the facility
to compensate for any departure of the output from the re-

quired condition set by the input since this departure changes

the error causing a correcting signal to be applied to the
forward path. Whether the departure is caused by external
loading, or internal disturbance in the system, or some change

in the system parameters (an amplifier gain for instance),

the system compensates for the change to an extent depending

on the detailed design. The disadvantage of a feedback system

is that due to the closed-loop path the system may tend to

give an oscillatory response to any change of input which

may take some time to die away, or that the system may even
become unstable and maintain self-oscillation.

The general design problem of closed-loop systems is to

exploit to the full the advantages that feedback provides

but to avoid the disadvantages.

1. Motor Characteristics
An essential feature of any electrical position or

speed-control system is an electric motor with an associated

power supply and amplifier stage to control power input to

the motor in response to a control signal. In this study
the amplifier stage is a servo amplifier containing power
transistors. it is usually necessary for the motor to be

reversible and there are two commuon arrangements for a motor

with separate field windings. The arrangements are armature
connection and field connection as in Figures 13 and 14.

71
 Vi V2

Speed Speed

Voltage Load Tobrque

Figure 13. Armature Connection and Characteristics

72
 Field Coils

vi V2

Speed Speed

nut.
Lare
Sinall Input

Voltage Load Torque

Figur
14. Field Connection and Characteristics

73
 In the armature connection the armature is connected
in the emitter circuit with one field winding in each collec-

tor, while in the field connection the armature is connected

in the collector circuit. In both cases if a positive
voltage (in the case of n-p-n transistors as shown in Figure
13) is applied at either V1I or V 2 ' current will flow through
one field and the armature, causing the motor to rotate. The

two fields are so connected that the motor runs in opposite

directions for V 1or V 2'Each arrangement gives different
characteristics and has particular advantages and disadvantages.
In armature connection, the fact that the armature
back emf appears between the emitter and ground requires that
that control voltage V1I or V2 must be increased to increase
the motor speed, and if there is no load on the motor the
speed is almost directly controlled by the input.
If the motor is loaded, the speed falls and the current
increases if V1 is kept constant. Hence the torque can rise
to keep the load moving. This gives speed/voltage and speed/
torque characteristics of the general form shown in Figure 13,
a certain minimum voltage being required to overcome friction

and make the motor rotate.

in the field connection, the transistor current is
largely determined by the input signal. Hence when the mini-
mum value required to rotate the motor is reached, and if the

motor is unloaded, the speed runs up to a high value for a

very small increase in input. This makes the motor difficult

to control. Also if the motor is loaded the speed falls

74
sharply. Field connection is shown in Figure 14. In general
terms even though the field connection is more sensitive

(has a higher 'gain') which appears advantageous, when used

in a closed loop system it seriously decreases stability of
the system. For this reason the Armature Control Connection

was selected in this study.

Transient response for an ideal armature-controlled
motor (one in which the constant brush friction is negligible
compared with the torque generated by the motor) , with a

separately energized field, the motor speed responds exponen-

tially to a step of input. The relation is of the same form
and the response of the same shape as that of an RC circuit
to a step voltage.
2. Speed Control
The units were connected to give the speed control
system shown in Figure 15, in which the tachogenerator voltage

is effectively subtracted from a reference voltage to give an

error signal which finally drives the motor.

Ideally if the forward path gain is very high, only

a small error signal is required to operate the motor and then

the motor speed will be such that the tacho voltage substan-
tially equals the reference voltage, so that the speed is
controlled by the reference voltage. The steady state opera-
ting conditions of an ideal system may be represented by the

following relations.

= K E
0

75
 4-)

>1

-4

04
E

-14

0-44

76
i.e., speed is proportional to error signal and K is the
'gain' of the system. Also

E = Vref - Kggo

i.e., error is the difference between the reference voltage

and the generated voltage. These two relations may be combined

to eliminate the error E, giving: 0

0 = K(Vref -K g go ) by

algebraic manipulations, speed is given as

K Vref
o l+K K
g
Hence if the forward path gain is large, this last

relation becomes very nearly:

, Vref
o K
g

but as K 9
g constant,

* Vref

and the speed is directly proportional to the reference

voltage, the relation depending only on the tachogenerator
constant which will not vary significantly. The speed refer-

ence voltage relation will not be affected by 'gun' variations

provided that the gain remains high. This of course is the

advantage of using a feedback system.

In the experimental setup the operational amplifier

unit was used to combine the functions of a comparison unit

and the variable gain stage. The output of the operational

77
amplifier was used to drive the servo amplifier which re-
quires a positive input to rotate the motor in a "positive"
direction and a negative signal for "reverse" rotation.

In order to obtain a Reversible Speed Control it is

necessary that when the reference voltage is reversed a

drive signal is applied to the other transistor input in the

servo amplifier. This cannot be obtained with the operational

amplifier unit but a suitable drive is provided by the pre-

amplifier unit.
The pre-amplifier unit has two outputs and a positive
input Cto either input) gives a positive output at one output,

and a negative input gives a positive output at the other

socket. Therefore if this unit is used to drive both inputs
in the servo amplifier the motor can be driven in both
directions.

3. Position Control
In a position control system a common requirement is
for a motor to rotate an output shaft through the same angle
as an input shaft. In this study, the inputs are the predic-

ted bearing and elevation values.

The general form of the block diagram of a position

control system is in Figure 16, but for a position control
the input and output "transducers" must measure input and
output shaft angles and produce a control signal (or 'error')
proportional to the angle between the shafts (in this case
difference between input value and output value).

78
j4

4 04
-4

4-

790
 The major problems of position control are 'Reduction

of Overshoot and Settling Time'. The high gain is desirable

to reduce the deadband, but leads to increased overshoot.
The system that is needed is some arrangement to enable high

gain to be used without causing too serious overshoot.

The method of preventing overshoot involves using an

additional control signal proportional to the velocity of the

output shaft which can be obtained from the tacho generator.

This is called velocity feedback, and is very often used in
practice to improve system performance, as shown in Figure 17.

The real cause of overshoot is that the drive to the

motor does not reverse (hence tending to slow the motor down)
until the system reaches alignment (which is really too late).
If the motor drive could be reversed before the system aligns,
then the motor would be slowing up as alignment is approached

and the overshoot would be greatly reduced. This is the

effect that is obtained by 'Velocity feedback'.
The tacho generator measures the speed of the output

shaft which may be increasing as the system moves towards

alignment. If this signal is arranged to be negative from
the tachogenerator it then is added to the error.
The sum of the signals becomes zero and reverses

before the system aligns and hence the motor drive reverses

before alignment. This greatly reduces the overshoot but

excessive velocity feedback gives a very slow response.
introducing velocity feedback stops the oscillation
because it modifies the speed transfer characteristics

80
 (Error-Cutput Speed)

Input Forward PathA

Figure 17. Velocity Feedback Block Diagram

81
between the input to the pre-amnplifier and the motor
shaft.

4. Analysis of System
Normally introductory theoretical analysis is
developed assuming that motors are 'linear', in particular

that frictional characteristics are viscous. In actual prac-

tice for small motors the brush friction (which is substan-
tially independent of speed) is the dominant frictional effect,
and conventional linear analysis is not applicable.
In order to enable a limited range of numerical experi-
ments to be carried out to provide an introduction to the

analytic theory of control systems, it is possible to intro-

duce a compensating network into the pre-amplifier which in
conjunction with tachogenerator feedback provides an overall

motor characteristic which approximates a linear motor with

a single time constant. This is referred to as a 'defined
time constant' system.
Initially the general theory of simple control systems
is developed and this is followed by a series of experiments

investigating such points as

- Motor time conztant
- Closed-loop transient and frequency response

- Instability
- Tachogenerator feedback.
5. Analysis of Simple Position Control
in order to obtain an analytic expression of the sys-
tem, it is necessary initially to obtain equations to describe

82
the performance of an idealized motor. The most convenient
way to analyze the motor is to use the torque as the link

between theeiectrical and mechanical portions, and the follow-

ing equations can be written where it is assumed that the
various parameters are in a compatible system of units. The
motor torque is proportional to the armature current, hence

T = Kt Ia

where T = torque, Kt = torque constant (torque/amp.). The

armature current depends on the difference between the applied

voltage Vs and the generated back emf KbS.

Vs - Kb S
Ia -=
Ra
R

where S = speed, and Kb = generated back emf constant (volts/

rad/sec). Finally the motor torque is used to accelerate

the total inertia of the motor and load (J) and overcome
the viscous friction torque, giving

JdS
T = -E+
dt FS

where F = viscous friction constant (torque/rad/sec).

These equations may be combined to eliminate the torque

and armature current finally leading to

JRa ) dS Kt Vs
(FRa +KbKt dt = (FRa +KbKt

This equation is identical in form with the equation

from the analysis of a RC circuit. Hence the relation between

83
applied volts and speed for the mctor is the same as that
which would be obtained between the input and output volts

for the simple circuit. Thus if volts are suddenly applied

to the motor it will run up to the corresponding maximum

speed with a time constant

J R
a
m F R +Kb-Kt
a

The factor K t/(FR a +KbKt) indicates how fast the

motor will run per volt applied at d.c. and is termed the
'speed constant' Ks.

Ks Kt
FR +Kb.Kt
a

The frequency response relation between supply volts

and motor speed is given by

v(J) - Ks
vs (I + JIJTm )

For control systems where the motor normally rotates

an output shaft to a desired angle, it is necessary to estab-
lish a relation between applied volts and actual shaft posi-

tion angle. The position or total motor shaft angle em' is

given by the integral of the speed

m
m (S dt

since d5m/dt = S. Considering the exponential form of signals

84
 e, dt = e3 t

so that the total shaft angle is given by

;7sm =
j(j + j
Ks
M)

For any closed-loop system the error signal is used

to operate the forward path, the error being the difference

between the input and output shaft angles,

E = 9 - -
1 o

assuming that the error, which will be in radians, is converted

to a voltage and subsequently amplified so that one radian
gives Kg volts, then

Vs = E Kg

If the frequency response of the system is being considered,

and using the relation previously obtained for the motor
shaft angle, then

= Kg Ks
u(1 + jWT E
m m

Since there is a gear reduction l:N to the output shaft,

then

0 m/N

leading to

85
 Kg.Ks/N
(++U E
o

This may be substituted into the error relation to give

finally the very important result
Kv
o 0 jw(l +jJm) m K
Kv
-3
T--( + Ky
Kv T = j W(1 + jW7 m ) +Kv
jwl-
3.ii.jW +-
(! + j u-m)

where

Kv KgKs
N

The factor Kv determines how fast the output shaft rotates

for a constant error and is called the 'velocity error con-
stant', and is an important parameter in controlling the

steady state following accuracy of the system.

Although the closed-loop expression has been developed
in terms of frequency response it is also possible to estab-
lish a differential equation relating the input and output

under closed-loop conditions. The differential equation

governing the motor speed is

dS
d-S = Ks.Vs
m dt

but since speed (S) is the differential of position, hence

N-de d Nd 22a
N dS
s and S
dt~ dt-2

where e is the output shaft angle, and N the reduction ratio.

0

86
Also

Vs = Ke - Kamp

and these may be substituted into the motor equation to

give

d2 de
7 2o + -T 0 - Kv E
mdt 2 d

since Kv = (Ke Kamp Ks)/N. Finally since

E = 9.-1 0

the equation may be written as

d29 d6
0 0+Kve
o- = Kv e.
m dt2 0

which is a second order differential equation. If this equa-

tion is compared with the 'normalized' form of a second order

equation

d2 +d2 + W Y = W2 x
dt n dt n n

it can be seen that the parameers wn' the undamped natural

frequency, and 7, the damping factor are given by

n 1
'VKv/T
n m v'Kv-r
m

The frequency response corresponding to the normalized equation

is given by

87
 (j 2+ 2 ++
n n

and a phase shaft of 90' occurs when , n

6. Tachogenerator Feedback Compensation

In the two systems considered previously there was a

direct connection between Kv and overshoot, and it was not

possible to increase Kv without increasing the overshoot.

Also the speed of response could not be increased since this

is controlled by the 'resonant frequency' which is determined

by the internal parameters of the system. In order to be able

to adjust system parameters to improve the performance, one

method is to introduce additional passive networks in the

forward path. This is termed 'compensation'.

Another method of compensating a system is to add a

signal from a tachogenerator into the forward path. Since

this provides a very powerful means of stabilizing systems

and improving the transient response this method was selected

for compensating the system in this study. It is often termed

'velocity feedback' because the signal used is proportional

to the output shaft speed.

The variable tachogenerator feedback was connected

into the pre-amplifier as shown in Figure 18. The block

)
K1 /j( wm together with the addition unit immediately

preceeding itrepresents the complete transfer function of the

defined time constant forward path from the input to the pre-

amplifier to the motor shaft. The signal E 3 only exists internally

88
 0

oo

-4

rnH

'-4
I M)
>L89
-4-
, '1-4

• Ia

U--'tl"a
4 0!

89
 in the pre-amplifier and can not be examined. The signal
shown from the tachogenerator through K 2 represents a separate

signal fed to the pre-amplifier input. The negative sign

associated with the tachogenerator input arises automatically

from the tachogenerator polarity when the defined time con-

stant arrangement is used.

The tachogenerator actually measures the differential

of the output shaft position, hence from the frequency

response point of view considering exponential signals of

the form e t, the transfer of the tachogenerator is 'jw',

since

de t jet
dt - je

The variable factor K 2 represents a potentiometer

across the tachogenerator output, and K 3 is the other
potentiometer used as the normal gain control. The opera-
tional amplifier compares input and output to generate the
error E1 , which passes through K 3 to provide the signal, E 2
which applied to the pre-amplifier. In the diagram there are
two separate loops, the 'inner' loop, shown within the dotted

box, through the defined time constant forward path and back

through the tachogenerator, and a second or 'outer' loop from

the output shaft through the operational amplifier and then

through the comLlete transfer represented by the inner loop

from E to ao . The 'inner' loop transfer may be evaluated
2 0
€ as:
4

90
 K1
0 3w (1 + jW-r m
(j w )
E2 K1 K 2Jw
+w(I
1u + jw-, m )

K1 1
1 +K1K 2 jw(l+Jrm/l+KI K2

K1 1
1 + KIK 2 jw (i + j t

where Tt = Tm/(l +KIK2) so that the tachogenerator feedback

7(1 K 2)tcoerar
has the effect of making the inner loop transfer similar to

the open-loop speed control transfer function with both the

time constant and the 'speed factor' K1 (which is the maximum

Kv value for the simple defined time constant arrangement)
being reduced by the factor 1/(l +K 1 K 2) , so that the system

reduces to the equivalent diagram shown in Figure 19.

From the differential equation point of view the follow-
ing equations can be considered to be the transfer o/E 3
0 3

m dt 1 3

but

d6
E E-K 2 0
3 CE2 2

and

E
2 K C9
3 i -e o

91
o

41.

iw

M r)

Q)
-,--4
92)
 Hence finally the overall equation can be obtained
d24 d
di + (1 +KIK 2 ) - + KiK3 9 K i

Comparing this with the normalized form of the second order

differential equation gives

v (KIK 3 )/T m

and

1 (1 +KIK 2 )
2 'KI 3 -
vK 1K3T

so that the natural frequency is dependent upon the forward

path gain KIK 3 and the damping factor can be controlled by
K2 Hence, in principle, the natural frequency can be increased
by increasing K1 K 3 while the damping is kept constant by in-
creasing the tachogenerator feedback K 2 .

The frequency response expression relating the

output shaft angle and error is:

oW
- Jw~j+j)Kv

where Kv is the velocity error constant. This gives the output

shaft speed per unit error in the steady state. (The dimen-

sions of Kv being
radians/second at the output shaft
radian error in volts

93
This is an important factor in determining the steady state
and also affects the magnitude of the open-loop frequency
response locus and hence controls the magnitude of the peak
in the closed-loop step response.

If in principle the inpat shaft is rotated at a con-

stant velocity, the system will finally settle with the output
shaft rotating at the same speed as the input shaft, but lagging
behind with an angle just suf ficient to provide the error sig-

nal necessary to rotate the output shaft at the same time

speed as the input shaft. For a given input shaft speed ,
the following error is given by

increasing Ky reduces the steady state following error, but

increases the oscillatory nature of the transient response so

that for any simple system a compromise value must be chosen.

Ky is an overall factor which is the product of a

number of individual factors in the forward path, in fact

K K K
K e* amp. s
v N

where:

K e= volts to amplifier/radian error; called

e the 'error constant'

K ap= amplifier gain

Ks= motor speed constant

N = gear ratio

94
In this study the value of K v found by measurement as explained

in [Ref. 12] Kv(max) is given by

=
K
v(max) :O/57o
.r

where 4 the input potentiometer angle that was found by

r
measurement to be 40. Hence KV or in ;losed-loop syste K, is

equal to

K =K - 4___ 179
1 v(max) 47/570

The system time constant with load was found from the

open-loop transient response to be

m
m = 3.6 sec

Another system constant value that must be found is

tachogenerator feedback constant K The actual dimensicns of

K2 are:

radians
(rad/sec) at the output shaft

The value of K 2 was determined experimentally as in [Ref. 12]

and was found to be

K2 0.1354559

The following loop transfer functions were explained above.

t (1 +K m_
IK2 0.142593 sec
t =(I+K 1 K2 "

95
AD-AI02 693 NAVAL POSTGRADUATE SCHOOL MONTEREY CA
MICROCOMPUTER BASED SNIP-OARO GUN CONTROL SYSTFM.(CU) FIG 9/2
MAR A1 A EROOGAN
UNCLASSIFIED
N

smmhhhhhhhhhh
nhhhhhhhhhhhhl
"'I-I"."mms
"mhhhhhhhmhhhl
E-minhhhhhhA
Therefore the inner loop transfer function is

K/(l1 + K2) 49.72

E2 s(l +s-, t ) s(s +7.0129)

The all system transfer function is

K3K 1
(S) s(l +sTt
i i K 3K 1 -K 4

s(l +s t) 4

where:

K3 is the forward path gain, and

K4 is the position feedback gain.

After calculation,

(S)
0 45.74
1i ) s +7.01 s +36.59

96
 VI. CONCEPTUAL DESIGN

Microprocessor technology can be used to solve Gun Fire

Control, Maneuvering Board problems, to present a geographi-

cal plot of own ship and contact positions and to direct the
gun to the target.
In order for such a system to be competitive with existing
equipment, the following requirements should be fulfilled:
1. Speed and accuracy in performing necessary functions.
2. Reliable and widely available components.

3. Relatively inexpensive acquisition and maintenance

costs.
4. Human engineered user interface.
5. Flexibility in its use.
6. Capacity, speed and accuracy of calculation of generated
target values, gun orders and fuze setting value, while main-
taining at the same time, a constant update of the own ship's

position.
7. Capacity of displaying a geographic plot of the own
ship and contacts, while maintaining at the same time, a con-
stant update of the own ship's position.
8. Capacity to solve Maneuvering Board problems such as the
determination of CPA information, and calculation of course and

speed values for the contacts.

9. operation of the proposed system should not require more

people than the current methods.

97
 It was with these objectives in mind that the microcomputer
system described herein was designed.

A. HARDWARE DESIGN CONSIDERATIONS

The equipment selected to implement the system described
in this thesis was chosen because it was available at the Naval
Postgraduate School and was representative of commercially

available microcomputers, plasma displays, ADC/DAC board and

experimental feedback control servomechanism technologies. The

selection of the INTEL Microcomputer Development System (MDS)
computer as the prototype for this project was made because
of its immediate availability at the Naval Postgraduate School
and because Babin and Seaman [Ref. 1] had already interfaced

the MDS with a plasma display, Goncalves and Bravo [Ref. 2]

had implemented 'Surface-Subsurface Contact Plotter System' and
Mariatequi and Hall [Ref. 31 had implemented 'Interactive Dis-

play System'.
Two features of the MDS system that were especially useful
were: (1) The 8-level, nested interrupt priority resolution

network, and (2) the real-time clock logic, used to maintain

a real time clock value by means of generating an interrupt
at 0.77millisecond intervals.
The Feedback Modular Servo System was chosen because it

is useful for experimental purposes and the only servomechanism

available at NPS. The design of a Power Control System for

Fire Control System is another thesis topic and is beyond the

scope of this thesis.

98
 A Datamedia Elite 2500 Video Terminal was chosen to pre-
sent alphanumeric information, because its features included:
(l) editing and roll operation modes, (2) 50 to 9600 band pro-

grammable speed transmission, (3) protected fields, (4) com-

puter derived high light field (blink), (5) addressable cursor,

and (6) provision to drive up to 16 external monitors.

Analog Input/Output System was chosen to interface between

the sensor to SBC and MDS to seivomechanism, because it pro-
vides two functions that interface directly to Intel's SBC 80
and Intellec MDS microcomputers. The functions are: (1) Analog
Data Acquisition and (2) Analog Output. The device is elec-
trically and mechanically compatible with any SBC 80 and
Intellec MDS and available at NPS.

Because of the volume of floating point calculations re-

quired, an SBC 310 High Speed Mathematics Unit, developed by
Intel Corporation, was incorporated. In performing high speed
mathematical functions, the Math unit acts as an intelligent

processor, performing a repertoire of up to 14 arithmetic func-

tions at least an order of magnitude faster than comparable

software routines.

1. Simulators--Analog to Digital Interface

Sensor (radar simulator) and target simulator were
interfaced to the ADC. The Analog Input Output system has
8 to 32 analog inputs and six of them were used in this project.
The target simulator has three potentiometers. They
generate target velocity component values (Vx, Vy and Vz).
As shown in Figure 20, target simulator potentiometers connected

99
L,
r- 0

41

4-4

LnU

N C.)

CN

-4 N

10
to ADC board are associated with memory locations F700H,
F701H and F702H. These inputs are scaled in the software

program so that the 10 turn dials can simulate target speed

and course.
The sensor simulator has three potentiometers also.
The potentiometers are uni-directional because range, bear-

ing and elevation have values from 0-99999, 0-3601 and 0-90'.
These inputs are scaled by software so operator can apply any
value in the above limits. The hardware connections are

shown in Figure 20. Sensor inputs are attached to memory

locations F703H, F704H and F705H.

The ADC.DAC board has a direct interface to Intel's

SBC 80/20.
2. Analog to Digital--Digital to Analog Interface
The Analog Input/Output System (ADC/DAC) is a self-

contained unit on a circuit board which functions on the sys-

tem's bus (MULTIBUS) in the same fashion as the system's
memory. Because of this, a 16K byte portion of memory must

be removed in order to use the ADC and DAC in the development

system. Since the computer programs of the system require
more than 48K bytes of memory, the loss of 16K bytes of memory
is intolerable. Therefore, the ADC and DAC interface is imple-

mented as a separate unit controlled by a single board

computer, SBC 80/20.

The ADC and DAC board is placed into a separate frame-
work which contains its own power supply, its own system's

bus, the MULTIBUS, and the controlling single board computer,

101
 SBC 80/20. This Lndependently operating subsystem is con-
nected to the MDS developmental system with a parallel port

interface. A functionally identical SBC 80/20 is resident

in the developmental system which serves as a receiver and

transmitter of information between the ADC and DAC and the
memory of MDS. The functional diagram in Figure 21 illustrates

how the systems are configured.

a. Functional Description of the ADC-DAC Interface

The single board computer which controls the ADC

and DAC cyclically samples the system's analog to digital
channels, located at adsolute memory locations F700H-F70FH.
Each memory mapped ADC channel responds in 50 microseconds,

just as a slow memory device would. The sampled analog values

in the sixteen channels are placed into a buffer area for
transmission to MDS.

After all sixteen channels are sampled, the values

are transmitted to the SBC 80/20 in the MDS system, which then
transmits the two values to be sent to the DAC for feedback
control. The SBC 80/20 which controls the ADC-DAC places
the two received values into a temporary buffer and forwards
the values to the DAC.

The synchronization between the processors is

accomplished by the use of control variables and control
ports which transmit control variables. Two primitive

operations, SIGNAL(CV1,RDY) and WAIT(CVl) permit synchroni-

zation between processes. SIGNAL(CV1,RDY) causes the control
f variable CVi, which is associated with an event (such as a

102
 -4

004

>4 4J
- C'N 4
0u0Q
0fa

C14.

((a

0
*,4 0
4.) 4

N, fn
0w

1-4

14
41 41

103
completion of a procedure) which indicates that the procedure

has been completed and the results of the procedure are

available for use. SIGNAL(CVINRDY) would reset the control

variable to a not-ready status. WAIT(CV1) causes the program

to wait until control variable CVI assumes the ready status.

The following PL/M code sequence illustrates how

sixteen values are transmitted and received over the parallel

ports using the SIGNAL and WAIT primitives. The complete

programs for ADC-DAC interface appear in Appendix G.

Transmitter:

DO I = 0 TO 15;

OUTPUT(DATAPORTA1) = BUFFER(I);/,PLACE DATA VALUE INTO

DATAPORT 1 ,/

CALL SIGNAL(CPl,RDY); /,PLACE READY SIGNAL IN CONTROL PORT i,/

CALL WAIT(CP2); /,WAIT FOR ACKNOWLEDGE OF RECEIPT OF

DATA ON CONTROL PORT2 ,/

CALL SIGNAL(CPlNRDY); /*DATA VALUE NOT READY IN DATA

PORT ,/

END;

Receiver:

DO I = 0 TO 15;

CALL WAIT (CPl); /*WAIT FOR SIGNAL WHICH INDICATES

THAT DATAPORT CONTAINS DATA*/

BUFFER l(I) = INPUT(DATAPORT Al); /GET DATA VALUE/

CALL SIGNAL(CP2,RDY); /, ACKNOWLEDGE RECEIPT OF DATA

CALL DELAY; /, ALLOW SUFFICIENT TIME FOR SIGNAL CP2

READY TO BE ./

CALL SIGNAL (CP2,NRDY) /, PICKED UP ./

END;

104
 The parallel ports are programmable to operate in
one of three modes. The operating mode and the programming

is described in [Ref. 10].

In this application, the single board computers

have convenient pin locations on top of the board. The two

boards,one in the MDS developmental system and the other in

its own enclosure are connected by flat cables. Port Al and

Port A2 are used for data transfer and Port Cl and C2 are used
as control information ports. Port Al and Cl on the SBC 80/20
in the MDS system are input ports whereas A2 and C2 are output

ports. The opposite is true for the ports on the SBC 80/20
in the ADC/DAC subsystem.
3. Digital to Analog--Servomechanism Interface

The DAC has a 1 ohm ouptut impedance and the servo-

mechanism drawing only a 0.575 ma has a high input impedance,
therefore they were directly connected to each other.

B. SOFTWARE DESIGN CONSIDERATIONS

1. Language Selection
Because of the hardware configuration selected and
its immediate availability, PL/M 80 was chosen as the pro-
gramming language to be used. PL/M 80 is a language developed

by Intel Corporation and designed especially for system and

applications programming for the Intel 8080 microprocessor.

The ISIS-II disk operating system, also developed by Intel
Corporation for the Intellec MDS system, has a resident PL/M

80 compiler, which was very useful during the implementation,

debugging and testing phases.

105
 2. Transcendental Functions

Three transcendental functions were used, namely:

(1) Cosine of a given angle in radians, (2) Sine of a given
angle in radians, and (3) Arctangent of the ratio of two
input parameters. These functions were previously implemented

based on the procedures in Hastings (Ref. 4], using floating

point procedures. Goncalves and Bravo (Ref. 21 and Appendix

A describes the algorithms used.

3. Floating Point Arithmetic

Floating point arithmetic was required because the
range of numbers to be represented was large and sometimes
unpredictable. The format used to represent floating point
numbers was as required by the SflC 310 High Speed Mathematics

Unit. Appendix F shows how this unit was actually implemented

and the required software procedures that are needed to use
it. The functions that were implemented and the execution

times are listed in Table I.

4. User Interface
This is the aspect in which most systems fail, be-

cause of the complexity of the problem of trying to define

what an "average user" is in any system, and in trying to

encompass all the possible ways in which a user could react.

It is therefore necessary to define boundaries in how the

system is expected to interact with the user, while at the

same time providing an acceptable range of variations.
one of the features that becomes indispensable when
interacting with a human operator is error detection and

106
 Typical Max
operation Execution Execution OPERATION NAME
Code Time Time

0 15 20 Fixed-Point kilutiply (MUL)

1 26 30 Fixed-Point Divide (DIV)

E 84 100 Extended Fixed Point Div (EDIV)

2 84 100 Float.-Point Mlultiply (FMUL)

3 92 110 Float. Point Divide (FDIV)

4 33 75 Float. Point Add (AM)

5 33 75 Float. Point Subtract (FSUB)

6 84 100 Float. Point Square (FSQR)

7 178 205 Float.-Point Square Root (FSQRT)

8 72 100 Fixed-to-Float. Conversion (FL=

9 42 85 Float.-to-Fixed Conversion (FLXSE

A 7 7 Float. Point Campare (FG4R)

B 7 7 Float. Point Test (FZTST)

F 4 4 Exchange (EXCH)
Note: All time values are specified in microseconds. Listed tines
do not include tune to pass arguments to the MATH UMT and
to read results upon corpletion; this is typically 20
microseconds.

TABLEI. SBC-310 High Speed Math Unit Functions and

Execution Times

107
 notification as soon as possible, and the capability of
allowing the user to correct his own mistakes either when so

told by the system, or when he or she discovers the mistake

by himself. Special care was taken in this aspect, as is

explained below.

one decision that was taken during system design was

to reduce to a minimum the number of keys that the operator
would have to press when entering data. This implied that
no special character, such as carriage return, would be

necessary to mark the end of an input, but this also meant

at the same time that the input would be done in a pre-formatted

manner. The design choice of doing all inputs in a pre-
Kformatted way, was reinforced by the fact that personnel in

a dCI team are used to communicate with each other using a

pre-defined terminology. That is, if the value of the course

of a contact is 090 degrees, then when communicating this
value, the word "ninety" is not used but instead the message
"izero", "nine", "zero" is given.
5. Levels of Correctness
As was established before, it is very important for
a system that depends almost completely on the correctness
of the input values that it receives, to ensure that all the
input values received fall into an acceptable range of varia-

tion, and within logical and plausible limits; furthermore,

the capability of error correction should also be embedded in

the system.

108
 To achieve all of this, the system was designed to
have up to six levels of error detection and correction.

a. The first level is established by checking for invalid

requests from the user, such as asking for information about

a contact when no contacts are in the system; if this error

occurs, a warning message is issued.

b. The second level of error detection is done by checking

each character received from the keyboard, to determine if

it has some meaning to the system. An example of this would

be when trying to input an alphabetic character in a numeric

field; if an error of this type is detected, then the CRT's

alarm will sound and the character will not be echoed at the

display.
C. The third level is established by checking a syntac-
tically correct input against established boundaries for the

type of input being expected. An example of this would be

when a value of 25 is received when requesting an hours value;

since 25 lies outside the boundaries established for hours

(0 :hours <~ 24) . Thus, a warning message will be issued,
the CRT's alarm will sound the value will not be accepted
nor processed by the system, and the cursor will be placed

at the beginning of the incorrect value; the warning message

will remain on the screen until the mistake is corrected.

d. The fourth level occurs after all input has been re-
ceived from the keyboard; by giving the user the chance to
correct any value just input.

109
 e. The fifth level is obtained by making the system do

all the necessary prompting in a pre-determined format. This

eliminated the problems that occur when more or less data

than necessary is provided to the system.

f. The sixth level is carried out by allowing the user

to change any current own ship or contact value at any time.
All these levels of correctness are ensured any time
an input operation takes place. It is important to note
that no provision for values that are syntactically correct

and within established boundaries, but incompatible with pre-

vious data and logically incorrect with the present situation,

could be provided because of the many parameters, variables
and special situations that could be invalid at any given

time.
obviously, the use of so many checking procedures

added a considerable amount of overhead to the system, as far

as the amount of code is concerned; however, sufficient care

was available, and execution speed was not significantly

degraded.

110
 VII. SOFTWARE OVERVIEW

A. GENERAL INFORMATION

The software application package for the system utilized

"PL M-80" high level language in the MDS Microcomputer [Refs. 5,
6, 7, 8 and )1.

The software effort for the MDS microcomputer required

70 percent (%) of the project development time for completion.
The software package consisted of 15 major modules, 315235

bytes of source code and 107385 bytes of object code.

B. DATA STRUCTURES
The main data structures used in the system can be classi-
fied in three categories: (1) Data Structure used to repre-

sent system parameters, (2) Data Structures used to represent

the own ship information, and (3) Data Structures used to
represent contacts information. The main type of data struc-
ture used was the STRUCTURE, as provided by PL/M-80 (Ref. 8],
which basically allows the programmer, by using one identifier,

to refer to a collection of STRUCTURE MEMBERS which may have

different types, such as ARRAY, ADDRESS variables and BYTE
variables. In PL/M-80, a BYTE variable is an 8-bit value

occupying a single byte of storage, an ADDRESS variable is

a 16-bit value occupying two consecutive bytes of storage,

and an ARRAY is a vector composed of BYTE or ADDRESS varia-
bles. The most sophisticated data structure that PL/M-80
supports directly is the array of structures with Arrays inside
the structures. with the capability that PL/M-80 has of
allowing a variable reference to be either fully qualified,

partially qualified, unqualified (references to entire

arrays or structures) , or by using pointers and indirect
references, it was possible to simulate other more complex
data structures such as circular linked lists and plexes,
as will be explained later.
1. Data Structure for the System Parameters

Figure 22a describes the data structure used to repre-

sent most of the system parameters; as can be observed, it

is a structure composed of eight (8) members with the follow-

ing description:
a. LAT: array of 4 bytes used to represent the
floating point value of the latitude parameter used to define

the Coordinate Grid Origin.

b. LONG: array of 4 used to represent the floating

point value of the longitude parameter used to define the

Coordinate Grid Origin.
C. SCALE: array of 4 bytes used to represent the
floating point value of the graphics scale parameter.
d. WIND$DIR: array of 4 bytes used to represent
the floating point value of the wind direction.
e. WIND$SPD: array of 4 bytes used to represent

the floating point value of the wind speed.

f. NUM$ZONE: array of 5 bytes used to represent

the ASCII characters defining the value of the Time Zone

number.

112
(a) DATA STRUCTURE FOR SYSTEM PARAMETERS

DECLARE SYSTEM STRUCTURE

(LAT (4) BYTE,
LONG (4) BYTE,
SCALE (4) BYTE,
WIND$DIR (4) BYTE,
WIND$SPD (4) BYTE,
NUM$ZONE (5) BYTE,
CONTACT$KIND (3) BYTE,
NUNCTS BYTE) PUBLIC;

(b) DATA STRUCTURE FOR OWN SHIP PARAMETERS

DECLARE OWN$SHIP$INFOR STRUCTURE

(LAT (4) BYTE,
LONG (4) BYTE,
POINTER BYTE,
FLAG BYTE) PUBLIC;

DECLARE OWN$SHIP (30) STRUCTURE

(X (4) BYTE,
Y (4) BYTE,
TIME (3) BYTE,
CRS (4) BYTE,
SPD (4) BYTE) PUBLIC;

Figure 22. Data Structure

113
 g. CONTACTSKIND: array of 3 bytes used to represent
the total number of contacts in each class.
h. NUMCTS: byte variable used to represent the num-
ber of contacts at any time in the system.

It should be noticed that this data structure is

designed only to maintain the parameters described any moment;
a log of changes or modifications to the parameters described

is not kept.
2. Data Structures for Ow" Ship Parameters

Figure 22b describes t.- data structures used to repre-

sent the own ship parameters; the OWN$SHIP$INFO structure is

used to maintain a set of parameters for which no log of

changes or modifications is maintained, and also to allow
indirect access to the OWN$SHIP data structure. Its four (4)
members have the following description:
a. LAT: array of 4 bytes used to represent the
floating point value of the latitude parameter defining the

geographical position of the own ship.

b. LONG: array of 4 bytes used to represent the
floating point value of the longitude parameter defining

the geographical position of the own ship.

c. POINTER: byte variable used to access the OWN$SHIP
data structure, by defining its most recently used member.

d. FLAG: byte variable used to indicate whether or

not the 30 members of the OWN$SHIP data structure have been
accessed at least once.

114
 The OWN$SHIP Array of Structures is used to main-
tain up to thirty (30) different sets of values for the own

ship parameters, thus maintaining a log of the 30 (or fewer)

most recent values of the own ship parameters. By using
the members POINTER and FLAG of the OWN$SHIP$INFO structure,

it is possible to use the OWN$SHIP data structure as a

circular queue, with each of its 30 members having the

following description.
e. X: array of 4 bytes used to represent the
floating point value of the X parameter defining the position
of the own ship in the Coordinated Grid System defined.
f. Y: array of 4 bytes used to represent the floating

point value of the Y parameter defining the position of the

Y parameter defining the position of the own ship in the

Coordinated Grid System defined.

g. TIME: array of 3 bytes used to represent the

real time clock value (hours, minutes and seconds) at which
the corresponding member was current.
h. CRS: array of 4 bytes used to represnt the floating
value of the course parameter.

i. SPD: array of 4 bytes used to represent the

floating point value of the speed parameter.
Notice that each member of the OWN$SHIP data

structure is capable of providing enough information to lo-

cate the own ship; up to 30 locations and time may be recorded.

115
 3. Data Structures for the Contact Parameters

Figure 23 describes the data structures used to

represent contact parameters. The CONTACT$INFO Array of

Structures, composed of (15) members, was used to represent
a set of parameters for up to 15 different contacts, and was

also used to allow indirect access to the CONTACT$POSI data

structure; each member of CONTACT$INFOR data structure had

the following configuration:

a. DESIG: address value used to represent the deci-

mal value of the designation used to refer to a contact.

b. TYPE: byte variable used to represent the type

of the contact.
c. KIND: byte variable used to represent the class

of the contact.
d. CRS$FLAG: byte variable used to indicate whether
or not there was information about the course of the contact.

e. SPD$FLAG: byte variable used to indicate whether

or not there was information about the speed of the contact.
f. OS$POINTER: byte variable used to indicate which

of the 15 corresponding members of the CONTACTSPOSI data

structure was current when the own ship made its last change

in course or speed; it is mainly used when solving Maneuvering

Board problems.

g. POINTER: byte variable used to access the 15

corresponding members of the CONTACT$POSI data structure, by

defining its most recently used member.

116
DECLARE CONTACT$INFOR (15) STRUCTURE
(DESIG ADDRESS,
TYPE BYTE,
KIND BYTE,
CRS$FLAG BYTE,
SPD$FLAG BYTE,
OS$POINTER BYTE,
POINTER BYTE,
FLAG BYTE) PUBLIC;

DECLARE CONTACT$POSI (225) STRUCTURE

(X (4) BYTE,
Y (4) BYTE,
TIME (3) BYTE,
CRS (4) BYTE,
SPD (4) BYTE,
BRG (4) BYTE,
RNG (4) BYTE
ELV (4) BYTE) PUBLIC;

Figure 23. Data Structures for Contact Parameters

117
 h. FLAG: byte variable used to indicate whether or

not the 15 corresponding members of the CONTACT$POSI data

structure have been accessed at least once.
The CONTACT$POSI Array of Structures is used to

maintain up to 15 different contacts, thus maintaining a log

of the 15 (or fewer) most recent values for the parameters

of each contact. Its 225 members are accessed indirectly

by the POINTER element in each member of CONTACT$INFO,

according to the following method:

Relative position of member in CONTACT$INFO: N.
Members in CONTACT$POSI to which N is allowed to access:

15 x N up to (15 x (N+l)) - 1.

Thus, for example, the contact defined as member

0 in CONTACT$INFO, has its 15 sets of parameters represented

by numbers 0 through 14 of CONTACT$POSI, and the contact
defined as member 8 in CONTACT$INFO, has its 15 sets of

parameters represented in members 120 through 134 of

CONTACT$POSI.
Also, the 15 members of CONTACT$POSI that are

allocated for each contact defined in CONTACT$INIO, are used

as a circular queue, in a similar way to that described for

the own ship.

Each of the 15 members has the following configuration:
h. X: array of 4 bytes used to represent the float-

ing point value of the X parameter defining the position of

the contact in the Coordinated Grid System defined.

118
 i. TIMEz array of 3 bytes used to represent the

real time clock value (hours, minutes and seconds) at which

the corresponding member was current.
j. CRS: ax ray of 4 bytes used tc represent the
floating point value of the course paramreter.
k. SPD: array of 4 bytes used to represent the
floating point value of the speed parameter.

1. BRG: array of 4 bytes used to represent the

floating point value of the bearing parameter.

Mn. RNG: array of 4 bytes used to represent the

floating point value of the range parameter.
n. ELV: array of 4 bytes used to represent the
floating point value of the elevation parameter.

C. SOFTWARE FUNCTIONAL DESCRIPTION

1. Modules Description
The system was developed around 15 basic modules;
there is another module (EXECUTIVE) which is embedded in
the module MAIN$MODULE.
As shown in Appendix G, every procedure has a comment
header which explains what it performs, the parameters with its
meaning, and, when proper, the usage of that procedure.

The basic idea was to encompass all functions corres-

ponding to a level of design into one software module capable

of performing all the necessary functions.

In doing so, the following modules were developed:

119
 a. EXECUTIVE$CMDS: a module containing all the

necessary procedures to link all the other modules.

b. ANAMOD: a module used to serve as executive

module of the system by combining all the different functions

of the already described modules.

c. COMMANDS$l: a module used to interface with the

user to get requested input values.

d. DISPLAY$CMDS: a module used to display informa-

tion requested by the user, on the CRT.

e. CRT$l: a module used to display all the necessary

and requested values on the CRT.

f. BASICS$l: a module used to interface the system

with the CRT/keyboard.

g. TIME: a module used to perform all functions

dealing with time, and also to keep real time clock for the
system.

h. PLASMI$PRIMITIVES: a module used to interface

the system with the plasma Display Unit.

i. PLASMA$MODULE: a module used to display all the

necessary graphic information in the Plasma Display unit.

j. FLOATING$POINT$l: a module used to perform all

the necessary floating point operations, and to calculate

the transcendental functions already described.
k. FLT$TO$ASCII: a module used to make the necessary

conversions from a string of ASCII characters into floating

point format, and vice versa.

120
 1. CPA: a module used to calculate and solve all

CPA values and problems.

m. GFCS$AAW: a module used to calculate and solve

Anti-Air Warfare gun fire control problem.

n. GFCS$SW: a module used to calculate and solve

Surface Warfare gun fire control problem.

Appendix A describes all the main algorithms

used in the system while Appendix 3 lists all the programs

that compare the system, and Appendix F contains an Opera-

tor's manual giving instructions on how to use the system.

2. Module Interaction

Due to the interaction capability between modules as

allowed by the language PL/M 80 through the use of the attri-

butes PUBLIC and EXTERNAL for the procedures, the following

list was written in order to show this interaction. This

list shows the modules which have procedures called by the

listed module.

a. ANA$MODULE
(1) EXECUTIVE $ COMMANDS
(2) DISPLAY$ CMDS
(3) COMMANDS
(4) PLASMA$MODULE
(5) CRT
(6) FLTASCII
(7) FLOATING$POINT
(8) TIME
(9) BASICS
b. EXECUTIVE (embedded in ANAMODULE)
(1) ANAMODULE
(2) EXECUTIVE$ COMMANDS

121
 (3) DISPLAY$CMDS
(4) PLASMASMODULE
(5) CRT$1
(6) TIME
(7) PLASMA$PRIMITIVES
(8) BASICS
c. EXECUTIVE $ COMMANDS
(1) ANAMODULE
(2) EXECUTIVE $ COMMANS
(3) CPA$MODULE
(4) COMMANDS
(5) PLASMA$MODULE
(6) CRT
(7) FLTASCII
(8) FLOATING$POINT
(9) TIME
(10) BASICS
d. CPASMODULE:
(1) EXECUTIVE $ COMMANDS
(2) CPA$MODULE
(3) COMMANDS
(4) FLOATING$POINT
e. DISPLAY $ CMDS:
(1) EXECUTIVE $CMDS
(2) CPA$MODULE
(3) DISPLAY$CMDS
(4) COMMANDS
(5) CRT
(6) FLOATINGSPOINT
(7) BASICS
f. COMMANDS:
(1) COMMANDS
(2) CRT
(3) FLTASCII
(4) FLOATING$POINT
(5) BASICS

122
 g. PLASMA$MODULE
(1) EXECUTIVE $ COMMANDS
(2) COMMANDS
(3) PLASMA$MODULE
(4) CRT
(5) FLOATING$POINT
(6) PLASMASPRIMITIVES
(7) BASICS
h. CRT:
(1) CRT
(2) BASICS
i. FLTASCII:
(1) FLTASCII
(2) FLOATING $POINT
j. FLOATING$POINT:
(1) FLOATING$POINT
(2) BASICS
k. TIME:
(1) COMMANDS
(2) CRT
(3) BASICS
1. PLASMA$PRIMITIVES
(1) PLASMA$PRIMITIVES
m. BASICS
(1) BASICS
n. GFCS$AAW
(1) FLOATING $ POINT
(2) FLTASCII
(3) BASICS
(4) CRT
(5) COMMANDS
0. GFCS$SW
(1) FLOATING$POINT
(2) FLTASCII
v (3) BASICS
4

123
(4) CRT
(5) COMMANDS

124
 VIII. SYSTEM DESCRIPTION

The description of the system is divided into two major

areas: hardware dependencies and system characteristics.

A. HARDWARE DEPENDENCIES
Because of the hardware equipment that was selected, the

following hardware dependencies exist in the current implemen-

tation of the system:
1. The system utilizes the real time clock logic as pro-

vided by the MDS system; this clock is capable of generating

an interrupt of level 1, when enabled, at fixed intervals

of 0.77 milliseconds. In order to be able to use this feature,

a procedure named clock was implemented and defined to be of

type INTERRUPT 7; this allowed the PL/M-80 compiler to create
the necessary code for the interrupt vector and for the rou-
tine CLOCK. A software problem needs to be explained at this

point. Since the development of this system was done under

ISIS-Il, which would not allow any user generated code to be
located below memory location 3000H, except for code to be
used in interrupts of level 1 (locations 8 through 15), then
in order to override this ISIS-II inconvenience, the interrupt
vector generated for CLOCK, as starting in location 56 (level
7), had to be moved to location 8 (level 1) , after locating

the system code in memory, and before attempting to use the

real time clock; this problem is described in [Refs. 5, 8,
101 in more detail.

125
 2.The system occupies approximately 45K bytes of physical
memory for code, and approximately 17K bytes to be used for
variable data; therefore, a configuration of at least 62K

bytes of RAM is necessary to execute the system. Because of

the memory requirement the memory mapped Analog to Digital--
Digital to Analog Converter had to be implemented as a
separate and independent item.

3. The system utilizes an SBC 310 High Speed Mathematics

Unit to perform floating point arithmetic. Although the
presence of this math unit could be avoided by replacing its
functions with appropriate software routines performing the

same operations using the same formats, this is not recommended

because of the excessive overhead that would result, especially
with regard to execution time. Appendix E explains how the
math unit was actually implemented.
4. The system depends in three ways on the type of terminal

used: the handshaking procedure necessary to communicate

between the CPU and the terminal, the code needed to control

the CRT's functions, and the general features of the DATAMEDIA

Elite 2500 Video Terminal, notably the programmable roll mode,
the setting of privileged fields, the capability of having an

addressable cursor, and the possibility of making displayed

message blank.
5. Because of the design of DC servo motor, it has an un-
stable zone t15 degrees both sides of 1800. In real applica-

tions, gun has ±135 degrees limit at both sides (port and

starboard).

126
 6. Finally, the system has a hardware dependency with

respect to the Plasma Display Unit selected in three respects:

the handshaking procedure necessary to send characters to
the Plasma Display Unit; the code used to control the Plasma
Display Unit functions; and the capability of the Plasma
Display Unit of working either in alphanumeric or in vector

mode. The SAI Plasma Display Unit has a built-in capacity to

draw solid or dashed vectors by specifying the two end points

defining the vector.

B. SYSTEM CHARACTERISTICS
As previously established, the system was designed to per-

form basically the same functions as Gun Fire Control system

and Dead-reckoning equipment, while generating target values
and simultaneously solving maneuvering board problems. The
system, as designed in this thesis, is capable of performing

the following tasks:

1. Generate target values for air targets, solve gun fire
control problem and make ballistic calculations. Calculate
target predicted values and direct the gun to the predicted
target position.
2. Solve the gun fire control problem for the surface

targets, make ballistic calculations, direct the gun to pre-

dicted target positions.
3. Maintain as many as 30 positions of the own ship; main-

tain as many as 15 positions for each contact, for as many as

j 15 different contacts.

127
 4. Maintain and present a geographic plot of own ship

and contacts.
5. Maintain and display Surface and Air-Borne Status Board.
6. Solve the following Maneuvering Board problems:

a. CPA information

b. Course and speed of contacts.

7. At user's request, prompt for necessary inputs and

update the displays, if applicable.

8. At user's request, display all the information that
exists in the system, in a pre-established format.

9. Update automatically the position of the own ship, by

using its course and speed values with a frequency specified

by the user.
All the above tasks are performed by the system, either

automatically or at user's request. Some parameters need to

be defined during system initialization; these parameters are:
1. Time zone number.
2. Local time at which the system is started.
3. Latitude and Longitude values defining a selected geo-

graphical point to be used as center of a Coordinated Grid

System used mainly for plotting purposes and as a reference
to determine positions of the own ship and contacts.
4. Latitude and Longitude values defining the starting

position of the own ship.

5. Initial course value of the own ship.
6. Initial speed value of the own ship.

q 7. Initial scale value for the Plasma Display Unit.

128
 8. Set the target speed component values dependent on the
aircraft type.

9. Set the target range, bearing, and elevation values

dependent on target direction that one wanted to test.

The system also has two parameters with initial default

values: (1) The Safe CPA Range set at 50 yards, and C2) the
interval of time between updates of the own ship's positions
is set at 180 seconds. Any parameter in the system can be
changed at any time, with the exception of those parameters
that define the boundaries of the system. These fixed values
are:
1. Maximum range: 100.0 miles.
2. Maximum speed: 99.9 knots for surface, 1500 knots for

A~ir targets.
3. Number of letters used to designate a contact: 2.
4. Minimum scale value: 00.25 miles/inch.
5. Maximum scale value: 25.00 miles/inch.
6. Zero defined for the system:

-0.0000009 < "ZERO <+ 0.0000009

(for floating point numbers only).

7. Minimum Safe CPA Range value: 50 yards.
8. Maximum Safe CPA Range value: 1000 yards.
9. Maximum Range for fire control problems is 99999 yards.
10. Maximum gun bearing limit is ±135 for both sides (port
and starboard).

129
 Table II describes the formats used for input, internal,
and output representation of the values with which the system

operates, as well as the units used; the conversion factors

used in the system are:

1 Nautical mile = 2025.3716 yards.

1 Degree = 0.0174532925 radians.

1 minute = 0.00029089 radians.
1 Minute of long 1 nautical mile.
1 Minute of lat = 1 nautical mile <Cos(LAT).

PI = 3.141593
1 Knot = 1 nautical mile/hour.

C. SYSTEM DISPLAYS
The system was planned to maintain three different dis-

plays: a Video Terminal presents Surface and Air Status Board

and interactions with the user, Plasma Display number one pre-
sents a geographic plot of the positions of own ship and con-

tacts and Plasma Display number 2 presents the positions of

own ship and target.

1. Graphical Display Mode
The Plasma Display is used to present a geographical

plot of the own ship and contact positions. It displays the

geographical picture that is defined through a system-defined

and user-controllable "window"; this window is used to focus

on the geographical area that is of interest to the user.
Two mechanisms control the "window":

130
 FORMAT UNITS
VAIXE
I/O INIENAL I/O IERNAL

TIME xx:oc: xx 3 Bytes hrs :min:sec Same

CCUSE xoc.x F.P. Degrees Same

SPEED xo=.x F.P. Knots Same

BEARING X~X .x F.P. Degrees Same

RANGE xxx.x F.P. Miles Same

RANkE )00000C F.P. Yards Miles

SCALE XX.xx F.P. Miles/inch Save

LAT. xx: xx:.x F.P. Degrees:Minutes Minutes

LONG. x ~oXX.
x F .P. Degrees :Minutes Minutes

DESIG AA Address ASCII Characters d inal Value

x ....... Numeric Character

F.P ......... Floating Point Representation
A ....... Alphabetic Character Including Spae

Table II. INPUT AND OUTPUT FORMAT

131
 a. Scale. This defines the scale at which the plotting
is desired to be presented, determining the size of the window.

b. Picture Reorientation. This specifies the win-

dow's center. Three different methods were used:

(1) Eight (8) pre-defined points in the picture.

(2) By making the last position of the own ship

to be new center.
(3) By making the last position of any contact to
be the new center of the picture.
The Plasma Display also presents the current
value of the scale being used in its upper left corner. The

positions of the _wn ship are marked with bright circles con-
nected by solid vectors, while the positions of the contacts
are connected by dashed vectors and marked with two different

symbols: a cross if the contact is hostile or unknown, and

a circle if the contact is friendly; the designation of any

contact plotted at the Plasma Display is presented close to

its first plotted position. Appendix A gives the algorithms
used for establishing the window and for forming the picture

to be presented.
2. Alphanumeric Display Mode

Figure 3 presents a picture of how the Video Terminal

Display is arranged. The screen is divided into two areas;

the upper portion of information about the own ship and same
contacts. From this representation, the following information

can be obtained at any time:

132
 (1) Time. The time zone number and the local
time maintained and automatically updated by the system every

second.

(2) Own Ship. Latitude and longitude values

indicating its last geographical position as determined auto-

matically by the system at least every T time units where T

is a period of time as selected by the user. Information about

the course and speed is also available.

(3) System. information about the total number

of contacts in the system, classified by their corresponding

class: Friendly (F), Hostile (H), and Unknown (M). Informa-

tion about the mode in which the system is operating is also
displayed. This will be Explained in the following paragraphs.

(4) Contacts. Complete information about six

contacts is displayed. The following items are provided

for each contact:

(a) Designation.
(b) Type: Surface (SU), Sub-surface (SS)

or Air (AA).

(c) Class: Friendly (FRI), Hostile (HOS),

or Unknown CUNK),
(d) Last Mark: time, bearing and range.

(e) Course, if known.

(f) Speed, if known.
(g) CPA information, if known; time, bearing
and range, or one of the following three possible messages:

"time COLLISION", "SAME CRS & SPD", and "MOVING AWAY".

133
 It should be noted that, although the system
Js capable of maint aining up to 15 contacts, information about
only ten of them will be constantly present at the display;
the user has the capability of selecting which contacts he
desires to be displayed in this way, or as will be explained
later, he can also obtain information about any contact (tem-

porarily) in the lower portion of the screen.

The lower portion of the screen consists of

the last eight rows and is used during Input and Display opera-

tions; it has no fixed format and if the system is not executing

an Input or Display operation, it contains only the prompt

symbol displayed in its upper left corner.

As mentioned previously, the system operates
in four different modes; these modes are: (1) Initialization,

(2) Input, (3) Display and (4) Fire Control Mode. The
Initialization mode is required only once at the beginning of

the execution of the system, and it is indispensable for the

operation of the system, as was explained previously; it
can not be requested by the user once the system is operating.
The Input, Display and Fire Control modes are determined at any
given time. The system operates in the Input mode by default.
Three modes require interaction with the user.

a. Input Mode
The system is operating in Input mode any time an

Input operation is being performed. The following Input opera-

tions can be requested by the user:

134
 (1) Modify Coordinate Grid origin parameters;
optional: latitude and longitude.

(2) Modify Own Ship Parameters; optional:

latitude, longitude, course and speed.

(3) Create a Contact; required: designation,

type, class, bearing, and range; optional: course and speed.
(4) Remove a contact; required: designation.
(5) Redesignate a Contact; required; old and new
designations.
(6) Update a Contact; required; designation;
optional: type, class, bearing, range, course and speed.
(7) Contacts to Display: select which contacts

are desired to be displayed permanently in the Status Board.

(8) Time; optional: time zone value, system
clock value, and time between updates.

(9) Safe CPA Range: modify the safe CPA range

parameter.
(10) 'Wind: enter/modify wind parameters; required:

direction and speed.

(11) Scale: modify the graphics scale value.

(12) Plasma Reorientation: reorient the picture

displayed at the Plasma Display Unit.
All these operations are performed using the lower

portion of the screen and are divided into various phases

("Pages") in order to allow a better utilization of the screen;

any input operation can be requested by pressing the appro-

priate key at the keyboard.

135
 b. Display Mode
The system is operating in Display Mode any time
a Display operation is being performed. The following Display
operations can be requested by the user:

(1) Origin: Display information, about the

coordinate Grid Origin parameters (latitude and longitude).

(2) Scale: Displays information about the Graphics

Scale currently used by the system.

(3) Own Ship: Displays information about the

following own ship parameters: latitude, longitude, X and
Y values in the user defined Coordinate Grid System being

used, course and speed.

(4) Contact Information: Displays information

about a specified contact's parameters; requires designation;

provides: type, class, number of positions maintained by

the system, latitude, longitude, X and Y values in the user
defined Coordinate Grid System being used, last mark's time,

bearing and range, and if possible, gives information about

course, speed, CPA parameters, and estimated actual position.

(5) Contacts in System: Displays information

about the designations of all the contacts in the system,

if any.
(6) Safe CPA Range: Displays the value of the
Safe CPA Range parameter.
(7) Wind: Displays information about the wind.
(8) Display Update Time: Displays the value of
the current Time Between Updates being used.

136
 All these operationz: are performed using the lower
portion of the screen, and are divided into various phases

("pages") in order to allow a better utilization of the

screen. Any display operation can be requested by pressing
the approximate key at the keyboard. Figure 3 presents a
view of how the Video Terminal display looks during system

operation. The arrangement of the various Input and Display

keys are explained in Appendix F'.

C. Fire Control Mode

This mode is included by Display mode. When user
interacts with system (by type key or touch panel) secondary

plasma display presents own ship and target positions. The

video terminal presents target and fire control values (gun

orders).
d. Other Function-Defined Keys
The keyboard has also two other special function

keys:
(1) Rubout Key. Used to backspace the cursor
when inputting information into the system.
(2) "Go" key. Used to advance the various
"1pages" in which the display operations are divided.

137
 IX. CONCLUSION AND RECOM14ENDATIONS

The microcomputer based simulated interactive gun fire

control display system partially implemented in this study

is a workable design to:

- Direct and control the servomechanism by use of Analog
to Digital--Digital to Analog converter interface.
- Control of the flow of information to the different

display devices.
- Accomplish checking the level of correctness expected

at the operator entry to the system.

- Remote processing required for the reception, processing,

formatting and display of data.

The integration of the capabilities of the servomechanism,

the display system in conjunction with the Analog to Digital--

Digital to Analog interface allows the modelling of Shipboard

Tactical systems.
The most critical technical aspects of the project was
the creation of the surface and anti-air fire control algorithm,

the programming of these algorithms, the simulation of the

target sensor interface and finally the integration of soft-
ware and hardware.
Because this study is also a learning experience, the
goal was to apply knowledge acquired in different areas (e.g.,

microprocessor, graphics, electronic circuits, interfaces,

programming% data structures and control). Therefore, atten-
tion was not paid to execution speed and high precision.

138
 This study includes mpny useful procedures and modules
implemented by Goncalves and Bravo [Ref. 2], which are used

for graphic display, algebraic and floating point operations,

conversions (ASCII to Floating Point and vice versa) and

character display purposes. Some of the procedures were modi-

fied for this project.
The main contribution of this project is a closer modeling

of a real system that receives information from the outside

world via analog sensors, makes conversion first to binary

then to floating point format, completes calculations and

then converts the results back to analog form in order to
control a plant (gun).

Some of the serious deficiencies in implementing micro-

computer applications are:
- Low level languages for system's development.

- Primitive debugging tools to find and correct errors.

- Long compilation times for the PLM-80 programming language.

The PLM-80 programming language does not support floating

point or fixed point arithmetic. This makes numerical calcu-

lations awkward to program.

Debugging tools are extremely primitive under the ISIS-II

operating system. In order to use more sophisticated debugging

tools available under the CP/M operating system, much extrane-

ous and time consuming work had to be done to convert and

transfer files between the operating systems.
The compilation-time for even short PLM-80 programs were

of the order of several minutes. To compile a module of

139
significant size would take fifteen to thirty minutes of
execution time. Consequently program testing was done first
at the procedure level, where each procedure was tested indi-
vidually. Collections of procedures which comprised a meaning-

ful module were tested as a group. Much difficulty and much

time was consumed because of the lack of adequate test tools.
The analog control system was used for the simulated gun

in this project. For future work, digital control appears

to be a more effective way of controlling the gun.
The status of the project is: Anti-Air Fire Control and

Surface Fire Control modules are ready to interface to the

main body of the program. For completion; touch panel pro-

cedures, must be added to the plasma module. Procedures that

calculate quadrant of contacts and draw the quadrant on the

primary plasma display must be added to the ANAMOD module

and to plasma modules. Finally secondary plasma display must
be interfaced to system as a fire control display.
The interaction provided by the display system allowed
the operator direct access to graphical data presented and

to control the weapon. This capability greatly increased

the operator's ability to evaluate the tactical situation and

direct the weapon to the target in a real time manner.

Recormmendations for follow-up work:
-Consider the replacement of the MDS 8-bit machine by a

16-bit microcomputer. This will increase the speed of

execution. With this change, the speed of transmission
of data should increase, which is highly desirable.

140
 -Instead of using PLM-30 use PLM2-86 or PL/I which are more
powerful languages.
- The system can be modified in order to accept input data

directly from the own ship's pitometer and gyrocompass

in order to reduce the time required for the operator

to enter the same data thus improving the system's per-

formance.
- The system could also be modified in order to allow the

use of Magnetic Bubble Memory as mass storage media, to

maintain a log of all the necessary data, to be able to

reconstruct events, and to start up the system again in

case of a loss of power or other failure.
- Also, the capability of solving other Maneuvering Board

problems such as interception, scouting and ASW attack

and search patterns could be added.
- The Kalman Filter could be used as a common optimal

filtering technique for tracking problems.

141
 APPENDIX A
ALGORITHM DESCRIPTION

A. THE CT OSEFT POINT OF APPROACH (CPA)

1. The Basic Relative Movement Problem
Kerns and Cooper [Ref. 131 have described a way of
solving maneuvering Board problems with the aid of a micro-

computer. As described in that reference, Maneuvering Board

problems are divided into two basic categories.

One is the relative plot where the CPA of contacts

being tracked can be calculated. The center of the plot
represents the 'reference' or 'own-ship' and any other point
represents the position of a "maneuvering" ship, plotted in

true bearing and range from the own ship at various times.
The other category is the vector diagram or the
"triangle of courses and speeds"; this allows the operator

to calculate the course and speed of any maneuvering ship

(a contact) given the own ship course and speed, and relative

course and speed of the contact (obtained from the relative

plot).
2. Other Uses of the Maneuvering Board

All Maneuvering Board problems utilize the basic rela-

tive motion problem discussed above; in addition to deter-

mining CPA information, course, and speed of a contact, the

Maneuvering Board can also be used to find the required
course and speed to take station on to intercept another ship,

142
to find true wind, or to find courses and speeds for scouting

and torpedo-firing situations.

3. Maneuvering Board Problems Solutions Implemented

As described before, the system was mainly designed

to provide a graphical display of the own ship and contacts

being tracked; secondarily, the system provides a surface
status display of information about those contacts and about

own ship. only the CPA, course, and speed of contacts are
calculated automatically; the other functions of the Maneuver-
ing Board are not duplicated.

4. Problems That Normally occur

In a Maneuvering Board problem solution, all the data
are recorded manually by the plotter; these data are pro-
vided aurally by the radar operator.

This interaction is somewhat error-prone; the posi-

tions plotted often appear scattered.
In this study air target data enter the system auto-
matically as explained before.

5. The Least-squares Fit Approach

in order to smooth the data utilized and to obtain a
straight line representing the line of relative motion for a
certain number of plotted positions, the least-square fit
method was chosen. This approach has been described and
implemented in Goncalves and Bravo [Ref. 2).

The approach employed requires two to five contact

positions. A least-squares fit is used to determine the
slope and the Y axis intercept. once these parameters are

143
obtained the PCA, course, and speed calculations are per-
formed in a straightforward way. According to [Ref. 14] the
method is as follows:

Let N be the number of positions of a contact obtained

from the radar repeater/sonar (the value of N in the systems
has a bounds, 2 and 5). The equation of a straight line can

be represented by:

V Mx + B

where:

M = slope, and
B = Y intercept.

The least-squares fit method gives the solution for

M and B as follows:

(s(0) t(1) -s(1) t(0)

M = (s(0)s(2) -s(1) 2

B= (s(2)t(0) -s(l)t(l))
2 )
(s (0) s(2) -s (1)

where:

N-1 k
k
s(k) = x(i) , k = 0,1,2
i=0

N-k
t(k) = [ Y(i).X(i) k = 0,1
i=0

144
 6. CPA Algorithm

Certain combinations of data require special treat-

ment in CPA, course, and speed calculations. These special
cases are shown in Figure 24.
For Case A the contact has the same course and speed
as the own ship; then the CPA can not be calculated, because
the contact is permanently at CPA.
For Case B the contact has as direction of relative
motion (relative course) the values of 000 or 180 degrees

and thus the slope of the relative motion line will have an

infinite value.

For Case C the contact has as direction of relative

motion the values of 090 or 270 degrees and thus the slope
of the relative motion line will have the value of 0.

There is a fourth case where the contact is on a

collision course with the own ship.

In the general case, the sequence of calculations

is as follows:

a. Take at least 2 marks of a contact (time, bearing, and

distance).
b. Convert bearing and distance to relative values of x
and y:

REL$X = RNG-sin(BRG)

REL$Y = RNG-cos(BRG)

C. Compute slope of smoothed relative motion line:

145
 000 000

270 090 270

090

180

CASE A
CASE B

000 000

090 ---- 270 090 270

180 180
CASE C
CASE D

000

090 a-

CASE E
4
CPA
Figure 24. Special Cases in Calculation of

146
 M (s(0)t(1)
(s(0)s(2) -s(1)t(0)
-s(1) 2

d. Compute Y intercept:

- (s (2) t(0) -s (1) t (1))

(s(O)s(2) -s(1) 2

e. Compute relative course:

Y1 = M-REL$X(l) + Y$CUT

Y2 = M-REL$X(2) + Y#CUT

REL$CRS = tan- 1 ( (REL$X(2) -REL$X(1)

(Y2 -YI)

where:

RELSX(2) - obtained from the last position used

for the least-squares fit calculation
REL$X(l) - obtained from the first position used
for the least-squares fit calculation

REL$Y(2) - similar to REL$X(2)

REL$Y(l) - similar to REL$X(l)

f. Compute relative speed:

DELTA$X = REL$X(2) - REL$X(l)

DELTASY = REL$Y(2) - REL$Y(l)

REL$SPD = '(DELTA$X)2 + (DELTA$Y)

DELTA$ T

where.

147
 TIE(l) - local time at which the last position
of a contact used in the least-squares
fit is entered into the system.

TIME(2) - local time at which the first position

of a contact used in the least-squares
fit is entered into the system.

g. Compute true course and speed of a contact:

Given own ship's course (CO), own ship's speed (SO),

speed of relative motion (REL$SPD) , and the relative motion

course (REL$CRS), then:

Xl = SO-sin(CO)

Yl = SO-cos(CO)

X2 = REL$SPD•sin(REL$CRS)

Y2 = REL$SPD-cos(REL$CRS)

Thus, the X/Y components of the maneuvering ship's

vector are Xl + X2 and Yl + Y2 where the maneuvering ship's

speed is:

2
I(Xl + X2) 2 + (Y1 + Y2)

and the course is:

tan-i ((Xl +X2)/(Y1 +Y2))

h. Compute CPA

X$CPA _ (M(M.REL$X(1)
2 -Y(1))
(M 2 +1)

148
 YSCPA = 2-MX1,
(M + 1)

2
CPA$TI.ME = (XSCPA-RELSX(l))2 + (Y$CPA-Y1)
REL$PD

+ TIME(l)

2
CPA$RANGE = ',X$CPA2 + Y$CPA

-l
CPA$BEARING = tan v X$CPA/Y$CPA

NOTE: Yl is the value calculated at item e, above, not the

one at go.

As a final comment, the Case E shown in Figure 24

represents the situation when a contact is in collision with

the own ship. It is easily seen that a contact in collision

has the bearings of the various positions with approximately

the same value while the range is reducing. The system was

designed with a safe CPA range value (SAFE$RNG) as parameter

which can be changed from 50 yards (default value) up to 1000

yards; thus, any CPA range below that parameter value will

set the information about the CPA of a given contact as being

in collision with the own ship.

Beyond that, the CPA algorithm checks for a contact that

already passed its CPA and a message "MOVING AWAY" is issued.

149
B. GRAPHICS ON PLASMA DISPLAY

1. Physical Considerations

In order to provide elements for designing the algorithm

for interacting with plasma display, some physical parameters

for the AN/UYQ-10, Plasma Display set [Ref. 15) had to be

taken into account:

a. Panel Parameters:

Active area: 8.55" x 8.55"

Addressable matrix: 512 x 512

Dot spacing: 0.0167" center-to-center, 60 per inch

Light spot size: 10 to 12 mils

b. Character size:

5 7 matrix: 80 x 120 mils

2. Plasma Display Unit Capabilities

Such capabilities included the capability to:

a. Set status of the Plasma Unit (busy or not)

b. Clear Plasma panel

c. Clear vectors

d. Receive X/Y coordinates from CPU

e. Set alphanumeric mode

f. Set vector mode (solid or dashed vector capability)

3. Algorithm Design

Figure 25 shows how the Plasma Panel was set in the

coordinate system; the points 1, 3, 5, and 7 delimit the area

where the plasme panel is located. The point 7 represents

the origin of the plasma panel (ORIGINSX, ORIGINSY).

150
ay
Y

7 0 1
ORIGIN$Y . . .
Y2 . . * , *. . . . * *. .* . •
P2
6Y21
6I 2
I pP•
51
I___ _---
S 4 3 .

* WINDOW

I X

(0,0) ORIGINSX Xl X2

Figure 25. Windowing Schematic

151
 In order to allow the display of all the information
necessary to the Plasma Unit and generated by the system, the

"PLASMASMODULE" module was designed.

a. Windowing
The windowing process was developed as a trans-
formation process which enables the Plasma Panel to cover a
region in the coordinate grid system.

The scale set by the operator as an initial

parameter controls the windowing process and it can vary from

.25 miles/inch up to 25.00 miles/inch.

In Figure 25, the name WINDOW marks the size of a

square representing the region covered by the Plasma Panel;

this value was obtained by setting:

WINDOW = SCALE x 8.55

b. Procedure to check if a given position falls

within the limits of the defined "window".

A mechanism was implemented to check if it was

possible to plot a given position (X/Y values) in the region

covered by the Plasma Panel; thus, the following algorithm was

developed.

In Figure 25 the point named P1 can be plotted

in, but the Point P2 can not. A point can be displayed at

the plasma panel when the coordinates X/Y of that point follow

the rules below:

ORIGIN$X + WINDOW > X > ORIGIN$X, and

152
 ORIGINSY - WINDOW Y - ORIGINSY

Notice that all those values are in floating

point representation.

c. Normalization

Before displaying a given point in the Plasma Panel,

it is necessary first to check if the position could be plotted,

and secondly to normalize its value to the range specified

(addressable matrix--512 x 512); the first is done as explained

above, and the second is as follows:

(1) DELTA$X = X - ORIGIN$X

DELTA$Y = ORIGIN$Y - Y

(2) Take the absolute values of

DELTA$X and DELTASY:

DELTA$X = ABS(DELTA$X)

DELTASY = ABS(DELTA$Y)

(3) TEMP$X = (511.0/WINDOW) DELTA$X

TEMP$Y = (511.0/WINDOW) DELTA$Y

(4) Truncate and convert to integer representation

X = INTEGER(TEMP$X)

Y = INTEGER(TEMPSY)

d. Plasma Reorientation

Besides setting a scale for the "window", three

ways of positioning the "window" in the coordinate grid system

were implemented.

By default, every time the scale has to be changed,

the last position of the own ship will be set at the center

153
of the "window"; this is accomplished by setting:

ORIGINS$ = OWN$SHIPSX - HALF$WINDOW$Y, and

ORIGIN$Y = OWN$SHIP$Y - HALFSWINDOW

Notice that the own ship's last position can be set at the

center of the "window" anytime the operator wants to do so.

The second method implemented was to set the last

known position of any contact at the center of the "window";

this was obtained by setting:

ORIGIN$X = CONTACT$POSI$X - HALF$WINDOW, and

ORIGINSY = CONACTSPOSI$Y - HALF$WINDOW

In case of no contact being maintained by the system, this

method will be ignored by the system, even if requested.

The third method implemented was to set one of 8

fixed positions (refer to Fig. 25 ) at the center of the

"window" as requested by the operator; this was obtained by

setting:

(1) Point 0:

ORIGIN$X = ORIGIN$X, and

ORIGIN$Y = ORIGIN$Y + HALF$WINDOW

(2) Point 1:

ORIGIN$X = ORIGIN$Y + HALFSWINDOW, and

ORIGIN$Y = ORIGIN$Y + HALF$WINDOW

(3) Point 2:

ORIGIN$X = ORIGINSX + HALF$WINDOW, and

ORIGINSY = ORIGIN$Y

154
 (4) Point 3:

9 ORIGIN$X = ORIGIN$X + HALF$WINDOW, and

ORIGIN$Y = ORIGIN$Y - HALF$WINDOW

(5) Point 4:

ORIGIN$X = ORIGIN$X, and

ORIGIN$Y = ORIGIN$Y - HALF$WINDOW

(6) Point 5:

ORIGIN$X = ORIGINSX - HALF$WINDOW, and

ORIGIN$Y = ORIGIN$Y - HALF$WINDOW

(7) Point 6:

ORIGIN$X = ORIGIN$X - HALF$WINDOW, and

CRIGIN$Y = ORIGIN$Y

(8) Point 7:

ORIGIN$X = ORIGIN$X - HALF$WINDOW, and

ORIGIN$Y = ORIGIN$Y + HALF$WINDOW

C. TRANSCENDENTAL FUNCTIONS

Three transcendental functions were necessary in solving

some problems by the system. These functions were sine and

cosine of a given angle, and arc tangent ot the ratio of two

given values.

The main goals were the minimum amount of storage for the
work area and the minimum execution time in performing the

calculations; for these reasons, the Hastings approximations

were chosen with slight modifications made to the algorithms

suggested in [Ref. 4).

155
 I. Cosine and Sine Functions

jAs described in the Appendix C, the procedure "COS$SIN"

performs the cosine and sine of a given angle (in radians);

the following steps were taken in the development of the

algorithm:

a. Save the actual value of the angle.

b. Set angle to be between 0 and 2 PI radians.

c. Check for special cases--90, 270, and 360 degrees.

d. Normalize the angle for the interval 0 and 90

degrees, and save quadrant of the original angle.

e. Convert angle to semicircle units

A = ANGLE/PI

where PI = 3.141593

f. Perform Hastings approximation

A = (CLFA2(C2 A 2(C3+A 2(C4+A 2(C5+A2 C)

))))A + A

where:

Cl = 0.5707963267949

C2 = -0.6459640964727

C3 = 0.0796926087138

C4 = -0.0046816668674

C5 = 0.0001602588415

C6 = -0.0000034333379

41

156
 g. Compute cosine and sine:
2
cos(ANGLE) = 1.0 - 2.0z

r 2
sin (ANGLE = l.0 -cos (ANGLE)

h. Restore signs for sine and cosine according to

the quadrants saved in d.

2. Arc Tangent Function

As described in Appendix J, the procedure "ARC$STAN"

performs the arc tangent function of a given ratio (Y/X) of

2 parameter values; the following steps were taken in the

development of the algorithm:

a. Save the actual values of the parameters.

b. Save sign of parameters to determine quadrant.

c. Check for valid arguments (X and Y)

(1) If X = 0 and Y = 0:

Function undefined

(2) If X =0 and Y A 0:

ANGLE = 90 degrees (for Y > 0)

ANGLE = 270 degrees (for Y < 0)

d. Form Z to perform the Hastings approximation

Z = = Y - X
Y + X

e. Perform the Hasting approximation

2 2 2
ANGLE = (Cl+Z 2 (C2+Z (C3+Z (C4+Z
2
C5+Z (C6+Z 2 (C7+Z 2 C8))))) )) Z +PI/4

I
157/
where:

C1 = 0.9999993329

C2 = -0.3332985605

C3 = 0.1994653599

C4 = -0.1390853351

C5 0.0964200441

C6 -0.0559098861

C7 0.0218612288

C8 -0.0040540580

PI = 3.141593

f. Restore angle to proper quadrant

D. POSITIONAL DATA CONVERSION

In the design of the system all the positions can be

referred either as latitude and longitude, or as X/Y coor-

dinates. For this reason, some algorithms were developed in
order to obtain one or another kind of positional data.

1. Convert LAT and LONG to X/Y Coordinates

The whole system was based on a Coordinate Grid System

whose origin values were given in terms of latitude and longi-

tude, and any position in it had an X/Y coordinate defined in

relation to the origin; thus, given the values of latitude

and longitude of a certain position, it might be converted

to that Coordinate Grid System units; i.e., to convert to

X/Y coordinates. This was obtained by doing:

a. Compute mean latitude:

MEAN$LAT = (SYSTEM$LAT +LAT)/2.0

158
 b. Compute X/Y coordinates:

X = (LONG-SYSTEM$LONG) cos(MEANSLAT)

Y = (LAT - SYSTEM$LAT)

2. Convert a Given Position in Terms of Bearing and

Range from Own Ship to X/Y Coordinates

In order to determine the X/Y coordinates of a posi-

tion when it is given in terms of bearing and range from the

own ship, the following steps were done:

a. Save value of bearing:

ANGLE = BEARING

b. Compute DELTA$X and DELTA$Y:

DELTASX = RANGE.sin (ANGLE)

DELTASY = RANGE-cos(ANGLE)

c. Compute X and Y:

X = OWN$SHIPSX + DELTA$X

Y = OWN$SHIPSY + DELTA$Y

3. Convert X/Y Coordinates of a Given Position into

Latitude and Longitude

a. Compute latitude:

LAT = Y + SYSTEM$LAT

D. Compute mean latitude

MEANSLAT = (SYSTEM$LMT + LAT)/2.0

c. Compute longitude:

LONG = X/cos(MEAN$LSAT + SYSTEM$LONG)

159
 APPENDIX B

INTERRUPT STRUCTURES

A. BACKGROUND INFORMATION

A very large percentage of microprocessor systems are

employed in control applications, i.e., situations in which

the CPU controls a process in the "real world" by analyzing

information concerning the behavior of the process.
Information is a measure of "surprise", and in many

systems this equates as much to "when" as to "how much". To

find out "when" an event occurs, it is possible to read and

test status bits that are set by the events occurrence. For
a number of systems this may require almost continuous sampling
while only a relatively few samples return much information.

The machine can do no useful work while sampling and, thus, is

inefficiently utilized. By allowing the events of interest

to gain the machine's "attention", the efficiency can be vastly

improved. Thus, interrupt structures allow "event driven"

systems for which the concept of temporal continuity has

little relevance.

An interrupt signifies either the occurrence of an inter-

val operating system event such as the completion of a process
or the status of the Real Time Systems clock, or the readiness

of a peripheral device such as a Teletype or a CRT to communi-

cate data to or from the computer. The ability to respond
to "external" events relative to th3 execution of the current

160
process allows processors to be shared by one or more pro-
cesses if a means can be found to handle "simultaneous"

events, i.e., those events occurring within one basic system

cycle normally the current instruction cycle. The usual
means of handling simultaneous "interrupt" requests is by
embedding the "concurrent" processes within a priority struc-
ture. The priority structure can be implemented in hardware

and/or software.
The functioning of an interruptible computer program can
be viewed as similar to that of the job of a secretary. The
secretary has a scheme of priorities about her work, higher
priority items being serviced on a more immediate schedule
than lower priority items. imagine the situation of a letter
being type when the phone rings. The activity in progress,
the letter, is suspended while the immediate demand of the
telephone is serviced. When the phone call has been completed,
lower priority typing activity is resumed. Some items have
ultimate priority in this scheme, a fire alarm for example.
No sane person bothers to answer the phone or even less to
continue typing a letter when the building is burning down.

Another important feature of the secretary's work environment

is that nothing is of such priority that it must be done instan-

taneously. If the phone rings in the middle of a typed word

or while the typist is taking a sip of coffee, the work is
finished or the cup set down on the desk before picking up the
phone. This illustrates an important feature of interrupti-

ble environments. However, the interruption is serviced, it

161
must not cause a disruption of the former activity in such
a way that it cannot be successfully resumed.

When a program is interrupted, the presumption is that

the cause of the interruption is of some immediate priority,

but not of such priority that the lower priority task being
interrupted needs to be disrupted. one thing therefore needs
to be understood at the outset about interrupts. The instruc-
tion in progress when the interrupt request arrives is always
finished before the interrupt is honored. When the interrupt
request arrives, the instruction in progress is always finished

before the interrupt is honored. When the lower priority activity

was resumed after servicing the interrupt, the program would
have no neans of rectifying the damage done by the half-
co~le ted instruction.
The most important single thing that the programmer must

remember about interrupted programs is that the status of

the interrupted program must be preserved. The program which
services the high priority interrupting activity will use

the same registers and flags to accomplish its task as the

interrupted program uses. These registers and flags must be
restored to their condition at the time of the interrupt,
before returning control to the former activity, or the former

activity will be disrupted. Failing to observe this caution

is the most common single error in programming for interrupt
driven systems. The saving and restoring of the status of

the interrupted program is of crucial importance.

162
 A very common type of interrupt is that caused by some
event external to the program which does not require that
data be transmitted. The event itself constitutes the re-
quired information. In this category are such applications
as traffic counters. The passage ur a car through the sensor
of an expressway ramp does not require the transmission of
data for that car to be counted in the flow. In this case
the interrupt itself constitutes notice to the system that
a car has passed the sensor and that the counter is to be

.incremented. A similar situation is encountered in devices

that register angular position through the counting of passing
gear teeth. Exactly which tooth has passed is not of any
interest, only the fact that a tooth has passedis of consequence.
Perhaps the most common of these event counting situations
occurs with the computer option called a real time clock.
The real time clock is not a clock in the common sense of

that word. It does not keep time at all, but simply generates
a series of pulses at uniform intervals, these pulses causing
interruption of the operating program at these uniform inter-
vals. The program which counts the interrupts can use this

counting to keep a programmed time of day clock.

The elementary process that is crucial to an interrupt
structure is the CALL/RETURN transfor-of-control process.
The subroutine is a sequence of code that is executed upon

the invocation of its name and that returns control to the

calling sequence upon completing its execution. An interrupt
process can be thought of as an unexpected or surprise

163
 subroutine call. in a program, the invocation is accomplished

eb%. inserting a call instruction at a known position in the

instruction sequence. During interrupt processes, the invo-

cation will occur at unknown positions in the control sequence.

Thus, provision must be made for saving the return address in

a known location for later retrieval. Mathematics can be

described as a "replacement" process in which the replace-
ments are made under control of the mathematician. Interrupt

systems are those in which the replacement of a given control

sequence by another can be made upon request from any external

system. The complete control sequence is composed of a set

of elementary sequences, or control strings, that can be edited

by real-world systems to adapt to local conditions.

Varieties of interrupt structures are designed with one

goal in mind: to share one CPU efficiently between several

"concurrent" processes. This can be accomplished via this

procedure:
- save state of current process;
- identify device requesting service;

- transfer control of CPU to this device;

- upon completion of service, restore state; and

- transfer control of CPU back to interrupted process.

Although minor variations exist in implementation of these

steps, they are always executed. This procedure is shown

diagrammatically in Figure 26.

164

_________ ___________________-A
 Machine Used
By Process 1
Interrupt P,

] "DeadtiLe" for Save State

P2 Machine Used
By Process 2

"Deadtime" for Restore State

Machine Used
Save/ By Process 1
estore
Process

Process I Process 2

Figure 26. Interrupt Process Scheme

165
B. PRIORITY INTERRUPTS
There are two basic implementation strateqies for pri-

ority interrupts: Polled priority interrupts and Vectored

priority interrupts.

1. Polled Priority Interrupts

Polled priority interrupt methods trap (acknowledge and
jump) all interrupts requests to a common location, and a
routine that POLLs status bits determines the source of the
interrupt requests. If the interrupting devices can be
arranged in a hierarchical order, then the highest priority
device will be polled first, the next highest will be polled

second and so on. Thus, if two devices request service at

once, the higher priority will be encountered first in the
poll and it will receive service first. It should be noted
that this method does not involve clearing the interrupt
request.

2. Vectored Priority Interrupts

An interrupt system in which the hardware supplies
a separate address for each interrupting device is called a
VECTORed interrupt structure as opposed to the POLLed struc-

ture in which all devices trap to the same address, and device
identification and conflict resolution are accomplished in
software.

The use of hardware to encode these instructions for

separate devices will speed up interrupt servicing by eliminat-
ing the need to POLL the devices. In addition, standard
harware is available for conflict resolution.

166
 If two devices simultaneously request service, a
priority encoder will pass only the higher priority request.

This feature by which higher priority devices can interrupt

lower priority devices, but lower priority devices cannot

interrupt higher, is common to most interrupt structures.

Each device can have a unique address associated with

its service routine, and the hardware just described auto-
matically provides a 1-byte call instruction that causes

transfer of control to this address. VECTORed interrupt sys-

tem provide the fastest possible interrupt servicing, because
no time is wasted polling status bits.

Since the highest priority requests override all

others there must be a means of individually removing each

request as it is serviced, so that lower priority requests

can be seen. The lower requests must, therefore, remain active
until their time comes.

C. 8080 MICROPROCESSOR INTERRUPT METHOD

The 8080 microprocessor interrupt method is described

below to illustrate a VECTORED PRIORITY INTERRUPT STRUCTURE

implemented in a microcomputer.
An interrupt can occur when all of the following three
conditions are met. If any of them is not met the interrupt

cannot occur. They are:

1. The 8 0 8 0 'sinterrupt system has been enabled by the use
of El (Enable Interrupts) instruction. The form enable has
specific application to the interrupt system as a whole and

167
is not applicable to any specific device or peripheral. The
interrupt system is enabled by the EI instruction and dis-

abled by the DI (Disable Interrupts) instruction. In the

disabled state no interrupts from any source can occur.

2. The specific device or peripheral interface has been

conditioned by the program in such a way as to be atle to
generate interrupting pulses. This conditioning is known as
arming. An interface which has been so conditioned is said
to be armed. If the interface has not been conditioned so
as to be able to generate interrupting pulses it is said to

be disarmed.
3. The device or peripheral ready flag is set by the event
which is to cause the interrupt.

Again, in the absence of any of the above conditions there

is not and cannot be an interrupt. When the above conditions
are all met, the following sequence of events takes place:

1. After finishing the execution of the instruction in

progress at the time all of the conditions for interrupt were
met, a special instruction is forced into the instruction

register (I). This instruction is provided by the hardware

itself and is not resident in computer memory. The program
counter is not changed by this. It still points to the next

program instruction to be executed, i.e., the instruction

following the one in progress at the time the interrupt condi-
tions are met.
2. The special instruction forced into the instruction

register is executed. This special instruction is a kind of

168
 CALL whose target address is explicitly given in the instruc-
Stion. The special call, known as a restart, pushes the
program counter onto the stack just as a normal CALL does.

Instruction execution then starts at the address which was

implicit in the interrupt instruction.

169
 APPENDIX C
DESCRIPTION OF GRAPHIC DISPLAY TECHNOLOGY

A. GENERAL INFORMATION
most graphic display systems use refresh or storage
technology. Three main types of refresh technologies exist:
stroke writing, roster scanning and scan converting. Stroke
writing display systems position an electron beam on the tube

face much as one would draw on paper with a pencil. In roster

scanning systems, the beam sequentially traces the entire

face of the tube. when the beamn arrives at a point that be-
longs to the picture under construction, a video signal

brightens the beam to illuminate the screen. Hybrid scan

converters use a storage tube to store the image and then
scan the storage tube information onto a roster scanning moni-

tor to display the image. Since the persistence of the

phosphor in the tube is low, CRT's using one of these tech-
nologies require periodic image refreshing to prevent annoying

screen flicker. These CRT's refresh the image at least forty

times each second.
Two storage technologies exist: the storage tube and the
plasma panel. with the storage tube, the CRT receives its
image in the same way as a stroke writing system. However,

the storage tube stores the image on a grid, eliminating

periodic refresh. Unlike other graphic display systems,

plasma panels do not use CRT's. The display consists of a

170
series of bright data that can be formatted into alphanumerics
and graphics. Plasma panels do not require refresh and, once

a particular point on the display is "turned on", it continues

to glow until "turned off".

B. PLASMA PANEL PHYSICAL DESCRIPTION

1. Panel Parameters
a. Actual area; 8.55" x 8.55"

b. Panel Glass size: 12.25" < 12.25"

C. Light Spot size: 10 to 12 mils

d. Addressable Matrix: 512 -.512

e. Dot Spacing: 0.0167" center-to-center 60 per inch

f. Brightness: 50 foot Lamberts

g. Contract ratio: 25 to 1 (nominal)

h. Color: Neon-range (585.2 monometers)
2. Character Size (Other Sizes Dependent Upon Driving
Logic and/or Software)
a. 5 x7 matrix: 80 x 120 miles

b. 7 x 9 matrix: 120 x 150 mils

3. Electric Descriptions
The Plasmascope primary power requirements are:
a. 115 V ac

b. 47 to 440 Hz
c. 300 watts maximum

d. single phase
4. Performance
a. Data Rates: Addressable to the individual dot

data at 50 KHz;

171
 b. Parallel Mode: 330 msecs to address the entire
screen. The parallel mode of operation allows the simul-
taneous addressing of 16 points in the Y axis, Y0, Y 8 and
Y4 through Y 7 (Y0 'Y8 ) of the Y address are used to select one

of 32 sectors, each of which comprises 16 consecutive horizon-

tal electrodes. The X address selects one column of 16 points
in the addressed sector. The parallel address inputs are
then used to address any number of the 16 points in the

selected sector column.

5. Data Code

ASCII character set for alphanumeric operation (7

bit).
6. Character Matrix

5 x 7 or 7 × 9 dot matrices
7. Reliability

The mean-time-between failure (MTBF) for the plasma-

scope is over 6,000 hours with JAN-TX parts at 25C.
8. Maintainability
The mean-time-to-repair (MTTR) for the plasmascope
is 2 hours, board level maintenance or on-board replacement.
9. ELECTROMAGNETIC INTERFERENCE/TEMPEST
The plasmascope has been tested to MILSTD-461 for
EMI suppression. Several aspects of the model 2500 design
are more critical for Tempest than for EMC. These include

the display panel, the keyboard, and the power line. The
display panel contains grid wires, approximately 8 inches

long, that contain signals which correlate with the information

172
being displayed. A metallic film on a face plate is provided
for the display panel to minimize radiation. This precaution
has been sufficient to permit other displays of similar de-
sign to meet the Tempest requirements.
The keyboard is somewhat exposed to radiation as dis-

cussed above for EMC. Because the exciting signal levels

are small (HALL Effect voltages) and because the radiating
elements are electrically very short at the processing sig-

nal frequencies, the keyboard is expected to satisfy Tempest

requirements.
The power level conductor requirements of Tempest are
met by a combination of filtering and consideration of Tempest

requirements in the design of power supply.

The display electronics operates at 50 kE~z, a frequency
at which the EMI filters provide attenuation. The data lines
between the model 2500 and any data source can be designed

tor Tempest by providing adequate cable shielding to con-

tral EM radiation.

C. PLASMASCOPE TOUCH PANEL DESCRIPTION

The device electronics can be divided into three sections:
the scanning system, consisting of the oscillator-counter;

the light sources and the detectors; and control logic.

The scanning system eliminates the optical collimation

problem usually associated with a light-grid touch panel. The

system only activates one light source/detector at a time.
Time is the means of separating the light beams rather than a

173
complex optical collin'ation system. This scanning is controlled
by a free running oscillator driving a 4-bit counter. The
output of the counter is used to sequentially select the
light source/detector pairs, and to provide the address.
The light sources are infrared light emitting diodes (LED)

chosen for their high output power, cast, and package design.

Since these devices are diodes, a diode matrix drive scheme

is used to reduce complexity. The output of the counter
activates the appropriate transistors and causes two of the

diodes to turn-on; one diode is in the x array, the other in

the y array. In this way each diode pair (one x, one y) is
sequentially pulsed and the display is scanned.
The detectors are silicon phototransistors similar to
LED in package design. The detectors are located across
from the LED's in a plastic frame which fits around the dis-
play. Four detectors, spaced evenly along the side, share a
common amplifier. The output of the four amplifiers are time
multiplexed so that the proper amplifier is actuated at the

correct time. Only four amplifiers are needed because of the

natural optical collimation associated with the plastic frame.
For example, detectors 40, 4, 8 and 12 are activated when
LED 40 is pulsed. Light from #0 LED is received by the #0
detector. The other detectors sharing the amplifier with
40 receive very little light from #0 LED.

The amplifier feeds the signal from the detector to a

voltage comparator which can have one of two voltage thres-

holds. The purpose is to introduce scanning hysteresis

174
eliminates false inputs due to room light partially broken
beams. It works by setting up two conditions; one for initially
detecting if the light beam is broken, and one for subsequen-
tially deciding when it is not broken. When initially scanning,
the detect level is set low so that a beam to be detected

broken must be completely absent. Upon the detection of both

an x,y broken beam, the threshold voltage is raised to a higher

level. Now a beam to be detected again must be larger than

this higher threshold. In this way, marginal signals are

ignored and only a beam, either absent or present is detected.

The basic operation of the total system is to sequentially

activate pairs of source detectors on both the x and y axes by

means of the scanning logic. When a broken beam is detected,

the address (or position) is stored in the appropriate storage
register. When both an x and y beam are broken, the informa-
tion is sent to the computer. Scanning continues and with
each scan, any new broken positions are compared with the
old position stored in registers. If the positions agree
(i.e., the obstacle has not moved) scanning continues; if
they disagree (the obstacle has been removed or shifted to
a new location) , the system resets. Touch inputs for the
touch panel are limited to 10/sec by a short delay before
reactivating.

175
 APPENDIX D

ANALOG INPUT/OUTPUT SYSTEM DETAILED DESCRIPTION

A. THEORY OF OPERATION

When programming with these peripherals, they are treated

as memory locations. Any memory reference instruction can be

used. Both the A/D converter output and the D/A converter

input are 8-bit words so one memory location is needed for

each channel. Because the address block occupied by each

peripheral is user selectable, it can be placed anywhere in

memory.

Because these units are treated as memory, a minimum of

instructions are needed to read an input channel or to set

the input of a D/A converter. For instance, LHLD (load)

instruction followed by the proper address can be used to read

data from two successive analog input channels. It will auto-

matically select the desired channel, initiate conversion and

when conversion is complete, transfer the A/D converter out-

put for the first channel to the 8080's L register and the

second channel to the H register. Likewise a single LDA

instruction can be used to read one analog input channel.

All of these systems are jumpered at the factory with the

first channel at address F700H. Each subsequent channel is

one memory location past the start of the last channel so

that the second channel is at location F701H.

176
B. OPERATING INSTRUCTIONS

1. Installations

These units are calibrated and ready for use.

Installation requires only plugging the card into any empty

slot in the computer and wiring the analog connector.

2. Programming

Programming of this analog I/O board is easily accom-

plished since all channels are treated as memory locations.

Any memory reference instruction can be used. A single STA

instruction may be used to load the accumulator contents to

one of the D/A converters. Likewise a single LDA instruction

can be used to read an analog input channel.

Single instructions can also be used to set the inputs

of both 0/A converters and read two adjacent analog input

channels. An SHLD instruction referenced to DAC 1 will load

the contents of the L register into DACI and the contents of

the H register into DAC2. An LELD instruction will read the

channel addressed and the next higher channel. The channel

addressed will be transferred to the L register and the next

higher channel to the H register. Of course, any MOV instruc-

tion may also be used if direct addressing is not desired.

The normal operation of this board halts the CPU

during the conversion time of the analog input system. This

is because the software in this mode is simpler than in any

other (i.e., only one instruction required). If the halt

feature is not desirable it may be disabled.

177
 For operation without halting the CPU, the conversion

should be started by using a single channel memory reference

instruction (LDA or MOV) . Then the CPU should execute a

routine which will take longer than the conversion time (44

to 84 microseconds). When the CPU now uses an LDA or MOV

referenced to the same memory location, the converted data

will be transferred to the CPU.

The voltage data for these boards is represented by

an 8-bit two's complement binary number. With ±5 range,

each bit has a value of 39.1 mV, with the polarity of the

voltage indicated by the sign of the binary number.

Each board is set at the factory for a block of

addresses beginning at F700H. Any analog data channel

requires one memory location. Thus the first inalog channel

is located at F700 while the second analog channel is located

at F701.

3. Address Modification

The base address of a board can be set to any value

;-y properly jumpering its address selector. The most signi-

ficant 8 bits of the address (ADR/8-F) are jumpered to read

F7 by plated through connections on all boards. These addresses

can be changed by first drilling out the hole that makes the

connection and then soldering a wire jumper between the bit

and logical zero or one.

4. Analog OUTPUT/INPUT RANGE SELECTION

Normally DAC is jumpered for tI0 Volt operation (two's

:.ment coding). However it is possible to alter these

178
,umpers for other output voltages and coding (-5 V, 12.5 V,

0 to 10 V, 0 to 3 V).

Two's complement coding is typically used for bi-

polar ranges and straight binary for unipolar ranges, but

either coding can be used for any range. Analog full scale

Range Values as shown Table D-3.

The analog input system can be set for any range be-

tween :5 V and -2.5 mV. It is set for t5 V (two's complement

coding) from the factory. There are two gain determining

Table D.1

ANALOG FULL SCALE RANGE VALUES

BIPOLAR--TWO'S COMPLEMENT
Digital

input Output _10 V t5 V -2.5 V

0111 1111 (7FH) + 9.922 V +4.961 V +2.480 V

1000 0000 (80H) -10.00 V -5.000 V -2.500 V

UNIPOLAR--STRAIGHT BINARY

Digital Input/Output 0 to +10 V

11111111 (FFH) 9.961 V 4.980 V

00000000 (OOH) 0.000 V 0.000 V

elements in this system: the A/D converter and the instrumen-

tation amplifier (IA). The A/D converter is set for a +-10 V

range and the IA for a gain of 2 at the factory. The A/D

converter can be set for other ranges simply by changing

jumpers. System block diagram is shown in Figure 27.

179
 8 to 64
Analog
Inputs
AD ~~ Mu l t"i pg l e x e r
."'-_

ADR0

;Pddress Cnrlad
AD6Decor Coto an ntru-
Timing Logic - rtn
~t

DAT7VI-- Data
a U Bit
DAT"5/ s_ -- Interc A/D Convertex

ADR/ - Write
iControl Logic
-
. ], ,,D/A
H l~onerterAnalog
DA1Strobe Outputs

Figure 27. Analog Input/Output System Block Diagram

180
C. SPECIFICATIONS

1. Analog Input

Number of analog inputs

- 8 differential

-16 single-ended

-32 differential or 64 single-ended

Input Voltage range: -+10 mV to ±5 V

ADC gain ranges: -lOV.0 to lOV.0 to 5 V

(strap selectable) : :5 V t 2.5 V

Amplifier gain range: 1 to 1000

(Resistor programmable): G = 100 k" Rext

Amplifier gain equation: (Resistor programmable)

z15 V

Input overvoltage protection: 100 megohms

2. Analog Input Transfer Characteristics

Resolution: 8 bit binary

Throughput accuracy: i5 V range (max) :0.4

-10 mV range ±0.5

Temperature coefficient of accuracy

t5 V range (max) :0.02

-10 mV range 0.07

--

Conversion time i5 V range 44 microseconds

±10 mV range 84 ,isec

3. Analog Output

Number of analog outputs: 2

Output voltage range: ±10 V, 0 to 10 V, i5 V, 0 to 5 V,

±2.5 V at 5 mA (strap selectable)

181
 Output impedance: I.,

Output settling time (max) .5 microseconds

4. Analog Output Transfer Characteristics

Resolution: 8 bits binary

Throughput accuracy (max) --

0.4% FSR

3. Digital Input/Output

All signals are compatible with Microcomputer bus.

Output Coding: Bipolar two's complement;

Unipolar, straight binary

An analog input channel is selected by: ADRO

through ADR5

An analog output channel is selected by: ADRO

The input/output data bits are read through:

DATO through DAT7.

182
 APPENDIX E

FLOATING-POINT HARDWARE BOARD DESCRIPTION

A. GENERAL INFORMATION

The floating-point package developed for this system is

based on the SBC-310 High-Speed Mathematics Unit from Intel

Corporation. As described by Reference 16, the SBC 310 Unit

is a member of a complete line of the Intel SBC 80 System ex-

pansion modules. In performing high-speed mathematical func-

tions, the Math unit acts as an intelligent processor slaved

to one or more SBC 80 Computer Masters. The Mathematics Unit

performs its repertoire of 14 arithmetic functions an order

of magnitude faster than is possible with software routines.

B. DESCRIPTION OF THE MATH UNIT

The Math Unit is a microprogrammed processor on a

single board and is designed to be plugged into a standard

SBC 604/614 Modular Backplane and cascaded to interface directly

with a SBC 80 single board computer or to be used with an

Intel Intellec Microcomputer Development System (MDS).

The Math Unit includes the following standard Intel Series

300 Schottky bipolar components: 3001 Microprogram Control

Unit (MCU) , 3002 Control Processing Element (CPE) , 3003 Look

Ahead Carry generator (LCG), and 3604 Electrically Programma-

ble Read only Memory (PROM). Also included are pipe line

register and lens interface logic. The pipeline register

permits the overlapping of microinstruction fetch/execute

183
cycles and the bus interface logic provides compatibility
with the Intel Multibus.

Standard Operations include floating point add, subtract,

multiply, divide square and square root; fixed point integer

multiply, divide, and extended divide; conversion between

fixed and floating point representations; and test, compare,

and argument exchange operations.

The Math Unit implements unbiased rounding for maximum

accuracy. Unbiased rounding is the same as ordinary unless
the result is exactly midway between two floating point num-
bers; in this case ordinary rounding always increases the
result, whereas unbiased rounding rounds the result to the

nearest even number. when a calculation is performed that

results in either an exponent underflow or overflow, the

Math Unit provides exponent warparound to prevent loss of

information.

Operation Codes for invoking the arithmetic functions

are passed to the Math Unit via 1/O Write Commands, which are

also used to initialize the unit with a memory base address.

I/O read commands are used to determine the Math Unit status.
Arguments are passed to the Math Unit via Memory Write, Com-

mands and the results are obtained via Memory Read Commands.
The Math Unit which can be operated either in the Inter-
rupt of POLLed mode, generates a busy during processing opera-
tions and generates either complete signal or an Error signal
after the computation is complete. The information to the

184
host co:rputer which these three signals convey is explained
in 'Ref. 161.

The memory base address and I/O base address are user

selectable. The 16-bit memory address is completely under

software control and is assigned by the host processor through

a sequence of I/O Write Commands, addressed to the Math Unit.

The 3 bit I/O base address is selected by a dual inline pack-

age (DIP) switch on t-he board.

All Math Unit operations including arithmetic calculations,

data flow between functional elements on the board bus inter-

face, and associated logical tasks, are resident microprogram

permanently stored in a set of eight Intel 3604 Erasable Pro-

grammable Read Only Memory (EPROM) chips. This memory pro-

vides 1.024 micro-instructions of 32 bits each.

Installation Consideration, I/O Base Address Switches,

Programming Information Math Unit Functions, Argument and

Result Data formats, Status and Flags were explained in com-

plete detail in [Ref. 16]

185
 APPENDIX F

OPERATOR'S MANUAL FOR THE MULTIPURPOSE CONTACT PLOTTER

AND DULPROEGNIECONTROL SYSTEM AT THE NAVAL
POSTGRADUATE SCHOOL

This manual describes the operation of the multipurpose

Contact Plotter and Model of Gunfire Control System at the

Naval Postgraduate School. This manual assumes familiariza-

tion with CIC, Gunfire control procedures. The specifics

about the installation of the equipment required were presented

in Chapters IV, V and VI, also in Appendices C and D. The

algorithms used were described in Chapter III and Appendix

A. All the software required is contained in two diskettes

labeled PLASMA MULTIPURPOSE GEOGRAPHIC PLOTTER AND GFCS

PACKAGE: SYSTEM. APL.

1. SYSTEM START-UP PROCEDURE

Caution: Never turn on or off the diskette drive with

a diskette inserted!!!

1. Set the air contact starting values on the radar

simulator (Range, Bearing and Elevation).

2. Set the aircraft speed and steering values on the air-

craft simulator (Vx, Vy and Vz speed components).

3. Set the Closed Loop Control System gain values as

follows:

Position feedback grain: 80%

Speed feedback gain: 45%

Forward path gain (K3) 92%

186
 4. TURN ON THE MODULAR SERVO SYSTEM: Use the power

switch located at the power supply unit.

5. TURN ON MDS SYSTEM: Use the key located at the upper

left corner of the front panel and turn it clockwise.

The power indicator should light.

6. TURN ON DISKETTE DRIVE: Use power switch located at

the front panel. The ON indicator should light.

7.TURN ON DATAMEDIA TERMINAL (CRT) . Use switch located

on right side. The cursor should appear at the screen

after a few seconds. Ensure that the lights CD, CTS,

ROLL and FULL DUPLEX are on.

8. TURN ON POWER SUPPLY TO PLASMA UNIT. This external

power supply should be set at +3 Volts D.C. A red

indicator should light.

9. TURN ON AN/UYO-l0 PLASMA DISPLAY UNIT. Use POWER switch

located at front of unit. The indicator located at the

upper left corner should light.

10. Place diskette labeled PLASMA MULTI PURPOSE GEOGRAPHIC

PLOTTER AND GFCS PACKAGE: SYSTEM. APL in drive 0,

with the read/write access slot first. Close door of

the drive after diskette insertion.

11. TURN ON SBC POWER SUPPLY UNIT. Use POWER switch located

at front of unit.

12. Bootstrap the ISIS-lI Operating System:

a. Press top of Intellec BOOT switch.

b. Press top of RESET switch.

187
 c. Observe that INTERRUPT 2 indicator goes on before

proceeding.

d. Press space bar of DATAMEDIA Video Terminal keyboard.

e. Observe that INTERRUPT 2 indicator goes off before

proceeding.

f. Press bottom of BOOT switch.

g. Observe that the following message appears at the

DATAMEDIA Video terminal screen:

ISIS-II, V2.2

13. Type the following command

DPGFCS <CR>

14. After a few seconds, the DATAMEDIA Video Terminal screen

should be cleared and then filled with working format;

also, the message "ON-LINE" should appear at the AN/UYO-

10 Plasma Display screen.

15. Follow the instructions for SYSTEM INITIALIZATION as

prompted and according to the format explained in the

following pages.

16. Notice that the TIME value entered during SYSTEM

INITIALIZATION should be that one desired as starting

time (the time at which the 60 key is depressed, after

the SYSTEM INITIALIZATION mode is completed).

17. During operation, the INTERRUPT 1 indicator should

light (after the GO key has been depressed to start

the system).

188
 II. SHUTDOWN PROCEDURE

1. Press the INTERRUPT 0 switch. The associated indicator

should light.

2. Eject the diskettes in drives 0 and 1.

3. Turn off the equipment in the following order:

a. AN/UYO-10 Plasma Display Unit

b. AN/UYO-10 Plasma Display Unit Power supply.

c. DATAMEDIA Video Terminal.

d. Diskette drive.

e. SBC power supply unit.

f. Intellec MDS system.

g. The Modular Source System

189
 III. FOPMATS AND COMMAND DESCRIPTION
I
input
The following pages describe the data elements,

commands, and display commands required for the operation of

the MULTIPURPOSE CONTACT PLOTTER AND GFCS SYSTEM.

Input and display keys arrangement are shown in Figure

28.

A. DATA ELEMENTS

1. Time Zone Number

Parameter defining the time zone number being used

to determine the local time.

FORMAT: SNN

where: S--Sign (+ or 0)

NN--Two digit number

RANGE: 00 < NN < 12

2. Time

Parameter defining a time value. Consists of hours,

minutes and seconds.

Once the time is set, the system will maintain the

at the Video
current timeand update the time value displayed

Terminal every second.

FORMAT: HH:MM:SS

where:

HH--hours

MM--minutes

SS--seconds

190
 DISPLAY KEYS

1 12 3 4 5 6 7 81
1. Origin 2. Scale
3. Cwn Shin 4. Contact Information
5. Contacts in Systems 6. Safe CPA Range
7. Wind 3. Display Update Time

INPUT KEYS

1 2 3

4 5 6

7 8 9
ML

10 ii 12

13

1. Create a Contact 2. Modify Own Ship

3. Modify Coordinate Grid 4. Remove a Contact
Origin 6. Wind
5. Contact to Display 8. Time
7. Redesignate a Contact 10. Update a Contact
9. Scale 12. ' Plasma Reorientation
11. Safe CPA Range 13. GO Key

Figure 28. Input and Display Keys Arrangement

191
 AO-AI02 693 NAVAL POSTGRADUATE SCHOOL MONTEREY CA
F/G q/2
MICROCOMPUTER BASED SHIP-BOARO GUN CONTROL SYSTEM.(U)

J
MAR 81 A ERDOGAN

UNCLASSIF!EON

iiE..E....IlumIn
loln iiiimmhhoni
IINMo
EEE...liilll
EEEE NEu...
RANGE: 00 HH < 23

00 MM 59
00 SS 39

3. Time Between Updates

Parameter that defines the interval of time used by

the system to update the geographical position of the own

ship.
Initially, the Time Between updates is set automatically
by the system to 180 seconds.

FORMAT: SSS
where:

SSS--seconds
RANGE: 015 < SSS < 250

4. Course
Parameter that determines the general direction at
which the own ship or any contact is steering.

FORMAT: DDD.D
where:
DDD.D--degrees and tenths of degrees.

RANGE: 000.0 < DDD.D < 359.9

5. Speed
Parameter that determines the velocity at which the

own ship or any contact is moving.

FORMAT: KKK.K
where:
KKK.K--knots and tenths of knots.

RANGE: 000.0 < KKK.K < 999.9

192
 Needs to be entered from keyboard for the own ship,
from target simulator for the air target. The system will

calculate its value in the case of a contact.

6. Bearing
Parameter that determines the true bearing of a con-

tact from the own ship, at a given time.

FORMAT: BBB.B
where:
BBB.B--degrees and tenths of degrees.

RANGE: 000.0 < BBB.B < 359.9

7. Range
Parameter that determines the distance between the

own ship and any contact, at a given time. Can be given in

yards or in nautical miles.
FORMAT: MMM.M or YYYYYY
where:
MMM.M--miles and tenths of miles

YYYYYY--yards

RANGE: 000.0 < MMM.M < 100.0

000000 < YYYYYY < 199999

8. Latitude
Parameter that defines the geographical position of

the own ship or any contact. Consists of a sign, degrees,

minutes and tenths of minutes.
FORMAT: DD:MM.M S
where:

DD--degrees

193
 MM--minutes and tenths of minutes

B S--sign (North (N) or South (S))

RANGE: 00 < DD < 89

00.0 < MMM.M < 59.9

9. Longitude

Parameter that defines the geographical position of

the own ship or any contact. Consists of a sign, degrees,

minutes and tenths of minutes.

FORMAT: DDD.MM.M S

where:

DDD--degrees

MM.M--minutes and tenths of minutes

S--sign (East (E) or West (W))

RANGE: 00 < DDD < 179

00.0 < MM.M < 59.9

10. X

Parameter that defines the position of the own ship

or any contact in the Coordinate Grid System being used. Its

value is given in miles.

FORMAT: SNNNNNNNNNN.NN

where:

S--sign (+ or -)
NN--miles and hundreths of miles.

RANGE: 0.0 < NNNNNNNNNN.NN < 999999999.99

11. Y
Parameter that defines the position of the own ship
f
or any contact in the Coordinate Grid System being used.

194
 Its value is given in miles.
e FORMAT: SNNNNNNNNNN.NN

where:

S--sign (+ or -)
N--N.NN--miles and hundredths of miles.
RANGE: 0.0 , NNNNNNNNNN.NN < 9999999999.99

12. Designation (Desig)

Parameter that defines the name given to a particular

contact. Consists of two alphabetic characters or one blank
and one alphabetic character.
Needs to be unique for the sets of contacts maintained
by the system at any given time. Upper or lower case charac-
ters can be used.

FORMAT: AA
where:

AA--any alphabetic character.

13. Tp
Parameter that defines if the contact is of surface

or sub-surface kind.
FORMAT: TT
where:
TT--can be SU (Surface), SS (Subsurface)
or AA (Air)
14. Class

Parameter that defines the identity and purpose of

any contact.

FORMAT: C

195
 I II I

where

9 C-F if Friendly (FRI)

C-H if Hostile (HOS).

C-U if Unknown (UNK).

15. Scale

Parameter that defines the scale at which the picture

presented at the plasma unit is displayed. Can be specified

up to one hundredth of a mile/inch.

FORMAT: MM.MM

where:
MM.MM--mile and hundredths of miles per inch.
RANGE: 00.25 < MM.MM < 25.00

16. Safe CPA Range

Parameter that defines the radius of a circle with

center at the own ship; any contact that will pass through

this security circle will be considered in collision.

FOPMAT: YYYY
where:
YYYY--yards.

RANGE: 0050 < YYYY < 1000

17. Wind Direction

This parameter indicates the true bearing from which

the wind is blowing.
FORMAT: DDD.D
where:

DDD.D--degrees and tenths of degrees.

RANGE: 000.0 < DDD.D < 359.9

196
 18. Wind Speed:

This parameter indicates the speed at which the wind

is blowing.

FORMAT: KK.K
where:
KK.K--knots and tenths of knots.
RANGE: 00.0 < KKK.K < 99.9.

B. INPUT COMMAND

1. origin Update
This command is used to modify the Coordinate Grid

origin parameters. It causes the system to change all the

X/Y values that had been calculated, and also to redraw the

picture represented at the plasma display with the last posi-

tion of the own ship at the center.

It requires new latitude and longitude values.

2. Own Ship Update

This command is used to modify the parameters of the
own ship: Latitude, Longitude, Course and Speed, in a selec-
tive way.

3. Create
This command is issued to record a new contact. Con-
tact designation, type, class, bearing and range required.

4. Remove Contact
This commnand is used to remove a contact from the

system.

197
 5. Redesignate

This command is used to give a new Designation to any

contact already in the system.

6. Contact Update

This command is used to update the information about

any contact being maintained by the system: Type, Class,

Bearing, Range, Course and Speed, may be changed selectively.

Designation of the contact and its parameters are

desired to be updated.

7. Swap Contacts
This command is used to change the list of contacts
that are being displayed on the status board.

Designations of contacts are those to be in and out

of the display.
8. Time

This command is used to update/change all the parameters

that the system has with respect to time: Time Zone Number,

System Clock value and Time between updates.

9. CPA Safe Range Update
This command is used to update/change the value of

the CPA safe Range parameter.

Remember that the initial default value of the CPA

Safe Range is 0050 yards.

10. Wind Update
This command is used to introduce/update information

about the wind. It requires new wind direction and speed

values.19
 11. Scale Update

This command is used to modify the value of the scale

parameter being used to define the window that limits the

picture to be represented at the plasma display.
12. Plasma Reorient

This command is used to redefine the position of the

window used to form the picture to be represented at the Plasma

Display.

13. Reorient

This command is used to display the values of the

Coordinate Grid Origin: Latitude and Longitude.

14. Scale

This command is used to display the value of the

Scale parameter currently in use.

15. Own Ship

This command is used to display the parameters asso-

ciated with last position of the own ship. First page is

Positional data and second page is tactical data.

16. Contact Information
This command is used to display information about any

co~ntact being maintained by the system. It requires designa-

tion of contact whose information is desired.

17. Contacts in System

This command is used to obtain information about the

designation of all the contacts in the system.

199
 18. Request CPA Safe Range

This command is used to obtain information about the

current value of the CPA Safe range.
19. Wind

This command is used to obtain information about the

wind.
20. Time Between Updates

This command is used to obtain information about the

current value of the Time between Updates parameter.

200
 APPENDIX G

PROGRAM LISTINGS

A. THE COMPLETE PROGRAMS FOR THE ADC/DAC INTERFACE

1. ADC$DAC
2. SBCMDS

B. EXTERNAL DECLERATIONS

1. EXTER
2. EXTERSI
3. EXTERS2

C. PROCEDURE BY MODULE

1. BASICS
CRTS WRITE
CRT$PRINT$$TRING
CRTS READ
CRTS TRY $REAP
ECHOS CRT
S ENDS SUB
S END $CR
S END $LF
SE ND$SCRLF
SE ND $BEL
SENDSB S
SENDS SPACE
BYTES CHAR
ADD RES S$SCHAR
BYTE$TO$ASCII
GET$BYTE
GETS ADRES S
GET$STRING
PU TSNUMBERS BUFFER

201
 2.CRT1
CRT$MAS TERS CLEAR
SETS LOW$SH0IME
CLEARS LOWSSCREEN
SET$HIGX SHOME
PUTS SPACE
PUTS TAB
PUT$FS
PUTSLF
START$P ROTS FIELD
START$BLINK
STOPSP ROTS FIELD
INTERP
INITSHIGHSSCREEN
PRINTSTIME$ZONE
PRINT$TIME
PRINT$CATSLONG
P RINTSCOURSE
P RINTSSP EED
PRINTSCONTACTS
P RINTSMODE
P RINTSCONTACTS INFO

3. FLTSAXCII
ASCII STO$FLOAT
F RAC$STO$SASCII
FLOATSTO$ASCII

4. FLOATINGSPOINT
INITSFP
ADJUSTSOP
ADJUSTI SOP
VALS RESULT
VAL$RESULTS1
VALS RESULTS 2
COMPARE
FLOAT SMSG $ERROR

202
 CHECK
MU L
DIV
ED IV
FMU L
FDIV
FADD
FSUB
FSGR
FLTDS
FIXSD
7SGRT
FC.MP R
FZTST
EXCH
COSSSIN
ARCS TAN

5. COMMANDS1
PRINTSERROR$MSG
CH ECK $YES $NO
CHECK SFP SVALUE
CHECKS INPUT
GETS DEGREES
GETSMINUTES
GET$SIGN
FP SFORMAT
RANGE$SFORMAT
LAT$SLONG$SFO RMAT
GRTS TIMES ZONE
GETSLAT
GETS LONG
GETS COURSESBRG
GETS SPEED
GETS RANGE
GETSDESIG

203
 GETSTY.PE
GET$KIND
GET $SC ALE

6. TIME
CLOCK
INITIATE$TIME
INI TIATES CLOCK
ACTUAL$ TIME

7.DISPLAY$CMDS
CO NV$SLATS LONG
D ISPLAYSDESIG
DISPLAY$$TYPE
DISPLAY$CLASS
DISPLAY$LAT$LONG
DISPLAY$XY
DISPLAY$CRS$BRG
DISPLAY $SP D
DISPLAY$RANGE
DISPLAY$TIME
DISPLAY$ORIGIN
DISPLAY$SCALE
DISPLAY$OWN$SHIP
DISPLAY$CONTACT$INFO
DISPLAY$SYSTEM
DISPLAY$SAFE$RANGE
DISPLAY$WIND
DISPLAY$UPDATE$TIME

8. CPAS$MODULE
CONV$CONTACT$TIME
COPA$TIME$CONV
CONTACTS CRS$SSPD
CPA$CALCULATION
GETS CPA

204
 9. PLASMA$MODULE
SE$INC
CLEAR $STRUCTURES
DRAW$FRIENDLYSSYMBOL
DRAWSUNKSHOS $SYMBOL
DRAWSOWN$SHIPSSYMBOL
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NORMALIZE
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FIXEDS REORIENTATION
PLASMAS RED ES IG
P LASMAS DELETE
PLASMA$CONTACT
PLASMASOS
DRAWSEVERYTHING
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10. PLASMA$PRIMITIVES
SET$STATUS $PLASMA
P LASMAS WRITE
CLEARS PLASMA
PLASMA$WRITE$ VECTOR
PLASMASPRINTSSTRING
INITIALI ZE$PLASMA
SET$VECTOR
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STOP SVECTORSOLID
S TARTS VECTORS DAS H
S TOP$SVECTOR$DAS H
GRAPHICSDESIG

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DES HASH
CHECK$GO$KEY
DISPLAY $KI ND

205
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CONVSRCLSXY
INIT$STRUSTURES
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WIND
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INPUT$TIME

12. ANAMODULE
NOS WIND
NOSC ONTACT
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TOO SMANY$SCONTACTS
MOVE$OWN$SHIP
EXECUTIVE

13. AAW$GFCS
B INARY $TO$SFLOAT
B INARY $TOSAS CII
FLOAT$TO$BINARY
SCALE
GEN$TRG$UALI
GEN$TRG $VALI I
GEN$TRG$VALIII

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14. SWSGFCS

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SW$GEN$TRG$VALI
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221
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SCALE:
PROCEDUPE E.XTIFFNAI;
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INPUTSTIME:
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222
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 LIST OF REFERENCES

I. Babin, O.P. and Seaman, R.S., A Microcomputer Based Plasma

Display System, M.S. Thesis, Naval Postgraduate School,
Monterey, 1978.
2. Goncalves, A.L.S. and Bravo, J.E.D., A Microcomputer Based
Shipboard Surface-Subsurface Contact Plotter System,
M.S. Thesis, Naval Postgraduate School, Monterey, 1978.

3. Mariatequi, J.F.C. and Hall, Jr., I.N., Microcomputer

Based Interactive Display System, M.S. Thesis, Naval
Postgraduate School, Monterey, 1979.
4. Hastings, C. Jr., Approximations for Digital Computers,
Princeton, Princeton University Press, New Jersey, 1955.
5. ISIS-II PL/M-80 Compiler Operator's Manual, Intel Corpora-
tion, Santa Clara, California 1977.
6. ISIS-II System User's Guide, Intel Corporation, Santa
Clara, California, 1978.
7. 8080/8085 Assembly Language Programming Manual, Intel
Corporation, Santa Clara, California, 1978.
8. PL/M 80 Programming Manual, Intel Corporation, Santa
Clara, California, 1976.
9. McCracken, D.D., A Guide to PL/M Programming for Micro-
computer Applications, Addison Weley, 1978.

10. Intellec Microcomputer Development System Hardware

Reference Manual, Intel Corporation, Santa Clara, 1978.

11. Slaughter, J.B. and Lackowski, D.H., Digital Control of

a Tactical Weapon with a Shipboard G-P Digital Computer,
paper presented at National Convention on Military
Electronics, 7th PROCEEDINGS, IEEE, San Diego, 1963.
12. Modular Servo System MS150, DC, Synchro And AC, Advanced
Experiments Manual, V. 3, pp. 28-29, Feedback Instruments,
1980.

13. Kerns, K.H. and Cooper, R.S., A Microcomputer Solution to

Maneuvering Board Problems, M.S. Thesis, Naval Post-
graduate School, Monterey, 1973.

577
 14. Scheid, F., Theory and Problems of Numerical Analysis,
Schaum's Outline Series, McGraw Hill, 1968.
13. Plasma Display Set Technical Manual, Vols. I and I,
Science Applications Inc., 1976.
16. SBC 310, High-Speed Mathematics Unit Hardware Reference
Manual, Intel Corporation, Santa Clara, California, 1977.
17. Ogata, K., Modern Control Engineering, Prentice-Hall, 1970.
18. Newman, W.M. and Sproull, R.F., Principles of Interactive
Computer Graphics, McGraw-Hill Computer Science Series,
1973.

19. Klingman, E.E., Microprocessor Systems Design, Prentice-

Hall, 1977.
20. Peatman, J.B., Microcomputer-Based Design, McGraw-Hill,
1977.
21. Wrigley, W. and Hovorka, J., Fire Control Principles,
McGraw-Hill, 1959.

578
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No. Copies

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Naval Postgraduate School
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4. Department Chairman, Code 52 2

Department of Computer Science
Naval Postgraduate School
Monterey, California 93940

5. Associate Professor U.R. Kodres, Code 52Kr 2

Department of Computer Science
Naval Postgraduate School
Monterey, California 93940
6. Professor R. Panholzer, Code 62Pz 1
Department of Electrical Engineering
Naval Postgraduate School
Monterey, California 93940

7. Adjunct Professor R. Baird, Code 62Bd 1

Department of Electrical Engineering
Naval Postgraduate School
Monterey, California 93940

8. T.C. Deniz Kuvvetleri Komutanligi 5

Egitim Sube
Bahanliklar-ANKARA, TURKEY

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Pembe Gul Sok. No: 17/5
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DI