CONTRACT REPORT BRL-CR-605

1938 - Serving the Army for Fifty Years - 1988

Lfl DYNAMICS OF A BALLOTING PROJECTILE

IN A MOVING GUN TUBE

K. A. ANSARI
J. W. BAUGH, JR.

DECEMBER 1988 T IC
MAR 2 31989

APPROVED FOR PUBLIC RELEASE, DISTRIBUTION UNLIMITED

U.S. ARMY LABORATORY COMMAND

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Dynamics of a Balloting Projectile in a Moving Gun Tube

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K.A. Ansari and J.W. Baugh, Jr.
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19JABSTRACT (Continue on reverse if necessary and Identify by block number)

In recent years, there have been significant strides made in modeling gun dynamics.
Current capabilities include the use of flexible gun tube and projectile descriptions.
However, modeling the interface conditions between the tube and projectile is still an
area of very active research. Highly detailed finite element models, which are currently
under development at the BRL and at other agencies will lead to a much better understanding
of the important parameters involved in the balloting of projectiles. These models, however,
require both substantial computer resources and time. Thus there is a need for the
developmeit of siinplified tube/projectile interface descriptions which both realistically
represent the interface and are easily implemented. The bourrelet/gun-bore and obturator
models incorporated in this study reasonably satisfy these requirements.

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 19. ABSTRACT - cont'd

4'A nonlinear dynamic analysis of a balloting-projectile is presented in this report. The

mathematical model used is a six-degree-of-freedom coupled model of the projectile and gun
tube system. The effects of obturator flexibility and projectile impact with the gun bore
at the bourrelet are included in the analysis, and the nonlinear differential equations of
motion of the system are derived using a Lagrangian formulation. Gaussian elimination and
-- ewmark's constant-average-acceleration method are employed to obtain a solution. Finally,
numerical results for some specific test cases are obtained and discussed.

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DYNAMICS OF A BALLOTING PROJECTILE IN
A MOVING GUN TUBE

by
KA Ansari
JW. Baugh, Jr.

Pacific Northwest Lab

Richland, Washington

Prepared for

U.S. Army Ballistic Research Laboratory

Aberdeen Proving Grounds
Aberdeen, Maryland

January 1986
 "TA"LE OF =TITs

PAGE

LIff OF LJZSTeATINSo...o.o. ............... ,,,.,,,°., ..... .o,..... 5

I * INmftCDIJ(I... , ..... ,,,,....,,,..... .... ,,, .. *.. ,,, ....... ,....

IIe LITERATUXJU WI. °°....... ° ...... °°..... eg......

IIIo b'YSTM/ DE:ZCiIPTIWLg.g. gg.o,°.g..... .o. .. e.... ...... eses..e.o .010.

IV . THE SYSTEM KINEIIC fm& o.oso...a ° .... .°....gga......a....o°.10

V,a OURK&Ltr/GU--BOMA CUNTACr MWEL.... ....... ................. 13

Vl. ORTURATOe 140ULo, ......................... o......,.1

VII, TilE SYSTEI POTITL:.L smalY ........... , ..... ......... ,,...

VILL. MU TIONS OF H0ION...

........ *...
... 0. ......

IX. SOLUTION TECHNIQUE ............... ..... o

.......... o........... 19

I. €CIUKUTiER CODE DESCRIPTIO( ...... .. *.,.... ....... 2

XI NUMERICAL RES9ULTS AND DISCUSSION ......... ..................... 21

Ill. CONCLUSIONS AND REICO( NDATIONS FOR FJURTER STUDY ............... 32

A(WOWLIW&4..so4•rr ..... ... e.e...... e......a........e.a... ....... 34

RItFE Di (28..aa..........a...... a.......a.........a...3

APPEiDIX A ..... **a..........

a ................. g... sa....... . 37

APPWDIX B....... e.g ...... .......... a.......ea.

..

APPII Co* *a....*.*.*... ag.......... as ee..... aag o.. .........

a.. 4

APPENDIX ........ a ....................... ............. 5l

LIST OF SYMJBOLS ....... a ................ a.....aa a a7

DISTRIfLJTI(N LIST ............ o .............. a....a...............i9

• , i' ' II II " T •

 LIST OF ILLUSTRATIONS
Figure
1 Displaced Position of Gun Bore . ....... ........ .11
2 Projectile with Bourrelft and Obturator within Gun Bore . . . . . . 11

3 Body-fixed Axes and Projectile Displacements. . . . . . . . . . . . 12

"4 Obturator and Bourrelet/Gun-Bore Contact Models . . . . . . . . . . 13
5 Time History of Gas Pressure on Projectile. . . . . . . . . . . . . 23

6 Projectile Foundation Moment. . . . . . . . . . . . . . . . . . . . 23

7 Time History of Horizontal Gun Displacement (X ). . . . . . . . . . 24

8 Time History of Vertical Gun Displacement (Y ). . . . . . . . .... 24

9 Time History of X-Displacement of Projectile (xp) . . . . . . . . . 25
10 Time History of Gun Angular Displacement () forp. Case la ..... 26

11 Time History of Gun Angular Displacement (e) for Case lb. . . . . . 26

12 Time History of Gun Angular Displacement (e) for Case 2l. . . . . . 27

13 Time History of Gun Angular Displacement (e) for Case 2b. . . . . . 27

14 Time History of Y-Displacement of Projectile (ye) for Case I& . . . 28

14 Time History of Y-Displacement of Projectile (y ) for Case lb . . . 28

16 Time History of Y-Displacement of Projectile (yp) for Case 2a . . . 29
17 Time History of Y-Displacement of Projectile (yp) for Case 2b . . . 29

18 Time History of Yawing Motion of Projectile (a) for Case la . . . 30

19 Time History of Yawing Motion of Projectile (a) for Case lb. . . . 30

20 Time History of Yawing Motion of Projectile (a) for Case 2a . . . . 31

21 Time History of Yawing Motion of Projectile (a) fvr Case 2b . . . . 31

22 Bourrelet Impacting Bore . . . . . . . . . . . . . . . . . . . . . 44

- I, INTRODUCTION

The yawing or wobbling motion of a projectile within a gun tube is an

important consideration in internal ballistics and is known as balloting.
This motion is a function of a number of small, difficult-to-measure parame-
ters such as manufacturing tolerances, lack of concentricity of the engraving
of the obturator, projectile and tube deformation, obturation of the propel-
•lant gases and obturator wear, Certain combinations of these parameters can
-potentially cause malfunctions to occur which include poor projectile launch,

damage to the fuse mechanism and explosion In the bore. The yawing motion of
the projectile leads to yaw at shot exit, and the resultant inaccuracy of the
-round. It can also lead to muzzle wear which can be significant for large
bore dipmeters and muzzle velocities. As a wobbling projectile moves down a
gun barrel, several forces act on it influencing its motion. These can be due
to imbalances, asymmetries, clearances and deformation in the projectile
itself, engraving and ?rictional forces, propellant gas blowby, tube vibra-
tion, recoil, and coupling between the projectile and the tube motion.
Depending upon the magnitudes Involved, these can lead to excessive local tube
wear, excessive projectile engraving, malfunctioning of projectlie components,
and undesirable in-bore motion. They can also cause improper exterior ballis-
tic free flight of the projectile. Differences occur between the point of aim
and the point of impact, which can be ascribed to the motion of the gun
itself, the eerodynamic forces acting and the yawing motion of the projectile
in the gun bore. Although these differences may be only as large as a few
mils'. they must, obviously, be minimized. In order for this to be effected, a
realts~fc prediction of the yawing motion of the projectile in the gun tube
becrines necessary.

7
 II. LITERATURE SURVEY

In orders to predict the first maximum yaw exterior to the gun, Reno 1
carries out at rigorous Lagrangian treatment of the angular motion of the
projectile in the bore. He assumes that the projectile is centered at the
rotating Land, the plane of yaw rotates with the rifling, the impact of the
bourrelet is normal to the tube and rebound is described by a coefficient of
restitution. Friction between the projectile and the bore is ignored. The
projectile is approximated by a single degree of freedom pendulum system, and
a closed-form solution is obtained. However, the initial yaw observed during
development of a 36-inch mortar in 1944 was greater than that predicted by
Reno's theory. Furthermore, scratches on the bore surface Indicated that the
projectile precessed in a direction opposite to the spin Imparted by the
rifling. In an attempt to provide an explanation, Thomas 2 generalizes Reno's
approach by removing the constraint on the orientation of yaw and deduces the
motion of the plane of yaw. His results show little difference in the yaw;
3
the orientation of the plane of yaw, however, is quite different. Darpas
studies a situation in which the bourrelet touches the bore throughout the
projectile travel within the gun tube and concludes that the gyroscopic effect
due to the projectile being,cucked In the bore, is a predominant one. The
eccentricity of the center of gravity and the droop of the tube may also not
be negligible. Perdreaville 4 presents an analysis of the projectile balloting
prohlemi using Lagrange's equations and Euler angles. The projectile is
assumed to have no center of mass offset and to be In dynamic balance about
the principal geometric axes. The equations are written to represent complete

1 F.V. Reno, "The Motion of the Axis of a Spinning Sheli Inside the Bore of a
Gun," BRL Report No. BRL-R--320, 1943 (AD# 491839).
rL.E. Thoame, "The Motion of the Axis of a Spinning SheZZ Inside the Bore of a
Gun," BRL Report No. BRL-R-544, 1946 (PB# 22102).
3JG. Darpae, TransZated by H.P. Hitchcock, "Transverse Forces on Projectiles
Which Rotate in the Barrel," BEL Report No. BRL-MR-1208, 1959 (Memorial de
l'artillerie francaise, 31:19, No. 1, 1957) (AD* 218873).
4 F.J.
Perdreaville, "Analysis of the Lateral Motion of a ProjectiZle in the Gun
Tube," Sandia Laboratories, Albuquerqe, NM, SC-RR-7T0O71, 1971.

8
lateral dynrmlc freedom of the projectile bourrelet within the bore. Impact
is includeu and the equations are set-up so that the motion of the gun tube
can also be introduced. Chu and Soechtings present the same theory although
they resort to Euler's dynamical equations. Perdreaville 6 extends his analy-
sis of Reference 4 to include the effects due to an unbalanced projectile in a
rigid gun tube. In a subsequent document7 he develops equations of motion
describing the lateral motion of an artillery projectile as it moves down an
elastic gun tube that vibrates laterally. However, he does not generate any
numerical results in either of these reports. Langhaar and Boresi 8 analyze
the problem of dynamics of a projectile in a concentric flexible moving tube.
The motion of the tube is accounted for by using the Kirchhoff-Clebsch theory
of deformed rods. However, the effect of projectile balloting is ignored and
no numerical results are shown.
This report presents a dynamic analysis of a balloting projectile in a
moving gun tube. A six degree of freedom mathematical model for the
projectile/gun-tube system is resorted to and the nonlinear differential
equations of motion derived using a Lagrangian approach. The effects of
obturator flexibility, and projectile impact with the bore at the bourrelet or
at the obturator along with subsequent rebound are included. The nonlinear
equations of motion are solved using Gaussian elimination and the constant-
average-acceleration integration scheme. Finally, numerical results for some
sample test cases are obtained and discussed.

5 S.R. Chu and F.K. Soechting, "Traneveree Motion of an Acoelerating Shell,"

Picatinny Arsenal, Dover, NJ, PA-TR-4314, 1972 (AD# 894572).
6F.J. PerdreavilZe, "Analysis of the Lateral Motion of an Unbalanced
Projectile in a Rigid Gun Tube," Sandia Laboratories, Albuquerque, NM, 8711$,
SAND 74-0361, 2974.
7F.J.
Perdreavi~le, "Analysis of the Lateral Motion of an Unbalanced
Projectile in an Elastic Gun Tube," Sandia Laboratories, Albuquerque, NM,
87215, SAND 74-0362, 1974.
8 R.L.Langhaar and A.P. Boresi, "Dynamics of a Projectile in a Concentric
Flexible Tube," BLM Applied Mechanics Consultants, Contract Report No.
ARBRL-CR-00501, February 2983.

9
 III. SYSTEM DESCRIPTION

The mathematical model employed is a six-degree-of-freedom coupled model

of the gun-tube and projectile system. An inertial reference frame XYZ is
selected with the gun-tube center of mass at (Xg, Y ). The bore may be
displaced from its original position due to recoil and vibration with the
displaced position described by (Xg, Y9g e) as shown in Figure 1. A typical
projectile is represented in Figure 2. The origin of the body-fixed axes
(x,y,z) is fixed on the bore centerline as shown in Figure 3. The motion of
the projectile is described by the coordinates (xp, yp) of its center of mass
relative to the gun and the yawing angle a about the orthogonal axis z. The
projectile is assumed to have no center of mass offset and to be in dynamic
balance about its principal axes. Because of recoil and vibration, the gun
bore can have axial as well as lateral and rotational motion. As the pro-
jectile moves down the gun bore, the bourrelet as well as the obturator can
impact with the gun bore and then rebound from it. This effect can be includ-
ed by using simple restoring springs to represent the interaction between the
bore and the projectile. Both the gun tube and projectile are assumed to
behave as rigid bodies and rifling of the projectile is not considered.

IV. THE SYSTEM KINETIC ENERGY

The total kinetic energy of the projectile/gun-tube system is

T Tgun + Tprojectile
T

= mg
M (og2 + 9g2) + Ig ;2

+ i mp (tp2 + p2) + p a2 (1)

where mg. mp represent the masses of the gun tube and projectile and Ig, Ip
represent the mass moments of inertia about axes orthogonal to the plane of
motion at the respective centers of gravity. Expressions for the quantities
p and tp are derived in Appendix A.

10
 Y

Inertial Frame of Reference X

Zz

Figure 1. Displaced Position of Gun Bore

Bourrelet
Gun Bore

Obturator

Figure 2. Projectile with Bourrelet and Obturator within Gun Bore

11
CL V

0I
 V. BOURRELET/GUN-BORE CONTACT MODEL

When the projectile contacts the gun bore, the rebound force at the
. .bourrelet can be included with the help of a simple spring deflection model,
as shown in Figure 4, representing the stiffness characteristics of the
metallic part of the bourrelet which comes into contact with the gun tube upon
i--.mpact. In this situation, the contribution to the potential energy of the
.system would be
"Vbc- 2
kbc 6bc (2)
where kbc is the appropriate spring constant and abc represents the displace-
ment of the projectile into the gun bore, that is, the distance from the bore
wall to the undistorted location of the bourrelet as determined by the orien-
tation of the projectile axis. This displacement is (see Appendix B)
6bc "yp + s
sip - Rcl,bc (3)
where xp represents the distance between the projectile CG and the plane of
the bourrelet and Rclbc is the radial clearance between the bourrelet and the
bore. Contact between the bourrelet and the bore occurs when
6bc >10 (4)

Gun Bore

1/2k 1/2 ki,

! ~~1/2 k ký:

1//2 k.;
\
i11/2 k

1/
k.- Projectile

Figure 4. Cbturator and Bourrelet/Gun-Bore Contact Models

13
-This contact also contributes a friction force applied to the projectile in
the negative x direction, its magnitude being

Ff cbc 1 kbc 6 bc

where "bc is the coefficient of friction for the bourrelet/gun-bore contact.

VI. OBTURATOR MODEL

An obturator model can be built Into the balloting analysis by including

transverse springs as shown in Figure 4, in the plane of the obturator,
simulating the properties inherent to it. The spring k0 represents the
stiffness of the plastic band while k0 represents the stiffness of the metal-
lic part of the obturator which should be included in the obturator stiffness
when the metal impacts the gun bore. The restoring forces in these springs
will tend to bring back the projectile CG towards the centerline of the gun
bore in its motion down the barrel. The spring stiffness values are to be
obtained either experimentally or analytically. The potential energy contri-
bution due to these transverse springs will be
Vobt
obt ½k 0 (no impact)
J k0 62
(6)
k4 2 + k (6 )2 (upon
( impact)
Vobt k0 0 o 0 - 2clo
where 6o is the projectile displacement at the obturator, k and k represent
the stiffness of the plastic band and metallic part respectively and RCl'o is

the radial clearance between the obturator and the bore. The displacement 60
is given by

6o "lyp- sin (7)

where 1 is the distance between the projectile CG and the plane of the
obturator. Contact between the metallic part of the obturator and the gun
bore occurs when

6o0 - Rclo 0 4 (8)

14
 VII. THE SYSTEM POTENTIAL ENERGY

The total potential energy of the system is given by

V -V +V +V +V +V
System Gun Proj Bourrelet Contact Obt Found Moment
*mg g Yg +mp g Yp + 6 2 +* ko 62 + ik ( - Rclo). 2
gg p b bc0 0 0 0 c
+ n (9)
1 n

where the third term is to be included only when there is contact between the
bourrelet and the bore, the fifth term is to be included only when the metal-
lic part of the obturator impacts the gun bore, and the last term is a power
series due to the foundation moment which is a large nonlinear effect generat-
ed by the projectile as it wobbles down the gun bore and which can be measured
experimentally. The quantities mg and mp represent the gun mass and -the
projectile mass respectively and n denotes the number of terms in the power
series representation of the foundation moment, which is the resistance to
wobbling provided by the stiffness of the obturator drive band.

VIII. EQUATIONS OF MOTION

9
Lagrange's equations of motion are

dTTt (IL)-1L
r "q qr "- rnc (r 1,i
2# *..6) (0

where L is the Lagrangian function, Qrnc is the non-conservative generalized

force acting in each coordinate direction qr, and 4r denotes the generalized
velocity associated with the generalized coordinate qr" The Lagrangian L Is
the difference between the system kinetic and potential energies, and is, in
this case

9 L.Meirovitoh, "AnaZytioal Methods in Vibrations," MaamiZZan, New York, 1969,

pp. 30-50.

15
 L T-V (Um ( 9+ 2 )+ + I 2

+ 2&2j
iM (2 +. 11 ;
p p p
g Y + mp g Y + i kbc 62bc + i ko 2
(mig

(a 0 " 0R l to 22k+ En1 na n(11)

where the quantities fp and tp are derived in Appendix A, 6bc is given in

Appendix B and so and R¢1,o are as defined in the section on Obturator Model.
Application of Lagrange's equations yields the following nonlinear,
coupled equations of motion for the projectile/gun-bore system
ql = X9 : (m9 + mp) p
(x sine + yp Cos e + mp Xp cos e

mp yp sin e pXp ;2
e cos e + 2m pp sinea mpyp sine

+ 2 mppg cos 0 (12)

2 a Y9: + M)
(m +m g + mp (xp cos e-yp sin e) e+mp xp sin e

+m cos e •2 sine -
9mpXp p+ mpy cos e

+ 2 mpyp; sine - (m + m )g (13)

q3 • : mp (xp sin e + yp cos e) Xg + mp (xp cos e - Yp sin e) Yg

+ (1Ig + Mp Xp + Mp yp2 • mp y p Xp +mp PX p yp

+mp (2 i (xp p + yp
S p) - 2g9(ip sin e + yp cos e)

+ (xp Cosg p [(ýp Cos e -p sin 0)

- p sin e + y cos e)1- m {[A Yp - 9g xp)

g p + Yp)] sin e - [URgXp + Ygp)

+ ( p- 1gp )] cos e0 : 0 (14)

16
q4 Xp: mp (X +Y +e [Xp(cos e - sine) -yp(sin e cos e)]
+ (sin e + cos e) Xp + (cose - sin e) yp - 2 4p6
(sine + cos e)

+ 2 Ap• (cos e -sin e) - (xp+ yp) j2 cos e + (y -x p) 42 sine

SXp ;2 - pp 0(gCOS - 1g sin e) i + g sin e)

Sfx(t) - ubc kbc( Yp + Lp aJ - Rcl.bc sgn p (15)

q5 p: mp (-Xsin e + g cos e + xp e + yp + 2 ; -p 4esin e

-g 1 Cos e - y p 2 + 4 (2g cos e + t sin e)

+ g cos e} + kbc (y p L+ a - pclbc sgn (yp + Lp a))

+ (k0 + k;) (y - L a) - Rcl'o k; sgn (yp - to a) fy(t) (16)

q6 • a: lp + kbc (yp + Lpa - Rclbc sgn (yp + Lp a)) Lp

- (k0+ k;) to(Yp "-L0

+ Rclo k' Lo sgn - L 0a) + Z a

£ 2an'z + c1; + c2 j+ m (t) (17)

Equations (12-17) can be written down in the form

(M]{q) + CC] {4) + [K] (q) {F} (18)

where [MI, [C), and [K] are 6 x 6 matrices, (F) is a force column matrix and
{q} is a vector of generalized coordinates. The elements of these matrices
are as follows:
M 1 1 - (mg + m) M13 a mp (xp sine + yp Cos e)
M14 -mp cos ,M 15 U- -p sine ,
M2 2 ' (mg + m) M2 3 0 mp (xp cos e - yp sin e)
M?4 a 1p sine M2 5 - mp cos e

M31 - - mp (xp sin e + yp cos e) ,

M32 mnp (x p cos e - yp sin e) ,

17
 M3
-9I+ + Vp5XK(2 +pY 2 ,M4
433a M3 4 - lh.yp
y (19)
35-m x , *4mp ,
M*42 mp

M4 3 a mp [xp (cosO - sin e) - p (sine + cos e)]

144 . mp (sine + cos e) , M45 - mp (cos e- sin e)
M51 " -mp sine M5 2 p Cos e,

1453 ,, mp Xp , M5 5 mp M66 a 'p

C1 4 1 -2 mp sine C15 , -2 mp 4 cos e

C2 3 - 2 m (p cos 0 -p sin e)

C3 1 , - {((;p sin e + yp cos e) + (xp cos e - yp sin e)} mp

C3 2 * {(; p cos e - 'p sin e) - i (xp sin e +yp Cos e)} mp,

C3 3 - - mp (( g yp - 9gXp) sine - (i9xp + tgyp) cos el

C34 a mp (0gsin e -t 9 cos e),

C35 35
- m (0'sin e + R sin e) ,
g g
C4 1 -mp 6 sin e ,C 4 2 mp e cos e, (20)
C4 3 -mp (xp4 + p) , C4 4 - 2m p (cos e - sin e),

C = -2i m (sin e + cos e)

45 p
C5 1 - -r e cos e c52 , -p sine ,

C5 3 - mp (g cos e + ',g sin e) , C54 - 2mp

C6 6 - c1 +c2 2

18
 K14 = -mpJ 2 cose K1 5 m;2 stin

K2 4 a -nm;2 sn 0 K2 5 -m 2 cos 0 ,

K3 4 a 2mp ; Xp I K3 5 m2m
- p ,

K4 4 a 'mj 2 (cos 0 + sin 6), K4 * 2 (sine cos 0)

K5 5 -mp8 2 + k bc+ko+ , (21)

p 0 0'

K65 kbc Lp .(k° 0÷ ký) 10

k
K6 kbc p (k0 + ' -0+ n 0 -
K k 2 + (ko+ k;) Z2 +•I n-n2
66 bc p 0 o 0 "

""2 a -(mp + mg) g,

F,4 -mp g sin 6+ fx(t) .bc kbc (Iyp + RRcl,bc) sgn ,

(22)
F5 . -nap g Cos 0 + kbc
' Rcl,bc
(yysgn (yp + Ipa) + fy(t)
+ Rclo k; sgn . 0a )

F6 a m(t) + kbc Rcl,bc Ip sgn (yp + LOU) - Rcl'o k' Lo sgn (y p 0

All other elements are zero.

IX. SOLUTION TECHNIQUE

The equations of motion (Equations 18) for the projectile/gun tube system
are coupled, nonlinear differential equations which can be solved only numer-
ically. If the values of q's and q's are known at any instant, their substi..
tution in (M], [C],.[K and (F) will lead to a set of 6 simultaneous algebraic
equations with the q's as the unknowns. Elements of these matrices are first
computed from given initial values of q's and q's at the first time step and
then the simultaneous equhtions generated are solved by Gaussian elimination

19
t.o find the q's which lead to the solution for the subsequent time step.
Essentially, we have a set of six coupled nonlinear differential equations to
be solved at ehch time step. The solution to these equations may be obtained
by Newmark's constant average-acceleration method of integration10 which is a
self-starting technique that yields a step-by-step solution up to a specified
time limit, once the initial positions and velocities are supplied. The time
step can be monitored during the process of computation if needed. At impact
and rebound between the projectile and the gun bore, either at the bourrelet
--
or at the obturator, the solution of the equations of motion need not be
interrupted although additional forces will come into play from the activation
of springs kbc and k; and from the frictional effect between the bourrelet and
the bore when the bourrelet slides on the walls of the gun tube. The projec-
tile/gun tube dynamic system response can then be studied at any desired time
and time histories of all coordinates describing the system behavior can
easily be obtained.
The first consideration in selecting a numerical integration scheme for
multi degree of freedom systems, as Craig 1 1 points out, should be its stabil-
ity. In most cases, it is desirable to use a method that is unconditionally
stable such as the constant-average-acceleration method. This method also
produces no amplitude error, that is, there is no numerical dissipation,
regardless of the time step size. The period error, too, is small. However,
for some multi degree of freedom systems, it is desirable to have numerical
dissipation to filter out the response of less accurate higher modes, which is
similar to truncating higher modes in a mode-superposition solution. Accord-
ing to Craig, Newmark's linear acceleration method has an advantage over his
constant-average-acceleration method in that it provides this damping for
higher modes. One difficulty, however, is that it is not unconditionally
stable. In order to ensure an accurate solution to the balloting projectile
problem, both of these methods were resorted to and, for small time steps, no

10 X.J. Bathe and E.L. WiZon, "NumerioaZ Methode in Finite EZement AnaZylyi,"
Prentice Hall, Englewood Cliffe, N.J., 1976, pp. 322-325.
1 1 R.R.Craig, Jr., "StruoturaZl Dynamios - An Introduction to Computer
Methods," John Wiley, New York, 1981, pp. 461-463.

20
difference in the results was noted. It was therefore decided to use the
constant-average-acceleration method for this work because of its uncondition-
al stability.

X. COMPUTER CODE DESCRIPTION

All computer code used in this study was written in Pascal on the
Hewlett-Packard 9a16 Series 200 Desk Top Computer. The main program, NEWMIARK,
performs numerical integration based on either the linear acceleration or
constant-average-acceleration method. MOPBOX (Matrix OPerations tool BOX)
provides various low-level routines to manipulate matrix and vector entities,
including addition, subtraction, multiplication, etc. There is also a routine
that solves linear algebraic equations by Gauss-Jordan Elimination. Graphics
support is provided by the PLOTPAC Graphic Plotting Package. For a complete
listing of the code, see Appendix D - Computer Program Listing.
NEW•ARK, as well as its supporting modules, MOPBOX and PLOTPAC, were
tested using the example of a linear, two degree of freedom system given in
Bathe & Wilson 10 on pp. 324-325. The input used is shown on page 76, Appendix
D. Results from NEWMARK were in exact agreement with those given in this
reference.

XI. NUMERICAL RESULTS AND DISCUSSION

The balloting projectile model and analysis developed have been utilized
to simulate the dynamical behavior of an APFSDS-T (Armor Piercing Fin Stabil-
ized Discarding Sabot with a Tracer) projectile in a 120 mm MiA1 Tank Main Gun
Tube in the following situations:

Case 1 Projectile CG at the Obturator (to "O)

(a) Initial condition: yobt * 00 , - 0.054 deg , correspond-

ing to a maximum tilt of the projectile with no displacement at
the obturator.

21
 -(b) Initial condition: 'yobt -o0026
` in , • * 0.054 deg ,
corresponding to same projectile tilt as in (a) in conjunction
with a displacement at the obturator equal to one-half of the
-radial clearance between the projectile and the gun bore at the
obturator.

1C6:e 2 Projectile CG Between the Obturator and the Bourrelet, 2 inches

from Obturator (1-M 2 Inchesi

(a) Same as in 1(a).

(b) Same as in 1(b).

Other data used is as follows:

Gun weight = 4000 lbs

Projectile weight = 16 lbs

Projectile cross-sectional area a 17.53 in2

Ip - 0.583 lb-in-sec 2

19 - 150.0 lb-in-sec 2

c1 a 71 lb-in-sec, approximately 5% of
critical

c2 -0

kbc = 5.0 x 107 lbs/in

ko =5.0 x 106 lbs/in

ko- -1.0 x 108 lbs/in

Lp =5.5 inches

Rcl, bc = 0.0052 inches

Rcl, o a 0.0052 inches

X0
"bc
Time history of gas pressure p(t) on the projectile as given in Figure 5.
The curve for p(t) shown is a modification that results from inclusion of
the effect due to friction at the obturator/bore interface.

Projectile foundation moment as given in Figure 6.

The time step used for all solutions is 0.005 msec.

22
 50,000

40,000

30,000

J 20,000

10,000

0 0 1 2 3 4 6 6-
Time (msec)

Figure 5. Time History of Gas Pressure on Projectile

80,000

45,000

30,000 -

'015,000

00
Projectile Angular Displacement a (degrees)

Figure 6. Projectile Foundation Moment

23
Gun Horizontal and Vertical Displacements and Projectile x-Displacement
Response

The time ýistories of the horizontal gun
gun displacement Y (t) and the x-displacement
ed by the analysis are shown in Figures 7-9.
cases analyzed and no significant changes are
00.00
displacement X (t), the vertical
xp(t) of the projectile generat-
These are similar for all the
noted from one case to the next.

-0.250 -

-0.500
.0

-0.750

.1.000

-1.250
0 1 2 3 4 5 6 7
Time (meec)
Figure 7. Time History of Horizontal Gun Displacement (X )

0.000

.0.002

".C -0.004

E
S-0.006-
.0-0008-

-0.010
0 1 2 3 4 5 8 7
Time (msec)
Figure 8. Time History of Vertical Gun Displacement (Y )

24
 350
300 -

j200
150 -

1100 -
50 -

00 1 2 3 4 5 6 7
Time (msec)
Figure 9. Time History of X-Displacement of Projectile (xp)

Gun Angular Displacement Response

The time histories of the angular displacement e(t) of the gun for the
various cases are represented in Figures 10-13. For a projectile with its CG
located at the obturator, and initially cocked in the bore with no displace-
ment at the obturator, the angular gun displacement 9(t) gradually increases
with time as shown In Figure 10 until the projectile exits the bore with no
impact occurring between the bourrelet and the bore at any time at all. When
an initial vertical displacement is imposed at the obturator, oscillations of
the tube result from continual impact between the bourrelet and the bore as
shown in Figure 11. For the case in which the projectile CG is located away
from the obturator and the projectile is initially cocked in the bore with no
displacement at the obturator, the gun angle increases until the first impact
between the bourrelet and the bore and then begins to oscillate as seen in
Figure 12. With an additional initial vertical displacement imposed at the
obturator, the oscillations are seen to be small until the first moment of
impact between the bourrelet and the bore, following which oscillation ampli-
tudes increase with further impacts.

25
 0.0000125

I 0.0000100-

S0.0000075

0.0000050-

S0.0000025

0.0000000 0 1 2 3 4 5 6 7
Time (msec)

Figure 10. Time History of Gun Angular Displacement (e) for Case la

0.000025
0.000020-

I 0.000005-
0.000010

.a -0.000005-
-0.000010
0 1 2 3 4 5 6 7
Time (msec)
Figure 11. Time History of Gun Angular Displacement (e) for Case lb

Projectile y-Displacement Response

For case 1(a), Figure 14 essentially reveals a low-frequency type oscil-

latory behavior that results from the projectile not impacting the g~in bore at
all. For case 1(b), owing to continual impact between the bourrelet and the
bore, the oscillations are seen to be of higher frequency as shown in Figure
15. For case 2(a), Figure 16 shows a gradual fall of displacement until the
occurrence of the first impact between the bourrelet and the bore leading to

26
,, _ •1

0.000010
0.000008
0.000008-

-0.000002 -
-90.000004-

-0.0008 -

0 1 2 3 4 5 a 7
Time (mlec)

Figure 12. Time History of Gun Angular Displacement (e) for Case 2a

0.000030
0.000025-
-- 0.000020.00015-

S0.000010 -
0--000005-
E 0.000000
9
• 0,00005 -
-0.00010 -

-0.000025 .

0 1 2 3 4 5 a
Time (msec)

Figure 13. Time History of Gun Angular Displacement (e) for Case 2b

the subsequent oscillatory behavior pattern depicted. For case 2(b) (see
Figure 17) the behavior is seen to be a sinusoidal motion superimposed upon an
almost linear decay of amplitude until the first impact, after which time, an
increase in frequency occurs.

27
 0.000076
0.000050

-0.0

-0.00007
-0.000100c
5 -

.0.000126-
-0.00010
-0 1 2 3 4 5 6 7
Time (msec)

Figure 14. Time History of Y-Displacement of Projectile (y ) for Case la

0.0025
0.0020-
0.0015
. 0.0010
0.0005
-0.0000
~.0.0010
0.0005

-0.0015
-0.0020
-0.0025
-0.00301
0 2 3 4 5 6 7
Time (mgec)

Figure 15. Time History of Y-Displacement of Projectile (y ) for Case lb

Projectile Yaw Response

The time histories of the yawing motion of the projectile a(t) generated
for the various cases are represented in Figures 18-21. For case 1(a), the
response is a low frequency, sinusoidal type of motion as shown in Figure 18,
which results from the projectile not impacting the gun tube at all. For case
1(b) (see Figure 19), because of continual impact between the bourrelet and
the bore, oscillations of larger frequency occur. For case 2(a) (see Figure

28
 .0.020
0.0016
S0.0010
0.0006
0.0000

-0.0010
. .0.0015
-.000,0
0.0026 1 2 3 4 6
Time (mse)
Figure 16. Time History of Y-Displacement of Projectile (yp) for Case 2a

0.003

3 0.001
.0.001

.-0.03

-0,0034-
0 1 2 3 4 5 6 7
Time (muec)

Figure 17. Time History of Y-Displacement of Projectile (y ) for Case 2b

20), the bourrelet is initially in contact at the top of the bore. As the
projectile travels down the gun barrel, the bourrelet drops making impact
twice before exiting. For case 2(b) (see Figure 21), pre-impact oscillations
are relatively small, but become large following bourrelet contact.

29
 o• 0.0010
0.0008
•'- 0.0006
.! 0.0004-
* 1 0.0002-
0.0000
-0.0002 -

.0.0005 -
-0.0010
0 1 2 3 4 6 6 7
Time (maec)

Figure 18. "10•.0000

Time History of Yawing Motion of Projectile (a) for Case la
-0.0005-
0.0016

V 0O0005

0.0010-
.-

0 1 2 3 4 6 6 7
Time (maec)

S~Figure 19. Time History of Yawing Motion of Projectile (a) for Case lb

Effect of Using a Smaller Time Step for Integration

In order to determine the effect of a smaller time step on the dynamic

behavior of the system, case 2a is also analyzed using At - .0005 msec. There
is no appreciable change in results except that the oscillation period becomes
slightly smaller, which is in agreement with Craig's observation
1.1

30
 0.0010
0.000e8
0.0006
0.0004-
10.0002
0.0000
-0.0002 -
. -0.0004.
is -0.0006 -
-0.0008-
-0.0010
0 1 2 3 4 5 6 7
Time (msec)

Figure 20. Time History of Yawing Motion of Projectile (a) for Case 2a

0.00150
0.00125
. 0.00100
0.00076
0.00050
0.00025
0.00000
-0.00025 -
-0.000W0
-0.00075 .
t I I
-0.00125 0- _
0 1 2 3 4 5 6 7
Time (msec)

Figure 21. Time History of Yawing Motion of Projectile (a) for Case 2b

Other Observations

The results shown indicate that the projectile motion oscillates about
the limits set by the clearance between the projectile bourrelet and the gun
bore. The maximum longitudinal deceleration of the gun is 220 g's and occurs
at about 2 msec for all the cases analyzed. The maximum lateral acceleration
or deceleration of the gun is lowest (1 g) for Case la, In which the projectile
CG is at the obturator and the projectile is initially cocked in the bore with

31
 no vertical displacement at the obturator. It is largest (14 g) for Case 2b,
in which the projectile CG is 2 inches away Irom the obturator and the pro-
Jectile is Initially cocked in the bore with a vertical displacement at the
obturator. The maximum projectile longitudinal acceleration is seen to be
.... 61s7,000 g, the same for all cases. The maximum projectile lateral acceleration
or deceleration is the lowest (45 g) for Case la and highest (48,000 g) for
Case 2b. The maximum projectile yaw rate is the lowest (0.8 rads/sec) for
Case 2a and highest (9.5 rads/sec) for Case 2b, with the maximum yaw being of
the order of .001 radians for all cases. Details are shown in Table 1. In
general, the projectile whose CG is situated away from the obturator and which
is initially cocked in the bore with a prescribed vertical displacement at the
obturator (Case 2b) seems to exhibit the most vigorous dynamic behavior, as
expected.
For the projectile whose CG is at the obturator and which is initially
cocked in the bore but has no prescribed initial vertical displacement at the
obturator, the results indicate that there is no impact at all between the
bourrelet and the bore throughout the in-bore period. Consequently, Ecuation
(17) which is the equation of motion corresponding to the sixth generalized
coordinate, namely, the projectile yawing motion, reduces to an uncoupled
second order differential equation in the coordinate a. If the foundation
moment curve is linear over the range of the in-bore period, as is the case
here, this equation of motion further reduces to a linear uncoupled second
order differential equation in a. Thus, so long as the projectile CG is
situated at the obturator and the obturator has no initial vertical displace-
ment, the projectile could be assumed to be a single degree of freedom system
for obtaining a good initial estimate of yawing response. However, for other
situations, a more rigorous multi degree of freedom system analysis would seem
necessary, as the results of this work indicate.

XII. CONCLUSIONS AND RECOMMENDATIONS FOR FURTHER STUDY

In order to ensure accuracy in internal ballistics, a realistic predic-

tion of the yawing motion of a projectile is necessary. A dynamic analysis
incorporating a six degree of freedom mathematical model of a projectile/gun-

32
L~L.

1-4 '4 1% 0 @

V)t

00 4 4-A

4J
L .
45iu

In §a §

1.1- 4. oP-C - IrV

E -i 4.' I M

w~~~ CT
0I

4-0

4J.C

V) w4 Ia A

-) E uLA 0
L'J

K-J

4LO r-33
 +- i--ube system is presented in this report. The nonlinear differential equations
of motion of the system are derived using a Lagrangian formulation with the
.-effects of obturator flexibility and projectile impact and rebound at the
-bourrelet and the obturator Included. Using Gaussian elimination and
- .. •:Iewnark's constant-average-acceleration integration scheme, the nonlinear
equations are solved to yield usable dynamical response information for some
specific test cases.

The analysis and results indicate that as long as the CG of the projec-
tile is located at the obturator and no initial vertical displacement is
prescribed at the obturator, the projectile can be treated as a simple single
degree of freedom system for estimating its yawing response. For more complex
situations, however, a more rigorous analysis employing a larger number of
degrees of freedom such as the one suggested in this report seems to be in
order.

The following recommendations for further work are bound to constitute

additional contributions to the general problem of the dynamics of a balloting
projectile in a moving gun tube.

1. Account for the three-dimensional motion of the projectile and the

gun employing Euler's angles.

2. Treat the projectile as a rigid body moving within an elastic gun

tube.

3. Investigate the effect of considering the projectile as a flexible

body.

4. Include the effect of rifling of the projectile.

ACKNOWLEDGMENT

The authors are grateful to E.M. Patton for providing insight into the
physical aspects of gun dynamics.

34
 REFERENCES

1. F.V. Reno, "The Motion of the Axis of a Spinning Shell Inside the Bore of
a Gun," SRL Report No. BRL-R-320, 1943 (AD# 491839).
2. L.H. Thomas, "The Motion of the Axis of a Spinning Shell Inside the Bore
of a Gun," BRL Report No. BRL-R-544, 1945 (PBS 22102).
3. J.G. Darpas, Translated by H.P. Hitchcock, "Transverse Forces on Projec-
tiles Which Rotate in the Barrel," SRL Report No. BRL-MR-1208, 1959 (Memorial
de l'artillerie francaise, 31:19, No. 1, 1957) (AD# 218873).
4. F.J. Perdreaville, "Analysis of the Lateral Motion of a Projectile in the
Gun Tube," Sandia Laboratories, Albuquerque, NM, SC-RR-710071, 1971.
5. S.H. Chu and F.K. Soechting, "Transverse Motion of an Accelerating
Shell," Picatinny Arsenal, Dover, NJ, PA-TR-4314, 1972 (AD# 894572).
6. F.J. Perdreaville, "Analysis of the Lateral Motion of an Unbalanced
Projectile in a Rigid Gun Tube," Sandia Laboratories, Albuquerque, NM, 87115,
SAND 74-0361, 1974,
7. F.J. Perdreaville, "Analysis of the Lateral Motion of an Unbalanced
Projectile in an Elastic Gun Tube," Sandia Laboratories, Albuquerque, NM,
87115, SAND 74-0362, 1974.
8. H.L. Langhaar and A.P. Boresi, "Dynamics of a Projectile in a Concentric
Flexible Tube," BLM Applied Mechanics Consultants, Contract Report No. ARBRL-
CR-00501, February 1983.
9. L. Meirovitch, "Analytical Methods in Vibrations," Macmillan, New York,
1969, pp. 30-50.
10. K.J. Bathe and E.L. Wilson, "Numerical Methods in Finite Element Analy-
sis," Prentice Hall, Englewood Cliffs, N.J., 1976, pp. 322-325.
11. R.R. Craig, Jr., "Structural Dynamics - An Introduction to Computer
Methods", John Wiley, New York, 1981, pp. 461-463

35
36
 APPENDIX A

PROJECTILE CENTER OF GRAVITY OiSPLACEMENTS AND VELOCITIES

37
38
 APPENDIX A

PROJECTILE CENTER OF GRAVITY DISPLACEMENTS AND VELOCITIES

The position vector Ip of the projectile center of mass in the inertial

frame of reference can be written as

S rP/G + rG
,p (A-1)

when rp/G represents the position vector of the projectile center of mass with
respect to the gun tube center of mass, and *G represents the position vector
of the gun tube center of mass in the inertial frame of reference. Using i
and 3 as unit vectors along X and Y axes and t and m as those along the
body-fixed x and y axes, we can write

rp/ - ip+ ypm

rP/G P p
(A-2)
rG aXXg + YJ

where i- cos e + sin e j

(A-3)
m -sin e t + cos 0 3
Substituting equations (A-2) into (A-i), we get

"rp Xpt + Yp g (A-4)

where Xp Xp Cos e - y psin e + Xg)(A5
(x

Yp ( p sin e + ypCose + Y)

Equations (A-5) can be differentiated to yield the relative velocities IP

and . for the projectile CG as follows.

2p - _x sin e i + i Cos - yp Cos e - sn e + I

p p p 9
(A-6)
tp axp cos e ; + ip sine - yp sine 4+ pCos e + tg

39
40
 APPENDIX B

PROJECTILE DISPLACEMENT AT 9OURRELET

41
4?
 APPENDIX B

"PROJECTILE DISPLACEMENT AT BOURRELET

The radial displacement vector of the projectile centerline in the plane

of the bourrelet, measured from the bore centerline is (see Figure 22)
r , . -

r÷rB rB/*G)G
(./P + rP/G + rG) (rB*/G + rG

arB/P + P/G - rB*/G

A * 4

a LpcCOS t+ tp sin a m + xpI + yp M- O (B-i)

where P denotes the CG of the projectile and G denotes the CG of the gun, L
and m are unit vectors along and perpendicular to the gun axis, and t and J
are unit vectors along the inertial X and Y axes. Here yg, which is the
instantaneous distance of the bourrelet from the gun CG measured along the gun
axis, can be seen to be
tga xp + Lp cos a (B-2)
Using the above approximation, it can be seen that
r Ai + B63 (B-3)
where A • -(tp sin a + yp) sin e
(B-4)
B (Lp sin a + yp) cos e
Contact occurs when
H ;,Rclbc (B-5)
where Rcl,bc Is the radial clearance between the bourrelet and the gun bore.
The displacement of the projectile into the bore Is then

abc U 'Rclbc "yp + fsin aI- Rclbc (B-6)

43
CDC

44 4
 APPENDIX C

GENERALIZED FORCES ACTING ON SYSTEM

45
r.-.
4 i

46
 APPENDIX C

GENERALIZED FORCES ACTING ON SYSTEM

The virtual power developed due to generalized forces through infinites-

imal virtual velocities compatible with system constraints can be represented
--
by
6 h
Ott tt Qk
k*l 0
k * 8Vk =lg Xa + QYaY9 + Qe + Qxp
Xp axpp

Qyp 8 p + QU
"y+ (C-1)

where Qk represents the nonconservative generated force associated with the

generalized velocity vk in the direction of the kth generalized coordinate.
The system virtual power will also be that resulting from the application of
given nonconservative forces acting on the system, which is the sum of the
following contributions.

SP due to force fx(t) generated by the gas pressure on the projectile

af x t)
W 4p

6P due to force f y(t) on projectill -f y(t) 6 p

6P due to moment m(t) on projectile - m(t) 6;

6P due to friction at contact surface between the bourrelet and the bore

3Ff axp sqn (;p) -" kbc

kb yi + P Rclbc) 6 sgn (xp)
for small a, upon contact.

SP due to quadratic yaw damping a -(ca• + c2 jet) 6

Thus, 6Ptot (fx(t) - Ubc kbc ( yp +

{ tp cI-Rcl,bc) sgn ( p )) 6x p

+ {f (t)8j I + {m(t) - (cl ;~ + C2 ; H)) 6; (C-2)

A comparison of equations (C-i) and (C-2) then yields the following gener-
alized forces

07
 *QlQyg uQe-O

"QXp afx(t) - Vbc kbc (yp " Rclbd (

• •- •-(C-3)
fy,(t)
*Yp

Qa M(t) - cl-c2&
Q a..

In the above, m(t) is any external yawing moment acting on the projectile, Ubc
Is the coefficient of friction at the bourrelet and bore contact, c 1 and c
are first order and second order damping coefficients for the yawing motion of
the projectile, and fx(t) and f (t) are applied forces on the projectile in x
and y directions given by
ix(t) = p(t) Ap cos a ,
(C-4)
f (t) - p(t) Ap sin a ,
where Ap is the area of the projectile cross section on which the gas pressure
p(t) acts.

48
 APPENDIX D

COMPUTER PROGRAM LISTING

49
50
:"Vucsd*
saysprogs
prrogrdm 6iewmark (input, output, keyboard)i

(0 *
(4 NEWMARK ')
(0 Numerical Integration Program 4)

(4 Author: John Baugh, Battelle-Northwest Laboratories

(* Date: November 1, 1985
(* -)

(0 Abstract: This program determines displacements, velocities, and 4)

accelerations using fhe Newm.ark numerical integration method for 4)
nonlinear, multi-degree-of-freedom systems. Both the constant- 4)
(. average-acceleration and linear acceleration methods are available 4)
(4 to the user. The system matrices (e.g. mass, stiffness, etc.) are *)
(e defined by subroutines in the file 'USER.TEXT'. Subroutines are
called at each time step and may be functions of the current
(4 displacement, velocity, and time vectors. 4)

Ssearch 'MOPSOX'S (. access matrix operations 4)

import mopboxt
$search 'PLOTPAC's (* access plotting routines *)
import plotpac;

const
MAXDOFS - G6
PI - 3.1415926S4i
type
stringSG string[Be3;
plotrecord -
record
dispi : plotarrayi
veloc : plot array;
accel : plotarray
end;
var
outfile ! texti
filename : string80M
ndofs : integer,
npts integer;
ch : char,
step-size : real;
maxtime : real,
time : plot-array;
data : array [1..MAXDOFS] of plotjrecordi

(*4444.4444*.44.444444* USER-DEFINED INPUT FUNCTIONS **444444444e**********

$include 'USER.TEXT'S

**********************4********* UTILITIES *

function openoutfile(fileneme : string80) : booleani

(* open an output file if possible *)
begin
try
rewrite(outfile, filename);
51
y-en..n.outfile -true;
recover
ooen-outfile false
ends ** open-out~ile *

function ctoi (ch :char) integer;

(o convert a character to an integer digit *
begin
ctoi :- ord(ch) - odW
ends (# ctoi 4

procedure output..data (npt3 ; integer)i

(* output the disple, velocs, end accels to the specified file 4
var
i, dof integers
begin
writeln(out~ile, ' do? time (inS) diepi,
Iveloc accul' );
writeln(out Pile);
for- i :- I to npts do
begin
for do? :- I to ndofz do
begin
write(outfile, dof:4, ' )
write(outfile, timainei: 10'4. ' 9)
write(outfile, datafdof3.displ[L3:10:4, ' %)

writeln(outfLIe, datatdof).accel ii: 10:4)

ends
wri teln( outfilie)
end
end; (* output data *)

pr-ocedure display~pluts (dof, npt5 integer)i

(.display the displ, veloc, and accal plots at the specified do? *

procedure display (A, y :plot array; title plot string/i

ch :char;
begin
if initgraphiC3 then
begin
plo'v y, , rots,1 title,
read(reybosr-d, ch";
termgrachics
end
ends (o display o)

cen-u r!
di~j~inedata[coflhdispl, 'Displacem'ent vs Time');
d.-ýplay time, data(dofJ.veloc, 'Velocity v5 Time');
dispiay~ti.'e, data(coL~accel, *Acceleration Y5 Tine',
end: " - d; --)a/yPl,ýt 4)

procedure integr-ate (method : char; step, nae.tu'e : reai; vat- i integer);

5?
(. +
(4 Pb.stract: This subroutine carries out the numerical infegretion 4)
(t process. If method - '1'. then the linear acceleration method is
•.' used. Otherwise, the constant-average-acceleration method is used. *)
(. step specifies the time step to be used and maxtime specifies the
(. length of time over which to integrate. i returns the total number *)
(0 of points that were integrated over. In addition to using the
(. matrix routines provided by mopbox, Iotegrate calls various user- 0)
(* defined routines to get information about the particular problem 0)
(o at hand. The following routines are Called from the file 0)
(* 'USER.TEXT':
get ndofs - returns the number of degrees of freedom
get init values - returns initial disple, velocs, and accels ')
(. get maas - returns the mass matrix
stiffness - returns the stiffness matrix
geVget
get damping - returns the damping matrix 9)
getjPorce - returns the force vector 0)

type
int_conrt arrayC(..7? of reall
var
T : real;
Dp,Vp,Ap vector;
Dc.Vc.Ac vector;

mass : matrix;
damping : matrix;
stiffness, Keff : matrix;
F, Feff : vector;
a : int const;

vlv2,v3.vAvS : vectorl
ml,m2 : matrix;

count : integer;
npts, nsklp : integer;

procedure save data(T : reall 0. V, A vectori i integer);

(* saves the current data 'in the global arrays .)
var
dof : integer;
begin
timaei] := T * 1000.0i
for dof : 1 to ndofs do
begin
datafdof].displ(i) ;-DOdof);
dataldof).veloc[i] := V[dofl]
dataidofl.accelli] :- Aldof]
end
end; (* savedata *)

procedure getconstants (method : char; step reall var a :nt const);

(* returns the integration constants for newmark integration 4)
var
alpha, delta : real;
begin
if (method - '1') then (o linear acceleration method 4)
alpha := 1.0 / 6.0
else (. constant average acceleration t)

53
 alpha :- 0.2S6
delta := 0.51
a([] := 1.0 / (alpha * sor(steo));
ael] :- delta ,' (alpha * step);
- ['2 .- 1.0 / (alpha * step),
J(3 1- 1.0 / (2.0 * alpha) -1.0;
ea4] .- delta / alpha - 1.Ot
a(S) : step / 2.0 * (delta / alpha - 2.0)1
a[C6 :. step * (1.0 - delta);
&171 :- delta * stop
end; ( getconetants o)

begin (* integrate t)

ndofs :- get-ndofsi (' get the numb.- of degrees of freedom 0.

if set-size(ndofs) then; (- set size of matrix operation* in mopbox 4)
get_init_values(Cp, Vp, Ap); (* get the initial values *)
getconstants(method. step, a); (* get newmark integration constants *)
count :- 11 (9 counts each time step taken *)
i : 01 (* the current number of plotting pts 4)
T :- 0.01 (. start counting at time T = 0 *)

npts : trunc(maxtime / btap) + I;

nskip trunc(npts / MAXPTS) + 1I

while (T <- mextime) do

begin

if ((count-!) mod nskip) - 0 then

begin
i :- i + 1;
savedata(T, Op, Vp, Ap, i) (* for output and plotting 4)
end;

(*4** get the mass, damping, stiffness, and force matrices *o.')

get.mass(Op, Vp, mass);

get damping(Op, Vp, damping);
getstffrness(Op, Vp, stiffness);
get force(Dp, Vp, T, F)i

(#*** form effective rtiffness metriA -440)

(* Keff :- stiffness + a[t0*mass + ael]*damping )

scalem(mass,j[E0,mI)i
scaIem(dampLrg,a(l ,mZ);
addr,(m1 ,m2 ,ml );
addm(stiffness,ml,Keff)i

(-04* Form effective load vector -004)

(. Feff :w F + mass-(a[OJ*[Lp + a[L2]Vp + a[3]*Ap)
+ damping*(aL1JoOp + a(4]oVp + aCS]JAp) *o

scelev(Op,"If),vi )I
5ca ley(Up ,ar 2 ] v& )!
zzalev(p ,a.3] ,v3)
add ( v I , v", v 1 ,
addv(v) ,v3,vl ';
mult(malS5,v ,v4)I

54
 scalev(Op 'a[I I VI )I
scalev(Vp a(41,v2 )i
scalev(Ap at5Slv3)i
addv(vi ,v2,vI )v
addv(vi *v3.vl )I
mult(domping~vt vS)i

-addv(F,.v4,Feff)i
addv(Feff,vS,Feff)o

(0-0.solve for displacemente s*

(. c t- MefP-I Faff9

if' n(.t solve(Kf.frFoff,Oc) then

write~..''can''t solve equation systemt (zero in diagonal)').

(44deter-mine acceleration* 4****

(4Ac :- oOlo(Oc - Op) - a[22*Vp -at3).Ap *

subv(Dc,Op.vJ )l
scalev(vYa(01 vl )i
scalov(Vp,et22 ,v2)s
zcalav(Ap,a(31 ,v3)i
subv(vl ,y2,vl))
3ubv(vi ,v3,Ac)s

(0-4 determine velocities so**)

(* Vc :- Vp + e(S]*Ap + eC7JeAc *

scaklev(Ap,e(6lv) )I
scalev(Ac.a(7) ,v2)e
addv(Vp vJ ,vi )I
addv(v) *vZ.Vc)i

(**to reassign current values to previous variables..)

copyv(Dc Dp~e ( Dc -> Op *)

cop yvC Vc ,Vp )
copyv( Ac ,Ap )Ip

(4444 Increment time by one time step44)

count i- count + 1;
T :-(count -- 1) * stops
end

ends (~integrate o)

begin C.newmark a)

writeln( ' Numerical Integration Program ')i

repea t
wr taln;
writean('Solutiorn method -- ')i
wrlteln( ' 1) Linear- Acceleration Method')i
writali(' 2) Conatent-Averege-Acceleration Method1 )i
wrqte( 'Enter the niumber desired ')
reed( ch)t
~~'~~ n untl (ch in ','') (nc:

writc('Enter ~aOstop size BG:*i

readln( eteQ..size)i
atep-size :- 0.001 * stop-..izel

write'('Enter the length of time (m'iec): ')e

readln( nextime )
naxtis'i 1- 0.001 0 naxtrimel

repeat
write('Output data to what file ((enter> ignores) ')
*raeadln(filenome)i
-until (filename - '¼) or open..outftle(filonam.)i

if (filename 0> ") then

begin
writeln('Writirig to file ', filename)i
outpu t~deta ( npt a )I
cloue(outfile, 'gave')
endi

writaln( 'Eriter dof number to view ( ''q" to quit)' )l

rep~eat
write( '> 4)
read(ch)i
ws-itelin
if (ctoi(ch) in CI..ndofs]) then
dIoplay..plota(ctoi(ch), nptg )l
until (ch in Pq' , '0'])1

end. C'newina,-k

56
module mopboxi

(4' MOPBOX "

Matrix OPerations toolBOX

(e Author: John Baugh, Battelle-Northwest Laboratories 0)

(. Date: November 1, 1985
(. 4)

""X(aAbstract: This module provides low-level operations to manipulate

-(W matrix and vector entities. In order to use the functions, the
(0 calling program must first call at_stize to *define the order of
(4 the matrices. For instance, the call .)
(4' if set-size(8) then ... )
,( from the main program results in all matrices being defined as
( 8x8
W and all vectors as Sxi. It should be noted that attempts
(* to set the size larger than the maximum declared size (10)
(. results in setsize returning false (and the size remaining
(. unchanged).
(. 4)

(. The calling program must import this module before it can access
(t any of its functions, which may be done using the 'import" compiler *)
(. directive. The module object code must be online during compilation .)
(0 of the calling program (use the *search* compiler directive or
(0 include this module in the system library -- see chapter I of the HP t)
(t Pascal 3.0 Procedure Library for more details). Before executing t)
(t your program, permanently load this module into memory using the .)
(9 p-load command (see page 120 of the HP Pascal 3.0 User's Guide for *)
(0 more information).

export

const
MAX - 10; (* maximum size of matrices and vectors *)
type
vector - array CI..MAXI of reel;
matrix a array [I.,MAX, I..MAX] of real,

function set_size (size I integer) : boolean;

(* eat the order for ALL matrix/vector operations in the mopbox module *)

function solve (ml ; matrix; v1 : vector; var vY2 vector) : boolean;

(o solve up to 10 simultaneous linear algebraic equations *)

procedure mult (ml : matrixi v1 : vector; var vZ : voctor);

(. multiply the matrix ml by vector vi: v2-mlmvl a)

procedure zerom (var ml ; matrix);

(* zero each element in matrix ml 0)

procedure zerov (var v1 : vector);

(. zero each element in vector v1 *)

procedure copym (ml : matrix; ver m2 : matrix);

(* copy matrix ml into matrix m2 *)

procedure copyv (v! : vector; var vZ : vector),

(o copy vector vi into vector v2 *)

57
 - rocedure acalem (ml : matrix; f1 : real; var m2 : matrix)i
SIt scale each element in matrix ml by fl, putting it into matrix m2 *)

procedure scalev (vi : vector; f] : real; var v2 vector);

(0 scale each element in vector v1 by fl, putting it into vector vZ *)

-- procedure addm (ml. mQ i matrixi var m3 i matrix)l

(* add matrix m2 to matrix ml: m3umi+m2 -)

procedure eddy (vl, vZ : vector; var v3 : vector);

(* add vector v2 to vector v1: v3-vl+v2 *)

-g)rocedura subm (ml. m2 : matrix; var m3 : matrix)"

(s subtract matrix mQ from matrix ml: m3-ml-m2 *)
procedure subv (vW, v2 : vector; var v3 : vector)l
(* subtract vector v2 from vector v1: v3-vl-v2 *)

implement

var
n : integer; (s order of matrix/vector operations *)

function set_size (size : integer) : boolean;

(* set the order for ALL matrix/vector operations in the mopbox module *)
begin
if (size <- MAX) and (size > 0) then
begin
set-size :- true;
n :- size;
end
else
set-size :- false;
end; (* set-size *)

function solve (ml : matrix; v1 : vector; var v2 : vector) : booleant

(, "

(. Abstract: This routine solves up to 10 simultaneous linear algebraic *)

(0 equations by Gauss-Jordan Elimination. If all of the diagonal
(. terms in the coefficient matrix are non-zero, solve returns true. *)
(0 In general, for an accurate solution, the diagonal terms should
(. dominate the coefficient matrix, ml. 4)

input parameters -
(a ml s coefficient matrix a)
(a v1 : right-hand vector 0)

(0 output parameters -
(0 v2 : solution vector
(0 solve : returns true if all ter-ms in the diagonal 4)

C. of the coefficient matrix are non-zero

label
I;
var
L. J, k : integers

58
 hold real;
bagin
solve :0 true,
for i .v I to n do (' loop over each of the columns of ml *)
begin
for k :a I to n do (t loop over each row except pivot row *)
begin
if (k 0 i) then
begin
if (mll[i,3 0 0.0) then (' be sure diagonal is non-zero *)
begin
hold :a -mlCk,±i / mlCI.i~l
for j :- I to n do (. loop over each element in a row *)
begin
milk.j] :- ml[k,j] + hold * mi(i,J];
if (J
Q 1) then
m(kJ] := 0.6
end;
v1[kl :- viCk] + hold * vili]
end
else (v found a zero diagonal term in coefficient matrix, ml *)
begin
solve :* false;
goto Ii
end
and
end;
hole
I - mIli,l]
for j - I to n do (o this loop is for each element in *)
ml[i,j] :- ml[i,j] / hold; (4 the pivot row a)
ml [(,] :- 1.0;
vi[i] :- vili] / hold
end;
for := I1 to n do (0 copy solution into solution into *)
vZi] := vili]l (s the solution vector *)
I:
end; (. solve a)

procedure mult (ml : matrix; vl : vector; var v2 : vector);

(* multiply the matrix ml by vector vI: VZlmlevl 9)
var
i, j :integer;
begin
for j :- I to n do
begin
vI'[i] :' 0.01
for j :- I to n do
v2(i] : vZi] + ml~i,J] * vIj]
end
end; (* nult *)

procedure zerom (var ml : matrix);

(* zero each element in matrix ml *)
ver
i, j integer,
begin
for i := I to n do
for j I to n do

59
-end (.i zerom *)

procedure zerov (var vI vector)l

(* zero each element in vector vI *)
var
I : integeri
begin
for i :- 1 to n do

end; (0 _eroy 4)

procedure copym (ml : matrix; var m2 I matrix)l

(* copy matrix ml into matrix m2 o)
var
i, j integert
begin
for i 1 to n do
I
for J :- I to n do
m2[ij] := ml[i,J]
end; (* copym *)

procedure copyv (vI : vector; var v2 vector)i

(* copy vector vI into vector v2 *)
var
I. : integer;
begin
for i :- I to n do
v2[i] :- vI~i]
end; (* copyv *)

procedure 5calem (ml : matrix; f1 real; var m2 matrix);

(* scale each element in matrix ml by fl. putting it into matrix m2 *)
var
i, j integer;
bp 'in
for i I to n do
for J : I to n do
m2([ ,j) : fl mlt i,j]
end, (* 3calem ')

procedure scalev (vI : vector; fi : reals var v2 : vector);

(* scale each element in vec.tor vl by fl, putting it into vector v2 *)
var
i : integeri
begin
for i - I to n do
vZ(] := fl * viceI
endi (a scalev *)

procedure addm (ml, m2 : matrix! var m3 matrix);

(* add matrix m2 to matrix ml: m3=ml+m2 *)
var
i, J : integer;

60
 ............................

foriI I I to n do
for I to n do
m31±.JI :- mlEi.jI + mZEi JI
ends (* addm *)

procedure addv (vy, v2 : vectors var v3 vector)l

(a add vector vZ to vector vil v3-vl+v2 *)
vet
i I integer;
begin
for I :- I to n do
v3ti] :a vYI1) + v2il
ends (0 addv *)

procedure subm (ml, m2 : matrix, var m3 I matrix)l

(# subtract matrix m2 from matrix mll m3-ml-mZ *)
var
L, j integers
begin
for :a 1 to n do
for J :- I to n do
m3Ljl :a m![ij] - mZ•i.J]
ends (* subm *)

procedure subv (vl, v2 * vectors var v3 : vector);

(* subtract vector vZ from vector vit v3-vl-vZ *)
var
i I integers
begin
for i :- I to n do
v3(iJ :- vii) - vZil]
ends (s subv 0)

end. (. mopbox •)

61
.-- ' e I -
 m"dule plotpaci
S.. .. (..,....,o..........,.....4.e.4e.eoe.4* *)

P L O T P AC
Graphic Plotting Package 9)

(* Author: John Bough, Battelle-Northwest Laboratories

(' Date: August 12, 1985 9)

(. Abstract: This is a library for plotting data in the form of line

(. graphs. The only information needed by the plotting routine Is 9
.. the errays of points, the number of points; an index for the line
(a style (e.g. solid-1, dotted-7, etc.), and a title which, when null, .1
(4 causes the current plot to be displayed over the previous one.
(f Plots are automatically scaled for convenience. A typical example ).
(* is illustrated below: *)

program example (input, output); 1)

Sceerch 'VOLUME:PLOTPAC'$
$e 0)
(. import plotpact 0)
const
c 0)
(4 SOLID =1 1)
(" DASHED -2 4)
var 0)
CA x, y, z plot_arrayt
keyboard : text; 4)

(' ch : char)
begin 41
(0 reset(keyboard, 'console:'); 4)

Ce < define x, y, and z arrays 4)

(t from 1 to numpte here > 4)

if initgraphics then
C. begin 4)
plot(x, y, numpts, SOLID, 'y and z versus x')i 4)
( plot(A, z, numpts, DASHED, ')1 4*)
C. read( keyboard, ch)o I )
•' termgraphics 4)
e
and
C' and.
(a As in the example, the calling program must initialize the graphics 4)
(0 display by calling "initgraphics' before plotting data with
C' procedure "plot. After plotting the data, a "read" or "readln" 4)

•' statement located before a call to "termgraphics" keeps the plot 4)

C' displayed until the user gives an appropriate response. In this
•t case, typing any key will remove the plot and return the display to *)
(. alpha. 4)

•' The calling program must import this module before it can access 4)

(0 any of its functions, which may be done using the "import* compiler 4)
C directive. The module object code mubt be online during compilation o)
(' of the calling program (use the "search" compiler directive or 4)
0e include this module in the system library -- see chapter I of the HP *)
(' Pascal 3.0 Procedure Library for more details). Before executing 4)
(. your program, permanently load this module into memory using the
(a p-load command (see page 120 of the HP Pascal 3.0 User's Guide for *)
•. more information).

62
import dgljlibi ccess graphics library o)
a*

export

const
MAXPTS -ISM;
type
plot...string *string(80J;
plot...rray *array CI..MAXPTS3 of reals

function initgraphics :boolearss

(o initialize the device-independent graphics library and display o)

procedure terngraphics I
(o terminate the device-independent graphics library and display *)

procedure plot (var x. y :plot-arrayt n : integeri linetype :integeri

title :plot..strtng)l
(o plot the input arrays .

implement

const
ASPECT - 3.01 (o aspect ratio for all characters *
type
modetype - (alpha, graphics)1
roundtype ( up, down, near);
var
initetate booleani (o true if graphics initialized *)
xmin, xmax reals (* min and max values in x array *)
ymin, ymax real; (o min and max values in y array o)

(......4...*.4*.*4**~*4*.MATH ROUTINES*........,.o*..)

funet'Lon log (x :real) : reals

(* return log base 10 of x
begin
log :a in(x) / ln( 10.0)
ends (* log *)

function power (base, exponent :real) :reals

(t return the value of base ^exponent o)
begin
if (base -0.0) than
power :-0.0
else
if (bane > 0.0) then
power :- axp(ln(base) t exponent)
else
if (base < 0.0) then
power :- - exp(ln(-base) * exponent)
end, (4 power 0)

procedure scinotation (x :reals var mantissa, exponent real);

('return x in the form of scientific notation *

63
 "If (x = 0.0) then
begin
mantissa := 0.0,
exponent :a 0.0
end
- a1t0
if (x < 0.0) then
begin
mantissa in -power(10.0, Iog(-x) - trunc(log(-x)));
exponent :a trunc(log(-x))
end
-else
it (x > 0.0) then
begin
mantissaa power(10.0, log(x) - trunc(log(x))),
exponent :u trunc(log(x))
end;
if (abs(mantissa) < 1.0) then (o normalize the result *)
begin
mantissa : mantissa * 10.0i
exponent = exponent - 1.0
end
end; (* scinotation *)

function absmax (x, y : reel) : real,

(* return the maximum of the absolute values of x and y *)
begin
if (abs(x) > abs(y)) then
abamax . abs(x)
else
absmax := abs(y)
end; (* absmax *)

function round2 (n, m : real; mode : roundtype) real;

(. round n to the nearest m, according to mode )
const
ROUNDOFF IE-100l
I (i roundoff error fudge factor *)
var
rounded real; (* temporary holding arec *)
negative boolean; ( flag: "is it negative?" *)
begin
negative := (n < 0.0)i (* is the number negative? *)
if negative then
begin
n :- abs(n); (l work with a positive number *)
if mode - up then
mode : down
else
if mode = down then
mode : up
end;
case mode of
down : rounded - trunc(n / m) *m
up : beg.n
rounded :w n / m i
if abs(rounded - round(rounded)) > ROUNDOFF then
rounded :- (trunc(rounded) + 1.0) * m

64
 else
rounded :a trunc(rounded) * m
end i
near: rounded :a trunc(n / m 4 m 0 0.5) *.+
end i
if negative then (' reinstate the sign *)
rounded :- -rounded;
round2 rounded
r-
'end; (* roundZ *)

(******************* MACHINE-DEPENDENT GRAPHICS ROUTINES *.*....*....*..)

function setmode (mode modetype) : boolean;

(* set the display mode to alpha or graphics *)
const
ALPHAOISP - 1051; (. alpha display address .)
6RAPHDISP - 10501 (. graphics display address *)
var
error : integer; (a outputasc error (0 if ok) *)
on, off : integer; (a on/off switches *)
x : real; (i ignored *)
begin
setmode :- true;
on :- 1;
off :- 0;
if (mode - alpha) then
begin
outputesc(GRAPHOISP, 1, 0, off, x, error); (o graphics off *)
if (error 0 0) then
setmode :- false,
outputeac(ALPHAOISP, 1, 0, on, x, error); (a alpha on *)
if (error 0 0) then
setmode :- false
end
else
begin
output-esc(ALPHAOISP, 1, 0, off, x, error); (a alpha off *)
if (error 0> 0) then
setmode :- false,
outputesc(GRAPHDISP, 1, 0, on, x, error); (. graphics on *)
if (error 0 0) then
setmode :- false
end
end; (* setmode a)

function initgraphIcs : booleant

(* initialize the device-independent graphics library and.display *)
const
XPIXEL - 4001 (0 pixels in x dir (HP9816) *)
YPIXEL - 300; (o pixels in y dir (HP9816) 0)
DEVICE = 3; (* address of screen *)
CONTROL - 01 (a ignored by screen a)
var
error : integer; (i diplay init error (0 if ok) *)
begin
graphics initj
displayinit(DEVICE, CONTROL, error);
if (error - 0) and satmode(graphics) then
begin
• •....
• =Initatate .'u true;
oetaspect(XPIXEL - 1, YPIXEL - 1) (t use entire screen *)
and
else
initstate :- falsei
Inltgraphics :a initstate
end; (o initgraphics *)

procedure termgraphics;
(* terminate the device-independent graphics library and display 4)
begin
if initatate then
begin
if se3tmode(alpha) then
begin
graphics_tarml ( terminate graphics device *)
initstate :- false (o uninitialize graphics *)
end
end
end; (* termgraphic5 *))

(*4*ae**4e***** 4****4******* * PLOTTING FUNCTIONS *********************e**

procedure setcharaize (width real);

(0 set the character size using ASPECT as the aspect ratio *)
begin
set-char_size(width, ASPECT * width)
endi (* setchersize *)

procedure getjormat (x : reall var numlen, fraclen : integer)l

(o determine the required string length (total and fraction) of x *)
begin
if abs(x) > 0 then
numlen :- trunc(log(abs(x) + I
else
numlen : t
fraclen := 4 - numleni
if numlen < I then
numlen :- Ii
if fraclen <a 0 then
begin
?racleni 0=1
numlen :- numlen + fraclen + 1;
end
else
numlen :- numlen + fraclen + 2;
end; (* get format *)

procedure writenum (x : reel; numlen, fraclan integer);

it write x on the graphics display at the current location *)
var
slen ; integeri
s : plotstring;
begin
strwrite(s, I, slen, A:numlen:fraclen);
setstrlen(s, slen- ;
gtext( s)

66
"anai writanum *)

procedure writestr (s : Plot-string)t

(# write string a. centered and at the top of the screen *)
const
WIDTH - 0.041
begin
seatcharsize(WIDTH);
move(-strlan(s) 9 WIDTH / 2.0, 0.9);
gtaxt(s)
and; (* writestr *)

procedure drawbox (x, y : real)h

(* draw a box through points (x,y) and (-x,-y) *)
begin
move( x, y)J
line( x,-y);
l ine( -x ,-y )i
lina(-x, y)i
line( x, y)
and; (* drawbox *)

procedure findmaxmin (var a : plot array; n integer; var max, min real);
(* determine the max and min values of array "a* relative to zero 4)
var
i : integer;
begin
max : 0.0;
min :- 0.0;
for i :- 1 to n do
begin
if atil >- max then
max :- amil;
if a[i] <- min then
mn : aill;
end;
if (max 0.0) and (min 0.0) then
max :- 1.01
end; (* findmaxmin *)

procedure findspacing(var max, min, spacing real);

(* determine the spacing and adjust the max and min values appropriately *)
var
mantissa, exponent : real; (i mantissa and exponent of absmax(x) 0)
a integer; (* a & b are used to determine spacing *)
b reals
begin
5cinotation(absmax(max, min), mantissa, exponent);
a :- trunc(mantissa) + It
b :- power(10.0, exponent);
case a of
I : spacing :h 0.20 * tn
2 spacing :- 0.215 0 bi
3,4 spacing : 0.50 * b;
5,6,7,8 spacing :, 1.00 * bi
9,10 spacing : 2.00 # b
 max .m round2(max, spacing, up);
min rounad(min, spacing, down)
and;l. findapacing *)

function glx ixglobal : real) * real;

(o convert global x coordinates to local x coordinates *)
begin
glx :- 2.0 * (xglobal - xmin) / (xmax - xmin) - 1.0
endi (t gix *)

function gly (yglobal : real) : real;

(* convert global y cocrdinates to local y coordinates a)

begin
gly :- 2.0 * (yglobal - ymin) / (ymax - ymin) - 1.0
end; (I gly *)

procedure dra oxesi

(* drew the x and y axes 0)
begin
move(gl<( xr.in , p . (0.0))
Iilneý glx( xma;K) gly( 0.0 )1
move(glx( 0.0) gly(ymin))i
line(glx( 0.0;, gly(ymax))
er.d; (* drawaxes *3

function in range(x, y : real) boolean;

(* determine whether or not point (xy) lies inside the display area *)
begin
if (x <a xmax) and (x >- xminn and (y <- ymax) and (y ?- ymin) then
in_range . true
else
in-range false
f-
end; (* in_range *)

procedure drawlines (var :,, y plot array: n : integer);

(* draw lines connecting the points in the x and y array5 *)
var
S: integer;
count integer;
begin
count : I;
while (not inrange(A[count], y[countJ)) and (count < n) do
count :- count + Ii
move(glx(xfcount]), gly(y(count]))i
if count -.n then
for i•: count + 1) to n do
if in range([fi , yf1)) then
l.ne(gIA(AC i ), gly( y( iI
end; (* drawlines ')

procedure labelxaxls (xspacing : real)i

ý* put tick marks and scale numbers on the x axis *
canst
68
-..... WIDTH = 0.03; (' width of a character (local) *)
SEMI u 0.021 (* half length of a major tick mark *)
vat
xg : realil global x coordinate 6)
xl, yl : real; (0 local x and y coordinates *)
numlen, fraclen integer; (* number and fraction lengths *)
height : realt Ce character height *)
begin
setcharsize(WIDTH);
height :- ASPECT * WIDTH;
get_format(absmax(xmax, xmin), numlen, fraclan);
yl :- giy(0.0);
xg :- xmini

while (xg <- (xmax + 0.S # xspacing)) do

begin
if abs(xg) < (0.S * xspacing) then (* x is zero *)
if (ymin < 0.0) and (ymax > 0.0) then (e y axis crosses x axis *)
xg :- xg + xapacingo (. skip to the next label *)
xl :- glx(xg); (o convert x from global to local *)
move(xl, yl - SEMI); C* move to the proper location *)
line(xl, yl + SEMI); C. and draw the tick mark *)

if (ymax <- 0.0) x axis

( at top of the screen
a )
move(xl - nu, - yl + O.S
WIDTH / 2.0, * height)
else (o x axis is somewhere bolow top *)
MOVeAi - numlen * WIDTH / Z.0, yl - I.S * height);

writenum(xg, numlen, fraclen);

xg :- Xg + xspacing
end
end; (* labelxaxis 4)

procedure labelyaxis (yepacing : real)l

(o put tick marks and scale numbers on the y axis *)
comet
WIDTH - 0.03; (1 width of a character (local) *)
SEMI = J.021 (o half length of a major tick mark *)
var
yg : reali (* global y coordinate *)
Al, yl reel; (. local x and y coordinates *)
numlen, fraclen : integer; (o number and fraction lengths *)
height real; (o character height a)
begin
setcharsize(WIDTH);
height :a ASPECT * WIDTH,
get.format(absmax(ymax, ymin), numlan, fraclen);
xl : glx(0.0);
yg ymiln;

while (yg <a (ymax + 0.5 * yspacing)) do

begin
if abB(yg) < (0.S * ys5pacing) then (* y is ?ero *)
ill (,min ( 0.0) and (xmax > 0.0) then (. x axis crosses y Ale *)
yo :- yg + yspacing; (* skip to the next label >
yl - gly/yg); (o convert y from global to local 4)
move(xl - SEMI, yl); (# move to the proper location *)
line(xl + SEMI, yl); (* and draw the tick mark 4)

69
 if (xmax <a 0.0) then .(A y axis in at the right edge *)
move(xi + WIDTH, yl 0.25 height)
else (o y axis somewhere left of it *)
move(xl - WIDTH * (numlen + 2), yl - 0.2S * height);

writenum(yg, numlen, fraclen),

yg :- yg + yspacing
end
andi (* labeiyaxis *)

- procedure plot (var x, y plotarrayl n : integer; linotype I integer;

title : plotstring)i
(.44...... ** *0 ****0 ****4o0,40*o*0*** 40044**64**4eO*#400e0e00*,ee**e 0ee0**O0e )

(4 Abstract: This routine plots the input arrays as a line graph. The 4)
(0 x array should contain the horizontal coordinates and the y array *)
(9 should contain vertical coordinates. n is the total number of a)
(9 points, which must be greater than zero. linetype is an Integer '1
specifying the desired line style - 0)
(* I - solid line
( 2 - dashed line
(. 7- dotted line
(sea page 32S of the HP Pascal 3.0 Graphics Techniques Manual for *)
(o more styles). title specifies the 4 itic for the plot, unless it 4)
* s declared a null string, in which'case the current plot is
(0 displayed over the previous one. 4).

(.o...e.~eeeoeooeeeeeeeeeeoeesto~eeil ..**.s***************************.*.**** )
var
xspacing, yspacLng : real; (o spacing for tick marks *)
begin
if initstate and (n > 0) then
begin
if (title <> '') than (. a new plot *)
begin
5et_l ins_style(1I)i
writestr(title );
drawbox( 1 , I ),
setviewport(O.12, 0.98, 0,07, 0.65)1
findmaxmin(x, n, xmax, xmin)l
findmaxmin(y, n, ymax, ymin)l
findspacing(xmax, xmin, xspacing);
findspacing(ymax, ymin, yspacing);
drawaxaes
labelxaxis•(.pacing)i
labelyaxis( yapacing)
end;
set_linestyle(linatypa);
drawlines(x, y, n)
end
end; (i plot 4)

end. (4 plotpac *)

70
.. * .. e.. .*..q.......eee *.. *******************

USER OATA FOR NEWMARK INTEGRATION PROGRAM

* (. (SIX-DOF IN-BORE PROJECTILE MODEL)

(.o*eo..e..e......ee... GLOBAL VARIABLE DECLARATIONS ".....e...........e)

g : real { gravitetional acceleration constant }

mp : real; ( amess of projectile )
mg : reel. i mes of gun )
1I : reali < mass moment of inertia of projectile >
Ig : real; { mass moment of inertia of gun )
R : real; ( radial clearance between gun barrel and projectile >
Mu I reali { coefficient of friction at bourrelet (zero) }
L : real# ( distance between obturator and bourrelet )
Lb real; 4 distance between projectile c.g. and bourrelet )
Lo realf I distance between projectile c.g. and obturator >
Xe I real; i angular stiffnees at the obturator )
Kb real; i bourrelet stiffness (linear) >
Ko real; nylon obturator stiffness (linear) )
Kol real; < aluminum stiffness at obturator >
C1 real; angular damping coefficient )
C2 real; nonlineer angular damping coefficient >
P real maximum applied pressure to projectile >
area : real; ( cross-sectional area of projectile >

(.....*...e.......0......e e*.. INPUT FUNCTIONS eee .aeeeeeee~eeeeeeeoee)

function getndofs I integeri

(o set the number of doft *)
aegin
get-ndofs :- B
end; (* getndofe *)

procedure getAnitvaluel (var dispi, veloc, acce'! vector')I

(* specify the initial values *)
ver
yo : reali
begin
zerov( di spl ) I
zerov( valoc )i
zerov( accel )I

g :- 386.4; ( in/saec^2
Mp ;- 16.0 I go ( lb-sec'2/in )
mg - 4000.0 / go < lb-seec^/in )
Ip :- 0.531S lb-in-sec^2'
Ig 150.0; ( lb-in-secaZ
R := 0.005Z i4n
Lp S.{ inr
Ka 1" 8.6ESt 4 in-lb/radd
Xo = S.OMES 4 lb/in >
C1 la 71,0; < lb-in-sec (about S percent of critical)
C2 :-0.0
P : S .0E3 4 ib/ln'* >
area 1- 17.53; 4 in'2 }

71
 riarto('Enter the distance fr-om the obturator to the c~.(in.)
readln(Lo)i
write( 'Enter the Initial projectile angle (radians) : ')t
readln( di spi 16 1)
warite('Enter the initial vertical displacement at the obturator (in.)
readln(yo)i
Lb :- LP - o
displtS] l- yo + Lo * sin(disrIES])i
and# (4 getlinit..valuea *

procedure get._,meas (dispi. veloc zvector; ver mass matrix)i

(o specify the maet matrix( *)
var
Xg, Xgdot :reali
Yg, Ygdot : real;
0, Odot : real;
xp, xpdot : real;
yp. ypdot :real;
a. adot :real;
beg.u
Xg -dispiri]; Xgdot :~veloc[12;
Yg z-displC22; Ygdot :-vuloct21i
o0: displ133i Odot 1-velocE33i
xp diaplE4]; xpdot :-veloc(41;
yp :-diplES~i ypdot :-voloc[Sli
a 3-dlapl(6); adot :-veloc[63;

zerom(maea)i

inasstl,1J :,w Mg + o
piaSOCi ,3) -mp * ixposin(0) + ypocos(0))l
mass(1,4J :-pp * cos(O);
maas*El,5 -- pp * ain(O);

maes[2,&` m-rg+ mpip

maas[2,31 mp * (xpecos(O) - yposin(0))i
inasz[2,4J : mp * sin(0)i
piass[2,5 3- mp * cos(O);

naess3,1] : -mpp (xpeoin(O) + yp~cos(O))l

nasst3,2) :- p 4 (xp*coa(0) - yp*S3fl(O))i
maaat( ,] : Ig + mp * (sqr(xp) + sqr(yp))s
mass[3,43 -mpi ypi
piaO513,S) m*XP;
M-

nasaa4,IJ :-psp
nass(4,2) m-pip
naass(4,3J p*
:- (xp*(cos(O) - sin(O)) - yp*(uin(0) + coa(0)))
maess[4,42 mp 0(sin(O) + cos(0))f
naI15f4,5]3m MP (cos(O) - sin(O,));

maess5.1 3 I- -pip s ir,(O);

piaSSES.2) Mpp a coOS;~
masa(5,31 :- p * p
M8361t5,5) M-PI;

nmOSt6,61 I-
end ( getnmass a)

72
procedure get..damping (dispi, voloc vectori var damiping matrix)i
(0 specify the damping matrix *
var
Xg, Xgdot :reali
Yg, Ygdot : reeli
--
0, Odot :r-eali
xp, xpdot :reali
yp, ypdot :real;
a, adot :raeal
begin
:- d isp I II Xgdot 2wvelactH;i
Ygo di~pIE23i Ygdot :uvelocC~li
0J: displ(3li Odot :velocE33h
xp :dispj[41e xpdot -velocl42i
yp :dLSPIE53; ypdot :.veloctS];
a :-displt6]; adot :*velocE61i

zerom( damp ing);

damping[1,41 :-20*mp * sin(O) # Odotl

dempingf).5) :-2.0 *mp 0 cosCO) * Odoti

dampingE2,3J : 2.0 *mp *(xpdotecoe(0) - ypdotosin(0))o

damping(3,1J -mp *((xpdot~oin(O) + ypdotocos(0))

+ Odot*(xp*cos(O) - yptsin(O)))i
dampingf3,21) :-mp * ((xpdot*cos(0) - ypdot'sin{0))
- Odoto(,xposin(0) + yoo())
dampingf3,3J : -mp * ((Xgdoteyp - Ygdotoxp) * sin(O)
- (Xgdot*xp + Ygdotoyp) * cos(0))i
dampingI3,4] mp * (Xgdotoein(O) - Ygdot'cos(0))i
damping[3,52 : mp * (Ygdotesln(0) + Xgdot~cos(0))i

demping[4,1) Pip * sin(O) *Odoti

dam'ping[4.23 -mp * cos(0) *Odotl
dampingj[4,31 2w-mp * (xp'Odot + ypdot)i
damping[4,4] : 2.0 * mp *Odot *(cosCO) - sinCO))
damping(4,5J : -2.0 4 mp *Odot *(sin(Q) + cosCO))i

dampingf5,1) 2 -mp *cos(0) * Odot;

damping(5,2] -rip *sin(O) * Odotl
damplng(5,33 m-rp * (Xgdotocos(0) + Ygdot~sin(0'))o
daripring[,41 2.0 # rip *Odoti

dampingf6,6J :- C + CZ *ab3(adot)
end; (* get~daripir'g t)

procedure get~ati.fness (dispi, veloc vector; var stiffness matrix,:

(0 5pecify the stiffness matrix(*
var
Xg, Xgdot real;
Yg, Ygdot real;
0, Ociot :realt
AP Apdot 2real;
yp, ypdot '-eal;
a, adut 2real;
Ro, Rb ret.i;
begin

73
 Yg i dispi~lIi; Xgdot za velooc( II
Yg i- displCZ3; Ygdot 3m valooc(2]
o : displt3); Odot i- velocC3]i
xp disol[4]i xpdot :-veloc141i
yp 2- displtS3; ypdot YS OcCES);
a :- displCG); edot :-veloc[63,

zerotr(stiffness h

Ro z.yp - Lo # sin(a)i
Rb 'ayp + Lb # uin(a)o

if (abs(Ro) >- R) then ('contac~t at obturator *

Kol a .OES
else
Kol 3m0.0;

if (ebs(Rb) >- R) then (.contact at bourrelet *

begi±n
Kb :-S.OE7#
mu : .
end
elso
begin
Kb 3-0.0i
mu : .
end;

stiffnass(1,41 :--mp * cos(O) * eQr(Odot)i

stiffnaess(1,] m-p *sin(O) *sqr-(Odot);

atiffnese(2,42 a -mp * sin(O) 0 sqr(Odot)i

stiffnasaE2,S] -mp * coo(O) 0 oqr(Odot)t

stiffness[3,4J : 2.0 * mp* Odot * xpdoto

stiffneast3,5J : 2.0 * mp a Odot * ypdoti

3tiffneass4,4] a -mp * 5qr(Odot) # (coaCO) + sin(O))i

atiffnes5E4,S] 3-MP * 3qr(Odot) 4 (ain(O) -cos(O))i

stiffnass(S,S5 : -mp # sqr(Odot) + Kb + Kc + Koli

stiffnaaa[5,61 : Kb *Lb -(IKo+ Kol ) * Los

5tiffnaee(6,S1 -Kb *Lb -(Ko + Kol) * Lol

stiffnea[s6,61 -Kb * sqr(Lb) + (Ko + Kol) * oqr(Lo) + Ka
endi (* get~itiffnas3 0)

pr-ocddure gdtjforce (diepl, valoc vector; time 3real; var- force vactor);
(* 5pecify tha force vector 0)
var
Xg. Xgdot :reall
Yg, Ygdot : reel;
0, Odot : reals
xp, xpdot areels
yp. ypdot reals
a, edot areali
load, F 3real;

function agn(x : real) areal;

74
 the sign of x
-- itirri
ifn x < 0.0 then
S~~sgn u.-~
else
son j- I.9
end (* son ')

begin
Xg :- diasi[1]e Xgdot I- veloc[1l;
Yg ;- disDl[2]# Ygdot i- vYloc(2]o
0 "- dlspl[3]i Odot : velocl3]i
xp le d1spl(431 xpdot 3- v~looc4];
yp I- displ[S]i vpdot 3w veloc(5];
a I- dispIE6S; adot i- veloc[S]l

zarov( force) !

if (time < 0.0025) then

load :a - 0.1 + 508.0 0 time
else
load :- 1.5 - 180.0 * time;

if (load > 1.0) then

load :- 1.0
else
iP (load < 0.0) than
load 8.0;
0

F :- load * P * area;

Porce[2] :" -g # (mp + mg)i

force(4l :- -pip * g * sin(O) - mu Kb * (abs(yp + Lboa) - R) .gn(xpdot)
a
+ F * cos(s);
force[S] :- Kb * R sgn(yog + Lb
a a) -
a * g * cos(O) + F * sin(a)
+ R * Kol * agn(yp - Lo &a)i
force(S] :- Kb * R * Lb * ogn(yp + Lo a)
- R Kol * Lo # ugn(yp -
K Lo * a);
endi ¼ getJorce *)

75
 USER DATA FOR NEWMARK INTEHRATION PROGRAM

~*...*e************.*...eo*** * INPUT FUNCTIONS ........ e...............u...)

function getndofs : integers

(* set the number of dofs *)
begin
get-ndofs :- 2
7
-ndi (* getndofs *)

procedure getinit.values (vat displ, veloc, accel vector);

(t specify the initial values *)
begin
zerov(displ)i
zerov(valoc);
zerov(accel)i
accel[2] := 10.0
ends (* get..nitsvalues *)

procedure getmess (dLpl, veloc vectors var mass : Matrix);

(t specify the mess matrix 4)
begin
zerom(mass);
mass[ l1l1 1 Z.0
messC2,2] :. 1.0
ends (t getmas5 *)

procedure getdamping (displ, veloc vectors var damping : matrix);

(* specify the damping matrix *)
begin
zerom(damping)
ends (" getdamping )

procedure getstiffness (displ, veloc : vectorl var stiffness matrix)i

(4 specify the stiffness matrix .)
begin
zerom(stiffness)i
stiffness[I,1] := 6.0; stiffness 1,21 -- 2.0;
stiffness[2,1J :-2.01 stiffness(2,2J :- 4.0
end; (o gatstiffness
5)

procedure get fcrce (diepl, veloc vector; time reel; var force vector);
(* specify the force vector *)
begin
zerov(force)i
force[2] :- 10.0
end; (* get_force *)

76
 LIST OF SYMBOLS

an coefficient of nth term in power series representation of the

nonlinear foundation moment
Ap area of projectile cross section on which gas pressure acts
c1 , C2 first and second order damping coefficients of projectile resistance
to yawing motion
fCJ damping matrix in system equations of motion
Ix fy applied forces on projectile in x and y directions
Ff friction force on projectile at contact between bourrelet and gun-
bc bore
(F} column vector of forces in system equations of motion
g acceleration due to gravity; also denotes gun
G denotes gun CG
i, J unit vectors in X, Y directions
19 mass moment of inertia of gun *about an axis through its CG perpen-
dicular to plane of motion
Ip mass moment of inertia of projectile about an axis through its CG
perpendicular to plane to motion
kbc spring constant for bourrelet/gun-bore contact spring deflection
model
ko stiffness of obturator plastic band in obturator transverse spring
model
Ik. stiffness of metallic part in obturator transverse spring model
[K] stiffness matrix in system equat1•ns of motion
1g instantaneous distance of bourrelet from gun CG measured along gun
bore axis
Ip distance between projectile CG and plane of bourrelet

10 distance between projectile CG and plane of obturator

e, m unit vectors along x, y directions

77
L Lagrangian function
tf mass of gun
mg
mp mass of projectile
m(t) applied yawing moment on projectile
(M] inertia matrix in system equations of motion
n number of terms inpower series used to represent the nonlinear
foundation moment
p denotes projectile
P(t) time history of gas pressure on projectile
P denotes projectile CG
SP virtual power
qr rth generalized coordinate
{q) column vector of generalized coordinates In system equations of
motion

Qrnc nonconservative generalized force associated with rth generalized

coordinate qr

r radial displacement vector of projectile centerline in plane of

bourrelet measured from the centerline of the gun bore
Rcl, bc radial clearance between bourrelet and gun bore
Rcl,o radial clearance between obturator and gun bore
t time
T kinetic energy
vk generalized velocity in direction of kth generalized coordinate
V potential energy
x, y, z gun body-fixed axes of coordinates
XP, yp coordinates of projectile CG relative to gun body-fixed axes of
coordinates
X, Y, Z inertial frame of reference

73
Xg, Yg displacement of gun CG relative to inertial frame of reference along
X, Y axes
angular (yawing) displacement of projectile
6 bc displacement of projectile into the gun bore at contact between
bourrelet and gun bore

60 projectile displacement at obturator

. . angular displacement of gun in direction of positive Z axis

"Ibc: coefficient of friction for bourrelet/gun-bore contact

79
 DISTRINTION LIST

*6. of 1b. of
Copies Organiaation Copies Organisation

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