Raaja,
There is no BAPI or FM to PR05 but you can try to use BAPI BAPI_TRIP_CREATE_FROM_DATA or FM HRTRV_IF_MODIFY_TRIP. It uses PR01 that is obsolete but you can keep using it through BAPI and/or FM.
If it doesn't fulfill your requirement, you can suggest new functionalities in SAP CUSTOMER INFLUENCE
https://influence.sap.com/Financials2017
Check the post below, it can be useful:
http://scn.sap.com/message/6441513#6441513
Regards,
Jaisson.
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