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Dynamic Modeling, Guidance, and Control of Homing Missiles

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Dynamic Modeling, Guidance, and Control of Homing Missiles DYNAMIC MODELING, GUIDANCE, AND CONTROL OF HOMING MISSILES A THESIS SUBMITTED TO THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCES OF MIDDLE EAST TECHNICAL UNIVERSITY BY BÜLENT ÖZKAN IN PARTIAL FULFILLMENT OF THE REQUIREMENTS FOR THE DEGREE OF DOCTOR OF PHILOSOPHY IN MECHANICAL ENGINEERING SEPTEMBER 2005 Approval of the Graduate School of Natural and Applied Sciences _____________________ Prof. Dr. Canan ÖZGEN Director I certify that this thesis satisfies all the requirements as a thesis for the degree of Doctor of Philosophy. _____________________ Prof. Dr. S. Kemal İDER Head of Department This is to certify that we have read this thesis and that in our opinion it is fully adequate, in scope and quality, as a thesis for the degree of Doctor of Philosophy. ________________________________ __________________________ Dr. Gökmen MAHMUTYAZICIOĞLU Prof. Dr. M. Kemal ÖZGÖREN Co-Supervisor Supervisor Examining Committee Members Prof. Dr. Bülent E. PLATİN (METU, ME) ___________________ Prof. Dr. M. Kemal ÖZGÖREN (METU, ME) ___________________ Prof. Dr. M. Kemal LEBLEBİCİOĞLU (METU, EEE) ___________________ Dr. Gökmen MAHMUTYAZICIOĞLU (TÜBİTAK-SAGE) ________________ Prof. Dr. Yücel ERCAN (ETU, ME) ___________________ PLAGIARISM I hereby declare that all information in this document has been obtained and presented in accordance with academic rules and ethical conduct. I also declare that, as required by these rules and conduct, I have fully cited and referenced all material and results that are not original to this work. Name, Last Name : Bülent ÖZKAN Signature : iii ABSTRACT DYNAMIC MODELING, GUIDANCE, AND CONTROL OF HOMING MISSILES ÖZKAN, Bülent Ph. D., Department of Mechanical Engineering Supervisor: Prof. Dr. M. Kemal ÖZGÖREN Co-Supervisor: Dr. Gökmen MAHMUTYAZICIOĞLU September 2005, 236 pages In this study, the dynamic modeling, guidance, and control of a missile with two relatively rotating parts are dealt with. The two parts of the missile are connected to each other by means of a roller bearing. In the first part of the study, the governing differential equations of motion of the mentioned missile are derived. Then, regarding the relative rotation between the bodies, the aerodynamic model of the missile is constructed by means of the Missile Datcom software available in TÜBİTAK-SAGE. After obtaining the required aerodynamic stability derivatives using the generated aerodynamic data, the necessary transfer functions are determined based on the equations of motion of the missile. Next, the guidance laws that are considered in this study are formulated. Here, the Linear Homing Guidance and the Parabolic Homing Guidance laws are introduced as alternatives to the Proportional Navigation Guidance law. On this occasion, the spatial derivation of iv the Proportional Navigation Guidance law is also done. Afterwards, the roll, pitch and yaw autopilots are designed using the determined transfer functions. As the roll autopilot is constructed to regulate the roll angle of the front body of the missile which is the controlled part, the pitch and yaw autopilots are designed to realize the command signals generated by the guidance laws. The guidance commands are in the form of either the lateral acceleration components or the flight path angles of the missile. Then, the target kinematics is modeled for a typical surface target. As a complementary part of the work, the design of a target state estimator is made as a first order fading memory filter. Finally, the entire guidance and control system is built by integrating all the models mentioned above. Using the entire system model, the computer simulations are carried out using the Matlab-Simulink software and the proposed guidance laws are compared with the Proportional Navigation Guidance law. The comparison is repeated for a selected single-body missile as well. Consequently, the simulation results are discussed and the study is evaluated. Keywords: Homing missiles, two-part missile, missile dynamics, missile aerodynamics, guidance, proportional navigation, linear homing, parabolic homing, missile control, autopilot design, acceleration autopilot, rate autopilot, angle autopilot, anti-windup, surface target model, target state estimation v ÖZ HEDEF İZLEYİCİ FÜZELERİN DİNAMİK MODELLEMESİ, GÜDÜM VE DENETİMİ ÖZKAN, Bülent Doktora, Makina Mühendisliği Bölümü Tez Yöneticisi: Prof. Dr. M. Kemal ÖZGÖREN Ortak Tez Yöneticisi: Dr. Gökmen MAHMUTYAZICIOĞLU Eylül 2005, 236 sayfa Bu çalışmada, birbirine göre bağıl dönüş yapabilen ve bağlantıları bir rulman aracılığıyla sağlanan iki parçadan oluşan bir füzenin dinamik modellemesi, güdüm ve denetimi ele alınmıştır. Çalışmanın ilk kısmında füzenin hareketini tanımlayan türevsel denklemler türetilmiş, ardından TÜBİTAK-SAGE’de mevcut olan Missile-Datcom yazılımı kullanılarak füzenin aerodinamik modeli çıkarılmıştır. Bulunan aerodinamik katsayılar kullanılarak aerodinamik kararlılık türevlerinin elde edilmesinin ardından, denetim sisteminin tasarımında kullanılacak iletim işlevleri füze hareket denklemlerinden türetilmiştir. Daha sonra, çalışmada kullanılacak güdüm kuralları formüle edilmiştir. Bu kapsamda, Doğrusal Hedef Takibi (DHT) ve Parabolik Hedef Takibi (PHT) güdüm kuralları Oransal Seyrüsefer güdüm kuralına alternatif olarak sunulmuş, ayrıca Oransal Seyrüsefer güdüm kuralının üç boyutlu uzaydaki genel ifadesi türetilmiştir. Bu çalışmanın ardından, vi daha önce türetilen iletim işlevleri kullanılarak yuvarlanma, yunuslama ve yandönme otopilotlarının tasarımı yapılmıştır. Burada, yuvarlanma otopilotu füzenin denetimi yapılan ön gövdesinin yuvarlanma açısını sıfırlayacak şekilde tasarlanırken, yuvarlanma ve yandönme otopilotları kullanılarak, ele alınan güdüm kuralı tarafından üretilen güdüm komutlarının gerçeklenmesi amaçlanmıştır. Bahsedilen güdüm komutları, füzenin yanal ivme bileşenlerini veya füze uçuş yörüngesi açılarının denetimini sağlayacak şekilde oluşturulmuştur. Ele alınan tipik bir yer hedefi için hedef kinematiğinin modellenmesinin ardından, hedef durum kestirimcisi olarak kullanılmak üzere birinci mertebeden sabit katsayılı sayısal bir filtre tasarlanmıştır. Nihayet, tasarlanan modeller biraraya getirilerek genel füze güdüm ve kontrol sistemi modeli oluşturulmuş ve bu model kullanılarak, ele alınan güdüm kuralları için Matlab-Simulink ortamında bilgisayar benzetimleri gerçekleştirilmiştir. Benzetim çalışmaları, karşılaştırma amaçlı olarak ele alınan tek parçalı genel bir füze modeli için tekrarlanmıştır. Çalışmanın son bölümünde, elde edilen benzetim sonuçları tartışılmış ve genel olarak bu tez kapsamında yapılan çalışmalar değerlendirilmiştir. Anahtar Kelimeler: Hedef izleyici füzeler, iki parçalı füze, füze dinamiği, füze aerodinamiği, güdüm, oransal seyrüsefer, doğrusal hedef izleme, parabolik hedef izleme, füze denetimi, otopilot tasarımı, ivme otopilotu, açısal hız otopilotu, açı otopilotu, doyumsal hata büyümesinin önlenmesi, yüzey hedefi modeli, hedef durum kestirimi vii To My Parents and My Wife… viii ACKNOWLEDGMENTS First, I would like to express my sincere appreciation to my supervisor, Prof. Dr. M. Kemal ÖZGÖREN for his helpful suggestions, prompt feedbacks and endless patience. If he had not helped me, I could not complete this thesis. I am grateful to him. If the guidance and help of Dr. Gökmen MAHMUTYAZICIOĞLU and Dr. Ömer TANRIKULU had not been with me, I think my job would be much harder. I extend my thanks to them. I would like to express my thanks to my Thesis Supervising Committee members, Prof. Dr. Bülent E. PLATİN and Prof. Dr. M. Kemal LEBLEBİCİOĞLU for their constructive comments and guidance throughout my study. My special thanks go to Dr. Mutlu D. CÖMERT and Mr. Erdinç N. YILDIZ for their understanding and help in this study. Also, I would like to thank my colleagues and my friends Mr. Dursun ÖNER, Mr. Ali E. TURGUT, Mr. Kutluk B. ARIKAN, Mr. Serkan GÜROĞLU, Mr. Yusuf BAŞIBÜYÜK, Mr. Vedat EKÜTEKİN, Mrs. Burcu SÖYLEMEZ (DÖNMEZ), Mr. Alper AKMEŞE, Mr. İsmet OĞRAŞ, Mr. Fahri IŞIKTAŞ, Dr. L. Oktay GÖNÇ, Dr. A. Serkan GÖZÜBÜYÜK and the other friends in TÜBİTAK-SAGE for their friendship and help. The support of TÜBİTAK-SAGE in this thesis especially in the part of the aerodynamic modeling is also acknowledged. ix My greatest thanks go to my parents, Fatma ÖZKAN and Mehmet ÖZKAN, and especially my wife, Nuray ÖZKAN, for their endless support, patience and understanding. If they had not been with me, I could not achieve anything. I love them very much. Above all, I would like to thank Allah (c.c.), the creator of all things, for giving me the strength and ability to conduct this study. x TABLE OF CONTENTS PLAGIARISM ..........................................................................................................iii ABSTRACT.............................................................................................................. iv ÖZ ............................................................................................................................. vi ACKNOWLEDGMENTS ........................................................................................ ix TABLE OF CONTENTS.......................................................................................... xi LIST OF TABLES .................................................................................................. xvi LIST OF FIGURES ............................................................................................... xvii LIST OF SYMBOLS .............................................................................................
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