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2011, vol. 59, br. 3, str. 7-28
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Poređenje različitih autopilota za upravljanje normalnim ubrzanjem rakete zemlja-zemlja
Comparison of different lateral acceleration autopilots for a surface-to-surface missile
aUniverzitet u Beogradu, Mašinski fakultet, Srbija bMinistry of Defence of the Republic of Serbia + Vojnotehnički institut - VTI, Beograd, Srbija
e-adresa: cukd@eunet.rs
Ključne reči: autopilot; autopilot normalnog ubrzanja; autopilot ugaone brzine vektorom brzine; inverzno dinamičko upravljanje; vođena raketa zemlja-zemlja; model '6 stepeni slobode kretanja'
Sažetak
Ovaj rad prikazuje poređenje tri autopilota za upravljanje normalnim ubrzanjem rakete zemlja-zemlja: konvencionalnog autopilota sa tri povratne sprege, i autopilota za upravljanje ugaonom brzinom vektora brzine i normalnim ubrzanjem koji su zasnovani na primeni inverznog dinamičkog upravljanja. Kretanje rakete zemlja-zemlja opisuje se nelinearnim diferencijalnim jednačinama čiji se parametri menjaju u širokom opsegu zbog promene brzine i visine leta. Zahtev za tačnim upravljanjem rakete u takvom okruženju predstavlja izazov za konstruktora autopilota. Dat je sažet pregled proračuna faktora pojačanja konvencionalnog autopilota primenom metode lokalne stabilnosti za linearni nestacionarni sistem sa 'zamrznutim' dinamičkim koeficijentima. Metoda inverznog dinamičkog upravljanja prikazana je u narednom odeljku za dva tipa autopilota: za upravljanje ugaonom brzinom vektora brzine i normalnim ubrzanjem. Oba zahtevaju sintezu estimatora za veličine koje se koriste kao ulazne za zakon upravljanja raketom. Na kraju, pomoću modela '6-stepeni slobode kretanja' daju se rezultati simulacije odgovora rakete na zahtevanu komandu pri letu po tipičnoj balističkoj putanji. Poređenjem tri autopilota razmatraju se greške u stacionarnom stanju i osetljivost odgovora na izrazito promenljivo okruženje. Pokazano je da inverzno dinamičko upravljanje može da bude veoma efikasno u upravljanju raketom zemlja-zemlja.
Abstract
This paper presents a comparison of three lateral acceleration autopilots for a surface-to-surface missile: three-loop conventional acceleration autopilot, and gamma-dot and three-loop acceleration autopilot based upon the inverse-dynamic control. The surface-to-surface missile motion is described by nonlinear differential equations whose parameters change rapidly over a very wide range due to variable velocity and altitude. The requirement for the accurate controlling of the missile in such an environment represents a challenge for the autopilot designer. The brief review of the calculation of the autopilot gains is given using the concept of the 'point' stability for the linear time-varying system with 'frozen' dynamic coefficients. The method of the inverse-dynamic control is presented in the next section for two types of the autopilots: gamma-dot and acceleration autopilot. Both of them require the design of the estimators for the variables used as inputs to the control law. Finally, six-degree-of-freedom simulation results of the missile response to the demanded command on the typical ballistic trajectory are presented. The comparison of three autopilots considers the steady state errors and the sensitivity of the response to the highly variable environment. It was shown that the inverse-dynamic control can be very effective in the controlling of the surface-to-surface missile.
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