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Introduction
1. The Lark missile which was first tested in December, 1950 successfully
was the first missile to use proportional navigation. However proportional
navigation dates back to World War II and was apparently known to the Germans
though they did not apply it practically in their missiles. Apparently proportional
navigation was studied by C.Yuan and others at the RCA Laboratories during
World War II sponsored by the U.S.Navy. It was implemented first by Hughes
Aircraft Company in a tactical missile using a pulsed radar system. Raytheon
further developed proportional navigation and implemented it in a tactical
continuous wave radar homing missile. Proportional navigation guidance is used
in a majority of tactical radar, infrared (IR) and TV guided missiles. It gained
popularity because of its simplicity, effectiveness and ease of implementation.
a V
VM
γ
λ
σ
VT
R
Target
The target moves in a straight line at constant velocity VT and the missile moves at constant
speed VM but the direction of the velocity vector can be controlled by the use of an
acceleration, a, which is assumed perpendicular to the relative velocity vector V given by the
expression
______________________________________(1)
__________________________________________(4)
_________________________________(6)
________________(7)
_________________________________________(8)
___________________________________________(11)
_______________________________________(12)
(d) The equations (3) and (8) can be represented by their approximate
dynamics by using eqns. (5) and (12) as follows:-
__________________________________________(13)
____________________________________________(14)
________________________________________(15)
_____________________________________(16)
___________________________________________________(17)
where α is angle of attack, q is pitch rate and δ is the control surface deflection
and Z and M quantities are the aerodynamic forces and moments.
5. Missile guidance laws are generally expressed in terms of the component
of acceleration normal to the velocity vector of the missile; in proportional
navigation, for example, it is desired that this acceleration be proportional to the
inertial line-of-sight rate. Thus the output of interest in a typical missile is the
“normal” component of acceleration aN.
θ
α V
δ aN
V = missile velocity
aN = normal acceleration
α = angle of attack
θ = pitch angle.
_____________________________________(18)
______________________________________(19)
______________________________________(20)
______________________________________(21)
_____________________________(22)
Substituting eqn.(22) in eqn.(18) gives
_________________________________(23)
With the state, input and output of the missile defined respectively by
α
x = ; u = δ ; y = aN
q
________________________________________(15)
_____________________________________(16)
__________________________________________(23)
____________________________________(24)
____________________________________(25)
Zα / V 1 Zδ / V
A= ; B =
Mα Mq Mδ
C = [ Zα 0 ] ; D = [ Z δ ]
H ( s ) = C ( sI − A) −1 B + D
−1
s − Zα / V −1 Z δ
⇒ H ( s ) = [ Zα 0 ] +Z
−Mα s − M q M δ δ
____________(26)
Zδ ( s − M q s − M α ) + Zα Mδ
2
=
Z Zα
s2 − M q + α s + V Mq − Mα
V
(a) In a typical missile, Zα, Zδ, Mα, and Mδ are all negative. Thus the
coefficient of s2 in the numerator of H(s) is negative. The constant term
ZαMδ - Mα Zδ on the other hand is typically positive in case of tail controlled
missiles. This implies that the numerator of H(s) has a zero in the right
half plane. A transfer function having a right-half plane zero is said to be
“non-minimum” phase and can be a source of considerable difficulty in
design of a well-behaved closed-loop control system. The problem is that
the dc gain –( ZαMδ - Mα Zδ )/ Mα is positive but the high frequency gain - Zδ
/ Mα is negative typically. So if a control law is designed to provide
negative feedback at dc, unless great care is exercised in the design, it is
liable to produce positive feedback at high frequencies.
(b) Another peculiarity of the transfer function is that its step response
starts out negative and then turns positive. The initial value of the step
response is
1
lim s H ( s) = Z δ ≤ 0
s →∞
s
1 Z M − M α Zδ
lim s H ( s ) = α δ ≥0
s →0
s − Mα
Missile Autopilot
. 1
δ= ( u − δ ) _______________________(27)
τ
______________________(28)
This error will be treated as a state variable instead of the angle of attack.
Differentiating eqn.(28) gives
______________________(29)
(b) The next assumption made in the design problem is that the
derivative of commanded acceleration is zero or in other words, the
commanded acceleration is constant over time. In addition to
approximating the commanded acceleration to be a constant, it is also
assumed that the aerodynamic coefficients Zα and Zδ and the missile
speed V are approximately constant.
______________________(30)
___________________________(31)
________________________________________(15)
_____________________________________(16)
__________________________________________(23)
_______________________________________________(32)
___________________________________________(33)
________________________(34)
_______________________________________(35)
__________________________________(36)
(i) Thus the differential equation for the pitch rate using eqn (36) in
eqn.(16) is
______________________(37)
9. A single third order vector-matrix equation defining the system is obtained
from eqns. (34), (37) and (27) as given by
________________________(34)
______________________(37)
. 1
δ= ( u − δ ) ____________________________________________(27)
τ
x = [e q δ]’ _________________________________________________(38)
eqns.(34), (37) and (2) can be represented by the state space equation
___________________________________________(39)
Zα / V − Zα Z δ /τ
− Zδ / τ
M δ ; B = 0
_
;
A = − M α / Zα Mq
0 0 −1/ τ − 1/ τ
____________(40)
− Zα / V
E = M α / Zα
0
where
_
Mα
M δ = Mδ − Zδ __________________________________________(41)
Zα
The autopilot design will be done in two steps. Firstly design a regulator
for a commanded normal acceleration of zero, then secondly compute the
feed forward gain to eliminate the steady state error for a non-zero
commanded acceleration.
References
1. Paul Zarchan, “Tactical & Strategic Missile Guidance”, Vol 199, Progress in
Astronautics & Aeronautics, A Volume in AIAA Tactical Missile Series.