MISSILE GUIDANCE SYSTEM

Siddaling , 8th semester Department of Instrumentation Technology R V College of Engineering Bangalore 59

Abstract: This paper generalizes the previous results on the stabilizing property of control scheme designed for a class of discrete-time nonlinear stochastic systems. The proposed controller was made more robust with a prescribed degree of stability by proper modifications [2]. In this work the guidance process equations are represented by the kinematic equations of motion of a missile, and approximate equations of rotary motion of a missile round the center of gravity. These equations describe the missile motion in the vertical plane only. It is assumed that there is a symmetry between the vertical and the horizontal planes [ 11. The nonlinear equations are linearized in the discrete form. A state feedback controller is used for minimizing the error between reference states, which represent the system states when there is no noise, and the system states which are affected by noise. The noise is represented by white noise with zero mean and unit variance. In this paper, it is shown, by numerical examples, that when the guidance process is affected by the noise the target will be missed, and after applying the controller to the guidance process target impact will be achieved. We also introduce a comparison between this work and the authors previous work [9]. 1. INTRODUCTION A command guidance system is defined as one in which intelligence is transmitted to the missile from an outside source which causes the missile to traverse a prescribed trajectory in space. This trajectory depends on the used guidance method. There are four guidance methods which are used in the command guided missile [ 11. There are several research work which are applied to the guided missile system. The majority of these works [4]-[8] investigate the influence of autopilot dynamics, maneuvering targets acceleration saturation, measurements bias, and missile slowdown following thrust cutoff on the miss distance. In this work, the controller is derived using the kinematic equations and the dynamic equations of the missile translatory and rotary motions[ 11. These equations describe the missile motion in the vertical plane only. It is assumed that there is a symmetry between the missile motions in the vertical and the horizontal planes. It was found that the probability of destroying one target by one missile is low, because it is affected by several factors [9]. These factors decrease the efficiency of the guidance process. In this work, a robust stochastic controller is designed to increase the probability of destroying a target by one missile. We consider that the effecting factors as an additive noise. This noise will affect the controlling of the guided missile. 2. THE COMPLETE SYSTEMlF EQUATIONS The following equations represent the kinematic equations of motion of missile center of gravity, simplified dynamic equations of motion for the center of gravity of a missile in vertical plane, approximate equations of rotary motion of missile round the center of gravity, and the equations of the law of control. These equations describe the missile motion in the vertical plane only. It is assumed that there is a symmetry between the vertical and the horizontal planes. 2.1The Kinematic Equations VT Target N k. Figure 1. Missile-target geometry D,,,k,M, = - &, sin(, - 6,) (2) where VM missile velocity OM missile velocity angle, DM missile distance, ET target

elevation angle, VT target velocity, DT target distance, DM rate of change of the missile distance, 8, rate of change of the missile elevation angle. 2.2 Equations of motion for missile center of gravity: missile elevation angle Due to the acting forces, we have the following equations. The first one is expressing the radial 0-7803-6542-9/001$10.00 0 2000 IEEE 793 acceleration and the second is expressing the rate of change of the missile velocity angle. These equations are the simplified dynamic equations of motion. d Thrust force Drag force (3) 6 = A , a f i - -gcoseM (4) VM where T missile thrust constant, MO initial missile mass m rate of change of missile mass, g gravity constant C, aerodynamic coefficient, C, = 0.053 -0.0077 M S typical crosssection, kair density, a angle of incidence (the angle between the missile longitudinal axis and the missile velocity vector) q =S. V2 2 C; aerodynamic coefficient, C; = 0.041 -0.01 07M V, sound velocity M the Mach number, ' M=VMIV, 2.3 Approximate equations of rotary motion of a missile round the center of gravity. a +c a+Caa =-CfOi -az$ a2 a =a] (6) ai =-C . al -C,a +-C4O2 - a d 6 a2 where Pz Px CLZ =-3 A, the rate of change of A, , a, =-- hzvqm: CL; p -[0.46 -0.09(M - I S ) ] IS(M(2 mg = -[0.41 -0.045(M -2)] M)2 -[0.35 -0.22(M -1.5)] 1.5 (M(2 -[0.24 -O.OS(M-2)] M)2 6 the deviation of the elevator 2.4 The equations of law of control The law of control is a set of equations that describes the dynamics of the control system. They determine the dependence of deviation of the control surfaces upon the signals produced by the control system, and the

dependence of these signals upon the motion parameters of the target and of the missile, besides the use of signals from measuring elements in the control system. The form of the law of control depends on the concrete form of the control system. Let us assume that the control system has the following properties : i- Transportation lag 2 of derives of control surfaces is negligible. ii- The derives of control surfaces with negative proportional feedback have negligible inertia. iii- Maximum deviation of elevators and rudders is 6 iv- Control parameter AI is measured in vertical plane. v- In order to improve the dynamic behavior of the missile proportional feedbacks of angular velocity of the missile and of the lateral acceleration are utilized. vi- The inertia of measuring instruments of the control parameters and feedback signals are negligible. Under these assumptions, the law of control has the form 6= 6,,, for I PI >E&,,, E&,,, = 30" mm 1+2 2s I.ls+l I +0.2s 3.4s+l Where Am=K(- ) (- ).AI 6) 11.1 3.4s 3.4 =a1+ (2.2 - O.~)S][-+-]A, ( 3 ) 0.3 zK(1 + 2~)(0.32+--]Al(s) s = K(0.92 + 0 . 6 4 ~ + ~ I )(sA) eZ =2m , e,=7m, p, =5m, p,= 0.3m t Am (t)=K(0.92Al(t) +0.64Al(t)+O.3IAl(t)dt. -[2.2 -1.3(M -1.5)] 1.5 (M(2 0 K is the open loop gain, & is the gain of proportional feedback of the angular velocity, K, is the gain of proportional feedback of lateral acceleration, P is the command value. mall{ -[1.55 -0.25(M - 2 ) ] M)2 C, =Aa+aZzAa +aza 2.5The system of equations in the state space form The system of equations is formulated in the state space form (equations (1) to (6)), with ~(O)=DM(O)= 2.1 Km, x~(O) = &(O)= &do), x~(O)= VM(O)= 450 m/sec, xq(0) = 0~(0)=& do)%, (O) = a(O),% (O) = al(0) and u(t) = Kt).

Since the guidance system is a discrete system then the linearized discrete form of this system can be obtained. The coefficient matrices of the linearized discretetime system model are in the form [9] A,.=J+[V,f(x, ,u,.)]'z ,(nxn nZat7ix) B k = [ V , f ( x , ,Zlk)lTT ,(nxm " Z i ) where 1 is the [n X n] -dimensional unit matrix and the ijth elements of matrices v rfand VI, f are given by (V, f), =?d.I " ,I = /2, ... ,n, j= 42, .. .,n (V,f),=-,ia=yl,J 4 a4 ,..., m, j = 1 , 2 ,._.I,I is the sampling period (time). This means that the discrete state equations may be obtained by approximating an analog system by a digital model [lo]. The discretized system will be in the form Xk+l =AkXk+Bk% (7) If we consider that the factors which affect the efficiency of the guidance process is considered as an additive noise. The application of the state feedback controller will make the guiding of the missile independent on these factors. 2.6 Robust Stochastic Controller: Here we summarize the previous results on the stabilizing property of a control scheme designed for a class of discrete-time nonlinear stochastic systems. The existing controller will be made more robust with a prescribed degree of stability by proper modifications [2]. Consider the discrete-time stochastic system Xk+, =A.% + B k z l , + f ( ~ k , z l , , W k ) (8) ek = x k - Xkref. (9) where: Xk E f?" : is the state vector, Zlk E R" : is the input vector, wk Eh'": is a zero mean independent random sequence, Xo : is deterministic, and f k : is a nonlinear function such that f(o,o,o) is zero. Other than this there is no structural constraint on fk , but it is defined by statistical properties as follows E { f ( X k , UL-9 WkN = 0 (10) forall Xk , Uk ,and k , a n d WJ%?%h)f% h% %)FP+lh (4&k+@%) kl where r = n(n+1)/2. (1 1) All the matrices on the right side are assumed to be positive semidefinite and symmetric. xkref E f?" : is the reference vector. It satisfies the following equation: xk+l&=Ak %nf+u4k

ek E R" :is the error vector, which represents the errors in the system states. The following controller is proposed [2] 1r 2 i=1 Uk=-(R+&&-l B ~ ~ C ~ , [ P N _ ~ ~ ] ~A&',, ) (-1 '3)B ~ ~ N - ~ where Rm" is found as the ( N - 1 ) solution of q+=l A : ~ A-~ & FAR+ gqk+ L5jq~j~4lgq~ stage (14) 2;=1 +&?JqT.]L 2 i=l The feedback controller will be uk =-a(R+BTPNB-,) -' BTP'-, Ae, zK(PN-,)e, where PN-, is found from p+=l L4yA-ATPAR+BTPyAy y+@@(< ) The iteration starts with P, = F= FT> 0 Here ek is defined in equation (9). If the matrix Po is given as the identity matrix I, and the matrices R and Q are given as Q Diag [0.01] and R = 1 (in this case R is a scalar value), and Bk = [ 0 0 0 0 0 -az6z] 3. Results In this section, a numerical example is used to illustrate the efficiency of the designed controller. In this example it is assumed that the target is flying at a constant altitude and with a constant velocity. It is shown that the missile will destroy the target when the missile system is not affected by the noise. If the system is affected by the noise the missile will miss the target. Finally, the missile will destroy the target if the controller is applied to the system under the effect of noise. The condition of destruction is fulfilled when the miss distance is less than 70 meters. The following values are given as the launch and initial conditions for the target. Target velocity = 450 m/sec, target altitude = 10 km, initial distance = 25 km, initial elevation angle = 23.58". The following results are obtained in the given cases i)when the missile is not affected by noise, the miss distance = 53.5 meters, the impact time = 23.72 sec. (ii)when the missile is affected by noise, the miss distance = 117 meters at the same time.

(iii)when the controller is applied, the miss distance = 63.3 meters at the same time. Figures (3-5) show the target and the missile trajectories in the given cases.The value of the control surface deflection F is calculated approximately from the following equations P=.707[Adt)+K,(-+d 0 1.4-d)+a K, V , -d1 0 Am= K ( 0.92 Al(t)+ 0.64 dt dt dt + 0.3 jA1 (t) dt ) dA dt Al(t) = E T - % , K=1.15 , K0=.45 , K,=O.I [SI Shinar J. and Forte I., On the optimal pure strategy sets for a mixed missile guidance law synthesis, IEEE Trans. on Autom. Cont. Vol. 36, No. 11, pp. 12961300, Nov. (1991). [9] Abdel-Rahim M. & El-Geneidy M. and Rizk M., Robust design of stochastic controller for a guidance system for command guided missile, Proc. of the American Control Conference, San Francisco, California, pp.479-48 1, June (1 993). [IO] Kuo B.C., Digital control systems, Holt, Reinhart & Winston Inc., 1980 4. Conclusion In this paper the application of a robust stochastic controller to a missile system is studied. It is found that when the missile is affected by the noise it will miss the target, and when the controller is applied to the missile system under the effect of noise the target will be destroyed by the missile. This controller is derived using the kinematic and the dynamic equations of motion of the missile. The missile equations is considered in the vertical plane only because there is a symmetry between the missile motions in the vertical and the horizontal planes. The nonlinear equations of the missile motion are linearized in the discrete form. This work is completely different from the previous work of the authors [9], in which the controller had been derived using the equations that produce the controlling signals of the missile, besides that the previous work had considered the system equations from the kinematic point of view only. 5. References [l] Slavicek S., Lecture notes, Military Technical College , Cairo (1968). [2] Yaz E., Robust design of stochastic controller for

nonlinear system, IEEE Trans. Automat. Cont., Vol. 34, No. 3 pp. 349-352 March, (1989). [3] Yaz E., A Controller Scheme for a Class of Discrete Nonlinear System, IEEE Trans. Automat. Cont., Vol. AC-32 No.1, pp. 77-80, JAN. (1987). [4] Brierly S.D. and Longchamp R., Application of sliding-mode control to air-air interception problem, IEEE Trans. on Aerospace and Electronic Systems, Vol. 26, No. 2, pp. 306-325 March (1990). [5] Ciann-Dong Yang &Fei-Bin Hsiao and Fang-Bo Yeh, Generalized guidance law for homing missiles, IEEE Trans. on Aerospace and Electronic Systems, Vol. AES-25, No. 2, pp. 197-21 1 March (1 989). [6] Ilan Rusnak and Levi Meir, Optimal guidance for Accelerating constrained missile and maneuvering target, IEEE Trans. on Aerospace and Electronic Systems, Vol. 26, No. 4, pp. 618-624, July (1990). [7] Ilan Rusnak, Discrete optimal guidance for highorder Missile and maneuvering target, IEEE Trans. on Aerospace and Electronic Systems, Vol. 27, No. 6, pp. 870-872, Nov. (1991). 08 bo 5 00 10 00 15 .M) 20 00 Hnriinntal ranna Ikm 1 Figure 3. The missile and target trajectories without the noise effect I100.0l50 1 I Target trajectory E Missile trajectory 9.90 9.85 12 00 12.10 12.20 12.30 12.40 Horizontal range (km) Figure 4. The enlarged missile and target trajectories under the noise effect 1 9.98 - 9.96 E g 9.94 9.92 9.90 Target trajectory Missile trajectory 4 I 12.00 12.10 12.20 12.30 12.40 Horizontal range (kin) Figure 5. The enlarged missile and target trajectories when the controller is applied