Thesis - Leigh Moody.pdf - Bad Request - Cranfield University

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Chapter 3 / Sensors / Seeker _ _ This model is activated by setting bit 12, and either bit 13 or bit 14 of MS_SK_ER, invoking the torque and friction models respectively. Consider the yaw gimbal dynamic model shown in Figure 3-51 (the pitch gimbal model has exactly the same form). The model comprises in order, from left to right: a lead-lag gimbal controller, DAC gain, motor current limit, motor dynamics and gimbal inertia. 1 + + - CONTROLLER 0.0105s+1 0.0015s+1 TIME 120 OL [-12,12] 3.9-8 MOTOR 0.15*5026^2 s 2+2*0.7*5026s+5026^2 GIMBALS 1 0.0005s 2 Figure 3-51 : Complex Yaw Gimbal Dynamic Model This open loop model is modelled at the seeker reference rate (SKfR) of 4 kHz. The yaw gimbal demand is subject to a time delay before the gimbal error is passed through a controller and DAC gain providing the motor current (SKIG) which is limited to protect the electronics and motor coils, ϕ LIM ⎛ ⎜ K ⎝ AΨ ⋅ ϕ DLL I SK GΨ : = 1 Mux yout ( ) ⎟ ⎞ D D 2 ⋅ π 2 ⋅ ⎞ Ψ − Ψ , , ⎟ − I , I ⎛ π ⎜ ϕTD 2000 Gk 2000 Gk − 1 ⎝ SK KCZ SK K CP ⎟ ⎠ MΨ MΨ Equation 3.9-10 The torque generated by the gimbal motor depends on the input current, ( I + τ , ζ , ω ) SK τMΨ : = SKK MΨ ⋅ ϕ D2L SK GΨ SK FΨ SK GΨ SK GΨ Equation 3.9-11 The gimbal angles and angular rate obtained by separating the integrators to accommodate the torque and friction models, ϕ DI ⎛ ⎜ ⎜ ⎝ ϕ DI A 5000 ( I , ) ⎛ SKτMΨ + SKτEΨ GΨ Ψ ⎜ ⎝ SK JGΨ Ψ Gk − 1 : = ⎞ ⎟ + ⎟ ⎠ τ SK FΨ ⎞ ( τ , τ , Ψ& ) ⎟ ⎟ SK MΨ SK EΨ Gk − 1 Equation 3.9-12 The gimbal characteristics listed in Table 3-18 were selected so that the closed loop response of both gimbals was a 3 dB overshoot, and stability margins of 18 dB and 45° as shown in Figure 3-52 and Figure 3-53. The step response without motor current limiting is shown in Figure 3-54. Introducing motor current limiting trades response time for a reduction in ⎠ ⎠
Chapter 3 / Sensors / Seeker _ _ the overshoot as shown in Figure 3-55. In practice the motor voltage and winding resistance limit the current and an artificially low limit is usually imposed below this value. Table 3-18 : Complex Gimbal Dynamic Characteristics MATH DESCRIPTION PITCH YAW UNITS SKKCZ Controller zero time constant 9.1 1.3 msec SKKCP Controller pole time constant 10.5 1.5 msec SKKA Controller/DAC gain 40 120 Amp/rad SKIM Motor current limit 6 12 Amps SKKM Motor gain 0.05 0.15 N-m/Amp SKζG Motor damping ratio 0.7 0.7 SKωG Motor natural frequency 800 800 Hz SKJG Gimbal inertia 0.05 0.5 g m 2 CLOSED LOOP RESPONSE ( DB ) 5 0 -5 -10 -15 -20 10 0 3.9-9 10 1 FREQUENCY ( HZ ) Figure 3-52 : Closed Loop Frequency Response The torque disturbances (SKτE) comprise spring, cogging and ripple torques. SK K G1Ψ SK K ⋅ Ψ H B G5Ψ ⋅ + SK I K SK GΨ G2Ψ ⋅ cos τ SK EΨ ⋅ cos + : = 10 2 H ( K ⋅ Ψ + K ) H ( K ⋅ Ψ + K ) SK SK G6Ψ G3Ψ B B SK SK G7Ψ G4Ψ Equation 3.9-13 The effect of gimbal mass imbalance leading to a cross coupling of the motor torque has been ignored. The outer (yaw) gimbal is usually connected by slip rings, the leads bringing power to the inner gimbals increasingly resist gimbal motion as the off-boresight angle increases.
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CRANFIELD UNIVERSITY LEIGH MOODY SE
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ABSTRACT When considering advances
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Contents _ _ LIST OF CONTENTS 1 INT
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Contents _ _ 8.2 The Scope of Moder
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Contents _ _ 17.4 Inertial Velocity
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Tables _ _ LIST OF TABLES Table 1-1
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Figures _ _ LIST OF FIGURES Figure
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Figures _ _ Figure 5-1 : Centralise
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Figures _ _ Figure 19-3 : Air Densi
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Acronyms _ _ Acronyms And Abbreviat
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Acronyms _ _ HDOP - NAVSTAR GPS Hor
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Acronyms _ _ RCS - Radar Cross Sect
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Glossary _ _ GLOSSARY A challenge w
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Glossary _ _ 0.1 Predicate Calculus
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Glossary _ _ ]A,B] Real number rang
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Glossary _ _ 0.9 Matrix Operators [
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Glossary _ _ 0.14.2 Special Vectors
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Glossary _ _ P C a , b ≡ XC YC ZC
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Glossary _ _ V ≡ V : = V • V Th
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Glossary _ _ 0.16.4 Matrix Partitio
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Glossary _ _ Only the subset of qua
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Glossary _ _ 0.19 Systeme Internati
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1 Chapter 1 / Introduction _ _ Chap
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Chapter 1 / Introduction _ _ Wherea
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Chapter 1 / Introduction _ _ • Cr
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Chapter 1 / Introduction _ _ genera
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Chapter 1 / Introduction _ _ radar
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Chapter 1 / Introduction _ _ simple
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Chapter 1 / Introduction _ _ optimi
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Chapter 1 / Introduction _ _ 1.3.9
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2 Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ 2.
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Chapter 2 / Target Modelling _ _
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Chapter 2 / Target Modelling _ _ t
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3 Chapter 3 / Sensors _ _ Chapter 3
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Chapter 3 / Sensors _ _ 3.1 Simulat
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Chapter 3 / Sensors _ _ Table 3-4 :
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Chapter 3 / Sensors _ _ Reference D
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Chapter 3 / Sensors _ _ 3.2-9 s s i
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Chapter 3 / Sensors _ _ 3.2-11 t o
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Chapter 3 / Sensors _ _ Figure 3-5
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Chapter 3 / Sensors _ _ Table 3-7 :
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Chapter 3 / Sensors _ _ IF ϕ LIM
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Chapter 3 / Sensors _ _ The phase e
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Chapter 3 / Sensors _ _ Taking expe
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Chapter 3 / Sensors _ _ Expressing
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Chapter 3 / Sensors _ _ INPUT; AA,
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Chapter 3 / Sensors _ _ The functio
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Chapter 3 / Inertial Navigation _ _
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Chapter 3 / Sensors / Gyroscopes _
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Chapter 5 / Missile State Observer
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5 Chapter 5 / Missile State Observe
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6 Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ 6.
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Chapter 6 / Missile Guidance _ _ As
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Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ CD
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Chapter 6 / Missile Guidance _ _ ge
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Chapter 6 / Missile Guidance _ _ ex
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Chapter 6 / Missile Guidance _ _ &
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Chapter 6 / Missile Guidance _ _ PN
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Chapter 6 / Missile Guidance _ _ ra
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Chapter 6 / Missile Guidance _ _ of
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Chapter 6 / Missile Guidance _ _ NO
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Chapter 6 / Missile Guidance _ _ tr
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Chapter 6 / Missile Guidance _ _ η
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Chapter 6 / Missile Guidance _ _ Au
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Chapter 6 / Missile Guidance _ _ Fo
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Chapter 6 / Missile Guidance _ _
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Chapter 6 / Missile Guidance _ _ ar
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7 Chapter 7 / Missile Trajectory Op
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Chapter 7 / Missile Trajectory Opti
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8 Chapter 8 / Simulation _ _ Chapte
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Chapter 8 / Simulation _ _ 8.1 The
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Chapter 8 / Simulation _ _ 8.3 The
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Chapter 8 / Simulation _ _ Having p
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Chapter 8 / Simulation _ _ 8.5.1 Gl
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Chapter 8 / Simulation _ _ (1) CONS
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Chapter 8 / Simulation _ _ 8.6.2 Ou
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Chapter 8 / Simulation _ _ The file
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Chapter 8 / Simulation _ _ • The
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Chapter 8 / Simulation _ _ comprehe
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Chapter 8 / Simulation _ _ WIN_RATE
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Chapter 8 / Simulation _ _ for this
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Chapter 8 / Simulation _ _ with the
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Chapter 8 / Simulation _ _ Figure 8
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Chapter 8 / Simulation _ _ Table 8-
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Chapter 8 / Simulation _ _ 8.8 Disc
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9 Chapter 9 / Performance _ _ Chapt
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Chapter 9 / Performance _ _ 9.1 Air
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Chapter 9 / Performance _ _ XM ( >
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Chapter 9 / Performance _ _ 9.3 PN
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Chapter 9 / Performance _ _ The eff
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Chapter 9 / Performance _ _ VXMVOM
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Chapter 9 / Performance _ _ VXMVOM
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Chapter 9 / Performance _ _ 9.4 CLO
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Chapter 9 / Performance _ _ AR_BOM
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Chapter 9 / Performance Chapter 9 /
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Initially the position error falls
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values of CN are not always a relia
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crude initialisation introduces err
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9.5.3 Singer Filter Tuning The Sing
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9.6.2 CLOS Study The CLOS study sho
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Chapter 10 / Conclusions _ _ 10-2
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Chapter 10 / Conclusions _ _ 10.3 T
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Chapter 10 / Conclusions _ _ 10.7 M
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Chapter 11 / Future Research _ _ 11
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Chapter 11 / Future Research _ _
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Chapter 11 / Future Research _ _ To
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References _ _ B.4 BAZARAA M.S., SH
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References _ _ F.1 FOX J.E., “A C
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References _ _ H.5 #HULL D.G., RADK
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References _ _ L.2 LOOZE D.P., HSU
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References _ _ N.4 NABAA N., BISHOP
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References _ _ R.3 RUSNACK I., “O
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References _ _ S.15 SINGER R.A.,
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References _ _ Y.2 YUAN P., CHERN J
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Bibliography _ _ B.13 BABA Y., YAMA
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Bibliography _ _ B.40 BECKER J.C.,
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Bibliography _ _ C.33 CORTINA E., O
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Bibliography _ _ E.8 ERSHOV A.A.,
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Bibliography _ _ G.34 GUTMAN P., VE
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Bibliography _ _ H.35 HUSSAIN A.M.,
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Bibliography _ _ K.14 KATZIR S., CL
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Bibliography _ _ L.19 LEFAS C.C,
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Bibliography _ _ M.16 MAYNE D.Q., P
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Bibliography _ _ P.1 PAINTER J.H.,
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Bibliography _ _ R.32 RONG LI X., Z
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Bibliography _ _ S.47 SPEYER J.L.,
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Bibliography _ _ V.5 VIAN J.L., MOO
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Bibliography _ _ W.29 WATSON G.A.,
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Appendix A / Geometric Points _ _ 1
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Appendix A / Geometric Points _ _ 1
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Appendix B / Frames of Reference _
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Appendix C / Axis Transforms _ _ 16
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Appendix C / Axis Transforms _ _ YP
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Appendix C / Axis Transforms _ _ B
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Appendix C / Axis Transforms _ _ YB
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Appendix C / Axis Transforms _ _ Us
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Appendix C / Axis Transforms _ _ No
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Appendix C / Axis Transforms _ _ B
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Appendix C / Axis Transforms _ _
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Appendix D / Point Mass Dynamics _
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Appendix E / Earth Geometry _ _ 18-
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Appendix E / Earth Geometry _ _ ELL
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Appendix E / Earth Geometry _ _ (dx
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Appendix E / Earth Geometry _ _ Int
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Appendix E / Earth Geometry _ _ 18.
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Appendix E / Earth Geometry _ _ 19-
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Appendix E / Earth Geometry _ _ P S
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Appendix E / Earth Geometry _ _ 19.
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Appendix E / Earth Geometry _ _ ∂
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Appendix G / Gravity _ _ 20-2
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Appendix G / Gravity _ _ g : = g +
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Appendix G / Gravity _ _ d −6 2
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Appendix G / Gravity _ _ 20-8
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Appendix H / Steady State Tracking
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Appendix I / Utilities _ _ 22.1-2
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Appendix I / Utilities _ _ Cartesia
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Appendix I / Utilities _ _ Matrix P
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Appendix I / Utilities _ _ 22.1-8
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Appendix I / Utilities / General Ut
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Appendix I / Utilities / WGS 84 Tar
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Appendix I / Utilities / Axis Trans
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Appendix I / Utilities / Point Mass
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Appendix I / Utilities / Earth, Atm
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Appendix I / Utilities / Earth, Atm
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Appendix I / Utilities / Digital Ma
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Appendix I / Utilities / Digital Fi
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Appendix I / Utilities / Matrices _
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Appendix I / Utilities / Quaternion
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Appendix I / Utilities / Trigonomet
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