20IO 3rd International Conerence on Advanced Computer Theor and Engineering(ICACT

Autopilot Design for Missile With Morphing Wings

Duan Chao-yang
School of Automation Science & Electrical Engineering
Beijing University of Aeronautics and Astronautics
Beijing, China
Abstract-Morphing concepts for missiles have been a topic of
current research interest in aerospace engineering. For the
morphing wings technology of missile, a kind of autopilot
design method is proposed by Ho control theory. In order to
have the better fight performance in the different regimes, the
missile can automatically change the wings area symmetrically.
The nonlinear dynamic model is established, applying the
approach of the multi-rigid body dynamics model, a whole
body is viewed as composed of fxed body section and
morphing section. By introducing the acceleration and the
dynamic characteristic of control surface in the tail of missile,
the nonlinear autopilot control system is derived. A linear
autopilot controller is designed by solving the Riccati
inequation. Finally an illustrative example is given to show that
proposed autopilot control law is robust and suitable to the
missile with morphing wings in the case of the different
aerodynamic parameter, and the acceleration of missile can be
tracked the command acceleration.
Keywords- autopolt; morphing wings; nonlnear dynamic;
stabilt
1. INTRODUCTION
Morphing concepts for air vehicles such as unmanned air
vehicles (UA Vs) have been a topic of current research
interest in aerospace engineering. A morphing wing is a
bird-like wing that has the ability of adapting to obtain
better fight performance or to accommodate multiple fight
regimes according to the different fight mission.
A number of studies investigating morphing concepts
have been perfored over the past decade. The methods of
wing morphing include camber change, wing twist, wing
sweep change and wing span change. For the frst morphing
wings the airfoil can obtain a desired lif by changing the
camber, applying the method a structural and aeroelastic
analysis is performed for an unmanned combat aerial
vehicle with morhing airfoil in [I].
Even the frst successfl controlled and powered fight by
the Wright brothers involved differential twisting of the
wings for generating the control forces
[21
, the variable twist
wings have been extensively used for providing stability and
control to an air vehicle. For the second morhing wings the
wing is confgured to optimize the twist angle to obtain low
drag and high-lif aerodynamic characteristics
[31
.
The wing sweep change and the wing span change are
designed to change the wing confguration of an aerial
978-1-4244-6542-2/$26.00 2010 IEEE V6-520
Guo Jian-guo, Zhou Jun
Institute of Precision Guidance and Control
Northwester Poly technical University
Xi'an, China
e-mial: guojianguo@nwpu.edu.cn
vehicle for various fight conditions for the third morphing
wings. The kind of variable wing sweep has been
successflly applied in various modem US military aircraf
such as the F-14, F-lll, and B-1
[41
.
For the fourth morphing wings, the advantages and
disadvantages of the variable-span morphing wing for a
cruise type missile are discussed, and as frther discussed,
the variable-span morphing wing provides an alterative
method of controlling the roll motions of a bank-to-tur
cruise missile in [5], and an infatable telescopic spar is
developed and the wind-tunnel testing of a variable span
wing with this spar is performed in [6].
For the case of autopilot design problem of missile with
the morhing wings, the dynamic model and control
technique are both important. In [7] the nonlinear dynamic
model is built by considering the interaction between the
motion of the morphing swept wings and the body of missile,
and the variable structure control method is used to design the
autopilot controller for tactical cruise missile with morphing
swept wings.
At the same time the conventional method of designing
the autopilot is PID control technique. However, in order to
obtain the satisfed performance of controller, the Ho
control method
[81
comes up with in recent years. Due to the
dynamic character, the kind of method is utilized in the
guidance system design
[91
and the autopilot design
[10
,
111
.
According to the investigation result of morphing wings,
the fourth morphing wings that wing span change
symmetrically is investigated in this paper according to the
aerodynamic characteristics of missile with morhing wings.
The work focuses on developing the robust autopilot
controller for a kind of missile with morphing wings by
adopting Ho control method. The nonlinear mathematic
model of autopilot is built due to wing span change, and the
autopilot controller is proposed to track the commanded
acceleration and keep missile stable.
The paper is organized as follows: in Section 2 the
nonlinear dynamic model of morhing wings and the
nonlinear dynamic model of the missile is built. In Section
the autopilot of the missile is present by applying Ho control
theory. Section 4 presents numerical simulation results ad
Section 5 summarizes the fnal conclusions.
2010 3rd International Conerence on Advanced Computer Theor and Engineering(ICACTE)
- -
Figure 1. The geometry of the morphing wings.
II. MATHEMATIC MODEL
A. Variable-Span
M
orphing Wing Confguration
Figue 1 shows a 2-D view of morphing wings for a long
rang missile when they are flly extended-fll extension
representing defnite proportions increase in wingspan
relative to the original confguration. The real line
represents the original shape of wings, while the dashed is
the morphing wings. Thereby the projectile with morphing
wings is different fom the ordinary projectile
[1O]
with fxed
wings as the dynamic characteristic of the whole projectile
during the wings changing.
The missile, which is assumed as the model whose
structure scheme with morphing wings, adopts the
confguration of rotational symmetry, and at the same time
the wings of body can be changed symmetrically during the
fight course according to the requirement of aerodynamic
characteristic
In order to analyze the dynamics of the missile with
morphing wings, the approach of the muti-rigid body
dynamics model, that is, the projectile is viewed as one
composed the body section and the morphing wings section,
is utilized to obtain the dynamic model.
B. Dynamic
M
odel
In this section, we now built the nonlinear dynamic
model of missile with morhing wings by using the multi
rigid body dynamics model method.
Firstly, the missile is viewed as a whole body which is
composed of the fxed body section and the morphing wings
section. Due to the multi-rigid body dynamics model method
and the momentum principle, the moment of the missile is
stated as
(1)
where H is the gross momentum moment of the whole body;
J
I
and J2 represents respectively inertia moment of the
morphing wings and the fxed body section; ( is the
angular rate vector of missile in the body fame.
It is noted that the inertia moment J
I
and J2 are related
V6-521
to the two sections, which is the fnction of the quantities of
m
l
, m2, d and l , where m
l
is the mass of the morphing
wings; m2 is the mass of the fxed body section; d is the
length vector between the center of gravity of the morphing
wings and the center of gross gravity of vehicle; l is the
length vector between the center of gravity of the fxed
body section and the center of gross gravity of vehicle.
It is assumed as r=[

,m
2
,d,I,r ' the nonlinear
dynamic model of missile with morphing wings in the body
fame is obtained as
Jx(r)mx +jx(r)Ox +[Jz(r)-J/r)]OyOz =Mx
Jy(r)my +j/r)Oy + [1x(r)-Jz(r)]OzOx =
M
y ,
(2)
Jz(r)mz +jz(r)Oz +[J/r)-Jx(r)]OxOy =
M
z
where Jx (r),
Jy (r)
and Jz (r) is respectively three parts of
the momentum moments of the whole body in the body
fame;
Ox
' O
y
and
Oz
is respectively three parts of the
angular rate vector of missile in the body fame; M
x
'
M
y
andMz represents respectively three parts of the gross
aerodynamic moment in the body fame.
In the body fame, the normal accelerations of the
missile is expressed as follows
(3)
where ny and nz are the normal accelerations of the whole
missile; a and f are the angle of attack and the angle of
sideslip respectively; 6z and 6y are the defection angles of
aerodynamic control surface; a4 ' as ' b
4
and bs are
aerodynamic parameters in [12].
And at the same time, the dynamic characteristic of
control surface in the tail of missile is chosen as follows:
(4)
where 6 is the defection angle of control surface; 6c is the
commanded defection angle; r is time constant of trasfer
fnction.
In order to elaborate the autopilot design course, at the
same time for the sake of simplicity, the nonlinear dynamic
model in the pitch is established according to the nonlinear
dynamic model of missile with morphing wings. The model
is expressed as in the following.
(5)
2010 3rd International Conerence on Advanced Computer Theor and Engineering(ICACTE)
Where x = [e O= 8=], e = ny - ny' nym is the command
acceleration in the pitch; 8z is the defection angle of control
surface in the pitch; u = 8=e ; w is uncertainty of autopilot
representing the distribution of control system; the matices
A, H1, H2 are defned as
-a
4
0
V
a
4
0
V
aSD
Vaso
g g
i
gr
,8, [J
A=
ga20
-alO
a20aSO
,BI =
0
--a30
V
a
4
0 a
4
0
0 0
r
i
where al
O
,a20,a
3
0,a4 0,a
5
0 is the aerodynamic parameters in
some fight condition. Mx and t1 are the uncertaint
relating to aerodynamic character.
Based on the mathematic model (5) of autopilot in the
pitch, the control system is designed in following.
III. ROBUST AUTOPILOT CONTROLLER DESIGN
The autopilot controller design problem for missile with
morphing wings is a contol problem. We derive a new
robust controller to this problem by utilizing He control
method.
According to the established model (5), the output of
control system is chosen as
z=x, (6)
It is assumed as the uncertainty M and f is bounded,
that is,
D1 ad D2 are matics with nonnegative constant elements.
Due to the theorem i [13], combining the robust stability
and the nominal tracking performance condition, we come
up with an infnite dimensional He optimization problem as
follows:
Minimize
r
(
r
> 0), such that the controller u = K is
stabilizing the system (5) and
l17 (
s
)IL, < r
, where
T ( s) is the transfer fnction of control system, if the
Riccati inequality
Alp
+ PA + y
2
PB BTp - PB
R

1
BTp
2 2
1 1
+P
(
EI + K
1
n
(D2
)
)
p+ E
1
r(D
1
) +
] <
0
is satisfed with the positive solution P , where
R
=
8
1
(8 ) 0),
(7)
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_
{
II
D
i
D
1
11
] II
D
i
D
1 II
] <n1
diag
(
DiD
1)
r
(
D
1
)-
,
diag
(
D
1
T
D
1)
other
n(
D
J
=
{
II
D2D
;
j1
1
T
II
D2D
;
11
1 < n2diag
(
D2D
;)
.
n2diag
(
D2D2
)
other
Thus we can obtain the controller K =
_
RIB; P by
optimizing the solution of inequality (7).
The acceleration of missile can be tracked with the
command acceleration due to expected performance of
autopolit controller, that is, the robust autopilot contoller is
obtained by the given He control method.
IV. SIMULATION RESULT
In this section, we now present a nonlinear simulation of
the missile with morhing wings. The designed autopilot
controller here is the one which was obtained for i = 0.01 .
The nonlinear model has been implemented on
Matlab/Simulink. The whole nonlinear simulation model is
consisted of fve blocks, that is, the missile aerodynamic
block, the missile kinematics model block, the missile
dynamic model block, the autopilot block and the
commanded acceleration block.
Te simulation step is set to be O.OOls, the parameters of
simulation are set as follows. That is, the altitude of missile
is 5000m, the velocity of missile is 600 meter per second, the
commanded accelerations in the pitch channel and in the yaw
channel are 109 and 4 g respectively.
The simulation results are shown in Figures. Fig.2
shows the curves of normal acceleration ny in the pitch
channel, while the normal acceleration nz in the yaw
channel are shown in Fig.3.
It is observed fom these fgures, when the wing is
changing, the acceleration can track the commanded normal
acceleration within 0.5 second under the proposed autopilot
controller, and the peak overshoots of accelerations in the
pitch and yaw channel are lower than 10%, the track errors
are within 5%. And at the same time the body of missile
keeps stable.

o
o 2
f
I

4 6 8
Tie(s)
-
n
y
-
ny
V
10 12
Figure 2. The curves of normal acceleration n,.
2010 3rd International Conerence on Advanced Computer Theor and Engineering(lCACTE)
o
Figure 3.
6
Tie(s)
_n
-nz
10 12
The curves of normal acceleration n, .
In additional, the same results can be obtained in the
case of all of the aerodynamic parameters increasing or
decreasing by 15% relative to the nominal values under the
same autopilot controller.
All of the simulation results testif to feasibility and
performance of the proposed method.
v. CONCLUSION
This paper presents a new robust autopilot controller for
missile with morhing wings based on Ho control method.
The nonlinear dynamic model of morphing wings is built due
to multi-rigid body dynamics model method. Consequently,
the mathematic model of autopilot is derived fom the
nonlinear dynamic model and the dynamic characteristic of
control surface in the tail of missile. By solving the Riccati
inequation, the robust autopilot controller is obtained to
better fight performance. Numerical simulation results have
confrmed the missile with morhing wings can track
commanded acceleration and keep itself stable, which
demonstrates the robustness of the proposed design scheme.
V6-523
ACKNOWLEDGMENT
The authors would like to acknowledge the Aviation
Science Foundation of P. R. China, and the fndamental
Science Foundation of Northwester Polytechnical
University for fnding this work under grants lC20 1 024.
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