Professional Documents
Culture Documents
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BEFORE
T I T L E f e n d .SuA.iI1~ )
--
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_ _ _ _ __
.
~~~~~~ ~~~~~ ~
1
~R a n dy J / Y o r k
3.
14.
a CONr *e
w u
~ ~~~~~ ~~ ~zr
15.
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PR
ECT . TASK
PRO
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EL
~~~
A R E A & WOR K~~~
UNIT~~~
NUMBERS
ne d78~
13. ~~~~~~
i
~~ J.... / J-f .
DISTRIBUTION S T A T E M E N T (of
16.
Final re
~~~~ .~~~~~~~~~~~~
10.
II.
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f .1
NUMBER
FORM
R E C I PI E N T S C A T A L O G
165
IIIC A T IO N / D O W N G RA D I N G
Report)
DISTRIB UTION S T A T E M E N T (of the abetted entered Ir. Block 20, if differen t from Report)
tO .
S U P P L E M E N T A R Y NOT ES
19.
K E Y WORDS (Continue err rever e. aide if nec ...ary end Identify by block number)
20.
(Camtthu.
ABST~~~i
C1
DD
~~ ~
,,v.r .. at
~~ ft n.c...atv
an~~. t ank weapon system was examined. The weapon system was represented
by a detailed six degree of freedom simulation .
The der ivation of the control law is included along with a four
sta te simulation that was used to model tt1e 6DOF simulation . The procedure
used to implement the contro l law is given in Chapter III , and t he me t hod
of ob taining optimal control parameters appears in A ppendix C. The ques tioi
of sens itivity is also examined using both simulations.
~~~
1473
~ i
/ /~6
SECUP I V C LA S
U n c l a s sj ..~~ ed
c f o~ cj I THIS
June 1 , 1978
FINAL REPORT
for
Wes tern Kentuck y University Contract # DA.AK 4077C0052
(Reds tone Arsenal Con tract # N- TB-3-3)
~~~ ~
I
AN APPLICATION OF OPTIMAT CONTROL
~
THEORY TO AN ANTI-TANK WEAPON SYSTEM
71
to
~ Mt. i
~~~~t
II
_ ~~~~~
from
P e t e r S i sler , r e s e a r c h a ss i s t a n t
~~~~~~~~~
01
~~~~ i~. w
IWA .
ABSTRACT
The problem of implementing a threestate optimal control
law in a antitank weapon system was examined . The weapon system
was represen ted by a detailed six degree of freedom simulation .
The der ivation of the control law is included along with
a fours tate simulation that was used to model the 6DOF simulation .
The procedure used to implement the control law is given in Chapter III ,
and the method of obtaining optimal control parameters appears in
Appendix C. The question of sensitivity is also examined using both
simulations. Final conclusions and recommendations appear in Chapter V.
ACKNOWLEDGEMENTS
Dr. Harold Pastrick , con t rac t supervisor , of the U .S . Army
Missile Command , has been most help ful w ith his su gges tions and
demands. We would also like to acknowledge the assistance of
Dr. Thomas Madron and his Research and Compu ter Services group at
Wes tern who have patiently answered our many questions and requests.
This contract , wi th its security requirement , has posed special
problems , and we would like to thank Dr. Glenn Crumb and his assistants
at the Office of Grants and Contracts for their aid.
Th is report could not have een prepared without the hel p of
Debra Wheeler , who not only was most care ful in the typing of this
manuscript , but who was able to spot and correct oversights on our
part.
IdiL J
--
~~~~~
- - .~~~-~~~ --~
.-------
~~~~~~~
. ----- .
.--
______________________________________________________________________________________
- -
.- _- .
CONTENTS
Chapter
I.
Page
Introduction.
1.1
1.2
II.
2.6
IV .
1
2
III.
Backgr ound
Imp lementation of the Control Law
..
3
3
4
4
4
4
5
5
5
7
7
8
9
10
10
11
11
. .
12
14
16
17
18
18
18
27
27
27
27
29
36
36
37
38
-.-
-_
Page
V.
39
40
124
Appendix
A.
B.
C.
D.
E.
LL.~t.I
--
iv
--
A l
Bl
.
Cl
Dl
El
..
~~~~ ---~~~~~ -
___________________________
LIST OF ILLUSTRATIONS
Figure
2.1
2.2
2.3
3.1
3.2
3.3
3.4
3.5
3.6
3.7
4.1
Page
Modularization of the 6DOF Simulation
Block Diagram of Pitch or Yaw Guidance Channel
Ideal Seeker Characteristics
Geometry of Tactical Missile Target Position
Hooke Jeeves Algorithm for n = 2
Original Feedback Control Syst em
Missile Roll Stabilized Position
Initial Implementation of the 3State Controller
RZE vs. RXE
THETA vs. TIME
Missile Target Geometry
6
7
10
12
17
19
. . . 28
18
34
35
36
--
LIST OF TABLES
Table
3.1
3.2
3.3
3.4
3.5
3.6
3 7
Page
Definition of Variables
New Variables for Subroutine Cl
Performance for Var ious Initial Conditions (Baseline I)
Performance for Various Initial Conditions (Baseline II)
~
Performance Dependence on GPIT
Performance Dependence on y and 8
6DOF Simulation Runs for Various Initial Conditions
12
20
. . 31
30
.
32
32
33
,
I,
_
_
_
_
- ~~~~ .__
Chapte r 1
INTRODUCTION
1.1
Back ground
f r.
~
1.2
--,.
-.-- ~~~~~~~
~~~~
~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~
The original work [2] assumed no lag in the autop ilo t , ano ther
poss ible source of trouble. A more complex control law based on a first
order a uto p ilot lag model had been derived [9] and was available for
implementation if needed. Perhaps the mo st crucial assumption of all
t o be t es t ed , was that of no hard constrain t on the controller as is
presen t on the missile in the tail fin stops. The onl y cons train t in
the formulation of the control problem was a sof t cons train t presen t
in the cost function J to be minimized , Equation (3.3).
The appro ach u sed was t o im p lemen t t he con t rol law w it h the
set of state variables g iven in [2]: missile attitude ang le e , p r o j e c ted
missiletotarget distance on ground Yd. and ra te id . Perfec t knowledge
of the states were assumed . Since i
T cannot be measured , the set
d~ d
of state variables was then altered to include the line of sight
ang le A and rate ) .
In this setting, all var iables were to be ass umed
available at first , and t hen r ea lis ti c m e a sureme nt s from t he seeker
f o r A ,~ was to be used , along with a gyro measured attitude ang le
See section 1 .2 for a more complete outline of the approaches used , along
wi th other sections of Chapters III and IV .
Chapter V.
2
I-- -
~~~~~~~~
_ .
..
~~~~~~~~~~~~~~~~ _
~~~~~~~~~
;IuuIuuI
~~
- ~--
-~~~~~~~~~~~~~~ u~~~
-.-
- .--
- .- . - ~~ ~
- -- --- -
Chapter II
2.1
p o la t ion ~~t une or two vari ables , mad e such extensive use of special
CDC array m an i pulation features that they had to be rewr itt en and ,
consequent ly, re tested for accuracy .
2.2
~~~~~~~~~~
--
-- -.- - -.~~~~~~
~
~ ~~
~
2.3
The %.~ATFIV FORTRAN com p iler was cho sen for t he ini tial
phase of the work because of its rather extensive collection of
syntax error messages. Once the syntax errors were removed , the
Glevel comp ile r was u sed becau se of it s speed in comp iling. When
finally the po in t was reached were code changes were few , the
Hlevel comp iler was incorporated because it optimizes the execution
of the code. ln order to do t his , it does take longer to compile.
Simulation Simp lif icat ion for Dev elopm ent al Work
2.4
2.5.1
only, the capability of controlling roll and yaw mo tion was added .
The simula ti on alread y had a roll control feature , bu t this had t o
be al tered somewhat when the yaw control was added. The user sets
switch OPTN3 equal to 0 or 1 , depend ing on whe ther he wishes to
allow the missile to roll or not , respec t ivel y. If no roll is
selected , then by setting another switch OPTNYW to 0 or 1 , he can
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~
-- ~~~~~~~~~~~~
- _aU~~ ~~~
J
CRAD*FNXBA/FMIX
45
WPD
55
WRD
65
W QD
2.5.2
(CRAD *FMBBA+(FMIX_FMIY)*
WP*WQ/CRAD)/FMIg
(CRAD*FMYBA+ ( FM I~~~FMIX) *
WP* WR/CR A D )/ FNI Y
Plotting Capability
The orig inal plotting capability was rep laced with one
prov ided by Dr. St. Clair which would generate line printer plots.
Any variable in the Carray could be plotted against time , and any
two variables in the Carray could be plotted against each other.
Since the grap hs are done on the line printer , they are ra ther
crude in appearance , but they do provide some insi gh t into
how variables are chang ing with respect to t ime .
- -- - ~~~~~~~~~~~~~~
0
UI-
~-
~
U
.--l
U
-
I~r
I_ J
.4
X I - OZ
., 4
~
4-
~o
ha.
~fl
fl1
t
~~ ~~~ i
_ ii
~
if
-I
I z
O.
~
~~~0u. w
t~ o
<U .
icc ~~~
ix i~~~~
>
I>
,,,x5~~~
i
>
9I - z
~~
cli
I>
00
~~~~~~
I-
~ ~1
_,
~~~~U.
,
U
iII>
I
..
I-
0 0
,
.
,
~~~~~~~~~
r4
i,
UJ
0 0
IH
Z
6
~~~~ _ -
- _
_ -
~~~~~~~~~~
- -
--~~~
~-
.-
-~~~~~~~~~~
--_ -~ ~~-
SAMPLE
L J OE TECT
~~
GUWANCE
J_a.I
._J
t~~~~~
LOS
GEOMETR Y
Figure 2.2.
2.6.2
ACTUATOR
~~~~[AMP
_H
0li
- -_-_- -- ~
TURNING
RATE
AIRFRAME
AERO
Rotation
1
X~ B
I~ Q~
I~
M~~
(2.1)
M
+
YA
M
I )P R
X B B
(2.2)
(2.3)
X~~ B~ B
~~Y
where ~~~
R are rotational rate components about body axes X
8, ~~R
~~~ B;
Z respectively
x and 1y are moments of inertia about XB and T B ana
B
~
M~~ , MYA, M ZA are componen ts of aerodynamic momen t about the body~ axes.
~~~~~~
ZA
(Q Bcos I
~E
~~~~~~~~
=
2.6.3
(2.4 )
+ R cos
B
~~E
~B
ESIfl*E
(2.5)
(2.6)
Translation
It is advantageous to express the translation equations of
~~~~
- - _-~- ~
n
r
(2.8)
ZA
YA
mg
(2.9)
- - - - - - -
_ _ - -
- - - ------ -
mZ
(2.7)
mY
F~~
mX
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-~-~~
---- .
~ -- ~~
~~~~~~~~~~
__ ~~
~~~~~~~~~~~~~~~~~~~~~~
where m is the mass of the missile ; F y~ , F YA, FZA are the aerodynamic
forces in the inertial axes ; and g is acceleration due to grav ity .
Aerodynamic forces are ob tained in inertial axis form by transforming
body axis components according to the following matrix equation :
Fx
F~~
F YA
[TI
(2.10)
F~
F ZA
Fz
The
Fx
F~
F
=
YA
ZA
=
=
qSD(C~
=
=
=
+
q SC~~
(2.11)
qSC~
(2.12)
~ SC~
(2.13)
DP C /2V)
B P
(2.14)
C l2 7)
qSD(C~~~ +
~~B MQ~ ~
qSD(_C
~~ 0 + DRBC NR /2V)
(2.15)
(2.16)
2
pV /2
(2.17)
--
_.~~
(F
ZB
(F
YB
aF
XB
)/ mV
I XB) 1mV
~~
8P
uP
(2.18)
~B
R
(2.19)
where the body fo rce components (F XB, F YB, F ) include aerody namic
ZB
f o r ces a n d gravity force resolved into body axis components.
2.6.5
Target Model
X~
where X~ , Y~ , Z~
missile position
two Euler angles
axes relative to
displacements in
(2.20)
(2.21)
~m
Z
Z
(2.22)
~
are target position coordinates and X , T
Z are
coordinates . The gyro platform is charac~ eriied by
P ) which define the orientation of the platform
~~~~ 51 axes parallel to X , Y , Z. Target to missile
inertial
digital seeker axes are given by
AZ
AX
AT
AX
5
= [5 ]
AZ
5
(2.23)
~~
AZ
tan
tan 1 (A Z /AX )
5
5
(AY / ~~~
5
-~~~ - .
~~~~~~~~
(
2.24)
A Z~ )
- . -
--
(2.25)
-_ - ~~~~~~~~~~ ~~~~~~~~~~~ -
-_
~~~~~~~~~~~~~~~
~~~~~~~
~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- -
~~~~~
I
2
FOV LIMIT
I
2
j:
FOV LIMIT
LOS ANGL E
Figure 2.3.
2.6.7
Gyroscope Model
10
~~~~
~~~~~
- .- -
--
- .
2
where J ~ ftlb/(rad/sec ), B
H -s- ftlb/(rad/sec).
ftlb/(rad/sec), K
- ~
ft/rad , and
Actuator Model
-...
~~
, -- ~~~~ ~
~~~~~~~~~~
~~~~~
-:1
_
~~~~~~ ~~
--
- -- ~
~
~ ~
_ _ - _
~~~~~~~~~~~~~~~~~~
~~~~~~~
IDEAL CASE
~~~~~~
i../
VER TICAL
REFERENCE !
Figure 3.1.
__________
TARGE T
Target Positions.
Definition
Missile position variable projected on the ground (ft)
Target position variable (ft)
Position variable from missile to target projected on
=
the ground
~~d
_. uIUcIUI
~
~~
~ - ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
____________________
V. -
__
~
_ _ _ __- -~~
~
_-
Definition
Time derivative of
AL
(ft/sec)
~d
2
Late ral acceleration of the missile (ft/sec )
(3 .1)
AL
0
Under the following assumptions :
1)
2)
U =
C2 (t ) ? d
c3 (t ) 0
(3.2)
Y~~~( t ~~)
t 2
t)dt
Y0 (t f )+ ~f f u (
(3.3)
AL
(3.4)
~d
(3.5)
A L cos 0
w 1A 1
Ka u
(3.6)
K 1u
(3.7)
<
<
5 feet
5 d eg r ees
~~~~~~~~
(3.8)
.
(3.9)
[~ g(tft)
[ ~ g(t ft)
=
C3
[
K
~~~~ a
2
2
gyK ~ (t f t ) / 2 1/ A
gyK ~ (t f t )
yK~ g ( t f t )
(3.10)
/2]/A
/6 ]/A
(3.11)
(3.12)
where
g
and
-hKi
(b
2
2
3
Y~ K a (t f t ) + ~g (tf t) /3
2 2
4
yg Ka (tf t ) / 12 ,
t
time , t f
(3.13)
(3.14)
time of impact.
9.8
in stead of
w = :
~
-
(3.15)
________
_____________________
- - ~
- - -
3823
and
13
6.94E 04
(3.17)
with our low profile trajectory (200 x 2600), the m issile in the
simp le simulation would overfly the target. The same type of trajectory
was obtained on the 6DOF simulation . Basically , the t rouble seemed
to be that the missile could not turn in the time allowed. The presence
of aerod ynamic forces and moments made this problem even more acute.
I t was decided to f i r s t t ry to achieve an a t t i t u d e angle t h a t
would be less demanding on the control system , such as
0(tf)
45 degrees.
(3.18)
i-
rr
~~~~~~~~~~~~~~~~
_____________________
chosen t o be:
1000 , Td
5000, 0
85 .
(3.19)
The same assumptions were made as in [2] of no ang le of att ack and no
lag in the autop ilot. It was decided to imp lement the 3state controller
because of its relatively simple form. Should lag become a problem ,
the 4state controller discussed in Appendix A could be tried. The
basic problem then was t o f ind the op t imal values of the two con t rol
parameters r and 8 that will minimize the cost functional J given as
Equation (3.3). This problem was solved using the Hooke Jeeves
Al gorithm as discussed in section 3.3.
With the following parameter values ,
y
5525.51
and
.19E06
(3.20)
~~~
3.3
mm
i. ni z e d :
2
Y~ ( t ~~)
2
i [0(t~ )_45]
t 2
~J~ u (t)d t
hd
(t
f)I
<
(3.21)
y-
5 feet
<
(3.22)
5 degrees
(3.23)
Y 2 (t )+ [ 0(t ) _ 4 5 ] 2
d
f
f
(3 . 2 4 )
---
--
- - -
---- -
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
Th is par t icular algori thm will make two exp lora tory search
moves , one in each coordina t e direc t ion , to reduce F(y,13) , and then
will follow this with a pattern search (in the direction of the
diagonal).
0
Figure 3.2.
Hooke
5525.508
13
(3.25)
l9OEO6
3.3
and
0 (t )= 45.27
f
(3.26)
6DOF S i m u l a t i o n Imp l e m e n t a t i o n
The second task was to evaluate the two gains GPIT , GYAW
that appear in the control module , see section 3.4.2.
~~~ .
~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~
3. 4 . l a .
NO. 1
~~~~~~~~~~
.:: 3
~~~~~~~~~~ NO.2
LOOKING FORWA RD . -O
Figure 3.4.
Missile Roll S t a b i l i z e d P o s i t i o n
cl(
t )Yd
C 2 ( )c d +
~ ~
c3 (t)0
(3.27)
2~~~
______
_______________
tci
~~~~
-c :
~
~~~~~~
~~~~~~~~~~~~~~~~
~~~
3,
.
,
~~~~~~
_.._
.~;
~1
u
~~~~~~
~-
________________________________
______________
- -
~~~~~~~~~~~~~~~~~~~~~~~~~
-~~~
.~~~~~~~~~~ -- ~- -- - -~ .- - ~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~
Symbol
BETA
13
BDELTC( I )
cj
C Array
2917
Def inition
Control parameter
856
Commanded t a i l fi n p o s i t i o n , i
BJJ
881
P i t c h si gnal a f t e r coupling
BJS
537
BKK
882
Yaw s i g n a l a f t e r coupling
BKS
545
BJJSSS
987
BKKSSS
988
Yaw si gnal b e f o r e l i m i t e r
BTHT
350
BXX
989
1, 2 , 3 , 4
CTHTA(T)
c (t )
C o n t r o l law c o e f f i c i e n t f o r 0
CXREL(T)
c (
t)
C o n t r o l law c o e f f i c i e n t f o r Y
CXRELD(T)
DELTA(T)
BXXSSS
(t)
d
d
-bK /w
1 1
GAMMA
2916
CPIT
2921
Gain in p i t c h channel
CYAW
2922
2918
2919
2000
Time
KA
K
K
11k
Loca t ion in
a
1
dynam ics
TGOX
E s t i m a t e of t i m e t o g o
TGOY
~~~
.--- ---
in x d i r e c t i o n
--
,,
~~-, -
.= =
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
L.~~~ _ 2 .
Table 3.2.
Name
Sym bol
Wl
XRE~.
XRELD
YREL
YRELD
_ _ _ _ -~
--
- - __
2906
2920
~d
2904
~d
2905
2902
2903
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-~~~~~~~~~~~~~~~ - -
i~ . . _ ~~~~ _
(TGOX , TCOY)
YREL
-_ r _
Descri ption
Mm
IF
~~~~~~~~~~~
Continued
L o c a t i o n in
C Array
TGO
~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-~ ~~~~
~~~~
.-
SU B RO U f1N E C l
COMM ON C ( 3 8 3 0 ) , G R A P H ( 3 O O ,~ 4 )
DIM ENS ION BDELTC (~4) ,V A R ( 1O l )
C**INPUT
DATA
EQUIVALENCE
EQUIVALENCE
E QU I VA L EN CtL
EQUIVALENCE
(CC
(C (
(C(
(C (
860 )
d6 -l )
~62)
361 3 )
, TDY
( C (
869)
,GBIA S
, GN
,W N2
)
)
)
)
EQ Jl V A L ~ NCE (C( d6L4 ),WN1
)
EQUIVALENCE ( C ( 865) ,WL
( C ( 866 ),WLXX 1 )
E QUIVALENCE
EQ UIVALENCE (CC ~6T) ,WLXX 2 )
E Q U I V A L E N C E (C( d68) , WLJK 1
E Q U I V A L E N C E
EQUIVA LENCE
--
WLJK2
(C( 870) , H JK
~ (l) , WXX
812) ,DXX
~37$ ) , WJK
17N ) ,DJK
875) ,GXX
8!6), GJK
d77) ,RES
E Q U I - .A L ENC E ( C ( 878 ),QDN
EQUIVALEN CE
EQ U IVAL ENC i.
EQ U IVAL ~ NCE
EQ U IV i ~L :J4CE
EQ U IV A L EN CE
EQ U IV ~ LEN. E
EQU IV i L ENC E
(C(
(C(
(C (
(C(
(C(
(C(
(C(
(C(
(C(
EQU IV O LEN C E
EQUIV A LEN CE
E Q U i V A L E . CE ( C (
~
EQU IV A LE NC E. ( C (
E Q U I V A L E N C E ( CC
E Q U iV A L E N C E ( C (
C
EQUIV ALENCE
EQUIV A LENCE
E Q C 1 V A L~JC t .
E C U IV A L E N C o
EQ UI 1iA L E N C E
EQ U V A L E N C E
EQ U I VA L E N C L
EQUIVALENC E
L Q U IV A L NC E
~~
EQUIV A LENCE
EQU IV I - L E N C E
EQUIVALENCE
E Q U IV A L L -C E
~
EQUIVALE NCE
89 2 ) , Q B I A S
d93) , RB IAS
~ 9 9) , OPTC 1
9L17) ,GNS
C * * I N P U T S F R O M OT H ER
E Q U I V A . EN C E ( C (
~
EQU I V A L E N C E
EQUIVALE N CE
879) , Q U P
3 9 0 ) ,HXX
( CC
C(
~
C~~~~~
S T A TE
V A R I A BL E
EQ UIVALENCE
EQUIVALENCE
EQU iV A L E N C E
E Q U I V A L E N C E
EQUIVALENCE
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
)
)
)
)
)
)
)
)
)
)
)
)
i 7 ) , SPII I
STHT
9 7 ) ,SPS I
8 7)
~ C ( 353) , BPH 1
( C ( 35 4 )
~
(C ( j 5 5)
( C C 4O 3 )
~
( C C L4 O 1)
6 l)
( CC
C( 1~46 2 )
( CC 4 6 3 )
(C( 1233)
(C (l7 47)
~
(C( 17 14 3 )
,BTF12
,.B PS1
,~~LAMQ
,~~LAMR
,CAG E
, TKRZ
, TKRY
,BDR
,WH
,WQ
( C ( 1 7 3 9 ) , WP
N1 - J D U L E S
C
C * * I N P U T ~, F R C ; ~ M A I N P 8 O G R A N
EQUIVA lE NC E ( C ( 2 u 0 0 ) , T
)
)
)
)
)
)
)
)
)
J U TP U T S
(C (
(C(
(CC
(C(
(CC
~OO) , nLQSDD)
803) ,~ LQSP )
)
~3O~ ),~~LQ3D )
807),~~LQS
dO S ) , WLQSSD)
~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~
--
~~~~~~~~~~~~~~~~~~~~~
E Q U I V A L E N C E (CC
EQUIVALENCE ( CC
E QUIVALENCE
(CC
(
EQ U I V A L E N C E
E Q U I V A L E N C E .C C
E Q U I V A L E N C E (C(
EQUIVALENCE (CC
EQUIVALENCE (C(
EQUIVALENCE CCC
EQ U I V A L E N C E (CC
EQ U I V A L E N C E (CC
E Q U I V A L E N C E (C(
E Q U I V A L E N C E CC C
E Q U I V A L E N C E (CC
EQ U I V A L E N C E (CC
E Q U I V A L E N C E CCC
E Q U I V A L E N C E C C .
EQUIV ALENCE (CC
E QUIVALEN CE ( CC
EQUIVALENCE
(CC
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
E Q U IV ALENC E
EQUIVAL ENCE
EQ U I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQ U I V A L E N C E
EQU iV A L E N C E
EQUIVALENCE
EQ UIVAL ENCE
EQ U I V A L E N C E
EQUIVAL ENCE
E Q U IV A L E U C L
E QU I V A L E N C E
EQUIVALENCE
EQ U I V A L E N C E
L.EN CL
~Q 2i
E QU I V A L E N C E
8 1 1 ) ,WL Q SS )
8 12 ) , WL RSDD )
)
)
~3 l 5 , WL R SP
8 l6 ) ,WL RSD )
8 1 9 ) ,WLRS
83 6) , BJJSD
)
)
820), WL R SSD )
823),WLRSS )
32~4) , BLQSSD )
827) , BLQSS )
828) , BLRSSD)
831 ) , BLRSS
832 ) , B J J S D D )
835 ) , B J J S P )
BJJS
8 3 9)
8L 0)
, BKKSDD)
, BKKSP
8~~4 ) , BKKSD )
)
~~~7 ) , BKKS
8~-~8), BXXSDD )
843 )
CC ( 852) ,BXXSD )
)
(CC 855 ), BXXS
C C C 9~~1) , BJSSD ) , (C( 93~4 ) , BJ SS
(CC 935 ) , BKSSD ) , (C( 938),BKSS
( C ( 953) ,SNP 1
(CC 950) ,SN P2
) ,
(CC 957),SN Q2
), (C( 960) ,SNQ1
) , (C( 967),SN R1
(CC 96L4 ),SNR2
(C( ~~ 7 l ) , B P C 2
(C(
) ,
9P 4 ) , B P C 1
(C(903) , H1 3P) , (C(904 ),t-11 3M)
) ,(c (
956) ,SNPO
)
)
)
)
( C ( 9 0 5 ) , H 2 i 4 P ) , ( C ( 9 0 6 ) , H2 L I M)
CDRFTY )
EQ U IVALE N E CC ( 9 L4 5 ) , DX2 )
~
ft ) ,wX2)
E Q U l .A L i WC~ ( C (
~~
C~
EQUI VALENCE
~OU T
P Uj A
E Q U I V A L L ~~CL
L
_
(C(2965) , V A R ( l ) )
( CC
856 ) ,N D E L T C ( l ) )
( C ( 8 8 0 ) ,BPHIS
( C ( 5 1 8 ) ,B 13 S S )
( C ( 5 H ) , 02 14SS )
( C C 8 d 1) ,BJJ
( C C d 82 ) ,i3K K
---
- - ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
EQUIVALENCE
~~~~~~~~~~~~~~~~~~~~~~~~~
- --~
8 3 3) , I3XXSS )
CC (
DATA
P I D A/ 1 . 5 / 0 / U b/
B E i A 4 * 2 ~~~~~ A M M A * B E T A* K A * * 2 * ( T F _ T ) + B E T A * G * * 2 * ( T F _ T ) * * 3 / 3 . +
U E [. TA ( f )
C X r ~r . L ( T ) (_ B E T A * 3 * ( T F _ T ) _ ( G * G A M M A * K A * * 2 * ( T F _ T ) * * 2 ) / 2 . ) / D E L T A ( T )
_
.3
CX R: -.Lu(T )
~ ~. 3 E fA * * (TF_ T )**2_ C *GAMMA* KA* *2 * (TF_ T) **3/2.)/DELTA (T )
QSL)
f)
Lk
~ ~~
4N 2 *(4NU* (WLAMQ
3N C~~LQ 3 U / W L
IF (Ti< R Z.
T.O.
0.
W RC
WLRS )
QDN
~
.~ . 0.~ .AND.
T.GT.
.GT . 0 . ) GO TO 5
+
+ QBIAS
2 . *W L R S D
+ GBIAS
+ RBIAS
T.GT.TDY) GO TO 4
.A N A .
L3.L 1 S
WLQS )
I F ( CA G E
4 IF ( T K R Y
LHSD D
~
WLQS ) 2. *WLQSD)
)
TDY) WQC
0.
RBIA 3
I F ( C A G E . CT .
5 C UN r IN UE
0 .)
WRC
WLAMR
24
RBIAS
WLAMQ
+ QBIAS
+ GBIAS
--~~~~~
~ LQSSD
WN1 (WQC
WLQSS )
WL R SS )
WN1 * ( WR C
I F ( W N 1 .GT . 0 . ) GO TO 3
WL Q SS = W Q C
4LRSS
WRC
~
BL QSSD
W LQSS
WL RSSD
BLRSS D
C RA T t
Y RO
WLR SS
D Y NA M
ICS
AND
LI
MI TI NG
BDRFTD = ( C D R F T 1 *A N G X + C D R F T 2 )
BTH T S=B TH 2+B D R F T
SNR2
BP H S
W S 1*WS2*(GNS*SPSI_ SNRO)
BPHS S W P 1
BTHT S - SN Q 1
BTHTS
BP S IS
BPSIS
8 CONTINUE
BXX
BP H S
B T SS = BTHTS
BPS S
BPSIS
C * * * * * S P E C IA L CASE
I F( O PT C 1
. L E.
BL QSSD = Q B I A S
BLRSSD = 0 .
BDC
0.
C
C
_ W R * S I N D (_ B P H l ) )
(WS 1 +WS2)SNP1
(WS 1 WS2)*SNQ 1
(WS1+WS2)*SN R1
SN R 1
PROGRAMMED
0 . )
GO
TO
FLIGHT
BT :O .
BP=O.
IF(T .UE .1. 0000 .A N D . T .LE .3 .2000)BDC= 5.
.AND. T.LE.6. -4000)BT= 5.
IF (T.GE.4 .2
IFCT.GE .7.6 000 .AND. T .LE .9 .9000)BDC=5 .
IF (T.GE. 1 1 . 0 00 .AND. T.LE. 13 . 100)BP :5.
IF(T .ur. .15.200 .AND . T .LE .17 .300 )BDC
~.
IF(T .GE .18 .320 .AND. T.LE .20.560)BT = 5 .
IF(T.GE.2 1 .545 .AND . T .LE .23 .675 )BDC= 5 .
IF (T .GE .24.((O .AND. T.LE .26 .910 )BP=5 .
C(520)~~ B PCO s -bPB T
b PC2 18 . 18*20 . o(C BDC BPCO ) ( 18. 18+20.57 )*BPC 1
BXX
UXX + BPCO
13 rS3~ BTSS-BT
BP SS~ BPSS B P
9 CO NTINUE
C ***NE~ O P T I M A L C ONI R O L FOR P I T C H , YAW
1/W i
X REL = R TX E RXE
Y R E L = R T Y E R ~~E
X REL D zV T X E V X E
Y R ELD ~~V T Y E V Y E
C ****E 3TI ~1ATE OF TIME- ID-GO
T3 x = A 8 S ( X R E L / x R E L D )
71 TGUZ ~~A B S ( R i E / V Z E )
88 C O N T I N U E
rn
.--
SIGNALS
_ _ ._ _ _ __ t _._ __ _~ _
~
~
ri
- --- - - - - ~~
~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~
- ~~~~~~~~
- - ~~~~~~~~ - -
- -
~~ ~~ ~
TF = T + TGO
BTHTR=BTHT/57 .29578
B K K= B K S B J S
B J J S S S = G P IT * B J J
C
C G UIDA NCE SIGNAL SHAPING AND LIMITING
BXXSD
BXXSP
BXXS )
2.DXXBXXSD )
BJJSSL=BJJSSS
B KK S S L B~~KSSS
I F ( B J J S S L . G T . H i 3P ) B J J S S L: H
3P
1F (BJJSSL. LT . Hi 3M ) BJJSSL :H 1 3M
IF ( B K K S S L . G T . H 2 4 P ) B K K S S L = H 2 14 P
BKKSSL. LT . H2 ~4M) B K K S S L = H 2 4 M
B 13SS= BJJSSL
B24SS :BKKSSL
IF(
C
CCOM MANDS TO ACTUATORS
END
- ~~~~~~~~~~~
~~ UII~~
3 . 4 .2
___________________
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
E v a l u a t i o n of C o n t r o l Gains ~t lT , GY AL
C o n t r o l P a r a m e t e r Improvement
3.5
S e n s i t i v i ty Anal y s i s
3.5.1
Wh en the 3state control law was used on the 6DOF simulat ion ,
a small change in l o w e r i ng t h e missile v e l o c i t y f r o m 1095 f t/ s e c to
1090 f t/ s e c r e s u l t e d in t h e miss d i s t a n c e j umping to 264 . Clearl y ,
t h e q u e s t i o n of s e ns i t i v i t y had to be i n v e s t i g a t e d f i r s t w i t h t h e
s i m p l e r f o u r s t a t e simulation and then with the 6DOF simulation .
I t was n o t i c e d t h a t t h e i n i t i a l c o n d i t i o n s f o r t h e t e r m i n a l
g u i d a n c e p h a s e g iven b y E q u a t i o n (3.19) had been poorl y chosen in t h e
sense that the target was out of the field of view , a n d so an al t erna t e
set was used :
1000
5000
89
(3.29)
The v e l o c i ty was left the same at 1095 ft/sec and the initial attitude
0
ang le was increased to 89 since the missile would be flying approximately
horizontal after the initial prepro grammed p itch maneuver.
_
_
_
_
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
_ _ _ _ _ _ _ _ _ _ _ _ _ _
- z-
_ _ _ _ _
rs
0
~~
0
(J) &)
(1
(fl (f)
>
cs~~~~
--)
1)
~
l..i
C
0
0
4J
V 1
~
:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
LL1
L
L LJ
L~]~
~ ~
_ ___ __ :L_ _ ._ _
~~ ~
__
- :
:~~~~-~~~~ -
:~~
~~~~~~~~~~~~~~~~~~~~~~~
~~~~~
--
~~~~~~ r~~~~~~~~~ :
V a r y ing each of t h e i n i t i a l c o n d i t i o n s
H , 0 , and
~~
~ d -generated
V~ (t ) separately, Table s 3 .3a , 3.3b , 3.3c , 3.3d were1 0
using the fourstate simulat ion. As can be seen from them , decreases
in t he acqu is iti on ra n ge are t olerable , but when it is increased to
6500 the simulation becomes unstable. The heig h t can be increased
w i t h o u t d e t r i m e n t , but when lowered to 800 instability occurs. The
ini t ial a t t i t u d e ang le can onl y be decreas ed b y two degrees. Performance is most sensitive to decreases in velocitya decrease of
5 ft/sec of velocity from 1095 ft/sec to 1090 ft/sec causes instability .
Recall that the performance obtained with the 6DOF simulation consid
erabl y worsened as well when the velocity dropped 5 ft/sec.
The above information suggests that a worst case scenario
1000
~d
5000
, 0 =
87.5 ,
1080 ft/sec
(3.30)
5 4 6 0.9 9 2
.l8929lE06
(3.31)
w i t h a r e s u l t i n g p e r f o rmance of
Y (t )
d f
.915
e (t )
~
45 .012 .
(3.32)
Table 3.3.
Y d (t f)
(ft)
0(t f)45
(deg)
I.C.
Var iable
I.C.
Value
3.3a
Y d (tO)
(ft)
3000.
3500.
1.61
4.63
5.31
0.24
4500.
3.09
0.48
4000.
5000.
5500.
6000.
6500.
H t ( t 0)
( ft )
800.
900.
l000.~
1100.
1200.
1300.
1400.
1500.
1600.
3.3c
( t 0 )
(deg)
8 5.
86.
87.
88.
89.*
90.
3.3d
V M (tO )
(ft/sec)
T!
~ III~
Table
3.3b
1090.
1095.
1100.
1105.
5.03
2.83
2.80
17.85
4.83
0.00
l27 .tO
Uns t able
Uns t able
3.05
2.80
5.13
2.39
3.35
0.00
1.04
2.29
6.67
2.79
11.78
4.77
4.37
4.97
0.35
0.58
4.12
Unstable
5.95
58.70
1.49
2.99
4.07
3.48
2.80
2.47
0.00
2.64
Unstable
2.80
0.00
4.14
5.65
0.32
3.79
Baseline I
(denoted by * )
H (t 0) = 1000
~
0(t0)= 89
Y d (tO ) = 5000
=
1095 f t / sec
-y
5535.43
.18939E 6
V M (t O )
_ _ _ _ _
_ _ _ _ _
-~
---
~~~~
-. -
--- ~~-~~~~~
Table
I.C.
Variable
i.C.
Value
Y d (tf)
3.4a
Y (t 0)
~ f t)
3000.
3500.
2.41
4 .13
3.4b
H t (t0)
( ft )
4000.
4500.
5000. *
55 00.
6000.
700.
800.
900.
1000.
~
1100.
1200.
1300 .
1400.
1500.
1600.
3 .4 c
0 ( t 0)
(deg)
85.5
8 6 .5
k
87.5
88.5
89.5
9 0 . 5
3 .4d
VM ( t O )
(ft/sec)
1065.
1070.
1075.
1080. *
1085.
Cft)
4 .96
12 .9 8
0 .92
16 .24
U( t f)45
(deg)
4.24
Unstable
Uns table
-0.07
0.69
6.57
0.01
0.5 15
17 .45
124 .35
0.92
4 .3 3
33.40
10.97
0.01
0.78
5.57
4.18
3.84
3.30
3 .9
1.7 2
0.81
3.86
0.08
5.12
Unstable
5 .22
0.54
0 .92
0.01
1.23
9.79
5.49
0.17
Uns t able
4 .82
5.84
0 .46
0 .92
Unstable
0.05
0.87
2.05
0.01
Baseline II
(denoted by 5 * )
H (t 0)= 1000
~
9(t 0) = 87.5
Y d (t O )
5000
V M ( t O)
1080 ft/sec
-y
5460.99
.l8929E 6
~~~~~~~~~~~~~~~~~
_____________
~~~- ~~ ~~~~~~~~~~~~~
~~~~~~~~~~~~~
~~~~~~~~~
--
~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~
--
the missile would impact considerably shor t of the target. Given the
seven di git accuracy of the computer , it was not possible to obtain
reasonable performance. See Table 4.1 for a closer examination of
this behavior. (The control param eters y and B were set at 5460.99
and .l8929lE 6 , respect ively.)
Table 3.5 . P e r f o r m a n c e Dependence on GPIT
RXE(ft)
GPIT
.000 5
.000 499
.000498
.000497
.000495
RZE(ft)
0 (t
1.1
.8
.4
1210.
1144.
945.
) (deg)
-28.6
27.5
46.1
5 67.
591.
530.
529.
t>t
t>t
GPIT
(3.33)
.497843
Table 3.6
.P e r f o r m a n c e
y
5460.996
5461.
5460.996
5460.996
.l895E6
.l895E
. l9 l OE 6
.1920E 6
Dependence on y and B
RXE(ft)
RZE(ft )
510.6
536.
118.
536.
380.
178.
408.
8 ( t ) (deg)
f
.5
62
t tmax
~
27. 9
t tmax
~
Desp it e the small m iss dis t ance and excellen t impac t angle
achieved w i t h t h e f o u r s t a t e s i m u l a t i o n , it proved to be impossible
to achieve reasonable performance through an appropriate choice of
t h e g a i n p laced in t h e p i t c h and yaw channels. Since vary ing t he
control para m e te rs was uns uc cessf u l as well , it was decided t o re t urn
t o the alternate set of initial conditions for which the missile was
14 above cro wd w i t h an attitude ang le of 38.1 0 below the horizon .
--
----
- - - -- ---
~~--
----- ~~~~~~~ -
32
- - -- -
- --- ~~ - ,- -
---
~~-
______________________________
_____
--
----- .=-
~~
~~~~~ -.~~~~~~
=-~~~~ _ ~~~~~~~~
=--
~~~~~~~
5525.508
, B
.l9E 6
CPIT
.243E3
(3.34)
Using the Hooke Jeeves Algorithm , the miss distance was reduced
to 10.4 with an attitude ang le of 38 .2 whe n t he con t rol parameters were 5525.45 and .l6OE 6 , respec tivel y.
Different runs were made on the 6DOF simulation with various
initial conditions. Table 3.7 contains the results~ The f i r s t line
represents the baseline case.
Table 3.7.
Y (t )
d O
H (t )
0
5000.
1500.
4500 .
5500.
1500.
1 500.
5000.
5000.
5000.
5000.
1400.
1600.
1500.
1500.
5000.
1500.
5000.
V (t )
M O
5.
5.
1090.856
1090.856
1090.856
1090.856
1090.856
.3
1.6
1065.3
690.7
116, 7
1090.856
495.1
5 ,
5.
5.
4.
1090.856
5.
5.
1085.856
1095.856
6.
1500.
RXE
RZE
10.4
68 .9
1.2
.5
1.5
.7
150.4
.9
448.7
127.1
1.2
0( t )
f
38.1
44.
77.5
4 7 . 2
89.7
32.4
.9
41.8
35.5
43.4
~~~
A--
__________________
~ =s-~ ~ ~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- -~-:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
--~ ~=~-------
~~~~~~~~~~~~~~~~~~~~~~~~
I
I
I
* **
* **
* *S
*
*
*
* **
* **
* 5
U
* **
*
a..
a-.
*
*
* *5
0
*
*
S
*
+0
rl
~
S
3
5 *
*
*
0~
(4
0
0
I
~~
+ (V~
c,J
*
*
- ---i --
Y ~
*
*
l:r~
+0
* 5
*
*
5 *
I:
~~~~~~~~~~~~~
_
_
-i - -
~~~ r~~~~~~
-~~- -~~
~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
5 *
5 - 5
5 *
* *
5 * 5
-4
4-
5 *
* 5
5 *
* US
* 5
0*
5 *
*
U
5 *
*
5 *
* 5 *
5 *
* **
5
*
*
*
*
*
*
*
I
I
1
I
I
I
I
0
0
*
* 5
5 5
* 5
*
5 * 5
*
*
5 *
**
**
S .
I
I
I
~~
I +0
.
-
0
0
O
0
U.
0
N-
.
-
,
-
.
-
Lz3
a..
~~
3
~ ~
5 *
I
* 5
* 5 *
N-
+ 0
0
~
I
I
0
I
0
I
I
~~
1 + 0
I
0
I
I
0
I
I
I
0
I
0
I
I
~~
1 + 0
(\J
I
I
I
-0
I
I
I
0
I
0
I
(..
I
~
1 + 0
I
0
I
I
Lt 1
I
I
I
0
*
*
*
** *
0
0
U_ I
5 *
5 *
* 5
5 *
5 *
*
* 5 *
5 *
a-.
0
I
0
I
I
L.~
1 + 0
*
S
*
*
~~
+0
C\J
a-
r1
~
0
0
I
I
~~
1 + 0
I
0
I
5*
Li ;:
~~
+ 0
~~
*
*
*
0*
*
*
--
1
I
4
I
I
I
I
1
I
I
I
I
I
I
5 *
*
--
+~~~0
I
I
I
I
I
I
I
I
I
I
I
I
** * *
** *
---
N-
-, ~ r
~~~~
r
~~~~~~~ -~~c
--
Chap ter IV
CONTROL LAW IMPLEMENTATION
4.1
PRACTiCAL CASE
4.2
A Controller Using A , A
_II
MISSILE
~~~~~~~~~~~~~~~~~ T
~~MU SSI U
TARGET
F ig u re 4 .1.
Missile
Target Geometry
H t t an (8+ X )
(4.1)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
T~~~~~~~ ~---
- - _-
~~~~
~~~~~~~~~~
~~~~~~~~~~~~
---
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~
-~~~~
T)ifferentiating,
=
2
.
H sec ( + ) ( + ) + t a n ( 9 + A ) H
~
~
~ ~ ~
(4.2)
f ( ~~,A
u=
,G ,8 h~~,H~ )
4 .3)
where
f ( A ,~~,0 ,~~,H ,H )
2
L H t a n (+ ) + c (H sec ( + ) (O+A )
1 ~
2 ~
~
+
4.3
t a n ( +~ ) H )
(4.4)
+ c 0
the A , \ , 0 C o n t r o l l e r
i m p l e me n t a t i o n o t
****
P (t )=
f
****
(4.5)
As f o r i m p l e m e n t i n g t h e two p a i r s of v a r i a b l e s (A , and
one of ea ch pair will be measured phys i call y , and the other member
will be appr ox im a t ed by so m e appr o pr ia te s ig n a l pro cessingeither
an integration or differentiation network.
~
_
%~
V ~~~cos 0
( 4 . 6)
N ot e :
LL
~~~
1h
~~~~~ *~~~
~~~~~~~
_
~~~~~~
-
~~~~~~
--
~~~~~~~~~
-- -
~~~~~~~~
-
4.4
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~
fl.__
__I
~~
Estimation of Timetogo
I =
k/R 2
(4.7)
-2kR
3
dR/dt
(4.8)
He n ce ,
timetogo
d R/ dt
dI/ d t
(4.9)
- --~
~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~
--i --
~~
--
Chapter V
CONCLUSIONS ANt) RE C0 ~~1ENDATI0NS FOR FUTURE STUDY
Even assuming p e r f e c t knowled ge of t h e s t a t e s d d ~~
~
t h e best p e r f o r m a n c e that could be o b t a i n e d w i t h the 6DOF~ simulation
was
RZE
10.4
0 (t~~) =
(5.1)
38.1 .
--
_
_
~~ ~~~ :L~~~
~~~~~~~~~~~~~~~~~
.-
~~~~~~~~~~~~~~~~~~~~
- --
~~~~~~~~ -
~~~~~~~~~
Chap ter VI
ro ut ines COSD , SIND , ATAND which are the same as the FORTRAN library
__________________________
- ~~~~~~ _
~~~~~~ - -
~~~~~~~~~
- -~~~~~~~ ~~~
~~
: i
:i-:;
:
-- -~~~~~~~~~~~ ._ ~_~~~~~~
~~
REAL
AMRK
~~~~~~~~~~~
.-
--- - - - - - - - - - - - -
~~~ -
~~
ROUTI NE
INTEGRATION
C(3830) ,G R A P H (3O O ,~ 4)
KA ,K 1
C OM M O N / C E PASS/X (1 0 0) , Y(
10 0 )
) , ( C ( 2 b 6 ~4 ) , D E R ( 1 ) ) ,
( C ( 2 6 6 3 ) ,HMAX
) ,
(C(2662) , H:-~IN
C
(C(2561 ),N
), ( C ( 2 5 6 2 ) , I P L ( 1 ) ) , (C(2965) , VA R (1)) ,
) , ( C ( 2 0 1 0 ) ,STEP
),
( C ( 2 (JJ ) , T
), ( C ( 2 0 1 1 ) , KSTEP
C
( C ( 2 0 1 2 ) , LSTEP ), (C(2008) ,PLOTNO ) , ( C ( 2 0 0 9) , NO PLOT ),
C
C
(C(2023) ,O POINT) , (C(2025) ,TIME (1)) , ( C ( 2 3 2 5 ) , VLA I3 LE ( 1 , 1 ) ) ,
C
(C(3167) ,N OO U T ), ( C ( 2 0 2 2 ) , O P T N 1 O ) , ( C ( 2 0 0 6 ) , R E P P L T ) ,
C
(C(2d65) , EU (1)) , (C(2765) ,E L ( 1 ) ) , (C(2007) ,PTLESS )
(C(1971 ) ,RITE
), (C(1972) ,RKUTTA )
E QUIVA LENC E
) , (C (1975) ,NPT
) , (C(197 ~4 ) , NJ
E Q U I V A L E N C E ( C ( 1 j73) ,KASE
EQUIVALENCE (C (3512) , I S G C T ) , (C(3721) ,I T C T) , (C(3511) ,RNSTRT)
E Q U I V A L E N C E (C( 21) ,IbVNSW )
Ec ~j IVALENC E (C( 22) , IPLOT)
EQUIVALENCE ( C ( 2 3 ) ,X L A M B D )
E Q U I V A L E N C E (C( 2~4 ) , K S S I G )
EQ U I V A L E N C E (C( 25) , CEPS IG (1))
E Q U I V A L E N C E (C (3 00) , R M I S S )
U IMLNS ION RM ISST( lOO)
E Q U I V A L E N C E (C(1000) , RMI SST(l) )
L)
~.Q U IVALE NC E (C(301 ) ,
E~~U I V A L E N C E ( C (3 0 2) , RYE)
EQ U I\1ALE N CE(C( 1 9 ) , P S I Z E )
EQ U I V A L E N C E (C (303) , RZF)
( C ( ~~1) , L C E P )
E QUIVALENCE
IE3L)
EQ- ~ I V A L E N C E ( C ( 3 3 2 5 ) , N C A S E ) , ( C ( 6 2 5 ) ,
D
E
R
S
V
)
EQ U I V A L E N C E ( C ( 2 6 6 2 )
,
EQUIVALENCE
E Q U IV A L E N C E
E. QU IVA L ENCE
r
L-
IJ IV A Lt N C t .
~J IV A L E N C E
~EAL KSSIG
(C(3000) , V S D
( 1) )
L~~F EG ER C E P S I U
0ll4LN ~~lO N CE P S I G ( 6 )
D I M E N S I O N TIME(300 )
V L A D L E ( 2 , 15 )
DIME N SION
IPL (lOO)
,
DIM ENS iON
VA R( 1O 1 )
, EL (100)
DIME NSIO N i N V ~ DX ( 1 O) , V M E A N ( 1 0 ) , V S D ( l O )
)
E Q u I v A L ~ ;NcE ( C ( 1 b 3 0 ) , hN
)
E U U IV A L E N C E (C(1981 ) , R N T
,
PLOTN
I4)
IU
IV
ALIJ
CE
(C(
1982)
,
~
~
t Q U I V A L E N C E (C(1983) ,PLCTU2)
EL U I V A L E N C E (C( 19c ~4) , N PLOT )
~ , , Jtv AL E .~ CE
D E R (1 0 1 )
, EU (100)
(C(2020) ,L C O N V )
__ i
~ ~~
41
-
- ---
-- --
--
-- -
---
- ----
--
-----
- - -- -
______
~~~~~~~~
---~~~~~
-- -
~~~~
~~
~~~~~~~~~
~~~~~~~
-~~~~~~--
- ~ ~~~~
~~~
___________
-
~~~~~~ ~~~~~~~
ISGCT~~1
ITCT :O
ITCT ~
MO JL~~-1
I TSNDX
C
C
C
C
C
L~~~~1
NP
0
CALL COUNTV
C
C
C
C
1000 CAL i Z E R O
~
1001 I F ( P L O T N O . L E . O . ) G O T O 7
I F ( R E P P L T . G T . 0. )GOTO(
REPPLT
IF ( R E P P L T . GT . 1 . 0 )
N PLOT :O
CALL OINPT 1
NOOUT
CO N TINUE
CALL R A N N U M ( 1 . ,RNSTRT ,D U M )
I F ( IS G C T .G T . 0 )
C (1976)
K A SE :
0
1.
CALL MCARLO
0.
1.
1.
(DUM , 1 , IDUb-1 )
LS T EP
STEP
N PLOT11:PLOTNLI
N P L O T2 ~~PL O TN2
NO PLOT PLOTNO
NO P LOT :N PL OT
1002 C A L L
SUBL 1
AUXI
1003 C A L L
10011
CALL
SUBL2
1006 C A L L
1007 N J ~~N 1
1.
AUXS U3
CALL A M R K ( A U X S U B )
C
C
C
C
C
_
1 008 CONTINUE
1009 CONTINUE
H DE LX ~ RTXE R XE
RDELY :R TYERYE
RDELZ R T Z E R Z E
I F( R D E L Z . L T . 0. . O R . RDELX .LT . 0 . )
CALL SUBL3
IF ( KSTEP .EQ. 1 ) GO TO 1007
_
_
_
_
LCONV :2
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~ L-~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~
T~~T~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~
C
C**************** *SAVE MISS DISTANCE FOR EACH RUN OF THE MONTE CARLO
C
R U N SET********************************************
C
C
C
I F ( L C E P . N E . 1) GO TO 20
LCEP:O
NP
NP + 1
X ( N P ) z RY F
Y ( I J P ) : HZF
R 1IS S T ( NP) : R M I S S
~
GO TO 21
20 CONTINUE
WRITE (6 ,805)
805 FOr MA T ( 1 H 0 ,/ / /)
~
W R I T E ( 6 ,22 ) L
22 F O R M A T ( 1 H O , 1 1 X ,2 b H* $ * $ * $ WARNING RUN NUMBER ,I3,
371-1 DID NOT I N T E R S E C T T A R G E T PLANE *$*$*$ ,/ ,
/ / , 26X ,38H$*$*THIS RUN DROPPED FROM DATA SET* $*$)
W RITE( , 805)
21 CONTINUE
L :L + 1
C
C
C~~
~~ C O N T R O L
PARAMETER
OUTPUT
~
2
GP I T
,F 1O .6)
THOF F
C (350)115
~4RITE( 6 , 12 1 2) C (3 5 O ) , THOFF
1 ~~~ F O H M A T ( O T H E T A MISSILE IN DEGREES
C
C
C
C
C
,/ ,
VARIATION
******** *W KU
UML L
: ,E 1 5 .7
DESIRED 145 DEGREE IMPACT: ,E 15 . 7 ,/ / )
FROM
PLOTTING
RO U T I N E* ** * * * * * *
KPLOT
* * * * * * * * * E N D WKU
PLOTTING
ROUTINE*****
C A L L PR O C E A
i~ (O PTN1 O .GT . 0.) CALL
CALL
RESET
1F (L$TEP. EQ . 5. OR
C A L L T I M E V ( DELT )
WHITE (6 , 96 ) D E L T
DUMPO
.LSTEP .EL .7 .O R . N O P L O T . E Q . O ) G O T O S
96 F O X MA T ( 1 H
LE
-~~
~~
O PJ I NT :O P O IN i L E S S P T
W R ITE ( 6 , 97
_ _
)DELT
_ _
_ _
~~~~~~~~~
- ~~~~~~~
- ---- ------~
~~~~
-~~~- -~~~~~~~~ -
-~~~~~~~~~~~ ~~~
-
~
-
~~~~~~~ ~~~~~~~~~~~~~~~~~~~~~~~
- m~~ ~~
10 10 C O N T I N U E
C
C
C~~* * * MEAN
C
C
C
VARIANCE
AND STANDARD
DEVIATION
W R I T E ( , 10 0 )
100 FORMAT( 1H1 , 13X ,36HMEAN V A R I A N C E AND STANDARD DEVIATION! ,
1 7X , 1OHCL OCAT ION ,9X ,8H M EAN VA R , 19X ,7HSTD DEV/)
DO
ILOC
: IMVNDX ( I)
WR ITE(6 , 1 0 2) ILOC , VM EAN (I) , VSD( I )
102 F O R M A T ( 1 O X , I5 , 8X , E 1 5 . 8 , 1 1 X , E 1 5 . 8 )
120 CONTINUE
C
C*** *********MONTE C ARLO AND CEP LOGIC F O L L OW S * * * * * * * * * * * * * * * * * * * ** * * * * *
C
C
C
3 )
00 801 I:1 , NP
J
J +1
WRI TE( 6 ,8O2) X( I) , Y ( I ) , RMI SST (I)
802 FORMAT( 6X , 1OH 1
, 10l-i 1
1 , 101-1 1
, 1OH 1
, 1OEI 1
2
, 11-l 1 ,F 9 . 5 ,2H 1 ,F 9 . 5 , 2H 1 ,F8.5 ,2H
WRIT E (6 , 8 0 3)
803 FORMAT( X , 123H
2
IF (J .GT.30 ) W R I T E
IF (J .GT .jO) J :0
, 1OH 1
, 1OI-l 1
, 1OH 1
, 1OH 1
1)
(
6 , 8 0 0)
801 CONTINUE
IF (IBL .LE. 0)GO TO 8011
L :L 1
X I d L~~IB L
XL :L
~A T 10: X I B L / XL
8- ~u
L.}
W R I T E ( 6 , 8 O 6 ) I B L ,L , R A T IO
111 1 , 1 5(/ ) , 1X , 1O ( 1 1 H* B R EA K L O C K * )
FORMAT(
b
-
--.
-- -
--
- --- ~
44
-- ~~---
- -~~
-
~ .
--- - - -
----
- -
--
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
END
ri:.
I-
-~~~ *
-~~ ,
~~~~~ -----~~~~~~~~~~ --
--- - i
- -- ~~~
~~~ ~~
~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
C
C****STORE INITIAL VALUES
CSAV ( I)
C(J+3)
C
C*** COMPUTE K 1
K 1( I)
DELT*C(J )
1 C(J-s- 3) : C S A V ( I ) + . * K 1 ( I )
T :T + . 5 * D E L T
C ALL ~ UXSUB
C*** C~ .MPUTE
DO 2 I
K2
: 1 , NJ
IPL (I )
J
K2(I )
DELT*C(J)
CSAV( I ) + .5*K2 (I)
2 C (J~~3)
C A L L A U X SU B
.-
C
C*** COMPUTE K3
1 , NJ
DO 3 I
IPL (I)
J
DELT*C(J)
1K 3 (I)
C(J+3 ) : CSAV(I) + K3 (I)
T
T + 5*DELT
CALL AUXSUB
C
C*** COMPUTE 1 (11
DO 11 I : 1 , N J
J z I P L( I)
K4 (I)
DELT*C(J)
L4 C ( J 3 )
(.3AV(I) + ( K 1 ( I )
XNDRK : 1 .
CA LL AU X S U B
2. *( K 2 ( I )
RET U R N
END
-.
--- .
---.
K3(I) )
KLI(I))/6.
---
--
~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~
~~~~~~~~~
______________
_________
S U B R O U T I N E AUXI
CO;IMO N C ( 3 8 3 0 )
EQUIVALENCE ( C ( 2 3 6 1 ) ,NOMUD ) , ( C ( 2 3 6 2 ) ,X M O D N O ( 1) ) ,( C ( 2 5 6 1 ) , N)
XM O D NO ( 99 )
DIMENSION
N : 1
DO 1 I:1 ,NOMO D
L :XMODNO(I)
GO TO (1 ,2 ,3,~4 ,5 ,6 , 7 , 8, 9 , 10 , 11 , 12 , 13 , 14 , i5 , 16 , 17 , 18 ,19, 2O ,2 1 ,22 ,23
1
,214 ,25 , 26 ,27 ,28 ,29,30 ,31 ,32 ,33,34 ,35 ,3 6 ,37 ),L
2 CALL A l l
GO TO 1
CALL A2 I
GO TO 1
14 CALL A 31
GO TO 1
5 CALL A 111
GO TO 1
6 CALL A5 I
GO TO 1
7 CALL CU
GO TO 1
8 CALL C21
GO TO 1
9
CALL C3 1
GO TO 1
10 CALL C141
Ii
GO TO 1
CALL C5 1
GO TO 1
12 CALL C61
GO TO 1
13 CALL C71
GO T O 1
111 CALL C81
GO TO 1
15 CALL C91
GO TO 1
16 CALL C 1O I
GO TO 1
1T CA LL Dli
GO TO 1
18 CALL D21
GO TO 1
19 CALL D3I
U0 TO 1
20 CALL DII I
GO TO 1
21 CALL D5 1
GO TO 1
22 CALL G i l
GO TO 1
23 CALL G2I
GO TO 1
211 CALL G31
GO TO 1
25 CALL G~4 I
GO TO 1
26 CALL G5 1
GO TO 1
_ ----
--
-- -r -
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
27 CALL G6I
GO TO 1
28 CALL 811
GO TO 1
29 CALL S2I
GO TO 1
30 CALL S3I
GO TO 1
1
3 CALL SIII
GO TO 1
32 CALL S5I
GO TO 1
33 CALL S I
GO TO 1
314 CALL S7I
GO TO 1
35 CALL S8I
GO TO 1
36 CALL S9I
GO TO 1
37 CALL S J O I
1 CONTINUE
RETURN
END
.4-!
~~-~~~--~~
_ _ _
_
__.
~~~~~ .. ~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~
______
_______________________________
--
~~~~~~~~~~~ -~~~
SUBROUTINE AUXSU L3
COMMON C (3830)
)
EQUIVALENCE (C(2003 ),T) , (C(2361) ,NOMOD ) , (C(2362) ,XMODNO (1 )
) , (C(2562) ,IPL(1)) , (C(2664 ),DER(l ))
EQUIVALENCE (C (256l) ,N
EQUIVALENCE (C(2965) ,V A R ( 1 )
EQUIVALENCE (C(2020) ,LCONV )
DIMENSION
DE R (1 0 1 )
V A R ( 1O 1 )
IPL (100)
,
,
DIMENSION
XMODNO (99)
EXTERNAL A l
EXTERNAL A2
EXTERNAL A .~
DC 1 I:1 ,NO MO D
I F ( L C O NV . EQ. 2 ) R E T U R N
L :XMODNO (I)
GO TO (1 ,2,3, 14 ,5 , 6 ,7,8 , 9 , 10 , 1l , 12 , 13, 114 , 15 , 16 , 17, 18 , 19, 20 ,21 ,22 ,
123, 2L1 , 25 , 26 , 27 ,28 ,29,30 ,31 ,32 ,33 ,3 Z4 ,35 , 36 ,37),L
)
2 CALL Al
GO TO 1
3 CALL A2
GO TO 1
4 CALL A 3
GO TO 1
5 CALL AII
GO T O 1
6 CA LL AS
GO TO 1
7 CALL C l
GO TO 1
8 C4~LL C2
GO TO 1
9 CALL C3
GO TO 1
10 CALL C11
GO TO 1
1 1 CALL C5
UU TO 1
12 C A L L C 6
GO TO 1
13 CALL C !
GO TO 1
111 CALL Cd
G~ : TO 1
15 CALL C9
GO TO 1
16 C A L L C1 0
GO TO 1
17 CALL Dl
GO TO 1
18 CALL D2
GO TU 1
19 CALL D3
G O TO 1
20 CALL D 11
GO TO 1
21 CALL D5
GO TO i
22 C A L L o i
GO TO 1
23 CALL G2
~~~ L .
~~~~~~~~~~~~~~~~~~~~~~~~
----- -- - - ~~ - -
___________
GO TO 1
CALL G3
GO TO 1
25 CALL G11
GO TO 1
26 CALL G5
00 10 1
27 CALL 06
2 11
GO TO 1
28 CALL S i
GO TO 1
29 CALL S2
GO TO I
30 CALL S3
GO TO 1
.11 CA LL SLI
GO TO 1
32 CALL S5
GO TO 1
33
314
35
36
37
1
CELL
S6
0 0 10 1
CALL S7
GO TO 1
CALL S8
GO TO 1
CALL S9
GO T O 1
CALL S1O
CONTINUE
RETURN
END
~ ~~~~~~~~~~~~~~ - --
-~~~- -
--
~~~~~~~~~~~~~~~~~~~~~~~~~~~
rr
----
- - -
~~~
Bl ~O U T I N E Al
COMMON C (3830
C
C**TABLE LOOKUP FOR A E R O COEF
COMMON
/ N C 5 Z / N C 5 ( 14 )
*/ NC 1Z / N C 1( 2 )
/NC2Z / NC2 ( 14 )
/ NC3Z/ NC3(11 )
* / CA 1 /V M 1 (l 5 )
/CA2/BA2(6) , VM2(6) /CA3/L3A 3 (7 ) , VM3 (5)
* / C A 5 / L 3 A 5 ( 7 ) , VNI5 (3 )
/CZPFZ/CZPF (- ~5) /CZ2FZ/CZ2F (35) /CM PFZ/CMPF(35 ) /CM 2FZ /CM2F(35)
*/CYL4FL /CYL 4F(36) /CNL IFZ/CN 4F(3 6) /CLLIFZ/CLIIF(21) / C L 2 F Z / C L 2 F ( 2 1)
*/CZDFZ/ CZD F( 3 5 )
/CMDFZ /CMDF(35 )
*/CM QFZ ./CMQ F (36) /CLPFZ/CLPF (36) /CLDFZ/CLDF(21 )
*/CXOFZ/CXOF ~ l i )
/CMOFZ/ CV iOF (6) /CAII Z/CAI4 (6)
COMMON
COMMON /NC6Z/NC6(4) /CA 6/6A6( 6) , VM (4) /DXCPFZ/DXCPF(214)
/CA7/BA7 (9) ,VM7 (3 ) /DCMFZ/DCMF(27 )
COMMON / N C T Z I N C 7 ( 1 1 )
COMMON /NCB Z/NC8(2 ) /CA B Z/CA8 (3 ) /DCMOFZ /DCMOF (3 )
C
C** INPUT DATA
E Q U I V A L E N C E (C (1200) , OPTA 1
E Q U I V A L E N C E (C(12140) ,CL 1
E Q U I V A L E N C E (C( 12L 11 ) , CL2
E Q U I V A L E N C E (C (12142) ,CL3
E Q U I V A L E N C E (C( 12~43) , DCM iF(1 ))
E Q U I V A L E N C E (C(i214b ) , CLO
E Q U I V A L E N C E (C(13O7 ) , RFLGTH)
C
C * *I N P U T S FROM OTHER -IODULES
E Q U I V A L E N C E (C (020L1 ), VMA CH
E Q U I V A L E N C E (C(0367) , BALPHA )
E Q U I V A L E N C E ( C ( 0 3 6 8 ) ,BALPHY )
E Q U I V A L E N C E (C(0369) ,B A L P H P)
E Q U I V A L E N C E (C(037O) ,B P H I P
EQUIVALENC E (C(1196) ,BDELT 1 )
E Q U I V A L E N C E (CU 197 ),BDELT2)
EQ U I V A L E N C E (C (il 9d ) ,BDELT3 )
E Q U I V A L E N C E (C(1l99) , BDELTLI )
E Q U I V A L E N C E ( C ( 1 5 5 1 ) ,OP T M
E Q U I V A L E N C E ( C ( 1 5 5 5 ) ,U D L 1
E Q U I V A L E N C E ( C ( 1 5 5 6 ) , UDL2
)
EQUIV A L E N C E ( C ( 1 5 5 7 ) ,UDL3
(
C
(
1
5
5
8
)
EQUIVALENCE
,UDL4
C
C * * INPUT5 FROM M~~I;-J PROGRAM
)
E~~U I V A L E N C E ( C ( 2 0 0 0 ) , T
E Q U IV A L E N C E (C(2O20) , LCONV )
C
C**OUTPUT iu MODULES
E Q U I V A L E N C E ( C ( i 2 0 0 ) ,OPT UNG )
( C ( 1 2 0 3 ) , CX
E QUIVALENCE
EQ U I V A L E N C E (C(12O4 ) ,CY
EQ U I V A L E N C E (C(i205) , CZ
)
)
EQ U I V A L E N C E (C (12O6), CLP
E Q U I V A L E N C E (C(12u7 ) , CMQ
)
)
)
)
)
E Q U I V A L E N C E (C (1208) , CN R
E Q U I V A L E N C E (C(1209), CL
EQ U I V A L E N C E
E QUIVALENCE
~~~~~~~
(C(1210 ) , CM
(C(1 2i 1) , CN
~~~~~~~~~~~~~~~~~~~~~~~
)
)
)
)
=--
EQU I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQU IVALENCE
C* * OT H ER OUTPUTS
EQUIVALENCE
EQUIVALENCE
EQUIVALENC E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
E QUIVALENC E
E Q U IV A L E N C E
- -
~~~~~~~~~~~~~~~~~~~~~ -- - - - -- ~~
( C ( 12 3 7 ) ,CCQ )
( C ( 1 2 3 8 ) ,CC R )
( C ( l 2 3 9 ) ,CC RTOQ )
( C ( i 2 5 7 ) ,SDP)
( C ( 12 6 7 ) ,SD Q)
( C ( 1 2 7 7 ) , SDR )
( C ( 1 2 1 2 ) , CXO
( C ( 12 1 3 ) ,C ZO
( C ( 12 l 4 ) ,DCZ2
~
( C ( 1 2 i 5 ) ,CZDQ
( C ( 1 2 1 6 ) ,CZDR
( C ( 12 i 7 ) ,DCYII
( C ( 12 1 8 ) ,CMO
( C ( 12 1 9 ) , DCM2
( C ( 12 2 O ) ,CMDQ
( C ( l 2 2 l ) ,C M DR
( C ( i 2 2 2 ) ,DCNII
( C ( 1 2 2 3 ) ,DC L1
(C ( 12 2 L l ) ,DCLII
( C ( 12 2 5 ) ,CLDP
( C ( 1 2 2 b ) ,VM
(C(1227) ,BAP
(C(1228) , BDL
(C(1229), BDM
(C(123O) ,BDN
( C ( 1 2 3 i ) ,BDP
( C ( 1 2 3 2 ) , BDQ
(C(1233 ) ,BDR
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
E Q U I V A L E N C E (C(1236) , CH 1
E Q U IV A L E N C E (C (1237) ,CH2
)
E Q U I V A L E N C E (C(1238) , CH 3
E Q U I V A L E N C E (C(l239) , CH11
)
E Q U I V A L E N C E (C(12L10) , C Hl i
E Q U I V A L E N C E (C (1241 ) ,CH2 1
)
EQ U I V A L E N C E (C (1242) ,CH 31
E Q U I V A L E N C E (C(12L13) , CHLI1
DIMENSION NDCLD(2) , D C L D V M ( 3 ) ,
DIMENSION DCLDFF(3 ) , DCM 1F (3 )
EQ U iV A L E N C E (C (1234) , DCLDO )
E Q U I V A L E N C E (C(1235) , DCLDA)
)
DCLDOF(3 ), DCLDAF (3 )
~~~~~~~ YA W P A H A N E T E R I N P U T
EQ U I V A L E N C E (C(290l) , O PTN YW)
C
L)A TA ~ A T L B 1 / 4 H C X O / , WATLB2/ L IH CMO / ,W AT L B3/ L IH CZO / ,WA TLB II
# / LIHCMO /
DA1 A
A T L B D/ 1 1 t i D C M2 / ,WAT LB6/11 HCZDQ/ ,WATLB7/ 11HCM DQ/ ,WATL B8/
~
114I-I DC Z 2/
DAT A ~ AT LB 9/4RDCY 11/ ,W A T L l O /4HDCN II/ ,WATL 11/4HCLP / ,WATL 12/
//14HCM.~ /
DATA ~~A T L 1 3 /L l H C N R / ,WATL14/IIHCLDP/ ,WA T L 1 5 /4 HD C LI I/
DA TA W A T L 16 / L4 H D C L 2 / ,W A T L 1 7/ 4 H
/ ,W A T L 1 8 / 4 H D X C P/
D A T A WA TL 1 9/ 4 H D C M /
DA TA NDCLD / 3 , 0 /
DATA DCLDV M / .500 , .9 5 0 , 1 . 25 0 /
DA TA DCLDO F / . 0 0 0 ,- .0 0 13 , .00 10/
UAT A UL L L A E / . 00 1 6 , .00 23 , . O O 10/
DATA DCLDFF / .06 ,. 10 ,.OLI /
DATA SDPCC ,SCCR Q/O.0 , O.0/
C
52
__________________________________________________________________________________________
- - - - - -
- -
~~~~~~~~~
MULTIPLE
USPHI
UC P I-1 I
US 2PHI
USLI PHI
US2PH2
~~~~
_-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
ANGLE F O RMULAE
: SIND (
BPHIP )
AND ABSOLUTE
~~~
.-- .
-~ ~ - - ~~~
-~~~~
C O S D ( B P I I I P)
S I N D ( 2 . *BP1-I IP)
S IND(11 .* BP H I P)
: US2PHI**2
:
C
C* * LIM IT TABLE ARGUMENTS
B D Pz ( B D E L T 1 - B D E L T 2 + B D E L T 3 + B D E L T 1 4 )/ 1 1 + S D P + S D P C C
BDQ :(+BDELT 1 +BDELT2+BDELT3+BDELT4 )/14+SDQ+SCCRQ
BDR :(BDELT 1 +BDELT2 BDELT3-,-BDELT4)/4+SDR
SDPCC :CCQ*BD Q+CCR *BDR
SCC R Q :C C H TOQ B DR
BAP
BA LP H P
UAL
A B S (BALPHA)
UBT
ABS (BA LP IIY )
VN1
V M ACH
IF (BAP .GT .2O .)B ~ P:2O .
IF ( U A L . G T . 2 0 . ) U A L z 2 O .
ip (UBT .GT .20.)Ut3T :2O ,
C
C**TABLE LOOR UP FOR .AERO COEF
IF~T .GT . 0. .AND. C ( 1 9 7 6 ) . L T . O . ) GO TO 1000
X F:O.
CXO :FINTP 1( VNI , V M1 ,CXOF ,N C 1 (1 ),XF ,WATLB1 )
X FIO.
CMO :FINIP1 (
VN ,CA L 4 , CM OF ,N C 2 ( 1 ),XF ,WATL B2)
0.
XF :
C Z O : F I N T P 2 ( B A P , VM , B A 3 , V M 3 , CZPF , N C 3 ( 1 ) , N C 3 ( 2 ) , N C 3 ( 3 ) , XF , WATL ~33)
CMO: F I N T P 2 ( B A P ,VM ,B A3 , VM 3 , CMPF ,N C 3 ( l ) ,N C 3 ( 2 ) ,N C 3 ( 3 ) ,X F ,WATL BI4 )
D C M2 : F I NT P 2 ( BA P , VM ,BA 3 , VM 3, CM2F ,NC3 ( l) , NC3( 2 ) ,N C 3 ( 3 ) ,XF ,WATLB5 )
CZD Q:FINTP2(BAP , VM , BA3 , VM 3 , CZDF ,NC 3 (1), NC 3 (2) ,NC3 (3 ) ,XF , WATLB )
CZDR : CZD Q
CMD Q : F I N T P 2 ( B A P , VNI , B A 3 , V M 3 , CM DF , N C 3 ( l ) , N C 3 ( 2 ) , N C 3 ( 3 ) , XF , W A T L B 7 )
C~~DN
CMD Q
D C Z 2 : F I N T P 2 ( B A P , VM , B A 3 , V M 3 , CZ2F , N C 3 ( 1 ) , N C 3 ( 2 ) , N C 3 ( 3 ) , XF , W A T L B 8 )
XF Q .
~
DCY11: FINT P2(BAP , VM ,BA2 , VM2 ,CY4 F ,NC2(1) , N C 2 ( 2 ) , NC2(3) ,XF ,WATLB 9)
DCNL I zF INTP2 (BA P , VM , BA 2 , VM2 ,CN4F ,NC2( l ) , NC2 (2) ,NC2 (3) ,XF , WATL 1O)
C L P : F I N T P 2 ( BA P , VM ,BA2 , V M2 ,CLPF ,N C 2 ( 1 ) ,N C 2 ( 2 ) , NC 2 ( 3 ) ,XF ,W A T L 1 1 )
XV :O .
CMQ : F I N T P 2 ( U A L , VM ,BA2 , V M2 ,CMQF ,N C 2 ( l ) , N C 2 ( 2 ) ,N C 2 ( 3 ) ,XF ,W A T L 1 d)
XF :0.
C N Rz F I N T P 2 ( U O T ,VM , BA2 , VM2 ,CMQ F ,N C 2 ( 1) ,N C 2 ( 2 ) ,N C 2 ( 3 ) ,XF ,W A T L 13 )
XF :0.
XF ,W A T L 1 4)
C L D P :FI N TP 2 ( BA P , VM , BA5 ,
VM 5 , CLDF ,N C 5 ( l )
,N C
5(2),
NC5(3 ) ,
X E:O .
D C L D O :V I N T P 1 (
V M ,DCLDV M ,DCLDOF ,N D C L D ( 1 ) , XF ,W A T L 1 7 )
D C L DA : F I NT P 1(
V M ,DCLDVM ,DCLDAF ,N D C L D ( 1 ) ,XF ,W A T L 1 7 )
DCL. F F I N T P 1 (
VM ,DCLDV M ,DCLDFF ,N D C L D ( 1) ,XF ,W A T L 1 7 )
~~
X F :O .
PX C P : F 1 N F P 2 ( u A P , VM ,BA6 ,VM ,DXCPF ,N C 6 ( 1) ,N C6 ( 2 ) ,N C 6 ( 3 ) , XF ,W A T L I B )
XF u.
DI -1 :FINTP ( I3AP , VM ,B A 7 , V M7 ,DCM F , N C 7 ( l ) ,NC7 ( 2 ) , N C 7 ( 3 ) ,XF ,W A T L 19 )
~
~~
X l :O.
DC~~O :FINTP 1 (
VM , CA 8 ,DCMOF ,NC8 (i) ,XF ,WATL 17 )
D;:1i: F INTP 1 (
VR ,CA B , DCM 1F ,NC8( 1 ) ,XF ,WA TL 17 )
C MO
CMO
~ --
_________________
CM O : CMO
1000 CONTINUE
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~ - --- --
--~.---
: - ~~~~~~~
DXCP*CZO *lO.8
C
C * * A EHO COEF WIND A X I S
DCMO :O .O
CZDR USPHI BDR
CZP z CZO + D C Z 2 * U S 2 P H 2 + C Z D Q * U C P H I * B D Q
CMP : CMO + D C M 2 * U S 2 P H 2 + CMDQ* UCPH I* BDQ
CMDR* USPIII* BDR
DCNII*USIIPHI + CMDQ* USP1~JI* BDQ + CMDR* UCPHI* BDR
CNP
CY P :
DCYII US4PHI + CZDQ * USPHI* BDQ + CZDR UCPH I BDR
C
C~ T RANSFORMATION FROM WIND TO BODY AXIS
CX
CXO
CL : DCL2* US2PH I+ DCL I4* US 11PUI + CLD P* BDP
CY : CY P ~ UC PHI
CZP* USPH I
IF(OPTNYW.GT.O. )CY:0.
_ CYP* USPH I
CZ
CU
CNP*UCPH I
CM P*USPH I
CM
CNP*USP H I + CM P*UCPUI + CMO + DCMO
DCLDR : DCLDO+ DCLDA*SIN( 6.2832*DCLDF*BALPHP )
I F O P TA 1 .LE. 2 . ) GO TO 1
CL
CL + DCLDR * BD R
RETURN
1 CL : CL + CLO + (CL 1*USPHI+CL2*US2PHI+CL3*SIND(3 . *BPHIP))*BAP/8.
RETURN
END
.L
.
~~
C ZP * U C P H I
- -~~
~~~
~~~
--
.
~
-
-- -~~~~ ~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
SUBROUTINE A2
BODY AXES
C * * A E R O FORCE AND MOMENT MODULE
COMMON C ( 3 8 3 0 )
101 FOR MAT ( 1I- I O ,LIX ,2 1HFRONT LUG CLEARS RAIL ,5X ,3HT :
, 1PE 1O.2 ,5X ,
1P E 1O .2 )
*
9HREL VEL :, 1P E 1O . 2 ,5X ,1I4 HPITCH MOMENT
~,
C
C** INPUT DATA
EQUIVALENCE ( C ( l 3 O 6 ) ,RFAREA )
EQUIVALENCE ( C ( 1 3 0 7 ) ,RFLGTH )
EQUIVALENCE ( C ( 1 3 1 6 ) ,RLUG
EQUIVALENCE ( C ( 1 3 1 7 ) ,RAIL
Q U IV A L E N C E (C(133O) ,AGV
E Q U I V A L E N C E (C(171 12) ,
AMP2) , (C(17 ~46) ,
AMP 1 )
EQUIVALENCE (C(1332) ,CP H A S
E Q U I V A L E N C E (C(1333 ) ,AGH
EQUIVALENCE (C(133 11) ,RLGZ
E Q U I V A L E N C E (C(11 4O5) ,QI 3 U RN
E Q U I V A L E N C E (C(1627) ,AGRAV
C
C * * I N P U T S FROM OTHER MODULES
)
)
)
)
DIMENSION
IS N D X ( 1 1O )
EQ U I V A L E N C E
E QUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQ U I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
E Q UIVALENCE
E QU IVALENCE
EQUIVALENCE
E QUI VALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIV A LENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
(C(3512) ,
13512)
C C ( 1 2 0 3 ) , CX
( C ( 12 0 1 1 ) ,CY
(C(1205) ,CZ
)
(C(12O6) ,CLP
(C(1207), CMQ
(C(12O8) ,CNR
(C(1209) ,CL
(C(1210) ,CM
(C(1211 ) ,CN
(C(1236) ,CH1
(C(i237 ) ,CH2
(C(l238 ) ,CH3
( C ( 12 3 9 ) , CH14
( C ( 1 3 2 0 ) , FMXTH
(C(1321) ,FMYTH
( C ( l 3 2 2 ) , FMZ T H )
(C(l L 4ll ) ,FTHX
( C ( 1 1 4 1 2 ) ,FTHY
( C ( 1 L 1 1 3 ) ,FTHZ
( C ( 1 14 2 2 ) ,RLCG
( C ( 1 7 2 3 ) ,CFA 2 3
( C ( i 7 3 5 ) ,CFA 33
( C ( 1 7 3 9 ) ,WP
)
( C ( l 7 4 3 ) ,WQ
(C ( 1737 ) ,
FMX) ,
)
( C ( 1 7 4 7 ) ,WR
(C ( 17 118 ) ,
FMIX)
(C ( 17 3 8) ,
WPTO)
CHAD )
( C ( l7 5 1) ,
(C ( 6 2 6 ) ,
VIB )
(C (2 000) , T
(C ( 1972 ) ,R K U T T A )
)
)
)
)
)
)
(C ( 174 1 ) ,
FMY) ,
( C ( 1 7 4 5 ) , FMZ)
E QUIVALENCE
~~~
- - ---
~~~~~~~
--
~~
- ---- -
( C ( 1 9 7 5 ) ,NPT )
C* *0UT PUTS
)
EQUIVALENCE (C(1300) ,FXBA
EQUIVALENCE ( C ( l 3 O l ) ,FYBA
EQUIVALENCE ( C ( 1 3 O 2 ) ,FZBA
EQUIVALENCE ( C ( 1 3 0 3 ) ,FMXBA
EQUIVALENCE (C(13014 ),FMYBA
EQUIVALENCE ( C ( 13 0 5 ) ,FMZBA
EQUIVALENCE ( C ( 1 3 0 8 ) ,RDELCG)
EQUIVALENCE ( C ( 1 6 2 8 ) ,DMASS )
C
EQUIVALENCE ( C ( l 7 1 1 8 ) ,FMIX
EQUIVALENCE ( C ( 17 L 19 ) , FMIY
EQUIVALENCE ( C ( 17 5 0 ) ,FMIZ
C
C**OTHER OUTPUTS
)
EQUIVALENCE ( C ( 1 3 0 9 ) ,FMH1
EQUIVALENCE ( C ( 1 3 1 0 ) ,FMH2
)
EQUIVALENCE (C (13 11 ), FMH3
)
EQUIVALENCE ( C ( 1 3 12 ) ,FMI-14
EQUIVALENCE ( C ( 1 3 2 3 ) ,FMXLUG )
EQUIVALENCE (C ( 132 I ) ,FMYLUG )
EQUIVALENCE ( C ( 1 3 2 5 ) ,FMZLUG )
EQUIVALENCE ( C ( 3 5 0 4 ) ,OPTNL4 )
DATA FLG2 ,FLG1/O., 0./
C
C* * FO R C E VECTOR COMPONENTS
UQS : PDYNMC * R FA REA
UQSL :UQS* RFLGTH
)
)
)
F X B A :UQ S ( ~~C X ) + F T H X
FYBA ~ UQS * CY + FT HY
FZBA :UQS*CZ +FTHZ
C~~
C
C* *
AERO MOMENTS
UL2V
0.
IF (VAIRSP
(CL
FMXBA
(CM
FMY BA
(CN
FMZBA
CALCULATE
FMH 1 :
FMI-12
FMH3 :
FMH4 :
( NOTE FACTOR
OF 2 . 0 IN DAMPING COEFFICIENT)
R FLGT H / (2 . *VAIRSP )
+ FMXTH
* UQSL
* UQSL + FZBA RDELCG + FMYTH
FYBA * RDELCG + FMZT H
* UQSL
HINGE MOMENTS
C H 1* UQSL
CH2* UQSL
CH3*UQSL
CH ~4*UQSL
_
~~~~~ ~~~~~~~~
-_
--
--
---
.LE. RAIL+RLUG) GO TO 70
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
----- - --:
~ ~~~~ ~~~~~~~~~~~~~~~~~~~~~~~~~~
- ~~ ~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~
IDO :I
IF(ISNDX(I).EQ.1743 )CALL MCA RLO(DUM , 1 , IDO)
IF(ISNDX (I).EQ.1747 )CALL MCA RLO( DUM , 1 ,IDO )
CONTINUE
1.
C (13 )
WRITE (6 , 10I)WP ,W Q , WR
FO R M A T ( 1 H ,5OX ,2 1HT IPOFF RATES--ROLL
1011
711 YAW
,F 6.l )
C( 2 6 6 4 ) : C ( 2 7 6 1 4 )
FLG2
1.
W R I T E(6 , 102 ) T ,V A I R S P ,UFZL2
WRITE (6 , l03 ) R A N G O
: ,F6 .II)
103 FORMAT(32X , 9 H R A N G O
102 FORMAT (1HO ,36H
REAR LUG CLEARS
RAIL FORCE
*
1OH R EL VEL : ,F8 .3, 1 H
GO TO 74
70 IF (RANGO
RZDD
:AGV
,F 6 .1 ,9H PITCH
RAIL
:
,F 8 . 2)
,F 6 . l ,
,F8 .II,
.LE . RAIL) GO TO 72
RYDD
AGH
FYLUG :_ . (FYBA+DMASS*AGRAV*RYDD _ DMASS* (FMZBA*RLCG /FMIZ
_ FMXBA*RLGZ/FM IX)) / (1. + DMASS*( RLGZ**2/FMIX +RLCG**2 /FM IZ))
*
FZLUG : - (FZBA + DMA SS*AGRAV*(CFA 33_ RZDD ) + FMYBA*
R L C G * D MA S S / F M I Y )/ ( 1 . + DMASS * RLCG * RLCG/FM IY )
*
FMXLUG z FYLUG*RLGZ
FM Y LUG
FZLUG * RLCG
FMZLUG
!~~-
- -
FYLUG * RLCG
C
C
C
C
C
C
DTLUG :.026
FMX ~ WPT0 * FM I X / C R A D / D T L U G
CONTINUE
C
C
GO TO 74
72 C O N T I N U E
RZDD :0.
RYDD
:0.
RZDD
AGV
AGH
IF(RANG O
73
RYDD :
FYL UG
.LT. RAIL .3 ) GO TO
73
( F Y B A + D MA S S * A G R A V * ( C F A 2 3 + R Y D D ) )
- ( F Z B A + D M A S S * A G R A V * ( C FA 3 3 _ R Z D D ) )
FMXLUG : F NIXBA
FMYBA
EMYLUG :
FMZBA
FMZLUG :
FLG1 : 0 .
FZLUG
57
- - -
--- --- - --
_ _ _ _ _ _ _ _ _ _ _ _
FLG2 :O .
74 CONTINUE
C**TOTAL FORCE AND MOMENTS
FYBA
FZBA
FMXBA
FMYBA
FMZBA
FYBA
FZBA
FMXBA
FMY BA
:FMZBA
FYLUG
FZLUG
+
+
+
FMXLUG
EMYLUG
FMZLUG
75
I F( F L G 2 . G T . 0 . ) G O TO 75
I F (V I B . L E . O . ) G O TO 75
CALL LTRAN ( T ,DELT ,A M P 2 ,FMY ,WQO ,1 ,2)
CALL LTRAN( T ,DELT ,A MP1 ,FMZ ,WRO , 1 , 1)
CONTINUE
RETURN
END
L~~~~~~~~
_ _ _ _
~~~~~~~~~~~~~~~~~~~~
~~~~
--- _
~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- -- -
SUBROUTINE A 3
C** ENGINE MODULE
COMMON C ( 3 8 3 0 )
C
C
C** INPUT DATA
(C(1313 ) ,RFXCG )
(C(13114 ),RFY C G )
E Q U I V A L E N C E (C( 1315 ) , RFZC G )
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
( C ( 1 14 O 1 ) ,BALPHT )
( C ( l 4 0 2 ) ,BPHIT )
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
(C(i416 ) ,DWP
(C(1111 7) ,RDCGO
(C(1l 418) ,RDCG F
(C(141 9 ) ,FMIXF
(C(11 42O) ,FMIYF
(C(1421) ,RLCGO
(C(11423 ) ,FM IXO )
( C ( i 1 4 2 1 4 ),FM IYO)
EQUIVALENCE
(C(11403),QNALGN)
(C(114014 ),PC F TH )
(C(14O5) , Q BURN )
)
(C(1414) ,CI S P
)
(C(11415) , DWT
C
C** INPUTS FROM OTHER MODULES
EQUIVALENCE (C (2000) ,T
C
)
)
)
)
)
C** OUTPUTS
EQUIVALENCE
EQ U I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
(C (13O8) , RDELCG)
(C(1320 ) , FMXTH )
(C(1321 ), FMYTH )
(C(1322) , FMZTH )
)
(C(1409) ,UDWP
(C( 1410) , FTHRST)
(C (1411 ), FTI-I X
)
(C(14 12) ,FTHY
)
EQUIVALENCE
EQUIVALENCE
EQUIVALENC E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
( C ( 1 14 1 3 ) , FTUZ
LL
~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-~~ -
~~~~~~~~~~~~~~~~~~~~~~
IF (QNALGN) 20 , 20 , 10
10 USINA :SIND(BALPHT)
FTHX :FTHRST*COSD (BALPHT)
FT H Y :_ FT H RS T * U SI NA * S IN D( B P H IT )
FTHZ :FTHRST*USINA*COSD (BPHIT)
_ FTUY *RFZ CG + FTHZ R FYCG
FMXTH
EMYTH
FMZT H
GO TO 30
FT HX * RFZCG
_ FTHX * RFYCG
FTHZ*RFXCG
FTHY*RFXCG
20 FTF!X ZFTHRST
FTHY :0.
FTHZ:O .
FMXT H O.
FMYT H:O .
FMZTU :O .
C
C
C
30 CONTINUE
UIMPD
UDWP
DMASS
RDELCG
FMIX
EMI l
FMIZ
C
--
FTHRST
U IM P / C IS P
(DW T-,-DWPU DWP )/32 .174
REIC GF )* UDWP/DWP
( RDCGO
RDCGO
FMIXO
FMIYO
FMIY
R LCG
RLCGO + RDELCG
IF (FTHRST .GT . 0.) RETURN
WRITE (6 , 100) T
100 FORMAT (/ / 1 1 4 9 BURNOUT T IME: ,F8 .14 ,511 S E C . )
QB U RN= 1.0
RETURN
END
_
_
_
_
_
_
---.
~~~
________
_________
- i
~~~~~
~~ : ~~~~~~
- --
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~
-:
SUBROUTINE A 3I
COMMON C(383O )
DIMENSION IPL(100) , ISNDX(40)
EQUIVALENCE (C(3634) , ISNDX(1)) , (C(3512) , 13512)
EQUIVALENCE (C( 367),BALP HA )
EQUIVALENCE (C( 368),BALPHY )
EQUIVALENCE (C( 370),BPHIP )
EQUIVALENCE (C(1308) ,RDELCG )
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQU iVALENCE
EQUIVALENCE
)
EQ U I V A L E N C E
)
EQUIVALENCE
EQUIVALENCE
)
EQUIVALENCE
)
EQUIVALENCE (C(1739) ,WP
EQUIVALENCE (C(17L 13) ,WQ
)
EQUIVALENCE (C (1747) , WR
)
EQUIVALENCE (C(171 48) ,FM IX
)
EQUIVALENCE (C(17149) ,FMIY
)
EQ U I V A L E N C E (C(1750) ,FMIZ
T)
EQUIVALENCE (C(2000) ,
)
EQUIVALENCE (C(2561) ,N
EQUIVALENCE (C(2562) ,IPL (1))
CHAD )
E QUIVALENCE (C(175l ) ,
EQUIVALENCE (C( 626),
VIB)
FMX ) ,
E Q U I V A L E N C E (C(1737) ,
DATA IFLG 1 ,IFLG2/ O ,0/
) : 14 96
IPL( N
N :N -i- i
C(1499) = 0.
(C (1741 ) ,
)
)
)
: 0.
BALP HA
0.
BALPI-I Y = 0.
BPH IP : 0.
ERRORS
( C ( 14 12 ) ,FTHY
( C ( 1 4 l 3) ,FTHZ
( C ( 1 1 4 1 5) ,DWT
(C(1418) ,RDCGF
(C (114 19) ,F MI XF
(C(1142O ) ,FMIYF
(C (1628) ,DMAS S
( C ( 13 2 0 ) ,FMXTH )
( C ( 13 2 1 ) ,FMYTH )
(C(1322) ,FMZTH )
(C( 1405) ,QBURN )
)
(C(141l ) ,ETHX
100
I
IF(ISN DX( I ) .EQ .1313 ) CALL MCARLO (DUM , 1 ,
IF( ISNDX( I ) .EQ .131L 1 ) CALL MCARLO (DUM , 1 ,
F(ISNDX( I ) .EQ. l315 ) CALL MCARLO (DUM , 1 ,
IF(ISNDX(I) .EQ. 1140 1 ) CALL MCARLO (DUM , 1 ,
IF(ISNDX( I).EQ. 1402) CALL MCAR LO (DUM , 1 ,
C~ M ONTE CARLO TIPOFF ROLL , PIT C H AND YAW RATES
61
IDO)
IDO )
IDO )
IDO )
IDO )
-
~~~~
______
~~~~
~~~~~~~~~~~~~~~~~~
CONTINUE
IF LG 1 1
IFLG2= 1
RETURN
10 C ONTINUE
FTHRST = O.
FTHX:0 .
FTHY=O .
FT HZ =0 .
FMXTI-1:O.
FMYTH:0 .
FMZTH=0 .
DMAS S
DWT/ 32 .17 14
RDELCG : RDCGF
FMIX
FMIXF
FMIY = FMIYF
FMIZ = FMIYF
RETURN
END
62
-
~~~~~~~~~~~~
BLOCK
DATA
COMMON
* /NC1Z /NC 1 (2)
*/ CA 1 /V M 1 (1 5 )
/NC 2Z/NC2 (4 )
/NC3Z/NC3 (4)
/CA2 /BA2 (6), VM2 (6)
/CA5/6A 5 (7) ,VM5( 3)
*/ C A 3 / B A 3 ( 7) , V M 3 ( 5 )
COMMON
/CMOFZ /CM O (6) /CA 4Z/VM 4(6)
/NC5Z/NC5 (LI )
/CM2FZ/CM2(35)
/CMPFZ/CMP( 35 )
/CZ2FZ/CZ2 (35)
*/CZPFZ/CZp (35 )
/CL4FZ/CL14(21)
/CL2FZ/CL2(21 )
*/CYI4Fz/CYI4(36)
/CNI4FZ/CNI4 (36)
/CMDFZ/CMD 1(35 )
*/CZDFz/CZD1 (35)
/CLDFZ/CLD1 (21)
*/CMQFZ/CMQ(36)
/CLPFZ/CLP (36)
*/CXOFZ/CXO (15)
COMMON /NC 6Z/NC (4 ) /CA6/BA6 (6) , VM6 (14) /DXCPFZ/DXCPF (24 )
COMMON /NC7Z/NC7( 4) /CA7/BA7 (9) ,VM7( 3) /DCMFZ/DCMF (27 )
~~~ .
- .
,~~~~~
~~~ .
--~
------ -
-~~~~~
--~~~~-
_---~~~~~~~~~~ --- - - -
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
IuUI
~~
DATA CY4/
0.00 , 0.05 , 0.1 4 , 0.30 , 0.55 , -1.05 ,
* 0.00 , 0.06 , 0.16 , 0.32 , 0.57, 1.07,
* 0 . 0 0 , 0 . 0 7 , 0.18 , 0.35, 0.63, 1 . 1 0 ,
* 0 . 0 0 , 0.10 , 0 . 2 3 ,
0.45, 0.80 , 1 . 140 ,
* 0.00 , 0.08 , 0.20 , 0.40 , -0.70 , 1.27,
* 0.00 , 0.06 , 0.15 , 0.30 , 0.60 , 1 . 1 3 /
DATA CN14/
*
0.00 , 0.05 , 0.15 , 0.43, 0.97 , 1.85 ,
*
0 . 0 0 , 0.05 , 0.12 , 0.~48 , 1.05, 1.92 ,
2.12 ,
*
0.00 , 0.07 , 0 . 2 3 ,
0.55 , 1.1 7,
1.65,
3.05,
*
0.00 , 0.10 , 0.30 , 0.80 ,
*
0.00 , 0.06 , 0.25 , 0.70 , 1.55 , 2.95 ,
*
0 . 0 0 , 0.0 14 , 0 . 2 0 ,
0 . 6 5 , 1.50 , 2 . 8 5 /
DATA CL14/
.005 , .016 , .036 , .067 , .110
* .000 , .002 ,
.001 , .002 , .006 , .018 , .042 , .020
* .0 00 ,
*
. 0 0 0 , .0 00 , .000 , .003 , .013 , . 0 0 9 , .0 1 3 /
DATA CL2!
*
.000 , . 005 , .013 , .0314 , . 0 6 6 , .062 , .010
*
. 0 0 0 , .0014 , .013 , . 03 4 , . 0 8 0 , . O3b , .055
*
. 0 0 0 , .003 , . 0 0 7 , .023 , .044 , .030 , .0 1 O /
DATA C Z 2 /
.1)6 ,
*
.0 2 ,
.00 ,
.25 ,
.55 , 1.0 0 , 1.58
*
.00 ,
.02 , .06 , .25 , .58 , 1.04 , 1.63 ,
*
.00 ,
.25 , .55 , 1.00 , 1 .58 ,
.02 , .06 ,
*
.00 ,
.02 , .06 , .25 , .55 , 1.00 , 1.54 ,
*
.02 ,
.06 ,
.52 ,
.83 , 1 . 1 2 /
.00 ,
.25 ,
DATA CM2/
* ..O~ 0O , O. O5 , O . 1 0 , 0 .~40 , 1 .05 , 2 .05 ,3 . -4O
* ...0 00 ,~~ 0 . 05 , u . 1 0 , _ 0 .140 ,1. 05 , 2 .20 ,3 .75
* _ Q . tJO ,~~0.00 ,O .O5 , O .3O ,O.9 5 , 2 .10 , 3 .5O
2.45 ,3 .90
* ...Q.OO ,.
~0.05 , 0 .10 , 0.45 , 1 . 1 5 ,
*_ O~~OO , 0 .05 , O . 1O , O .55 , 1 . 3 5 , 2 .~40 , 3. 6 /
DATA CM Q/
* 1. 75 , 2.7 4 , 3.06 , 3 .07 , 2.88 , 2.55,
* 1.75 , 2.73,
3. 02 , 3. 03, 2.87 , 2.57,
* 1.75 , 2.68 , 2.98 , 3 . 0 0 , 2.88 , 2.63,
* 1.75 , 2 . 7 1 4 , 3. 14 , 3.3 0 , 3 .22, 3.26 ,
* 1.75 , 2.7 14, 3 . 1 1 4 , 3 . 3 0 , 3 .25, 3 .3 14,
* 1.75 , 2.79 , 3 . 2 0 , 3 . 3 8 , 3 .50, 3.59!
DATA CLP/
* .03 , .057 , .072 , .079,
.081 , .076 ,
~~
* . 038 , .057 , .072 , .079, .081 , .077,
*
- .038 , - .057 , .072 , .079, .082 , .079,
106 , .117 ,
* . 042 ,
.06 1 , .078 , .093,
*
.04 1 , .059, .07 6 , .090 , .103, . 1 1 3 ,
*
- .038 , .053, .068 , .083, .099, .114!
DATA NC 6/6 , LI , 2L1 , 0/
DATA BAb/0., 2. , 4 .,8. , 12 ., 16./
DATA V 19!.85 , .95 , 1. 05 , 1.25/
D A T A LX C P F /
* .OOu O ,. 0000 , .000 0 , . 0 000 , . 0 0 0 0 ,. 0000 ,
* .0000 , .0000 , .0000 , .0055 , .0075 , .0085 ,
* .O1 L IO , .0 135 , .0125, .0120 ,.0 1 15 , .O 1 1O ,
* . U 4 1 5 , . ~ ) , 41O , . O ~~~Q , . 0 2 8 O , . 0 1 9O , . Q 1 5 0 /
i~A TA NC7/~~,J , 27 , O/
DATA BA (/O.C , 2.0 , 14 .1 , 6.1 , 8.1 , 10.2 , 13 .2 , 16.3, 19 .3 /
*
UAT A
L.
~~
DAIA
-
V: ~~( / . 5 , . 9 5 , 1. 25 /
DCMF/
64
_ _ _ _
_ _ _ _ _ _ _
_ _ _ _ _ _ _ _ _ _ _ _
___
END
65
_
~~~~~~
- -_ -
-- -
SUBROUT INE C l
COMMON C ( 3 83 0 )
Dl ME N ~~iUN BDELTC (4) ,VAR (1O 1 )
C
C** INPUT DATA
)
EQ U I V A L E N C E (C( 86O ) ,TDY
EQUIVALENCE (CC 861) ,GBIAS )
)
EQ U I V A L E N C E (C( 862) , GN
)
E Q U I V A L E N C E (C( 863),WN2
)
E Q U I V A L E N C E ( C ( 8614 ) ,WN 1
)
EQUIVALENC E (C ( 8 6 5 ) ,W L
E Q U I V A L E N C E (C( 866),W LXX 1 )
EQUIVALENCE (CC 867),WLXX2 )
EQUIVALENCE (CC 868) ,WLJK 1 )
E Q U I V A L E N C E (C( 869 ), WLJK2 )
)
E Q U I V A L E N C E (CC 870),HJK
)
E Q U I V A L E N C E (CC 871 ) ,WXX
)
E Q U I V A L E N C E (C( 872) ,DXX
)
(CC
EQUIVALENCE
873),WJK
)
E Q U I V A L E N C E (C( 874 ),DJ
)
EQUIVALENCE (CC 875) ,GXX
)
E Q U I V A L E N C E CCC 876) ,GJK
)
EQ U I V A L E N C E (CC 877) ,RES
)
E Q U I V A L E N C E (CC 878),QDN
)
E Q U I V A L E N C E (CC 879),QUP
)
EQU IVAL [NC E (CC 890),HXX
(CC
EQUIVALE N CE
892),QBIAS )
EQUIVALENCE (CC 893),RBIAS )
E Q U I V A L E N C E (CC 899),OPTC 1 )
)
EQUIVALENCE. (CC 947) , GNS
)
E Q U I V A L E N C E (CC 948),WS1
)
E Q U I V A L E N C E (CC 9149), WS2
C
C* *INPUTS FROM OTHER MODULES
)
E.~U I V A L E N C E (CC
77),SPH I
)
EQUIVALENCE (CC
87),STI-IT
)
E Q U I V A L E N C E (CC
97),SPSI
E Q U I V A L E N C E CC( 353) , BPH 1
)
)
E Q U I V A L E N C E (CC 3514 ), BTH2
)
J
I
V
A
L
E
r
E~~
~CE (CC 355),BPS 1
E Q U I V A L E N C E ( CC 14 O 3 ) ,WLAMQ )
E~~ !~~V~ L ENCE ( CC 4 0 7 ) ,WLAMR )
)
E Q U I V A L E N C E (CC 1461) ,CAGE
)
EQUIVALENCE (C ( 4 6 2 ) ,TKRZ
)
E Q U I V A L E N C E ( CC 4 6 3 ) ,T K RY
)
E Q U I V A L E N C E ( C ( 1 2 3 3 ) ,BDR
)
E Q U I V A L E N C E (C(171 47) ,WR
EQUIVALENCE (C (171 43) ,WQ
)
E Q U I V A L E N C E (C(1739) ,WP
C
C * * I N p U r s FRJi 1 MAIN PROGRAM
E Q U I V A L E N C E (C(2000), T
C
C* * STATE V A R I A B L E OUTPUTS
E Q U I V A L E N C E (CC 800),WLQSDD )
E Q U I V A L E N C E (CC 8 0 3 ) ,W LQSP )
E Q U I V A L E N C E CC C 804), WL QSD )
)
E Q U I V A L E N C E (CC 807) ,WL QS
E Q U I V A L E N C E (CC 808),WLQSSD )
--
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- - -
- -
EQUIVALENCE
EQUIVALE NCE
EQUIVALENCE
EQUIVALENCE
EQ U I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQ U I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQ U I V A L E N C E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
E Q U I V A L E NCE
E Q U IV A L E N C L
EQUIVALENCE
EQUIVALENC E.
EQu IVALENCE
EQUIVALE N CE
EQ U I V A L E N C E
EQUIVAL ENCE
EQUIVAL L N \ E
EQ U I V A L E N C E
EQ U I V A L E N C E
EQ U I V A L E N C E
EQ U I V A L E N C E
EQUIVALENCE
E Q U iV A L E N C E
EQUIVALENCE
E~ U I V A L E N C E
E.O J I V A L L N C E
f-L c J IV LEN C E
~
E~~u IV A L E N C E
~~~~~~
(CC 8 1 1 ) ,WL Q SS
(CC 812) , WLRSDD )
(C( 815) ,WL R SP )
C C C 816) , WLRSD )
)
(CC 819) ,WLRS
(CC 820) ,WLRSS D )
(CC 823) ,WLRSS )
(CC 82L1) ,BLQSSD)
(CC 827) , BL Q SS )
(CC 828) ,BLRSS D)
C C C 831 ) , BLRSS )
(C ( 832) ,BJ .JSDD)
(C ( 835) ,BJJS P )
(C( 836) , BJJSD )
)
(C( 339),BJJS
(C( 840) ,BKKSDD )
(CC 843) , BKKSP )
(C( 8LILI ),BKKSD )
)
(CC 8147) , BKKS
(CC 8448) , BXXSDD )
(CC 851) , LxxSP )
(C( 852) ,BXXSD )
)
(CC 855), BXXS
(C( 931 ) , BJ SSD ) , CCC 934) , BJSS
(CC 935),BKSSD ), (CC 938),BKSS
), (CC 953),SNP1
(CC 950),SNP2
), (CC 96O) ,SNQ1
(CC 957),SNQ2
) , (C( 967),SN R 1
(CC 9614 ), SNR2
) , (CC 974) ,BPC 1
(CC 971 ) ,BPC2
(
C
CC( 903 ) ,H 13P) , (9 04 ) ,H13M )
(CC905) , H214P) ,(C (906) ,H2 14 M )
(C(907) , CDRFT 1 ) , CC (908) ,CDRFT2)
(C(909) ,C D R F T Y )
(C(98L1 ), C D R F T X )
(CC 1676) ,ANUX )
(CC978 ) , B D R F T D ) , (C(981) ,B D R F T )
(C(985) ,N LMT 1 ) , (C(986) ,NLMT2 )
(C(987) ,BJJSSS) , (C (988) ,BKKSSS)
- ~
-- -_
~
~~~~~~~~~~~~~~~~~~~~
)
),(C(
),(C(
) ,(C(
) ,(C(
956),SNPO
963),SNQO
97O) ,SNRO
977),BPCO
C * * OUT PU T S
C
EQ U i V A L E N C E
EQUIVAL E NCE
EQ U I V A L E N C E
E QU I V A L E N C E
EQUIVALENCE
EQUIVALENCE
(C(518), B13SS)
CC (5 1 9 ) ,B211SS)
)
CC( 881 ) ,BJJ
CCC
882), BKK
~~~~~~~~~~~~~
~~~~~~~~~~~~~~
-:
T i
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
~~~~~~~~~~~~~~~~~~
__ _ _
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
(CC 883),BXXSS )
(C( 884),BJJ S S )
CCC 885) , BKKSS )
886) ,BTHTS
8 8 7) ,BPSIS
(CC
( CC
)
)
W N 2 * ( W N 2* ( W L A M Q
WLQS )
WLRSDD = W N 2 * ( W N 2* ( W L AM R
WLRS)
G N * ( W L Q S D / W L + WLQS ) + QBIAS
WQC
WRC = G N * (W L R S D / W L + W L R S ) + RBIAS
WLQSDD
IF
2. W L Q S D )
2. *WLRSD
GB IAS
C T K R Z . G T .0 .
W LQS DD = 0.
WQC = QB IAS + GBIAS + QDN
IF (CAGE .GT . 0. .AND. T.GT . TDY) WQC
14 IF (TLKRY .GT . 0.) GO TO 5
WL RSDD
0.
W RC
RBIAS
I F( C A G E .G T . 0 .) WRC = WLAMR
5 CONTINUE
W N1 M ( WQC
WLQSS )
WLQS S D
WLRSS )
WLRS SD = W N 1 * ( W R C
IF ( W N 1 .GT . 0.) 50 T O 3
WLQSS = WQC
RBIAS
WLRSS
3 BLQSSD
BLRSSD
WRC
WLQSS
WLRSS
C
C**RATE GYRO DYNAMICS AND LIMITING
BDRFTD= (CDRFT1*ANGXCDRFT2)
-~~~~~~~
BTHTS= BTH2BDR FT
BPSIS=_ BPS 1 +CDRFTY *B DRFT
B PHI S=_ BP H1C DR FTX*BDRFT
(WQ*C OSD(_ BPH1 ) _WR*SIND( _ BPH 1 ))
BPHISD = W P
S IND( ...BPS1)/C OSD ( ...BPS1)
*
BPH S = BPHISD / WLXX2 + BPHIS
6 IF(GNS .LE . 0.) GO TO 8
SNP2
WS 1*W32*(GNS*SP1~
(W S 1 +W S 2 ) S N P l
SNQ2
(WS1+WS2)SNQl
~I S1 *~~S2*(GNS*STHT_ SNQO )
S N R 2 = W S 1* ~~S 2 * C G N S * S P S I_ S N R O )
-
1 I_ S N P 0 )
B PH S
BP1IS - S N P 1
B i H T S = BTHTS
SNQ 1
BPSIS = BPLIS
SNR 1
( W S 1 + WS 2 ) S N Rl
8 CONTINUE
BXX
BPHS
BTI- ITS
BTSS
BPSS
BPSIS
C *****3PEC IAL CASE
P R O G R A M M E D FLIGHT
IF (OPTC 1 .LE . 0.) GO TO 9
BLQSSD = QB IAS
BLR SSD
BDC
BT=O.
BP~ 0.
0.
0.
~~~~~~~~
~~~
~~~~
~~~~~~~~~-~~~~~~-
-~~~~~~~ ---
--
-----~~
-~~--
_ : T i
~
ITT ~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~
~~
==~~~~~~:-
- -~~~~~~~~~~ = ~
BPSS = BPSSBP
BKK
( BLRSS BPSS )
C
C* * G U I D A N C E SIGNAL SH A PING
BXXSD = BXXSP
BJJSD
BKKSD
( BLQSS BTSS)
AND LIMITIN G
B JJS P
BKKSP
BXXSDD
WXX*( WXX*(BXX - BXXS ) - 2 . *DXX*BXXSD )
BJS D=CJSD
BKSD =C KSD
B XSD C XSD
HSATz23 .
IF(ABSCBJJS).LT.HSAT)G0 TO 20
BJJS :SIGN(HSA T ,BJJS )
VAR(NLMT 1+ l )= BJJS
IF( BJJS*BJJSD GT. 0.O)BJJSD=O .0
=
20
25
**
30
35
10
L~
V A R ( N LA T 2 + 3 )= B K S
IFCBKS*BKSD .GT .O.O )BKSD :0.O
z3KSDD W J 2 * C W J 2 * C B K K S S_ B K S ) _ 2.*DJ2*BKSD )
IE (ABS (BJS) .LT .I-iSAT)GO TO 35
BJS = SIGN(HSAT , B J S )
VA R ( N L M T 2+ 1 )=BJS
IF (BJ3*BJSD. GT .0.0)BJSD=0 .O
BJSDD ~~ J 2* (WJ2* (BJJS S_ BJS )_
2.*DJ 2*BJSD )
BX SDD ~ WX2 * (WX2 *(BXXSS_ BXS)_ 2. *DX 2*BXSD)
BKK SSS=BK SD/wLJK2 +BK S
IF (A B S (BKKS3G ) .GT .HSAT)BKKS SS=SIGN (HSAT ,BKKS SS )
BJJ SSS=BJSD/WLJK2+BJS
IF(ABS (BJJ3SS) .GT.HSA T)BJJSSS :SIGN (HSAT ,BJJ SSS )
BXXS 3S=BXS
BJJSSL :BJJSSS
BKKSSL :BKKSSS
IF (BJJSSL.GT .H13P)BJJSSL :H13P
69
_
- -
~~~~ r ~~
-=
~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~
C
C**COMMAND S TO ACTUATORS
BJSSD : 20 . * ( B 13 S S_ B J S S )
BKSSD = 20 . * ( B2 ~4SS _ B KSS )
B13SS = BJSS D!12 5 .+BJSS
B24 SS
B K S S D / 12 5 . + B K S S
BDELTC ( 1 ):B13SS+BXXSSS
BDELTC (2 ):B24S S+BXXSSS
BDELTC( 3 )=B 1 3SS BXXSSS
B D E L T C (4 ) = B 24 S S B X X S S S
RETURN
END
~~:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~
~~~
- -- -
-------r--
------
- ---
IPL(N
) 800
I P L( N + 1) = 8 0 4
IPL( N+2 )
808
I PL( N +3 ) = 812
IPL (N+ 4) : 8 1 6
I PL( N + 5) : 820
I P L( N+6 )
82 11
I P LC N + 7 ) : 828
IP L( N+8) = 8 3 2
NLMT 1= N+9
IP L( N+ 9 ) = 836
I P L( N+ 1O )
8 14 0
IP L ( N + l 1 ) = 844
IPL (N -12) :848
I P L( N+ 1 3 )
N : N +14
C( 80 3)
CCC
852
0.
C(8O 7)
0.
C (811 )
0.
C (8 15) = 0 .
C(819) = 3.
C(8 23)
0.
C (827) = 0.
C(831 ) = 0.
CC8 35 ) = 0.
C (839) = 0.
C(8143)
0.
0.
CC847 )
CC85 1 )
0.
CC855 )
0.
CC 8 1 1 ) = CC 378)
CC 82 3 )
CC 8 7 9 )
C ( 11 13 )
CC 831)
CC 8147) =C( 831)
CC 831 )
CC 839)
PROGRAMMER
IF(CC899) .LE.O.) G0
I P L (N) 971
I P L ( N 1) - = 9 7 4
N N +2
CC 97 14 ):0.
C (861)
TO 9
CC 977 ):0.
I F C C ( 9 4 9 ) .LE. 0 .) GO TO 10
9
C * * G Y R O POT NOISE
) : 950
IPLCN
I P L( N+ 1 ) = 953
I P L( N2 ) : 957
IPL(N+ 3 ) : 960
IPL (N+11 )
964
IPL(N+5 ) 967
N : N + 6
C( 953) : 0.
-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
SUBROUTINE C l I
COMMON C (3830)
DIMENSION IPL (100)
)
EQUIVALENCE ( C ( 2 5 6 1 ) ,N
)
EQUIVALENCE ( C C 2 5 6 2 ) ,IPL( 1)
EQUIVALENCE ( C ( 9 8 5 ) ,NLMT 1) ,( C ( 9 86 ) ,NLMT2)
L.
~~~~~~~~~~~~~
~~~~~~~~~~~~~
-~~~~
~~~~~~~~~~~~~~~~~~~~~~
T~~
~~II~~~~
~ ~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
:
T
T
T ~~~~~ -
C( 956) : 0.
C( 960)
0.
C( 9 6 3 ) = 0.
C( 967)
0.
C( 9 7 0 ) = 0.
10 CONTINUE
I F ( C ( 9 4 4 ) * C ( 9 14 6 ) . L E . O . O ) G O TO 20
I P L( N) = 5 3 0
IPL (N +1 ):5314
NLMT2 = N+ 1
I P L( N+2 ) = 5 3 8
I P L( N+ 3 ) = 54 2
IPL( N+ LI)=5 46
IP L( N+5 ) :5 50
W = N+6
C( 533) : 0 .O
C ( 5 14 1 ):0., 0
C (549)=O .0
C(537)=0 .0
C (5L15):0.0
CC 553 ) :0 .0
20
CONTINUE
)
IPLCN
931
IPL(N +1 )
935
N =N +2
C( 934) : 0.
0.
CC 938)
IPLCN)=97 8
N= N +1
CC981):0 .0
RETURN
END
7
_ __ _ _ ~ __
_ _
_ _ _ ____
__
___________
~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
--
~~~~~~~~~
- .
~~~~~~~~~~~~ : --
SUBROUTINE CLI
C
C** HELFIRE SIMPLIFIED ACTUATOR MODEL
C****** NON
LINEAR MODEL ~~~~~~
C
COMMON C ( 3 8 3 O )
DIMENSION BDSS(14 ),BDSC 4 ) ,BDSD ( ~I )
DIMENSION BDELTD(LI ),BDELT (4),BDELTC (4 ),V A R (1O 1 )
DIMENSION BDLT(4) , BDT(4)
14 )
WDS2D (LI ), W D S 2 ( 4 ) , WDS1D(14 ), WDS 1 (
DIMENSION
DIMENSION IPL (101 )
DIMENSION NC2(2) , CB2C ) , CHAF(6)
DIMENSION
G1 (14),G2C 14) ,G3 (4),W 1 ( 4 ) ,ZN(4),WN (14)
DIMENSION H1 (4) , H2C 4 ) , BH (14 )
DIMENSION C B 1C 6 ) , CHDU(6) , CHDL(6)
DIMENSION AIH( 14 )
EQUIVALENCE (C(521) , A IH (1 ))
EQUIVALENCE ( C C 1 1 1 b ) , G3 ( 1) )
E Q U I V A L E N C E C C ( 1 1 2 U ) ,G 1 C 1 ) )
EQUIVALENCE (C (112 ~4) ,Z N C l ) )
EQUIVALENCE ( C ( 1 1 2 8 ) ,W N ( 1 ) )
EQUIVALENCE (CC 113 2) ,I 1 ( 1 ) )
~
EQUIVALENCE ( C ( 1 1 3 6 ) ,G 2 ( 1 ) )
E QUIVALENCE (C(11L 18 ) , H 1 C 1 ) )
E Q U I V A L E N C E CC C 1152) , H2C 1 ) )
E Q U I V A L E N C E (C (1 156) , B H C 1 ) )
C
C**INPUT DA TA
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
C
C**INPUTS FROM OTHER MJDULES
EQUIVALENCE CC (0203 ) ,PDYNMC)
E Q U I V A L E N C E (C( 204),VMACH
EQUIVALENCE CC( 367),B A L P H A )
EQ U I V A L E N C E (CC 368), BALPHY )
E Q U I V A L E N C E (CC 377), BALPD )
EQ U I V A L E N C E (CC 378),BALYD )
EQUIVALENCE (C( 856) , BDELTC(1))
EQUIVALENCE (CC 12 SLI ) , DELTB)
EQ U I V A L E N C E (C(1192) ,BDTC1 ))
E Q U I V A L E N C E (C(1 196) ,BDLT(1 ) )
EQUIVALENCE CC (525) , BDSSC 1 ))
E Q U I V A L E N C E (C(1310 ), FfrIH2 )
)
EQUIVALENC E ( CC 1 3 1 1 ) , FMH3
)
E Q U I V A L E N C E (C(1312 ) ,FMH I4
C
C * * I N P U T S FROM MAIN PROGRAM
)
EQUIVALENCE ( CC 2 0 0 0 ) ,T
)
(C(
2013)
EQUIVALENCE
,DOC
)
EQ U I V A L E N C E (C 2561 ) ,N
~~--------- -~~~--- -~~---
- - -
---
--
__________________________________________
EQUIVALENCE
DATA
DATA
DATA
DATA
DATA
- ~~~~~~
--
--- -
-- ~
(C(2562) ,IPLC 1 ))
BDELT (2):C(1107)
BDELT(3 )=C( 1 1 1 1 )
BDELT(14 ):C(1 1 1 5 )
BD S( 1 )~~C (1O87 )
BDSC2)=C( 10 91)
BDSC 3 )= C C 1095)
BDS(14):C(1099)
WDS2 (1)
CC 11b 3 )
WDS2 (2 ) = C ( 1 16 7 )
WDS2 (3) = CC 1 1 7 1 )
WDS2 (4) : C C 1 1 ~~5)
W DS1 (1) = C( 1179)
WDS 1 (2)
CC 11 83 )
WDS 1 ( 3 ) = CC 1187)
WDS 1 (4) = C ( 1 1 9 1 )
C
C**ACTUAT OR DYNAMICS
X K :O .
VM : A M I N 1 ( V M A C H , 1. LI)
CALL TABLE(VM , CB1 ,CH DU ,NC2( 1) ,XK ,WATLB 1 ,CH114 )
CALL TABLE(VM ,CB1 ,CHDL , N C 2 C 1 ) ,XK ,WATLB2 ,CH23 )
CALL TABLE(V M ,CB2 ,CUAF ,N C 2 ( 1 ) ,XK ,WATLB 3, FM HA )
FM14 : CH1 )4*PDYNMC *RFLGTH*RFA REA* 12 .
CH2 3 *PDYNMC*RFLGTU*RFAREA*12.
FM23
DO 30 1:1 , 14
(I+1)!2
J
FMHD
FM 1LI
B D S D( I) = 6 5 . * ( B D E L T D ( I) ! 12 5 . + B D E L T( I)_ B D S( I) )
BDSS(I )=BDSD (I )/125. +BDSCI)
A I U ( I) : B D H
IF( BDI- I.LT. H 2 ( I ) ) B D H : H 2 ( I )
I F( B D H . G T . I- I1( I)) BDH= 1- 11(I)
WDS 1D( I ) : W 1 CI ) * ( B D H _ W D S 1 C I ) )
I F( B DT C I ) .LT . B D E L T ( I) B H ( I) ) B D T ( I) : B D E L T ( I) B H( I)
IF(BDT (I).GT.BDELT(I)+BHCI))BDT (I) :BDELT(I)+BH (I)
C* * S U R F A C E POSITION LIMITER
IF((ABS (BDELT(I)).GT . 19.).AND. (BDELTD (I)BDELT (I).GT.O.))BDELTD( I)
L~~~ L.
-~~~~-
- -
-~~~~~
- -
_
_
_
_
30 CONTINUE
C ( 1 0 84 ) = B D S D ( 1)
C ( 108 8 ) = BDS DC2 )
CC 1 092 ) = B D S D ( 3 )
C( 1 096 ) : B D S D(4 )
C ( 1 10 3 ) = BDELT(1)
C ( 1 1 07 ) = B D E L T (2 )
C( 1111)
BDELTC 3)
: B D E L T (4 )
C ( 1 1 15 )
C
C** OUTPUT D E R I V A T I V E S OF STATE
C ( l l O O ) = B D E L T D ( 1)
C( 11O4 )
BDELTD(2 )
C ( 1 10 8 ) : B D E L T D ( 3 )
C ( 1 1 1 2 ) z BDELTD(LI )
C ( 1 l 6 O ) : W D S 2 D ( 1)
C C 1 1 6 1 4 ) = ID S 2D ( 2 )
~
C ( 11 68) = WDS2D (3 )
W DS2 D(4 )
C ( 1 17 2 )
=
C ( 1 1 7 6 ) = wDS 1DC 1 )
C(1 180) = W D S 1D ( 2 )
C ( 1 1 8 4 ) = WDS 1D(3 )
r ( 1 1 88 ) = WDS 1D(4 )
C
-
..
VARIABLES TO INTEGRATION
C * * * * ** * * * * * * * * * * * * * * * * ** * * * * * * * * **
RETURN
END
--
--
-~~~
SUBROUTINE
- ---- -
-.
-- ---- -
- -- -
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
C4 I
COM MON C ( 3 8 3 0 )
DIMENSION I P L C 1 0 0) , IS N D X ( L I O )
EQUIVALENCE C C ( 3 6 3 14 ) , IS N DX C 1 ) ) , ( C ( 3 5 12 ) , 135 12)
DIMENSION BDLT(4)
G 1 C 4 ) ,G 2(14 ) ,G3( ~I) ,W 1(L l ) ,Z N ( 4 ) ,W N ( 4 )
D IMENSION
D IMENSION H 1(L I ) , H 2 ( 4 ) , B H ( 4 )
EQUIVALENCE ( C ( 1 12 0 ) ,G 1 C 1 ) )
EQUIVALENCE C C C 1 1 2 1 4 ) ,Z N ( 1 ) )
EQUIVALENCE ( C C 1 1 2 8 ) , W N ( 1 ) )
EQUIVALENCE ( C C 1 1 3 2 ) ,W 1 C 1 ) )
EQUIVALENCE ( C ( 1 1 3 6 ) ,G 2 C 1 ) )
EQUIVALENCE ( C ( 1 1 1 6 ) ,G 3 ( 1 ) )
EQUIVALENCE ( C C 1 1 14 8 ) ,H 1 C 1 ) )
EQU iVALENCE (C(1152 ) ,H2(1 ) )
EQUIVALENCE (C(1156) ,BH(1 ) )
EQUIVALENCE (C(11O 3 ) , BDELT 1)
EQUIVALENCE C C ( 1 1 0 7 ) , BDELT2)
EQUIVALENCE ( C (1 1 1 1 ) , BDELT3 )
EQUIVALENCE ( C C1 1 1 5 ) ,BDELT14)
E Q U I V A L E N C E (C(12147) , FELECB )
EQUIVALENCE (C(1248) ,FELECQ)
EQUIVALENCE (CC1 2 14 9 ),F E L E C R )
EQUIVALENCE C C C 1 2 5 0 ) ,FMECHB )
E Q U I V A L E N C E (C(1251 ) ,FMECHQ)
E Q U I V A L E N C E CC( 1252), F M E C H R )
E Q U I V A L E N C E (C(1140) , OPTACT)
)
EQUIVALENCE C C ( 1 1 4 1 ) , BDP
EQUIVALENCE (C C 1 1 1 4 2 ) , BDQ
EQUIVALENCE (C(1143 ) , BDR
EQUIVALENCE (C(1196), BDLTC 1 ))
)
E Q U I V A L E N C E CCC256 1 ) ,N
E Q U I V A L E N C E CCC2562) ,IPLC 1 ))
CC 37 7 )=0 .O
C(378):O .0
CC 1 192 )=O .O
C( 1 193 )=O.0
CC 1 1 9 4 ) = 0 . O
C( 1 19 5 ) = 0 . 0
IP L C N ) = 1 1 0 0
IPL(N+1 )
1 1 04
I P L (N + 2 )
IPL (N 3 )
N = N+ 14
1108
1112
) = 116 0
IPL (N+1) : 11 64
IPL(N+2) = 1168
IPL CN + 3 ) = 1172
I P L( N+ 4 ) = 1176
I P L( N +5 )
1180
I P L( N6 ) : 1 1 8 4
I P L( N+ 7 ) = 1188
N : N -s- 8
IP L( N) : 1 084
I P L( N+ 1 ) : 1 088
I PL(N+2) :1092
I P L ( N+ 3 ) = 1096
I PL (N
N = N + 14
C ( 1 08 7 ) : 0 . 0
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ 76
~~
-
--
--
_____________________________
_ _ _ _ _
~
~ ~~~~~~~~~
- --
- -
---
~~~~~~~~~~~~~~~~~~~~~~~~
C ( 1 0 9 1) = 0 . 0
C (1095)=O .O
C (1099)=O .0
C C 1 1 6 3 ) = 0.
C ( 1 1 6 7 ) = 0.
C ( 1 1 7 1) = 0.
C ( 1 17 5) = 0.
C( 1 17 9 )
0.
C( 1183 ) = 0.
C C 1 1 8 7 ) = 0.
C 119i ) = 0.
RETURN
ENTRY
Al l
C
C MONTE CARLO FIN MISALIGNMENT ERRORS
C
FELECB
=
0.
FELECQ = 0.
FELECR = 0.
FMECHB
0.
FMECH Q = 0.
FMECHR = 0.
DO 1 0 I = 1 , 135 12
11)0
I
I F( I S N D X( I) . E Q . 1250) CALL MCARLO (DUM , 1 , IDO )
IF (ISNDX(I).EQ. 1251 ) CALL MCA RLO CDUM , 1 , IDO )
IF(ISNDX( I).EQ.1252) CALL MCA RLO (DUll , 1 , IDO )
C MONTE CARLO FIN OFFSET (MODULE C I4I AND C4 )
IF (ISNDX(I ).EQ. 12147) CALL MCARLO (DUM , 1 , IDO )
I F ( IS N D X ( I) . EQ . 1 2 4 8) CALL M CARLO ( DUM , 1 , IDO )
I F ( I S N D X ( I ) . E Q . 1 2 4 9) CALL MCARL O (DUll , 1 , IDO )
DELTB
=
FELECB
+ FMECHB
DELTQB = FELECQ + FMECHQ
DELTRB = FELECR + FMEC HQ
10 C ON T I UE
~~
- I F ( OPTA CT .LE. 0 .) GO TO 20
OPTACT = 0.
DO 5 I= l , 14
READ(5 , 200 )G1 (I) ,ZN(I),W N ( I ) ,W 1 (I),G 3C I) ,G2(I) ,
) H2 (
I) , BH ( I ) , 18
* f-l i (
~~ ,
5
W R I T E (6 ,300)I8 , I ,G 1(I ) ,ZN(I) ,WN (I ),W 1 (I),G3 (I) ,G2 (I) ,
*
H 1 (1) , H2 (I ),BH(I )
200 FO RM A T (9F8 .3, I8)
300 F O RM A T C I 6 , I2 ,9F8.3)
20 CONTINUE
BDELT 1 = B DP +
BDELT2 = -B DP + BD Q + BDR
E3 DELT3 = BDP + BDQ
BDR
BDELT4 = BDP + BDQ + BDR
BDLT (1) = BDELT 1
BDLT(2) = BDELT2
BDLT (3 ) = BDELT3
BDLT (14) = BDELT 4
BDQ
BDR
RETURN
END
Jjj
SU BR OU T I N E
DTA (XIN , J)
COMMON C (3830)
DIMENSION REF(Lf ),BIT(4)
EQUIVALENCE C C ( 3 4 5 3 ) ,R E F ( l ) )
EQUIVALENCE ( C C 3 4 5 7 ) ,B I T ( l ) )
R E F ( 1 THRU 4 ) IS BDELTCC1 THRU 14)
SIG = 1.
IF(XIN .LT.0 .)SIG = l .
X IN =AB S(XIN)
14
10
100
IF(XIN. LT.REFC
J~))GO ~ TO ~1O ~
RITE(6
14
)CC
2OO
0
) , X IN ,J
,
~
FORMAT (6H DTOA ,2E20. l0 , 15)
XIN = R E F C J )
~~~~
~~
GO TO 100
X IN :X I N A M O D (X I N ,B ITCJ))
X IN= S IG *XIN
RETURN
END
.
~
~~~~~~ ~~~~~~~~
78
~~~
_ _ _ _ _
_ _ _ _ _ _ _ _ _ _ _
_ _ _ _ _ _ _ _
_ _ _ _ _ _ _ _
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
SUBROUTINE DUMPO
CO MMON C ( 3 8 3 0 )
DO 100 1=1 , 1 8 00 , 7
N = 0
DO 200 J = 1 , 7
K : I + J 1
200 IF ( A B S ( C ( K ) )
100 IF (N .GT . 0)
-
.GT . i . E b ) N :
W R IT E ( 6 ,30 0)
*
I ,C(I),C(I+1 ) ,C( I+ 2 ) ,C( I+3) ,C( I+4 ) , C ( I+ 5 ) ,C ( I+ 6)
300 FORMA. T ( 1H - ,I5 , 1P7E.1S.7)
.
-
RETURN
END
_ _ _ _
~~ ~
--
~~~~~~~~~~~~ r
----
SUBROUTINE Dl
C* * T R A N S L A T I O N A L DYNAMICS MODULE
COMMON C (383 0)
C
C* * INPUT DATA
EQUIVALENCE (C(1627 ),AGRAV )
EQUIVALENCE ( C C 1 6 2 8 ) ,DMAS S
EQUIVALENCE ( C ( 1 6 2 9 ) ,AT H RST )
EQUIVALENCE (C (1630) , ATURNT)
EQUIVALENCE C C C 1 6 3 1 ) ,B GA M T )
E Q U I V A L E N C E CC(16 39 ), OPTARG )
EQUIVALENCE (C (1681) , AD IVE )
)
EQUIVALENCE C C ( 1 7 5 1 ) ,C R A D
C
C**INPUTS FROM OTHER MODULES
)
EQUIVALENCE (C(1300), FXBA
)
EQUIVALENCE (C(1301 ) ,FYBA
)
E Q U I V A L E N C E (C (1302) ,FZ BA
E Q U I V A L E N C E (C (17O3 ) ,C F A 1 1 )
EQ U I V A L E N C E . (C (1707) , CFA 1 2 )
E Q U I V A L E N C E C C ( 17 1 1 ) ,CFA 1 3 )
(C(1715 ) ,CFA 21 )
E QUIVALENCE
E Q U I V A L E N C E (C(17 19) ,CFA22 )
E Q U I V A L E N C E CC( 1723 ) ,CFA2 3 )
EQUIVALENCE ( C ( l 7 2 7) ,CF A3 i
E Q U I V A L E N C E (C(1731 ) ,CFA 32 )
E Q U I V A L E N C E (C(1735) , C FA 33 )
)
EQUIVALENCE (C(2000) , T
C
C* * S T A T E V A R I A B L E OUTPUTS
EQUIVALENCE ( C ( 1 O O ) ,VXE D
)
E Q U I V A L E N C E ( C C 1 b O 3 ) ,VXE
)
EQUIVALENCE ( C ( 1 6 0 1 4 ) ,VYED
E Q U I V A L E N C E (C(16O7) , VYE
)
)
E Q U I V A L E N C E (CC 16O S ) ,VZED
EQUIVALENCE (C(1611) ,VZE
)
)
E Q U I V A L E N C E C C C 1 6 1 2 ) , RXED
)
EQUIVALENCE ( C C 1 6 1 5 ) , RXE
)
EQUIVALENCE ( C C 1 6 1 o ) ,RY ED
EQUIVALENCE ( C C 1 6 1 9 ) ,RYE
)
)
E Q U I V A L E N C E ( C C 1 6 2 O ) ,RZED
)
EQ U I V A L E N C E (C(1623) , RZE
EQUIVALENCE (C( 1640), VTARGD )
E Q U I V A L E N C E (C(1643) ,VTARG )
EQ U I V A L E N C E (C(1644), BPSITD)
EQ U I V A L E N C E (CC 1647) ,BPSIT )
EQUIVALENCE ( C ( 16 4 8 ) ,RTXED )
)
EQ U I V A L E N C E C C C 1 5 1 ) , RTXE
EQ U I V A L E N C E (CC 1652) , RTYED )
EQUIVALENC E CC( 1655) , RTYE
)
E QUIVA L.. NCE ( C ( 1 6 5 6 ) , RTZED )
)
E Q U I V A L E N C E CC (165 9 ), RTZE
C
COTIIER OUTPUTS
)
EQUIVALENCE CC( 1 624), AXBA
)
E Q U I V A L E N C E C C ( 1 6 2 5 ) ,A Y B A
EQUIVALENCE
(CC1626) ,AZBA
EQUIVALENCE
(C(1633) ,V DELY
EQUIVALENCE
(C(1632) ,V DELX )
80
~~~~~~~~~~~~~~~~~~~~~~~~
-, .
~~~ c~ _ =
~~~~~~~~~~~~~~~~~
_ -~~~~~~~~~
~~~~~~~~~~~~ I Z I ~~~~~~~ -
EQUIVALENCE
EQUIVALENCE
(C(1634) ,VDELZ )
(C(1635) ,RDELX )
EQUIVALENCE
EQUIVALENCE
(C(1637) ,RDELZ )
(C(1638) ,VCL SNG )
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVA LENCE
(C(1636) ,RDELY
( C ( 16 6 0 ) ,VTXE
( C ( 16 6 1 ) ,VTYE
( C ( 16 6 2 ) ,YTZE
(C(1663) ,VDXB
(C(1664) ,VDYB
(C(1665) ,VDZ B
)
)
)
)
)
)
)
)
)
(C (1676) ,AN GX
CC (1677 ) ,ANG Y
(C (1678) ,AN G Z
(CC 37b ) ,RAN G E
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
C
C* *ADD AE RO AND THRUST FORCES TO GET TOTAL ACCELERATION
AXBA = F X BA / D M A S S
AYBA
F Y BA / D M A S S
AZ BA = FZBA/DMAS S
C
C * * R E S O L V E FROM BODY TO EARTH AXES
AXE = C F A 1 1 * A X B A + C F A 2 1* A Y B A + C F A 3 1* A Z B A
AYE = CFA12*AXB A+ CFA22*AYBA +C FA 32*AZBA
A Z E = CFA 13*AXBA +CFA2 3 *AYBA+ C FA 33 *AZBA
C
C* * I N T E G R A T E A C C E L E R A T I O N S
VXED = AXE
VYED
VZED
AYE
AZE
IN BODY AXES
AGRAV
C
C** CALCULATE TOTAL MISSILE ACCELERATION IN BODY AXES
VDXB
=
C F A 1 1 * V X E D + C F A 12 * V Y E D + C F A 1 3 V Z E D
VDYB
=
C F A 2 1 * V X E D + C F A 2 2 V Y E D + C F A 2 3 V Z E D
VDZB = CFA 3 1*VXED + C FA 3 2 V Y E D + C F A 3 3 * V Z E D
ANGX = V D X B / 3 2 . 1 7 4
AN G Y = VDYB /32 .i74
ANGZ = VDZB /32 . 174
C
C* * I N T E G R A T E VELOCITIES TO EARTH AXES
POSITION
10 RXE D = VXE
RYED = VYE
RZED
VTYE
VZE
C
C* *TARGET MOTION
IF (OPTARG .LE . 0.) RETURN
VTA RG D = A T H R S I * A G R A V
BPSITD= 0.
IF (VTARG.GT . 0.) BPSITD= A T U R N T * A G R A V * C R A D / V T A R G
C
VTX E = VTARG*CUSD (BGAMT) *COSD(BPSIT)
C
VTZE
R TXED
RTYED
RTZED
VTARG*COSD(BGAMT)*SINDCB PS IT)
VTA RG *SIND (BGAM T)
=
=
:
VDELX
VDELY
V I XE
VTYE
V TZE
VTX EVXE
VTYE -VYE
~~~~~~~~~~~~~~~~
- -
- -.
--
--
~1
C
V DELZ
VCLSNG
RETURN
V TZEVZE
END
---
-~~~~~~ -_ _- ---
- .
- .-
..
T_ I
C
~~
SUBROUTINE
~~~~~~~~~~~
~~~~~~~~~~~ -
~~~~~~~~~~~~~~~~~~~~~~~
~--~-----.
~-
- -
-~--~.
1) 11
. .
(C (l759) ,
CCC 176O ) ,
( CC 1 7 6 14 ) ,
CC (17 65 ) ,
(C(l766) ,
(CC1767) ,
EQUIVALENCE
E QUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
C
C
--
- -
A0 32)
A0 33 )
P1)
Qi )
(C(1768) ,
(CC1769) ,
EQUIVALENCE
EQUIVALENCE
P2 )
R2)
XB O1 )
YBO 1 )
Z B O 1)
XB O 2 )
YBO2 )
ZBO2 )
E Q U I V A L E N C E (C(1770) ,
EQUIVALENCE (C(1771 ) ,
E Q U I V A L E N C E CC( 1772) ,
EQUIVALENCE C C C 1 7 7 3 ) ,
EQUIVALENC E (CC 36O) ,BPL-I1ER )
EQUIVALENCE (CC 361) ,B T H 2 E R )
EQUIVALENCE (CC 362),BPS 1ER)
EQUIVALENCE ( C C 1 5 6 2 ) ,GSPOT Y )
EQUIVALENCE C C C 1 5 7 2 ) ,GSPOTZ )
EQUIVALENCE (C(1581 ) , SIGP i)i)
EQUIVALENCE (CC 1579) ,
ZF i-~)
WO )
EQUIVALENCE (CC158O) ,
C* ZERO OUT SPOT JITTER MAX/MIN STORAGE LOCATIONS THAT ARE SAVED IN OUTP
C(1567) = 0.
C (1568) = 0.
C (l577 ) = 0.
C (1578)
0.
C P R I N T E D FROM MODULE GLI
WO
3 .911
ZETA = .7145
C
C SPOT J I T T E R
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
_ _ _ _ _ _ _ _
MONTE
CARLO
INITIAL
VALUES
RSJYMC
0.
RSJZMC = 0.
DO 500 IOL = 1 , ITCT
IT SNDX
I OL
.7O7*SIGPOT/SQRT(WO /4 ./ZETA
=
CALL M C A R L O ( R N S T R T , 14 ,ITSNDX )
502 IF (ITNDX(IOL) .NE .1681 ) GO TO 500
I P L( N ) = 15 7 0
I P L C N + 1 ):1573
N =N + 2
IFCSIGPOT .NE . 0. )
G SP OTZ
C (26614))
C(266L1))
1600
IPL(N+2 ) =
IPL(N+3 ) =
IPL(N 14 ) :
IPL (N+5) =
IPL(N+6 ) :
16014
1608
1612
1616
1620
164 0
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~ ----
~~~~~~~
---
IPLCN+7 ) = 1644
IPL(N+8)
16118
N = N+ 11
CC 36 3 ) :0.
CC 3614) = 0 .
CHAD = 57 .29577t~
RTZ E
0.
XBO2
0.
INITIAL CONDITIONS
RTYE = 0.
RTXE
0.
BPHI O = 0 .
XB O 1 = 0 .
YBOl = 1.
ZBO1 = 0 .
H
C
C***
1 8 0 2= 0 .
ZBO 2= 1.
RATES
(DUll ,
(DUll ,
(DUll ,
(DUll ,
5 03 CONTINUE
C
C
C*** AUTOPILOT GYRO BIAS E R R O R S
C
1002 BPH1ER = 0.
BTH2ER
IDO )
IDO )
100 )
IDO )
0.
0.
DO 11 I = 1 , 135 12
IDO = I
IF(ISNDX( I).EQ.360) CALL MCARLO
IF(ISNDX(I ).EQ .361) CALL M CARL O
IF (ISNDXCI).EQ. 362) CALL MCARLO
CONTINUE
B P S 1E R
1,
1,
1,
i,
(DUll , 1 , 100 )
(DUll , 1 , IDO )
(DUll , 1 , IDO )
11
C
C** INITIALIZE M A T R I X COEF FOR AUTOPILOT GYRO MODELS
C
USP H I1 = SIND (BPHIO + B P H 1E R )
UCPI- II1 : COSD ( B PH IO + BPH 1 ER )
USTHT2 = S INDCBT H TO + BT (-I2ER)
UCT HT 2 = COSD ( BTHTO + BTH 2ER )
U3PSI1
U C P S I1
A0 11
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~
_____________
____________________
A 0l2
-USTHT2
A022
A 021
USPSI1*UCTHT2
A 01 3
A02 3
UCTHT2 USPHIl
U C P S I 1* U S T H T 2 * U C P H I 1
A 03 1
A0 32
USPSI1*USTHT2*UCP HI1
A 033
UCTHT2 * UC P1~1I1
IF (OPTN2 .LE . 0) RETURN
C
C MISSILE
INITIAL
ATTITUDE
USPSI 1*USPH I1
UCPSI 1* US PH I 1
ERRO R ~
DO 5 I = 1 , 13512
11)0 = I
(DUll , 1 , IDO )
(DUll , 1 , IDO )
(DUll , 1 , IDO )
GO TO 40
30 CONTINUE
~~~~
BPSIO
CPSIO
IF ( O P T N 4 .GT . 1.)
UST = S I N D ( B T HT U)
USP
UCP
UCT
=
=
:
TTHTG*RZE/RXE ))
GO TO 40
SIND(BPSIO)
COSD( BPSIO)
COS D(BT HTO )
UCP H = C O S D ( B P H I O )
SIND (BPUIO )
USPH
RXBA = _ R X E * U C P * U C T + RZE * UST
RYBA = _ R X E* ( U C P * U S T * U S P H USP*UCP H ) RZE* UCT * USPH
RZBA = _ RXE* (UCP *UST *UCPH + USP*USPH )
RZE * UCT * UCP H
BTHTG
A T A N D ( R Z B A , RXBA )
BPSIG = ATA ND( RY BA , (RXBA*COSD (BTI .ITG)_RZBA*SIND (BTHTG) ))
40 CONTINUE
24 VSOUND = 1117. 3
.OO392*R }~I
IF (OPTN6 .LE. 0.) VMWTE : VMACH*VSOUND
VMWXY = VMWTE *COSD( BALP HA
BTHTO)
VXE
VIE
VZE
RX O
RYO
RZO
VXO
VYO
-- ---
.-
=
=
=
=
:
=
=
:
VMWXY
V MWXY
VMWTE
COSD(BALPHY + BPSIO)
* S IND (BA LPHY + BPSIO )
* SIND ( BA LPHA
BTHTO )
RXE
RYE
RZE
VXE
VYE
- --
- - --
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-- -- ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ --
-
~~~~~~~~~~ T~~~
-:-----
VZ O = VZE
RETURN
END
87
---:
- ---- - ~~ ~~ ~~
~~~~~~~
T~~ = - ~
.
~~~~~
~~~~~~~~~~~~~~~~~~~~ ~-~
~~ --:
SUBROUTINE 1)2
ROTATIONAL DYNAMICS MODULE
C (MMO N C ( 3 8 3 0)
~
C~~
C
C * * D A T A INPUTS
EQUIVALENCE ( C ( 1 7 4 8 ) ,FMIX
)
EQUIVALENCE (C(1749) , FMIY
EQUIVALENCE ( C ( 1 7 5 0 ) ,FMIZ )
)
EQUIVALENCE (C (1751 ) , CRAD
E Q U I V A L E N C E (C(3503) , OPTN3 )
C
C**INPUTS FROM OTHER MODULES
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
L
..
(C(1303) ,FMXBA )
(C(13O4 ) ,FMYBA )
(CC1305 ) ,FMZBA )
C
C**STATE V A R iA B L E OUTPUTS
EQ U I V A L E N C E (C(1700) ,CFA 1 1D )
E Q U I V A L E N C E (C( 1703) , CF A 11 )
EQUIVALENCE (C(17014 ), C F A 12 D )
EQUIVALENCE (
~~(17O7 ) , CF A 12 )
E Q U I V A L E N C E (C(17O 8) ,CFA 13 D)
EQ U I V A L E N C E ( C (1 7 l l ) ,C FA 1 3
EQ U I V A L E N C E (C(1712) , C F A 2 1 D )
E Q U I V A L E N C E (C (17 15) ,CFA21 )
EQ U I V A L E N C E (C(1716 ) , CFA22D )
E Q U I V A L E N C E (C(1719 ) , CFA22
E Q U I V A L E N C E (C(172 0),CFA23D)
EQ U I V A L E N C E (C(1723) ,CFA23 )
E Q U I V A L E N C E (C(1724) , C F A 3 1D )
EQUIVALENCE (CC 1727) , CFA 3 1 )
E Q U I V A L E N C E ( C ( 1 ( 2 8 ) ,C F A 3 2 D )
E Q U I V A L E N C E (C( 173 1 ) , CFA 32 )
EQUIVALENCE (C(1732) , CFA 33D)
E Q U I V A L E N C E (C( 1735 ) ,C FA33 )
)
E Q U I V A L E N C E (C(1736) , WPD
E Q U I V A L E N C E (C( 1739) , WP
)
EQ U I V A L E N C E (C(17140) , WQD
)
E~~U IV A L E N C E (C( 17143 ) , WQ
)
EQ U I V A L E N C E (C(1744 ), W RD
)
EQ UI V A L iLN C E. ( C ( 1 7 14 7 ) ,WR
C
~~~~~~ Y A W PI~ RA 1 E TE R I N P U T
E~~U IV A L L N C E C C ( 2 9 O 1 ) ,O PTNY W )
C
C**INTE. GR~~TE BODY A N G U L A R RATES
IF (OPTN 3 .LE.O .) GO TO 45
IF (OPTNYW.LE.U.) GO TO 55
GO TO 65
45 WPD = C RA D * F M X BA / F M I X
55 -.4hD
65 W QD
C
C**INTEGRATE ATT i TUDE DIRECTION COSINES
149 C F A 1 1D= ( CFA 2 1 * ,.1 R_ C F A 3 1 *W Q ) / CRA D
C F A 12 D = C C FA 2 2 * r~H_ C FA 32*W Q )/CRAD
CFA 13 0= CCFA2 3 * ~4R CFA 33 WQ)/ C RAD
CFA2 1 D = (CFA 3 1* ~ft_ C F A 1 1 * W R )/C R A 1 )
CFA22D = (CFA 32 *W P_ CFA12*WR) /CRAD
L L _
~~~~~~~~ _~
TT
~~~~T T . I
CFA23D
CFA 31D
CFA32D
CFA33D
RETURN
END
=
=
SUBROUTINE D 21
C**ROTA TIONAL DYNAMICS INITIALIZATION MODULE D2IEUL
COMMON C(3830)
DIMENSION
IPL (100)
CINPUT DATA
EQUIVALENCE (C(1752) ,BPHIO )
EQUIVALEN CE (C(1753), BTHTO )
E Q UIVALENCE (C(1 75~ ),BPSIO )
CINPUTS FROM MAIN PROGRAM
)
EQUIVALENCE (C(2561) ,N
)
EQUIVALENCE (C(2562) ,IPL
C**STATE VARIABLE OUTPUTS
EQUIVALENCE (C(1703) ,CFA 11 )
EQUIVALENCE (C(1707), CFA 12 )
EQUIVALENCE (C(1711 ) ,CFA 1 3 )
EQUIVALENCE (C(1715), CFA21 )
EQUIVALENCE (C(1719) ,CFA22 )
EQUIVALENC E (C(1723) ,CFA23 )
EQUIVALENCE (C(1727), CFA3 1 )
EQUIVALENCE (C(1731) ,CFA32 )
EQUIVALENCE (C(1735) ,CFA33 )
C**OTHER OUTPUTS
EQUIVALENCE (C(1755) ,A 021 )
EQUIVALENCE (C(1756) ,A022 )
EQUIVALENCE (C(1757) ,A023 )
EQUIVALENCE (C(175 ~~),A0 31
EQUIVALENCE (C(1759) ,A 032 )
EQUIVALENCE (C(17b0) ,A0 33 )
C**INIT IAL CALCULATION OF EULER ANGLE MATRIX OF DIRECTION COSINES (CFA)
USPHI
SIND (BPHI O)
UCPFI I C O SD (BPHIO )
USTHT = S IND (BTFIT O )
UCTHT
COSD(BTHTO )
USP SI SIND (BP S IO )
UCPSI
COSD(BPSIO)
CFA 11
UCPSI*UCT 1~1T
CFA 12
USPSI*UCTHT
CFA 1 3
USTUT
_ USPSI*UCPHI+UCPSI*USTRT*USPH I
CFA2 1
CFA22
UCPSI*UCPHIUSPSI*USTHT*USPHI
CFA 23 = UCTHT*USPHI
CFA 31
UCPSI*USTHT*UCPUI+USPS I*USPHI
CFA32 = USPSI*USTHT*UCPH I_UCPSI*USPH I
U CTHT*UCPH I
CFA33
C
C* *INITIALIZE MATRIX COEF FOR FREE GYRO MODEL (S)
C
C **INTEGRATED PA RA MATER LIST (IPL) FOR WPD ,WQD ,WRD ,AND CFAD
IPL(N)
1700
IPL(N+1 )
17O ~
IPL (N+2)
1708
IPL(N+3 )
1712
IPL (N ~ ) 1716
IPL(N+5 ) = 1 120
IPL(N+6) = 172k
IPL(N7) = 1728
IPL(N+8) = 1732
IPL (N+9) = 1736
IPL(N+ 1O ) = 1 PlO
_
IPL(N+11 )
N = N+ 12
RETURN
END
17~4~4
IF (F .GT . 0.)G0 TO 30
DO 10 1=2 , U
IF (X .LE. XI(I)) GO TO 20
10 C O NTINUE
I = N
20 PCT = (XX I (I 1 ))/ (X I (I )XI( I 1 ))
F = 1.
30 FINTP1 = YI (I 1 ) + PCT* (YI (I)_YI (I_ 1))
RETURN
END
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
FUN C TI O N FJNTP 2(X ,Y ,XI ,YI ,ZI ,NX ,NY ,NXY ,F ,XL )
DIMEN SION X I (NX ),YI (NY), ZI (NXY ), T(2), COL(1O)
I = NY
LNX
NX
DO 50 IR = L 1NX 1 , LNX
50 COL(I RL 1NX) = ZI (IR )
40 T (J ) = FINTP 1 (X ,X I ,COL ,NX ,F ,XL)
T(1 ) + PCT* (T (2)_T(1))
FINTP2
RETURN
END
V ..
SUBR O UTINE 03
CAIR DATA M ODULE 03
COMMON C(3830)
C**INPUT DATA
EQUIVALENCE (C(0208), RHZRO )
C**INPUT S FROM OTHER MODULES
)
EQUIVALENCE (C(O100) , VWXE
)
EQUIVALENCE (C(01O1 ) ,VW Y E
)
EQUIVALENCE (C(0102) ,VWZE
)
EQUIVALENCE (C(1603) ,VXE
)
E Q UIV ~~ ENCE (C(16O7) ,VYE
)
EQUIVALENCE (C(1611 ) ,VZE
)
EQUIVALENCE (C(1623) ,RZE
C**INPUT S FROM MAIN PROGRAM
C**STATE VARIABLE OUTPUTS
C ** N O NE
C**OTHER OUTPUTS
EQUIVALENCE (C(0200) ,VMWXE )
EQUIVALENCE (C(0201) , VMWYE )
EQUIVALENCE (C(0202) ,VMWZE )
EQUIVALENCE (C(0203) ,PDYNM C)
EQUIVALENCE (C(O2OL ~),VMAC H )
EQUIVALENCE (C(02O5) ,DRHO )
EQUIVALENCE (C(O2O ) ,VSOUND)
EQUIVALENCE (C(0207 ),VA I RSP )
)
EQUIVALENCE (C(0209) ,RH
CCALCULATE PRESENT ALTITUDE
RH= R ZE+R HZR O
C**CALCULAT E MISSILE VELOCITY W RT AIR MASS IN EARTH AXES
VMWX E
VXEV ~1XE
V~1WYE
VMWZE = VZ t~-VWZE
SQRi (VMWXE*V MWXE +VMWYE *VMW YE+VMWZE *VMWZE)
VAIR SP
C **A IR DEN SIU , SPEED OF SOUND , DYNAMI C PRESSURE , AND MACH
DRHO: (.O ~~ 75 )/(1 .+ .3325E_OL ~*RH+RH*RH*RH* .O2315E_ 12)
_ .00392*RH+111 7.3
YSOUN D
(DR }iO*VA IRSP*VA IRSP )/6 ~4.3~4L~
PDYNM C
VMA CH
VAI HSP/VSOUND
RETURN
END
~~~~~~ - -~~~~~~ , .
.-~~~~~-
rr
--
,
.
* 1* * * * *
* ** * * * * * **** * * ** * ** * * * * * * * * ** ** ** * * ** ** * *
**
**
***********
**** ** * * ***** * *** * **** * ***** ** ***** * **** * ** ** **
COMMON C(3830)
= , 1PE15.7 ,
BX ,&IRDELZ = , 1PE15.7)
300 FO RMAT (1HO , 140X ,8HRY F P = , 1PE15.7, 8X ,8HRZF P
, 1PE15.7)
EQUIVALENCE (C( 357),BGAMH )
(C( 358),BGAMV )
(CC 371) , RANGE )
(C(1635) ,RDELX )
(C(1636), RDELY )
(C(1637), RDELZ )
)
EQUIVALENCE (C(2000) ,T
E QU iVALENCE CC( 156~4) ,YMC )
EQUIVALENCE (C( 1565) ,YMC2)
EQU iVALENCE (C(15P4 ),ZMC)
EQUIVALENCE (C(1575) ,ZMC2 )
(C(202O) , LCONV )
EQUIVALENCE (C( 300),RMISS )
( C (3 0 1 ) , L
)
(C( 302) ,RYF
)
(C( 303),RZF
)
EQUIVALENCE (C( 31) , LCEP)
E QUIVALENCE (C(3721),
ITCT )
(1))
E Q U I V A L E N C E (C(300 0),VSD
EQUIVALENCE (C(3O10 ), VM EAN (1))
E Q U I V A L E N C E (C(302O) , IMV N DX( 1 ))
EQUIVALENCE (C(3J3 0), IMVC T )
E Q U I V A L E N C E (C (1651 ) , RTXE) ,(C(1655) ,RTYE) , (C(1659), RTZE), (C(1615 )
,RXE ), (C(16 19) , RYE ) , (C(1623) ,RZE)
REA L* o PITCh , YA ~
/
DATA PITCH ,YAW/ 8H PITC H
, BHYAW
DIMENSION 1M~~~DX(1O), V M EA N ( 1O ) , VSD( 1O)
DIMENSION V SUtI (1O ), V S 2 ( 1 O )
LCEP
0
RDELX ZI~ ~X E R X ~
R D E L I= R T Y E R Y E
RDELZ = R T Z E R Z L
IF(RL ~~LZ .LT . 0. .OR. RDELX LT . 0.) LCONV = 2
IF (R~~~~E .GT . 530.) GO TO 20
*
UCU = S IND(BGAMV)
UC 33 = COSD (I3GAMV)
UC2 1 =- .SIND(BGAMH )
UC22
COSD(BGAM iI )
UC 1I
UC22 *UC 33
UC 12
_ UC2 1*UC 33
_ UC22 *UC 1 3
UC 3 1
UC32
RXF P
RY FP
RZFP
UC21*U 01 3
UC 11 *RL )ELX + UC12* R DELY + UC 130RDELZ
U C2 1*RD ELX + UC22~ RDELY
1JC 3 1 *RDELX + UC32*RDELY + UC33 RDELZ
IF (RXFP
IF(IMVCT
.GT. 0.) GO 10 10
.LE . 0) GO TO 50
-
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
--
~~~~~~~~~~~ -
~~ -
~~-
.
~
DO 5 I= 1 , IMVCT
IDO = IMVNDX( I )
VALUE = C(IDO)
VSUM( I) z VSUII (I) + VALUE
VS2 (I)
VS2(I) + VALUE* *2
TCASE
TCASE 1
L
1
V M EAN (I) = VSUM (I)/TCASE
IF(L .NE. 1) GO TO 2
(VS2(I)
(VSUM(I)**2)/TCASE)/TCASE
GO TO 3
2 S2
(VS2(i)
(VSUM (I)**2)/TCASE)/TCASE1
SQRT(32)
3 VSD(I
32
5 CONTINuE
50 CON TINUE
PCT
UXFP/(RXF P
UXF P )
RDX
UDELX - PCT*(RDELX - UDELX)
R O Y = UDELY PCT*(RDELY UDELY )
RDZ = UDELZ PCT* (RDELZ UDELZ )
RYE = UY FP PCT*(RYE P UYFP)
RZF
UZFP PCT*(HZFP UZFP )
TZERO
UT - PCT*(T - UT)
SQRT (RYF**2 + RZF**2 )
RMISS
W RITE (6 ,600)C (630), PITCH
WR ITE( 6 ,600)C(63 1 ),YAW
600
F O R M A T ( 1H O ,60X , 214H+MAX BREAKLOCK VALU E F10.5 ,5H
W RITE (6 ,~4OO) L
4OO
FORMAT(
1 110 , 13HR UN NUMBER = , 12)
~
IF(ITCT.LE .O)GO TO 30
CALL M C A R LX ( DUM ,2,RNSTRT)
WRITE (6 ,50 0) C(1567 ) , C(1568), C(1577), C(157~~)
XMCSPT
SQRT(YMC2*YMC2 + ZMC2*ZMC2)
WRITE(6 ,2555 )YMC ,YMC2
WHITE (6 , -~~56)ZMC ,ZMC2 ,XMC SPT
CONTINUE
30
500 F0H~4AT( 1H0 , 11 X , 13HMA X SPOT Y
,F6.2 , 14H MIN SPOT Y
1
12K , 1 3 H M A X SPOT Z = ,F6.2, 1L ~H MIN SPOT Z
2 )
IN ,A8 )
=
=
F6.2/
,F6.2//
LCOUV
LCEP
RETURN
10 UT
I
UDELX =
UDELY = RO ELY
UDELZ
UX i P
U Y FP
ULF P
RETURN
uXEP
H YFP
RZEP
20 C O N T I N U E
RETURN
___________________________
~~~~~~~
~~~~~
.
~~~ --
SUBROUTINE 05
C**COORD INATE CONVE R SION MODULE
COMMON C (3~330)
C
CINPUTS FROM OTHER MODULES
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENC E
(C (0200) ,VHW XE )
(C(0201) ,V MWYE )
(C(0202) ,VMWZE )
(C(0207),VAI RSP)
)
(C(1317) ,RAIL
(C (1405),QBURN )
(C (1603) ,VXE
)
)
(C(1607) ,VYE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQU IVALENCL
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVA LENCE
EQUIVALENCE
EQUI VA LE N CE
E QUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
)
(C(1615 ) ,RXE
)
(C(1619) ,RYE
)
(C(1623) ,RZE
(C(1635) ,RDELX )
(C(1636) ,RDEL Y )
(C(1637 ) ,RDELZ )
(C (1651 ) ,RTXE
(C (1655) , RTYE
)
)
(C (1659) ,RTZE
(C(16b ~3) , RXO
(C( 1669) , RYO
)
(C(1 !O) ,RZO
)
~~
(C(1671 ) , VXO
)
(C(16i ),VYO
)
~~
)
(C(1673) , VZO
E Q U IV A L E N C E
EQU IVALEN CE
EQUIVALENCE
EQU IVA L~.NCE
EQUIVALENCE
(C(16~3 1) ,RSJZMC)
(C(1682) ,RSPOTX)
(C(1683) ,RSPOTY)
(C( 16814 ),RSPOTZ)
(C(3753) , ITNDX(1 ))
EQU IVALENCE
EQUIVALENCE
EQUIVALENCE
(C(1b11 ) ,VZE
(C(3721) ,
ITCT)
XBO 1 )
E Q U I V A L E N C E (C (17b 8),
EQUIVALENCE (C (1769) , YBO 1 )
EQUIVALENCE (C(177 0), ZBO1 )
EQUIVALENCE (C(1771 ) , XBO2)
E Q UIVALENCE (C(1772), YBO2)
EQUIVALENCE (C(1 773) , ZBO2)
P1)
EQUIVALENCE (C (17b ~4),
Q1)
EQUIVALENCE (C(1765) ,
EQUIVALENCE (C ( 1 76b ) ,
P2)
R2)
EQUIVALENCE (C (1767 ),
EQUIVALENCE (C(1761) , A O 1 1 )
E Q U I V A L E N C E (C(1762) , A0 12)
EQUIVALENCE (C (1763 ) , A 013 )
)
EQUIVALENCE (C (1755) ,A 021
EQUIVALENCE (C(1756) ,A022
)
)
EQUIVALENCE (C(1757), A02 3
)
EQUIVALENCE (C(1758), A 031
E Q U I V A L E N C E (C(1759) ,A 032 )
)
E Q U I V A L E N C E (C(1 760) , A 033
)
(C(2
000)
EQUIVALENCE
,T
C
C**OTIIER OUTPUTS
EQ U I V A L E N C E (C(0350) ,BTHT
)
EQ U I V A L E N C E (C(0351) , BPS1
)
E QUIVALENCE (C(0352), BPHI
EQUIVALENCE (C( 353) ,BPH1
)
E Q U I V A L E N C E (CC 3514) ,BTH2
E Q U I V A L E N C E (CC 355),BPS1
)
EQUIVALENCE (C(0356) ,VTOTE )
E Q U I V A L E N C E (C( 0357),BGAMH )
EQUIVALENCE (C(0358) , BGAM V )
E Q U I V A L E N C E (C(0363) ,BTHLV )
E Q U I V A L E N C E (C(03614) ,BPSLV
E Q U I V A L E N C E (C(O365) , BLA MV )
E Q U IVA L E N ~~ (C(0366) , BLAMH )
E Q U I V A L E N C E ( C ( 0 3 6 7 ) ,BALPI-IA)
E Q U I V A L E N C E (C(0368), BAL PHY )
E Q U I V A L E N C E (C(0369) , BALPHP)
E Q U I V A L E N C E (C(0370) ,BPHIP )
EQUIV A L E N C E (C(0371) ,RANG E )
)
E Q U I V A L E N C E (C(0372) ,RXBA
)
EQ U I J A L E N C E (C(037 ,~ ), RYBA
)
E QU 1VAL E:~CE (C(0374 ), RZBA
)
E Q u I V A L E N C E (C (1663) ,VDXB
)
E Q U I V A L F N C E (C(1661 4) ,V DYB
)
E Q U I V A L E N C E (C(1665) , VDZB
E Q U iV A L E N C E (CC 377),BALPD )
E Q U I V A L E N C E (CC 378 ), BALYD )
E Q U I V A L E N CE (C( 380) ,RAN GO
)
E Q U I V A L E N u L (C( 390), RXL
)
E Q U I V A L E N C E (CC 391 ) ,RYL
E Q U IV A L F N C E (CC 392) , RZL
)
)
EQUIV A L E N C E (C( 393) ,BPH2
C
C CA LCULAT ION OF H E A V I N G , PITCH , ROLL EULER ANGLES IN DEGREES
[3PH I = A TA N D(C FA2 3 , CFA33 )
BTHr = A T A N D ( _ C F A 1 3 , SQRT(C FA 11 *CFA 11+ CFA 12 *CFA 12 ))
BP S I = A i A N D ( C F A 1 2 ,C FA 1 1 )
C
97
_ Q 1 * Y B O 1 / CRA D
DXBO 1
DYBO 1
DZBO1
DXBO2
DYBO2
DZBO2
XBO 1
YBO 1
ZBO1
XBO2
B12
DXBO1*T
1. + DYBO1* T
DZBO1 *T
YBO2
ZBO2
Bli
C Q1*XB0 1
P1* ZBO 1 )/CRAD
P1*YBO 1 /CRAD
R2*ZBO2/CRAD
_ P2*ZBO2 /CRAD
(P2*YBO2
R2*XBO2)/Ch1.D
=
=
=
=
=
DXBO2*T
DYBO2*T
1. + DZBO2*T
A 0 1 1 * C F A 1 1 + A 01 2*C FA 12 + A 013*CFA 13
A O 1 1 * C EA 2 1 + AO 12*CFA22 + A 013*CFA23
B 13
A O 1 1 * C F A 3 1 + A0 12*CFA 32 + A 013 *CFA33
B21 = A 0 2 1 * C F A 1 1 + A 022*CFA 12 + A 023*CFA 13
B22
A 02 1*CFA21 + A0 22*CFA22 + A02 3*CFA23
B23 = A0 2 1*CFA 3 1 + A 022*CFA 32 + A02 3*CFA33
A O 3 1 * C F A 1 1 + A 032*CFA 12 + A 033 *CFA13
B31
B32 = A 0 3 1 *CFA2 1 + A0 32*CFA 22 + A0 33*CFA23
A 0 3 1 * C F A 3 1 + A 032*CFA32 + A 033*CFA33
B33
XB 1 = B 1 1*X B 01 + B2 1*YBO1 + B 31*ZBO1
YB 1
B 12*XBO 1 + B22YBOl + B32*ZBO1
ZB1 = B1 3 *XBO 1 + B23*YBO1 + B33*ZBO1
XB2 = B 11 *XBO 2 + B2 1*YBO 2 + B31*2B02
YB2
B 12*XBO2 + B22*YBO2 + B32*ZB02
ZB2 = B 13*XB02 + B23*YBO2 + B33*ZB02
BPH 1 = A TAND (ZB1 ,YB1 )
BPS 1 = ATAND ( XB 1 , YB 1 /COSD (BPH1 ))
BTH2
ATAND (X82 ,ZB2)
BPH2
A T A N D (Y B2 , ZB2/COSDCBTH2 ))
C
C **CALCULAT ION OF TOTAL VELOCITY
VTOTE = SQRTCVXE*VXE +VYE*VYEVZE*VZE)
R DELX
R T X E R X E
RDELY
R T Y E R Y E
RDELZ
R T Z E R Z E
C
IF(C (1976) .LE.0.) GO TO 20
RXL
RYL
VXL
VXE
RZL
RZE RZO VZO*T
RANGO
SQRT(RXL**2 + RYL**2
VYL
VZL
=
=
VIE
VZE
20 CONTINUE
VX O
RZL**2)
yb
VZO
C
C LINE OF SIGHT OF LASER SPOT WITH MONTE CARLO SPOT JITTER INCLUD ~ D
C
DO 500 1
1 , ITCT
IDO = I
IF (ITNDXC I) .NE. 1680) GO TO 501
RSJ YMC
GS P O TY * SXP
CALL M C A R L O
(DUM ,2 , IDO )
___________________________________
______
SXPDD
~~~~~~~~~~
SY PO D
500 CONTINUE
RXBA
RYBA
RZBA
UVP 1
UVP 2
=
=
.-.
~~~~~
~~~
~~~~~~~~~
SXP )
GSPOTZ*SYP
(DUM ,2 , IDO )
W O*WO* (RY
2.*ZETA *SYPD /WO
CALL MCARLO
RSPOTX
RSPOTY
RSPOTZ
~~~~~~~~~~~~
=
=
RDELX
RDELY
RDELZ
+
+
SYP)
RSJYMC
RSJZMC
R SPOTX*CF A11
R SPOTX*CFA2 1
RSPOTY~ CFA 22
RSPOTZ*CFA2 3
VXE*RDELX +V YE *RDELY
R DELX*RDELX +RDEL Y *R DELY
UVP 3 = VZE *RDELZ
UVP ~ z S Q RT (UVP2)
RANGE
SQRT(UV P2+RDELZ **2)
C **VERT ICAL A N D HORIZONTAL LINE OF SIGHT ANGLES (EARTH AXES )
C
BLAM H
A TAND(RDELY , RDELX )
I3LAMV
ATA N D( RDELZ ,UVN4)
C
C* *VEBT ICAL AND HORIZONTAL PROPORTIONAL NAVIGATION ANGLES
IF (VTOTE .LE.1O .) GO TO 30
v X P = (UVP 1 +UVP 3 )/RANGE
( V YE*R DELX_ VXE*RDEL Y )/UVPL~
V~ P
VZP = (VZE*UVP2_ RDELZ*UVP 1 )/ (RANGE*UVPI4 )
BTHLV
ATAND (VZP , VXP)
BPSLV
ATAND (VYP , VXP)
C
BGAMV
A T A N D (_VZE , SQRT(VXE*VXE +VYE*VYE ))
BGAMI -I
A T A N V(VYE , VXE)
C
C**VELOCITY WRT AIR IN BODY AXES
VMW U
CFA 1 1*VMWXE +CFA 12*VMWYE +CFA 13 *VMWZE
VMWV = CFA2 1 *VMWXE +CFA22*VMWYE +CFA2 3 *VMWZE
VMWW
CFA 3 1*VMW XE +CFA 32*VMWYE +CFA 33 *VMWZE
C
C**VE R T ICAL A N D HORIZONTAL ANGLES OF ATTACK
IF (QBURN .LE.O. .AND . RANGO .LE.RAI L) GO TO 30
A T A N D (V M W W ,VMW U)
BALPI-I A
BALP HY = A TA N D CVMW V , VMWu)
US Q =V MW U * * 2
BAL,PD :CV IIWU *VDZB _ V MWW * VDXB) /(USQ+VMWW**2)*CRAD
BALYD = (VM ~4U*VDYB_ VMWV *VDXB )/(USQ+VMWV **2)*CRAD
C
C **ALPHA PRIME A N D PHI PRIME (WIND TUNNEL AXES)
IF ((BALPHABALP HY).EQ.O.) GO TO 30
BPUI P = A T A N D ( B A L P H Y ,BALP IIA )
30 ~3ALPHP :SQRT(BALP HA **2+BA L PHY **2 )
RETURN
END
.- * ~~~~~~~~~~~~ ~~~~
99
,
~~~~~~~~~~~~~~
- . , .--
-.
~~~
- .
.
~~~~~
~~~~~~~~~
-.
yr
~~~~~
DATA A/ l .
, 12. ,26. ,O. 1. ,4., 12. ,26.,0. 1. ,4. ,12. ,26.,0./
IF (IFLG .GT.O)GO TO 17
ZC=O.
W 1= 6 .28*1 1.
DO 1 I= 1 ,IMAX
CALL RANNUM(O. ,RNSTRT , RN )
PHI (I,K )=3. 14*RN
W(I ,K)= I*W1
C Z C IS INTEGRATI O N C ONSTANT FOR Z
B=W (I ,K )*T+PHI (I ,K)
ZC=ZC+ A( I ,K )*(AE*SIN(B)_W (I ,K)*COS(B ))/(AE**2+W(I ,K)**2)
C ONTINUE
YC=AMP *EXP(AE*T)*ZC
17
CONTINUE
,
~~~~~ .
Z=O.
DO 2 I= 1 ,IMAX
C O NTINUE
Y=AMP*EX P (AE*T)*Z
RETURN
END
Pr
~~
SUBROUTINE OINPT 1
BASIC INPUT SUBROUTINE OINPT 1
COMMON C (3830)
COM M ON/WKU l / O N A M E O ( 5 O )
EQUIVALENCE (C(3218) ,ONAME 1 (1 )) , (C(3268) ,ONAME2( 1 )) , (C(3318) ,ONA
ME3 (1)) ,
(1 )),
C
C
C
C
C
), (C(2361) ,NOMOD
(C(3328) ,ONAME Z~(I )
) ,
(C(2362), MODNO
, ITNDX2 (1))
E Q U I V A L E N C E (C( 21) , IBVNSW)
EQUIVALENCE (C( 22) , IPLOT)
EQUIVALENCE (C(19) ,PSIZE)
EQUIVALENCE (CC 23) ,XLAMBD)
EQUIVALENCE (CC 2~), KSSIG)
EQUIVALENCE CC ( 25),CEPSIG (1))
EQUIVALENCE CC (3825), NCASE)
E Q U I V A L E N C E (C(3020) ,IMVNDX( 1 ))
E Q U I V A L E N C E CC (3030 ), IMVC T )
REA L 8 CPERTY ,SSS
DIMENSION ONAM E 3 (1O) , ONAME 14 (10)
DIMENSION LISTNO(50 ) , VALUE(50)
DIMENSION SUBN0( 99) , IR(~4) ,VR(~4 )
DIMENSION K(351O)
DIMENSIO N VLA BLE (2 , 15)
DIMENSION JUTPLT( 15)
DIMENSION SIGMA( 140) ,SIGLI3 (40),SIGUB(40),ISNDX(L~0),IDIST (LtO )
DIMENSION TSGMA (1O) ,TLB (10) ,TUB (1O ) ,ITNDX (1O ) ,ITDIST (1O ),
*TSPER ( 10) ,TYP PEK (lO ) ,TPSIG( 10) ,ITNDX2( 10) ,TNXST (10)
DIMENSION IMV N DX (1O)
DIMENSION CEPSIG(6)
INTEGER CEPS IG
REAL K 3A1~
R E A L MOD N O
INTEGER OUTNO
INTLUE R OUTPLT
DIMENSION COEFF(28) ,REF(28) ,BREF(28),ATD(5) ,BATD (5),DTA(4),BDTA( 4)
CC (3387 ),REF(1 ))
EQUIVALENCE
(C(3 ~53),DTA(1 ))
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
(C(3457), BDTA(1 ))
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Pr
NAMELIST / D A P / C O E F F , REF ,~~flEF , ATD , BATD , DTA , BDTA
/
DATA CPERTY /8EI R
/
DATA SSS/8FIS
JAR
~ RITE (6 ,31)
VR( 1 )
GO TO 1
5 IF (IR (l) .NE. 14 )GO TO 6
N OOUT
NOOUT + 1
IF (NOOUT.GT.50) GO TO 1
U N A M E O ( N O O U T ) = A L P H A ( 1)
W RIT E (6 ,V A ? )
GO TO 1
16 IF (IRC1 ) .NE.7) GO TO 19
WPL O T =NPLOT +l
IF (NPLOT .GT.15 ) GO TO 1
DO 20 1= 1 ,2
20 VLABL E (I,NPLOT )=A LPHA(I+ l )
OUTPLT (NPLOT)=IR(2)
GO TO 1
19 IF (IR(1).NE.8) GO TO 18
IF (TPER.EQ.SSS ) GO TO 19~
IF (VR (L ~).GT .O .) GO TO 192
IFCI R (3).NE .O .AND. IR(3 ).NE. 1) GO 10 193
ISGCT= ISGCT+1
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
TPSIG (ITCT)=TPSGMA
TYPPER (ITCT)=O.
IF (TPER.EQ.CPERTY) TYPPER(ITCT)= 1.
GO TO 1
19 ~4 R N S T R T = V R ( 1 )
GO TO 1
6 ,5518)
193 ~4RITE (
55 18 FOR M AT C1 X ,58HUNDEF INED DI STRIBUTION TYPE NUMBER ENTERED
CARD REJ
*ECTED)
WR ITE (6 ,3O)IR (1) ,(ALPHA (JC) ,J C 1 ,~4),IR (2),IR (3) ,T p ER ,T p SGMA ,
*V R (1 ),VR(2) ,VR(3 ) ,
*IR (4) ,VR (4)
191
GO TO 1
CONTINUE
NCASE =NCASE +1
RETURN
50 STOP
END
~~~~~~~~~ -~~~~~ -- -
-~~~-~~~~~~~~~ -~~~-
-~~~~~~~~~~ --
- -----
.
~
- . _
INTEGER OUTPLT
-~~
RETURN
END
11
SUBROUTINE OUPT3
OUTPUT S U B R O U T I N E OUPT 3
CO MMON C ( 3 8 3 0 ) , G R A P H ( 3 0 0 , 4)
COMMON/ WKU 1/ONAMEO(50 )
EQUIVALENCE (C(3168), OUTNO(1)), (C(3218) ,ONAME 1 (1 )) ,
C (C(3268) ,ONAME2( 1 )) ,
C
(C(2017), DTCNT ), (C(3167) ,NO O UT ), (C(2016) ,PGCNT ),
),
C
(C(2014), ITCNT ), (C(2003) ,PCNT ), (C(2015), CPP
),
), (C(2664 ),DER
), (C(2018) ,TAPE
C
CC (2000),T
C
(C(2019) ,TAPEND ), (C(2008) , PLOTN O), (C(2009), NOPL O T ),
),(C(2004), PPNT
),(C(2025),TIME( 1)) ,
C
(C(2005) ,PPP
(C(2023), OP O INT )
C
)
EQUIVALENCE (C(1985) ,OUTPLT (1 )
5 0)
DIMENSI ON B(50),OUTNO(50),ONAME 1 (50 ) ,ONAME2 (
DIMENSION TIME(300)
DIMEN S ION O UTPLT (1 5 )
INTE GER DTCNT ,PGCNT , OUTNO
INTE G ER O PO INT
INTE G ER O UTPLT
DATA DER 1/O.O/
C
C SAVE SPOT JITTER MAX/MIN VALUES
IF(CC1 6SO).GT.C C1567 )) C(1567 ) = C(1680)
IE (C(1680).LT.C(1568)) C(l568) = C (1680)
IF(C (168I).GT.C(1577)) C (1577) = C (1681 )
IF (C(1681).LT.C(1578)) C(1578) = C (1681 )
C
IF (ITCNT. GT. 6) GO TO 7
IT C NT = IT C NT + 1
CALL DUMPO
PGCNT = 1
C
7 IF (DER. EQ. DER 1 ) GO TO 8
DER 1 = DEN
W R ITE (6 , 20)T ,DER
20 FORMAT( 1H ,SHT IME= , F14.7 ,2X , 1OL-ISTEP SIZE= , 1PE19 .7)
8 IF CT .LT . PCNT )GOTO 15
9 P C NT = P C NT + C PP
IF (PGCNT. NE. 1) GO TO 3
IF(NOOUT.LE.1 ) GO TO 3
1 W RITE (
6 ,2) (ONAMEO( I) ,ONAME 1 (I ) ,ONAME2( I) , I= 1 ,NOOUT)
4,7X , 3A
4 ,7X ,
2 FORMAT (1H 1 ,3X , 4HTIME ,5X ,5 (7X ,3A4 )//(20X , 3A4 ,7X ,3A
,3A
4)/)
13A 4 ,7X
PGCNT = 2DTCNT + 4
3 IF (PGCNT .GE . 86) GO TO 1
00 4 I = 1 ,NOOUT
J = OUTNO(I )
4 B(I) = C (J)
IF(NOOUT .LE. 1 ) GO TO 15
WRITE (6 ,5) T , (BCI ) , I = l , NOOUT )
PGCNT
PGCNT + DTCNT + 14
15 IF (T.LT .PPNT .OR.NO PLOT .EQ .O )RETURN
PPNT= PP NT+PPP
KPO 1NT =OPO INT +1
IF (KPOINT 300) 16 , 13, 18
13 WRITE (6, 14)
iLl FORMAT (/11111 * * **
WARNINGPLOTTING
C O INTS PL O TTED ** ** ~~/ / )
ARRAY
I
16 OPO INT=KPO INT
TIME (OPOINT)=T
IF(NOPLOT .EQ.0 )GOTO 11
DO 10 J= 1 ,NOPL O T
K= OUTPLT(J)
10 GRAPH (OPOINT
,J)=C (K )
11 CONTINUE
1 8 RETURN
END
I
I ~.
~
~~~~
SUBROUTINE STGE2
COMMON C(3830)
EQUIVALENCE (C(2011) ,KSTEP ) ,
KCONV = 0
LCON V = 0
KSTEP = 1
RETURN
END
~~~~~~~~~~~~~~~~~~~~~~ ----
_ _
-.- .-
--
.- - .
- .
~~~~~~~~~~~~~~~~~
-.-
RETURN
RETURN
20 PCNT = 1.0
IF (STEP .EQ. 11 .)GOTO 140
PREDER = DER (1)
DER (1 ) = 0.
NJ = N 1
N PT = 0
C ALL AMRK (AUX SUB )
DER (1) = PREDER
140 CALL OUPT 3
KSTEP = 2
RETURN
END
(C(2003) ,P C NT )
(C(2020),LC ONV )
(C(2662), HMIN )
(C(2765) ,EL (1))
(C(1975) ,NPT
EL(100)
SUBROUTINE
3
14
5
6
7
8
9
I
SUBL 2
COMMON C (3830)
EQUIVALENCE (C(2~46i) ,N OSUB ), (C(2462), SUBNO(1) )
DIMENSI O N
SUBNO (
99 )
DO 1 I = 1 , N O SUB
J = SUBNO (I )
GO TO ( 1 , 2, 3, Ll , 5, 6 , 7, 8, 9 ), J
C ALL INPT 2
GO TO 1
CALL OUPT2
GO TO 1
CALL STGE2
GO TO 1
CALL CNTR2
GO TO 1
C ALL RNDM 2
GO TO 1
C ALL AUXA 2
GO TO 1
C ALL A UXB 2
GO TO 1
CALL AUXC2
CO N T I N U E
RETURN
END
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
SUBROUTINE
3
~4
5
6
SUBL3
COMMON C(383O)
EQUIVALENCE (C (24461) ,NOSUB ), (C(21462) ,SUBNO C1 ) )
QIMEN SION
SUBNO (99)
DO 1 I = 1 , NO SUB
J = SUBNO(I)
GO TO ( 1 , 2, 3, 4 , 5, 6, 7, 8, 9 ), J
C ALL INPT 3
GO TO 1
C ALL OUP T3
GO TO 1
CALL STGE3
GO TO 1
C ALL C N T R 3
GO TO 1
C ALL R N D M 3
GO TO 1
CALL A IJXA 3
GO TO 1
~ CALL AUXB 3
GO TO 1
9 C ALL A UX C 3
1 CONTINUE
RETURN
END
SUBROUTINE Si
CSEEKER MODULE
C
COMMON C(3830)
)
EQUIVALENCE (C(2000), T
101 FORMAT (3 0U 0
TARGET A CQ UISITION
*
1 0ii
EPS Z = , 1PE 11 .3, 1 OH
10 2 F O RMAT (3 0H 0
PIT C H PLANE TRA C K
*
1O ~1
EPS Z = , 1PE 11 .3, 1 OH
YAW
ILANE TRACK
103 FORMAT (30H 0
*
1O ~-i
EPS Z = , 1PE1 1 .3, 1OH
C
C * * I N P U T DATA
EQUIVALENCE (C( 445),RLOCK )
)
EQUIVALENCE (C( 446),DT
)
EQUIVALENCE (CC 447),BDB
E QUIVA LENCE
E QU IVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQ UIVALENCE
EQUIVALENCE
EQUIVALENCE
EQU IVALENCE
E QU IVALENCE
EQUIVALENCE
(C(
(C(
(CC
4 4 8) , CFOV Z
4~4 9 ) , CFOV ~
450),GSX
( C C O 4 5 8 ) , WSN
E QU IVALENCE
EQUIVALENCE
E QU IVALENCE
EQUIVALENCE
EQUIVALENC E
EQUIVALENCE
EQUIVALEN CE
EQU IVALENCE
C
COTHER OUTPUTS
, 1PE 11. 3 )
)
)
)
)
(C(0Ll59) ,WL2
)
)
C I N P U T S FROM OTHER M O D U L E S
E Q U I V A L E N C E ( C C 0 3 7 1 ) , R ANGE
E Q U I V A L E N C E C C ( O 3 7 2 ) , RXBA
E Q U I V A L E N C E ( C ( 0 3 7 3 ) , RY B A
E Q U I V ~tL ~~N Ct. C C ( 0 3 7 4 ) , R Z B A
E Q UIVALENCE
( C C 1 7 3 9 ) , WP
E Q UIVALENCE
C C ( 1 7 4 3 ) , WQ
( C ( 1 7 ~4 7 ) , WR
EQUIVALENCE
C
CSTATE VA R IABLE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
E lS Y
T = , F 8 .4 ,
EP S Y = ,1PE11.3 )
T = , F8.~4 ,
EPS Y = , 1PE 11 .3 )
T =
OUTPUTS
(C (0408), WLQD
(C(O 411), WL Q
(C(O412) ,WLRD
(C (0~415 ), WLR
( C ( O 4 1 6 ) , WL Q SD
CC (O~419 ) ,WLQS
( C ( 0 14 2 0 ) , WLRSD
CC (01423 ),WL R S
(C(O4 24 ),BTHT GD
(C(0L327) , BTHTG
CC (O428) ,BP S IGD
(C(O431) ,BPSIG
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
)
~~
- 9
---- -
- ~~~~~~ a
~~~~~---- -
EQUIVALENCE
EQUIVALENCE
E Q UIVALENCE
E Q UIVALENCE
E QUIVALENCE
E Q UIVALENCE
EQUIVALENCE
E Q UIVALENC E
EQUIVALENCE
E Q UIVALENCE
EQUIVALENCE
--
(C(11 ) ,BY)
(CC12) ,BZ)
( C ( O 4 0 3 ) , WLAM Q )
C CCO 4 0 7 ) , WLAMR )
(C ( 0 14 35 ) , BEPSZ )
( C ( 0 1 43 6 ) , BEP SI )
(C(0 ~437),WZ
)
)
( C ( 0 4 3 8) , WY
(C(O439) ,B G DEFL )
CC ( 4 6 5) , SDY )
CCC
466) ,
SDZ )
C
CDIRECTION COSINES FOR BODY TO PLATFORM TRANSFORMATION
BTACT = BTHTG
BRACT = BPSIG
UCT=COSD(BTA CT)
USP= S INDCBPACT)
UB 11
UCT UCP
UB 3 3
UCT
UB 12 = UCTUSP
U 913 =UST
UB21 = USP
U 822 = UCP
UB23 = 0.
U531 = UST*UCP
UB 3 2 = USTUSP
C
C CALCULATE TOTAL DEFLECTION OF GIMBALS
BGDEFL=SQRT(BTHTG2BPSIG2 )
C
C TRAN SFORM LOS FROM BODY TO GIMBAL AXES
RX G = UB 11 *RXBA +UB 12*RYBA +UB 13*RZBA
RY G = UB2 1RXBA+UB22 RYBA+UB2 3RZBA
RZG = UB31RXBA UB 32 RYBA+UB33 RZBA
C
CLOS ERRORS IN PLATFORM COORDINATES
BEPSZ = ATAN D(RZG , RXG )
BEP S Y
A T AN D ( RY G , RXG )
C
C SEE KER OUTPUT SIGNALS
IF(CC1976) .LE .O .) GO TO 82
IF (T.LT.(ST-.000001)) GO TO 82
IF ( C ( 13) .LE .0 .)
C(13 )
1.
ST = T
C(2664)
GO TO B20
DT / AINT(DT / C(2764))
ST = ST + DT
CV IDICON T R A C K E R
I F ( O P T N S K .L E . 0. ) GO TO 85
WLA M Q = GEO * BEP SZ
WLAM R = CEO * BEP S Y
WQP
WRP
W LAM Q
WLAM R
GO TO 30
CQUAD RANT TRACKER
85 CONTINUE
- -- -
- ~~~~~~~
~~~~---
--~~~-~~~
a,
UZ
BZ
UY = BY
CAGE = 1.
WR I TE (6 , i01 ) T , BEPSZ , BEP SY
GO TO 82
81 87. = 0.
BY = 0.
CSEEKER COMPENSATION
82 IF (OPTNSK .GT . 0.) GO TO 30
WLAM Q = BZ GS
WL AM R = BY GS
WQP = WLAM Q
WR P = WLA MR
IF ~WSL .LE. 0.) GO TO 83
WLQD
WL R D
WL QD
W LRD
WLA M Q
WLAMR
SEPS
SEE S
WLQD/WSL + WL Q
WLRD/WSL + WLR
WL QD
WLRD
WQP =
WRP =
WLAM Q = WQP
WLA M R = WR P
IF ( WSN . L E . 0 . ) GO TO 83
WLQS )
WLQSD = WSN ( W Q P
WLRS )
WLRSD z WSN (WRP
WQP = WLQS O/WL2 + WLQS
WRP = W L R S D / W L 2 + WLR S
83 IF (CAGE
PITCH PLANE
10 IF CTKRZ
.LE. 0.) GO TO 30
IF (BZUZ
TK R Z
.GT.
0 . ) GO TO 20
.GE . 0.) GO TO 12
1.
12
GO TO 20
WLAMQ
WQP =
WL Q SD
BZGSX
WLAMQ
WLQD= 0.
UZ
= 0.
BZ
YAW PLANE
.GE. 0.) GO TO 22
TKRY = 1 .
W R I TE (6 ,103) 1 , BEPSZ , BEPSY
GO TO 30
22 W LAM R = BYGSX
WHP = WLAMR
WL R D = 0.
~~~~~~~
.- - - --_
.
_ - -1__ .
___ _ _ _
~~~~~
~~~~~~
-
=
=
=
113
,
-
~~--
~~ - - - - ~~ -
--- ~~~~~~~~~
- -~~~~~~
WLRSD =
UY = BY
3 0 C O NTINUE
0.
C
CMISSILE BODY RATES IN GIMBAL AXES
WZ = UB 3 1~~WP+UB32~ WQ+UB33WR
WY = UB21WPUB22 WQ+UB23 WR
C
CGIMBAL COUPLING
UZK = SWP ( BTHTG
+ .1BPSIG )
UYK = S W P * ( _ B P S I G
.1*BTHTG )
UZK
UZK
SDZ
WLAMR
- -
= 0.
WL QD = 0.
WL R D = 0.
WLQSD
0.
WL R SD = 0.
I3 TH TG D = 0.
BPSIGD
0.
RETURN
END
- -
SU BROUTINE Sl I
CSEEKER INIT.MODULE
COMMON C(3830)
DIMENSI O N IZ (5 0), IY (50), ISNDX (Z4O)
EQUIVALENCE (C(3634) , ISNDX(1)) , (C(3512), 13512)
EQUIVALENCE (C( 470), BTGERR )
EQUIVALENCE (CC 471) , BPGERR )
E Q UIVALENCE ( C C 4 6 5 ) , SDY )
EQUIVALENCE (CC 466), SDZ )
))
1 FORMAT( 5X ,2HB Z ,6X ,4 (I13, 111 )/ (13X ,l(I 13, 111 )
2 F O RMAT (5X ,2HBY ,6X ,4C 113, Ii1 )/(13X ,4(I 13, 111)) )
EQUIVALENCE (C( 11) ,BY)
E Q U I V A L E N C E C C ( 12 ) , BZ )
EQU IVALENCE(C(20 11 ) ,KSTEP )
E QU IVALENCE ( C ( 6 0 0) , I Z ( 1) )
EQUIVPLLENCE(C( 650),IY(1))
DIMENSION I P L ( 1 0 0 )
E QU I VALENCE
EQUIVALENCE
E Q UIVALENCE
EQUIVALENCE
EQUIVALENCE
EQUIVALENCE
( C ( 0 4 l S ) , WLR )
(C(01419) ,WLQS )
( C ( 0 4 2 3 ) , WLRS )
(C(O427),BTH TG )
CC( 0431 ) ,BPSIG)
C C C 2 5 6 1 ) ,N )
N=N +6
C(41 1 )=0 .
C (415)=O.
C(419)=0.
C(423)=O .
BY = 0.
BZ= 0.
SDY
0.
SDZ
0.
DO 10 I = 1 , 135 12
IDO = I
C
C MONTE CARLO SEEKER OUTPUT STARTING VALUES
C
1F(ISNDX(I ).EQ .11) CALL MCA RLO (DUll , 1 , IDO )
IF (ISNDX(I ).EQ.12 ) CALL M CARLO (DUll , 1 , IDO )
IF (ISNDX(I).EQ. ~460) CALL MCARLO (DIJM , 1 , IDO )
I F ( A B S ( B Y ) . G T . O . ) BY = SIGN(1 .,BY)
IF (ABS(BZ).GT.O. ) BZ = SIGN (1., BZ)
C
C MONTE CARLO SEEKER POINTING ERROR
C
IF (ISNDX(I).EQ .470) CALL MCARLO (DUll , 1 , IDO )
IF (ISNDX(I).EQ. 471) CALL M CARLO (DUll , 1 , IDO )
C
~~
115
C
C
**
10 C ONTINUE
BTHTG = BTHTG
BPSIG = BPSIG
+
+
BTGERR
BPGERR
WL QS=SWP (BTHTG-BPSIG)
WLQ=SWP (BTHTG-BPSIG)
WLR=SWP (BTUTG+BPSIG )
WLRS=SWP(BTHTG+BPSIG)
C(13) = 1 .
DERSV= .002
C(L461):0.
C(462)=0.
4 63 ):0.
4 614 ) =0
IF (OPTN4.GT.l .) GO TO 30
C(461 )= 1 .
C(1462)=1 .
C(-L4 6 3) : 1.
C( 14 6 14 )= 1.
30 CONTINUE
N I= 1
MI = 1
SET=O.
DO 200 1= 1 ,50
IZ (I)=0
200 IY(I)=O
RETURN
ENTRY Q D
RETURN
ENTRY S8
RETU R N
END
- - - - -~~~~~~~~~~~~ -- .-
~~~~~~~~~~~~ - -
--
- -- . - . - ~~~
.
- ~~~~~ ---
--
SUBROUTINE
DIMENSION
XK
Y =
RETURN
END
0.
--
rr
SUBROUTINE TABL 2(X ,Y ,XI ,YI ,ZI ,NX ,NY ,NXY ,XINTER ,XLABEL ,Z)
DIMEN SION XI (NX ) ,YI (NY) ,ZI (NXY )
Z=FINTP 2(X ,Y ,XI ,YI ,ZI ,NX ,NY , NX Y ,X I NTER ,XL ABEL )
RETURN
END
4,
rr
~
~~~
~~~~~~~~~~~~~~~
- -
~~~~
ENTRY
A5
ENTRY A5I
ENTRY C 2
ENTRY C21
ENTRY C 6
ENTRY C6 1
ENTRY C?
ENTRY C 7I
ENTRY C8
ENTRY C81
ENTRY C 9
ENTRY C91
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
C lO
C 1OI
D3
D31
D14
D 41I
D5
DSI
Gi
Gi l
G3 1
ENTRY GL II
ENTRY
ENTRY
-.
ENTRY G5I
ENTRY G 6
ENTRY 06I
ENTRY
ENTRY
ENTRY
ENTRY
S5
S51
36
S6I
ENTRY S7
ENTRY S7I
ENTRY S81
ENTRY 59
ENTRY 39 1
ENTRY SlO
ENTRY 3101
ENTRY
ENTRY
AUXA 1
AUXA 2
ENTRY
ENTRY
ENTRY
AUXB 3
AUX C 1
AUXC 2
ENTRY AUXA3
ENTRY AUXB 1
ENTRY A UXB 2
ENTRY A UXC 3
C NTR 1
C NT R 2
CN T R 3
ENTRY INPT 1
ENTRY INPT 2
ENTRY
ENTRY
ENTRY
ENTRY
INPT3
. - -
ENTRY RNDM3
ENTRY STGE 1
ENTRY KIKSET
ENTRY C O UNTV
ENTRY WRITE
GOTO 2
GOTO 2
ENTRY AE R R O R (XL )
GO TO 2
ENTRY
CALL
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
ENTRY
TERR O R (XL )
EXIT
CEPAS (N ,I,IP ,XL ,S,IC ,P)
CEP P (X ,1,N ,S,X 1 ,I ,IC ,IP ,P)
N ORM (R ,X 1 ,XU ,XM ,S, R 1 )
KSTEST (Y ,N ,S ,X 1 ,SX , NI)
ZTABLE (Z ,F ,N)
PPLOT (X ,Y ,N ,C , I , R ,T ,XB ,YB ,XL ,P)
XL O C (X 1 ,H ,I ,IN)
GOTO 2
ENTRY 02
ENTRY G 2I
ENTRY S14
ENTRY S4I
ENTRY C 5
ENTRY C 5 1
ENTRY
RESET
ENTRY
ENTRY
ENTRY
PLOT 2
PLOTN
GOTO 2
ENIRY S2
ENTRY S3
ENTRY MCARLX
ENTRY SUBL 1
2 CONTINUE
RETURN
END
Pr
C
C
C
C
C
C
C
C
C
C
C
C
C
SUBROUTINE
EA C H OTHER.
C
C
C
C
C
C
COMMON C(3830),GRAPH(300 , 4)
NAMEL IST/TEST/N OPLOT ,NPLOT ,PL O TN2 , VLABLE ,O UTPLT ,OPOINT , PPP ,PPNT ,
.GRA PH
C
C
C
C
C
C
C
C
C
VARIABLES:
WKPLOT
DEFINE
F I L E 8 ( 1 U 0 O , 8O , E , N P O I N T )
OUTPUT GRAPH
LABEL S
NOPLOT :N PLOT
NPL 2= PLOTN2
IN F I L E
DO 14 J = 1 , OP O I NT
1-14 .~RITE (8NPO INT , 11 ) T IME(J)
11 FORMAT(E 15.7)
IF (I.GT . 4 ) RETU RN
6 FORMAT( OWA RNI NU ..I>L I ..YO U CANNOT HAVE MORE THAN 14 TIME PLOTS ,
.1 , , 8 0 * )
C PLACE DEPENDENT VARIABLE IN FILE
DO 5 J = 1 ,OPOINT
-
~~~
----
~~~~-
-- - - --
~~~~~ ~ -
~- - -
- ---
Pr
______________________
-~~-~~~~~~ -~~~~--- - ~ -.
- - -- - --- - -- - --- - - -.-- ~~~
ft
~~~~
J , I)
5 WRITE (BNPOINT ,l l ) GRAPH (
W R I T E ( 8 N P O I N T , 2) VLABLE ( 1 , I ) , VLABLE ( 2 , I )
2 FO R M A T (2A 14 )
4 CONTINUE
W R I T E ( 6 , 6)
8 FORMAT ( OPLOT
RETURN
END
- - .
POINTS
PLACED
IN W K U . Y O R K )
.
-4
- -
~~~
-,
-r~~~.----.------~~~~~--.=.- -
_._
~~~~~
~~~~~~~
~~~~~~~~~~
SUBROUTINE ZERO
COMMON C ( 3 83 0)
EQUIVALENCE (C(19814) ,NPLOT )
EQUIVALENCE (C(2023) ,OPOINT )
E Q UIVALENCE ( C ( 2 3 6 1 ) , NO M OD )
EQUIVALENCE (C(2461) ,NOSUB )
E QUIVALENC E ( C ( 3 0 6 6 ) , N OL I ST )
E Q UIVALENCE ( C ( 3 16 7 ) , NOOUT )
INTEGER OPOINT
NOSLJ B
0
NOMOD
0
N OOUT
0
NOLIST = 0
OPOINT :O
N PLOT =0
RETURN
END
0.
L~~~~.
1
---~~- - ~~~ -
- - .-
---
~~~~~~~
---
-- ~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~
-- r
~~ :~ ~
- ~~
~~~~~~~~~
- -~~
REFERENCES
1.
2.
B l a i s d el l ,
3.
4.
5.
6. Stallard , D.V. Discreto Optimal Terminal Con trol with App lications
8.
9.
10.
Willems , G., ~p~ imal Controllers for Homing Missiles, U.S . Army Missile
Command , Reds tone Arsenal , Alabama , Sep tember 1968 , Repor t No. RE68l5.
11.
Pastrick , H.L., Y ork , R.J., and St. Clair , D.C ., On the Realization
of an Optimal Control Law for a Terminally Guided Missile , Proceeding
~
of the Tenth Annual Southeastern Symposium on System Theory, March , 1978
12.
__
Lewis , C.L., Hooker , W .R ., Lee , A .W., Jr , and Harr i son , J.S ., T HAD T7
Missile MonteCarlo Termtnal Homing Simulation U t i l i z in L LS, Digi tal/
~
L inear and TV Seekers, U.S. Army Missile Command , Redstone Arsenal ,
Alab ama , July , 1976 , Report No . RG 7T2 .
~~~~~~~~~~~~~ ,
---
~~~ ~~-
,--
-- ~
--
--
- -, .
_2- ,----.:
___ =_~..
~~
- -~
~~ --
.
~~~
13.
14.
York , R.J. and Pastrick , H . L . , ~ p tima l Con trol App l i ca tions f o r Missile
.-- -
Freedom, Terminal Homing Simulation Program, Guidance and Control Directorate , U.S. Army Missile Command , Reds tone Arsenal , Alabama , Jul y , 1973.
Systems, (Conf idential) Guidance and Control Directorate , U.S. Army Missile
Command , Reds tone Arsenal , Alab ama , F ebr u ary , 1977 , Technical Repor t
TG- 77 2.
.-,
uIuuuuI
~~~~~~ ~
~~~
________________________
Appendix A .
OPTIMAL TERMINAL GUIDANCE WITH
CONSTRAINTS AT FINAL TIME
Randy J . York
Western Kentucky University
Bowling Green , Kentucky 42101
Harold L. Pastrick
US Army Missile Command
Redstone Arsena l., Alabama 35809
and
Robert Pervine
Ph. D Candidate
Kent Pavey
Ph. D Candidate
U n i v e r s i t y of Kentuck y
Lexington , Kentucky
U n i v e r s i t y of Colorado
40506
Boulder , Colorado
80302
A BSTRAC T
A suboptima l termina l guidance law for a t a c t i c a l guided missile
I.
INTRODUCTION
:__, _ _ _ _
- - - -~~~~- -~~~~~~~ :
~r
guidance proble m and a stud y of tradeoffs among the sub opti caa i. candi-
II.
V
x~~
d
d
L
0
~~~~ ,
Yt- Y m
t
m
A
~~~~
(AI)
~: -~~~~~~
~~~
_.
.
. ..-.
~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~
VERTICAL
REFERENCE
/
7
,
,
TARGET
_ _ _ _ _ _ _ _ _ _
Figure A-l .
Geometry of tactical missile
target positions .
where
a the position variable from the missile to the target ,
projected on the ground
Y a the position variable of the target
t
-A
cos 6
(A2)
_W A + K u
~
L L
1
AL
O K u
a
No t e t ha t t he lag in t he a ut op ilo t has been represented by a first
order lag ne twork
A (s)
L
u(s)
(A-3)
_ _ _ _ _ _
s+w
b) and viewing
Ax + Bu
t he resul t is
~d
-b
~d
L
6
0
0
0 0
-w
9
A
(A-4)
K
-a
C *Y +
d ~~~~ *~~~~+ C * o + c
~~~ y
*~~~
(A-5)
where C,~ , C,~, C 0, C~~ are time varying coefficients chosen to minimize
t he cost func t ional
J
Y~ (t ) + 792 (t )
f
f
+
~~~~
dt
(A-6)
-- -
.--
Mere
a f ina l (impact) time
t
a initial time
a constant weighting factors.
~ 5 ft
I9(t f )I
III.
5 deg
PROBLEM SOLUTION
gyK (t
a
2
(+
~
-
~~a)
~~~~~
gy g
+
~~~~~~~~
-~~~
- -
~~~
(1
~~
t )
f
~~
(t
I
[(s )
- (I-
e
-j -~ ~ ,)
(+ )
~~
a)
t )
(gyi~~\
w (t_ t )
1
f ]
(t
W (tt
1
~~
e
}
/
A
)
W (tt
1
~~
e
)
W (t~ t
f
l
(t -
t )
f
)](t - t )
f
~
/i
~-s __ ___ _
~~~~~~ ~
-
- -
- -
--
-r.
c~~
yg2K(t
2
g ~ K(t - t )
f
2
* [2~~~~ 7 K
where
[ +
~
2
w (
t=t )\ (t
7~ K (
1
1
\
l
_
e
W
2
yK g
3
(\ l _ e
W (t-t )~
1
f \
t )
f
- y K ~~
)~//
W (tt
1
~~
e
)
(A-7)
W (tt
~~
~ - e 1
~~)2
i
a)(
+(
*~~ i + o
~~~~~~~
~~~
~~~~~~~~~~
{ (+
~~
t )
f~
2w~
- . -_- -
- .-~~ ca~~~~~~~r
E ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
( t
_ t
f
)j
W
(
3e ~~~~~~
3
t )
_: f
~ 2
(t
2
t )
f
}
/
A
tatime
I.
and
2
A a ~
(t;
_( )
~
t f)
L
(
5
4e
t t
(e
~~~~~~~~~~
L
~
1
~~~~~~
(
I
~~
1
)
W t t
1
~~~
2e ~~
)
2 &Yt_t
~~
e ~
)]
1+
(1
2yK ~~
e~~~
t_ t
~~)2
----- -~~~~~~~
+ (t
t )
f
(t - t
)
f ~
(
~
(t ~~t
f)
2
[~ g ] +
e~~~~~~~~~)
----
2
7K 2]
[
8
The coefficien ts are shown in Figures A-2 , A-3 , A-4 , and A-S for
following parameter values :
5~ K
0 0005 1 y
5, K
3823 ,
=
0.0000694, t
f
7.68.
200
TIME (sic)
Fi gure A-2.
~~
- --
--
- ~~~--- -- - - ~~~~ -- -
~~~
-- - - --- -
~~~~~~~
-- - - - - - - -- -
-- - - - --- - - - - - - -
--- - - - - -
--
--
- ------ -
~~~~~
__________
:
~~~~
TIME (si c)
Figure A-3 .
of coefficient C.1.
10.000
C
~
:
10 .000
20 .000
30.000
4
TIME (sac)
Fi g u r e A-4 .
o f coefficient C .
9
--- -
1__ ,_ _ _ ___
~
~~ ~
~ -~~- - - - -
- ~
---
_._
__ ~~~~
~~
~~~~~~~~~~~
-~
~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
1000
CA
0
1000
2000
3000
4000
Figure A-S .
TIME
i
-
(sic)
IV .
C~
~d
G.~~ *
*9
was derived under the assumption of zero autop ilot lag (i.e. A
The coefficien ts obtained were
[_ ~ g (t
t)
f-
[-~~ K
gyK ~ (t
f-
t)2/2]
2
t) - gy K~ (t
f-
2
7K g (t
t)3/2]
3
t) /6]
where
-b K
1
ga - ;--
- -
- - -
--
_ _ _ 1_ ._
~~
______ ___ _
- - - -~~~~
u).
-~~~
-T
~~~~~~~
~~~~~~~~~~~~~~~~
and
a2
Ya K ~~(t
t)
Sg 2 (t~
t)
2
Yg K ~
t)
(A8)
No te the relationshi p be tween the two c o n t r o l laws . As lag in the autop ilo t tends to zero i .e., W~
in Equation (A-7), the control law of
Equa tion (A-8) surfaces as the limiting case of the new control law .
68 ft MISS AT
30-
N EW CONTR OL LAW
O L D CONTROL LAW
20
1 0
, sl
~ 1 .2
I
4
LAG CONS T ANT
F igure A-6 .
_________
____________
- --
.T
=- -~~~~~ -
~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
0.100
NEW CONTROL LAW
OLO CONTROL LAW
o.o2:~~~~~~~~~~~~~~~~~~~~~~~ ~~
/
/
/
,
,
LAG CONSTANT
Figure A-7.
law of E q u a t i o n (A-8) becomes unstable . This is not true with the law
describe d by Equation (A - 7 ) .
For
3 , a miss distance of 68 ft was
ob tained while the new control law had a miss distance of 6.1 feet.
5.
tactical missile autop ilot vary , and no t be approx ima ted closel y a
p r i o r i , t h e n the more comp l i c a t e d control law needs to be implemented .
In other words , the control law of Equation (A-8) performs adequately
onl y f o r lag nea r t h e assumed nominal value.
The c o n t r o l law imp l e m e n t a t i o n was i n v e s t igated for a d ap t i b i l i t y
to app roximation si g n
a ls f r om p hys icall y realizable sources. The coeffic i e n t s ~~ C,~ , we r e app r oximated by linear functions pieced together at
th ree break p o in t s .
A-li.
(t ~~~) +
C~~ Y~~~
2
2
c 0 (tf )+ C a (t )+ C f ~~ 2 ( t) dt
2
3
f
4
(k-9 )
a =
(pitch rate)
= (TAB
TCB )/ 1
2
2
where TAB
-q Sd (C
cx
or
TAB
L cx
1
where
_ q S d
m / 12
d ynamic
missile r e f e r e n c e area
p ressure
A-12
-
--------- -
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ __
__
__
__
__
_ _ _
-1
I
A l so , noting p itch fin deflectio n (e ) is equivalent
TCB
q S . d ~~~ C
to control (u)
Therefore ,
9
L a
1
L e
2
L u
3
where
L
q ~~S
d .c / I2
Figure A-l , yields the fol lowing system for the s t a t e variables
~~
~cI ~d ~L
~d
0 1cz:
cos ( 9
W A.
~ l b
AL
- a)
e=e
L a+ L + L u
1
2
3
o
b
K u
3
cos (9
a).
point , i. e . ,
Even so , the control problem w i t h the cost functional
in Equation (A-9 ) does not lend itself readil y to a closed form solutio n. Future work is antici pated using computer augmented algorith ms .
13
- ~~---- -~~
--
--
~~~~~~~~~~~~~~~~~~~~~~
~~~
. - ~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-r
~~~~~~~
:?-
~~~~~~~~~~~~~~~~~~~~~~~
REFERENCES
I.
p. 66.
2.
3.
4.
Mu r t a u g h
5.
S.
Navi g a t i o n , IEEE S p e c t r u m ,
March 1967.
6.
Optima l Control and Filterin ,~~ Master s Thesis , Air Force Institute
of Technology , Wri ght Patterson Air Force Base , Oh io , June 1967.
7. Willems , C., Opt ima l Controllers for Homing Missiles , Report No.
RE-TR-68-15 , US Ar my M i s s i l e Command , Redstone A r s e n a l , Alabama ,
Sep t e m ber 1968.
8.
9.
A1 4
!IUuI
~~
Appendix B:
COMMON/CONSTR/CQUANT
CO 14MON/YORK 1/DTRK ,
C
CINTEGRALS FOR RUNGK
U
YD ,YV ,THETA ,HA
11
,AL
CDERIVATIVES FOR RUNG K
,DAL
SIN(X) :DSIN(X)
COS(X) :DCOS(X)
C
C** * * * K IM_ G R I D ER CONTROL
C1Y(OG) :(BETA*G*OG
LAW
-
GGAMMAKA2OG2/2.)/DEL
C 1Y D ( 0 G ) :( ~~B E T A G O G2 + G G AM M A K A 2 5 O G 3 / 2 . ) / D E L
777
C998
C.
C 1A L ( O G ) : O .
VMI (T)
-3 9 . 14 * T
CONTINUE
+ 1080.
TF :7.O
TIME :O .
DT= 1 ./128 .
DTRK :DT
NX :5
1< 1 :
1 .00
W1:9.8O
(A :.0005
JPRI :1O
YD :5000.0
VM :VM I(TIME)
VT :O .
AL :20.
C THDEG
:LAUI4
C H ANGLE
THDEG :8,.5
DELO
C
C
C
C
DEL O
:DESIRED
IMPACT ANGLE
145 .0
DELR A D :D E L O / 5 7 . 29 6
COS (DEL O)
B
B
0 .7 0 7 1 0 7
T H ETA :( THDEGDEL O )/57 .29 6
P R I N T 105 , GAMMA , DE L O , THDEG , B
105 FORMAT ( G A M M A : ,F1O. 14 ,2X , DELO : ,F1O. L$ ,2X , TUETA: ,F10. -4 ,2X , B : ,
AF 1O .4)
YV :V T VM SIN (THETA+DELRAD )
I-IA :1000.O
_______________________________________________________________________
~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~
~
______
_____________
_____________
~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~
J :2 0
W i ,GiO.S,
INITIAL THDEG
XM :1 .EkY D
DO 10 KUTTA :1 , 4
VM
VM I (TIME )
G :K 1~ B/W 1
TGO :HA / (VM COS(THETA+DELRAD ))
DEL :BETA** 2_ GAMMA *BETA*KA **2*TGO_ BETA *G**2*TGO* *3/3 .+GPLMMA* G**2*KA
12TGO14/12.
CY :C 1Y(TGO)
CYD :C1YD(TGO )
CT:C 1THET(TGO)
CAL C ~AL(TGO )
U CY*YD+CYD*YV +CT*THETA+CAL*AL
DYD : YV
30 C O N T I N U E
60 T I M E :T I M E + .5DT
--
C
C
C
C
140 CONTINUE
5 0 C ALL RUN G K
10 CONTINUE
IF (DABS(YD) .LT.50.) DTRK :i./256.
35 IF (J.LT.JPF ~I) GO TO 3
36 C ONTINUE
PRINT 1 0 1 ,T IME ,YD ,YV ,THETA
101 FORMAT (OTIME :: ,F1O. Ll , L4X , REL DIST. YD : ,D114 .6,REL. VEL. YV : ,
1D 14 .6 ,~4X , T HETA ~~ ,D 14. 6)
PRINT 102 ,HA ,AL
102 FORMAT( V ERT. HEIGHT : ,D14.6 ,UX , AL : ,D14 .6)
PRINT 103, CY ,CY D ,CT , CAL ,U
103 FORMAT (1X , Cli : ,D114 .6,14~., Cu D: ,D1L I .6 ,14X , C 1IHETA : ,D14 .6 , 14X ,
1C1AL :: ,D114 .6, 14X , U : ,D 1J4 .6)
C
C
J :O
SET F U N C T I O N
KG CTRL
AND
:
ID2
CONSTRAINT
+
THDEG2
VALUES
CQUANT :O.O
WR ITE( 6 , 13 13 ) KGCT R L ,YL , THDEG , GAMMA , BETA , C Q UANT
1 3 1 3 FORMAT( OFUN C T I UN VALUE ,G 15.7 ,/ MISS DISTANCE ,G15.7 , -ANGLE : ,
G A M M A , 015.7,
$G 15.7 , I
BETA , 015.7 , CQUA NT ,G15.7, / , O ,
)
.6O( )
C
C
RETURN
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
- -
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
8 PRINT 4 0 5
405 FORMAT ( TIME EXCEEDS TF)
RETURN
,80(),f))
END
SUBROUTINE RUNGK
, NX , IY OR K , K (JTT A
GO TO ( 1 O , 3 0 , 50 , 7 0 ) , K IJ TTA
10 DO 20 I= 1 ,NX
XMl ) : X ( I )
DXA(I) :DT*DX(I)
20 X(I) :X (I)-i- .5DXA(I)
U
RETURN
30 TDT :2.DT
HDT :.55DT
DO 40 I:1 ,NX
DXA(I) :DXA(I)+TDT*DX(I)
40 X(I) :XA(I)+HDT*DX(I)
RETURN
50 DO 60 I:1 ,NX
60 X(I) :XA(I)+VDT
RETU R N
70 DO 80 I:1 ,NX
80 X ( I ) : X A ( I ) + ( D X A ( I ) + D T D X ( I ) ) / 6 .
RETURN
END
--
-~~~~~~~~~~~~~~~~~~ -~~~~~ -
. --~~~-- - - -~~~~~ --
- -
--
--
_________________________________________
______
Appendix C:
U-- -
--
--
Many of these parameters such as height , weight , distance , velocity , etc. are
determined by particular test requirements.
of parameters which act as constants in the simulation but whose values are
difficult to determine apriori.
(C 1)
J (a)
of th e pape r ,
+
2
(0(a)-O f )
(c-2)
w h e r e Y d (cz) is the missile miss distance , 0(a) is the attitude angle at impact ,
and O I S the desired attitude ang le at impact.
L.-
J(c z )
(1 bis)
t1
t~~
Ac~~ .
(C3 )
L\ ci~
are determined
t~~
One area of
current research favors omitting the step length search by making appropriate
choices for Aa 1, for example see [1,21 .
direction of search and the step length simultaneously . The point a will
be accepted as the desired result if either of the following convergence
criteria are met , [5] viz.
<
where
and
a.
I j .H
j_
(c4)
<
~~
J(cx)
provided by the f i r s t
11
--
~T .)
J(a.
)
1
VJ ~~~~L~a~ +
~~
1~~~H
11
~ cj .
(C 5)
whe r e VJ~~~ is the gr a d i e n t vector and H~~ is the real symmecric Hessian
1
1
Both Vj .
mat rix .
and IL
are evaluated at a .1 .
contingent on whether the algorithm in question uses no term s , the first two
terms , o r all three term s r e s p e c t i v e l y of e q u a t i o n ( 5 ) .
Since t h e c a l c ul a t i o n
of partial derivatives is not feasible for the type of problems being considered
here , the algorithms discussed will be limited to those of the direct search type.
The development of direct search al gorithm s has been guided by e x t e n s i v e
experience and by thinking of the problem as that of following valleys down the
side of a mountain.
vector
~~l
e1
Figure:
Hooke
Jeeves A l g o r i t h m f o r n
One simp le , but very effective , algorithm is Hooke and Jeeves Pattern
Search [6]. This algorithm consists of a series of exp loratory moves
followed by a pattern move , see the figure above . Beginning at a , a one
d imensional search is made in each of the n coordinate directions.
C-3
~~~~~~.
.
~~~~~ - -
--
- - - -
Thus , for
The o n e d i m e n s i o n a l
= an
an+l
(C6)
~~~~~~~~
Since J(a +1)is not usually evaluated , it may be the case that
~
>
~~~ n+i)
~2n+l~
~~~~~~~~~~~~~~~
~~
a pattern move is made from a2ii+l . Otherwise , one returns to a~ and beg ins a new
set of exp loratory moves.
The p a t t e r n moves take large steps along valleys while exploratory moves
is selected as
~n+1
a
where
n+l
+ t
(a
a)
o
~~~~~~
E i t h e r v e r s i o n is easY to p r o g r a m and r e q u i r e s onl y f u n c t i o n v a l u e s .
~~~~~~~~~
Hooke and
Jeeves ~-i~ gorit hm is particularL y attractive for use in minimizing functions having
1cn ~~
curved valleys.
Rosenbrock s algorithm [7] subscribes to the same general valley following
search directions b y adding each successful new search direction to the set while
removing the oldest search direction from
the set.
~~~~~~~~~~~~ --
-~~~~~~
n
~~~~~~~~~~~~
~~~~~~~~~~ --- -~~~~~~~~~~~~~~
_ ---- --
-~ ----a ~~~~~~~~~~~~~~
--- --
compu t es
U 1, U
2, ...
~~~~~~~
- j ,
Rosenbrock s method
.
1
t~~ ,
1, 2,
,..,
n.
___ j
~
t czk
~
where k
= 1, 2 ,
..
.
,
n.
t~~
~~~~~
~~~~~
Hence , t h e method a l i g n s the first search direction along the valley which has
-
further development o~ this idea has been pursued b y Davies , Swann , and Campey
~
[9].
f or
and k ,
1.
1, 2 ,
...,
n , compute
.
~~1
where
2.)
t ~~
= T_
ii ~~~~~~~~~~~
1
1
max (J ( ~~
ci~ )
)J (
)
.
11
1
l<i<n
produces this maximum .
Set ~
3.) Calculate J
4.) If either J
3
3
= J(2
>
%a ~ )and define J 1
J ( c ~~) a n d J
2
or (J 2J +J )(J J -L )
1
2 3
1 2 ~
1, 2 ,
.
.
.,
> ~~~~
(J
j )
1
3
n and repeat t h e
C5
-
-- --
-- _ -
____________
a l g o r i t h m u s in g
a a s
--
the s t a r t i n g point.
( a a ) .
where
~ k
so that
k ~~k
(see ( 4 ) ) .
Each
this step.
~~~~~,
1, 2 ,
.
.
.,
n ar e us uall y
In certain test cases , Powell observed that his algorithm failed to compute
a new Ac~ when such computation was needed to preserve the linear indepen
de rtce of the current search directions.
be up da ted by S tep 5.
~~
repeatedl y fails to
to Himmelblau [5] and to Lessman [11] for a comp lete discussion of methods ,
t.
such that
il
+ t .
~~~~~)
1
<
J( :
~i i
).
While any t~ satisfying this criteria is acceptable , the greater the reduction
in the function value , the better is the performance of the entire algorithm .
- -
--
--
Popular oned imensional search algorithms include the Fibonacci search and the
quadratic fit algorithms.
both the miss distance and the body attitude angle at impact for an air to
ground m i s s i l e p u r s u i ng a g r o u n d t a r g e t moving at a constan t speed .
The s t a t e
_ K
u cos
Ku
where
the distance between the missile and the target ,
K ,K ,W
1 1
= constants
u (t ) = [C , C . , C ]
y
0
wi th
C~
= (~~~ g~~
2 2
a ~~K ~~ / 2 ) /t.
1
--
(-cz ct K
1 2
2
2
a~~~K
1
+ cz~~g
23
~~
/3
~~g
2 ,2 4
K
/12
C7
---.
~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ~~~~~~~~~~~~~~~~~~~
~~~~~
~~~~~
- -- - - .
~~~ ~~
~~
~~~~~~~~~~~~~~~~~~~~~~~
~~-ere
g
~ K 1COS 0 f /W 1
t
= the v e r t i c a l h e i g h t of m i s e i l e
= time
. H/(V*cosB)
~
(t )+ a 0 (t )+ a 7j
f
1
f
= time of impact
t~~ e c n c t
functional:
i (t)dt
d i s t- i n c e
o~ 0.045 f e t w i t h
ar
a t t i t u d e angle at
o obtain these
results :
H
= 10000 f e e t
=
10000 f e e t
1
K
0 = 45 degrees
V =
W
2000
= 0.0005
= 3823
ft ./second
5 rad ./second
= 6 .94 X lO~~
- -
3(
~~)
2 (a)
~d
(0(a)_O
2
)
(2 b is)
a) would be d e t e r m i n e d by running
~(
--
__ .
;ls
~~~~ -- --
--
~ ~~~~
--
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~
used in solving the problem , since any algorithm relying on derivative information
for J ( c t) had to be excluded.
conditions :
H = 1000 f e e t
=
5000 feet
1095 f t ./ s e c .
= 45
Initial
Val u es
Final
Val u es
3823.598
5525.508
0.34OE4
0.l9OE 6
1520.600
10.970
36.950
3.301
57.462
45.270
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
a
a
J(cz)
miss distance (feet)
attitude impact angle (dearees)
Table :
and
as well as the resulting objective function value , the miss distance , and
= 45
0~
The Final
any a l gorithm to exhibit since the choice of search direction s and step lengths
used by an algorithm may cause criteria (4b) to be satisfied before a minimum
C 9
_
--- -
-.-
----
~~~~~~~
value of
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
the o b j e c t i ve f u n c t i o n is o b t a i n e d .
-~
~~~~~~~~~~
~-~~~~ - -
direct search algorithms and an example of how these algorithms can be applied
to obtain parameter estimates.
As can be seen in the con t rol problem example , the problem of finding optimal
values for the control parameters
and a is replaced
2
with a mathematical
search parameters t
and t .
and t
as discussed in the
Specify
t h e obj ective f u n c t io n at
-~
-S
~~~~~~~~~~~~~~~~~~~~
~S
cb
-
The
- - _-i
______
~~~~~~~ ~~~~~
~~~~~~~~~~~~~~~~~~~~~~
~~~~
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
RE FE RENCES
1.
Bass , R.
2.
3.
5.
Himmelblau , D.M .
Hill, 1972.
New York:
McGraw
6.
Hooke , R.
7.
8. Rice , J.R.
9.
10.
Computer Journal ,
11.
Lessman , R.E.
12.
13.
Optimization.
U n i v e r s i t y of M i sso u r i R o l l a , 1975.
Philadelphia:
c-li
- -
--
- - 5 -
- S-~~~~~~~~~~~~~~ -
--
_a.__ __ ___ _ ~
~
~~
- -- - - - --
~---5--~-
--S------------ -
~~~~~~~~~~~~~~~
15.
r~~~~~~~ -
~~~~~~~
Appendix D:
.~~~~~
- - -_
________
R EA L 8 C Q U A N T
COMMON N BASE , X , N , LA , K , KK , N P R N T , NT R Y
C O M M O N / C O N S T R / CQUANT
E X T E R N A L COMPUT
DIMENSION X0 (10) ,X( 1O) ,XMAX( 1O) ,XM IN (lO)
NT RY =O
N BA SE =0
REA D( 5 , 10 000)TOL ,AL PH ,BETA ,DEL ,LIM ,LT ,LSN ,N ,NPRNT
10000 FOR M AT (~4 E 1 2 . 0 , I 1 O , 4 I L h )
R E A D ( 5 , 1 0 0 0 1) ( X 0 ( I ) , X IIA X ( I ) , X M I N ( I ) , 1= 1 , N)
10001 FORMAT(3E 15 .O)
C
C I N P U T THETAO FOR K G C T R L F U N C T I O N
READ(5 , 10001 ) CQUANT
C
5
DO 10 I= 1 ,N
X ( I ) :X O ( I )
10
0
LA :
15
XMAX ,XMIN ,
999 STOP
END
~~
C
C
C
C
X IS
C IS
XMAX
XMIN
IS ARRAY
OF MINIMUM LIMITS ON X
C K IS INDEX OF X
C KK IS COUNTER FOR NO. X ,S TESTED SINCE LA ST BASE POINT
C N IS NO.
OF I N D E P E N D E N T
VARIABLES
= 0 . 0 1 FOR
C LT IS CONTROL ON MAX KK BEFORE BASE POINT
0 INPUT
N i FOR 0 INPUT
: N FOR I N P U T G R E A T E R THAN N
C
C LIM IS MAX NO OF MOVES : 1. 0 E 5 FOR 0 I N P U T
C TOL IS BASE POINT TEST TOLERANCE AND M DII LIMIT ON STEP SIZE
C
1 .OE5 FOR 0 INPUT
- - --5 .
- -
--
- -- - - - ---5-
5---5-
--5-
- - - ~~-
-5-
-- --- 5-
- --5-
_ _
- 5--- -
EVALUATION
C
EVALUATION IS DONE IF LSN.NE.O
C ALPH IS R A T I O TO I N C R E A S E D ( K )
C
= 2 . 5 FOR 0 I N P U T
C BETA IS RATIO TO D E C R E A S E D ( K )
C
= 1/3 FOR 0 I N P U T
TYPE : . FAL SE.
IF(LA .EQ.9)GO TO 800
LA = 1
100
NCT = O
DO 14 L= 1 ,N
2000
IF ( X M A X ( L ) . G E . X M I N ( L ) ) GO
W R IT E ( 6 ,2000)L
12
13
14
CONTINUE
IF ( N C T . L T . N ) GO
LA = 1
17
20
80 0
810
10
LA : 10
GO TO 500
IF (XMAX (L).EQ.XMIN(L)) NCT=NCT+ 1
IF ( X ( L ) X M A X ( L ) ) 12 , 14 , 11
X ( L ) =XMAX ( L )
GO TO 14
Jr ( X M I N ( L ) X ( L ) ) 14 , 14 , 13
, ( L ) = XMI N (L )
11
15
16
AT BASE POI r ~!
10
2010
TO
- -
TO
15
CALL COMPUT(SN )
W R ITE (6 ,201O)
1
FORMA T (1HO , L47H0 EACH PAIR OF UPPER AND LOWER LIMITS IS EQUAL
26H
NO SEARCH IS PO SSIB LE
)
LA : 1 0
GO TO 500
IF ( L T ) 1 7 , 17 , 16
IF (LT.GT.N) LT=N
GO TO 20
LT =N 1
IF ( L T . L T . 1)
LT = 1
IF ( L I M . L E . 0 ) L I M :1E5
KK:1
M 1= 1
M2 = 1
CALL C O M P U T ( S N )
SP:SN
SC= SN
LA = 1
GO TO 500
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
5-
- - -
-~~~~~~ --
5
~-~~--
- -5 - -
110
120
130
14 0
150
160
200
201
210
22 0
222
223
224
230
231
232
23 4
--
235
280
282
283
281
28 4
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
320
33 0
332
--
_ - -_ _ - _ _ --
T Y P E : .F A L S E .
LA=2
GO TO 150
IF ( . N O T . T Y P E ) GO TO 120
LA= 5
IF ( D ( K ) . E Q . O ) GO TO 34 0
X (K ):X (K )+ D (K )
IF ( X ( K ) .G T . X M A X ( K ) . O R . X ( K ) .LT .X M I N ( K ) )
1 GO TO (500 , 3 1O ,33 0 , 500 , 3 1O ,33 0 , 500 , 50 0) , LA
G0 T0 850
IF (SNSP) 201 ,310 ,310
IF (TYPE) D(K) :D(K)ALPH
SP= SN
NPF = 0
M 1= 1
t42= 1
K :K + 1
IF (K.GT.N) K :1
IF ( L T . L E . 1 ) GO TO 230
IF ( K K . L T . LT ) GO TO 224
GO TO 230
K K :K K + 1
GO TO 130
IF (SP+TOL*ABS(SC).GE .. SC) GO TO 234
IF ( T Y P E . A N D . ( N P F . L T . 5 ) . O R . . N O T . T Y P E ) G0TO232
GOT0234
LA :?
NBASE :NBASE+ 1
Ml =1
IF (LSN) 850 , 520 ,850
K K :K K + 1
IF ( KK N ) 130 , 130 , 235
N O F A I L :N O F A I L + 1
IF ( N O F A I L 1 5 ) 2 8 O , 500 , 500
IF (.NOT.TYPE) GOTO281
N PF :O
D O 283 I : 1 , N
X(I)=C(I)
G O T O 284
KK = 1
M 1:1
M2 :1
SP:SC
GO TOM 10
300 WRITE(6 ,2O20 ) SC
GO TO 500
IF (TYPE) 00TO312
31 0
3 11
LA= 3
GO TO 313
LA :6
3 12
X(K)=X(K) D (K) D(K)
313
GO TO 160
321
~~~~~~~~~
IF (SN.GE.SP) GOTO33O
D(K) : D(K)
GO TO 210
X (K )= X (K )+D (K )
D X : T O L A BS (X ( K ) )
IF ( D X . L T . 1 . O E 3 0 )
D (K ) = D ( K ) B ETA
_
DX :1 .OE 3 0
D-3
_
5 -
- --
IF (A B S ( D ( K ) ) . G E . D X ) G0T0340
D(K) :SI GN(DX , D ( K ))
M 1:M 1+ 1
IF ( .N O T . TYPE ) GO TO 220
M2 :M2+ 1
IF ( M 2 . L E . N ) GO TO 220
M2= 1
NPF =NPF+ 1
G0 T0 220
333
340
342
34 3
500
2020
2030
END MINIMUM
FORMAT
507
522
GO TO
523
52 4
530
850
GO TO 8SO
510
511
520
527
COUNT
(I3, 5E 19.8)
505
506
526
FAILURE
501
525
CONTINUE
SP: , E 1 5 .7 , 5H
DEL : ,
SN : , E 1 5. 7 , 5H
F O R M A T (/ / / 5 H
SC= , E 15 . 7 , H
1 E15 .7 ,/6H TOL= ,E15 .7 ,8H ALPHA :,E15.7 ,TH BETA :
,E15.7/
18X ,8H TYPE
,L1 ,3X ,3H N :,13,3X ,3H K :,13,3X ,4H KK :,14 ,3X ,-4H LA :,
4H
LT
: , I 3 , 3 X , 5H L SN= , I 3 , 3 X , 4H M l = , 13 , 3X , 4H M2 = , I 3 , 3 X ,
113, / BX ,
15H NPF :, I 3 , / BX , 5H NCT :,16 ,3X ,5H LIM :, 17 ,3X ,7H NBASE :,I4 ,3X ,
18H NOFAIL= ,13, // 3M NO ,9X , 1HX , 18X , 1HC , 18X , 1HD , 16X ,-4HXMAX , 15X ,
1J I HXM A X , / )
526
I F( (2 X ( L ) - P ) . G E . X M I N ( L ) )
X ( L ) :X MI N ( L )
GO TO 526
X ( L ) : 2 X ( L ) - P
CONTINUE
N OFA IL :0
G O TO 85 0
SP= SN
TYPE : .TRU E .
GO TO 140
NCT =NCT+ 1
IF ( N C T L I M ) 852 , 851 , 851
IF (LA 8 )
500 , 852 , 500
CALL C O M P U T ( S N )
GOTO52 5
851
852
C
IF MOVE S U C C E S S F U L , CHECK H A R D
C
C
G O TO 1 000
IF ( S F .LT . S N ) GO TO 1000
--
-~~~
55--
CONSTRAINTSELSE
-5- --
CONTINUE.
C
C
C
IF (
ABS(ABS(CQUANT) -45.) . L E .
5 . 0) GO TO 1000
WRITE (6, 1 0 0 2) C QU ANT , LA , NCT , ( X ( I 4 ) , 14: 1 , N )
1002 F O R M A T ( 0 , 5O ( # ) , / H A R D C O N S T R A I N T V I O L A T E D :
, I2 , N C T = ,15 ,/ X : ,12G9.4)
%G 9 . 4 , LA
WRITE (
6 ,1003) ( D (I - 4 ) , I4:1 ,N)
1003 FORMAT( ARRAY OF STEPLENGTHS: / , 1 OG 1 1 . 4 )
C QU ANT
~~~
1000 GO TO (
100 ,200 ,320 ,530 ,200 ,320 ,510 ,900 ,800),LA
900
RETURN
END
SUBROUTINE COMPUT(Z)
C
C
REAL KGCTRL
COMMON NBA SE ,X ,N ,LA ,K ,KK ,NPRNT ,NTRY
DIMENSION X (10)
END
//GO .SYSIN
0.0000 1
6199.992
DD
. 0 0 0 0 23 5 1 59 2
87.5
1.5
6200.
.1
0.050
0.
0.01000
0500
0.
1*
I
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-5----
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Appendix E:
---- -5
( t )Y
c (t)Y
2
d
c 3 (t)e
(E-1)
= Y~~~ (t~~ )
~~~~~~
= (K /W )ub
O=K -
~~
~d
(E-2)
(E 3)
,
cos O(t )
f
(E4)
(E5)
1 d
X K bu / W + X K
2 1
1
3
(E6)
0 = 2~ u
X K b /W
2 1
+ X 2K
and so
K
R1
2 1~~ 1
A K ]/(2~3)
3
~2 ~3
~~~~~~
1,2 ,3
(E9 )
whe r e
X
~th state
_- -
1,2 ,3
--
- - _ --
-- -- -- - - - -
_ - - - -- -~~~~~~
_-
---~~~~~~~~~~~~~~ 5~~~~~~~~~~
Thus,
~H/BX 2
au / ax
= 0 =
H/- Y
~ ~ d
aH/ Yd =
~
3 =
~~~~~
(Ell)
~~ 2
= U
(E 1O)
(E12)
(El3)
Thus ,
A (t )
1 f
X (t )
2 f
~ 3 (t f
2 Y (t )
~ d f
(E14)
(El5)
) = 2 .Y )(t ) .
f
(E16)
A 1 (t)
= 2 .Y d
(E17)
(tf ).
(E 18)
A (
t + c .
t) = _2 Y (t )
2
~ d f
2 Y (t f ) t
d
2Y
(t )t .
f f
(El9)
(E20)
Y O ( t )J/8
f
(E21)
whe r e
K 1b/W 1 .
(E22)
-_
~~ - --- 5--
~~~~~~~
Determination of Y (t ) and 6 ( t )
d
gu
)(t_t ) K
~[
~ Y~~(t f
f
-rO (t ) ] / ~ .
f
(E-23)
Integrating ,
2
)(t_t )/2
= ~[
~ Y~ (t f
f
K Y8 (t )(t_t ) + d ]/ ~
f
f
1
(E 24 )
and again ,
Y
(t)
3 /6_K . 10 (t )(
2/2
(t_t )
t...t )
~[
~ Y~ (tf )
f
f
f
d (t_ .t )+ d ]/ ~ .
f
1
2
(E25)
A l so , fo r 8 ( t ) ,
K~ [g Y~ (t )(t_t f ) K~ y0 (t )J/~
f
f
so
2
(t_t )/ 2
0(t) = K~ [g Y~~(t )
f
f
)
~ 0(tf)(t-t f + d 3}/ 6
(E-26)
Now , letting t
t 0 we determine d 1, d 2, d 3 f rom Equations
(E24), (E25) , (E26). Substituting and simplifying yields:
d
= _ (t _ t
2
t
)~~.Y~~(
) / 2 + (t _t ) K a .Y 0 ( t )
f
f
3
2
= (t _ t ) g .Y ~~(t ) / 3 + (t -t ) (-K
f
f
0 f
+
2 (g.Y
= (t t )
o f
(
t ))/2 + (t t )K
d f
o f a
~Y~ (t .)/~
(E-27)
Y0 (t ))/2
f
(E-28)
yO (t ) + 88 (t )/K
--- - 5 5
~~~~
(t
5-
2 /~
2 (_K
_ t ) 3Y (t )g 2 / ( 3 ) + (t -t )
t )g)/
~~ f
~
~ yO (
0 ~
f
f
(2~3) + (t _ t )(_Y d (to )+ Y (t )
O f
d o
(t
~ -3
(E29)
_______________________
and
0(t ) = K d IF
a3
2
2
t ))/(26) + (t -t )K y0 (t )/~ + 0 (t )
0(t ) = (t -t ) (-gK Y (
f
o f
ad
f
o f
a
f
o
Two Unknowns
(t
),
8( t
+ 0 (t )[K
d f
(E-31)
) is (with Q
ygf 2 I (21&)]
t _ t ).
0 f
Y (t )
d o
f2Y (t )
d o
(E32)
and
Y (t )[gK Q 2 I(2 j1
~
d f
a
0(t ) .
(E33)
8g 2 Q 3 / 3 +
+ ~~
(E-34)
Defining
I3
~~ E
2 det A
(E35)
2
2
c [_ Y (t )
6K YY d (t ) 1
~ ~ d o
.
2
2
0(t )K yg8]/2}/~
~ [2 8Y~ (t)K ~
2
(t )= ( Y (
f
d
~~
0(t
t)
(E 36)
) = ( 2O (t )
~~
[38~ K Y ~~(t)
ad
2
2g 88(t )]Q 3/6}/L~
(E37)
K yO (t )/~3 ,
a
f
(E38)
2 3
~(t )[K -,g ~ /2
K~y8
E-4
(E 39)
2 3
~K g ~l / 3 ]/ ~
--
-- :
-
~~~~~
- ---~:
i
~
- -::
r--
H ence , we conclude t h a t
c1 (t) =
c2 (t )
c3 (t)
[gf
~(tft )
gK ~ y ( t f t )
2
[g ~ (tft)
gK
2
3
[KaYE (tf_t) /6
/ 2]/i\
2
_t)/2]/
a y(t f
~
K Y ]/A
a~
(E40 )
(E41)
(
E-42)
where
=
2 2
4
yg K (t -t) / 12
f
2
(t -t ) I3
~g
f
~~
2
2
Y8K a (t f_t ) + 8
(E-43)
and
L L_
K b/W
1 1
--
~~~~~~~~~~~~~~
Fr
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
.--
~~~~~~~~~~~~~~~~~~~~
~~~~~~~~~~~~~~~~
- - . .,
~
~~
- _ ~~~~~~
._
- --.,.- _ - -
D1~--TRIBUTION
ARMY
No . of Cop ies
12
Commander
ASD
ATTh: DRCPH }iFF , Col. Dobbs
45433
Commander
P ica t inny Arsenal
07801
LOCAL
DRDMIT
DRDMITG
DRDMITCN
DRCPMHF
DRCPNHFE
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
Dr. Kobler
Col . Fiert
Mr. H u f f
~h . Ga m b i l 1
Dr. Pa~ t r i c k
1
1
2
Mr . Coiner
- -5
-~~~~~~~~~
- ~~~~~~~~
1.
- -
-5- -
- ~~~~~~~
-55~~~~~~~~
- 5 - - --
--
L~~..