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Notes based on papers (1) Why Modern Controllers Can Go Unstable in Practice by F.W.Nesline and P.Zarchan and (2) Combined Optimal/Classical Approach to Robust Missile Autopilot Design by F.W.Nesline, B.H.Wells and P.Zarchan.
Contents
1 Missile Control 1.1 1.2 Control Techniques in Roll Autopilots . . . . . . . . . . . . . . . . . . . . MODERN CONTROL APPLIED TO MISSILE ROLL AUTOPILOT[1],[2],[3] 1.2.1 1.2.2 1.2.3 References Fundamentals of Optimal Control . . . . . . . . . . . . . . . . . . Application to Missile Roll Autopilot . . . . . . . . . . . . . . . . Solved Example . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1 1 2 3 4 5 6
1.1
(a) Traditional or Conventional Design of Roll Autopilot as given in [4] [1] [2]. (b) Design of Roll Autopilot using Optimisation Technique. (Linear Quadratic Regulator) 1
(c) Design of Roll Autopilot using Sliding Mode Control. (d) Design of Roll Autopilot using Inertial Delay Control. (e) Design of Roll Autopilot using Disturbance Observer.
1.2
The transfer function which forms the basis of roll autopilot design is K (s) = RR 1 s 1 + RR (1.1)
where is the roll rate, c is the n deection command, K is the n eectiveness and RR is the roll rate bandwidth. This transfer function model can be transformed into a simplied model given by = RR . + K .c (0) = 0 (1.2) (1.3)
The controller requires roll angle as a state which cannot be directly measured. The ideal rate gyro can measure the roll rate, . Thus the roll angle can be calculated by integrating the output of the gyro, m , to obtain the estimated roll angle, phim . Denoting p = m , the augmented system using eqn.1.3 can be described by two rst order dierential equations given by m = p p = RR .p + K .c (1.4) (1.5)
The above set of equations can be expressed in state space model as x=A x+B u (1.6)
where x =
m p 0 K
,A=
0 RR
B=
1.2.1
For the optimal control problem, given an initial state x(t0 ), we want to nd a control vector u that drives the state x(t0 ) to the desired nal state xd (tf ) in such a way that a selected performance index of the form
J=
g(x, u, t)dt
(1.7)
is minimised. The functional form of the performance index can be expressed in a variety of forms. One useful form which includes a quadratic index and a penalty for physical constraints such as expenditure of control energy is given as
J=
xT Q x + uT R udt
(1.8)
where Q and R are weighting matrices. If we apply the principle of calculus of variations to the minimisation of the performance index, we obtain the Riccati equation. The Riccati equation is a set of non-linear dierential equations which must be solved for the Riccati gains S(t) and is given as = S(t)BR1 B T S(t) S(t)A AT S(t) Q (1.9)
For the case in which nal time tf approaches innity, the Riccati gain matrix, S(t), becomes a constant matrix, S, and reduces to
SBR1 B T S SA AT S Q = 0 3
(1.10)
Using the quadratic performance index dened in eqn.1.8, it can be shown that for a linear feedback control, the optimal control law is u = R1 B T S x (1.11)
1.2.2
For the given problem of eqn.1.6, the quadratic performance index that is to be minimised is
inf
J=
0
[(
CM X 2 2 CM X 2 2 ) +( ) + c 2 ]dt M X M X
(1.12)
where M X is the maximum desired value of roll angle , M X is the maximum desired value of roll rate, and CM X is the maximum desired value of n deection command c . Comparing eqn.1.8 and 1.12 gives Q=
CM X 2 0 M X 2 CM X 2 0 2 X M
(1.13)
inf
J=
0
1 M X
2 2
1 2 X M
2 +
1 CM X
2 c
]dt
(1.14)
in which case
Q=
1 M X 2
0
1 2 X M
(1.15)
and R =
1 . CM X 2
Substituting the matrices A, B, Q and R into the Riccati eqn.1.10, with the Riccati gain matrix given by the symmetric matrix S11 S12 S12 S22 (1.16)
the matrices can be expanded and simplied to arrive at the following equations:CM X 2 2 2 2 S12 K = 0 M X , S11 RR S12 S12 S22 K 2 = 0 and 2S12 2RR S22 + CM X 2 S22 2 K 2 = 0 2 M X (1.19) (1.18) (1.17)
1.2.3
Solved Example
References
[1] Nesline, F. W. Wells, B. and Zarchan, P., Combined Optimal/Classical Approach to Robust Missile Autopilot Design, Journal of Guidance and Control , Vol. 4, No. 3, May-Jun 1981, pp. 316322. [2] Nesline, F. W. and Zarchan, P., Why Modern Controllers can go Unstable in Practice, Journal of Guidance, Vol. 7, No. 4, 1984, pp. 495500. [3] Robert C.Nelson, D., Flight Stability and Automatic Control , McGraw Hill Book Company, New York, 1989. [4] Garnell, P., Guided Weapon Control Systems, Brasseys Defence Publishers, London, 1980.