Unified Model of Disturbances Acting Upon Gimbal Seeker in Anti-Tank Guided Missile
Authors
Abstract
Optimisation of the dynamic response of gimbal seeker plays key role from the point of view of development of anti-tank guided missile’s systems. In this study the set of the most important internal disturbances were integrated in generalized model of two axis gimbal seeker implemented in MathWorks’ Simulink environment. Compared to previous works on the subject, it was enhanced by replacing simple friction model with dynamic LuGre friction. Furthermore, its Coulomb component was linked to the normal force induced by missile’s lateral acceleration. Control system of gimbal seeker proposed in paper was tuned with modelled disturbances turned off and then examined with them being turned one by one. System’s responses were assessed to be significantly deteriorated, proving need of disturbance modelling and its use in control systems’ design.
References
N. R. Iyer, “Recent Advances in Antitank Guided Missile Systems”, Defence Science Journal, vol. 45, no. 3, 1995, 187–197, 10.14429/dsj.45.4118.
J. Osiecki and Z. Koruba, Budowa, dynamika i nawigacja wybranych broni precyzyjnego rażenia, Wydawnictwo Politechniki Świętokrzyskiej, 2006, (in Polish).
N. Yu and J. Shang, “A Uniform Method of Mechanical Disturbance Torque Measurement and Reduction for the Seeker Gimbal in the Assembly Process”, Mathematical Problems in Engineering, 2017, 187–197, 10.1155/2017/2179503.
M. K. Masten, “Inertially stabilized platforms for optical imaging systems”, IEEE Control Systems Magazine, vol. 28, no. 1, 2008, 47–64, 10.1109/MCS.2007.910201.
M. Grzyb and K. Stefański, “The Control of Anti-Aircraft Missile Flight Path in Atmospheric Disturbances”, Maritime Technical Journal, vol. 209, no. 2, 2017, 51–60, 10.5604/01.3001.0010.4066.
G. Stroe and I.-C. Andrei, “Analysis Regarding the Effects of Atmospheric Turbulence on Aircraft Dynamics”, INCAS Bulletin, vol. 8, no. 2, 2016, 123–132, 10.13111/2066-8201.2016.8.2.10.
Ch.-L. Lin and Y.-H. Hsiao, “Adaptive feedforward control for disturbance torque rejection in seeker stabilizing loop”, IEEE Transactions on Control Systems Technology, vol. 9, no. 1, 2001, 108–121, 10.1109/87.896752.
T. F. Bridgland and J. S. Hinkel, “The minimum miss distance problem”, Proceedings of the American Mathematical Society, vol. 18, no. 3, 1967, 457–464, 10.1090/S0002-9939-1967-0221355-8.
“NATO - STANAG 4347 - Definition of Nominal Static Range Performance for Thermal Imaging Systems”, NATO. https://standards.globalspec.com/std/518793/STANAG%204347. Accessed on: 2022-04-19.
H. Olsson, K. J. Åström, C. Canudas de Wit, M. Gäfvert and P. Lischinsky, “Friction Models and Friction Compensation”, European Journal of Control, vol. 4, no. 3, 1998, 176–195, 10.1016/S0947-3580(98)70113-X.
T. Dumitriu, “Development of a Simulink® toolbox for friction control design and compensation”, The Annals of “Dunarea de Jos“ University of Galati. Fascicle III, Electrotechnics, Electronics, Automatic Control, Informatics, vol. 28, 2005.
D. R. Otlowski, K. Wiener and B. A. Rathbun, “Mass properties factors in achieving stable imagery from a gimbal mounted camera”. In: Proceedings of SPIE 6946, Airborne Intelligence, Surveillance, Reconnaissance (ISR) Systems and Applications V, 2008, 10.1117/12.778245.
A. Toloei, M. Abdo, A. R. Vali and M. R. Arvan, “Research on gimbal seeker performance under variable operation conditions”. In: Proceedings of the 13th Iranian Aerospace Society Conference, Tehran, Iran, 2014.
C. Wang, R. Ning, J. Liu and T. Zhao, “Dynamic simulation and disturbance torque analyzing of motional cable harness based on Kirchhoff rod model”, Chinese Journal of Mechanical Engineering, vol. 25, no. 2, 2012, 346–354, 10.3901/ CJME.2012.02.346.
J. J. Burgess, “Equations of Motion of a Submerged Cable with Bending Stiffness”. In: Proc. of the 11th International Conference on Offshore Mechanics & Arctic Engineering, Calgary, Canada, June 1992.
C. M. Ablow and S. Schechter, “Numerical simulation of undersea cable dynamics”, Ocean Engineering, vol. 10, no. 6, 1983, 443–457, 10.1016/0029-8018(83)90046-X.
B. Ekstrand, “Equations of motion for a two-axes gimbal system”, IEEE Transactions on Aerospace and Electronic Systems, vol. 37, no. 3, 2001, 1083–1091, 10.1109/7.953259.
M. Abdo, A. R. Vali, A. Toloei and M. R. Arvan, “Research on the Cross-Coupling of a Two Axes Gimbal System with Dynamic Unbalance”, International Journal of Advanced Robotic Systems, vol. 10, no. 10, 2013, 10.5772/56963.
S. Liu, T. Lu, T. Shang and Q. Xia, “Dynamic Modeling and Coupling Characteristic Analysis of Two-Axis Rate Gyro Seeker”, International Journal of Aerospace Engineering, vol. 2018, 2018, 2022–01-14, 10.1155/2018/8513684.
A . A. Shilin, “Обзор пассивных оптических ГСН для поражения наземных тактических целей Известия ТулГУ (Review of passive optical homing heads for destroying surface tactical targets)”, Technicheskiya Nauki, vol. 7, 2014, 202–209, (in Russian).