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Single Channel Control of a Rotating Flying Vehicle Using an Inertial Navigation System

Ebrahimi, Mohammad | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46583 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Nobahari, Hadi; Fathi, Mohsen
  7. Abstract:
  8. In this thesis, single channel control of a rotating flying vehicle by using an INS is designed based on a nonlinear model simulation. Despite the widespread use of single channel guidance and control systems in some homing missiles, they have not been utilized in rotating rockets due to absence of stabilized seeker in this kind of rockets. The idea proposed in this thesis is to make it possible to use single channel control system by means of a stable platform in the flying vehicle which is completely isolated from body rolling motion. The INS is located on the stable platform and an appropriate guidance algorithm is presented in the stable platform coordinate system.
    In this project, the vehicle’s equations of motions are developed using Newton’s second law and Euler’s law. Then a controller is designed to eliminate the stable platform roll rate using a torque motor. Subsequently, equations of motion are linearized. it is shown that by projecting the response of rotating missile to the elevator input on a non-rotating coordinate system, the cross coupling between longitudinal and lateral axes can be eliminated. Afterwards, by choosing appropriate operating points, a linear controller is designed to control longitudinal and lateral channels of the decoupled system. The guidance algorithm is presented using pure proportional navigation law with gravity compensation. Finally, performance of guidance and control loops are evaluated and monte carlo error analysis is presented to study the flying vehicle’s performance by considering uncertainties in some parameters
  9. Keywords:
  10. Intertial Navigation ; Single Channel Controller ; Pure Proportional Guidance ; Rotating Flying Vehicle ; Linear Controller

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