هدایت و کنترل پرتابه دوران دوگان با ساختار آبشاری مبتنی بر وارون دینامیک و کنترل تطبیقی مدل مرجع

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجو دکتری / مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر

2 عضو هیات علمی / مجتمع دانشگاهی هوافضا، دانشگاه صنعتی مالک‌اشتر

چکیده

در تحقیق حاضر هدایت و کنترل یکپارچه پرتابه دوران دوگان با کمک ساختار آبشاری بررسی شده است. برای این منظور از مدل غیرخطی پرتابه در دینامیک هفت درجه آزادی استفاده شده است و اثرات کوپلینگ بین کانال‌های سمت و فراز لحاظ شده است. برای این منظور، مبتنی بر ساختار کنترل آبشاری، یک کنترلر سه‌حلقه‌ای طراحی شده است که در حلقه داخلی و میانی آن از روش وارون دینامیک و در حلقه خارجی آن، ضمن لحاظ نمودن تاثیر فشار دینامیکی در طراحی کنترلر، از کنترل تطبیقی مدل مرجع استفاده شده است. در حلقه هدایت از روش ناوبری تناسبی بهره گرفته شده و عملکرد سیستم هدایت و کنترل یکپارچه، در شرایط با وجود عدم قطعیت و بدون عدم قطعیت در ضرایب آیرودینامیکی از طریق شبیه‌سازی آماری مونت‌کارلو اعتبارسنجی شده است. عملکرد الگوریتم پیشنهادی، با ساختار کنترلی آبشاری که در حلقه خارجی کنترلر کلاسیک PID دارد، انجام شده و نتایج آن ارائه گردیده است.

کلیدواژه‌ها

عنوان مقاله [English]

Guidance and control of a dual-spin projectile using dynamic inversion method and MRAC-PID controller in cascade structure

نویسندگان [English]

  • Mohamad Reza Rajabi 1
  • Jalal Karimi 2
  • Seyed Hossein 2
1 Ph.D Student, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
2 Associate Professor,, Faculty of Aerospace, Malek Ashtar University of Technology, Iran.
چکیده [English]

In current study, an integrated guidance and control system is assessed for a projectile having dual spin motion in the cascade control structure. In this way, a nonlinear seven degrees of freedom model is used and coupling effects of pitch and yaw channels is taken into consideration. Based on cascaded control structure, a three-loops controller is designed, which in inner and middle loops the dynamic inversion method is used, and in the outer loop, an adaptive model based on PID controller is designed. The dynamic pressure contribution in acceleration command is also taken into account. The performance of the designed guidance and control system is assessed in presence of uncertainties via Monte Carlo statistical simulations. The results of suggested algorithm are compared with that of a cascade control having a classic PID controller in its outer loop. The results show the superior performance of the proposed algorithm in achieving the target and control effort.

کلیدواژه‌ها [English]

  • Dual-spin projectile
  • integrated guidance and control
  • cascade control structure
  • dynamic inversion method
  • Adaptive model reference control

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