MISSILE CONTROL
A missile control system consists of those components that
control the missile airframe in such a way as to automatically
provide an accurate, fast, and stable response to guidance
commands throughout the flight envelope while rejecting uncertainties due to changing parameters, unmodeled dynamics,
and outside disturbances. In other words, a missile control
system performs the same functions as a human pilot in a
piloted aircraft; hence, the name autopilot is used to represent the pilotlike functions of a missile control system. Missile
control and missile guidance are closely tied, and for the purposes of explanation, a somewhat artificial distinction between the two roles is now made. It must be remembered,
however, that for a guided missile the boundary between
guidance and control is far from sharp. This is due to the
common equipment and the basic functional and operational
interactions that the two systems share. The purpose of a
missile guidance system is to determine the trajectory, relative to a reference frame, that the missile should follow. The
control system regulates the dynamic motion of the missile;
that is, the orientation of its velocity vector. In general terms,
the purpose of a guidance system is to detect a target, estimate missile-target relative motion, and pass appropriate instructions to the control system in an attempt to drive the
missile toward interception. The control system regulates the
motion of the missile so that the maneuvers produced by the
guidance system are followed, thereby making the missile hit
or come as close as required to the target. The autopilot is the
point at which the aerodynamics and dynamics of the airframe (or body of the missile) interact with the guidance system. Instructions received from the guidance system are
translated into appropriate instructions for action by the control devices (e.g., aerodynamic control surfaces, thrust vecJ. Webster (ed.), Wiley Encyclopedia of Electrical and Electronics Engineering.
Copyright # 1999 John Wiley & Sons, Inc.
MISSILE CONTROL 303
Figure 1. A block diagram describing the
functional relations among the compoGuidance
command
+
Controller Actuator
Sensor
Aerodynamic
control surface
Missile
dynamics
nents of the missile control system.
toring or lateral thrusters) that regulate the missiles flight- transmitter radia
tes a frequency-modulated wave toward the earth, and the reflected signal is received on path. A block diagram de
scribing these missile control system
operations is depicted in Fig. 1 where the function of each a separate antenna a
nd combined with the signal taken
directly from the transmitter. The frequency difference component is further exp
lained as following.
between the transmitted and the reflected signals indicates the height of the missile. Radio altimeters can be
Center of Gr vity
Y w
rot tes on
vertic xis
Rudder
Rudder
t
ieron
y, Y, V
x, X, U
I yy , M,
I xx , L, p
I zz , N, r
z, Z, W
Figure 2. Schem tic demonstr tion of the nomenc ture used in missie dyn mics.
The oc tions
of the prim ry contro surf ces (rudder, eev tor, ieron, nd c n rd) nd the
second ry contro
surf ce (t s) re shown. The definition of the ro, pitch, nd y w motions is
so shown.
the component in the y w p ne is c ed side force. The nor- coefficient C L de
pends on the wing sp n nd the profie
of the wing. Incre sing wing sp n or using the e ding- m force c n e further
2
AV 2 (2)
Refs. 3 and 4 fo details.
whee C D is the coefficient of dag obtained fom chaac1. Lift Foce. Lift foce is the foce by which aeodynamic
teistic cuves of aifoils via wind-tunnel tests. Fo a
contol sufaces can change the attitude of a missile.
small AOA, C D changes vey little with the AOA. As the
Lift foce depends on the contou of a wing, AOA, ai
AOA inceases, C D inceases. The dag coefficient is
density, aea of the wing, and the squae of the aiusually quite small when compaed with the lift coeffispeed. The common equation fo lift is given as
cient. Thee ae thee souces of ai dag. The skin fiction of ai on the wing is called pofile dag; the ai
esistance of the pats of a missile that do not contibL = C L
2
AV 2 (1)
ute to lift is called paasite dag; and the pat of aifoil
dag that contibutes to lift is called induced dag. C L ,
whee L is the lift; C L is the lift coefficient, which deC D , and othe aeodynamic coefficients can be evaluated
pends on the wing contou and the AOA; ? is the ai
fom empiical techniques, computational fluid dynamdensity; A is the aea of the wing; and V is the aispeed.
ics (CFD) modeling, o by the pocessing of wind tunnel
The lift coefficient C L is detemined by wind-tunnel
test data. It should be noted that vaious degees of untests and is plotted vesus AOA as a chaacteistic
cetainty ae associated with each of these methods,
cuve fo the paticula aifoil. As the AOA inceases,
with wind tunnel measuements usually being accepted
the lift coefficient inceases linealy to a cetain maxias the most accuate.
mum value, which is the point whee the ai no longe
flows evenly ove the wing suface but tends to beak 3. Wingtip Votex. The asy
mmetic wingtip votex, which
has a emakable effect causing ow-yaw instability at away. This beaking away
is called the stalling angle.
Afte the stalling angle is eached, the lifting foce is a high AOA, is always
a challenge to missile contol system design. As ai flows about a wing, the pessue of apidly lost, as is the a
ispeed. Fo a fixed AOA, the lift
306 MISSILE CONTROL
the ai immediately above the uppe suface is less than This of couse is the
eason why feathes ae placed at
the ea end of an aow to move the c.p. aft. If a missile the ai pessue imm
ediately below the suface. With
the ai at a highe pessue below the wing, ai will has no autopilot (i.e., no
instument feedback), a sizable
static magin, say 5% o moe of the oveall length, has spill by the wingtips t
o the uppe suface. This flow of
ai fom the lowe suface combines with the nomal to be allowed to ensue stab
ility. Howeve, if the static
magin is excessively positive, the missile is unneces- flow of ai, causing a s
wil of ai at the wingtips. This
swil is called a wingtip votex. At each side of the saily stable, and contol
moments will be elatively ineffective in poducing a sizable maneuve. On the othe wingtip, the action of t
he votex is to thow the ai inwad and downwad. Induced dag is elated to the hand, although a missile with
negative static magin
is statically unstable, it may exhibit geat agility when downflow caused by the
wingtip votices.
autopilot is installed. It is woth noting that the static
4. Downwash. Because of the cambe shape of the wing
magin of a missile is not a fixed value, because of the
aifoil, ai flow ove the wing is deflected downwad toc.p. vaiation fo diffeent flight conditions and the c.g.
wad the elevato. This angle of deflection is called the
vaiation caused by popellant usage. A challenging
downwash angle. When missile tail contol is considmissile contol poblem is to ensue the stability of the
eed, the downwash effect caused by the wing must be
aifame fo all possible c.p. and c.g. locations.
seiously taken into account because downwash can sig2. Yaw Stabilize. Missile stability about the vetical nificantly educe the ef
fective AOA of the tail suface
(yaw) axis is usually povided fo by a vetical fin. If a and educe the elevat
o ability of pitch contol.
missile tends to tun to the left, the pessue on the
5. Shock Wave Effect. Shock wave is a pominent aeodyight side of the fin is inceased. This inceased pesnamic phenomenon when missile speed is at the tansue esists the otation and foces the tail in the opposonic o supesonic anges. As the speed of a missile
site diection. In some missiles, the fin may be divided
inceases, thee comes a point at which the ai can no
and have a movable pat called the udde that is used
longe get out of the way fast enough. The ai tends to
fo diectional contol. Besides the fin, the vetical sides
pile up o compess in font of the missile, setting up
of the fuselage also act as stabilizing sufaces. Anothe
what is known as shock waves. In a shock wave, the
way to incease the yaw stability is via sweepback of
pessue of ai vaies shaply, seiously alteing the
wings.
foces and pessue distibution on a missile. When
3. Row Stabilize. Missile stability about the longitudinal shock waves ae fom
ed on the wings o contol su-
(ow) axis is achieved by a dihedal and by the position- faces, the ai flow ac
oss the shock waves tends to sepaing of the wing. A dihedal angle is the angle fomed by ate, causing dag to
ise suddenly much as in a lowa efeence line though the wing suface and the lat- speed stall. At cetain m
issile speeds, especially nea
eal axis of the missile. Dihedal poduces stability by the tansonic ange, th
e deflection of contol sufaces
causing a change of lift on the wing sufaces. As a mis- may deteioate the sho
ck wave effect, which poduces
sile stats to oll, it will sideslip slightly and thus ceate a peculia vibat
ion called flutte on contol sufaces
a elative wind component. This component inceases and can make contol suface
s ineffective and even disthe lift on the lowe wing and deceases the lift on the integated.
highe wing. Hence, an opposite toque is geneated to
stop owing. The positioning of the wings at the time Missile Stability
a missile is constucted is anothe means of obtaining
A stable missile can ecove fom the petubed states spontastability about the ow axis. A missile has geate ow
neously without contol. Such stability is made possible by
stability if the wings ae placed above the cente of
devices that stabilize a missile about its thee axes. Accodgavity than if they ae placed below the cente of
ingly, these devices ae called stabilizes. The simplest stabigavity.
lize is the featheed fins at the ea of an aow because it
povides fo a stable line of flight. Thee types of stabilizes
Pimay Contol Sufaces
ae equied to stabilize a missile about its thee axes.
Aileons, uddes, elevatos, canads, and thei vaious combinations ae consideed pimay contols. These contol su1. Pitch Stabilize. Missile stability about the lateal
faces ae shown schematically in Fig. 2. As these contol su(pitch) axis is achieved by a hoizontal suface at the
faces ae deflected, they pesent a suface to the existing ai
tail of the missile. This hoizonal suface consists of two
flow at an angle that will cause a foce to exist. This foce
pats: the stationay pat as the pitch stabilize and the
pushing against the contol suface moves the wing o tail to
movable pat as the elevato. The degee of pitch stabilwhich the contol suface is attached in a diection opposite
ity can be quantitatively expessed by an index called
to the contol suface movement.
static magin, which is the distance of the cente of
pessue (c.p.) to the cente of gavity (c.g.). The c.p. is
1. Aileons. A conventional aileon is attached to the
the point though which the combined aeodynamic
oute tailing edge of the wings to contol the missile
foces caused by body, wings, and contol sufaces ae
ow motion in a manne that when one aileon is lowacting. If c.p. is behind the c.g. (i.e., the static magin is
eed, the opposite one is aised.
positive), the missile is said to be statically stable. In
this case, any petubation of the body away fom the 2. Elevatos. Elevatos a
e attached to the pitch stabilize
on the tail to contol pitch motion. They ae aised and diection of the veloci
ty vecto esults in a moment
about the c.g. that tends to decease this petubation. loweed togethe.
MISSILE CONTROL 307
3. Ruddes. A udde is attached to the ea pat of the 3. Spoiles. As the nam
e indicates, a spoile is used to
geneate tubulence flow and spoil the lift on a wing. vetical stabilize and is us
ed to maintain diectional
(yaw) contol. When not used, spoiles ae ecessed into the uppe
cambe of the wings and allow the flow of ai ove the
4. Canads. A canad is basically a fowad wing located
wing to be smooth and uninteupted. If, howeve, a
ahead of the cente of gavity of the missile fo the pugust of wind has caused the ight wing to dop, the conposes of stabilization and pitch contol. One type of catol system instantly calls fo the spoile on the left
nad stuctue consists of a fixed stabilizing plane with
wing to extend. As the spoile extends, the lift on the
a suface contol attached to the tailing edge. Anothe
left wing is spoiled and educed a consideable amount.
type of canad stuctue uses a pivoted mechanism that
The wings then tend to etun to the oiginal position.
allows the entie stabilizing plane to otate up o down.
5. Dual-Pupose Contol Sufaces. The peceding contol
sufaces can be popely combined to give multipupose
MISSILE THRUST VECTOR CONTROL
contol functions. Feasible combinations include elevons, ailevatos, and udde-vatos. As the names indiA completely diffeent method of steeing a missile is to alte
cate, they consist of contol sufaces that accomplish
the diection of the efflux fom the populsion moto. This
two puposes. Fo instance, an elevon takes the place of
method is known as thust vecto contol (TVC). TVC is
an elevato and an aileon, giving contol of pitch and
clealy not dependent on the dynamic pessue of the atmooll.
sphee and is geneally used in the phase of flight whee mis6. Vaiable-Incidence Contol Sufaces. This type of consile speed is so low that the aifoil sections do not have
tol otates the position of an entie wing athe than
enough aeodynamic stabilizing effect. On the othe hand,
just pat of it. The vaiable incidence contol can oveTVC is inopeative afte populsion moto bun-out, but at
come the poblem of flutte and the need fo stuctual
this time aeodynamic foces become lage enough to take
stength of contol sufaces and yet have a contol that
ove the ole of TVC. Thee ae seveal methods of diecting
is sensitive and effective at vaious speed anges. The
the thust of a ocket moto, and each has advantages and
vaiable incidence contol can be used on the wing, hoidisadvantages, which may o may not ecommend it fo a pazonal stabilize, o vetical stabilize.
ticula application. Refeences 1 and 5 povide moe infomation on TVC.
Seconday Contol Sufaces
1. Exhaust Vanes. Exhaust vanes ae sufaces that ae inPimay contol sufaces can be looked upon as the main constalled diectly in the exhaust path of the jet engine.
tolling facto of the missiles path; howeve, by using secondWhen the position of the vane is changed, it deflects the
ay contol sufaces, a missile can be contolled much moe
exhaust and causes the thust to be diected in opposiaccuately and efficiently. A seconday goup of aeodynamic
tion to the exhaust vane. The opeation of exhaust
at vaious points about the missile body. Contol is accomplished by using one o anothe of these jets as desied, thus giving diffeent diections of thust. The opeation of eaction contol thuste is sketched in the
uppe pat of Fig. 3. This method eliminates the use of
the outside contol sufaces, affoding a cleane missile
suface. When eaction contol thustes ae used, thee
will be an inteaction of the jet plume with the fee
steam flow. This jet inteaction is vey nonlinea with
the AOA and dominates the effective moment poduced
by the eaction thustes. The poduced moment may
be lage o smalle than the jet thust foce times its
moment am, depending on the height by which the jet
penetates into the fee steam. Refeence 6 discusses
missile attitude contol using eaction contol thuste.
6. Jet-Diving Contol Sufaces. This method employs jet
o ai injection ove aeodynamic sufaces fo actuating
augmentation.
MISSILE CONTROL CONFIGURATION
Accoding to the afoementioned vaious missile contol
methodologies, we can now give a classification of missile configuation with espect to the location of contols. If the contols ae located well behind the cente of gavity of the missile, the tem tail contol applies. If the contols ae placed
fowad of the cente of gavity, the tem canad contol applies. When the contol is mounted on the main lifting suface
Deflection
chages
Auxilay
diectional
thust
Changes
diection of
thust
Gimbaled
engine
Jet vans
Deflects
jet steam
Jet contol
nea the cente of gavity, the tem wing contol applies.
Figue 3. Thee thust vecto contol methods. The uppe pat
What type of contol suface to be used depends on the type
sketches the opeation of eaction contol thuste; the middle pat
of missile configuation in question. Regading missile consketches the opeation of exhaust vane; and the lowe pat sketches
figuation, Refs. 1, 5, and 7 seve as good efeences.
the opeation of gimbaled engine.
Wing-Contol Configuation
times using this type of contol duing phases of flight
A wing-contol configuation consists of a elatively lage allwheein aeodynamic contol is inadequate.
moving wing located close to the cente of gavity of the mis3. Moving Nozzles. Instead of moving the entie combus- sile and a set of tail o
stabilizing sufaces at the aft end
tion chambe, we can also alte the diection of thust of missile. This all-mov
ing wing seves as an afoementioned
by changing the oientation of the nozzle. This can be vaiable-incidence conto
l suface. This type of contol is used
accomplished by using a flexible nozzle o a ball-and- mostly in an ai-to-ai m
3. Tifom. This type of wing aangement, which embecause of the identical pitch and yaw chaacteistics of a cuploys thee wings of equal aea spaced 120? apat, is
cifom missile as mentioned ealie. Hence, in STT missiles,
seldom used because no noticeable advantage can be eboth pitch contol and yaw contol ae called lateal contol,
alized. Results of a bief peliminay analysis indicate
which is diffeent fom the definition of aicaft contol.
that the total wing aea of the tifom is equal to that
The othe contol loop of the STT missile is oll contol,
used on a cucifom aangement and that consequently
which is used to stabilize the missile oll position. Fo a peno noticeable change in dag may be ealized. In addifect pefomance of the STT missile, it is assumed that the
tion, little o no weight saving will be ealized, even
missile will emain in the same oll oientation as at launch
though one less aangement o fitting is equied beduing the whole flight. In this ideal case, updown signals,
cause the total load emains the same.
if sent to the elevato sevos, should then esult in a vetical
maneuve only; and leftight signals, if sent to the udde
MISSILE CONTROL STRATEGY
sevos, should esult in a hoizontal maneuve only. Howeve,
a missile, except fo a monowing missile, is not designed like
Because the missile contol system (autopilot) is commanded
an aiplane and thee is no tendency to emain in the same
by the missile guidance system, the autopilot command stucoll oientation. In fact, it will tend to oll fo many easons
tue is dependent on guidance equiements fo vaious missuch as accidental igging eos, asymmetical aeodynamic
sion phases.
loadings, and atmospheic distubances. Two methods ensue
that leftight commands ae pefomed by udde sevos and
Sepaation (Launch) Phase. A body ate command sysupdown commands ae pefomed by elevatos. The fist
tem is typically used duing launch because of its omethod applies a quick oll sevo (with bandwidth lage than
bustness to the uncetain aeodynamics.
that of lateal sevos) to stabilize the oll dynamics and to
ecove the missile to the oiginal oll oientation. The second Agile Tun. Du
ing an agile tun, diectional contol of
method allows the missile to oll feely but installs a oll gyo the missiles ve
locity vecto elative to the missile body
and esolve in the missile to ensue that the commands ae
is desied. This amounts to commanding AOA o sideslip,
mixed in the coect popotions to the elevatos and uddes.
and egulating oll to zeo.
Howeve, oll stabilization (the fist method) is geneally
Midcouse and Teminal Phases. An acceleation commoe pefeed fo the following easons:
mand autopilot is commonly employed in these two
phases.
Thee ae many occasions when oll position contol is
End of Homing Phase. At the end of teminal homing,
necessay, fo example, to ensue that the wahead o
the missile attitude may be commanded to impove the
altimete always points downwad.
lethality of the wahead.
If the missile is fee to oll, high oll ates may cause
coss-coupling between the pitch and yaw channels and
Catesian coodinates (x, y) whee x is the ightleft comwhich is a dynamic vaiable. This means that the dynammand and y is the updown command, then the guidance
ics of the pitch and yaw axes ae not only coss-coupled
command fo a BTT missile can be consideed as being exbut also nonlinea. Theefoe, a single fixed-coefficient
pessed in the pola coodinates (, ? ) whee ? is the angle to
linea autopilot may be unable to cove the whole flight
oll and is the distance to be steeed in the pitch plane.
envelope, and linea autopilot with gain scheduling o
Theefoe,BTT stategy is sometimes called pola contol o
nonlinea autopilot design should be taken into account.
twist-and-stee contol.
The thee-dimensional motion of a BTT missile cannot
Although BTT contol has been used in cewed aicaft fo
be esolved into two plana motions. Hence, the guidance
a long time, the inteest in BTT missile contol only began in
law design fo a BTT missile needs detailed thee-dimenthe late 1970s. The pinciple motivation fo developing the
sional analysis.
BTT missile autopilot stems fom the successful application
of amjet populsion technology to missile system. Seveal
In summay, a BTT missile can be consideed as a MIMO
amjet missiles wee developed in the late 1970s, including
system with nonlinea dynamics and with thee-dimensional
amjet intelab ai-to-ai technology (RIAAT pogam,
kinematics, wheeas a STT missile can be well appoximated
Hughes), advanced common intecept missile demonstation
as an integation of thee SISO systems with linea dynamics
(ACIMD pogam, Naval Weapons Cente), advanced stateand with two-dimensional kinematics. Refeence 8 summagic ai-launched multi-mission missile (ASALM pogam,
izes some status and concens of BTT missiles. How moden
McDonnell Douglas and Matin-Maietta). These BTT pocontol theoy can be used to design BTT autopilots is disgams ae thooughly suveyed in Ref. 9. All these amjet
cussed in Ref. 10.
missile pogams equie autopilot to pevent missile maneuves fom shading the inlet (i.e., the AOA needs to be small
and positive) and to limit sideslip ? in ode to incease enMISSILE AUTOPILOT DESIGN
gine efficiency and theeby maximize ange. The conventional
STT stategy cannot satisfy these limitations on ? and ?. The
Equations of Motion
applicability of the amjet missile equies investigation in
The equations of motion of a missile with contols fixed may
the following aeas:
be deived fom the Newtons second law of motion, which
states that the ate of change of linea momentum of a body
1. Monowing Configuation. Ramjet missiles have two inis popotional to the summation of foces applied to the body
lets extenal to the main body and thee is oom fo
and that the ate of change of the angula momentum is poonly one pai of wings (i.e., monowing).
potional to the summation of moments applied to the body.
2. Vaiable-Incidence Wing Contol. Because the inlets
Mathematically, this law of motion may be witten as
could accept only a small AOA as a esult of intefeence fom the body, the use of vaiable-incidence wing
contol, which can povide instantaneous lift without in-
mU
mV
mW
=
X
Y
Z
,
d
dt
H x
H y
H z
=
L
M
N
(3)
312 MISSILE CONTROL
whee (X, Y, Z) and (L, M, N) ae the esultant foces and of inetia about the
y axis is geneally equal to that about the
z axis (i.e., I yy ? I zz ). Hence, the esulting equations become moments cause
d by aeodynamic foces, gavity, and populsive foces, along the body axes (x, y, z). (U, V, W) and (H x ,
H y , H z ) ae the components of the velocity and angula momentum of the missile about the x, y, and z axes, espectively.
The two main easons fo the use of body axes in the dynamic
analysis of the missile ae (1) the velocity along these axes
ae identical to those measued by instuments mounted in
the missile and (2) the moments of inetia (i.e., I xx , I xy , etc.)
ae independent of time. Equation (3) and (4) can be expessed in tems of the moments of inetia and the missile
m( U + QW RV) = X (6a)
m( V + RU PW) = Y (6b)
m( W + PV QU) = Z (6c)
PI xx = L (6d)
QI yy + PR(I xx I zz ) = M (6e)
RI zz + PQ(I yy I xx ) = N (6f)
angular velocity P, Q, and R as follows:
These are the general equations used in the analysis of STT
control strategy, especially for agile STT missiles with sub
stantial induced roll. When rolling rate P is relatively small
when compared with Q and R, further simplification of Eq.
(6) is possible by dropping the terms relating to P, and the
result is the three decoupled servo channels used in the con
ventional STT autopilots.
1. Pitch dynamics:
m( W QU 0 ) = Z, I yy
Q = M (7a)
m
U + QW RV
V + RU PW
W + PV QU
=
X
Y
Z
(4a)
I xx I xy I xz
I xy I yy I yz
I xz I yz I zz
R
+
0 R Q
R 0 P
Q P 0
I xx I xy I xz
I xy I yy I yz
I xz I yz I zz
P
Q
R
=
L
M
N
(4b)
2. Yaw dynamics:
For a missile with monowing configuration, the xz plane is a
plane of symmetry. Consequently, I yz ? I xy ? 0 from the defi
m( V + RU 0 ) = Y, I zz R = N (7b)
nition of moment of inertia. Hence, Eqs. (4) may be simplified
as follows:
3. Roll dynamics:
I xx P = L (7c)
where the forward speed U is assumed to be a constant U 0
because U
QI yy + PR(I xx I zz ) + I xz (P 2 R 2 ) = M (5e)
n v n r
??
v
r
?
+
?
y r
n r
?
r (10)
esign is iscusse in Ref. 12. A useful review of classically
esigne autopilot controllers may be foun in Ref. 13, where
3. Roll ynamics:
the relative merits of proportional an PI autopilot controllers
are iscusse an the novel cubic autopilot esign is intro p = l p p + l a a (11)
uce.
The Laplace transfer function from the aileron input ? a to
the roll rate output can be foun from Eq. (11) as
1. Base on the system requirements analysis, the esigner selects a flight control system time constant, a
amping ratio, an an open loop cross-over frequency
that will meet the system requirements for homing acp
a
=
l a /l p
T a s + 1
(12)
curacy an stability.
where ?l ? a /l p can be regare as the steay state gain an
2. The autopilot gains are calculate. The gains such as
T a ? ?1/l p can be regare as the time constant of the roll
K P an K I in Fig. 4 are obtaine in a variety of linearchannel. The Laplace transfer function from the ruer input
ize flight conitions an must be scheule by appro? r to the boy yaw rate r can be obtaine from Eq. (10) as
priate algorithms to account for the changing environment.
3. A moel of the flight control system is evelope. Inir
r
=
n r s n r + n v y r
s 2 (y v + n r )s + y v n r +U 0 n v
(13)
tially the flexible body dynamics are neglected and the
rigid body stability is analyzed to determine if adequate
Let ? and ? n be the damping ratio and the undamped natural
phase and gain margins have been achieved. If not, the
frequency of the yaw channel, respectively, then we have
response characteristics are modified and the design is
iterated.
2 n = (y n + n r ), 2
n = y n n r +U 0 n v
(14)
4. When the lofrequency design is complete, the fleible
body dynamics are incorporated into the frequency mod It can be seen that the c
haracteristics of the openloop re
sponses in Eqs. (12) and (14) are determined by the related els, and the stabili
ty is reeamined. For typical tactical
homing missiles, the fleible body model should include aerodynamic derivatives.
For eample, to ensure that the
openloop yaing motion (i.e., ithout control) is stable, e the first, second,
and third resonant mode dynamics of
the pith and ya channels and at least the first mode must have y v ? n r ? 0. I
f the openloop motion is unstable or
is near the margin of instability, then autopilot must be in of the roll channe
l. Depending upon the characteristics
of the roll airframe structure, additional modes may stalled to form a closedlo
op system that integrates missile
dynamics, sensor units, controller units, actuator units, and have to be modeled
.
314 MISSILE CONTROL
+
+
+
+
+
K p +
y d
r
K g
Rate gyro
Accelerometer
Lateral acceleration
Side force
response
Missile dynamics Rudder angle
Actuator
Controller Side force
command
y
Ya rate
r
Is
K I
s
2
s
+ +1
K s
s 2
s 2
s
s
y
s
n
r s 2
2 (y
r s +
r s 2
y r n r s U 0 (n r y v n v y r )
v + n r )s + y v n r + U 0 n v
n v y n r y v
y r n r s U 0 (n r y v n v y r
ine r erodyn mics, nd ctu tor imit tions. 2. B. D. Rich rd, Fund ment s of
Adv nced Missies. New York:
Wiey, 1958.
Dyn mic Coupings. Missie dyn mics re couped kine- 3. M. R. Mendenh , T cti
c Missie Aerodyn mics: Prediction
Methodoogy. W shington DC: Amer. Inst. Aeron utics nd As- m tic y nd inerti
y. The kinem tic couping terms
tron utics, 1992.
c n e iso ted y c sting the missie dyn mic eu tions
in the st iity xes, where s the inerti coupings, such 4. J. N. Niesen, Mi
ssie Aerodyn mics. New York: McGr w-Hi,
1960. s the roy w couping into pitch, c n e ccommod ted y the feed ck ine riz tion ppro ch ec use the
5. P. G rne, Guided We pon Contro Systems, 2nd ed., Oxford: Perextent of couping is me sur e. g mon, 1980.
6. W. A. Kevin nd B. J. D vid, Agie missie dyn mics nd contro. Nonine r Ae
rodyn mic. Nonine r erodyn mics re
Proc. AIAA Guid nce N vig tion Contro Conf., S n Diego, CA,
the resut of the nonine r nd uncert in ch r cteristics
Juy 1996.
of the st iity coefficients nd contro coefficients. A
7. S. S. Chin, Missie Configur tion Design. New York: McGr w- nonine r contro
scheduing, s function of M ch numHi, 1961.
er, AOA, dyn mic pressure, nd so on, c n e designed
to remove contro uncert inties c used y nonine r 8. A. Arrow, St tus nd conc
erns for nk-to-turn contro of t ctic
missies. AIAA J. Guid nce, Contro, Dyn mics, 8 (2): 267274, erodyn mics nd to
pproxim tey eu ize the contro
1985.
effectiveness.
9. F. W. Riede, B nk-to-Turn Contro Technoogy Survey for Hom Actu tor Limit tions. The missie contro surf ces h ve
ing Missies, NASA CR-3325, 1980.
their imit tions in the mounts of defection nd defec10. D. E. Wii ms, B. Friend nd, nd A. N. M diw e, Modern con- tion r te. To
void s tur ting the contro surf ces, comtro theory for design of utopiots for nk-to-turn missies,
m nd-imiting mech nism designed y dyn mic inverAIAA J. Guid nce, Contro, Dyn mics, 10 (4): 378386, 1987.
sion n ysis needs to e impemented. Nonine r
11. J. H. B keock, Autom tic Contro of Aircr ft nd Missies. New
dyn mic inversion n ysis so e ds to n e ry underYork: Wiey, 1991.
st nding of design imit tions, fund ment feed ck
p ths, nd
c ndid te feed ck contro structure. Refer- 12. F. W. Nesine nd
M. L. Nesine, How utopiot reuirements
constr int the erodyn mic design of homing missies. Proc. ences 30 nd 31 disc
uss some techniues used in noninAmer. Contro Conf., 1984, pp. 716730.
e r utopiot design.
13. M. P. Horton, Autopiots for t ctic missies; n overview. Proc.
Inst. Mech nic Eng., P rt 1, J. Syst. Contro Eng., 209 (2): 127
Ad ptive Autopiot Design. Ad ptive contro systems t139, 1995.
tempt to djust on-ine to ccommod te unknown or ch nging
14. C. F. Lin, Adv nced Contro System Design. Engewood Ciffs, NJ: system dyn
mics s we s unknown exogenous system disPrentice-H , 1991.
tur nces. There re two gener c sses of d ptive contro