This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theor...This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.展开更多
This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a g...This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a general summary of well-known trajectory models is given. A five degrees of freedom （5 DOF） model is developed that can match the projectile motion essentially in the vertex region, and the results obtained by 5 DOF model are in close agreement with those of a more sophisticated 6 DOF model for elevation angles above 45 degrees. Secondly, the calibration algorithms have been developed and are summarized. The methods of calibrating the flight trajectory models are compared, and these methods are shown to be effective in the representative cases. In addition, the method of Math number calibration （MNC） is presented; some possible areas in MNC for further investigation are indicated together with benefits to be gained. The utilization of MNC schemes not only allow a worthwhile reduction of calibration rounds firing in range and accuracy （R＆A） trial and production of firing tables （PFT） test, but also make PFT and fire control data （FCD） more cost effective.展开更多
For the test of rotation speed of high spinning projectile, the general formula of the motional electromotive force （MEMF） of planar magnetic induction coil （PMIC） is derived in case of 3D rotation in a stable mag...For the test of rotation speed of high spinning projectile, the general formula of the motional electromotive force （MEMF） of planar magnetic induction coil （PMIC） is derived in case of 3D rotation in a stable magnetic field. Under a reasona-ble assumption, the MEMF of PMIC is simplified after the aforementioned general formula is used to calculate high spinning PMIC in the geomagnetic field environment. The determination approach of half-cycle is discussed and the method of rotation speed test is studied, and a test is conducted in the paper. The rotation speed curve obtained by the approach in this paper is consistent with the curve by telemetry.展开更多
This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobi...This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.展开更多
The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Neverthele...The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Nevertheless,the radial magnetometer signal is modulated by the high-speed rotation,thus the roll angular rate can be achieved by extracting the instantaneous frequency of the radial magnetometer signal.The objective of this study is to find out a precise instantaneous frequency extraction method to obtain an accurate roll angular rate.To reach this goal,a modified spline-kernelled chirplet transform(MSCT)algorithm is proposed in this paper.Due to the nonlinear frequency modulation characteristics of the radial magnetometer signal,the existing time-frequency analysis methods in literature cannot obtain an excellent energy concentration in the time-frequency plane,thereby leading to a terrible instantaneous frequency extraction accuracy.However,the MSCT can overcome the problem of bad energy concentration by replacing the short-time Fourier transform operator with the Chirp Z-transform operator based on the original spline-kernelled chirplet transform.The introduction of Chirp Z-transform can improve the construction accuracy of the transform kernel.Since the construction accuracy of the transform kernel determines the concentration of time-frequency distribution,the MSCT can obtain a more precise instantaneous frequency.The performance of the MSCT was evaluated by a series of numerical simulations,high-speed turntable experiments,and real flight tests.The evaluation results show that the MSCT has an excellent ability to process the nonlinear frequency modulation signal,and can accurately extract the roll angular rate for the high spinning projectiles.展开更多
A nonlinear mathematic model taking the nutation and precession angles as variables for the coning motion of projectile was established according to a short period moment projection of the spining projectile. By intro...A nonlinear mathematic model taking the nutation and precession angles as variables for the coning motion of projectile was established according to a short period moment projection of the spining projectile. By introducing the generalized nutation angle and precession angular speed, the model that is difficult to be resolved can be transformed to a resolvable one. The interrelationship between nutation and precession was analyzed based on the linear model, and the stability condition was obtained for the spinning projectile. For the nonlinear model, the effects of the nutation and precession on the limit circle of the projectile's coning motion were investigated, and the analytical relations between the nutation angle and the precession angular speed in the steady coning motion of the spinning projectile were given.展开更多
A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupl...A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupled dynamics for the SGGP are formulated with mismatched and matched uncertainties, and then divided into acceleration and angular rate subsystems via the hierarchical principle. By exploiting the structural property of the SGGP, model-assisted Extended State Observers(ESOs) are designed to estimate online the lumped disturbances in the acceleration and angular rate dynamics. To achieve a rapid response and a strong robustness, integral sliding mode control laws and sigmoid-function-based tracking differentiators are integrated into the ESO-based Trajectory Linearization Control(TLC) framework. It is proven that the acceleration tracking controller can guarantee the ultimate boundedness of the signals in the closed-loop system and make the tracking errors arbitrarily small. The superiority and effectiveness of the proposed control scheme in its decoupling ability, accurate acceleration tracking performance and antidisturbance capability are validated through comparisons and extensive simulations.展开更多
Experimental and numerical methods were used to investigate the Magnus phenomena over a spinning projectile.The pressure force acting on the surface of a spinning projectile was measured for various cases by employing...Experimental and numerical methods were used to investigate the Magnus phenomena over a spinning projectile.The pressure force acting on the surface of a spinning projectile was measured for various cases by employing a relatively novel experimental technique.A set of miniature pressure sensors along with a data acquisition board,battery and storage memory were placed inside a spinning model and the surface pressure were obtained through a remotely controlled system.Circumferential pressures of the model for both rotational and static conditions were obtained at two different free stream Mach numbers of 0.4 and 0.8 and at different angles of attack.The results showed the ability of this new test method to measure the very small Magnus force via surface pressures over the projectile.The results provide a deep insight into the flow structure and illustrate changes in the cross-flow separation locations as a result of rotation.Similar results were obtained by the numerical simulations and were compared with the experimental data.展开更多
基金supported by the National Natural Science Foundation of China(Grant Nos.52272358 and 62103052)。
文摘This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.
文摘This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a general summary of well-known trajectory models is given. A five degrees of freedom （5 DOF） model is developed that can match the projectile motion essentially in the vertex region, and the results obtained by 5 DOF model are in close agreement with those of a more sophisticated 6 DOF model for elevation angles above 45 degrees. Secondly, the calibration algorithms have been developed and are summarized. The methods of calibrating the flight trajectory models are compared, and these methods are shown to be effective in the representative cases. In addition, the method of Math number calibration （MNC） is presented; some possible areas in MNC for further investigation are indicated together with benefits to be gained. The utilization of MNC schemes not only allow a worthwhile reduction of calibration rounds firing in range and accuracy （R＆A） trial and production of firing tables （PFT） test, but also make PFT and fire control data （FCD） more cost effective.
基金National Key Lab for Electronic Measurement and Technology,North University of China(No.9140C120401080C12)
文摘For the test of rotation speed of high spinning projectile, the general formula of the motional electromotive force （MEMF） of planar magnetic induction coil （PMIC） is derived in case of 3D rotation in a stable magnetic field. Under a reasona-ble assumption, the MEMF of PMIC is simplified after the aforementioned general formula is used to calculate high spinning PMIC in the geomagnetic field environment. The determination approach of half-cycle is discussed and the method of rotation speed test is studied, and a test is conducted in the paper. The rotation speed curve obtained by the approach in this paper is consistent with the curve by telemetry.
基金supported by the National Natural Science Foundation of China(No.12072304).
文摘This paper presents a novel suspension support tailored for wind tunnel tests of spinning projectiles based on Wire-Driven Parallel Robot(WDPR),uniquely characterized by an SPM(Spinning Projectile Model)-centered mobile platform.First,an SPM-centered mobile platform,featuring two redundant and another unconstrained Degree of Freedom(DOF),and its suspension support mechanism are designed together,collectively constructing a WDPR endowed with kinematic redundancy.Afterward,the kinematics of the mechanism,boundary equations for the redundant DOFs,and relevant kinematic performance indices are then proposed and formulated.The results from both prototype experiments and numerical assessments are presented.The capability of the support mechanism to replicate the complex coupled motions of the SPM is verified by the experimental results,while the proposed kinematics and boundary equations are also validated.Furthermore,it is revealed by numerical assessments that the redundant DOFs of the mobile platform exert a minimal impact on the kinematic performance of the suspension support.Finally,the optimal global attitude performance is obtained when these DOFs are set to zero if they are restricted to constants.However,local attitude performance can be further improved by the variable values.
基金National Natural Science Foundation(NNSF)of China under Grant 61771059National Natural Science Foundation(NNSF)of China under Grant 61471046Beijing Natural Science Foundation under Grant 4172022 to provide fund for conducting experiments。
文摘The roll angular rate is much crucial for the guidance and control of the projectile.Yet the high-speed rotation of the projectile brings severe challenges to the direct measurement of the roll angular rate.Nevertheless,the radial magnetometer signal is modulated by the high-speed rotation,thus the roll angular rate can be achieved by extracting the instantaneous frequency of the radial magnetometer signal.The objective of this study is to find out a precise instantaneous frequency extraction method to obtain an accurate roll angular rate.To reach this goal,a modified spline-kernelled chirplet transform(MSCT)algorithm is proposed in this paper.Due to the nonlinear frequency modulation characteristics of the radial magnetometer signal,the existing time-frequency analysis methods in literature cannot obtain an excellent energy concentration in the time-frequency plane,thereby leading to a terrible instantaneous frequency extraction accuracy.However,the MSCT can overcome the problem of bad energy concentration by replacing the short-time Fourier transform operator with the Chirp Z-transform operator based on the original spline-kernelled chirplet transform.The introduction of Chirp Z-transform can improve the construction accuracy of the transform kernel.Since the construction accuracy of the transform kernel determines the concentration of time-frequency distribution,the MSCT can obtain a more precise instantaneous frequency.The performance of the MSCT was evaluated by a series of numerical simulations,high-speed turntable experiments,and real flight tests.The evaluation results show that the MSCT has an excellent ability to process the nonlinear frequency modulation signal,and can accurately extract the roll angular rate for the high spinning projectiles.
基金Sponsored by the National Science Foundation of China (10972034)
文摘A nonlinear mathematic model taking the nutation and precession angles as variables for the coning motion of projectile was established according to a short period moment projection of the spining projectile. By introducing the generalized nutation angle and precession angular speed, the model that is difficult to be resolved can be transformed to a resolvable one. The interrelationship between nutation and precession was analyzed based on the linear model, and the stability condition was obtained for the spinning projectile. For the nonlinear model, the effects of the nutation and precession on the limit circle of the projectile's coning motion were investigated, and the analytical relations between the nutation angle and the precession angular speed in the steady coning motion of the spinning projectile were given.
基金supported by the Fundamental Research Funds for the Central University(No.30919011401)。
文摘A novel acceleration tracking controller is proposed in this paper, for a Spinning Glide Guided Projectile(SGGP) subject to cross-coupling dynamics, external disturbances, and parametric uncertainties. The cross-coupled dynamics for the SGGP are formulated with mismatched and matched uncertainties, and then divided into acceleration and angular rate subsystems via the hierarchical principle. By exploiting the structural property of the SGGP, model-assisted Extended State Observers(ESOs) are designed to estimate online the lumped disturbances in the acceleration and angular rate dynamics. To achieve a rapid response and a strong robustness, integral sliding mode control laws and sigmoid-function-based tracking differentiators are integrated into the ESO-based Trajectory Linearization Control(TLC) framework. It is proven that the acceleration tracking controller can guarantee the ultimate boundedness of the signals in the closed-loop system and make the tracking errors arbitrarily small. The superiority and effectiveness of the proposed control scheme in its decoupling ability, accurate acceleration tracking performance and antidisturbance capability are validated through comparisons and extensive simulations.
文摘Experimental and numerical methods were used to investigate the Magnus phenomena over a spinning projectile.The pressure force acting on the surface of a spinning projectile was measured for various cases by employing a relatively novel experimental technique.A set of miniature pressure sensors along with a data acquisition board,battery and storage memory were placed inside a spinning model and the surface pressure were obtained through a remotely controlled system.Circumferential pressures of the model for both rotational and static conditions were obtained at two different free stream Mach numbers of 0.4 and 0.8 and at different angles of attack.The results showed the ability of this new test method to measure the very small Magnus force via surface pressures over the projectile.The results provide a deep insight into the flow structure and illustrate changes in the cross-flow separation locations as a result of rotation.Similar results were obtained by the numerical simulations and were compared with the experimental data.
