Dynamic Modeling and Attitude Control for Novel Agile Projectile

doi:10.12382/bgxb.2023.0404

Abstract

Abstract:

A dynamic modeling and attitude control method for novel agile projectiles is proposed to improve the large-angle maneuverability of the projectiles. By adding a flexible and controllable circular parachute to the tail of the traditional reaction-jet and aerodynamic compound control agile projectile, a geometric configuration of the novel agile projectile is designed, and the novel agile turn is divided into three phases. To avoid a series of problems caused by Newton-Euler’s mechanics in solving complex constraints in the process of multi-body dynamics modeling, based on Lagrange mechanics, the position and attitude of projectile and the attitude of parachute are selected as the generalized coordinates, the kinetic energy of the system is derived, and the generalized force of the system is solved. Then a four-degree-of-freedom dynamic model with projectiles as the main body in the vertical plane is established. Finally, in order to design the flexible force, reaction-jet and aerodynamic compound control law for novel agile projectiles with fast time variability, strong uncertainty and strong nonlinearity, the equation of state for the system attitude tracking error is established, and the attitude controller with finite time convergence is designed based on the non-singular terminal sliding mode and the double power reaching law. The extended state observer is used to eliminate the negative impact of internal and external disturbances on the system and suppress chattering. The rationality and effectiveness of the proposed method are verified through simulation. Through the simulation and comparison of the novel and traditional agile projectiles, it is verified that the proposed method is beneficial for reducing turning radius, shortening turning time, and reducing energy consumption.

Key words: projectiles, agile turn, flexible and controllable circular parachute, Lagrange mechanics, sliding mode control, extended state observer

CLC Number:

ZHAO Xinyun, YU Jianqiao. Dynamic Modeling and Attitude Control for Novel Agile Projectile[J]. Acta Armamentarii, 2024, 45(7): 2182-2196.

Figures/Tables 21

Fig.1 Configuration of traditional agile projectile

Fig.2 Heading reversal maneuver of traditional agile projectile

Fig.3 Configuration of novel agile projectile

Fig.4 Heading reversal maneuver of novel agile projectile

Fig.5 Force analysis diagram of novel agile projectile

Fig.6 Schematic diagram of control system

Fig.7 Projectile flight envelope

Table 1 Time and energy consumption

传统、新型与效果	t_sim/ s	E_uR/ (N·s)	E_uT/ (N·s)	E_total/ (N·s)
传统	2.31	3732.78	40567.50	44300.28
新型	2.00	13440.31	24952.50	38392.81
效果	-13.27%	260.06%	-38.49%	-13.34%

Fig.8 Curves of trajectory

Fig.9 Curves of pitch angle, attack of angle and flight path angle

Fig.10 Curves of pitch angular velocity

Fig.11 Curves of normal acceleration

Fig.12 Curves of flight path angular velocity

Fig.13 Curves of velocity

Fig.14 Curves of reaction-jet command

Fig.15 Curves of elevator deflection command

Fig.16 Curve of flexible force command

Fig.17 Curves of uncertainty

Table B1 Structural parameters of projectiles

参数	数值
质量/kg	102.1573
转动惯量/(kg·m²)	69.1467
特征长度/m	0.1270
特征面积/m²	0.0127

Table B2 Aerodynamic coefficients of projectiles

攻角/(°)	Ma	C_n_α	C_n_δ	C_m_α	C_m_δ
	0.3	16.094	12.307	-48.106	-123.266
10	0.6	13.212	12.485	-46.822	-124.985
	0.8	10.875	12.124	-44.777	-121.278
	2.0	10.015	6.520	-10.279	-67.076
	0.3	6.578	5.690	-68.927	-56.992
40	0.6	44.112	6.452	-103.362	-64.570
	0.8	52.443	6.976	-104.679	-69.683
	2.0	31.581	4.864	-58.786	-50.008
	0.3	10.796	0	0	0
80	0.6	11.156	0	0	0
	0.8	11.529	0	0	0
	2.0	0	0	0	0

Table B3 Aerodynamic coefficients of parachute

伞的攻角/(°)	Ma	C_N	C_T	C_mp
10	0.2	0.080	0.550	-0.018
	0.6	0.084	0.627	-0.020
20	0.2	0.150	0.480	-0.027
	0.6	0.179	0.592	-0.031
30	0.2	0.280	0.400	-0.035
	0.6	0.340	0.482	-0.042
40	0.2	0.400	0.280	-0.043
	0.6	0.510	0.335	-0.050

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