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I.
INTRODUCTION
1342
(n , e , k )
, and A frame
The r-axis coincides with the sensor optical axis. Using rotation
angles and , the transformation matrices are given by
B
P
cos
C = sin
0
sin
cos
0
cos
0 , BAC = 0
sin
1
0
1
0
sin
0
cos
(1)
pi
P I = pj , B
pk
Bn
, A
=
B I
Be
BK
Ar
=
A I
Ae
Ad
(2)
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Ar
J inner = A re
A rd
A re
Ae
A de
A rd
Bn
A de , B J outer = Bne
Bnk
A d
Bne
Be
Bke
Bnk
Bke
Bk
T =
(3)
(a )
Be = Pi sin + Pj cos
(b )
BK = Pk +
(c )
+ Ard Ar Ad
1
( Bn Bn2 + Be Be2 + Bk Bk2 ) + Bne Bn Be
2
+ Ade Ae Ad + Bnk Bn Bk + Bke Be Bk
(8)
T
= TAZ
(9)
(4)
(10)
2
2
( Bne + A re cos + Ade sin )( Bn
Be
)
(5)
; Td 3 = [ ( Ar Ad )( Bn cos(2 ) Bk sin(2 )) ]
(11)
dt
(12)
(6)
Bk = sin +
2
2
)
Ae Ae = TEL + ( Ad Ar ) Ar Ad + Ard ( Ar
Ad
Ade ( Ad Ae Ar ) Are ( Ar + Ae Ad )
1
( Ar Ar2 + Ae Ae2 + Ad Ad2 )
2
; Td = J eq Bn sin + Ar ( Ae Be )
T =
=
B
d T
dt
(c )
H
2
(a )
(b )
+
A
+ Are Ar Ae +
H
2
(13)
2
2
TD EL = ( Ad Ar ) Ar Ad + Ard ( Ar
Ad
)
Ade ( Ad Ae Ar ) Are ( Ar + Ae Ad )
(14)
The dynamic mass imbalance is the result of a nonsymmetrical mass distribution called Product of Inertia [4]. The
dynamic mass imbalance concept can be indicated by the
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e
e
(15)
m ( s )
ua ( s )
K TM
( La s + Ra ) ( J m* s + a m* ) + K e K TM
24637.68
= 2
; J m = J m + J L , a m = a m + a L
s + 1500 s + 20942
(16)
12.5
12.5
, K AZ ( s ) = 0.5 +
s
s
Pk
Pj
Ki
Gi
U Ki
Kp
Ki
+
+
uc
Gce
Kd
Gd
U Kd
Kd
d
dt
Ge
U Kp
111
1
SSS
S
Gp
(17)
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Kp
NL
NS
ZR
PS
PL
(18)
2
Ge ( Pk ) = 0.0212 Pk
+ 0.076 Pk + 3.7995
(19)
RULE BASES
NS
ZR
PS
PL
PL
NL
NL
PL
NL
NL
PS
NS
NS
PS
NS
NS
ZR
ZR
ZR
PS
NS
NS
PS
NS
NS
PS
NS
NS
ZR
ZR
ZR
NS
PS
PS
PS
NS
NS
PS
NS
NS
ZR
ZR
ZR
NS
PS
PS
NS
PS
PS
PS
NS
NS
ZR
ZR
ZR
NS
PS
PS
NS
PS
PS
NS
PS
PS
ZR
ZR
ZR
NS
PS
PS
NS
PS
PS
NL
PL
PL
NL
PL
PL
Gp
Gi
Gd
Elevation
0.1
0.02
0.0001
Azimuth
0.13
0.01
3.5
0.0001
VI.
NL
Gce
Parameter
Ki
Kd
SIMULATION RESULTS
EL
TEL
Pj
AZ
1
Ae S
Ae
1
S
TD EL
Pi
Be
Pk
Pk
Bn sin
+
+
in
TD AZ
TAZ
cos
+
+
1
J eq S
Ad
1 Bk
+
cos
1
S
1346
14
12
10
4
Input
Fuzzy PID
PID
0
0
0.1
0.2
0.3
0.4
0.5
0.6
Time(sec)
0.7
0.8
0.9
REFERENCES
14
12
[2]
10
[3]
8
[4]
4
Input
Fuzzy PID
PID
0
0
0.1
0.2
0.3
0.4
0.5
0.6
Time(sec)
0.7
0.8
0.9
[5]
1
[6]
Pj = Pk = 8 deg sec
[7]
TABLE III.
[8]
PI controller
Pj
2
4
6
8
10
9.7
15.1
24.2
36.2
50
0.185
0.174
0.165
0.255
0.266
t r ( sec )
0.06
0.042
0.032
0.023
0.016
ov (%) t s ( sec )
0
2
2.1
3.2
9.2
0.132
0.112
0.086
0.105
0.116
t r ( sec )
[9]
0.092
0.081
0.062
0.042
0.028
[10]
[11]
TABLE IV.
[12]
PI controller
Pj
6.7
15.2
25
35.8
47.1
0.158
0.169
0.176
0.188
0.2
t r ( sec )
0.053
0.039
0.03
0.025
0.02
ov (%) t s ( sec )
2
2.1
2.2
2
3.7
0.149
0.126
0.107
0.086
0.123
t r ( sec )
[13]
0.102
0.09
0.074
0.064
0.05
[14]
[15]
VII. CONCLUSION
In this paper, the two axes gimbal seeker of a guided
missile was introduced. The equations of gimbals motion were
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