MDTS 5705 : Control

Lecture 1 : Missile control configurations

G. Leng, MDTS, NUS

 References

G. M.. Siouris, Missile Guidance and Control Systems,

Springer-Verlag, 2004

B. Stevens. "Aircraft Control & Simulation", J. Wiley,

1992.

D. McRuer, I. Askenas & D. Graham, "Aircraft Dynamics

and Automatic Control, Princeton University Press, 1973

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 Training Programme
1 : Missile control configurations
or making sense of the aerodynamics for flight control

2 : Missile dynamics and control models

or when to simplify, when to stop and how to simulate

3: Designing the flight control system

or defining the control limits of the missile

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1.1 : Axes System

1.1.1 : A first step is to define a convenient axis system or

reference frame fixed to the missile.

Question : Why fixed to the missile ?

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 1.1.2 : Body axes
The convention for flight dynamics is :
I) The positive x axis points towards the nose
II) The positive y axis points to the right
III) The positive z axis points downwards.
x
y
y

Note that this is a right handed

coordinate system.
Question : Where should the
origin be placed ?
z
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1.1.3. The set of axes as defined in 1.1.2 is called the
body axes. It is fixed to the missile and translates and
rotates with it.

Question : Implications for equations of motion ?

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1.1.4 : Aerodynamics axes

Typically, aerodynamicists and structural engineers use different

conventions for their axis systems creating unnecessary
confusion
z

x
y

Question : Why do the axes point

this way ?
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1.1.5. Using the body axes, the missile's velocity V is written
as V = {u, v, w} where

u, v, w

are the velocity components in the X,Y,and Z axes direction.

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 Figure 1.1.1 : Velocity components

y
u

x
V
w
z

v
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1.1.6. Similarly we denote the missile's rotation with an
angular velocity vector = {p, q, r } where p, q, r, are the

roll (wings up/down)

pitch (nose up/down)

yaw (nose right/left)

rotational rates.

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 Figure 1.1.2 : Angular velocity components

p roll rate
y

x
q pitch rate
r yaw rate

z
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1.2 : Aerodynamic Forces and Moments

1.2.1. Aerodynamic forces and moments on the missile depend

on the orientation of the missile with respect to the flight
trajectory

1.2.2. This orientation is specified by the two important angles

: angle of attack
: sideslip angle

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Figure 1.2.1 : AOA & sideslip angle definition 1

v
u

V

w

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Figure 1.2.1 : AOA & sideslip angle definition 2

w
V

Question : Can you spot the difference ?

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 Example : Aerodynamic database
How does the aerodynamics vary for a real missile ?

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Example CZ variation

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 Example - Cm variation
Cm

trim pt

AOA

Question : Why must Cm vary this way with AOA ?

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 How does one control a missile ?
Control
surfaces

Maverick

Control
surfaces Sidewinder
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 Missile aerodynamic control surfaces

control
surface

servo motor
hinge
line

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 Basic aerodynamic control technique

Deflection of control surfaces changes aerodynamic forces

acting on the surface

Changes in forces generate moments about the cg which

roll, pitch and yaw the missile

How well does this work ?

Can you estimate the aerodynamic control forces on a

missile ?

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 Ex : Control force estimation

AIM 9 @ Mach 2.5

Triangular fin
Area = x 0.3 x 0.3
= 0.045 m2

Force =

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Examples of missile control surfaces
Foldable fins

Tube launched weapons

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Examples of missile control surfaces
Lattice control surface

AA-12 Adder

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 Performance implications 1
Tail control missile
Lw

W Lt

So whats the problem ?

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Nonminimum phase response

commanded
latax

actual latax

time

Initial response heads off in the wrong direction

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 Performance implications 2
Canard control missile
Lw
Lc

Comments ? W

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Ex : Comment on the control configuration of this missile

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Multi-control surfaces - Rafael Python 4

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G. Leng, MDTS, NUS
1.3 Missile control methods - examples
Where are the control surfaces ?
rudder

elevator

ailerons

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1.3.1 Cartesian control for homing

Separate sets of control surfaces

for pitch (up/down) and yaw
(left/right)

Guidance generates required

latax for pitch and yaw planes

Pitch and yaw controls can act

target
simultaneously

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 Missile control methods - example

Moving wings serve as both

ailerons and elevators

Fixed tail surfaces

Question : What can of control

method was employed ?

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 target
1.3.2 Polar control for homing

Guidance generates
roll command and
required pitch latax
(twist & steer)
target
Needs roll angle
reference

How fast is the

missile response ?

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1.3.3 Skid to turn for mid-course

Turn executed by
skidding the missile

Hence missile is not

aligned with velocity
vector during turn

Typically used for fast

turn response

May lead to large AOA &

sideslip problems ?

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1.3.4 Bank to turn for mid course

Missile rolls to vector lift

Missile is aligned with velocity vector during turn

Small AOA & sideslip

Why bank to turn ?

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