PHD Thesis Presentation

بسم هللا الرحمن الرحيم

Ain Shams University, Faculty of Engineering

Computer and Systems Engineering Department

3D Intelligent Object TrackingMissile Modeling and Guidance Design

Submitted By:

Eng. Mohamed Ali Ali Sobh

Supervised By:

Prof. Dr. Mohamed Abd Elhamed Sheirah

Cairo 2006

Agenda

Objectives

Problems

Background

Survey

Achievements & Results

Conclusion

Future Work

Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home

Objectives

Provide very accurate environment to

design and to develop different guidance

techniques for missile systems

Contribute to both Missile Modeling and

Guidance Design

Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home

Problems

Missile system is very complex and nonlinear

Aerodynamics coefficients are not available

Actual experiments are not allowed or expensive

There is no available tools for missile modeling

Books, Publication, Researches, Datasheets, and

Experiments results are classified

Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home

Background

Structure

Classification

Speed

Range

Size

Launcher and Target Type

Background

Directional MotionsVertical Acceleration (w )

.

.

.

Accelerometer

CG

Background

Rotational Motion

Rolling Rate (p)

Pitching Rate (q)

Yawing Rate (r)

Rate Gyroscope

CG

Background

Actuators

ElevatorAileron

Rudder

Thrust

Thrust Vectoring

Actuators

Background

Coordinates Systems

SB

SL

SI: (Global Inertial) Geocentric Inertial Coordinates System

SL: Earth Fixed Launch Site Coordinates System

SE: Earth-Centered Launch-Derived Coordinates System

SP: Launch Vehicle Platform Accelerometer Coordinates System

SN: Launch Vehicle Navigation Coordinates System

SB: Body Fixed Coordinates System

SG: Local Geocentric Coordinates System

SG': Fixed Local Geocentric Coordinates System

SC: Local Geodetic Coordinates System

SI

SC

SP

Background

Mass Variation

CG (t)

dm

Fuel Consumption

Background

Gravity

SGSB

Background

Attack Angles

Angle of Attack α

Sideslip Angle β

Background

Aerodynamics

CP

Final Aerodynamic Coefficients

BackgroundExperimental Aerodynamics Evaluation

Physical Missile Model

Air Tunnel

Experimental Aerodynamics Evaluation

BackgroundComputational Aerodynamics Estimation

Full Grid Multi-Grid Grid Unstructured Grid

Cube Volume

Tetrahedral Element

CFD Simulation

Results

BackgroundComputational Aerodynamics Estimation

Bernoulli

Euler

Navier Stock Equations

For missile system (supersonic speed)

Turbulent Flow

Time Marching Numerical Calculation

Compressible Flow

Viscous Flow

No-Slip Boundary Condition

Background

Wind

Background

Forces and Moments

Fx

Fy

Fz

Mx

My

Mz

Background

Flight Phases

Terminal Phase

Maneuvering

Launch, Coast

Background

Guidance

Active

Guidance

Radar & Radar Detectors

Background

Guidance

Semi - Active

Guidance

Radar Detectors

Radar

Background

Guidance

Passive

Guidance

Infrared or Vision Detectors

Background

Navigation

Local Navigation System

Radar

SP

Position Xt Yt Zt

Position Xp Yp Zp

Background

Navigation

Local Navigation SystemSP

Orientation (Euler Angles) φ θ ψDisplacement

Gyroscope

Background

Navigation

Global Navigation System SP

Position Xp Yp Zp

GPS

Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home

Survey

Missile Modeling Fixed Mass Missile Model

Variable Mass Missile Model

MATLAB General Aircraft Model

Guidance Techniques LOS - Line of Sight Navigation Guidance

PN - Proportional Navigation Guidance

LQR Guidance

Fuzzy-PN Guidance

Fuzzy Guidance for High Speed Targets

Survey






LQR Guidance

Fuzzy-PN Guidance


Missile Modeling

Fixed Mass Missile ModelA. Aircraft

B. Missile (Symmetry)

C. Missile (Plan Separation)

Longitudinal Lateral

Missile Modeling

Fixed Mass Missile ModelD. Missile: Linearization at certain operating point

Missile Modeling


• Derived specially for large space rockets

• Different coordinate systems (SI, SL, SE, SP, SB, SG, SG’, SC)

• Consider mass variation

• Consider measuring elements

• Consider fuel sloshing and body bending

A. Missile

B. Missile: Linearization at certain operating point. Assume thrust vectoring control.

Missile Modeling


• Provides both fixed and variable mass missile models

• Uses nonlinear model directly

• Two coordinate systems (SP, SB)

• Provide accurate models for wind, gravity and atmosphere

Missile Modeling

MATLAB Missile Model

Guidance Techniques

Basic Concepts / Plan Separation

Pitch Control - Vertical Plan Yaw Control - Horizontal Plan Roll Control

Guidance Techniques

Basic Concepts / Roll Control

Roll Angle

Control

Roll Rate

Control

Guidance TechniquesBasic Concepts / Pitch and Yaw Control

Guidance TechniquesBasic Concepts / Autopilot

Autopilot Using Gyroscope Autopilot Using Accelerometer

Survey






LQR Guidance

Fuzzy-PN Guidance


Guidance Techniques

LOS - Line of Sight Navigation Guidance

PD Controller

Guidance Techniques


Guidance Techniques

LQR Guidance

Guidance Techniques

Fuzzy-PN Guidance

Guidance Techniques


Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home


Missile Modeling

Very Accurate Missile Model

Visual and Interactive Environment for Guidance Design

Guidance Techniques

New Adaptive Digital Guidance Technique (ADC)

New Technique for Exact and Realistic Target Prediction (RPPMT)

New Technique to Intercept High Speed Targets (RPPHST)

General Topics

Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients

New Method for Automatic Fuzzy Mapping


Missile Modeling



Guidance Techniques




General Topics



Missile Modeling

Very Accurate Missile Model Coordinates Systems and Coordinates Transformation

Variable Mass Rigid Body

Aerodynamics

Engine

Actuators Aerodynamics Actuators

Thrust Vectoring Actuators

Thrust Control Actuator

Measuring Devices Rate Gyroscopes

Position Gyroscopes

Accelerometers

Attack and Sideslip Angle Detectors

Tracking Devices IR (Infrared) Detectors

Radar Detectors

Global Positioning System

Atmosphere Shear Wind

Turbulence Wind

Pressure

DensityMissile Components

Mis

sile

Modelin

gV

ery

Accura

te M

issile

Mo

del

Missile ModelingVisual and Interactive Environment for Guidance Design

Integrated within

SimulaWorks Simulation

Package

Programmed using Native

C/C++

High order numerical

calculations

Very fast 4 times than

MATLAB

Allow very complex control

loop design

Represent missile target

engagement visually

Missile ModelingModel & Environment Validation

Successfully provide exact result compared with

MATLAB aerospace aircraft examples

Separate verification for each component

Visual Inspection

Provides reasonable and expected performance due to

gravity, earth rotation, wind, aerodynamics variation

Successfully used to implement several guidance

techniques like PN, TPN, LOS, LQR, Fuzzy…

Missile ModelingEffect of Coupling

Missile ModelingPN - Proportional Navigation Guidance

Missile ModelingPN - Proportional Navigation Guidance

Missile ModelingTPN – True Proportional Navigation Guidance

Missile Modeling

LOS - Line of Sight Navigation Guidance

Missile ModelingLQR Guidance

Missile ModelingFuzzy-PN Guidance


Missile Modeling



Guidance Techniques




General Topics



Guidance Techniques


ADC : Adaptive Dahlin Controller

Guidance Techniques


Offline System

Identification

Using

GLS

Guidance Techniques


Final ADC Controller

Guidance Techniques


Guidance Techniques


Guidance Techniques


Pitch Error

Yaw Error

Guidance Techniques


Roll Rate

Guidance Techniques


Guidance Techniques


PNManeuverability

Guidance Techniques


Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)

Actual Inputs

for

Target Position

Applying Linear Regression

RPPMT: Realistic Path Prediction for Maneuvering Targets


Proposed method to

calculate the exact

interception point




Existing Technique

Interception Time: 4.046

IAE: 12.72

Proposed Technique

Interception Time: 4.045

IAE: 10.90


Existing Technique Proposed Technique

Proposed Technique

Manoeuvrable

Target

Guidance TechniquesNew Technique to Intercept High Speed Targets (RPPHST)

RPPHST: Realistic Path Prediction for High Speed Targets




Missile Modeling



Guidance Techniques




General Topics



General TopicsCFD Simulator to Estimate Aerodynamics Coefficients

Provides CFD simulation

In 2D using finite difference method

In 3D using finite volume method

Uses Multi-Grid to perform CFD calculations

Automatically generate the grid around any 3D object

Can be used to perform general fluid simulation for speeds up to 5.0

mach

Provide mach number, pressure, temperature, energy, fluid density

distribution graphs

Calculate forces, moments, center or pressure and fluid dynamics

(aerodynamics) coefficients

Optimized to run with limited memory and computation power


CFD Simulator Verification

Performs CFD simulation over standard shapes like Sphere, Plate

Visual Inspection

Speed 300 Cx = 0.549

Speed 700 Cx = 0.506

Speed 1000 Cx = 0.549

Cx ≈ 0.5

Speed 700 Cx = 0.952

Cx ≈ 1.0

Simulator

Velocity Vectors Map at Missile Head (2D)


Mach Number Distribution Graph (2D)

Temperature Distribution Graph (2D)

Mach Number Distribution Graph (2D)

2D (2000 Iteration, 0.005m Resolution, 10 Layers, 468,654 Cell, 45 sec)

3D (5000 Iteration , 0.005m Resolution, 10 Layers, 44,094,150 Cell, 6 hours)

Air Speed 700 m/s

Air Density 1.225

Temperature 288.16 K Velocity Distribution Graph (3D)

General TopicsNew Method for Automatic Fuzzy Mapping

Objective: Map existing control into an equivalent fuzzy control

Offline Mode: Construct the Variables and the Rules

Online Mode: Update the Rules



Trained Fuzzy System In Pitch Plan Trained Fuzzy System In Yaw Plan

Original LOS Guidance

IAE = 32.22

Fuzzy LOS Guidance

IAE = 56.62

Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home

Conclusion

Missile Modeling

Missile system is too complex to be modeled by a set of linear

equations

The missile model is successfully derived, implemented, and

integrated within SimulaWorks simulation environment

The proposed model and the simulation environment succeeds to

represent most of missile system behaviors and to provide a very

realistic environment for guidance design

A special simulation tool is built and used successfully to estimate

the aerodynamics coefficients by performing CFD simulation around

missile airframe

Conclusion

Guidance Design A new guidance technique (ADC) is proposed and used successfully

to intercept different type of targets

ADC provides minimum IAE, very fast interception, high tracking and

manoeuvrability

A new realistic target prediction technique (RPPMT) is proposed

and used successfully to predict and to intercept manoeuvring

targets

A new realistic target prediction technique (RPPHST) is proposed

and used successfully to predict and to intercept high speed targets

Agenda

Objectives

Problems

Background

Survey


Conclusion

Future Work

Home

Future Work

More aspects and components can be included:

Fuel sloshing and body bending dynamics

More realistic models for propulsions system

Advanced CFD simulation using finite element method

Actual experiments to verify CFD simulation results

Practical implementation to verify simulation results

Apply new digital control techniques like RST

Study the effect of model parameters variation on

guidance performance

Thank You

3D Intelligent Object TrackingMissile Modeling and Guidance Design

Education

PHD Thesis Presentation