Decision and Control Problems in Missile Design

Decision and control problems in missile design Stphane Le Mnec Autour des PBs de PB INRIA / Sophia-Antipolis Tuesday / Wednesday,
y, March, the 29th and the 30th
Rf.: - Page 1 - 30/03/2005

Ce document est la proprit de MBDA. Il ne peut tre communiqu des tiers et /ou reproduit sans lautorisation pralable crite de MBDA et son contenu ne peut tre divulgu. MBDA 2005 . This document and the information contained herein is proprietary information of MBDA and shall not be disclosed or reproduced without the prior authorization of MBDA. MBDA 2005. Edit partir du FF S1.0034 A2
Summary
Decision support system in medium range air to air combat game

Presentation
Dynamic game Sub games, differential game barriers State trees Reprisal strategies Markov chains 2 types of missiles : observers / interceptors Static game Matrix game, mixed strategies In flight error estimation and compensation - Extended Kalman Filter design Steering law design - Guidance Law Optimization (differential game aspect)
High level management for Anti Tactical Ballistic Missiles launch
Bank To Turn (BTT) Optimal Guidance Laws
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Summary
Bank To Turn (BTT) Optimal Guidance Laws
Overview on Missile Architecture Design

- Guidance, Navigation & Control (GNC) - Missile Symmetry - Steering Law
Constrains and Errors

- Constrains (Acceleration, Stability, Time Response) - Errors (Radome Aberration, Misalignments) - Simulation Example
Guidance and Control (roll gain) Optimization

Proportional Navigation Optimal Proportional Navigation Differential Game Point of View BTT Guidance Laws Some Results
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Navigation, Guidance and Control
Navigation is knowing where you are Guidance creates the commands to take you from where you are to where you want to be Control follows the commands
Navigation
+
Guidance Guidance Control Control
End Point
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Autopilot Functions / Free Flight Control (FFC) hControls the missile to follow manoeuvre demands (within prescribed limits) over the missile operating envelope allowing for external disturbances allowing for variations in system characteristics (unknown but bounded)
Guidance Law
Steering Law
Autopilot Instruments
Actuators
Seeker/ Estimator
Relative Kinematics
Airframe Target Motion
different strategies :
Rf.: - Page 5 - 30/03/2005
roll the missile as an airplane or angle of attack and side slip controls
Symmetric missiles
hGuidance Law determines the required missile trajectory / demands hThe steering law determines how this is achieved (interface between guidance and autopilot). This depends on the airframe / system configuration
Rocket Powered symmetric Skid-to-Turn steering law (+ possibly roll-control)

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Asymmetric missiles
Separation Control
Separation Control
Midcourse Guidance
Free Flight Control
Homing Guidance Cartesian State Estimation
Ram-Jet Powered, asymmetric, low side-slip required (engine constrains) Bank-to-Turn steering law required also Bank-While-Turn & STT modes
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Basic Steering / Control laws
Skid-To-Turn (STT) - airframe has symmetry in two axes (cruciform) and is equally capable of being controlled in pitch and yaw. - May be roll controlled (or not) depending on the application.
Bank-To-Turn (BTT) - asymmetrical airframe and has more control capability in the pitch plane. - if control is required in another plane then the airframe must first be rolled into the plane where it can use its pitch control. Thus, this airframe must have roll control.
Bank-While-Turning (BWT) - similar to BTT but with active acceleration control in both planes
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Basic Steering / Roll Control

Guidance and autopilots
ac azNRc
ayNRc c
BTT
azRc= ac
c=atan2(ayNRc, -azNRc)
commands in non-rolling axes azRc

STT
c=, 0
azRc
BWT
c=atan2(ayNRc, -azNRc)
ayRc
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ayRc
Constrains on acceleration demands (STT)
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Constrains on acceleration demands (BTT)
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Stability constrains on roll (rate) demands
The roll chain is designed faster than pitch and yaw
to control acceleration in the right plane in BTT, to reduce side slip in BWT
Errors on boresight angle measurements (see following slides) required
to slow down the autopilot (more particularly to decrease the roll gain G1R) to avoid FFC instabilities to decrease the guidance law gain (in particular PN gain)
BTT more sensitive to boresight errors when
roll lag time constant small
(stability limit smaller when G1R large) ATd (FFC acceleration demand) small no fast roll demands when ATd small Incidence lag (airframe response) large VM (missile velocity) small
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Constrains on time response
The STT mode has smaller time response than BTT BTT requires first to roll before applying pitch control demands.
When Time To Go (tf t) is small in comparison with BTT autopilot lag time constant, prefer STT mode
Just before interception, the ram jet engine constrains do not apply anymore, less restriction on side slip angle end interception in BTT Steering law rules
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Proportional Navigation (PN) Trajectory

Homing Guidance
target
// Lines Of Sight (LOS)
missile
Sightline angle (and rate) vary at the start of engagement Later the sightline moves parallel to itself so the sightline rate 0 and a shrinking interception triangle is produced
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PN guidance loop
We aim for a final missile straight line motion with no sightline rate (to reach the collision course triangle). We therefore define: lateral acceleration (latax) demand = .V.s where the sightline rate s is measured by the missile seeker and is a constant (called navigation constant, gain, kinematic stiffness ) and V a speed term more efficient PNs exist as Ideal PN (with missile longax compensation for accelerating missile) and Augmented PN (APN) for an accelerating target
Sightline Angle Seeker Sightline Rate Demanded Accln Autopilot Missile Achieved Accln
Target Motion
Missile/Target Geometry Missile Motion
Guidance Law
Kinematics
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Boresight errors / radome aberration
Radome aberration errors
The radome is designed to protect the dish from airflow damages The seeker (dish) is theoretically decoupled from missile movements, but Missile attitude changes imply fictive target movements (of apparent LOS) Radome aberration (RA) couples LOS measurements (Elevation, Circular) to missile attitude through gimbal angles
RA errors LOS apparent target
E measured = E true + kse . E + ksc . C
C measured = C true + kgc . C + kge . E

radome aberration angle
true target antenna radome

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Boresight errors / misalignments effects
Inertial Measurement Unit (IMU) and Seeker misalignments
By construction, offsets exist between IMU axis and body axis In the same way, the dish reference axis are not perfectly linked to body axis Errors in LOS angle and LOS rate reconstruction
Due to errors on the transfer matrix between dish, body and IMU coordinate frames Errors occurs when no gyroscope on seeker axis (in modern missiles) In case of 3D target maneuvers (or BTT modes)
LOS
measured
Dish axis
Reference dish axis
Gimbal angle (E)
IMU
Body (Radome axis)

2 1
: pitch
(angle of attack) VM (velocity vector)
D : dish
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computed measured
Reference E
true 2 1
Guidance Law Optimization (STT / linear model)
Approximation around the collision course triangle (linearization)
Unbounded controls (penalty function through quadratic criterion) - Linear Quadratic Theory (Bryson, Ho and all) PN, APN optimal under target maneuver assumptions OGL : first order assumption for missile and target dynamics - Differential game point of view (Ben Asher and all) Trade of between miss distance and target acceleration capabilities taking into account Missile lag time constant robustness, Imperfect target acceleration estimation
Bounded controls, miss distance as criterion (Prof. J. Shinar and all) - DGL/0, DGL/1 (Differential Game, 1 : first order target dynamics), - DGL/C (delayed estimation), DGL/S (IR seeker)
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Guidance Law Optimization (STT / BTT)
(Kinematics without small angle approximation (Prof. J. Shinar and all)
2D dynamics (STT context), non complete analytic solution Interesting for initial non collision course conditions
BTT optimal guidance law
Collision course assumption Unbounded controls approach extension (Aggarwal and all) - Roll rate optimization Lyapunov approach - Roll angle demand
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Differential Game Guidance Law
Kinematics First order lag time constant for Pursuer and Evader
& X = A X + B M + D T
Criterion
Singularity checking imply a trade off between miss distance and target maneuverability
1 b min max J = y 2 (t f ) + 2 2
tf
(
0
2 Md
2 T2 dt
3D Guidance law expression
term only in the one-sided optimal solution or when adding in the game a constant maneuver (in both case, parameter to estimate : Kalman filter)
r r r r c r ' M c i = c Vc i iMT i + c M + ( T ) 2 c, c' = f ( pilot , t f t )

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Results on 2D simulation
Linear Kalman Filter to estimate LOS rate and target acceleration (for APN and OGL) Radome aberration without compensation (+ thermal noise, + white noise) APN and OGL are sensitive to bad target acceleration estimations OGL with high guidance gain ( at tf) is sensitive to errors LQ Diff. Game : no target acceleration required, finite guidance gain
miss distance [m] 0 5 0 5 0 5 PN 0 5 0 5 0 0.08 0.06 0.04 0.02 LQDG APN
stability
LQG
small non null miss distance
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0 radome slope R
0.02
0.04
0.06
0.0
Results using a Generic 6dof simulation
Gen6DOF in Matlab / Simulink Target point mass model Extended Kalman Filter to estimate LOS rate and compensate radome aberration 3D LQDG STT and BTT steering law (Steering Law : atan2) Results with and without errors (Radome aberrations) Results with different amount of Radome aberration errors Sensitivity larger in BTT than in STT
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BTT Optimal Guidance Laws
Kinematics
z
& yr = v y & zr = vz & v y = AT A cos y
T & vz = Az A sin
relative positions In inertial axis relative velocity In inertial axis
& A A A= c
azRc
BWT
& & = d
ayRc
Criterion
1 J= 2
tf 2 2 2 & 2 ) dt yr (t f ) + z r (t f ) + ( wa Ac + w& d t0
Hamiltonian -> two point boundary value problem Near optimal solution using singular perturbation method (separation between the slow and the fast mode) & Solution similar to OGL + d control Game formulation as in STT ?
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Conclusion
Long range air to air missiles will be powered by ramjets Ramjets tolerate small sideslip angles and small negative angle of attack The pitch-yaw-roll dynamics is a nonlinear (coupling effect) BTT / BWT roll rate has to be controlled carefully to avoid instabilities Most of optimal guidance laws were designed in STT context Steering Law optimization required High guidance / autopilot gains are required against highly maneuverable targets Low gains are required for stability reasons, errors remains
in LOS rate estimation (thermal noise for radar seeker, radome aberration, misalignments) and in target acceleration estimation (delays, errors)
First results are obtained using STT optimal guidance laws (differential game versions)
by design of adapted gains and by avoiding target acceleration estimation
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Decision and control problems in missile design Stphane Le Mnec Autour des PBs de PB INRIA / Sophia-Antipolis Tuesday / Wednesday,

y, March, the 29th and the 30th

Rf.: - Page 1 - 30/03/2005

Decision support system in medium range air to air combat game

High level management for Anti Tactical Ballistic Missiles launch

Bank To Turn (BTT) Optimal Guidance Laws

Rf.: - Page 2 - 30/03/2005

Bank To Turn (BTT) Optimal Guidance Laws

Overview on Missile Architecture Design

Constrains and Errors

Guidance and Control (roll gain) Optimization

Rf.: - Page 3 - 30/03/2005

Navigation, Guidance and Control

Rf.: - Page 4 - 30/03/2005

Airframe Target Motion

Rocket Powered symmetric Skid-to-Turn steering law (+ possibly roll-control)

Free Flight Control

Homing Guidance Cartesian State Estimation

Basic Steering / Control laws

Rf.: - Page 8 - 30/03/2005

Basic Steering / Roll Control

commands in non-rolling axes azRc

Constrains on acceleration demands (STT)

Rf.: - Page 10 - 30/03/2005

Constrains on acceleration demands (BTT)

Rf.: - Page 11 - 30/03/2005

Stability constrains on roll (rate) demands

The roll chain is designed faster than pitch and yaw

Errors on boresight angle measurements (see following slides) required

BTT more sensitive to boresight errors when

roll lag time constant small

Rf.: - Page 12 - 30/03/2005

Constrains on time response

Rf.: - Page 13 - 30/03/2005

Proportional Navigation (PN) Trajectory

// Lines Of Sight (LOS)

Rf.: - Page 14 - 30/03/2005

Missile/Target Geometry Missile Motion

Rf.: - Page 15 - 30/03/2005

Boresight errors / radome aberration

Radome aberration errors

E measured = E true + kse . E + ksc . C

C measured = C true + kgc . C + kge . E

true target antenna radome

Boresight errors / misalignments effects

Inertial Measurement Unit (IMU) and Seeker misalignments

Reference dish axis

Gimbal angle (E)

Body (Radome axis)

(angle of attack) VM (velocity vector)

Guidance Law Optimization (STT / linear model)

Approximation around the collision course triangle (linearization)

Rf.: - Page 18 - 30/03/2005

Guidance Law Optimization (STT / BTT)

(Kinematics without small angle approximation (Prof. J. Shinar and all)

BTT optimal guidance law

Rf.: - Page 19 - 30/03/2005

Differential Game Guidance Law

3D Guidance law expression

r r r r c r ' M c i = c Vc i iMT i + c M + ( T ) 2 c, c' = f ( pilot , t f t )

small non null miss distance

Rf.: - Page 21 - 30/03/2005

Results using a Generic 6dof simulation