Observer-based robust high-order fully actuated attitude autopilot design for spinning glide-guided projectiles

This paper investigates the design of an attitude autopilot for a dual-channel controlled spinning glideguided projectile(SGGP),addressing model uncertainties and external disturbances.Based on fixed-time stable theory,a disturbance observer with integral sliding mode and adaptive techniques is proposed to mitigate total disturbance effects,irrespective of initial conditions.By introducing an error integral signal,the dynamics of the SGGP are transformed into two separate second-order fully actuated systems.Subsequently,employing the high-order fully actuated approach and a parametric approach,the nonlinear dynamics of the SGGP are recast into a constant linear closed-loop system,ensuring that the projectile's attitude asymptotically tracks the given goal with the desired eigenstructure.Under the proposed composite control framework,the ultimately uniformly bounded stability of the closed-loop system is rigorously demonstrated via the Lyapunov method.Validation of the effectiveness of the proposed attitude autopilot design is provided through extensive numerical simulations.

Stability analysis of the projectile based on random center manifold reduction

The center manifold method has been widely used in the field of stochastic dynamics as a dimensionality reduction method.This paper studied the angular motion stability of a projectile system under random disturbances.The random bifurcation of the projectile is studied using the idea of the Routh-Hurwitz stability criterion,the center manifold reduction,and the polar coordinates transformation.Then,an approximate analytical presentation for the stationary probability density function is found from the related Fokker–Planck equation.From the results,the random dynamical system of projectile generates three different dynamical behaviors with the changes of the bifurcation parameter and the noise strength,which can be a reference for projectile design.

Influence of control strategy on stability of dual-spin projectiles with fixed canards

Existing literature has shown that the control force at the nose could cause dynamic instability for controlled projectiles. To lower the adverse impact on the dual-spin projectile with fixed canards under the premise of meeting guidance system requirements, the influence of control moment provided by a motor on the flight stability is analyzed in this paper. Firstly, the effect of the rolling movement on stability is analyzed based on the stability criterion derived using the Hurwitz stability theory. Secondly, the evaluation parameters combining the features of different control periods that could assess the variation of stability features after the motor torque are obtained. These effective formulas are used to indicate that, to reduce the flight instability risks, the stabilized rolling speed of roll speed keeping period should be as small as possible; the variation trend of motor torque during the rolling speed controlling period and the roll angle of the forward body during roll angle switching period are recommended corresponding to the projectile and trajectory characteristics. Moreover,detailed numerical simulations of 155 mm dual-spin projectile are satisfactory agreement with the theoretical results.

A review of dual-spin projectile stability

This paper gives a succinct review of dual-spinprojectile stability and some technologies relating to them.It describes how the traditional stability factors from linear projectile theory are modified to better describe a controlled dual-spin projectile.Finally,it reviews works which have investigated how different aspects of a controlled dual-spin design can affect flight stability,primarily airframe structure and canard properties.A conclusion is given,highlighting important guidelines from the enclosed discussions.

Modeling and Stability Analysis for Dual-Spinning Projectiles with Canards

To develop the guided spin-stabilized projectiles with high hit precision,a class of dual-spinning stabilized projectile equipped with canards in atmospheric is studied.The 7 degrees of freedom(DOF) nonlinear equations are written in a non-rolling body frame.The work reported here focuses on the ballistic property analysis including the spin rates,incidence angle,ballistic drift and lateral velocity.The dual-spinning projectiles are fundamentally less stable than conventional spin-stabilized projectiles.Hence,the gyroscopic stability is also studied in this paper.Theoretical models are given in this work,and the results of numerical analysis are discussed.

Investigation on the flow control of micro-vanes on a supersonic spinning projectile

Studies have shown that micro-wedge vortex generators(MVG)can effectively control the flow separation of supersonic boundary layer.In order to improve the flight stability of spinning projectile,the original standard 155 mm projectile was taken as an example,and the micro-vanes were mounted at the projectile shoulder to investigate the separation control on the aerodynamic characteristics of projectile.Numerical simulations were performed with the use of DES method for the flow fields of projectiles with and without micro-vanes,and the characteristics of the boundary layer structures and aerodynamic data were compared and discussed.Numerical results show that the micro-vanes can be used to inhibit separation of fluid on projectile surface,and improve the flight stability and firing dispersion of projectile.

Stability analysis of magnetization in a perpendicular magnetic layer driven by spin Hall effect

We investigate the stability of magnetization in free layer where the spin torque is induced by the spin Hall effect.In terms of the Landau–Liftshitz–Gilbert equation,we find the low-energy and high-energy equilibrium states,as well as the saddle points.The stability region is defined in the phase diagram spanned by the current density and the spin Hall angle.The spin Hall effect makes the previous saddle point into a stable state above a critical current.However,in the presence of magnetic field,the spin Hall effect leads to the opposite changes in the stable regions of the two low-energy states.

Influence of yawing force frequency on angular motion and ballistic characteristics of a dual-spin projectile

A roll-decoupled course correction fuze with canards can improve the hit accuracy of conventional unguided ammunitions. The fuze increases accuracy by reducing the effect of angular and translational motion produced by the cyclical yawing forces applied on the projectile. In order to investigate the influence of yawing forces on angular motion, a theoretical solution of the total yaw angle function with the cyclical yawing forces is deduced utilizing the 7 degrees of freedom(7-DOF) model designed for this calculation. Furthermore, a detailed simulation is carried out to determine the influence rules of yawing force on angular motion. The calculated results illustrate that, when the rotational speed of the forward part is close to the initial turning rate, the total yaw angle increases and the flight range decreases sharply. Moreover, a yawing force at an appropriate frequency is able to correct the gun azimuth and elevation perturbation to some extent.

Research on dynamic stabilityrotational speed range of rolling projectiles with different characteristics

Traditional dynamic stability analyses of the rolling projectiles are mainly based on solving the systems＇ transfer functions or angular motion＇ s homogeneous equations to obtain their charac- teristic roots. The solving processes of these methods are complex and lacking further analysis of the results. To solve this problem, Routh stability criterion is introduced to determine the stability of rolling missiles based on the transfer function model, and an important advantage of this method is that it is unnecessary to solve the system＇ s characteristic equation. Rotational speed ranges satisfy- ing the dynamic stability of rolling projectiles with four different characteristics are acquired, and the correctness of analysis results is verified by computing the system＇ s root locus. The analysis results show that the relation between stability and rotational speed for static stable missiles is opposite to that for spin-stabilized projectiles, and the relative size of gyroscopic effect and Magnus effect has an extremely important influence on the trend of the stability of the system with increasing rotational speed.

Stability Analysis for Projectile with Wrap-Around Fins

Based on the stability theory, numerical simulations and theoretical calculations are performed for a projectile with wrap-around fins. Its stability is analyzed and the flow field is simulated with computational fluid dynamics method. Consequently, the pitching moment coefficient of the projectile is further investigated under the conditions of Mach number ranging from 0.3 to 0.8, attack angle from 0 to 8° and yaw angle from 0 to 4°. A trajectory equation is established and its trajectory characteristics are also explored. All the results of theoretical analysis, numerical simulation and trajectory equation agree well with each other, which indicates the projectile is flying steadily at the given conditions. These results provide an effective way for judging the stability of the projectile with wrap-around fins.

A new calibration algorithms of spinning projectile aerodynamic parameters

This paper demonstrates that the application of calibration algorithms of aerodynamic parameters for the trajectory of spinning projectile is successful. First, from the point of view of the trajectory simulation, a general summary of well-known trajectory models is given. A five degrees of freedom (5 DOF) model is developed that can match the projectile motion essentially in the vertex region, and the results obtained by 5 DOF model are in close agreement with those of a more sophisticated 6 DOF model for elevation angles above 45 degrees. Secondly, the calibration algorithms have been developed and are summarized. The methods of calibrating the flight trajectory models are compared, and these methods are shown to be effective in the representative cases. In addition, the method of Mach number calibration (MNC) is presented; some possible areas in MNC for further investigation are indicated together with benefits to be gained. The utilization of MNC schemes not only allow a worthwhile reduction of calibration rounds firing in range and accuracy (R&A) trial and production of firing tables (PFT) test, but also make PFT and fire control data (FCD) more cost effective.

Method of Time-Delay Calculating and Correcting to Control Spin-Stabilized Satellite Synchronously

The key to control Spin-Stabilized Satellites Synchronously is to determine the models for calculating and correcting of time-delay at the different situations. Based on the principle of Synchronous-Control mode, the methods of determining the models of calculating and correcting of time-delay are proposed. The methods have been proved to be effective in real satellite control engineering.

Method of ballistic control and projectile rotation in a novel railgun

In order to realize the ballistic control of the railgun and the flight stability of the projectile, a new type of railgun is designed, which can control the muzzle velocity and rotation rate. The method of the muzzle velocity and overload control is to adjust the voltage or other parameters of pulse power supply. It would be easy to change velocity accurately in large wide. Another widespread concern problem is launching the spinning stability projectile by railgun. This paper designed a new structure of additional rails to generate an unsymmetrical magnetic field to produce rotational torque in armature. The structure is simple and can control the rotation rate by linear changing the barrel parameters. The calculation formulas of interior ballistic are derived by Biot-Safar law. The important parameter is the deflection angle of the additional rails relative to the symmetry plane of main rail. The larger the angle, the greater the rotation torque generated in the armature. To maintain the flight stability of the projectile, the barrel structural parameters should be proportional to the projectile structural parameters. When changing the muzzle velocity, the rotation rate will also be the equal proportion change. So that the gyro stability is the same. The experiment proves that the railgun designed in this paper can launch the projectile to rotate. And the rotational projectile may not cause the transition or much arcs. This method expands the application of the railgun.

Stability of the Konjac Glucomannan Topological Chain Based on Quantum Spin Model

In this paper we investigated the stability of konjac glucomnnan（KGM） chain hydrogen networks based on the quantum spin model. Dissipative particle dynamics method was applied in the structure simulation of KGM. The results reveled that acetyl residues of KGM were bonded with water molecules in aqueous solutions. Increasing the hydrogen bond formation decreases the energy in acetyl system. The expect-valuation of the thermal state with respect to the Hamiltonian is negative. Hence, the total energy of konjac glucomnnan chain with the acetyl groups decreases, which indicates the increasing stability of konjac glucomnnan chain. Our approach could provide a new insight into the investigation on the stability of konjac glucomnnan chain.

Stability margin of the quadruped bionic robot with spinning gait

Spinning gait is valuable for quadruped robot,which can be used to avoid obstacles quickly for robot walking in unstructured environment. A kind of bionic flexible body is presented for quadruped robot to perform the spinning gait. The spinning gait can be achieved by coordinated movement of body laterally bending and legs swing,which can improve the mobility of robot walking in the unstructured environments. The coordinated movement relationship between the body and the leg mechanism is presented. The stability of quadruped robot with spinning gait is analyzed based on the center of gravity( COG) projection method. The effect of different body bending angle on the stability of quadruped robot with spinning gait is mainly studied. For the quadruped robot walking with spinning gait,during one spinning gait cycle,the supporting polygon and the trajectory of COG projection point under different body bending angle are calculated. Finally,the stability margin of quadruped robot with spinning gait under different body bending angle is determined,which can be used to evaluate reasonableness of spinning gait parameters.

DYNAMIC STABILITY OF SPINDLE BLADE IN RING SPINNING Zhou Bingrong(Department of Mechanical Engineering)

It is discussed that a tangential force T induces a self-excited vibration in the motion ofspindle blades of a ring spinning frame.Depending on the relative magnitude of the tangentialforce compared with the tangential damping force the motion of blade is either stable orunstable.The chief factors causing the self-excited vibration can also be traced from the charac-ter of the experimental locus.

Effects of residual stress and viscous and hysteretic dampings on the stability of a spinning micro-shaft

This study examines the effects of the residual stress and viscous and hysteretic dampings on the vibrational behavior and stability of a spinning Timoshenko micro-shaft.A modified couple stress theory(MCST)is used to elucidate the sizedependency of the micro-shaft spinning stability,and the equations of motion are derived by employing Hamilton’s principle and a spatial beam for spinning micro-shafts.Moreover,a differential quadrature method(DQM)is presented,along with the exact solution for the forward and backward(FW-BW)complex frequencies and normal modes.The effects of the material length scale parameter(MLSP),the spinning speed,the viscous damping coefficient,the hysteretic damping,and the residual stress on the stability of the spinning micro-shafts are investigated.The results indicate that the MLSP,the internal dampings(viscous and hysteretic),and the residual stress have significant effects on the complex frequency and stability of the spinning micro-shafts.Therefore,it is crucial to take these factors into account while these systems are designed and analyzed.The results show that an increase in the MLSP leads to stiffening of the spinning micro-shaft,increases the FW-BW dimensionless complex frequencies of the system,and enhances the stability of the system.Additionally,a rise in the tensile residual stresses causes an increase in the FW-BW dimensionless complex frequencies and stability of the micro-shafts,while the opposite is true for the compressive residual stresses.The results of this research can be employed for designing spinning structures and controlling their vibrations,thus forestalling resonance.

平头射弹前体参数对弹道稳定性及射程的影响

为研究超空泡射弹前体参数对弹道稳定性和射程的影响规律,建立一种基于模态动力学的流场与弹道高效耦合仿真方法,提出超空泡射弹尾拍过程稳定度和有效射程的量化评价方法,完成针对泡型计算方法和尾拍弹道求解方法的合理性验证。在此基础上,分析射弹不同前体头径和锥段长度组合条件下的弹道稳定性和有效射程变化规律。研究结果表明:随着前体头径和锥段长度的增大,射弹稳定性越来越高,失稳弹道存在“直接失稳”和“振荡失稳”两种模式;射弹各头径对应的最大射程随着头径的增大先增加后减小,设计域内最大射程和最小射程相差3.8倍,前体参数对弹道有效射程有较大影响。

鸭舵转速对双旋弹追随稳定性影响研究

发展了适合双旋弹虚拟飞行仿真的高保真计算流体力学和刚体动力学耦合平台,以此为基础研究了旋转鸭舵对双旋弹弹道追随稳定性的影响。为了准确刻画双旋弹前后体的差动旋转效应,将滑移网格算法引入自研非结构混合网格流场数值模拟程序HUND3D。通过对双旋弹进行定轴转动非定常模拟,考察了不同鸭舵转速下双旋弹的流动特征与气动特性。通过耦合求解非定常雷诺平均NS方程和七自由度刚体动力学方程,实现了双旋弹不同弯度弹道的虚拟飞行仿真,分析了弹道追随过程的动力学机理,并结合气动特性分析结果研究了控制鸭舵转速改善弹道追随稳定性的策略。研究结果表明:鸭舵旋转所产生的气动干扰,能够显著影响弹体的侧向力与偏航力矩。通过控制前体鸭舵转速以产生有利于弹道追随的偏航力矩,能够在一定程度上改善弹道追随稳定性。

高旋弹二维修正引信双旋结构气动特性及气动力表征

针对配二维弹道修正引信高旋弹具有弹体气动参数非对称、纵向和横向修正紧密耦合等问题,为了准确表征高旋弹气动参数、明确修正弹丸气动特性和产生机理,提出了基于CFD(computational fluid dynamics)仿真的双旋结构气动力计算分析方法.在构建双滚转域流场仿真模型的基础上,对比了二维修正引信不同控制状态下的弹丸受力情况;明确了高旋弹固有气动力和二维修正引信所引起的气动力;建立并推导了攻角与滚转角耦合情况下的舵片受力模型.研究表明:针对二维修正组件,需要考虑合攻角与舵滚转角的相对位置关系以计算诱导阻力;受迎背风和舵片绕流影响,舵片受力模型和弹体的横、纵向气动力均随攻角、滚转角及马赫数变化.