PRECISE CONTROL OF AN ELECTROMECHANICALLY-ACTUATED LAUNCHER UNDER PARAMETER UNCERTAINTY

Yıl 2017, Cilt: 18 Sayı: 4, 788 - 803, 31.10.2017

Hamza Kamişli Metin U. Salamcı Bülent Özkan

https://doi.org/10.18038/aubtda.340842

Öz

Dynamic modeling and control of two-degree-of-freedom launchers which
are utilized for launching munitions such as missiles and rockets have become
one of the most popular fields in recent years. Control of launch vehicles
gains more importance especially when they are mounted on moving vehicles. In
this study, the mathematical modeling and control with parameter uncertainties of
a high-accuracy two-degree-of-freedom electromechanically-actuated launcher are
investigated in the direction of reducing the impact impulse on the control
system. In this context, after the dynamic equations of the system are derived,
the design of convenient control systems is carried out so as to reduce the undesired
contribution of the thrust effect. In control, computed torque and
proportional, integral, and derivative (PID) and computed torque and sliding
mode control algorithms, and computed torque and sliding mode control cascaded
control algorithms are developed by taking the parameter uncertainties into consideration.
In the conclusion part, the performance characteristics of these controllers
are compared and it is shown that the cascaded control scheme yields more
satisfactory results in accurate position control. In the computer simulations
conducted in this extent, the MATLAB^Ò software and its SIMULINK^Ò module are utilized.

Anahtar Kelimeler

Electromechanically-actuated launcher, launcher control, computed torque, sliding mode, parameter uncertainty

Kaynakça

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