SÜZÜLEN MÜHİMMATLAR İÇİN GÜDÜM VE KONTROL SİSTEMİ TASARLANMASI VE SİMÜLASYONU

Öz

Bu makalede, sabit kanatlı, kuyruk kanadı kontrollü süzülen bir mühimmat tasarlanmıştır. Tasarlanan model için bir güdüm ve kontrol sistemi geliştirilmiş ve hedefe doğru süzülüşü XPLANE 11 uçuş simülatörü ortamında test edilmiştir. Simülasyon hem yazılım döngüsünde hem de donanım döngüsünde olmak üzere iki aşamada gerçekleştirilmiştir. Mühimmat sistemi uçaktan serbest bırakıldıktan sonra güdüm sistemi ile hedef koordinatlarına süzülmeyi sağlayacak açıları ölçer ve kanatçık hareketlerini kontrol etmeye başlar. GPS'den aldığı anlık konum verisi ile hedef konum verisini karşılaştırır. LOS yöntemi ile hedefe ulaşmak için gereken istikamet açısı ve anlık irtifa bilgisi ile hedef irtifa bilgisi karşılaştırılarak yunuslama açısı bulunur. Bulunan açılar IMU sensöründen gelen bilgilerle karşılaştırılır ve hatalar PID denetleyicide işlenir. PID kontrolörün çıkışı mühimmat dinamiğine uygun olarak kuyruk kanatçıklarına PWM sinyali olarak dönüştürülür. Sistem XPLANE 11'e aktarılmış ve farklı başlangıç koşullarına sahip senaryolar test edilmiştir.

Anahtar Kelimeler

• Glide munition
• HITL
• SITL
• Line of Sight
• XPLANE 11

Design and Simulation of the Guidance and Control System for Gliding Munitions

Abstract

In this paper, a fixed wing, tail fin controlled gliding munition has been designed. A guidance and control system is developed for the designed model and the glide towards the target is tested in the XPLANE 11 flight simulator environment. The simulation was carried out in two stages, both in the software loop and in the hardware loop. After the munition system is released from the aircraft, it measures the angles that will enable gliding to the target coordinates with the guidance system and starts to control fin movements. It compares the instantaneous position data received from GPS with the target position data. With the LOS method, the pitch angle is found by comparing the heading angle required to reach the target and the instantaneous altitude information with the target altitude information. The angles found are compared with the information from the IMU sensor and the errors are processed in the PID controller. The output of the PID controller is converted as a PWM signal to the tail fins in accordance with the munition dynamics. The system was transferred to XPLANE 11 and scenarios with different initial conditions were tested.

Keywords

• Glide munition
• HITL
• SITL
• Line of Sight
• XPLANE 11

Kaynakça

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