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• Mechanical subsystem
𝑑𝜔
𝐽 =𝜏
𝑑𝑡
𝑣 = 𝑘𝜔 𝜔
Assume
𝐿=0
𝑘𝑖 = 𝑘𝜔 = 𝑘
DC Motor
• Motor equation
𝑑𝜔
𝐽 = 𝜏 = 𝑘𝑖 (𝑒 − 𝑘𝜔 𝜔)/𝑅
𝑑𝑡
𝑑𝜔 𝑘2 𝑘
Or = − 𝜔 + 𝑒
𝑑𝑡 𝐽𝑅 𝐽𝑅
𝐾2 𝐾
Let = 𝛼, =𝛽
𝐽𝑅 𝐽𝑅
𝑑𝜔
Then = −𝛼𝜔 + 𝛽𝑒
𝑑𝑡
• State variables: 𝜃, 𝜔
𝑑 𝜃 0 1 𝜃 0
= + 𝑒
𝑑𝑡 𝜔 0 −𝛼 𝜔 𝛽
DC Motor
• State-space model
𝜃
Let 𝑥 =
𝜔
𝑑𝑥
Then = 𝑥 = 𝐴𝑥 + 𝐵 𝑢
𝑑𝑡
Let 𝑦 = 𝜃
𝜃
𝑦= 1 0 = 𝐶𝑥
𝜔
• Dynamic equations
𝑀 + 𝑚 𝑥 + 𝑚𝑙 cos 𝜃 𝜃 − 𝑚𝑙𝜃 2 sin 𝜃 = 𝑓
𝑚𝑙 cos 𝜃 𝑥 + 𝑚𝑙 2 𝜃 − 𝑚𝑔𝑙 sin 𝜃 = 0
• Dynamic equations
𝑘2 𝑘
𝑀 + 𝑚 𝑥 + 𝑚𝑙𝜃 + 𝑥 = 𝑒
𝑅𝑟 2 𝑅𝑟
𝑥 + 𝑙𝜃 − 𝑔𝜃 = 0
Inverted Pendulum on Motor-Driven Cart
• Solve for accelerations
𝑘2 𝑘
𝑥 1 𝑙 −𝑚𝑙 − 𝑅𝑟 2 𝑥 + 𝑅𝑟 𝑒
= 𝑀𝑙
𝜃 −1 𝑀+𝑚 𝑔𝜃
• State variables: 𝑥, 𝜃, 𝑥 , 𝜃
State equations:
0 0 1 0 0
𝑥 0 0 0 1 𝑥
0
𝑑 𝜃 𝑚 2 𝜃 𝑘
= 0 − 𝑔 − 𝑘 2 0 + 𝑒
𝑑𝑡 𝑥 𝑀 𝑀𝑅𝑟 𝑥 𝑀𝑅𝑟
𝜃 𝑀+𝑚 𝑘2 𝜃 𝑘
0 𝑀𝑙 𝑔 0 − 𝑀𝑅𝑟𝑙
𝑀𝑅𝑟 2 𝑙
Or 𝑥 = 𝐴𝑥 + 𝐵𝑢
Example: Two-Axis Gyro
• Rigid body dynamics (true in an inertial frame):
𝑑𝑝 𝑑ℎ
= 𝑓, =𝜏
𝑑𝑡 𝑑𝑡
𝐵 𝐻 𝐾𝐷 𝐾𝑄 1 −𝑐1 −𝑐2
Let 𝑏1 = 𝐽𝑑
, 𝑏2 =
𝐽𝑑
, 𝑐1 =
𝐽𝑑
, 𝑐2 =
𝐽𝑑
, 𝛽=
𝐽𝑑
, 𝐴1 = 𝑐 −𝑐1 ,
2
−𝑏1 −𝑏2
𝐴2 =
𝑏2 −𝑏1
0 𝐼 −𝐼 0
Then 𝑥 = 𝐴 𝐴 𝑥 + 𝑏 𝐼 𝑥0 + 𝛽𝐼 𝑢
1 2 1
Or 𝑥 = 𝐴𝑥 + 𝐵𝑢 + 𝐸𝑥0
Two-Axis Gyro
• The characteristic equation of the gyroscope is:
𝑠𝐼 − 𝐴 = 𝑠 2 + 𝑏1 𝑠 + 𝑐1 2 𝑏2 𝑠 + 𝑐2 2
𝑠 = 𝛼𝑛 + 𝜔𝑛 , 𝛼𝑛 = 𝛼𝑝 − 𝑏1 , 𝜔𝑛 = 𝜔𝑝 + 𝑏2
• The transfer function of a free gyro is given as:
Then,
𝑌𝛽 𝑌𝑝 𝑌𝑟 𝑔 𝑌𝐴 𝑌𝑅
𝛽= 𝛽+ 𝑝+ −1 𝑟+ 𝜙+ 𝛿 + 𝛿
𝑉 𝑉 𝑉 𝑉 𝑉 𝐴 𝑉 𝑅
𝑝 = 𝐿𝛽 𝛽 + 𝐿𝑝 𝑝 + 𝐿𝑟 𝑟 + 𝐿𝐴 𝛿𝐴 + 𝐿𝑅 𝛿𝑅
𝑟 = 𝑁𝛽 𝛽 + 𝑁𝑝 𝑝 + 𝑁𝑟 𝑟 + 𝑁𝐴 𝛿𝐴 + 𝑁𝑅 𝛿𝑅
𝜙=𝑝
𝜓=𝑟
Missile Dynamics
• Define
𝑉 – missile velocity
𝛼𝑁 – normal acceleration
𝜃 – pitch angle
𝛾 – flight path angle
• Assume that
𝑋𝑢 ≈ 0, 𝑍𝑢 ≈ 0, 𝑀𝛼 ≈ 0
Then
𝑍 𝑍𝛿
𝛼 𝛼
1 𝛼
= 𝑉 𝑞 + 𝑉 𝛿
𝑞 𝑀𝛼 𝑀𝑞 𝑀𝛿
𝛼𝑁 = 𝑍𝛼 𝛼 + 𝑍𝛿 𝛿
Missile Guidance
• Define
𝜆 – line-of-sight angle
𝑧 – projected miss distance
𝑉 – missile speed
𝑉𝑇 – target speed
𝑇 − 𝑡 = 𝑇 – time to go
• Then
1
𝜆 = 0 𝑉𝑇 2 𝜆 + 0 𝑎
𝑧 0 0 𝑧 𝑇 𝑁
i.e., the state equations are time varying