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3. Control of motion of the launcher on a moveable base
The launcher under consideration is mounted on a moveable base (wheeled yehicle). It can be put into rotary motion by angle tppv about the Svyv axis and rotary motion by angle $pv about the Svzv axis. When the missile longitudinal axis Svxp is set, for instance, to coincide with the target linę of sight, it is necessary to apply the following pre-programmed control moments of the launcher
v - ^^1
where
kpvi kpv ~ gain coefhcients of the control system,
cpv > cPv “ attenuation coefhcients of the control system.
The principle of operation of the launcher control system is presented in a schematic diagram in Fig. 3.
Fig. 3. Diagram of the system for automatic control of the launcher on the moyeable base
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