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Dynamics of a controlled anti-aircraft missile...

The ąuantłties ip^_v and present in the above formulas are pre-programmed angles changing in time according to the following laws

Vpv = W&    = #puOV%v ^cos ("jL* + IfipM)

2ir	# _ 2tt
T‘rj,	^1x1 pv rp J-d

(3.2)

where

Once the launcher is in the pre-determined finał State, the longitudinal axis of the guide raił needs to coincide with the target linę of sight irrespective of motions of the base or external disturbances.

The stabilizing (corrective) Controls used for the automatic control of the launcher need to have the following form

M# = kj(0_v - tf*J) + ceifiy ~ 'Ęj)    -¥>£)+ c<p(ip_v - <j%)

Fy = *v(fo-v£)+Sl?(iv-v5)

where

#£> yĘ - ąuantities defining the pre-determined position of the launcher in space during angular motions of the base, k$, kp, k_y - gain coefficients of the regulator,

Cd,Cp,Cy - attenuation coefficients of the regulator.

4. Results

4.1. System parameters

Motion of the hypothetical controlled anti-aircraft missile launcher was described using the system of eąuations denoted by (2.1). The launcher system was assumed to have the following parameters:

• Parameters of the launcher (turret and guide raił)

Tfly WtD + TTipr    1vri'_pv ~~ 7 kgm

Ivx — T Ipr£pv cos 'dpy T Iprr)_pv sin 'dpy) COS iftpy +

+    + fpr^py ) ^siⁿ ^pv

Ivy ⁼ I-urfpy "b IprĘ_pv COS {)p_V + Iprp_pv Sm 'dpy