Design of a cascaded control system for an electromechanically-actuated launcher to reduce the thrust effect

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  software and its SIMULINK  module are utilized.

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“…If the control variable ( 1 = ) is taken out of equation (51), the equation below occurs for the elevation body [12,13]:…”

Section: Computed Torque Methods With Pid Actionmentioning

confidence: 99%

“…Newton equation for the elevation body becomes as follows: (14), (15), (17), and (20) into equation (12) and then plugging equation (11) into equation (21), the expressions come into the picture in three axes:…”

Section: Dynamic Modeling Of the Launchermentioning

confidence: 99%