PHD Thesis Presentation

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PHD Thesis Presentation

  1. 1. ‫الرحيم‬ ‫الرحمن‬ ‫هللا‬ ‫بسم‬
  2. 2. Ain Shams University, Faculty of EngineeringComputer and Systems Engineering Department3D Intelligent Object TrackingMissile Modeling and Guidance DesignSubmitted By:Eng. Mohamed Ali Ali SobhSupervised By:Prof. Dr. Mohamed Abd Elhamed SheirahCairo 2006
  3. 3. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future Work
  4. 4. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  5. 5. ObjectivesProvide very accurate environment todesign and to develop different guidancetechniques for missile systemsContribute to both Missile Modeling andGuidance Design
  6. 6. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  7. 7. Problems Missile system is very complex and nonlinear Aerodynamics coefficients are not available Actual experiments are not allowed or expensive There is no available tools for missile modeling Books, Publication, Researches, Datasheets, andExperiments results are classified
  8. 8. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  9. 9. Background Structure Classification Speed Range Size Launcher and Target Type
  10. 10. BackgroundDirectional MotionsVertical Acceleration (w )...AccelerometerCG
  11. 11. BackgroundRotational MotionRolling Rate (p)Pitching Rate (q)Yawing Rate (r)Rate GyroscopeCG
  12. 12. BackgroundActuatorsElevatorAileronRudderThrustThrust VectoringActuators
  13. 13. BackgroundCoordinates SystemsSBSLSI: (Global Inertial) Geocentric Inertial Coordinates SystemSL: Earth Fixed Launch Site Coordinates SystemSE: Earth-Centered Launch-Derived Coordinates SystemSP: Launch Vehicle Platform Accelerometer Coordinates SystemSN: Launch Vehicle Navigation Coordinates SystemSB: Body Fixed Coordinates SystemSG: Local Geocentric Coordinates SystemSG: Fixed Local Geocentric Coordinates SystemSC: Local Geodetic Coordinates SystemSISCSP
  14. 14. BackgroundMass VariationCG (t)dmFuel Consumption
  15. 15. BackgroundGravitySGSB
  16. 16. BackgroundAttack AnglesAngle of Attack αSideslip Angle β
  17. 17. BackgroundAerodynamicsCPFinal Aerodynamic Coefficients
  18. 18. BackgroundExperimental Aerodynamics EvaluationPhysical Missile ModelAir TunnelExperimental Aerodynamics Evaluation
  19. 19. BackgroundComputational Aerodynamics EstimationFull Grid Multi-Grid Grid Unstructured GridCube VolumeTetrahedral ElementCFD SimulationResults
  20. 20. BackgroundComputational Aerodynamics Estimation Bernoulli Euler Navier Stock EquationsFor missile system (supersonic speed) Turbulent Flow Time Marching Numerical Calculation Compressible Flow Viscous Flow No-Slip Boundary Condition
  21. 21. BackgroundWind
  22. 22. BackgroundForces and MomentsFxFyFzMxMyMz
  23. 23. BackgroundFlight PhasesTerminal PhaseManeuveringLaunch, Coast
  24. 24. BackgroundGuidanceActiveGuidanceRadar & Radar Detectors
  25. 25. BackgroundGuidanceSemi - ActiveGuidanceRadar DetectorsRadar
  26. 26. BackgroundGuidancePassiveGuidanceInfrared or Vision Detectors
  27. 27. BackgroundNavigationLocal Navigation SystemRadarSPPosition Xt Yt ZtPosition Xp Yp Zp
  28. 28. BackgroundNavigationLocal Navigation SystemSPOrientation (Euler Angles) φ θ ψDisplacementGyroscope
  29. 29. BackgroundNavigationGlobal Navigation System SPPosition Xp Yp ZpGPS
  30. 30. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  31. 31. Survey Missile Modeling Fixed Mass Missile Model Variable Mass Missile Model MATLAB General Aircraft Model Guidance Techniques LOS - Line of Sight Navigation Guidance PN - Proportional Navigation Guidance LQR Guidance Fuzzy-PN Guidance Fuzzy Guidance for High Speed Targets
  32. 32. Survey Missile Modeling Fixed Mass Missile Model Variable Mass Missile Model MATLAB General Aircraft Model Guidance Techniques LOS - Line of Sight Navigation Guidance PN - Proportional Navigation Guidance LQR Guidance Fuzzy-PN Guidance Fuzzy Guidance for High Speed Targets
  33. 33. Missile ModelingFixed Mass Missile ModelA. AircraftB. Missile (Symmetry)C. Missile (Plan Separation)Longitudinal Lateral
  34. 34. Missile ModelingFixed Mass Missile ModelD. Missile: Linearization at certain operating point
  35. 35. Missile ModelingVariable Mass Missile Model• Derived specially for large space rockets• Different coordinate systems (SI, SL, SE, SP, SB, SG, SG’, SC)• Consider mass variation• Consider measuring elements• Consider fuel sloshing and body bendingA. MissileB. Missile: Linearization at certain operating point. Assume thrust vectoring control.
  36. 36. Missile ModelingMATLAB General Aircraft Model• Provides both fixed and variable mass missile models• Uses nonlinear model directly• Two coordinate systems (SP, SB)• Provide accurate models for wind, gravity and atmosphere
  37. 37. Missile ModelingMATLAB Missile Model
  38. 38. Guidance TechniquesBasic Concepts / Plan SeparationPitch Control - Vertical Plan Yaw Control - Horizontal Plan Roll Control
  39. 39. Guidance TechniquesBasic Concepts / Roll ControlRoll AngleControlRoll RateControl
  40. 40. Guidance TechniquesBasic Concepts / Pitch and Yaw Control
  41. 41. Guidance TechniquesBasic Concepts / AutopilotAutopilot Using Gyroscope Autopilot Using Accelerometer
  42. 42. Survey Missile Modeling Fixed Mass Missile Model Variable Mass Missile Model MATLAB General Aircraft Model Guidance Techniques LOS - Line of Sight Navigation Guidance PN - Proportional Navigation Guidance LQR Guidance Fuzzy-PN Guidance Fuzzy Guidance for High Speed Targets
  43. 43. Guidance TechniquesLOS - Line of Sight Navigation GuidancePD Controller
  44. 44. Guidance TechniquesPN - Proportional Navigation Guidance
  45. 45. Guidance TechniquesLQR Guidance
  46. 46. Guidance TechniquesFuzzy-PN Guidance
  47. 47. Guidance TechniquesFuzzy Guidance for High Speed Targets
  48. 48. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  49. 49. Achievements & Results Missile Modeling Very Accurate Missile Model Visual and Interactive Environment for Guidance Design Guidance Techniques New Adaptive Digital Guidance Technique (ADC) New Technique for Exact and Realistic Target Prediction (RPPMT) New Technique to Intercept High Speed Targets (RPPHST) General Topics Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients New Method for Automatic Fuzzy Mapping
  50. 50. Achievements & Results Missile Modeling Very Accurate Missile Model Visual and Interactive Environment for Guidance Design Guidance Techniques New Adaptive Digital Guidance Technique (ADC) New Technique for Exact and Realistic Target Prediction (RPPMT) New Technique to Intercept High Speed Targets (RPPHST) General Topics Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients New Method for Automatic Fuzzy Mapping
  51. 51. Missile ModelingVery Accurate Missile Model Coordinates Systems and Coordinates Transformation Variable Mass Rigid Body Aerodynamics Engine Actuators Aerodynamics Actuators Thrust Vectoring Actuators Thrust Control Actuator Measuring Devices Rate Gyroscopes Position Gyroscopes Accelerometers Attack and Sideslip Angle Detectors Tracking Devices IR (Infrared) Detectors Radar Detectors Global Positioning System Atmosphere Shear Wind Turbulence Wind Pressure DensityMissile Components
  52. 52. MissileModelingVeryAccurateMissileModel
  53. 53. Missile ModelingVisual and Interactive Environment for Guidance Design Integrated withinSimulaWorks SimulationPackage Programmed using NativeC/C++ High order numericalcalculations Very fast 4 times thanMATLAB Allow very complex controlloop design Represent missile targetengagement visually
  54. 54. Missile ModelingModel & Environment Validation Successfully provide exact result compared withMATLAB aerospace aircraft examples Separate verification for each component Visual Inspection Provides reasonable and expected performance due togravity, earth rotation, wind, aerodynamics variation Successfully used to implement several guidancetechniques like PN, TPN, LOS, LQR, Fuzzy…
  55. 55. Missile ModelingEffect of Coupling
  56. 56. Missile ModelingPN - Proportional Navigation Guidance
  57. 57. Missile ModelingPN - Proportional Navigation Guidance
  58. 58. Missile ModelingTPN – True Proportional Navigation Guidance
  59. 59. Missile ModelingLOS - Line of Sight Navigation Guidance
  60. 60. Missile ModelingLQR Guidance
  61. 61. Missile ModelingFuzzy-PN Guidance
  62. 62. Achievements & Results Missile Modeling Very Accurate Missile Model Visual and Interactive Environment for Guidance Design Guidance Techniques New Adaptive Digital Guidance Technique (ADC) New Technique for Exact and Realistic Target Prediction (RPPMT) New Technique to Intercept High Speed Targets (RPPHST) General Topics Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients New Method for Automatic Fuzzy Mapping
  63. 63. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)ADC : Adaptive Dahlin Controller
  64. 64. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)Offline SystemIdentificationUsingGLS
  65. 65. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)Final ADC Controller
  66. 66. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)
  67. 67. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)
  68. 68. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)Pitch ErrorYaw Error
  69. 69. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)Roll Rate
  70. 70. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)
  71. 71. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)PNManeuverability
  72. 72. Guidance TechniquesNew Adaptive Digital Guidance Technique (ADC)
  73. 73. Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)Actual InputsforTarget PositionApplying Linear RegressionRPPMT: Realistic Path Prediction for Maneuvering Targets
  74. 74. Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)Proposed method tocalculate the exactinterception point
  75. 75. Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)
  76. 76. Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)
  77. 77. Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)Existing TechniqueInterception Time: 4.046IAE: 12.72Proposed TechniqueInterception Time: 4.045IAE: 10.90
  78. 78. Guidance TechniquesNew Technique for Exact and Realistic Target Prediction (RPPMT)Existing Technique Proposed TechniqueProposed TechniqueManoeuvrableTarget
  79. 79. Guidance TechniquesNew Technique to Intercept High Speed Targets (RPPHST)RPPHST: Realistic Path Prediction for High Speed Targets
  80. 80. Guidance TechniquesNew Technique to Intercept High Speed Targets (RPPHST)
  81. 81. Guidance TechniquesNew Technique to Intercept High Speed Targets (RPPHST)
  82. 82. Achievements & Results Missile Modeling Very Accurate Missile Model Visual and Interactive Environment for Guidance Design Guidance Techniques New Adaptive Digital Guidance Technique (ADC) New Technique for Exact and Realistic Target Prediction (RPPMT) New Technique to Intercept High Speed Targets (RPPHST) General Topics Aerodynamic CFD Simulator to Estimate Aerodynamics Coefficients New Method for Automatic Fuzzy Mapping
  83. 83. General TopicsCFD Simulator to Estimate Aerodynamics Coefficients Provides CFD simulation In 2D using finite difference method In 3D using finite volume method Uses Multi-Grid to perform CFD calculations Automatically generate the grid around any 3D object Can be used to perform general fluid simulation for speeds up to 5.0mach Provide mach number, pressure, temperature, energy, fluid densitydistribution graphs Calculate forces, moments, center or pressure and fluid dynamics(aerodynamics) coefficients Optimized to run with limited memory and computation power
  84. 84. General TopicsCFD Simulator to Estimate Aerodynamics CoefficientsCFD Simulator Verification Performs CFD simulation over standard shapes like Sphere, Plate Visual InspectionSpeed 300  Cx = 0.549Speed 700  Cx = 0.506Speed 1000  Cx = 0.549Cx ≈ 0.5Speed 700  Cx = 0.952Cx ≈ 1.0
  85. 85. SimulatorVelocity Vectors Map at Missile Head (2D)General TopicsCFD Simulator to Estimate Aerodynamics CoefficientsMach Number Distribution Graph (2D)Temperature Distribution Graph (2D)Mach Number Distribution Graph (2D)2D (2000 Iteration, 0.005m Resolution, 10 Layers, 468,654 Cell, 45 sec)3D (5000 Iteration , 0.005m Resolution, 10 Layers, 44,094,150 Cell, 6 hours)Air Speed 700 m/sAir Density 1.225Temperature 288.16 K Velocity Distribution Graph (3D)
  86. 86. General TopicsNew Method for Automatic Fuzzy MappingObjective: Map existing control into an equivalent fuzzy controlOffline Mode: Construct the Variables and the RulesOnline Mode: Update the Rules
  87. 87. General TopicsNew Method for Automatic Fuzzy Mapping
  88. 88. General TopicsNew Method for Automatic Fuzzy MappingTrained Fuzzy System In Pitch Plan Trained Fuzzy System In Yaw PlanOriginal LOS GuidanceIAE = 32.22Fuzzy LOS GuidanceIAE = 56.62
  89. 89. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  90. 90. ConclusionMissile Modeling Missile system is too complex to be modeled by a set of linearequations The missile model is successfully derived, implemented, andintegrated within SimulaWorks simulation environment The proposed model and the simulation environment succeeds torepresent most of missile system behaviors and to provide a veryrealistic environment for guidance design A special simulation tool is built and used successfully to estimatethe aerodynamics coefficients by performing CFD simulation aroundmissile airframe
  91. 91. ConclusionGuidance Design A new guidance technique (ADC) is proposed and used successfullyto intercept different type of targets ADC provides minimum IAE, very fast interception, high tracking andmanoeuvrability A new realistic target prediction technique (RPPMT) is proposedand used successfully to predict and to intercept manoeuvringtargets A new realistic target prediction technique (RPPHST) is proposedand used successfully to predict and to intercept high speed targets
  92. 92. Agenda Objectives Problems Background Survey Achievements & Results Conclusion Future WorkHome
  93. 93. Future Work More aspects and components can be included: Fuel sloshing and body bending dynamics More realistic models for propulsions system Advanced CFD simulation using finite element method Actual experiments to verify CFD simulation results Practical implementation to verify simulation results Apply new digital control techniques like RST Study the effect of model parameters variation onguidance performance
  94. 94. Thank You3D Intelligent Object TrackingMissile Modeling and Guidance Design

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