Prosiding Penyelidikan Prasiswazah, No.

1, 2020, Bangi, Selangor, Malaysia

Modeling and Simulink Control System of Missile and Simulink by

MATLAB

(Pemodelan dan Panduan Peluru Berpandu dan Sistem Kawalan Mengunakan MATLAB)

Mohamad Amirul Hafiz Bin Rusman, Hilmi Sanusi

Electrical and Electronic System Engineering Programme,
Faculty of Engineering & Built Environment, Universiti Kebangsaan Malaysia,
43600 Bangi Selangor Darul Ehsan, Malaysia
[email protected]

ABSTRACT

For this project, the missile control system has been analyzed based on a model. All simulations are
done using the MATLAB Simulink and m – file. As the main purpose of proposing this thesis is to
introduce the aspects of missile control, all that have been written are the basic things in control. At the
first stage, a crucial understanding of the airplane system is needed as it forms the basis for
understanding the control aspect of a missile. Both systems are correlated in some aspects. The transfer
functions from the airplane are used in the first few simulations and have been analyzed to get a better
understanding of the flight principle. The next stage concerns the autopilot analysis, developed based
on a model. The simulation is done to analyze the stability of the system. Some are simulated in trial
and error to get the best result. To complete this thesis, further analyses are conducted, these include
the seeker and the guidance law of proportional navigation. A seeker is mainly an observer developed
to get some information on the target such as the closing distance and target acceleration. All the
above aspects form a complete control loop for the missile-based on acceleration command.

Keywords: Missile, autopilot, guidance law of proportional navigation, Matlab and Simulink
simulation

ABSTRAK

Di dalam projek ini, satu sistem kawalan peluru berpandu telah dikaji dan dianalisis berdasarkan
model sedia ada. Semua hasil simulasi dilakukan menggunakan perisian Matlab khasnya Simulink dan
fail – m. Oleh kerana penulisan tesis ini bertujuan sebagai satu pengenalan kepada kawalan peluru
berpandu, semua yang dipaparkan adalah merupakan asas – asas dalam sistem kawalan. Pemahaman
dalam aspek kawalan kapal terbang menjadi asas kepada kawalan peluru berpandu kerana kedua –
duanya saling berkaitan. Fungsi pindah yang digunakan kebanyakkannya diambil daripada fungsi
pindah kapal terbang seterusnya digunakan bagi tujuan simulasi. Peringkat seterusnya adalah analisis
bagi juruterbang automatik yang dibangunkan berdasarkan kepada model. Bagi melengkapkan tujuan
tesis ini, kajian dilanjutkan merangkumi analisis bagi penjejak dan aturan kawalan navigasi berkadar.
Penjejak merupakan satu pemerhati) yang memberikan maklumat tertentu sasaran seperti jarak dan
pecutan. Kesemua bahagian ini akan membentuk satu sistem kawalan lengkap bagi sebuah peluru
berpandu, berdasarkan arahan pecutan.

Katakunci: Peluru-berpandu, autopilot, aturan kawalan navigasi berkadar,simulasi Matlab dan

Simulink

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INTRODUCTION METHODOLOGY

Nowadays, advances in science and technology are Simulation is performed using the Matlab/Simulink
growing in most countries in the world. The environment. Although the initial plan is to use
difference between a missile and a rocket is in Arduino to simulate the environment and the servo
terms of the driving system or the target system. system, only software-based simulation can be
Basic missiles are divided into two types, namely performed due to time restrictions. To design and
cruise missiles and ballistic missiles. A cruise develop the missile homing control systems,
missile has been used more widely as compared to several references were used. The goal of the
a ballistic missile. This is due to the simpler missile in the homing system is to hit the target.
manufacturing process as opposed to the ballistic Thus a target position is required before
missile and more suitable for combat situations. constructing the complete homing control system.
After World War I, the British and the As the dynamic model for the missile is in the Polar
Europeans developed and tested automatic control Coordinate System, the target position in the
systems on both yachts and twin-engine aircraft, Cartesian Coordinate must change to the Polar
the system was exhibited and tested in 1916. Coordinate or vice versa. The first step before the
Change has been made to their flying bombs by completion of the home control system is shown in
using radio controls to intercept Zeppelins and Figure 1.
carry out ground target attacks (Werrell, Kenneth P
1985
At the early stage of World War II, the
Germans succeeded in developing their first cruise
missile and named (V-1 flying bomb) (Steven J
Zaloga 2011). Ballistic missiles and V-2 ballistic
missiles, from both types of missiles are using FIGURE 1. Block diagram target position and function
mechanical automatic flight systems (Steven J parameters missile to target separation
Zaloga 2013). Many nations or superpowers have
conducted various missile technology studies In order to make a complete homing control
during post-WWII to ensure that no one is left system, there are three components that need to be
behind for national security and defense. In the developed. By invoking "aero guidance" in the
field of missile weapons, the U.S. military has MATLAB command will leads to a simple
taken an active role in leading the field. There are example of missile guidance. By using body
various interventions in perfecting Dr. Werrrell's simulation as an example, a new system with
manuscript in 1982 (Werrell, Kenneth P 1985). better, safer and more complicated can be
This study aims to simulate a missile constructed. After the target position above, as in
control system using a MATLAB/Simulink Fig. 1, a servo tracker system as in Figure 2 need to
simulation and provide some basis for be developed as the first system block.
understanding the missile development process to
enable our country to catch up with the pace of
other developed countries.
A brief literature review from previous
researchers provide explanations to the concepts
and laws of missiles and results for reference. The
material is essential for the simulation of the
missile control system according to the desired
criteria. The missile model used is obtained from
the previous thesis and the calculation of each FIGURE 2. Block diagram tracker servo system
variable function that must be available in the
control system. The previous study was concerned In the block diagram, the tracker servo system
more with the simulations from a major reference consists of many other subsystems. For this
to be used in the missile control system. This study subsystem, the tracker and sightline rate comprises
will enhance the previous system to obtain of two other sub-subsystem. Refer to Figure 3, for
satisfactory results from the MATLAB simulations. the tracker and sightline rate simulation. The other
Prior to the simulation process, the existing two important sub-subsystems which are; a target
MATLAB Simulink example for the missile tracker and missile stabilizer
control system is studied. This can be done by
typing in the “(aero_guidance)” command to get
the base of the missile control system from launch
to the target intersection point.

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FIGURE 3. Block diagram tracker and sightline rate FIGURE 7. Block diagram range and closing velocity
estimates
Figure 4 and Figure 5 show the subsystem for two
main system for make the successful homing Next step of this procedures is to build and
control system. So, this tracking loop and create second servo system which is the guidance.
stabilization loop are build and following the There are two subsystem in this servo system and it
tracker and sightline system are develop. This two consist of an additional block of simulation to make
subsystem is used for the target and for the missile. it better and safe to launch in simulation, or in the
real missile. Figure 8 shown the servo system for
guidance got an addition.

FIGURE 4. Block diagram tracking loop

FIGURE 8. Block diagram guidance servo system

Before the presence of guidance servo

system, there are two other subsystem to be built
first before we get the guidance servo system.
Initially, a subsystem is built from a state flow to
FIGURE 5. Block diagram stabilization loop
make a guidance processor. This guidance
The other subsystem from the tracker processor requires an intake and process the system
servo system is for target acquisition. This following the state flow. This will make a new
subsystem is to ensure that the gimbal that is product to make other process. Figure 9 shows the
provided in the simulation is in parallel with the state flow for guidance processor.
beam width to make the successful missile. Figure
6 shown the system was created and one more
subsystem in this tracker servo system which is
subsystem for range and closing velocity estimates
in Figure 7.

FIGURE 9. State flow diagram guidance processor

This is last subsystem in this second

servo system, this subsystem very importance to
make this missile safety to using and just hit the
target. This fuze system taking the miss distance
FIGURE 6. Block diagram target acquisition from the actual target read and calculate by
function block. If this missile calculate the miss
distance far from target this missile will stop
simulation. Which means, the missile cannot

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launch in the real. FIGURE 10 shown the fuze

system.

FIGURE 13. Block diagram aerodynamics and equations

FIGURE 10. Block diagram fuze system of motion

Last but not least, this is the last servo

system for homing control system. This last servo system
called servo system of airframe and autopilot. This servo
system got three subsystem and two function block
parameter. The function block parameter to make this
control system reading the data one for the atmosphere
and another one for fin actuator. For the three subsystem
in this servo system must be build it first to develop this
servo system. Three main system we must know about it
to develop homing control system. Following the
combination of three subsystem and two function block
parameter for FIGURE 11 below. FIGURE 14. Block diagram aerodynamics

Last subsystem for this servo system are,

autopilot system. This missile got autopilot system which
means it can afford to control itself after launch by put
this autopilot system for this homing control system.
FIGURE 15 shown the block diagram of autopilot
system working flow. There are many function block
parameter used for build up this autopilot system.

FIGURE 11. Block diagram servo system of airframe

and autopilot

First subsystem are sensor system. This

system taking the reading from two sensor which is rate
gyro and accelerometer. This sensor taking reading of
this two type of sensor for calculate rate gyro for tracker
servo system track accurate target and another sensor
accelerometer take reading to autopilot for setting the FIGURE 15. Block diagram autopilot
missile itself.
Lastly, all this homing control system
connected to the 3D of animation because this project
just taking result by visual animation to predict the
missile hit the accurate target. FUGURE 16 shown the
ending of this system generate the animation 3D only.
For those whose worthy to test the real missile can using
this homing control system.

FIGURE 12. Block diagram sensor system

The second subsystem for this servo

complicate a bit but already fix it by alter the block for
subsystem aerodynamic. This subsystem got another
subsystem in their system and have two function block
parameter for equations of motion and incidence and
airspeed. FUGURE 13 shown the diagram of subsystem
aerodynamics and equations of motion. Following the
FUGURE 14 are subsystem aerodynamics of this FIGURE 16. Block 3D of animation and animation
subsystem. figure

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RESULTS

The visual of 3D animation are result to prove the

homing control system are safety to use or not. This
system can be only hit the target accurately by taking
miss distance predicted by this system. This 3D
animation can be change to real missile by change the
block to output system at true missile but only the worthy
person for good reason. Another result it be data came
from graph given after this 3D animation. The collected
data to making more improvement of this system.

FIGURE 19. Graph of gimbal and look angel vs. time

and missile and target trajectories

DISCUSSION

The modeling and Simulink control system of Missile are

developed. Homing control system build up for make the
predict result before do the real launch missile. By using
the data given after run the simulation we can predict the
better and follow what we need while launching the
missile. By using MATLAB Simulink everyone can
make their own modeling design of missile but the
reference to complete this project quite hard to find
FIGURE 17. 3D animation visual because this project not comfortable to everyone.
This are the following collected data from the While develop this project, there is some error
result. For FIGURE 18 there is four data taken in graph before get the wanted result. This error occur based on
for normal acceleration, incidence α, Mach number and the wrong block diagram used in the simulation. The
fin demand all four data versus by time. This data taking problem in this project that I learn from this project are
in time from intial which is the missile launch to the end tools block must do proper. Some time there is no block
of time wherse the missile hit the target. There is the which I needed in this project but by alter and use
range of all this data time. To make the perfect missile by different block combination to get wanted block.
refer the data give after run simulation and make change
in the homing control system to get the data required. CONCLUSION

In this study case, by developed this project we can

take an advantage for improve our nation on
defense. This project also pop up the bubble of
society to study and approved this destroyer for
good. By using MATLAB Simulink everyone can
study simply about missile only front laptop it’s not
cost too much to study and developed this missile
using Simulink first. No need to cost and waste our
nation money to test real missile instead MATLAB
Simulink. Herby, this project can open society
mind to study future and approved also can cost our
military budget and saving our state savings.
FIGURE 18. Graph of (normal acceleration, incidence α,
Mach number and fin demand) vs. time ACKNOWLEDGEMENT

Last for this result, the data appears for gimbal

The author would like to thank National University
and look angel versus time to show how the missile
operate after launch. There are change for gimbal and of Malaysia especially Electric and Electronic
look angel that control by fin demand and autopilot to engineering department for their support to
accurate hit the target. Another graph shown in FIGURE complete this critical review.
19 are the missile and target trajectories to predict the
collision point in unit meter.
REFERENCES

Werrell, Kenneth P, 1985. The Evolution of the

Cruise Missile. Supt. of Doc., U.S.
G.P.O; 1st American Edition.
Abdullah, N. A. & Abdul Rahim, R., 2012.
Weapons variety: Legal and public health

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