1. Alfred Lynam February 7, 2008 Dynamics and Control Architecture of Control System: Controller Prototypes
AAE 450 Spring 2008
Dynamics and Control

2. First Prototype Controller
Error-Feedback Linear Euler Angle and Angular Velocity Controller
Inputs nominal trajectory angles from steering law and converts it to nominal thrust gimbal angles.
Finds errors in Euler angles and angular velocity by feeding the results of the dynamics back into the controller and subtracting them from the nominal values.
Forms these errors into a state vector and multiplies it by a gain matrix to find the error correction gimbal angles.
Adds the error correction term to the nominal gimbal angles and outputs the result to the dynamics/EOM section of the simulator.
Controller test results
Very small perturbation in angular velocity caused failure.
The stability and performance of the rocket is far better uncontrolled than it is with this controller
AAE 450 Spring 2008
Dynamics and Control

3. Second Prototype Controller
Error-Feedback non-linear moment controller
Calculates the correction moments required from the angular velocity and angular acceleration errors using Euler’s EOMs
Calculates required gimbal angles by inverting thruster moment equations. Also, failed initial tests.
Requested Inputs
Coefficients of aerodynamic moments of yaw and pitch would be useful to the control effort by damping the out of control rotation rates.
Future Work
Substantially Improve Controller Design
Equations developed by A. Chaney and J. Stuart
AAE 450 Spring 2008
Dynamics and Control

4. Backup Slides
Error-Feedback Linear Euler Angle and Angular Velocity Controller
AAE 450 Spring 2008
Dynamics and Control

5. Backup Slides(Nominal Thrust Vector Angle Calculator)
AAE 450 Spring 2008
Dynamics and Control

6. Backup Slides Error-Feedback non-linear moment controller
AAE 450 Spring 2008
Dynamics and Control

7. Backup Slides Inverted Thruster Moment equations with Mathematica
AAE 450 Spring 2008
Dynamics and Control