• Proceedings of the KIEE Conference
• /
• 2006.04a
• /
• pp.201-203
• /
• 2006

This paper describes a new LOS(Line-of-Sight) estimator for BTT missiles. The dynamic models of LOS rate and a seeker are derived. Based on these dynamic models, we design a nonlinear estimator, which takes into account roll motion of BTT missiles and sensor noises. Simulation results show that the LOS rate estimates of the proposed estimator are more accurate than those of the conventional estimator.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.44 no.3
• /
• pp.203-211
• /
• 2016

In contrast with STT missiles, the guidance law design for BTT missiles should be based on 3-dimensional pursuit kinematics, since the pitch and roll channels of BTT missiles are coupled dynamically. More generally than the prior works, the dynamics of pitch and roll channels, as well as 3-dimensional pursuit kinematics are considered in the design of our terminal-phase optimal guidance law for BTT missiles proposed in this paper. Thereby, the proposed optimal guidance law guarantees high capturability with small miss distance without significant performance degradation due to time-lag effect even in case of relatively slow autopilot dynamics. Moreover, the resulting optimal guidance law is expressed explicitly in feedback-form with the coefficients given as the functions of time-to-go. The effectiveness and practicality of our work is demonstrated through various simulation results.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.418-421
• /
• 1997

A design method of robust controller for the longitudinal autopilot of BTT missile is considered. The difficulties are a set of linearized dynamic models which corresponds to different operating points has a wide range of parameters and it has even Non-Minimum Phase(NMP) zeros. In this paper, such a family of models is expressed by an interval plant. Then a robust control design method using QFT is represented. A simulation result shows that the proposed controller satisfies the given specification well.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.32 no.10
• /
• pp.77-82
• /
• 2004

This paper presents polar converting logic(PCL) of BTT missiles against slowly moving or stationary targets. A guidance commands expressed in rectangular coordinates must be converted in the form of polar coordinates for BTT control. Since conventional PCL has nonlinear and discontinuous function, the missiles may lose controllability when pitch acceleration command equals to zero. Further, roll coupling may have a serious unstabilizing influence on homing guidance with two gimbals seeker. In this paper, a linear homotopy equation is introduced to improve the controllability and a command following performance at midcourse phase. We also design a PCL which is less sensitive to pitch acceleration command so that it may improve the stability of the homing loop. To substantiate our conclusion, results of the computer simulation have been illustrated.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.30 no.6
• /
• pp.101-106
• /
• 2002

In a bank-to-turn(BTT) missile, if a 2-gimbaled seeker was stabilized using a 2-axis rate gyro mounted along its primary axis, the change of line of sight(LOS) measured by the seeker would be induced by rolling effects due to bank-to-turn(BTT) steering as well as an actual change. It is observed that the body-coupled effects in a homing loop of BTT missile are mainly concerned with the spurious target maneuver and the coupling due to the rate gyro misalignments. In this paper, we formulate a simple linear BTT homing loop model with seeker model including each body-coupling. With the model, we analyze the effects of the couplings on the homing loop stability, and propose a direct linear compensator for the coupling to recover the stability.

• Korean journal of applied entomology
• /
• v.25 no.2 s.67
• /
• pp.71-76
• /
• 1986

Bacillus thuringiensis var. thuringiensis H1 (BTT) strain was cultured in the 4 different fermentation media and then measured their growths and the productions of endotoxin crystals from the culture media. Out of the 4 media, the productions of the endotoxin crystals and spores were maximal in the pH9-M-3 medium. The wet weight of BTT cells grown in the 150ml culture was approximately 3.218g and the number of the viable spores was $3.3{\times}10^{10}/ml$, and the ratio of the endotoxin weight over total cell weight was 20.05%. The generation time of the BTT bacteria in the M-1 was about 47.6 minutes in the M-2, 132.9 minutes in the M-3 and 110.2 minutes in the M-4. The proper pH for the production of the endotoxin by BTT appeared to be pH 6.5.

• Proceedings of the KIEE Conference
• /
• 2009.07a
• /
• pp.1790_1791
• /
• 2009

OpenCV을 사용하여 MFC/OpenGL 환경의 BTT 미사일을 설계하였다. 시뮬레이션을 수행 하는 동안의 이미지에서 표적의 특징점(Feature point)를 추출해 호모그래피 행렬(Homography Matrix)을 계산하여 이로부터 표적의 위치, 속도, 자세 정보등을 추정하도록 하였다. 그리고 미사일 동역학, 자동 조종 장치 역시 C로 구현하여 통합 시뮬레이션 환경을 구축하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.156.1-156
• /
• 2001

It is observed that if the 2-gimballed seeker is stabilized using rate gyros mounted along its primary axis, line of sight change measured in the seeker is induced by the rolling due to the bank-to-turn(BTT) steering as well as the actual change. This body-coupling within BTT homing includes the spurious target maneuver effect and the coupling loop due to the rate gyro misalignment. In this paper we formulates the linear BTT homing loop model with a 2-gimballed seeker including those body-coupling effects. With the model, we analyze the effects of the couplings, and show that the roll rate coupling to the rate gyro for the stabilztion of gimbal could seriously deteriorate the homing loop stability. And we propose a direct linear compensator for the coupling to recover the stability.

• Proceedings of the KIEE Conference
• /
• 2007.10a
• /
• pp.217-218
• /
• 2007

최근 개발된 비선형 자동조종 제어기를 사용하면 비행 환경에 무관하게 BTT 미사일의 입출력 동특성이 일정한 선형 시스템의 형대로 표현될 수 있다. 본 논문에서는 이와 같은 특성을 바탕으로 BTT 미사일이 목표물의 취약 지점을 정밀하게 요격할 수 있도록 자동조종장치 동역학의 시간 지연 효과를 고려하여 표적 충돌각을 최소화하는 최적 종말 유도 법칙을 설계하였다. 제안된 최적 종말 유도 법칙은 극좌표 변환을 사용하지 않기 때문에 가제어성을 보장하며, 가속도 편향값을 사용하지 않기 때문에 기존의 유도 법칙에 비하여 미사일의 기동성을 향상시킬 수 있는 장점을 갖는다.

• Proceedings of the Korea Technology Innovation Society Conference
• /
• 2014.10a
• /
• pp.788-792
• /
• 2014