Guidance Gyro System with Two Gimbals and Magnetic Suspension Gyros Using Adaptive-Type Control Laws

The authors have designed a structure for a gyro system (used for the guidance of self-guided missiles) with two gimbals and a rotor in magnetic suspension (AMBs-active magnetic bearings). The system (double-gimbal magnetic suspension gyro system for guidance-DGMSGG) orients the common axis rotor AMB (the sight line) in the direction of the target line (the guide line) by means of some control system of the gyro rotor's rotations and translations, as well as by means of some servo systems for the gimbals' rotation angle control. The DGMSGG provides specific signals for the missile's autopilot, to guide it toward the target, so that the guidance line translates parallel to itself to the point of interception of the target (according to the self-guidance method by parallel approach). Based on the DGMSGG's established mathematical model, the authors propose and design adaptive control systems for the decoupled dynamics of the gyro rotor's translations and rotations and of the gimbals' rotations; the concept of dynamic inversion is used, as well as linear dynamic compensators (P.D.- and P.I.D.-type), state observers, reference models, and neural networks. The theoretical results are validated through numerical simulations, using Simulink/Matlab models' stabilization and orientation operating regimes.