Ce mémoire de thèse traite du développement des dynamiques et des lois de commande de vol d’un projectile d’artillerie gyrostabilisé guidé par une tête découplée. Un modèle non linéaire du projectile est proposé, et sert à calculer un modèle linéarisé de la dynamique de roulis du nez et un modèle q-LPV des chaînes de tangage et de lacet à paramètres fortement variants. Les incertitudes de modélisation sont prises en compte pour concevoir l’autopilote. Des propriétés importantes des projectiles gyrostabilisés, qui sont liées au couplage dynamique tangage/lacet, aux modes internes et à la stabilité, sont mises en valeur grâce au modèle q-LPV. En vue de l’utiliser pour calculer une loi de commande, la dimension de son vecteur des paramètres est réduite et la position des capteurs intégrés dans le nez est considérée. Un seul correcteur linéaire est suffisant pour la dynamique de l’angle de roulis du nez alors qu’une stratégie systématique de commande par séquencement de gains basée sur une linéarisation est élaborée séparément pour générer un correcteur séquencé des facteurs de charge de tangage et de lacet. Des structures de commande fixées d’ordre réduit sont conçues en appliquant la même approche de synthèse linéaire H∞ par façonnage de gain de boucle pour les axes de roulis et de tangage/lacet. De très bonnes propriétés de performance et de robustesse en boucle fermée, comparables à celles fournies par des correcteurs d’ordre plein, sont obtenues. Finalement, l’efficacité de l’autopilote augmenté d’une loi de guidage par navigation proportionnelle pure est vérifiée via de nombreuses simulations non linéaires de trajectoires. Ces dernières correspondent à des scénarios de vol nominaux d’interception de cibles balistiques, non balistiques immobiles, ou manœuvrantes, ainsi qu’à des scénarios considérant des perturbations sur les conditions de tir ou sur les dynamiques du projectile guidé / This thesis addresses the development of the flight dynamics and control laws for an artillery spin-stabilized projectile equipped with a decoupled guidance nose. A projectile nonlinear model is discussed, and it is used for computing a linearized model of the nose roll dynamics along with a q-LPV model of the highly parameter-varying pitch/yaw-dynamics. Modeling uncertainty is taken into account for autopilot design. Important properties specific to spin-stabilized projectiles, which are relevant to pitch/yaw-channel cross-coupling, internal modes and stability, are highlighted using the q-LPV model. In order to use the latter for calculating a control law, the dimension of its parameter vector is reduced and the position of the nose-embedded sensors is considered. A single linear controller is sufficient for the nose roll angle dynamics whereas a systematic linearization-based gain-scheduled control strategy is separately devised to provide a pitch/yaw-axis load factor gain-scheduled controller. Controllers of reduced-order fixed structures are computed by applying the same H∞ linear design loop-shaping approach for the roll and pitch/yaw-axes. Very good closed-loop performance and robustness properties, which are similar to those provided by full order controllers, are obtained. Finally, the effectiveness of the autopilot augmented by a pure proportional navigation guidance law is verified through a variety of nonlinear trajectory simulations. The latter correspond to nominal flight scenarios with ballistic, non-ballistic stationary, and maneuvering interception points, and to scenarios with perturbed launch conditions or guided projectile dynamics

Made available in DSpace on 2016-04-28T14:16:21Z (GMT). No. of bitstreams: 1 Alessandro Menegat.pdf: 795829 bytes, checksum: 94bc3d43f28b9c27945251528cbeb43c (MD5) Previous issue date: 2015-03-17 / Coordenação de Aperfeiçoamento de Pessoal de Nível Superior / This work aims to address some aspects of Niccolò Tartaglia's (1500-1556) different arguments on the trajectories of projectiles. On one hand, at Nova Scientia (1537), the author explained that the trajectories were composed by two straight lines and a circular arc; on the other, at Quesiti et Inventioni Diverse (1546), the same trajectories were presented only as curves. These two different approaches to the trajectory of projectiles suggested to some historians that Tartaglia had changed his mind, leaving, in a way, his old beliefs. Thus, based on original documents, this paper seeks to resume Tartaglia arguments in order to understand the reasons which would have led him to change his approaches in those two works. Despite other factors, we present evidence that Tartaglia had, around 1540, come in contact with works that had almost none circulation before. With this in mind, our work provides evidence that there is some continuity between the arguments of Tartaglia on the trajectories in these two works / Este trabalho tem por objetivo tratar alguns aspectos das diferentes argumentações de Niccolò Tartaglia (1500-1556) sobre as trajetórias dos projéteis. Na Nova Scientia (1537), as trajetórias seriam compostas por duas retas e um arco de circunferência. Já nos Quesiti et Inventioni Diverse (1546), elas são apresentadas completamente curvas. Esses dois enfoques diferentes dados ao tema sugeriram a alguns historiadores que Tartaglia teria mudado de ideia, abandonando, de certa maneira, suas antigas convicções. Desse modo, baseado em documentos originais, este trabalho busca retomar os argumentos de Tartaglia de modo a compreendermos as razões que o teriam levado a dar dois diferentes enfoques nas duas obras. Dentre outros fatores, apresentamos indícios de que Tartaglia passou a contar, por volta de 1540, com obras anteriormente desconhecidas e que pouco circulavam até então. Tendo isso em vista, nosso trabalho fornece indícios de que podemos observar certa continuidade entre as argumentações de Tartaglia sobre as trajetórias nessas duas obras

Otto Scheeloch's U.S. Patent No. 134,442 of 1872 describes a unique firearm that uses triangular bullets. The current research effort evaluates the ballistic performance of Otto's disclosure for the very first time. To achieve this goal it was necessary to seek out surviving artifacts and scour the historical record in search of all the parameters needed to meticulously recreate the curious triangular cartridges and the corresponding gun barrel, with its matching twisted triangular bore. Every aspect of the resulting reproduction ammunition was made to be as authentic as possible, including the use of vintage civil war era bullet lead, bullet grease of period recipe, and the correct type of black powder propellant. 3D CAD (SolidWorksTM) was employed in designing the components, while advanced rapid prototyping (FDM & DMLS) techniques and investment casting were used in the physical construction of the ammunition and barrel. The ballistics testing was performed from a shooting rest over a range of 10-feet. Data was obtained for five rounds using a chronograph, paper targets and ballistic gel. The triangular bullets proved to be surprisingly accurate, consistent, and stable in flight. Data was recorded for sectional density, ballistic coefficient, muzzle velocity and energy, group size and penetration.

<p>Detta arbete syftar till att undersöka vilket konventionellt ballistiskt skydd som krävs för att undvika penetration från finkalibriga projektiler, RSV-stridsdelar samt penetrerande stridsvagnsmina. Arbetet tar sitt ursprung i en handbok utgiven av FMV där stridsdelar som kan förekomma i Afghanistan behandlas. Handboken anger data och prestanda för dessa stridsdelar och det är därifrån arbetet tar uppgifter om genomslagsförmåga för stridsdelen. Skyddsprinciper och verkansprinciper för stridsdelar hämtas i huvudsak från rapporter utgivna av FOI samt från litteratur utgiven av FHS. Arbetets beskrivande delar inleds med en redogörelse för homogena ballistiska skyddsmaterial av metall samt keramer. Därefter beskrivs verkans principer för finkalibriga projektiler, strålbildande RSV, projektilbildande RSV samt penetrerande stridsvagnsminor. Arbetet fortgår med en beskrivning av en finkalibrig projektil med kaliber 7,62*54R mm, hot av typen RPG-7 med tillhörande ammunition samt stridsvagnsmina TMK-2. Avslutningsvis presenteras resultat på vilket ballistiskt skydd som krävs för att skydda sig mot dessa stridsdelar samt en diskussion kring resultatet och alternativa lösningar på problemet. Det presenteras även några förslag på ny forskning inom området verkan och skydd.</p> / <p>This essay aims to investigate which conventional ballistic protection required preventing penetrationof small-caliber projectiles, shaped charged warheads and anti-tank mine. The essay takes its originin a handbook published by the Swedish Defense Material Administration, (FMV), where the warheads that can occur in Afghanistan are presented. The handbook present data of the warheads and it is from here information regarding the warheads penetration capabilities is taken. Effect principles and protection principles of the warheads are primarily gathered from reports published bythe FOI and from literature published by the National Defense College of Sweden, (FHS). The essays descriptional parts begin with an explanation of homogeneous ballistic protection materials fabricated in metal and ceramics. It then continues with a description of effect principles of small caliber projectiles, shaped charge projectiles, explosively formed projectiles and anti-tank mines. The essay then continues with a description of a small caliber projectile with caliber 7.62*54R mm, threats of RPG-7 type with its ammunition and the anti-tank mine TMK-2. In the end of the essay, results are presented according to the ballistic protection required to protect against the presented warheads, and a discussion of the result and alternative solutions to the problem.</p>

Detta arbete syftar till att undersöka vilket konventionellt ballistiskt skydd som krävs för att undvika penetration från finkalibriga projektiler, RSV-stridsdelar samt penetrerande stridsvagnsmina. Arbetet tar sitt ursprung i en handbok utgiven av FMV där stridsdelar som kan förekomma i Afghanistan behandlas. Handboken anger data och prestanda för dessa stridsdelar och det är därifrån arbetet tar uppgifter om genomslagsförmåga för stridsdelen. Skyddsprinciper och verkansprinciper för stridsdelar hämtas i huvudsak från rapporter utgivna av FOI samt från litteratur utgiven av FHS. Arbetets beskrivande delar inleds med en redogörelse för homogena ballistiska skyddsmaterial av metall samt keramer. Därefter beskrivs verkans principer för finkalibriga projektiler, strålbildande RSV, projektilbildande RSV samt penetrerande stridsvagnsminor. Arbetet fortgår med en beskrivning av en finkalibrig projektil med kaliber 7,62*54R mm, hot av typen RPG-7 med tillhörande ammunition samt stridsvagnsmina TMK-2. Avslutningsvis presenteras resultat på vilket ballistiskt skydd som krävs för att skydda sig mot dessa stridsdelar samt en diskussion kring resultatet och alternativa lösningar på problemet. Det presenteras även några förslag på ny forskning inom området verkan och skydd. / This essay aims to investigate which conventional ballistic protection required preventing penetrationof small-caliber projectiles, shaped charged warheads and anti-tank mine. The essay takes its originin a handbook published by the Swedish Defense Material Administration, (FMV), where the warheads that can occur in Afghanistan are presented. The handbook present data of the warheads and it is from here information regarding the warheads penetration capabilities is taken. Effect principles and protection principles of the warheads are primarily gathered from reports published bythe FOI and from literature published by the National Defense College of Sweden, (FHS). The essays descriptional parts begin with an explanation of homogeneous ballistic protection materials fabricated in metal and ceramics. It then continues with a description of effect principles of small caliber projectiles, shaped charge projectiles, explosively formed projectiles and anti-tank mines. The essay then continues with a description of a small caliber projectile with caliber 7.62*54R mm, threats of RPG-7 type with its ammunition and the anti-tank mine TMK-2. In the end of the essay, results are presented according to the ballistic protection required to protect against the presented warheads, and a discussion of the result and alternative solutions to the problem.

In conventional tracking algorithms the targets are usually considered as point source objects. However, in realistic scenarios the point source assumption is often not suitable and estimating the states of an object extension characterized by a collectively moving ballistic object group (cluster) becomes a very critical and relevant problem which has applications in the defense area. Recently, a Bayesian approach to extended object tracking using random matrices has been proposed. Within this approach, ellipsoidal object extensions are modeled by random matrices and treated as additional state variables to be estimated. In this work we propose to use a slightly modified version of this new approach that simultaneously estimates the ellipsoidal shape and the kinematics of a group of ballistic targets. Target group that is tracked consists of subsequent projectiles. We use JPDAF framework together with the new approach to emphasize the pros and cons of both approaches. The methods are demonstrated and evaluated in detail by making various simulations.

The field of guided projectile research has continually grown over the past several decades. Guided projectiles, typically encompassing bullets, mortars, and artillery shells, incorporate some sort of guidance and control mechanism to generate trajectory alterations. This serves to increase accuracy and decrease collateral damage. Control mechanisms for smart weapons must be able to withstand extreme acceleration loads at launch while remain simple for cost and reliability reasons. One type of control mechanism utilizes controllable internal translating masses (ITM's) that oscillate within the projectile to generate control forces. Several techniques for using internal translating masses for smart weapon flight control purposes are explored here. Specifically, the use of ITM's as direct control mechanisms, as a means to increase control authority, and as a means to protect the smart weapons sensor suite are examined. It is first shown that oscillating a mass orthogonal to the projectile axis of symmetry generates reasonable control force in statically-stable rounds. Trade studies examine the impact of mass size, mass offset from the center of gravity, and reductions in static stability on control authority. Then, the topic of static margin control through mass center modification is explored. This is accomplished by translating a mass in flight along the projectile axis of symmetry. Results show that this system allows for greater control authority and reduced throw-off error at launch. Another study, aimed at examining shock reduction potential at launch rather than static margin alteration, also considers ITM movement along the projectile centerline. In these studies, the ITM is comprised of sensitive electronic sensors, and is configured as a first-order damper during launch. Trade study results show that although the mechanism cannot substantially reduce the magnitude of launch loads, it is successful at dampening harmful structural vibrations typically experienced after muzzle exit. Finally, an active control system is developed for the ITM control mechanism using sliding mode methodology. Example cases and Monte Carlo simulations incorporating model uncertainties and sensor errors show that ITM control of projectiles can substantially reduce dispersion error. Furthermore, the novel sliding mode control law is shown to be highly robust to feedback disturbances. In a final study, combined ITM-canard control of projectiles is explored, concluding that ITM mechanisms can serve as a useful supplement in increasing the efficiency of currently-deployed control mechanisms.

Ce travail experimental est consacre a l'etude de la multiplicite des electrons secondaires emis par des cibles minces de carbone bombardees par des protons, des atomes H0 et des ions moleculaires H2+ et H3+ d'energie variant de 0.25 a 2.2 MeV.<br /><br /> Le phenomene d'emission electronique secondaire par les surfaces des solides a l'impact de projectiles rapides resulte des interactions inelastiques des projectiles avec les electrons du solide. Une description phenomenologique te un rappel des differents modeles theoriques sont rassembles dans un premier chapitre.<br /><br /> Le second chapitre est consacre a la description du dispositif experimental utilise pour la mesure evenement par evenement du nombre d'electrons emis par les deux faces d'une cible mince de carbone lors du passage des projectiles incidents. Le traitement informatique des donnees experimentales, necessaire a la determination des distributions statistiques des electrons emis est egalement presente.<br /><br /> L'emission electronique induite par des atomes H0 a ete mesuree en correlation avec l'etat de charge des projectiles emergeant des cibles minces. Ces experiences, dont les resultats sont presentes dans le chapitre trois, nous ont permis de montrer le role particulier de l'electron d'un projectile selon qu'il reste ou non lie au projectile.<br /><br /> Le chapitre quatre est consacre a l'emission electronique induite par des ions polyatomiques H2+ et H3+. Les resultats sont intepretes en termes d'effets collectifs dans les interactions de tels ions avec les solides. le role de la proximite des protons, fragments des ions moleculaires, sur l'amplitude de ces effets collectifs est montre a partir des distributions statistiques des electrons secondaires emis par la face d'emergence des cibles.<br /><br /> Ces experiences ont permis de mettre en evidence des aspects particuliers des interactions d'atomes et d'ions polyatomiques avec les solides.

Doctoral Dissertation, Ph.D., University of California, Berkeley, Berkeley, California, USA. / Published through the Information Bridge: DOE Scientific and Technical Information. "LBNL--56749" Folden III, Charles Marvin. USDOE Director. Office of Science. Office of Nuclear Physics 11/04/2004. Report is also available in paper and microfiche from NTIS.

[pt] Um dos casos clínicos mais frequentes na sociedade moderna envolve a localização e extração de projéteis de armas de fogo, que normalmente são feitos de chumbo, um material não ferromagnético. O desenvolvimento de uma técnica que possibilite a localização precisa destes auxiliará o procedimento de remoção cirúrgica, tendo vasta relevância e impactando diretamente no aumento da taxa de sobrevivência de pessoas feridas. Dessa forma, esta dissertação apresenta e discute duas novas abordagens baseadas em técnicas de inteligência computacional, objetivando a localização de projéteis de armas de fogo inseridos no corpo humano, a partir do processamento da informação contida em mapas de campo magnético. Em ambas as abordagens analisadas modela-se o projétil como uma esfera de raio a, localizado em um espaço de busca contido em um plano xy, o qual está situado a uma distância h do sensor no eixo z. As técnicas de localização requerem a geração de um campo magnético primário alternado por meio de um solenoide, o qual incide sobre o espaço de busca. Caso exista um projétil de arma de fogo nesta região, serão induzidas correntes parasitas no projétil, as quais, por sua vez, produzirão um campo magnético secundário, que pode ser medido por um sensor de alta sensibilidade localizado na extremidade do solenoide. Na primeira abordagem analisada, as posições x e y do projétil são determinadas por um algoritmo de janelamento que considera valores máximos e médios pertencentes aos mapas de campo magnético secundário. A determinação da distância h entre a esfera e o sensor foi obtida por meio de uma rede neural, e o raio da esfera a é estimado por um algoritmo genético. Na segunda abordagem, as quatro variáveis de interesse (x, y, h e a) são inferidas diretamente por um algoritmo genético. Os resultados obtidos são avaliados e comparados. / [en] In modern society, one of the most frequent clinical cases involves location and extraction of firearms projectiles, usually made of lead, a non-ferromagnetic material. The development of a technique that allows the precise location of these projectiles will aid their surgical removal, which has a great relevance because it contributes directly to the increase of the survival rate of wounded patients. Thus, this dissertation presents and discusses two new approaches based on computational intelligence techniques, aiming at locating firearm projectiles inserted into the human body, by processing the information contained in magnetic field maps. On both approaches, the projectile is modeled by a sphere with radius a, located on a search space contained in a xy plane that is situated at a distance h from the sensor, along the z axis. The proposed location techniques require the generation of a primary alternating magnetic field by means of a solenoid, which aims at inducing eddy currents in a firearm projectile contained in the search space. In turn, these currents will produce a secondary magnetic field, which can be measured by a high-sensitivity sensor located at the bottom of the solenoid. In the first developed technique, the x and y positions of the projectile were estimated by a windowing algorithm that takes into account maximum and mean values contained on the secondary magnetic field maps. In turn, the distance h between the sphere and the sensor is inferred by a neural network, and the radius of the sphere a is estimated by a genetic algorithm. In the second technique, the four variables of interest (x, y, h and a) are inferred directly by a genetic algorithm. The results obtained are evaluated and compared.