Zero miss distance guidance using feedforward and periodic control

There have been attempts at obtaining robust guidance laws to ensure zero miss distance (ZMD) for interceptors with parametric uncertainties. All these laws require the plant to be of minimum phase type to enable the overall guidance loop transfer function to satisfy strict positive realness (SPR). The SPR property implies absolute stability of the closed loop system, and has been shown in the literature to lead to ZMD because it avoids saturation of lateral acceleration. In these works higher order interceptors are reduced to lower order equivalent models for which control laws are designed to ensure ZMD. However, it has also been shown that when the original system with right half plane (RHP) zeros is considered, the resulting miss distances, using such strategies, can be quite high. In this paper, an alternative approach using the circle criterion establishes the conditions for absolute stability of the guidance loop and relaxes the conservative nature of some earlier results arising from assumption of in�nite engagement time. Further, a feedforward scheme in conjunction with a lead-lag compensator is used as one control strategy while a generalized sampled hold function is used as a second strategy, to shift the RHP transmission zeros, thereby achieving ZMD. It is observed that merely shifting the RHP zero(s) to the left half plane reduces miss distances signi�cantly even when no additional controllers are used to ensure SPR conditions.

Nonlinear and linear autopilot performance comparison of tactical flight vehicle

n this paper, three-axis autopilot of a tactical flight vehicle has been designed for surface to air application. Both nonlinear and linear design synthesis and analysis have been carried out pertaining to present flight vehicle. Lateral autopilot performance has been compared by tracking lateral acceleration components along yaw and pitch plane at higher angles of attack in presence of side force and aerodynamic nonlinearity. The nonlinear lateral autopilot design is based on dynamic inversion and time scale separation principle. The linear lateral autopilot design is based on three-loop topology. Roll autopilot robustness performance has been enhanced against unmodeled roll disturbances by backstepping technique. Complete performance comparison results of both nonlinear and linear controller based on six degrees of freedom simulation along with stability and robustness studies with respect to plant parameter variation have been discussed in the paper.

Differential evolution based 3-D guidance law for a realistic interceptor model

This paper presents a novel, soft computing based solution to a complex optimal control or dynamic optimization problem that requires the solution to be available in real-time. The complexities in this problem of optimal guidance of interceptors launched with high initial heading errors include the more involved physics of a three dimensional missile-target engagement, and those posed by the assumption of a realistic dynamic model such as time-varying missile speed, thrust, drag and mass, besides gravity, and upper bound on the lateral acceleration. The classic, pure proportional navigation law is augmented with a polynomial function of the heading error, and the values of the coefficients of the polynomial are determined using differential evolution (DE). The performance of the proposed DE enhanced guidance law is compared against the existing conventional laws in the literature, on the criteria of time and energy optimality, peak lateral acceleration demanded, terminal speed and robustness to unanticipated target maneuvers, to illustrate the superiority of the proposed law. (C) 2013 Elsevier B. V. All rights reserved.

Active yaw control of a vehicle using a Fuzzy logic algorithm

Yaw rate of a vehicle is highly influenced by the lateral forces generated at the tire contact patch to attain the desired lateral acceleration, and/or by external disturbances resulting from factors such as crosswinds, flat tire or, split-μ braking. The presence of the latter and the insufficiency of the former may lead to undesired yaw motion of a vehicle. This paper proposes a steer-by-wire system based on fuzzy logic as yaw-stability controller for a four-wheeled road vehicle with active front steering. The dynamics governing the yaw behavior of the vehicle has been modeled in MATLAB/Simulink. The fuzzy controller receives the yaw rate error of the vehicle and the steering signal given by the driver as inputs and generates an additional steering angle as output which provides the corrective yaw moment. The results of simulations with various drive input signals show that the yaw stability controller using fuzzy logic proposed in the current study has a good performance in situations involving unexpected yaw motion. The yaw rate errors of a vehicle having the proposed controller are notably smaller than an uncontrolled vehicle's, and the vehicle having the yaw stability controller recovers lateral distance and desired yaw rate more quickly than the uncontrolled vehicle.

Seismic microzonation of a nuclear power plant site with detailed geotechnical, geophysical and site effect studies

This paper highlights the seismic microzonation carried out for a nuclear power plant site. Nuclear power plants are considered to be one of the most important and critical structures designed to withstand all natural disasters. Seismic microzonation is a process of demarcating a region into individual areas having different levels of various seismic hazards. This will help in identifying regions having high seismic hazard which is vital for engineering design and land-use planning. The main objective of this paper is to carry out the seismic microzonation of a nuclear power plant site situated in the east coast of South India, based on the spatial distribution of the hazard index value. The hazard index represents the consolidated effect of all major earthquake hazards and hazard influencing parameters. The present work will provide new directions for assessing the seismic hazards of new power plant sites in the country. Major seismic hazards considered for the evaluation of the hazard index are (1) intensity of ground shaking at bedrock, (2) site amplification, (3) liquefaction potential and (4) the predominant frequency of the earthquake motion at the surface. The intensity of ground shaking in terms of peak horizontal acceleration (PHA) was estimated for the study area using both deterministic and probabilistic approaches with logic tree methodology. The site characterization of the study area has been carried out using the multichannel analysis of surface waves test and available borehole data. One-dimensional ground response analysis was carried out at major locations within the study area for evaluating PHA and spectral accelerations at the ground surface. Based on the standard penetration test data, deterministic as well as probabilistic liquefaction hazard analysis has been carried out for the entire study area. Finally, all the major earthquake hazards estimated above, and other significant parameters representing local geology were integrated using the analytic hierarchy process and hazard index map for the study area was prepared. Maps showing the spatial variation of seismic hazards (intensity of ground shaking, liquefaction potential and predominant frequency) and hazard index are presented in this work.

A Seventeen-level Inverter With a Single DC-link For Motor Drives

In the present paper, a novel topology for generating a 17-level inverter using three-level flying capacitor inverter and cascaded H-bridge modules with floating capacitors. The proposed circuit is analyzed and various aspects of it are presented in the paper. This circuit is experimentally verified and the results are shown. The stability of the capacitor balancing algorithm has been verified during sudden acceleration. This circuit has many pole voltage redundancies. This circuit has an advantage of balancing all the capacitor voltages instantaneously by switching through the redundancies. Another advantage of this topology is its ability to generate all the 17 pole voltages from a single DC link which enables back to back converter operation. Also, the proposed inverter can be operated at all load power factors and modulation indices. Another advantage is, if one of the H-bridges fail, the inverter can still be operated at full load with reduced number of levels.

Target reliability-based optimisation for internal seismic stability of reinforced soil structures

In this paper, an approach for target component and system reliability-based design optimisation (RBDO) to evaluate safety for the internal seismic stability of geosynthetic-reinforced soil (GRS) structures is presented. Three modes of failure are considered: tension failure of the bottom-most layer of reinforcement, pullout failure of the topmost layer of reinforcement, and total pullout failure of all reinforcement layers. The analysis is performed by treating backfill properties, geometric and strength properties of reinforcement as random variables. The optimum number of reinforcement layers and optimum pullout length needed to maintain stability against tension failure, pullout failure and total pullout failure for different coefficients of variation of friction angle of the backfill, design strength of the reinforcement and horizontal seismic acceleration coefficients by targeting various system reliability indices are proposed. The results provide guidelines for the total length of reinforcement required, considering the variability of backfill as well as seismic coefficients. One illustrative example is presented to explain the evaluation of reliability for internal stability of reinforced soil structures using the proposed approach. In the second illustration (the stability of five walls), the Kushiro wall subjected to the Kushiro-Oki earthquake, the Seiken wall subjected to the Chiba-ken Toho-Oki earthquake, the Ta Kung wall subjected to the Ji-Ji earthquake, and the Gould and Valencia walls subjected to Northridge earthquake are re-examined.

Representative seismic hazard map of Coimbatore, India

The seismic hazard value of any region depends upon three important components such as probable earthquake location, maximum earthquake magnitude and the attenuation equation. This paper presents a representative way of estimating these three important components considering region specific seismotectonic features. Rupture Based Seismic Hazard Analysis (RBSHA) given by Anbazhagan et al. (2011) is used to determine the probable future earthquake locations. This approach is verified on the earthquake data of Bhuj region. The probable earthquake location for this region is identified considering earthquake data till the year 2000. These identified locations match well with the reported locations after 2000. The further Coimbatore City is selected as the study area to develop a representative seismic hazard map using RBSHA approach and to compare with deterministic seismic hazard analysis. Probable future earthquake zones for Coimbatore are located considering the rupture phenomenon as per energy release theory discussed by Anbazhagan et at (2011). Rupture character of the region has been established by estimating the subsurface rupture length of each source and normalized with respect to the length of the source. Average rupture length of the source with respect to its total length is found to be similar for most of the sources in the region, which is called as the rupture character of the region. Maximum magnitudes of probable zones are estimated considering seismic sources close by and regional rupture character established. Representative GMPEs for the study area have been selected by carrying out efficacy test through an average log likelihood value (LLH) as ranking estimator and considering the Isoseismal map. New seismic hazard map of Coimbatore has been developed using the above regional representative parameters of probable earthquake locations, maximum earthquake magnitude and best suitable GMPEs. The new hazard map gives acceleration values at bedrock for maximum possible earthquakes. These results are compared with deterministic seismic hazard map and recently published probabilistic seismic hazard values. (C) 2014 Elsevier B.V. All rights reserved.

Assessment of Seismically Induced Landslide Hazard for the State of Karnataka Using GIS Technique

Landslide hazards are a major natural disaster that affects most of the hilly regions around the world. In India, significant damages due to earthquake induced landslides have been reported in the Himalayan region and also in the Western Ghat region. Thus there is a requirement of a quantitative macro-level landslide hazard assessment within the Indian subcontinent in order to identify the regions with high hazard. In the present study, the seismic landslide hazard for the entire state of Karnataka, India was assessed using topographic slope map, derived from the Digital Elevation Model (DEM) data. The available ASTER DEM data, resampled to 50 m resolution, was used for deriving the slope map of the entire state. Considering linear source model, deterministic seismic hazard analysis was carried out to estimate peak horizontal acceleration (PHA) at bedrock, for each of the grid points having terrain angle 10A degrees and above. The surface level PHA was estimated using nonlinear site amplification technique, considering B-type NEHRP site class. Based on the surface level PHA and slope angle, the seismic landslide hazard for each grid point was estimated in terms of the static factor of safety required to resist landslide, using Newmark's analysis. The analysis was carried out at the district level and the landslide hazard map for all the districts in the Karnataka state was developed first. These were then merged together to obtain a quantitative seismic landslide hazard map of the entire state of Karnataka. Spatial variations in the landslide hazard for all districts as well as for the entire state Karnataka is presented in this paper. The present study shows that the Western Ghat region of the Karnataka state is found to have high landslide hazard where the static factor of safety required to resist landslide is very high.

Generalized State Estimation and Model Predictive Guidance for Spiraling and Ballistic Targets

An extended Kalman filter based generalized state estimation approach is presented in this paper for accurately estimating the states of incoming high-speed targets such as ballistic missiles. A key advantage of this nine-state problem formulation is that it is very much generic and can capture spiraling as well as pure ballistic motion of targets without any change of the target model and the tuning parameters. A new nonlinear model predictive zero-effort-miss based guidance algorithm is also presented in this paper, in which both the zero-effort-miss as well as the time-to-go are predicted more accurately by first propagating the nonlinear target model (with estimated states) and zero-effort interceptor model simultaneously. This information is then used for computing the necessary lateral acceleration. Extensive six-degrees-of-freedom simulation experiments, which include noisy seeker measurements, a nonlinear dynamic inversion based autopilot for the interceptor along with appropriate actuator and sensor models and magnitude and rate saturation limits for the fin deflections, show that near-zero miss distance (i.e., hit-to-kill level performance) can be obtained when these two new techniques are applied together. Comparison studies with an augmented proportional navigation based guidance shows that the proposed model predictive guidance leads to a substantial amount of conservation in the control energy as well.

Estimation of time variant reliability of randomly parametered non-linear vibrating systems

The problem of time variant reliability analysis of randomly parametered and randomly driven nonlinear vibrating systems is considered. The study combines two Monte Carlo variance reduction strategies into a single framework to tackle the problem. The first of these strategies is based on the application of the Girsanov transformation to account for the randomness in dynamic excitations, and the second approach is fashioned after the subset simulation method to deal with randomness in system parameters. Illustrative examples include study of single/multi degree of freedom linear/non-linear inelastic randomly parametered building frame models driven by stationary/non-stationary, white/filtered white noise support acceleration. The estimated reliability measures are demonstrated to compare well with results from direct Monte Carlo simulations. (C) 2014 Elsevier Ltd. All rights reserved.

Reliability-based load and resistance factor design approach for external seismic stability of reinforced soil walls

Load and resistance factor design (LRFD) approach for the design of reinforced soil walls is presented to produce designs with consistent and uniform levels of risk for the whole range of design applications. The evaluation of load and resistance factors for the reinforced soil walls based on reliability theory is presented. A first order reliability method (FORM) is used to determine appropriate ranges for the values of the load and resistance factors. Using pseudo-static limit equilibrium method, analysis is conducted to evaluate the external stability of reinforced soil walls subjected to earthquake loading. The potential failure mechanisms considered in the analysis are sliding failure, eccentricity failure of resultant force (or overturning failure) and bearing capacity failure. The proposed procedure includes the variability associated with reinforced backfill, retained backfill, foundation soil, horizontal seismic acceleration and surcharge load acting on the wall. Partial factors needed to maintain the stability against three modes of failure by targeting component reliability index of 3.0 are obtained for various values of coefficients of variation (COV) of friction angle of backfill and foundation soil, distributed dead load surcharge, cohesion of the foundation soil and horizontal seismic acceleration. A comparative study between LRFD and allowable stress design (ASD) is also presented with a design example. (C) 2014 Elsevier Ltd. All rights reserved.

Hysteresis current controller for a general n-level inverter fed drive with online current error boundary computation and nearly constant switching frequency

A space vector-based hysteresis current controller for any general n-level three phase inverter fed induction motor drive is proposed in this study. It offers fast dynamics, inherent overload protection and low harmonic distortion for the phase voltages and currents. The controller performs online current error boundary calculations and a nearly constant switching frequency is obtained throughout the linear modulation range. The proposed scheme uses only the adjacent voltage vectors of the present sector, similar to space vector pulse-width modulation and exhibits fast dynamic behaviour under different transient conditions. The steps involved in the boundary calculation include the estimation of phase voltages from the current ripple, computation of switching time and voltage error vectors. Experimental results are given to show the performance of the drive at various speeds, effect of sudden change of the load, acceleration, speed reversal and validate the proposed advantages.

A performance-based framework for assessing liquefaction potential based on CPT data

This article describes a new performance-based approach for evaluating the return period of seismic soil liquefaction based on standard penetration test (SPT) and cone penetration test (CPT) data. The conventional liquefaction evaluation methods consider a single acceleration level and magnitude and these approaches fail to take into account the uncertainty in earthquake loading. The seismic hazard analysis based on the probabilistic method clearly shows that a particular acceleration value is being contributed by different magnitudes with varying probability. In the new method presented in this article, the entire range of ground shaking and the entire range of earthquake magnitude are considered and the liquefaction return period is evaluated based on the SPT and CPT data. This article explains the performance-based methodology for the liquefaction analysis – starting from probabilistic seismic hazard analysis (PSHA) for the evaluation of seismic hazard and the performance-based method to evaluate the liquefaction return period. A case study has been done for Bangalore, India, based on SPT data and converted CPT values. The comparison of results obtained from both the methods have been presented. In an area of 220 km2 in Bangalore city, the site class was assessed based on large number of borehole data and 58 Multi-channel analysis of surface wave survey. Using the site class and peak acceleration at rock depth from PSHA, the peak ground acceleration at the ground surface was estimated using probabilistic approach. The liquefaction analysis was done based on 450 borehole data obtained in the study area. The results of CPT match well with the results obtained from similar analysis with SPT data.

Design of fully rotatable, roller-crank-driven, cam mechanisms for arbitrary motion specifications

The design of a non-traditional cam and roller-follower mechanism is described here. In this mechanism, the roller-crank rather than the cam is used as the continuous input member, while both complete a full rotation in each revolution and remain in contact throughout. It is noted that in order to have the cam fully rotate for every full rotation of the roller-crank, the cam cannot be a closed profile, rather the roller traverses the open cam profile twice in each cycle. Using kinematic analysis, the angular velocity of the cam when the roller traverses the cam profile in one direction, is related to the angular velocity of the cam when the roller retraces its path on the cam in the other direction. Thus, one can specify any arbitrary function relating the motion of the cam to the motion of the roller-crank for only 180 degrees of rotation in the angular velocity space. The motion of the cam in the remaining portion is then automatically determined. In specifying the arbitrary motion, many desirable characteristics such as multiple dwells, low acceleration and jerk, etc., can be obtained. Useful design equations are derived for this purpose. Using the kinematic inversion technique, the cam profile is readily obtained once the motion is specified in the angular velocity space. The only limitation to the arbitrary motion specification is making sure that the transmission angle never gets too low, so that the force will be transmitted efficiently from roller to cam. This is addressed by incorporating a transmission index into the motion specification in the synthesis process. Consequently, in this method we can specify any arbitrary motion within a permissible rone, such that the transmission index is higher than the specified minimum value. Single-dwell, double-dwell and a long hesitation motion are used as examples to demonstrate the ffectiveness of the design method. Force closure using an optimally located spring and quasi-kinetostatic analysis are also discussed. (C) 2001 Elsevier Science Ltd. All rights reserved.