1、MIL-HDBK-1211 9799970 O200056 140 METRIC MIL-HDBK-121 l(MI) 17 July 1995 MILITARY HANDBOOK MISSILE FLIGHT SIMULATION PART ONE SURFACE-TO-AIR M ISS1 LES This handbook is for guidance only. Do not cite this document as a requirement. AMSC N/A DISTRIBUTION STATEMENT A. Approved for public release; dist
2、ribution is unlimited. FSC 14GP Licensed by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-1211 W 9999970 0200057 087 MIL-HDBK-1211 (MI) FOREWORD 1. This military handbook is approved for use by all activities and agencies of the Department of the Army and is availab
3、le for use by all Departments and Agencies of the Depariment of Defense. 2. This handbook is for guidance oniy. This handbook amnot be cited as a requirement If it is, the contractor does not have to comply. 3. Surface-to-air missiles are designed to defend a land area against an aerial threat. The
4、size of the defended area and the capaiiities of the threat bave great inftuenw on the speed, maneuverability, and lethality requirements of the missile system. Simulation of the missile fight path can provide valuable infodon about these requirements. A missile flight simulation is a compUtatonal t
5、ool that calculates the flight ofa missile hm launch untii it engages the target. The simulation is based on mathman cai models of the missile, target and environment. This military handbook provides guidance for the preparation of these mathemati caimodelsto simulate the fight of a swface-to-air mi
6、ssile. . 4. Beneficial comments (reoommendations, additions, and ektions) and any pertinent data that may be of use in improving this document should be addressed to commander, U.S. Army Missile Command, Am: AMW- RD-SE-TD-ST, Redstone Arsenai, AL 35898-5270, by using the Sandardization Document Impr
7、ovement Proposai D Form 1426) appearing at the end of this document, or by Wer. il Licensed by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-12LL 9999970 0200058 TI3 MIL-HDBK-1211 (MI) CONTENTS FOREWORD . U LIST OF ILLUSTRATIONS . xii LIST OF TABLES . xu LIST OF ABB
8、REVIATIONS AND ACRONYMS . xiv . CHAPTER 1 INTRODUCTION 1-1 BACKGROUND 1-1 DESCRIPTION OF A MISSILE FLIGHT SIMULATION 1-1 PURPOSE OF A MISSILE FLIGHT SIMULATION . 1-2 IMPLEMENTATION OF A MISSILE FLIGHT SIMULATION 1-2 1-1.1 1-1.2 1-1.3 1-2 PURPOSE OF THE HANDBOOK 1-3 . 1-3 SCOPE OF THE HANDBOOK . 1-4
9、14 ORGANIZATION OF THE HANDBOOK . 1-4 REFERENCES . 1-4 BIBLIOGRAPHY 1-4 CHAFTER 2 MISSILE SYSTEM DESCRIPTION 2-0 LIST OF SYMBOLS . 2-1 2- 1 INTRODUCTION . 2. 1 2-2 MISSILE 2-2 SEEKER 2.3 2-2.1.1 Optical Seekers 2-3 2-2.1.1.1 Reticle 2-5 2-2.1.1.2 Pseudoimaging 2-8 2-2.1.1.3 Imaging 2-8 2-2.1.2 Radio
10、 Frequency Seekers 2-8 2-2.1.2.1 Pulse Radar 2-10 2-2.1.2.2 Continuous Wave Radar 2-10 2-2.1.2.3 Pulse Doppler Radar 2-10 2-2.1.3 Angle Tracking Methods . 2-10 2-2.1.3.1 Sequential Lobing . 2-12 2-2.1.3.2 Conical Scanning . 2-12 2-2.1.3.3 Monopulse Tracking . 2-12 2-2.1 2-2.2 AUTOPILOT . 2-12 2-2.3
11、CONTROL . 2-12 2-2.3.1 Lateral Acceleration 2-13 2-2.3.2 Canard Control 2-14 2-2.3.3 Tail Control . 2-15 2-2.3.4 Wing Control . 2-15 2-2.3.5 Control Servomotor . 2-15 2-2.4 WARHEAD AND . 2-15 2-2.4.1 Warhead . 2-15 2-2.4.1.1 Shaped Charge . 2-18 2-2.4.1.2 Continuous Rod . 2-18 2-2.4.1.3 Fragment 2-1
12、8 2-2.4.2 Fuze . 2-18 2-2.4.3 Lethality . 2-19 2-2.5 PROPULSION . 2-20 2-2.5.1 Motor . : . 2-20 2-2.5.1.1 Boost Glide 2-21 . 111 Licensed by Information Handling Services Licensed by Information Handling Services9999970 0200059 5T . MIL-H DBK-1211 (MI) 2-2.5.1.2 Boost Sustain . 2-21 2-2.5.1.3 Specif
13、ic Impulse 2.2 1 2-2.5.2 Tube Launch Ejection 2-22 2-2.5.3 2-2.6.1 Typical Configurations 2-23 2-2.6.2 Static Stability . 2-23 2-3 GUIDANCE 2-24 2-3.1 GUIDANCE IMPLEMENTATION 2-25 Ground Guidance and Tracking 2-25 Command 2-25 2-2.5.1.4 Temperature Effects 2.22 Propulsion Design and Operational Impl
14、ications 2-22 2-2.6 AIRFRAME . 2-23 2-3.1.1 2-3.1 . 1 . 1 2-3.1.1.2 Track via Missile . 2-25 2-3.1.1.3 Command to Line of Sight 2-27 2-3.1.1.4 Target Iiluminators 2-27 2-3.1.2.1 Active 2-27 2-3.1.2.2 Semiactive . 2-27 2-3.1.2.3 Passive . 2-27 2-3.2.1 Intercept Point Prediction 2-28 2-3.2.2 Pursuit 2
15、-28 2-3.2.3 Beam Rider 2-28 2-3.2.4 Proportional Navigation 2-28 2-3.2.5 Optimal Guidance 2-30 2-3.1.2 Onboard Guidance and Tracking . : . 2-27 . 2-3.2 GUIDANCE LAWS . 2-27 2-4 LAUNCHER . 2-31 SOURCE OF INITIAL CONDITIONS . 2-31 LAUNCHER POINTING DIRECTION 2-31 2-4.1 2-4.2 REFERENCES . 2-31 BIBLIOGR
16、APHY 2-31 CHAPTER 3 MISSILE SIMULATION OVERVIEW 3-0 LIST OF SYMBOLS 3-1 3- 1 INTRODUCTION 3-1 3-2 MISSILE SIMULATION OBJECTIVES . 3-2 MISSILE SIMULATION PERSPECTIVE . 3-2 3-2.1 3-2.1.1 Establishing Requirements 3-2 3-2.1.2 Designing and Optimizing Missiles 3-3 3-2.1.3 Assessing Missile Performance .
17、 3-3 . 3-2.1.4 Training . 3-4 3-2.2 OBJECTIVES OF SIMULATIONS ADDRESSED IN THIS HANDBOOK . 3-4 ESSENTiALS OF MISSILE SIMULATIONS . 3-4 3-3.1 SIMULATING MISSILE GUIDANCE AND CONTROL 3-4 3-3.1.1 Guidance 3-5 3-3.1.2 Autopilot and Control 3-5 3-3.2 SIMULATING MISSILE AND TARGET MOTION . 3-5 3-3.2.1 Gra
18、vitational Force 3-5 3-3.2.2 Propulsive Force 3-6 3-3.2.3 Aerodynamic Force . 3-6 3-3 3-3.2.4 Airframe Response 3-7 3-3.3 ROLE OF COORDINATE SYSTEMS . 3-8 3-3.4 COMPUTATIONAL CYCLE . 3-10 LEVEL OF SIMULATION DETAIL 3-12 MODELING TO MATCH SIMULATION OBJECTIVES 3-12 3-4 3-4.1 iv Licensed by Informatio
19、n Handling Services Licensed by Information Handling ServicesMIL-HDBK-LZLL 9999970 0200060 b7L = MIL-HDBK-1211 (MI) 3-4.2 MODEL SOPHISTICATION REQUIRED TO SATISEY HANDBOOK OBJECTIVES . 3-13 REFERENCES . 3-13 BIBLIOGRAPHY 3-14 CHAPTER 4 MISSILE DYNAMICS 4-0 LIST OF SYMBOLS 4-1 4- 1 INTRODUCTION . -4-
20、3 4-2 NOMENCLATURE AND CONVENTIONS 4-4 4-3 BASIC EQUATIONS i 4-6 4-3.1 NEWTONS SECOND LAW OF MOTION . 4-6 4-3.2 ROTATING REFERENCE FRAMES 4-7 4-3.2.1 Time Derivative of a Vector 4-8 4-3.2.2 Acceleration in a Rotating Frame 4-9 4-4 FORCES AND MOMENTS . 4-10 . 4-4.1 AERODYNAMIC FORCES AND MOMENTS . 4-
21、10 4-4.2 THRUST FORCE AND MOMENT 4-12 4-4.2.1 Variable Mass 4-12 4-4.2.2 Moment Due to Thrust 4-14 4-4.3.1 Newtonian Gravitation 4-14 4-4.3.2 Gravity in Rotating Earth Frame . 4-14 4-4.3 GRAVITATIONAL FORCE . 4-14 4-5 EQUATIONS OF MOTION . 4-16 4-5.1 TRANSLATIONAL EQUATIONS . 4-16 4-5.2 ROTATIONAL E
22、QUATIONS 4-18 4-5.2.1 Rotational Accelerations . 4-20 4-5.2.2 Gyroscopic Moments . 4-20 4-5.2.3 Rate of Change of Euler Angles 4-21 REFERENCES . 4-22 4-6 APPLICATION OF EQUATIONS OF MOTION . 4-21 BIBLIOGRAPHY 4-22 CHAPTER 5 MISSILE AERODYNAMICS 5-0 LIST OF SYMBOLS i . 5-1 5-1 INTRODUCTION 5-2 5-2 AE
23、RODYNAMIC COEFFICIENTS 5-3 5-2.1 APPLICATION OF AERODYNAMIC COEFFICIENTS 5-3 5-2.1.1 Dynamic Pressure Parameter . 5-3 5-2.1.2 Force Coefficient 54 5-2.1.2.1 Effect of Mach Number : 5-4 5-2.1.2.2 Effect of Reynolds Number . 5-4 5-2.1.3 Reference Area 5-4 Components of Forces and Moments 5-5 5-2A.5 Li
24、nearity Assumption 5-6 5-2.1.4 5-2.2 DRAG COEFFICIENTS 5-6 5-2.3 LIFT COEFFICIENTS . 5-9 5-2.4 MOMENT COEFFICIENTS . 5-9 5-3.1 5-3 AERODYNAMIC STABILITY DERIVATIVES . 5-12 Lm CURVE SLOPE 5-12 5-3.2 STATIC PITCH STABILITY DERJYATIVE . 5-13 5-3.3 5-3.4 DYNAMIC STABILITY DEATIVES 5-13 ROLL STABILITY DE
25、RIVATIVE3 5-14 DETERMINATION OF AERODYNAMIC COEFFICIENTS 5-14 5-4 5-4.1 ANALYTICAL PREDICTION . 5-15 . V Licensed by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-1211 70 02OOObL 508 5-4.2 WIND TUNNU TESTING 5-16 54.3 FLIGHT TESTING 5-17 5-5 ATMOSPHERIC PROPERTIES .
26、 5-17 5-6 MISSILE AERODYNAMIC FORCE AND MOMENT EQUATIONS 5-18 5-6.1 FORCES AND MOMENTS 5-18 5-62! COEFFICIENTS 5-19 5-6.3 SIMPLIFICATIONS 5-20 5-7 ROLLING AIRFRAME CONSIDERATIONS 5-20 5-7.1 ROLLING REFERENCE FRAMES . 5-21 5-7.2 NEGLECTING LOW ROLL RATES 5-21 5-7.3 AVERAGING AERODYNAMIC COEFFICIENTS
27、5-21 5-7.4 MAGNUS EFFECT . 5-22 5-7.5 MODULATION OF FIN DEFLECTION ANGLE . 5-22 REFERENCES . 5-23 BIBLIOGRAPHY 5-23 CHAPTER 6 MISSILE PROPULSION 6-0 LIST OF SYMBOLS 6-1 6- 1 INTRODUCTION 6-1 6-2 TYPES OF PROPULSION . 6-1 6-2.1 SOLID PROPELLANT ROCKET MOTOR . 6-1 6-2.2 AIR-AUGMENTED ROCKET MOTOR 6-2
28、6-2.3 LIQUID PROPELLANT ROCKET MOTOR . 6-2 6-2.4 TURBOJET ENGINE 6-2 6-2.5 RAMJET ENGINE 6-2 6-3 SIMULATION OF THRUST AND MASS PARAMETERS 6-2 6-3.3 GRAIN TEMPERATURE . 6-2 6-3.2 REFERENCE CONDITIONS . 6-3 6-3.3 MASS CHANGE . 6-3 6-3.4 TUBE LAUNCH 6-3 6-4 PROPULSION FORCE AND MOMENT VECTORS 6-3 REFER
29、ENCES . 6-5 CHAPTER 7 MISSILE AND TARGET MOTION 7-0 LIST OF SYMBOLS 7-1 7- 1 INTRODUCTION 7-4 7-2 COORDINATE SYSTEMS 74 7-3 MISSILE MOTION 7-4 7-3.1 INITIAL CONDITIONS 7-4 7-3.2 MISSILE FLIGHT . 7-5 Six Degrees of Freedom 7-5 7-3.2.1.1 Translational Equations . 7-5 7-3.2.1.1.1 Aerodynamic Force 7-5
30、7-3.2.1.1.2 Propulsive Force . 7-6 7-3.2.1.1.3 Gravitational Force . 7-7 7-3.2.1.1.4 Translational and Angular Rates 7-7 7-3.2.1.2 Rotational Equations . 7-7 7-3.2.1.2.1 Aerodynamic Moment 7-8 7-3.2.1.2.2 Propulsive Moment 7-9 7-3.2.1.2.3 Moments of Inertia 7-10 7-3.2.1.3 Euler Angles 7-10 7-3.2.2 F
31、ive Degrees of Freedom 7-10 7-3.2.1 7-3.2.1.1.5 Mas 7-7 vi Licensed by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-L2LL 9997970 0200062 444 7-3.2.3 Three Degrees of Freedom 7-10 7-3.2.3.1 Aerodynamic Force . 7-10 7-3.2.3.1.1 Instantaneous Response 7-10 7-3.2.3.1.2
32、 Second-Order Response 7-13 7-3.2.3.2 Propulsive Force 7-13 7-3.2.3.3 Gravitational Force 7-13 STRAIGHT, CONSTANT-SPEED FLIGHT 7-14 7-4.2 MANEUVERING FLIGHT . 7-14 7-4.2.1 Load Factor 7-15 7-4.2.2 Horizontal ms 7-15 Weaves in Horizontal Plane 7-16 7-4.2.3.1 Cosine Weave 7-16 7-4.2.3.2 Circular-Arc W
33、eave 7-16 7-4.2.4 Roll Attitude 7-17 RELATIVE MISSILE-TARGET GEOMETRY 7-17 7-5.1 RELATIVE POSITION . 7-17 7-5.2 RELATIVE ATTITUDE . 7-17 7-5.3 MISS DIST . 7-18 7-4 TARGET MOTION 7-14 7-4.1 7-4.2.3 7-5 . REFERENCES 7-21 BIBLIOGRAPHY 7-21 CHAPTER 8 GUIDANCE AND CONTROL MODELING 8-0 LIST OF SYMBOLS 8-1
34、 8-1 INTRODUCTION 8-2 8-2 GUIDANCE MODELING . 8-3 8-2.1 SEEKER MODELING 8-3 8-2.1.1 Perfect Seeker 8-3 8-2.1.2 Accurate Tracking With Time Lag 8-5 8-2.1.3 8-2.2.1 Perfect Guidance . 8-8 8-2.2.2 Practical Proportional Navigation . 8-9 Missiles With RF Seekers . 8-9 Intermediate-Fidelity Seeker Model
35、8-6 8-2.2 GUIDANCE PROCESSOR MODELING . 8-8 8-2.2.2.1 8-2.2.2.2 Missiles With IR Seekers 8-10 Six Degrees of Freedom 8-11 Five Degrees of Freedom 8-13 Three Degrees of Freedom 8-13 GROUND-BASED GUIDANCE MODELING 8-13 8-2.4.1 Semiactive Homing . 8-14 Beam Rider and Command to Line of Sight . 8-14 8-2
36、.3 AUTOPILOT MODELING . 8-11 8-2.3.1 8-2.3.2 8-2.3.3 8-2.4 8-2.4.2 Command 8-14 8-2.4.3 8-2.4.4 Track Via Missile 8-16 8-3 CONTROL SYSTEM MODELING . 8-17 8-4 HARDWARE SUBSTITUTION 8-18 8-4.1 DESCRIPTION OF MISSILE HARDWARE SUBSTITUTION . 8-18 8-4.1.1 Substituting Missile Hardware 8-18 8-4.1.1.1 Miss
37、ile-Seeker-in-the-Loop Simulation 8-19 8-4.1.1.2 Missile-Seeker-Electronics-in-the-Loop Simulation . 8-19 Positioning Missile Hardware . 8-20 Closing the Loop With Missile Hardware . 8-20 8-4.1.2 8-4.1.3 8-4.2 8-4.3 SEEKER HARDWARE SUBSTITUTION . 8-23 AUTOPILOT HARDWARE SUBSTITUTION 8-23 vii License
38、d by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-1211 9999970 02000b3 380 = MIL-HDBK-1211 (MI) 8-4.4 CONTROL HARDWARE SUBSTITUTION . 8-23 REFERENCES . 8-23 BIBLIOGRAPHY 8-24 CHAPTER 9 SCENE SIMULATION 9- 1 INTRODUCTION 9-1 9-2 SCENE ELEMENTS 9-1 9-2.1 TARGET 9-1 9
39、-2.1.1 Electro-optical Signatures 9-2 9-2.1.2 Radio Frequency Signatures 9-3 9-2.2 SCENE BACKGROUND 9-4 9-2.3 COUNTERMEASURES 9-4 9-2.3.1 Signature Suppression . 9-4 9-2.3.3 Jamming 9-4 9-2.3.4 Decoys . 9-4 ATMOSPHERIC AND RANGE EFFECTS . 9-5 9-3 METHODS OF SCENE SIMULATION 9-5 MATHEMATICAL SCENE SI
40、MULATION 9-6 PHYSIC AL. SCENE SIMULATION . 9-6 9-3.2.1 Elmtro-Optical 9-6 9-2.3.2 Evasive Maneuvers 9-4 . 9-2.4 9-3.1 9-3.2 9-3.2.2 Radio Frequency 9-6 EQUIPMENT FOR SCENE SIMULATION . 9-7 Ultraviolet-Infrared Scene Generator (UVIRSG) . 9-7 Components and Operation . 9-7 9-3.3 ELECTRONIC SCENE SIMUL
41、ATION . 9-7 9-4 9-4.1 ELECTRO-OPTICAL SCENES 9-7 9-4.1.1 9-4.1.1.1 9-4.1.1.2 Targets . 9-9 9-4.1.1.3 Decoys . 9-9 9-4.1.1.4 Jammers : 9-9 Target Image Simulator . 9-9 9-4.1.2.1 9-4.1.2.3 Updating on the ny . 9-10 9-4.1.3 Unique Decoy Generator . 9-10 9-4.2.1 Simulation Equipment . 9-10 9-4.2.2 Level
42、s of Fidelity . 9-11 9-4.1.2 Components and Operation . 9-9 9-4.1.2.2 Iterative Modeling . 9-9 9-4.2 RADIO FREQUENCY SCENES 9-10 REFERWCES . 9-12 BIBLIOGRAPHY 9-12 CHAPTER 10 IMPLEMENTATION 10-0 LIST OF SYMBOLS 10-1 10-1 INTRODUCTION 10-1 10-2 SELECON OF COMPUTERS 10-2 10-2.1 ASSESSING COMPUTER PROC
43、ESSING SPEED (BENCHMARKS) 10-4 10-2.2 10-2.3 SECONDARY CONSIDERATIONS 10-5 10-3 SELECTION OF COMPUTER LANGUAGES 10-6 10-4 TECHNIQUES . 10-7 10-4.1.1 Explicit Methods . 10-8 10-4.1.1.1 Euler Method . 10-8 EXAMPLE SIMULATION COMPUTER FACILITY . 10-4 10-4.1 NUMERICAL SOLUTION OF DIFFERENTIAL EQUATIONS
44、10-8 . v111 Licensed by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-1211 = 9999970 02000b4 217 MI L-H DB K-1211 (MI) 10-4.1.1.2 Runge-Kutta Method . 10-9 10-4.1.2 Implicit Methods . 10-10 10-4.1.2.1 One-Step Processes . 10-10 10-4.1.2.1.1 Improved Euler Method 10-
45、 10 10-4.1.2.1.2 Modified Euler Method 10- 11 10-4.1.2.2 Multistep Processes . 10-11 10-4.1.2.2.1 MilneMethod . 10-11 10-4.1.2.2.2 Adams Methods 10-12 10-4.1.3 Modem Numerical Integration Methods . 10-13 10-4.1.4 Applications 10-13 DIGITAL SOLUTION OF TRANSFER FUNCTIONS 10- 14 10-4.2.1 The Tustin Me
46、thod 10-14 10-4.2 10-4.2.2 Root-Matching Method . 10-16 SPECIAL INSTRUCTIONS FOR HARDWARE-IN-THE-LOOP SIMULATIONS 10- 19 REFERENCES . 10-19 BIBLIOGRAPHY 10-20 10-4.3 CHAPTER 11 VERIFICATION AND VALIDATION 11-1 INTRODUCTION 11-1 11-2 VERIFICATION . 11-1 11-3 VALIDATION 11-2 LEVELS OF CONFIDENCE 11-2
47、COMPARISON WITH TEST RESULTS . i . 11-3 11-3.1 11-3.2 11-3.2.1 Statistical Methods 11-3 11-3.2.2 Nonstatistical Methods 11-4 11-3.2.3 Model Calibration 11-4 11-3.2.4 Neighborhood of Validi sr 11-4 11-3.3 SCENE VALIDATION . 11-4 11-4 ACCREDITATION 11-4 1 1-5 SELECTION OF METHODS 11-5 REFERENCES . 11-
48、5 BIBLIOGRAPHY 11-5 CHAPTER 12 SIMULATION SYNTHESIS 12-0 LIST OF SYMBOLS 12-1 12-1 INTRODUCTION 12-4 12-2 EXAMPLE SIMULATION 12-4 12-2.1 SCENARIO 12-4 12-2.2 OBJECTWE3 12-4 12-2.3 PROGRAM STRUCTURE 12-5 12-2.4 INPUT DATA 12-6 12-2.4.1 Mass . 12-6 12-2.4.2 Propulsion 12-6 12-2.4.3 Aerodynamics 12-6 1
49、2-2.4.4 Seeker 12-7 12-2.4.5 Autopilot and Controls 12-7 12-2.4.6 Program Control 12-7 12-2.4.7 Constants . 12-7 12-2.5 INITIALIZATION . 12-7 12-2.6 FIRE CONTROL . 12-7 12-2.7 ATMOSPHERE . 12-8 12-2.8 RELATIVE POSITION AND VELOCITY : . 12-9 12-2.9 TEST CLOSING SPEED . 12-9 ix Licensed by Information Handling Services Licensed by Information Handling ServicesMIL-HDBK-1211 = 9999970 02000b5 153 MIL-HDBK-1211 (MI) 12-2.10 SEEKER . 12-9 12-2.11 GUIDANCE AND CONTROL . : . 12-10 12-2.11.1 Test for Active Guidance . 12-10 12-2.11.2 Autopilot 12-10 12-2.11.3 Control System 12
