Unrestricted General Solution of 6DoF Inverse Dynamics Problem of a 3D Guided Glider

Abstract

Although solving inverse dynamics problems is performed a lot in literature, none of the previous references addressed the general unrestricted solution of three dimensional (3D) trajectories of guided gliders. This glider could be any subsonic flying body such as guided ammunitions. Inverse dynamics could be one of the key techniques of solving similar problems. In this paper, 3D trajectory generation and following are performed. The trajectory generation is divided into three phases: heading correction, glide and terminal phases. The solution of the inverse problem is performed analytically, using the Mu-Pad tool. Next, a special formulation of the general dynamics equations enables the solution of such a problem and the calculation of the required deflection angles. Finally, a six degrees of freedom (6DoF) direct simulation is performed using the obtained deflection angles in order to compare its trajectory with the generated one. This comparison yields fairly good results and validates the quality of the proposed inverse dynamics solution.