Modeling of a Two-Degree of Freedom Launcher

Modeling of processes and systems is very essential step in control engineering. This paper considers a two-degree-of-freedom launcher which can move in Azimuth and Elevation directions and presents a model of the system. In this model, the relationships between inputs and outputs of the system and their interactions are carefully derived. In addition to the effect of controlled inputs, all other effective factors such as friction and backlash on the behavior of the system are considered. For this purpose, two types of Viscous and Coulomb frictions have been considered in different parts of the launcher, and a model of them is presented. Furthermore, in order to use this modeling in control procedure, a single-input single-output approach (SISO) is presented. In other words, using this view, both Azimuth and Elevation direction of the launcher are considered independent of each other, and the interferences between these two directions are considered as disturbance inputs.