Rocket System Attitude Control with Thrust Vectoring during Launch

Razvojem svemirske industrije javljaju se inovativne tehnološke izvedbe raketa, naročito u zadnje vrijeme. Lansiranje nekog objekta u orbitu i izvan nje jako je skupo zato što su donedavno određeni raketni sustavi odbacivani u ocean ili su izgorjeli u orbiti. Javila se ideja o opetovanom korištenju raketnih sustava, npr. dodatne pogonske rakete (booster) koje samostalno slijeću na Zemljinu površinu s jako velikom preciznošću, što utječe na pad cijene lansiranja rakete u orbitu ili izvan nje. Da bi se to postiglo, potrebna je jako sofisticirana tehnologija upravljanja jednim takvim sustavom. Ovaj rad obrađuje raketnu tehnologiju kroz povijest, ključne znanstvenike koji su svoj život posvetili svemirskim sustavima, pojavu vektoriranog potiska (Thrust Vector Control – TVC) i primjenu u današnje vrijeme. Obrađen je osnovni princip funkcioniranja rakete i njene komponente te izvedbe TVC-a kod raketa. Prikazan je način upravljanja raketom PID regulatorom i osnove stabilnosti rakete. Nakon toga slijede parametri modela rakete s pripadajućim komponentama, od geometrije do karakteristika pogonskog motora, gimbal aktuatora i mogući odabir elektroničkih komponenti. Izrađena je i simulacija lansiranja rakete i upravljanje njenim uzdužnim položajem s jednim od najraširenijih regulatora − PID regulatorom. Simulacija upravljanja izvedena je u Matlab/Simulinku. U simulaciji su putem 3DOF elementa dobiveni podaci o ponašanju rakete u lansiranju za različite željene postavke rakete i ponašanje PID regulatora te aktuatora u upravljanju uzdužnim položajem rakete.With the development of the space industry, innovative technological designs of rockets are emerging, especially recently. Launching an object into orbit and beyond is very expensive because until recently, certain missile systems were dropped into the ocean or burned in orbit. The idea of reusable rocket systems, such as additional booster rockets, which land independently on the Earth's surface with very high precision, has arisen, which affects the fall in the price of launching a rocket into orbit or beyond. To achieve this, a very sophisticated technology is needed to manage one such system. This paper deals with rocket technology throughout history, key scientists who have dedicated their lives to space systems, the emergence of vector thrust (TVC) and its application today. It is discussed about basic principle of the functioning of the rocket and its component, as well as the performance of the TVC. The method of PID controller rocket control and the basics of rocket stability are presented. This is followed by the parameters of the rocket model with the associated components, from the geometry to the characteristics of the propulsion engine, the gimbal actuator and the possible selection of electronic components. A simulation of rocket launch and control of its longitudinal position with one of the most widespread regulators - PID regulator was also made. The control simulation was performed in Matlab / Simulink. In the simulation, data on the rocket's behavior in launch for various desired rocket states and the behavior of the PID controller and actuator in controlling the longitudinal position of the rocket were obtained via the 3DOF element