Thiết kế mô hình máy bay không người lái UAV dạng cánh bằng

^EEaSSSCONGNGHJ THIET KE MO HINH MAY BAY KHONG NGl/GTl LAI UAV DANG CANH BANG DESIGNING THE MODEL OF UNMANNED AERIAL VEHICLE AIRPLANE Nguyen Xuan Chung, I r a n fiiJc Quy, Nguyen Van Trifdng Tom t i t B^i bao de cap Inh hu'cing ci^a cac thong so hinh hgc canh may bay nhu" d5 phin bo chieu day, day tiriAig dm, dg khum, tdi qua trinh thiet ke may bay Ichong ngudl lai UAV dang canh bang Ket qua lam C050^ de thiet he mot mau UAV CO kha nang hoat dong tot vdi ban kinli hoat dong 2-3l(m, tai 2-4 kg di^u ki^n cap gio ti^ 0-6 Til khoa: May bay ktiong ngir^i lai, thong so, canh bang Abstract The article focuses on the influence of the geometrical parameters such as the thickness distribution, the relative thickness and others on making the UAV airplane type These results provide the basis of designing a UAV model which can fly well in 2-3 km control radius and 2-4 kgs weight under the 0-6 windy level, Keywords Unmanned Aerial Vehicle, paramenter, aiiplane ThS Nguyen Xuan Chung, TS TrSnflilcQuy, KS, Nguyin Van Trudng Tnicmg {lai hoc Cong nghiep Ha Noi Email' truongnv_di@haui.edu.vn 1.GldlTHI$U May bay khong ngadi lai - UAV[1][2] (Unmanned Aerial Vehicle) duac hieu la thiet bi bay khong co ngadi trac tiep van hanh tren khoang lai, duac dieu khien tCrxa bang cac tram mat dat hoac bay tu dong theo mot chuong trinh (quy dao bay) da dmh sin nudc ngoai, UAV da dUOc nghien ciru va irng dyng rong rai dac biet la ITnh vUc quan sU va an ninh quoc phong Cac cudng qudc ve UAV nhU My va Isarel da phat trien rat nhieu loai UAV tam xa, co tdc dp cao, tran bay Idn vdi kha nang mang theo vu tan cdng thuc hien cac nhiem vu tham, tinh bao, chien dau va tac chien dien tCr Ngaynhanbai: 20/12/2013 Ngay chap nhan dang: 20/03/2014 Tai Viet Nam, trUdc nhu cau uTng dyng cap thiet quan sU, phdng chong thien tai, da bao thdi tiet va khdng anh UAV cang duoc nghien cuTu rong rai va da cd nhufng ket qua dang khich le, nhang cung gap Chieu day circ daii Mep tan Bvimg chn5n Hinh Cat thong SO canh UAV TapdiiKHOAHOC&CONGNGHE S phai nhieu thach thtrc Idn dac biet laco sd ly thuyet thiet ke nen ting Viec thiet ke hinh dang may bay thia man cac yeu cau ve dp ben, kha nang mang tai, tinh nang dpng hocva dieu khien de dang la mot yeu cau cap thiet hang dau Hien da cd mpt sd phi/cfng phap khac thiet ke bien dang may bay.Trong bai bao nay, phuong phip tfnh chpn daoc sCr dung dua tren cd sd tfnh toan, loa chpn cac thdng so phii hop theo nguyen ly thiet ke vat the bay Ket qua nghien cuU duoc sCf dung de che tao mdt mau may bay dang canh bang 2.C0sdTHieTKEUAV 2.1 Cac yeu to hinh hpc cua bien dang canh UAV Xet mat cat ngang cua canh nhi/ hinh 1, ta cd cac thdng so ky thultffl ban [3] nhu sau: - A la mep tan cua canh - F la mep sau cua bien dang canh - AF duoc goi la cung cua bien 6m canh SCIENCE TECHNOLOGY - Oudng thang di qua AF goi la dudng chuan - Goc a tao bdi giUa dUdng AF (dudng vien bung canh) va hadng gid Vgoi la gdc tan 2.2 Do phan bo chieu day, dp day tUtfng doi cua bien dang canh Chieu day cua mot bien dang canh duoc gidi han bdi dudng khum vdng phia tren va phia dudi cua bien dang canh do, nd thay doi tii mep tan (A) tdi mep sau (F) Chieu day bien dang canh dat gia tri cue dai tai diem E tren dudng chuan (hinh 1) Thdng thucmg vi tri cCia diem E bang 30 - 40% chieu dai cua bien dang canh Bd day tuong ddi e la ti so gida day cue dai tai mot diem E tren dadng chuan va thadng cd dp day khoang 6-14% 2.3 Dp khum vong tUcfng doi, dUcrng trung binh Budng trung binh tao bdi cac diem nam d giCra diem cua dudng khum vdng phia tren va phia dadi cua bien dang canh Khoang each giijra dudng trung binh va dudng chuan cung thay doi t d A den F va dat gia trj cue dai tai diem C tren dUdng chuan AF (hinh 1) Do khum vdng tuong ddi c la ti so gida dp khum vong eUc dai vdi chieu dai cua cung canh Vi tri cua diem C anh hadng tdi dac tinh cua bien dang canh, dien hinh la lUc nang Can cd vao khum vdng, ngudi ta chia bien dang canh lam loai (hinh 2) 2.4 SU phan bo ap lUc Khi m p t be m a t c o n g bat ky chuyen d d n g t r o n g Idng m o t chat dan luu (luong k h d n g k h i hay chat Idng) va cung cua m a t c o n g d d h d p vdi p h u o n g cua toe d p tUong doi V m o t gdc tan, ta thay, chat luu d o b\ tach t d m e p tan, m p t b p p h a n cua ludng d d cham vao mat d u d i cua t a m bi d o n nen lai, d o d d tao n e n v i i n g t a n g ap Bo phan cdn lal cua luong tiep tuc chuyen d d n g d m | t tren cua t a m h\ Idi c u o n bdi cac phan t i l cua chat dan Idu va tao m p t r a) b) c) Hinh Cac loai bien dang canh a Bien dgng cdnh co khum vong Idn: he sdlilc nang Crnt Idn, momen true ngoc C^^ Idn b Bien dang cdnh co khum vong vdo: he ioliSc nang C va C^ trung bmh c Bien dgng cdnh co khum vong bong (thudng gdp dbien dgng cdnh ddi xdng): momen true n Vung giam ap Vungtangap Hinh Phan bo ap iuc len canh kiii he so li/c nang C = 0,1 vung giam ap {hinh 3) va lUc dpng tren profil canh (hinh 4) Su ket hop gida luong tang ap va giam ap tao nen m d t t o n g hop lac R dape xac djnh n h u sau: - £)iem dat cua tong hpp (Uc R nam d diem CP goi la tam eua lac nang Tam lac nang djch chuyen dpc theo bien dang canh tiiy thupc vao su thay doi cCia gdc tan A Vdi gdc tan thadng diing nganh hang khdng, tam day CP se rdi xa mep tan gdc tan giam t d 15" xudng 0° khdi lUdng neng ciia chat lau, V la toe d d d d n g chay qua m d t tiet dien dang xet, h la chieu cao cua tiet dien tinh den mdc cho trudc - Phuong cCia tong hpp lUc R thay doi theo gdc tan cua bien dang canh De dan gian hda, ta cdng nhan phacing R vudng gdc vdi day cung cua bien dang canh De thay rd suthay doi ap lUc ve mat djnh lapng len dUdng vien tren va dUdi cua bien dang eanh, ngudi ta diing dadng vien dien the C [3] t h e hien sU thay doi do; - Chieu cua R hUdng ti^ bung canh l^n mat lUng cua canh - Cadng dp cua R ti le vdi dien tfch canh va t i le vdi binh phUdng cua tdc Ta d i i n g djnh luat Bernouilli de giai thieh Cd che hinh lUc nang tren canh Bieu thdc eua d m h luat: V P + p — + pgh = const (11 Trong do: P la ap suat t h u y tTnh, p la Hinh Luc dong tien proiil canh IpUL (3 Trong dd: P: ap suit tai mot diem tren bien dang canh P": ap suat khdng d mdt diem tuong doi xa bien dang canh U_: tdc dp eua khdng d xa bien dang canh Hinh 5, eho thay tai vi trf M tri so C S o - T a p dll KHOA HOC&CONGNGHE 125 ^ 1 Tl r •" Bang Tai don vi cua car loai may bay la cUc t i e u va c o g i a t n a m T d p h u o n g trinh Bernouilli c d t h e t h a y t d c d p ciia Tai don VI tinh Loai mo hinh UAV d d n g c h a t tUu la cUC d a i t a i d i e m d o Tai hnh cho don He so VI dien tieh canh dandai oz/sq.ft canh 4-6 Choi dongeooz/cid D i e m M chia C^ l a m v u n g : • V i i n g A d p h i a trUdc la v i i n g a p suat g i a m , t o e d d d o n g d a n lUu t a n g l e n May bay c6 toe cao, tinh co dong cao 200-250 22-26 May bay the thao toe trung binh 250-300 16-22 5-1 12-16 8-10 12-14 «-11 8-12 10-15 > May bay taped toe db tha'p • Phia sau d i e m IVI ia v i i n g a p s u a t t r d ve P- (ap s u a t b i n h t h a d n g d xa b i e n 300 Tau iifon Tau luon lienq dang canh) nghiem nhat la sU gia tai lUc quan tinh ly tam gay len bay bd ' nhao, luon vong hep Tai don vi cua cac loai may Do md hinh may bay dupc thiet ke la dang may bay tap co tdc thap nen tai trong don vj dien tich THIET K i M d H i N H UAV D A N G CANH B A N G De xac dinh dUOc dien tich canh, ap dung cong thdc [2],[3],[4]: Su'dung p h u o n g phap tinh chon de Don Kich thiTd^c vi Sai canh m 1-2 Chieu dai than m 0,8-1 Tam bay km 2-4 Tai kq Hoat dong cap gio dien tich Tdi trpng May bay UAV cd tong trpng lUong la M la tong lUOng may bay (oz) 1,3kg (hay 46 oz) va ed ban kinh vong T la tai don vi (oz/sq.ft) luon la 15m, bay vdi toe dp lOm/sthi May bay (UAV) dUpc thiet ke co M = h e s d q u a t a i se la: 15.9,8 Trong qua trinh bay lUon vdng vdi = ^ -.144 = 414(in') = 2670cm' 16 3.1.2 Tinh Ivtc ndng, hi soli/c ban kinh vdng lupn R = 15 m tiii mo ndng 0-6 L - , , = 3,25(kg) , Thiet ke hmh dang C,.o,V^S 3519 cdnh ^ L3519 o.V'.S W) Trong dd: d m h tinh L la l a c n a n g b a n g t d n g t r p n g l u o n g d d n g hoc, t a i t r o n g d o n v i a n h h U d n g V la v a n t d c b a y n g a n g t i n h d a u m a t lUc n a n g c u a m a y bay, e u t h e tai m d t g o c t a n d a c b i e t ( h a y g o c t a n t d i han) l a m c h o d d n g d i q u a canh g i u p may bay can b a n g goc t a n t d i han l u c n a n g c a o , h e so lUc c a n va momen t r u e n g d c d t r ; s d R^ t h a p se dUOc u\] t i e n Ben c a n h d d c a n lUc can cam ilng va g d e t a n e l m d n g t h a p , n e n ioai canh S la d i e n t i c h e u a c a n h t i n h t h e o m l d d i x d n g d a n g e l i p dUOc lUa chon de o la h e s d m a t d o k h i (tai m u c n u d c t h i e t k e ( h i n h ) T r o n g t h i e t ke nay, tac b i e n t h i o ^ , tai d p c a o 0 f t t h i a = , 6 , tai d p c a o 10000 ft t h i o ^ 0,348) b i t a c h d a n d e n m a y b a y b i m a t l u c nang, tdc d o bay d o khdng dii de theo m p h (dam/gid) d e n t d c d o t h a t t o e [3] (la t d c d p b t cdnh D d i v d i m a y b a y UAV cd toe dp bay c h a m , v i v a y b i e n d a n g c a n h c6 he so c u a m d h i n h m a y bay, t i n h t h e o (oz) I d n d e n t h i e t k e c a u t r u e Ve m a t k h i hinh se chiu mdt lUc nang la: T i r c d n g t h d c t i n h luc n a n g [2],[3],[4]: tdc dung len dcfn vi Tai t r o n g d o n v i q u y e t R: ban kinh vdng luon tinh theo m dien tich canh cua may bay la: 1,5-2 n a n g bay cua m a y bay v a c d a n h h u d n g (5) 46oz (gan 1,3 kg), T ^ 12 oz/sq.ft Do Thiet ke canh UAV 3.1.1 N = l + (1,466.V}' R.G G: gia tdc trpng trUdng 9,8 m/sf S la dien tich canh (sq.in) bo phan Clia may bay UAV Bd phan (3) Trong do: Bang Cac thong so diiOc chcn de thiet ke cac t i n h t o a n s u t a c d o n g d o , a p d u n g cong N h e s d q u a t a i tinhraG T (UAV) d a m b a o cac y e u cau n h u b a n g d a n g k e t a e d d n g l e n UAV k h i m o hinh t h u c h i e n c a e t h a o tae b a y n h a o Idn.fle Trong dd: s.'^.144 t h i e t ke c h o cac b d p h a n c u a m a y b a y 3.1.3.Tinhli/clytdm thi/c sau: canh la 12-16 oz/sq.ft Hinh Suthay doi ciia ap life 'L o.V'.S Lue ly t a m [2] g a y n e n sU gia tang bay duoc trinh bay bang d ^ L.3519 ^ „ C, = ^ — = 0,8 g i a dac b i e t q u a n t a m t d i eac dac tinh: - D a u m i l t c a n h d U d c t h i e t ke c6 Td tren ta c d : L= oz b a y v d i v a n d a n g cong len tren n h a m giam ton t o e 2 m p h ( g a n 10 m/s) v a c d d i e n t i c h t h a t d d n g k h i t a c d u n g l e n canh may 4 in^ b a y N g o a i r a , v i e c t h i e t ke dau mi3t d u o c ) , t o e d o c a n h c i i a m a y bay, g o c d a t c u a c a n h m a y b a y va c d a n h h u d n g TapdiiKHOAHOC&CONGNGHE S C h o n o = , t h a y v a o (4) t a t i n h dUOc: c a n h c o n g l e n c d n e d t a c d u n g giSm SCIENCETECHNOLOGYl xuong dudi - Oudi ngang duoe thiet ke cd dang tam va thudng cd dien tich bang 1/4 den 1/3 dien tich canh -Tam lai dudi dtirng diing de chuyen hudng may bay mat phang nam ngang Khi may bay bay binh thudng, dudi ddng trung vdi hadng bay nen nd khdng ed tae dung gi vdi hddng bay Neu dau may bay quay sang phai thi dudi may bay se quay sang trai, duoi ddng va hadng gid tao mdt gdc sinh mdt lUc dpng day dudi may bay ve phia ben trai va may bay trd lai trang thai binh thUdng c) Duui dimg - Neu dudi ddng each trpng tam xa hoac dien tieh Idn thi hUdng bay se on dinh hdn, nhUng neu Idn qua se lam cho may bay bay theo the xo^n de 3.2 Thiet ke than Trong cac thiet ke may bay thdng thadng, chieu dai than thadng ed kteh thude bSng 6/10 den 9/10 chieu dai sai eanh Viee thiet ke hinh dang than hdp ly giup cho may bay giam toi da lUc c^n cLia ddng tae ddng vao, giup eho may bay hoat ddng dn djnh va llnh hoat hon Ngoai ra, than may bay la bd phan ca sd dong thdi chda eae he thdng chap hanh va dieu khien, vi vay nd can dam b i o dp ben nhung phai nhe de giam tai nang, than dupc thiet ke nhu hinh d) DUOI ngang vii banh lai c Hinh6 Hinh dang thiet ke canh a) Mat cai ngang ctia than bJ Hiuli dang ilidn may bay Hinh Hinh dang thiet ke tlian Sau tinh toan thiet ke eho cac bd phan cua may bay (canh, than, dudi ddng, dudi ngang, canh lai, eanh lieng, nap day, ) ta daoc ban ve lap cua eae bo phan nhu hinh Hinh Ban ve thiet ke tong the ddng xoay bay, giup may bay can bSng hon - Phan canh li^ng dadc thiet ke de thay ddi dp cao va kiem soat can bSng bay Chieu rdng cCia eanh lieng thadng bang 25% day cung canh, chieu dai bang 35 - 40% chieu dai mot canh - Muon giCf thang b l n g may bay theo true dpc th) can ph5i cd duoi ngang Oudi ngang cd hai tac dyng: mdt mat khdi phuc lai trang thai can bang, mdt mat lam giJm bdt lan sdng - Banh iai ed the di chuyen len xudng nh^m giup may bay gid thang bang dau may bay hadng len hoac true xudng - Trac canh cda dudi ngang ed dang doi xdng nen bay, dudi ngang khdng cd gdc tan, do khdng tao mdt luc nao hadng len tren hoac Cd sd ve thiet ke may bay lam eo sd de che tao md hinh may bay thae te (hinh 9) K^T LUAN Qua qua trinh nghien cii'u va thiet ke md hinh may bay theo phuong phap chon, nhdm tac gia da tfnh toan va dua ban thiet ke cac bd phan eua may bay Md hinh may bay UAV dap dng duoc cae lUc nang va lUc can cho phep giup may bay hoat ddng tot theo S621.2014-TapdiiKHOAHOC&CONGNGHE | m i ' l » l | | i | l i l r n M r NGHE m a y b a y h o a t d d n g t d t v d i t a i t r o n g 1,7 k g , t h d i g i a n bay 2530 p h i i t , k h a n a n g b a y c a n b a n g va c h u y e n h u d n g t u o n g doi t d t M d h i n h d u o c t r a n g b i c a c t h i e t b i d i e u k h i e n , he thong d i n h v i GP5, c d c a m e r a t r u y e n d d l i e u d xa v a t r e n cao, xij(ly a n h Chi'nh n h d n g c h d e n a n g n a y g i u p m a y b a y kha nang c a n b a n g va d i e u k h i e n t o t h o n c h o p h e p d i e u i