Đề xuất một nguyên lý mới điều khiển thiết bị bay một kênh

DE XUAT MOT NGUYEN LY M I DIEU KHIEN THIET BI BAY MQT KENH Phan Vdn Tir, Vien Ten lira Vien Khoa hgc Cdng nghi Qudn sir Tdm tdt: Bdi bdo ndy de xudt mgt nguyen ly mdi dieu khiin thiit bi bay diiu khiin mdt kenh (TBBMK) md tdc gid ggi la nguyen ly "chim bav" Theo thdng tin md tdc gid cd dugc thi chua tdi lieu ndo cdng bd ve nguyen ly dieu khien ndy Bdi bdo si niu lin tinh uu viit cua nguyen ly so vdi cdc nguyen ly dang dp dung vd dd di xuat Abstract: This paper attempts to promote a new principle for one-channel flight equipment control that is called by author "birdflight" principle It is a new principle because it has not been published by any papers This paper presents advantages of this principle in comparison with other applied principles and published principles LMODAU Theo tai lieu [1] ta thdy cac tac gia dd neu len mdt sd phuang phdp dieu khien TBBMK Dieu khien TBBMK theo phuong phdp bien xung; Dieu khien TBBMK theo phuang phdp thay ddi rdng vd pha cua gdc cdnh Idi; Dieu khien TBBMK theo phuong phdp dieu chedd rdng xung Ddc diem chung cua ba phuang phdp tren Id cdnh Idi ciia TBBMK phdi Idm viec d che xung Uu diem ciia phuang phdp Id mdy Idi cd ket cdu khdng qud phirc tap vd nd chi phdi ling vdi ddu ciia tfn hieu dieu khien Nhung ddc diem ndy ciing dua den nhimg nhugc diem: Lam tdng tfnh phi tuyen cua he; Lam phiirc tap viec tdng hgp tdc ddng dieu khien vd phdi dua them thdnh phdn dieu che; - Quy dao bay ludn ludn bj ddo lam gidm dg chfnh xdc dieu khien; Lam tdng luc cdn vd gidm cy ly bay cua thilt bj bay (TBB); Lam tdng khd ndng mdt dn djnh ciia TBB Sau mgt thdi gian ddi nghien ciiu vl mat todn hgc vd md phdng tren mdy tfnh, tdc gia da phdt hien mgt nguyen ly that gidn dj vd dl xudt ten ggi Id nguyen ly "chim bay" IL CO S d LAP LUAN T O A N H Q C DE XAY DVNG NGUYEN LY •» Khi quan sat chim bay ta cd the thdy chim cd mgt ddi cdnh nhung dugc sOr dung cho nhieu chirc ndng: ndng, ha, bay tiln, lui va ddi hudng Khi nhin ddi cdnh chim bay cd thi ggi y cho ta mdt dang chuyen dgn^ cua cdnh chim ma ta cd thi hgc dugc Chuyin ddng ciia cdnh chim cd the dugc md phdng bdng mgt dao dgng cd bien do, tdn sd, pha thay ddi Dat bai toan: Cho ddi tugrng dieu khien la TBBMK md dgng hgc cua nd duac mo ta bdng hi phuang trinh vi phdn: , dd „ p ^ ^ m V — = Kg cos (OJ.o^ - G cos f mV —^ = K,^, sin coj.d^ 708 (1) Tim diiu khien S^{t) cho lire phdp tuyen trung binh ty li vdi bien ciia tin hiiu sai lech dieu khien S^lt) thay ddi lien tuc gidi hgn cho phep -Sy< S^{t) < S^ Trong he {\):m - khdi lugng; V - van tic; - gdc nghieng quy dao; oj^ - toe quay quanh tmc ddi xiing ciia nd; G - trgng lugng cua TBBMK; ^^- gdc hudng quy dao; A - djch chuyen theo tmc Ox;y cao; z dat; t - thdi gian; Sb - tdc ddng dilu khiln; Kg, Kf- he sd the hien hieu iing dieu khien d hai hudng.Cdc he sl phy thudc vdo lye ddy vd lye khf ddng NIU ta bii tit trgng lugng (Gcos^=0) thi he (1) cd thi chuyen thdnh: , , dd , r mV — =Kgd^cosa),.t d^' (2) ' • H ' " ^ ' sin coj mV = K^S,, dt trinh chuyin dgrig cua TBBMK theo hai hudng vd He (2) cd thi xem la he phuang quy udc theo he toa dg mat ddt thi phuang trinh thir nhdt md td chuyin ddng len xuing (theo y), phuang trinh thii hai md td chuyen ddng ngang (theo z) [2] Ta ky hieu tuong iing cdc thdnh phdn ciia lye phdp tuyen F^.,F vd : F, = KgS, cos 0)J ^^^ F = K^S^ sin Q)J ^ y Im • Neu ta bieu dien tren he toa dg De cdc thi ta co: Va ta quy udc gdc vecto lye F lam vdi tryc Oz Id gdc thi: F^ = -F sin ^ (4) F.=F cos ^ •• Theo (3) cac lye F,, F thay ddi dilu hod nen ddnh gia gia tri ciia chiing ta phdi lay tmng binh mdt chu ky: ^ T (5) F'.Ts=-lKAsinO)jdt Hay: '" F.TB = T - KeS, cos/dy 2n% (6) '" 709 vdi y = coj F F - luon" irn2 hi cac Ria tri trung binh ciia krc F^,F mdt chu ky quay ciia TBBMK T- — Theo yeu cdu dat cua bai toan va tuong irng vdi (4) ta cd: ^vr«=-^r«sin^ d day F^-g lye trung binh ma TBBMK nhdn dugc sau mdt chu ky Theo yeu cau dilu khiln thi lye phdi ty le vdi sai lech A Id khodng cdch giira true dii xirng TBBMK vdi tmc cua bg tga Frs = KA , (8) a day A!"- he sd ty le Kit hgp (6), (7), (8) ta cd: , r — f KgS,^ cos cojdt = -KA sin ^ (9) ^ ° 1r — IK^S^sin ajjdt = KAcostp ' Bay gid nhiem vy ddt Id tim S^ cho thod man bieu thirc (9) Ta de ddng nhan thdy rang dieu khien S^ - const thi lye tong hgp trung binh se bdng Tir (9) ta thdy dieu khien J^ phdi Id mdt ham cua A vd ^ vd phdi cd thdnh phdn chiia 0)^t de triet tieu dnh hudng ciia o)^t sau mdt chu ky Hon nua, theo yeu cdu ddt ciia bai todn thi