Khảo sát phương pháp dẫn khí cụ máy bay thích nghi theo chuyển động của mục tiêu

Tap chi Khoa hoc va Cdng nghS 49 (ChuySn san nSm thu- 2, s6 1A) (2011) 115-123 KHAO SAT PHuaNG PHAP DAN KHI C U BAY THICH NGHI THEO CHUYEN DONG CUA MUC TIEU Nguyin Cong O i n h \ Nguyin Ngoc Khoa^ Triin Ngoc Ha^ 'Hgc vien Ky thugt Quan su Vien Ky thugt, Quan chung Phdng khdng - Khdng quan Din Tda sogn ngay: 12/6/2011 MOfDAU Trong cac he thdng dieu khien cy bay dua tren nguyen tic dilu khiln tir xa theo lenh vd tuyen, cac lenh dieu khien dugc tgo tir trung tam dieu khiln dudi mat dit tren ca sd cac tham so chuyen ddng ciia KCB va ciia myc tieu khdng gian, sau dd truyin len KCB theo dudng truyen vd tuyen Dk dilu khiln KCB tdi mdt vj tri xac djnh khdng gian (m^c tieu) cin phai xac djnh quy dgo chuyen ddng, tiire la xay dung mdt phuang phap dan cho KCB Trong [1] , cac tac gia da de cap den viec xay dung mdt phuang phap datil KCB cd quy dgo thich nghi theo chuyen ddng cua myc tieu, dam bao cd gia tdc phap tuyen (GTPT) sudt qua trinh dieu khien va tgi diem gap la nhd nhat (phuangphdp ddn "M") Trong bai bao nay, cac tac gia se thuc hien viec khao sat va danh gia phuong phap dan "M" dya tren Cd sd xac djnh quy dao dpng hinh hpc va khao sat cac tham sd dgc trung cua phuang phap dan "M" bang phuong phap md phdng may tinh va thuc hien so sanh, ddi chirng vdi cac phuang phap dan ca ban hien CO la phuong phap dan ba diem ("TT") va phuang phap dan ddn nira gdc ("HC") CAC THAM SO DAC TRU>fG CUA PrnTONG PHAP DAN KHI CV BAY 2.1 Phuorng trinh phuong phap dan "M" Phuorng trinh phuorng phap dan don tdng quat d6i vai KCB dugc mo ta nhu bieu thuc sau [1, 2, 4]: ^*=^.-'".^Ar; A=;5 '",f-Ar (1) dd: £„, J3„, £^, p^ la cac tga dg gdc ta va gdc phuang vi ciia muc tieu va KCB; e^ va P„ la tdc dp thay doi cua gdc ta va gdc phuang vj ciia muc tieu; Ar va Ar la khoang each va tic dp tilp can cua KCB vdi myc tieu; m^ va trip \a cac he so ddn gdc hai mat phang diimg va mat phang ngang Trong (1): Neu m^ = va /W/j = thi ta cd phuang phap dan "TT"; Nlu me= 0.5 va mp= 0.5 thi ta cd phuang phap dan "HC"; KhSo sSt phwang phSp dSn khI eg bay thich nghi theo chuySn dOng cOamgctiSu doi vdi phuang phap dan "M", cae hp so ddn gdc m^ vk m^ dugc xac djnh la [1]: ni = ^^'" + ^/"'" 2R^e„^X^„-K^„, „ _ RAcose„ "^^ =XP„ +2Rj„ A7' ^ + x0„ cose„ - Rj„ ^ cose„ (2) do: x = v, : i; 1^ toe dp chuyen dpng eiia KCB; £•„ v^ ^„, la gia toe goc cua muc tieu mat phing dirng va mat phing ngang; Ar la gia toe tiep ean mue tieu eiia KCB; R^ la cu ly nghicng eua diem KCB gap mue tieu (eon goi la cu li diem gap) Mvcti4u Hinh Md ta ddng hlnh hgc KCB phuang phdp ddn "M° 2.2 Cac tham so dac t r u n g eg ban ciia phircmg p h a p dan " M " De KCB chuyen ddng theo mdt quy dgo cong khdng gian can phai tac dpng len nd mpt luc phap tuyen Lye se gay nen GTPT va ddi hudng toe dp cua KCB Trj sd cua gia tdc dugc xac djnh bdi ty sd giira lye phap tuyin vdi khoi lugng KCB [2,3,7] Neu coi chuyen dpng ciia KCB hai mat phang dirng va mgt phang ngang la dgc Igp tlii GTPT cua KCB duae xac dinh bdi: y + p„ iv^ = m Z + P (3) )r,= m dd: Wy va Wy la gia tdc phap tuyen ciia KCB m§t phing diimg va mgt phang ngang; Y + P^va Z+P la cac lye tac dpng vao KCB theo hai mgt phing dOrng va ngang; m la trpng lugng ciia KCB Khi dd, qua tai phap tuyIn (QTPT) cua KCB dugc xac djnh bdi [1,5,6]: Y + P„ Wy Z + P^ W^ g (4) Mdt "tham sd dgc trung cho phuang phap dan la dp cong quy dgo (DCQD) cua KCB va dugc xac djnh bang [5,6,7]: 11^ Nguyin Cdng Djnh, NguySn Ngpc Kha, TrSn Ngpc HS _ ^+n _Y + P„ g _W,^ G V, V, S _•' w (5) G dd: Ky va K^ la DCQD ciia KCB mat phang dirng va m^t phang ngang Ta thay rang, phuong phap dan KCB cd cac tham so dgc trung ca ban khac nhu GTPT, QTPT, DCQD va chiing cd mdi lien hp vdi thdng qua cac bilu thirc toan hpc Do do, de khao sat va danh gia phuong phap dan KCB ta cd the khao sat mpt cac tham so dgc trung ciia phuong phap dan cae dieu kipn khac ciia myc tieu Trong bai bao ta cd the xac djnh dugc cac dgc tinh cua quy dgo ciing nhu hieu qua ciia phuang phap dan thong qua khao sat tham sd GTPT yo, k * ^ y' / / \\ V^ < y p Rry^ "\ \ I / ã \pô ] ejt r^ A—• Hinh Md ta viec xdc djnh GTPT cua KCB Trong cac he thdng dilu khiln KCB cd trang bj hai phuang phap dan ca ban, dd la phuong phap din "TT" va phuang phap din "HC" Dk xac djnh kha nang din KCB theo quy dgo ddng da djnh, ddi hdi phai xac djnh GTPT yeu ciu he tpa dp dit ^x^y^z^ • Hinh ehilu cua GTPT he tga dg Oxo>'o^o *^^° ^^'^ '"^^ P'^^"^ ^^'^^ ^^ ^^ ""^^ ^'^^"^ '^'"^ ^' ^'"'^ '^'^'^" GTPT cua KCB mat phing dirng va mat phing ngang din theo phuong phap dan "TT" dupe xac djnh bang [2,4,5]: (6) va dan theo phuang phap din "HC" dugc xac djnh bang: A , - A - ; : I sine,(Ocose,(/) (7) W.^^{t) = -v[p„(t)-U^)^ se,{t)^\K^^^^^ Trong phuang phap din "M", GTPT dugc xac djnh la [1]: 117 KhSo sSt phwang phSp d§n eg bay thich nghi theo ehuySn dOng eCia mgc tiSu It; ,„(/) = z(0{l-'"J^,„(0 + /?,(0(l-2m.)£:„,(/) + / ? , ( m X , ( ^ ; ]\\ „.(l) = -x(i)(\-'np)p„,(0^ose,(l)-R,(t){\-2mp)J3„(t)cose,(t)- (8) -/?.(0'"^A,(0^cos^,(/), dd: W, va W, la hinh chieu v6c ta GTPT eiia KCB dan theo phuang phap din C K tt\ rf '' "M" hai mat phing dirng va mgt phing ngang; /?, la cy ly tire thdi cua KCB; m^ va m^ la cac he so goc don loi uu dirge xac djnh theo (2) KHAO SAT VA DANH GIA PHUONG PHAP DAN "M" D I so sanh, danh gia eac tinh chit, cung nhu hipu qua phuang phap dan "M" vdi cae phuang phap dan ca ban dang dugc sir dyng cae hp thong dilu khiln KCB tir xa theo Ipnh v6 tuyen, ta khao sat GTPT ciia KCB vdi dilu kipn myc tieu bay ngang, thing diu, cd tinh din kha nang ca dpng theo van toe v„„ tren dp cao va tham so P^ khac Trudng hpp ]: H„, = 10 km, P„ = km, v„, = 400 m/s, R„ = 89 km,Trudng hgp 2: H„, = 20 km, P„, = 15 km, v„ = 800 m/s, R„ = 71 km,Trudng hgp 3: //„, = 10 km, P„, = km v„, = 400 m/s, R„ = 89 km, muc tieu ca dpng theo hudng vec ta v„, vdi gia toe a„ = 10 m/s^ tgi thdi diem sau phdng, dd : H„ la dp cao; Pm la tham so dudng bay; v„, la van tdc; a„, la gia tdc cua myc tieu Dong thdi, vdi gia thilt suit qua trinh bay, KCB cd vgn tdc la Vr=800m/s Khi theo [1], cu ly dilm gap dugc xac djnh cac trudng hgp tuang img la Ryi=60km, Rg2=50km, R^}=60km va cac he so ddn gdc phuang phap dan "M" dugc tinh theo (2) cd cac gia trj la: Trudng hgp 1: mc= 0,7668 , mp= 0,7477; Trudng hgp 2: /«e= 0,7075 , mp= 0,6521; Trudng hgp 3: Do cac hp so ddn gdc dugc xac djnh trudc thdi dilm phdng nen m^ va m^ gidng nhu trudng hgp va Wc= 0,7668 , mp= 0,7477 Bing vipc khao sat tren may tinh dya tren ca sd (1), (2), (6), (7), (8) doi vdi cac trudng hgp khac ciia myc tieu, ta nhgn dugc quy dgo dgng hinh hgc va bieu dd hinh chieu vec ta GTPT cua KCB cac mat phang dirng va mgt phing ngang Luu thugt toan md phdng khao sat dugc cho hinh 118 Nguyin Cdng Dinh, Nguyin Ngpc Kha, TrSn Ngpc Ha C Bit diu ~~^ cac dieu ki?n dau cua myc tiSu va KCB Po, HQ, L,„i, I „„, Vr, i=! X&c dinh c^c tham so chuyen dpng cua myc tieu ^m r^mr^m n^m r^m i-^m r Hm r Hm r Pm li'rm Tinh R^, = vj X=K Phuong phap dan TT ,-/?„;A/;=difr(A/-,) /? , = / ? „ , , I Phuong ph^p dan M Tinh: m^,mp Phucmg phap dan nC •£, , — ^ „ "-' Ar ^1 ,-En , ~'"c^», Ar ,^- "-'Ar fl^ =p Ap , ^ - Ar "k I "m - I -% "m I A ^ - Ar Tinh tpa dp KCB X , ,/// Yr, III Zw ,/// Tinh GTPT KCB Wkyl ft] iV^I ft] Tinh toa KCB Xr} ft], Yr3 ft], Zri ft] Tinh toa KCB Xr2ft], Y,2 ft], Zr2 ft] Tinh GTPT KCB W,yi ft], W^, ft] Tinh GTPT KCB I W,y2 ft], W>^2 ft] T t = t+l I i = i+l vg quy dao KCB va bilu GTPT C Ket thuc J Hinh Luu thudt todn xdy dyng quy dao KCB vd khao sdt GTPT Kit qua md phdng trudng hgp ta nhan dugc: 119 KhSo sSt phwang phSp din eg bay thich nghi theo chuySn ddng cua mgc ti6u Ouy (tio dong hinh hoc cu bay 15-, Phuongj)h4p " T T ? J PhTOng ph4p " nC" 10- Th»m so P (km) Hinh Quy dgo dOng hlnh hpc ciia KCB cdc phuang phdp din khdc Bwu GTPT Irong nnat phang ngtng Btflu GTPT Irong mat phang dung Htnh GTPT m$t phing dipng Hinh GTPT m^t phing ngang Ket qua mo phong truang hgp ta nhan dirge: Ouy dao dong hnh hoc k h cu bay Tham so P (km) Hinh Quy dgo dOng hlnh hgc cue KCB cdc phu-ang phdp din khdc Bieu GTPT tiong ma( phang dung B M U GTPT Irong mai phang ngang ! I : : \^^—i ; Phuong phlp" M"/; - • • • -20 • j : / Pbinnig pUp " FlC"; / •yv" Phtnmg pUp "n~ \ \ •25 15 20 25 •30 Cu ly Rr (km) Hinh GTPT m$t phing dO-ng Ket qua md phdng trudng hgp ta nhgn dugc: 120 i to i 15 • ^ ^ ^ ^ j - I ' ; i i 20 25 Cu ly Rr (km) X i Hlnh GTPT m$t phing ngang Nguyin Cdng Djnh, Nguyin Ngpc Kha, TrSn Ngpc HS Quy dao dong htnh hoc cu bay 30 Cu ly Lp (km) T h i m so P (km) 0 « Hinh 10 Quy dgo ddng hinh hgc cua KCB cdc phuang phdp din khdc Bleu GTPT Irong mat phang dung Bieu GTPT mai phang ngang n •5 " , 30 I •10 I 20 •15 10 15 20 25 Cu ly Rt (km) >^\: Trong cae trudng hgp myc tieu bay thang deu, phuang phap dan "M" cd GTPT tren toan quy d[\o la nhd nhat, dieu ed nghla la quy dgo ciia KCB dan theo phuang phap dan "M" dugc nan thang nhat so vdi cae phuang phap dan ca ban khac; GTPT ciia phuang phap dan "M" ludn tipm cgn ve viing lan cgn diem gap myc tieu \ a tai diem gap nd co gia tri nhd ban dang ke so vdi eac phuang phap dan ca ban khac, dieu dong ngliia \oi v ipe phuang phap dan "M" ed sai so dan dpng hinh hpc la nhd nhat Phuong phap dan "M" sd vdi eac phuang phap dan ca ban khac cd GTPT trung binh tren loan qu> dgo ba\ nhd nhat (hinh 13), tire la phuang phap dan "M" cd dy trir nang luijmg Idn nhat so \di eac phuang phap dan da xet Do dd, sir dyng phuang phap dan "M" cac he thong dieu khien, ta cd the keo dai dugc qua trinh hogt dpng cua KCB, tire la trudng hgp iKu \uiig boat dpng eiia KCB sc Idn ban so vdi sir dyng cac phuang phap dan "TT" hoac Doi vdi myc tieu ea dpng, GTPT tgi diem gap ciia phucmg phap dan "M" cd tang len tiiy theo tinh co dpng eua myc tieu (hinh 13a, b), nhien, trudng hgp GTPT trung binh \a GTPT tai diem gap cua KCB dan theo phuang phap din "M" van nhd bom siir dung cac phuong phap dan "1 1" hoac "IlC" Viee ap dung phuang phap din "M" cac hp thon^ dilu khiln KCB hien cd la khong qua phirc tgp Luc dd, thay vi xay dyng he thong tgo lenh dieu khiln mdi ta chi can tong hgp bp tao lugng don gdc dua tren eac he sd ddn gdc tdi uu w^va m^theo hai mat phing tuomg img TAI LIEU THAM KHAO Trln Ngpc Ha, Nguyen Ngpc Khoa, Nguyin Cdng Djnh Xac djnh lugng ddn toi uu de dam bao gia tdc phap tuyen ciia ten lira nhd nhit tgi dilm ggp, Tgp chi Khoa hgc va Ky thuat, Hpc vien KT thugt Quan sy (140) (2011) John H Blakeloek Automatic control of Aircraft and Missiles, Air Force Institute of Technology-Colonel USAF, 1991 Lee G T., Lee J G Improved Command to Line-of-Sight for Homing Guidance, IEEE Transactions on Aerospace and Electonic Systems, January 1995 Zarchan P Tactical and Strategic Missile Guidance, Thid edition, Vol.2, Progress in Astronautics and Aeronautics, American Institute of Aeronautics and Astronautics, Inc., Washington, D.C., 1998 Lee R G., Garlan-Collin T K., Johnson D E., Arche E., Sparker C , Moss G M., and Mowat A W Guided Weapons, third editions, Brassey's London, Washington, 1998 George M Siouris Missile Guidance and Control Systems, Springer Verlag, New York, 2004 H H ApxaHrejibCKHii, 11 H AcJjaHacbeB, E f BOJIOTOB, H C rojiy6eB, A M MaTBecHKO, B .H MHspoxH, B H HOBHKOB, B T CBCTJIOB TIpoeKTHpoBaHHe ScHHTHbix YnpaBJiJieMbix PaKCT, MocKBa H3Aa-re.ncTB0 MAH, 1999 122 Nguyin Cdng Dinh, Nguyin Ngoc Kha, TrSn Ngoc HS SUMMARY TO SURVEY THE GUIDANCE METHOD OF AIR VEHICLES WHICH HAS BEEN ADAPTED TO THE MOVEMENT OF TARGET In the article, the authors carried out a survey of the guidance of the air vehicle, which is based on the remote control principle by radio control commands, with the trajectory is adapted to the movement of target In addition to guarantee to the decreasing of normal acceleration in guidance process and at the impact of a collision By the improving theory and simulation of experimental parameters of an air vehicle, the authors have been proved the efficiency of this new method Dia chi lien lie: Trail Ngpc Ha Vien Ky thuat, Quan chiing Phdng khdng Khong quan Emai 1: halranSJ8(^gmail.com ^V'>'^ 123 ... phdng trudng hgp ta nhan dugc: 119 KhSo sSt phwang phSp din eg bay thich nghi theo chuySn ddng cua mgc ti6u Ouy (tio dong hinh hoc cu bay 15-, Phuongj)h4p " T T ? J PhTOng ph4p " nC" 10- Th»m so... KhSp sSt phwang phSp din eg bay thich nghi theo chuySn dOng cua mgc ti6u KlfcT LUAN Qua khao sat phuong phap dan "M" dugc xay dyng dya tren cac lugng ddn toi uu m^ va mp theo hai mat phang dirng... cae hp thong dilu khiln KCB tir xa theo Ipnh v6 tuyen, ta khao sat GTPT ciia KCB vdi dilu kipn myc tieu bay ngang, thing diu, cd tinh din kha nang ca dpng theo van toe v„„ tren dp cao va tham