tóm tắt tiếng anh xây dựng phương pháp xác định đặc tính khí động của khí cụ bay làm cơ sở hiệu chỉnh theo các tham số chuyển động ghi được

MINISTRY OF EDUCATION MINISTRY OF NATIONAL AND TRAINING DEFENSE ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY MAI DUY PHUONG DEVELOP A METHOD TO DETERMINE THE AERODYNAMIC CHARACTERISTIC OF FLYING OBJECT AS A BASIS FOR CALIBRATION ACCORDING TO RECORDED MOTION PARAMETERS Major: Mechanical engineering Code: 9.52.01.01 SUMMARY OF DOCTORAL DISSERTATION Hanoi, 2018 THE STUDY COMPLETED AT ACADEMY OF MILITARY SCIENCE AND TECHNOLOGY – MINISTRY OF NATIONAL DEFENCE Scientific Advisors: Assoc Prof PhD Pham Vu Uy Prof Ph.D Nguyen Duc Cuong Reviewer 1: Prof Ph.D Vu Duy Quang Hanoi University of Science and Technology Reviewer 2: Assoc Prof PhD Nguyen Minh Xuan Military Technical Academy Reviewer 3: Assoc Prof PhD Trinh Hong Anh Academy of Military Science and Technology The Thesis is defenced at Doctoral Committee at Academy of Military Science and Technology , date 2018 The dissertation can be found at: - Library of the Academy of Military Science and Technology - National Library of Vietnam INSTRUCTION The Urgency of the topic: Determining the aerodynamic characteristics (ACs) of a flying object (FO) is a real necessity A general purpose of many research topics, design and manufacture of FO Determining the ACs of FO most accurately from the motion parameters (MPs) in experiments applied to the research, design, manufacture of FO, support for improvement , upgrading some types of FO in equipment is needed The Aims of the thesis: Develop a method to determine the AC of a FO from measured MPs in experiment, The method is based on a mathematical model describing the motion dynamics of FO in space Research content: Establish the relationship between the MP in space and the AC of the object through the inverse equations Verify the results of the research on a theoretical model and apply research results to determine some ACs for a particular type of FO Object and scope of the study: The research model is a classical FO, fixed wing, equipped with dynamic system, aerodynamic coefficients, theoretical ACs, experimental MPs, dynamic parameters and the dynamic equations describes motion of a FO in space Rerearch Methods: Combining the research methods of theoretical calculations with experimental studies Scientific signifiance of the thesis: Applying general knowledge and ensure rigorously in conceptualization, reasoning, interpretation and building program and algorithm Practical significance of the thesis: The results of the thesis can be applied to the topics in our country Meet practical needs in the experimental field, create a tool to support calculations, data process, expand knowledge of specialized software, and use them as a useful tool, high reliability, low cost, fast and efficient The thesis consists of Introduction, Conclusion and chapters that are presented in 126 pages and appendix Chapter OVERVIEW OF DETERMINATION AND IDENTIFICATION AC OF FO 1.1 Determination of AC in designing, manufacturing and testing of FO In order to improve the quality of flight control, it is necessary to have a precise method of accurately determining the real ACs of FO - a mandatory step that can not be ignored with any FO design project Fig 1.1 A process FO design, manufacture and experiment The research, design, manufacture and experiment of FO can be done in a project and divided into several phases Determining the ACs of FO is carried out throughout the entire process before, during and after manufacture The method of determining the ACs of each type of FO in each stage may vary The above points confirm the significance, the importance of ACs in the research, design, manufacture of FO 1.2 Research situation in abroad For advanced countries in the world, the process of designing and manufacturing FO has developed into an industry Theoretical foundations include design, fabrication, testing, including the identification of ACs that have been thoroughly researched However, the study of FO is often in the field of military defence so very little publicity and dissemination as some other science Especially technology, algorithms, solutions and techniques 1.3 Research situation in Vietnam There have been many researches on design, manufacture of FO However, due to the limited technology infrastructure, the problems of research, calculation and design are mainly based on the tools and methods of classical calculations We are in the early stages of adopting new tools In general, the research in Vietnam has not shown how to solve problems in the solution and research of the thesis content 1.4 Overview of methods to determine the AC of FO It is possible to classify the method of calculating the AC in two forms: - Theoretical calculation methods include analytical methods and numerical methods - Experimental method: consists of model test in wind tunnel and flight test 1.5 Problems and research solution of the thesis There are not many scientific researchs, breakthrough solutions, technical solutions and measurement technology, apply modern computational tools in the implementation, establish a calculation base that determines the ACs of FO through MPs measured during work, test, exploitation and use of FOs Research solution of the thesis: The experimental MPs reflect the physical elements of the object, the MPs can be measured by modern measuring tools, they are simply as angles, space coordinates This thesis selects the method of using the recorded experimental MPs combined with the mathematical model which is inverse motion equations in space to determine the ACs of FO In order to implement the above research problems, it is necessary to construct a system of inverse problem and to have the method of solving that problem and to have the method of dealing with the result of the inverse problem In the field of robotics, automation, many studies have applied the method of solving the inverse problem to study kinetic or dynamics problems However, up to now, there have been no researches on solving the aerodynamic equations by the inverse method CONCLUSION OF CHAPTER - This is an important issue that attracts the attention of scientists around the world Especially with our country, this is an important, very new issue and almost not interested in research - Flight test using advanced measuring tools to measure MPs, incorporating advanced calculation methods, opens new possibilities for determining ACs of FO It enables the expansion and improves the effective of determining the ACs of FO in the testing, using or improvement of aircraft Chapter THEORY BASIS TO DETERMINE THE AC OF FO ACCORDING TO FLIGHT TEST RESULT 2.1 Concepts Give some concepts and technical term 2.2 Forward problem Mandatory in design of FO is to solve the equations of motion in space, that is referred to as forward problem in the thesis Purpose of the forward problem solving is to determine the moving parameters, from which we can make preliminary assessment and evaluate of design and calculation Fig 2.3 Forward problem architecture Forward problem can be describled via 12 differential equations (1-12) and transcendental trigonometric equations (13-15) [2]:  dVk   =  Fx = P cos cos  − X a − G sin   dt  m  d  mVk   = P(sin  cos  a + cos  sin  sin  a ) +  dt  Ya cos  a − Z a sin  a − G cos  d  − mVk   cos = P(sin  sin  a − cos  sin  cos  a ) +  dt  Ya sin  a + Z a cos  a  d x  dt J x  ( ) ( )  d  J y  y  = M y − (J x − J z ) x z  dt    = M x − J z − J y  y z   d z  dt  (2.1)  = M z − J y − J x  x y  dx dy dz = Vk cos cos  = Vk sin  = −Vk cos sin  dt dt dt d  y cos  −  z sin  d = 10 11 =  y sin  +  z cos  dt cos dt d 12 =  x − tan   y cos  −  z sin  dt J x  ( ) sin = sin cos cos  − cos cos sin  cos  − cos sin  cos  sin  cos = sin cos cos  cos  + 14 cos sin  sin  cos  + sin sin  cos  sin  cos  − cos cos  sin  + sin sin  sin  sin  sin  a cos = sin  cos sin  − cos cos  sin  sin  + 13 15 (2.2) cos sin  cos  Therein: G - weight of FO [N]; Vk - ground speed [m/s]; S characteristic area [m2]; ba - characteristic length [m]; α, β, γa angles of attack, slide and tilt [degree]; Ψ, θ - angles of direction and trajectory tilt [degree]; ψ,  , γ - angles of yaw, pitch, roll [degree]; ωx, ωy, ωz: angle speeds in body coordinates [degree/s] To solve the forward problem, we need to determine groups of parameters: - Dynamics parameters: components of aerodynamic force Xa, Ya, Za in speed coordinates and components of aerodynamic torque Mx, My, Mz They represent all the ACs of FO in each specific flight condition - Control parameters: They can be measured under  CLDC ,  CLH ,  CL control angles, which in turn elevator [degree]; rudder [degree]; aileron [degree] and thrust of engine P [N] The thesis does not study and determine the thrust of engine and considerates as a known value - Mass charateristics of FO: m: mass of FO [kg]; Jx, Jy, Jz: inertia momentums of FO [kg.m2] This thesis is concerned with dynamic parameters Which are determined from ACs of FO Due to ACs determining is taken during the design period, it is usually used calculation or wind tunnel method Thus, the results of the forward problem and the measurement results in actual flight test always exist errors 2.3 Develop a method to determine the ACs of FO The forward problem is combined together with other objects and relationships with the experimental groups: Fig 2.4 The basis of the method to determine ACs There are two methods of determining ACs as bellow: Direct comparision method: Survey theoretical and experimental results by directly comparing the results of the theoretical MPs of the forward problem with the measured MPs from the experiment The direct method is difficult and complex, the thesis will not follow this method Indirect comparision method: Using experimental dynamics parameters as intermediate parameters to determine the ACs of FO These parameters are three components of the aerodynamic forces Xa, Ya, Za, and three aerodynamic torque Mx, My, Mz appear in the equations (2.1) The thesis is done indirectly method Therefore, it is necessary to solve two problems: the inverse problem and the experimental statistics problem In addition to the above two problems, a number of related issues are described in Figure 2.5 and specific contents are presented in the following sections Fig 2.5 Determination of ACs Indirect method does not limit the state of motion, flexibility, can investigate all cases of motion of FO and has ability to determine all the ACs of FO So indirect method has more advantages than direct method or method of creating basic flight test The thesis determines ACs by indirect method In order to implement this method, there are two main problems have to be solved: inverse dynamic problem and experimental statistics problem 11 2.4.4 Building algorithm for solving the inverse problem For convenience, build into functions and procedures separately a b c d Fig 2.7 Functions and procedures for solving the inverse problem a diff1(); b sol_eqs1(); c diff2(); d sol_eqs2(); e sol_transcen_eqs1() e 12 Fig 2.8 Algorithm for solving the inverse problem 2.5 Develop a method to determine the ACs of FO on the basis of applying the results of the reverse problem Purpose: From the experimental dynamic parameters determined by the inverse problem, together with the control, develop a method to determine the ACs of FO 2.5.1 Dynamic problem    V2  S  X a = C x + C x     b  V2   CLDC   CLDC + C y z  z a   S Ya = C y + C y  + C y V     V2 Z a = C z  + C z CLH  CLH  S (2.23)   b V   M x = m x  + m x CL  CL + m x CLH  CLH + m x x  x a  S b a   V    ba  V y M = m   + m  CLH  + m   S b a y y y CLH y y   V     b  V2   CLDC   CLDC + m z z  z a   S b a M z = m z + m z  + m z V      13 2.5.2 Building method for determining the ACs of FO There are two method can be applied to solve this problem: - Reduce variable: so that the number of remain variables equals the number of equations This method is simple, but only a few simple ACs can be determined, and the test flight required to follow the basic flight test - Increase the number of equations: Each equation is expanded into a first-order equations The solvable condition is that the variables (or ACs) must be constant in the equations, the number of equations being at least equal to the number of variables Each equation is a set of experimental data This is an experimental statistics method The dissertation follows this method Experimental system of equations:  Vi j S  X = C x + C x  j  Mj    (2.28)   ba  Vi    j (2.30) S Yai = C y + C y  j + C y CLDC  CLDCi + C y z  zi   Vi    Mj;i3   Vi   j S Z = C z  j + C z CLH  CLHi  Mj;i 2       j b a  Vi     S b a M xi = m x  j + m x CL  CLi + m x CLH  CLHi + m x x  xi   Vi    (2.32) (2.34) j ;i 4   j ba  Vi y   CLH M = m  + m  + m  S b a  yi  y j y CLHi y yi  Vi    j ;i 4  (2.36)   ba  Vi     (2.38) S b a M zi = mz + mz  j + mz CLDC  CLDCi + mz z  zi   Vi    j ;i 3  14 CONCLUSION OF CHAPTER - The combination of solving the inverse problem of FO together with the experimental statistics method is the solution to determine the ACs of FO based on the MPs recorded from the flights - Modeling algorithms for solving inverse problems and solving related problems, which apply the advanture of some modern calculating tools, allowing to determine the ACs of FO based on the measured MPs recorded from the fly test Simultaneously determine the angular parameters α, β, γa - these are important flight data to open the way for next experimental statistical method - Apply experimental statistical method to determine the ACs that appear in the mathematical model of FO This method reduces the random error with a large number of experimental samples, opening up the possibility of simplifying the steps of flight test (no need to plan the flight) Chapter VERIFICATION OF RESULTS Verification is not intended to confirm the methodology, but rather to considerate the accuracy of the results obtained by evaluating the errors caused in a computational procedure - This process reveals the errors of theoretical methods 3.1 Select verify model The verify model is IRKUT-70V aircraft This is a researched and designed product of the Vietnam Aerospace Association It has been manufactured, calculated, and tested Features, characteristics of IRKUT-70V aircraft [3]: The design of airplane form, a propeller piston engine, take off from the launch pad using compressed air, landing by parachute 15 Equipped with microelectromechanical sensors, computer data processing and control MPs can be recorded during flight Fig 3.2 Theoretical model and Fig 3.3 IRKUT-70V in an simulation IRKUT-70V experiment Mass: ≈ 50.0 [kg]; Inertia momentum: Jx = 5.2 [kg.m2]; Jy = 33.8 [kg.m2]; Jz = 31.3 [kg.m2]; Characteristic area S = 1.05 [m2]; Characteristic length ba = 0.35 [m]; Launch conditions: launch speed 25 [m/s]; launch angle 15o; Average fuel consumption: 7.2 [kg/h] The P-thrust force is known parameter Table 3.1 Theoretical ACs of IRKUT-70V 16 3.2 Verifying the inverse problem Fig 3.5 Verifying the result of the inverse problem From the verify model and the ACs, solve the forward problem, get the results as MPs and the theoretical dynamics parameters together Using the MPs received as the input for the inverse problem, solve the inverse problem to obtain the dynamic parameters To verify the inverse problem, it is necessary to compare the dynamics parameters when solving the forward problem and after receiving the result from the inverse problem a b c d e f Fig 3.6 Comparing the dynamic parameters of the forward and inverse problems on IRKUT-70V model after launch; a b c Aerodynamic forces Xa, Ya, Za; d e f Dynamic torques Mx, My, Mz 17 3.3 Verification the method of determining ACs Theoretical ACs are the input parameters to solve the forward problem in conjunction with simulated flight control, resulting after solving are MPs, thereby determining the dynamic parameters through the inverse problem and determine the experimental ACs by solving the dynamic equations by experimental statistical method Fig 3.7 Verification the results of determining ACs Because of the IRKUT-70V speed M < 0.5 so we can consider parameters C x , C y are not depend on M For the convenience of comparing the results obtained with the the technical documentation, the graph C x , C y should be represented by the angle α a b c Fig 3.9 Comparative charts of the theoretical and experimental ACs a C x ; b C y ; c M x ; d d e M y ; e M z 18 Table 3.8 Comparative table of the theoretical and experimental ACs There are some comments based on the above results: - In ideal experimental conditions (all assumptions of problems are satisfy), it is possible to determine all the ACs of FO through the process performed - The variability of the ACs is similar to each other - Distribution error according to random rule The error of the ACs is constant not exceeding 1%, the relative error of the ACs depends on the angle of motion α and β not exceeding 5.5% Increasing the number of experimental samples can reduce these errors These are the errors generated by the method of calculation in the solution of the forward – inverse problems CONCLUSION OF CHAPTER - The theoretical model developed (Chapter 2) is correct The computational results (with the errors) illustrate the correctness of the series of inverse problem and the solution of empirical statistics which makes conclusions about the accuracy and reliability of the determining ACs method have been developed - It also shows that the toolkit (calculation software) use easy, convenient and effective These tools will be used to apply ACs to a specific aircraft in the next chapter 19 Chapter APPLYING THE RESEARCH RESULTS TO DETERMINING SEVERAL ACs ON A PRACTICE MODEL 4.1 The purpose and requirements Realization of the research results of the thesis on the basis of a comprehensive evaluation Finalize the research results, make conclusions on the results of the dissertation 4.2 Selection of experimental object Fig 4.1 Su-B airplane Using recorded data of Su-B aircraft during training Su-B is one of the existing aircraft of the Vietnam Air Force Some specifications: Unload weight: m ≈ 16500.0 [kg]; Fuel weight: mnl = 2693.0 [kg]; Characteristic area: S = 34.45 [m2]; Characteristic length: ba = 4.157 [m]; Inertia momentum: Jx = 14595.0 [kg.m2]; Jy = 193350 [kg.m2]; Jz = 412000.0 [kg.m2] 4.3 Experimental data Fig 4.5 Altitude of air pressure 20 Fig 4.3 Space trajectory Fig 4.6 ψ,  , γ angles in standard coordinates 4.4 Results of the inverse dynamic problem Fig 4.9 Aerodynamic forces Xa, Ya, Za 21 Fig 4.10 Dynamic torque Mx, My, Mz Fig 4.12 Agles α, β, γa in the speed coordinates 4.5 Results of the experimental ACs Fig 4.14 Characteristic of the drag force parameter C x (M) Fig 4.17 Characteristic of the lift force parameter C y (M) 22 C x = 0.023 (at M = 0.67) C y = −0.002 mz = −0.0062 mz  0.0 4.6 Comment on the results C y CLDC = 0.012 mz CLDC = −0.0149 From experimental data, we can determine some ACs on the vertical channel: Cx , C x , C y , C y , C y CLDC , mz , mz , mz CLDC a C x (M); b C y (M) Fig 4.18 Comparison of experimental and technical documentation ACs Table 4.5 Error of experimental and technical documentation ACs There are some comments based on the calculated results and compared with the data of the technical documentation: 23 This is a training data so the experimental data is not much, the flight trajectories does not show the necessary parameters enough to determine the ACs of the horizontal and tilt channels The results are consistent with the Su-B's ACs according to the technical documentation The mean relative error is less than 7% CONCLUSION OF CHAPTER Chapter applies the results of the thesis to identify some ACs of the Su-B aircraft from training flight data This flight is not intended to identify ACs Incomplete data can be used to determine all ACs However, with the method of the thesis, it was confirmed: First: The inverse dynamics problem can be solved to determine the dynamic parameters using the data of this flight; Second: It is possible to determine some ACs of FO by experimental statistical method from dynamic parameters The results of the thesis can be applied to determine the ACs from flight data with recorded MPs and some characteristics of FO With modern FO, accurate instrumentation and higher speed recording parameters, it is possible to identify more ACs with higher accuracy CONCLUSION AND RECOMMENDATIONS Main achieved results - Established a theoretical basis for determining ACs based on the recorded MP data by modern measuring tools - Used modern computational techniques, namely the inverse dynamic problem and the experimental statistical method - Verificated of the results of theoretical study on IRKUT-70V airplane to evaluate the calculated error 24 - Demonstrate the applicability of the results of this thesis to determine the ACs of a classical FO The new contribution of the thesis Establish and develop a method to determine the ACs of classical FO based on the recorded MPs from actual flight Verify accuracy, reliability through theoretical and practical models Apply of advances and achievements in technology of measurement and numerical analysis Use software, powerful computing tools to solve problems and get accurate results, reliability Develop an effective set of computational tools that assist in the identification the ACs of FO The results of the thesis contribute to solving practical problems in our country Recommendations for further - Finalization of computational systems and experimental methods to determine ACs for a variety of FOs Develop a system for testing sample FO after manufacture, or similar aircraft after improving, upgrading Inherit the results of the thesis to develop a standardized test engineering process or an automated system for determining ACs - Survey, build the error characteristics of the measurement system, the actuator in the actual conditions to increase the accuracy of the programs - Further development of research methods, in combination with other research methods, allows determine ACs in the missing of experimental parameters 25 LIST OF SCIENTIFIC WORKS PUBLISHED BY THE AUTHOR Mai Duy Phương, Phạm Vũ Uy (04-2016), “Xây dựng toán ngược xác định thành phần lực momen khí động khí cụ bay tự động phương pháp xử lý số liệu bay thử nghiệm” Tạp chí Nghiên cứu KH&CN quân sự, Số 42, tr 20-29 Mai Duy Phương, Phạm Vũ Uy (2016), “Xây dựng bay xác định số tham số khí động cho khí cụ bay giai đoạn thử nghiệm mẫu” Tuyển tập công trình khoa học Hội nghị “Cơ học điều khiển thiết bị bay 2016”, tr 349-358 Mai Duy Phương, Phạm Vũ Uy (2017), “Xây dựng phương pháp thống - kê phân tích số liệu đo đạc tham số quỹ đạo thực nghiệm xác định tham số khí động khí cụ bay tự động” Tuyển tập cơng trình Hội nghị khoa học Cơ học thủy khí lần thứ 20, tr 584-593 Mai Duy Phương, Phạm Vũ Uy (12-2017), “Khảo sát toán ngược xác định tham số động lực học khí cụ bay có kể đến ảnh hưởng sai số hệ thống cảm biến vi điện tử” Tạp chí Nghiên cứu KH&CN quân sự, Số 52, tr 14-22 ... 349-358 Mai Duy Phương, Phạm Vũ Uy (2017), Xây dựng phương pháp thống - kê phân tích số liệu đo đạc tham số quỹ đạo thực nghiệm xác định tham số khí động khí cụ bay tự động Tuyển tập cơng trình... Mai Duy Phương, Phạm Vũ Uy (2016), Xây dựng bay xác định số tham số khí động cho khí cụ bay giai đoạn thử nghiệm mẫu” Tuyển tập cơng trình khoa học Hội nghị Cơ học điều khiển thiết bị bay 2016”,... Duy Phương, Phạm Vũ Uy (04-2016), Xây dựng toán ngược xác định thành phần lực momen khí động khí cụ bay tự động phương pháp xử lý số liệu bay thử nghiệm” Tạp chí Nghiên cứu KH&CN quân sự, Số