Luanvan về mô phỏng bằng X plane

I HC QUC GIA TP. H CH MINH

TRNG I HC BCH KHOA

KHOA K THUT GIAO THNG

B MN K THUT HNG KHNG

CHNG TRNH K S CHT LNG CAO VIT PHP

-------o0o-------

LUN VN I HC

NG DNG X-PLANE TRONG M PHNG

BAY THC NGHIM CA MY BAY KHNG

NGI LI LOI NH

SVTH: Nguyn Khi Nguyn

MSSV: G1002167

GVHD: Tin S Ng Khnh Hiu

TP. H CH MINH, thng 06 nm 2015

iii

Li cam kt

Ti cam kt:

- y l lun vn tt nghip do ti thc hin.

- Cc s liu, kt qu nu trong lun vn l trung thc v cha tng c ai

cng b trong bt k cng trnh no khc.

- Cc on trch dn v s liu kt qu s dng so snh trong lun vn ny

u c dn ngun v c chnh xc cao nht trong phm vi hiu bit ca

ti

v

Li cm n

Ti xin gi li cm n chn thnh nht n tt c nhng c nhn v tp th gip

ti trong sut qu trnh lm lun vn ny, tuy nhin, hn ht, ti xin cm n thy

Ng Khnh Hiu v s h tr tn tnh, cng vi nhng kin thc thy dy cho ti

khng nhng hc thut m cn v kinh nghim cuc sng. Ti cng xin cm n

ton th cc ging vin ca b mn hng khng v nhng ng gp khng mt mi

trong sut qu trnh ti hc ti i hc Bch Khoa.

Cui cng, ti xin dnh trn lng bit n n b, m ti v ht lng quan tm,

ng vin ti trong sut qu trnh theo hc i hc Bch Khoa v hn ht l lun

di theo ti trong tng bc trng thnh

vii

Ni dung

Li cam kt ................................................................................................................ iii

Li cm n .................................................................................................................. v

Ni dung ................................................................................................................... vii

Tm tt lun vn .......................................................................................................... x

Abstract .................................................................................................................... xii

Ch gii ................................................................................................................ xiv

K hiu .............................................................................................................. xiv

Ch la m ........................................................................................................... xv

Danh mc hnh nh - List of Figures ...................................................................... xvi

Danh mc bng biu - List of Tables ........................................................................ xx

Chng 1 X-Plane v cc phn mm h tr ............................................................ 1

1.1 Phn mm xy dng m hnh bay Plane Maker 10 ....................................... 1

1.1.1 Gii thiu ................................................................................................ 1

1.1.2 Giao din ca Plane Maker ..................................................................... 2

1.2 Xy dng m hnh ......................................................................................... 3

1.2.1 Cc quy c c bn ................................................................................ 3

1.2.2 Xy dng thn ......................................................................................... 4

1.2.3 Xy dng cnh, ui ............................................................................... 8

1.2.4 xy dng cng p v thit lp cc thng s lin quan. ....................... 12

1.3 Xy dng cc h thng trn my bay .......................................................... 13

1.3.1 Thit lp thng s ca h thng lc y ............................................... 13

1.3.2 Thit lp thng s c tnh ca my bay. ............................................. 17

Chng 2 Xy dng tnh hung bay th nghim .................................................. 19

viii

2.1 Tnh hung mt ........................................................................................... 19

2.1.1 C s l thuyt v biu Drag Polar. ................................................ 19

2.1.2 Kch bn bay bng ............................................................................... 22

2.2 Tnh hung hai ............................................................................................ 22

2.2.1 C s l thuyt n nh tnh dc .......................................................... 22

2.2.2 Kch bn bay ........................................................................................ 29

Chng 3 p dng X-Plane cho m hnh Cessna 1300 EP ................................. 31

3.1 Xy dng m hnh trn X-Plane ................................................................. 31

3.1.1 Gii thiu m hnh Cessna 1300 EP .................................................... 31

3.1.2 Qu trnh xy dng m hnh ................................................................ 32

3.2 Kt qu chy m phng .............................................................................. 53

3.2.1 Thit b ................................................................................................. 53

3.2.2 Ci t phn cng v phn mm .......................................................... 54

3.2.3 M phng v x l s liu .................................................................... 57

Chng 4 Trin khai bay thc nghim trn m hnh Cessna 1300 EP ................. 63

4.1 Ci t m hnh ........................................................................................... 63

4.2 Bay thc nghim ......................................................................................... 64

4.3 X l kt qu v so snh vi kt qu t m phng ..................................... 65

4.4 Th nghim mch APM autopilot cho bay thc nghim ........................... 67

Chng 5 Kt lun v cc hng pht trin ......................................................... 69

REFERENCES ......................................................................................................... 70

Ph lc A: kt qu ng c tnh gia h s lc nng v gc bnh li cao ti

trng tm l 0.84ft .................................................................................................... 71

Ph lc B: M matlab dng ngoi suy im trung ha ....................................... 72

Ph lc C: kt qu bay thc nghim ........................................................................ 73

x

Tm tt lun vn

Lun vn c thc hin vi mc ch ng dng chng trnh bay m phng X-

Plane vo trong cng tc bay th nghim m hnh, Vn c ra trong qu trnh

lm lun vn l xy dng m hnh nh th no, k n l vic xc minh li

liu kt qu ca chng trnh X-Plane c ang tin cy hay khng. u im ca

chng trnh bay m phng X-Plane l cho php ngi s dng c th t mnh xy

dng nn m hnh, v c th to ra cc tnh hung gi lp ging vi thc t, nh s

a nng ny m X-Plane, hin nay, ang c nc ngoi ng dng trong cng tc

bay gi lp, cng nh to ra cc tnh hung bay th nghim v kim chng trc

khi tin hnh bay th nghim thc t. Lun vn ny s i chi tit vo quy trnh dng

li mt m hnh, k n l quy trnh bay th nghim cc tnh hun gi lp nh

trc.

T kha: X-Plane, Plane-Maker, Cessna 182, APM, M Phng

xii

Abstract

The subjet of this thesis is to create a set of procedure for modeling an airplane in

X-Plane, a flight simulation software, after modeling a test flight of real model will

be conducted to roughtly validate the result form simulation to real model. The

result will be discussed and suggestion will be made.

In this work, all of the procedures are cover in detail, both in modeling and creating

a test case for simulating the model that have just create. The procedure of acquiring

data from real test-flight and result will be given, include comparison to

simulations result and suggestion.

Keywords: X-Plane, Plane-Maker, Cessna 182, APM, Simulation

xiv

Ch gii

K hiu

wAR T l hnh dng ca cnh ui -

tLC H s lc nng cho ui ngang -

H s lc cn -

H s lc nng

H s lc ko -

bDC

H s lc cn do thn gy ra -

H s moment ti trng tm -

H s moment gy ra bi gc ti -

c Dy cung cnh trung bnh

fmC H s momen do thn gy ra -

BfC H s nht thn -

H s moment gy ra bi bi li hng -

0wmC

H s moment ti khng gc ti bng khng cho cnh

-

0 fmC H s moment ti khng gc ti bng khng

cho thn -

D Lc cn

bd ng knh gc thn m

ng knh cnh qut m

T s tin -

L Lc nng do cnh to ra N

S vng quay ca ng c Vng/s

WBR H s hiu chnh giao thoa thn cnh -

S Din tch cnh 2m

S eS Din tch t ca thn 2m

REFS Din tch tham chiu ca cnh 2m

BS Din tch phn mt ct thn c ng knh ln nht

2m

xv

Lc ko ca ng c

HV T s th tch ca ui ngang -

V Vn tc m/s

Trng lng my bay

N

acx V tr tm kh ng m

cgx V tr trng tm m

Ch la m

Gc ti ca cnh do Hiu sut ui - Gc downwash do

Hiu sut ca cnh t -

e Gc ca bnh li cao do

B Chiu di thc t thn m

xvi

Danh mc hnh nh - List of Figures

Hnh 1-1 Giao din ca phn mm Plane-Maker ....................................................... 2

Hnh 1-2 Cc thng s ta ..................................................................................... 3

Hnh 1-3 Quy nh trc, chiu dng trn trc .......................................................... 4

Hnh 1-4 Cc bng trong mc "Fuselage" .................................................................. 4

Hnh 1-5 Chn hnh mu vo bng Top/Bottom ........................................................ 5

Hnh 1-6 Thng s bng "Section" ........................................................................ 5

Hnh 1-7 Cc thng s v tr ca thn......................................................................... 6

Hnh 1-8 Thao tc vi cc mt ct ............................................................................. 6

Hnh 1-9 Thao tc vi cc im trn mt ct ............................................................. 7

Hnh 1-10 To hnh thn ph ..................................................................................... 7

Hnh 1-11 Mc Wings trong phn mm Plane-Maker ............................................... 8

Hnh 1-12 Thng s c bn ca cnh ......................................................................... 9

Hnh 1-13 Gn b mt iu khin cho phn cnh .................................................... 10

Hnh 1-14 Ty chnh cc phn cnh ......................................................................... 10

Hnh 1-15 Thit lp cnh ph ................................................................................... 11

Hnh 1-16 Thit lp b mt iu khin ..................................................................... 11

Hnh 1-17 Thit lp cng p ................................................................................... 12

Hnh 1-18 Thng s c bn ca ng c ................................................................. 13

Hnh 1-19 Thng s cn ga ...................................................................................... 14

Hnh 1-20 Thng s hnh hc ca cnh qut ............................................................ 15

Hnh 1-21 Thng s ng c .................................................................................... 16

Hnh 1-22 Thit lp cnh qut .................................................................................. 17

xvii

Hnh 1-23 Thit lp viewpoint .................................................................................. 17

Hnh 1-24 Thit lp trng tm ................................................................................... 18

Hnh 2-1 M hnh lc tc dng ln my bay ............................................................ 19

Hnh 2-2 Thay i ca CT theo J ............................................................................... 21

Hnh 2-3 S ng bay ........................................................................................ 22

Hnh 2-4 th v tr im trung ha ....................................................................... 24

Hnh 2-5 Quy c v du ca gc bnh li cao ................................................... 25

Hnh 2-6 Biu hiu sut ca bnh li cao ........................................................ 25

Hnh 2-7 dc ca ng h s Moment theo CL hay ....................................... 26

Hnh 2-8 Phng trnh (2.15) ti 3 v tr trng tm khc nhau ................................. 26

Hnh 2-9 Phng php ngoi suy tm im trung ha .............................................. 27

Hnh 2-10 Biu ph thuc ca vn tc vo gc bnh li ..................................... 28

Hnh 2-11 Biu ph thuc ca lc nng vo gc bnh li ................................... 28

Hnh 2-12 Biu h s gc ca ng lc nng .................................................... 29

Hnh 2-13 Biu mi lien h gia v tr im trung ha v h s lc nng cn bng

................................................................................................................................... 29

Hnh 2-14 S ng bay ...................................................................................... 30

Hnh 3-1 M hnh Cessna 1300 EP ........................................................................... 31

Hnh 3-2 Quy c kch thc thn .......................................................................... 33

Hnh 3-3 H s hiu chnh giao thoa thn v cnh ................................................... 33

Hnh 3-4 H s ma st nht b mt ........................................................................... 34

Hnh 3-5 Bng tra gii hn s Reynold .................................................................... 35

Hnh 3-6 Thng s mt ct thn trong phn mm Plane-Maker ............................... 37

Hnh 3-7 Mc Raster Image Reference trong phn mm Autocad ........................... 37

xviii

Hnh 3-8 Mc chn ng dn v gc t nh trong phn mm Autocad .............. 37

Hnh 3-9 Mc Measurement scale trong hp thoi Format ..................................... 38

Hnh 3-10 V d v vic nhn t l kch thc ......................................................... 39

Hnh 3-11 V tr im mc ....................................................................................... 39

Hnh 3-12 V tr cc mt ct trong phn mm Plane-Maker .................................... 39

Hnh 3-13 Lnh Polyline trong phn mm Autocad ................................................ 40

Hnh 3-14 ng Polyline v theo bin dng cnh ................................................. 40

Hnh 3-15 Mc 3 Point trong phn mm Autocad ................................................... 41

Hnh 3-16 Hp thoi APPLOAD ............................................................................. 42

Hnh 3-17 Ta mt ct nhp vo phn mm Plane-Maker.................................. 43

Hnh 3-18 Kt qu thu c ..................................................................................... 44

Hnh 3-19 Chiu di cung cnh gc ...................................................................... 44

Hnh 3-20 Gc vnh ................................................................................................. 45

Hnh 3-21 Cch ni 2 phn cnh vi nhau ............................................................... 45

Hnh 3-22 Kt qu thu c ..................................................................................... 46

Hnh 3-23 Kim tra chiu di dy cung cnh ........................................................... 46

Hnh 3-24 Kt qu xy dng cnh ........................................................................... 47

Hnh 3-25 Hnh dng cnh ui ngang .................................................................... 48

Hnh 3-26 Kt qu sau khi nhp thng s ................................................................ 49

Hnh 3-27 Kt qu xy dng ui ng v ui ngang ........................................... 49

Hnh 3-28 Hnh dng ui ng .............................................................................. 49

Hnh 3-29 Hiu chnh dy cung cnh ui ng ..................................................... 51

Hnh 3-30 Hiu chnh dy cung cnh ui ng ..................................................... 51

Hnh 3-31Vn tc vng quay ti a ca ng c ..................................................... 52

xix

Hnh 3-32 Mch iu khin APM ............................................................................. 53

Hnh 3-33 Thit lp X-Plane ..................................................................................... 54

Hnh 3-34 Thit lp cng kt ni phn mm v phn cng ...................................... 55

Hnh 3-35 Giao din Mission Planner ....................................................................... 56

Hnh 3-36 Giao din chc nng m phng ............................................................... 56

Hnh 3-37 Thit lp phn cng ................................................................................. 57

Hnh 3-38 Giao din np firmware ........................................................................... 57

Hnh 3-39 Thc hin m phng ................................................................................ 58

Hnh 3-40 S ng bay t ng ......................................................................... 58

Hnh 3-41 Kt qu thu c ...................................................................................... 59

Hnh 3-42 ng c tnh Drag-Polar ...................................................................... 59

Hnh 3-43 Kt qu ng ni suy ............................................................................. 61

Hnh 3-44 Kt qu biu v tr trung ha vi h s lc nng ................................. 62

Hnh 4-1..................................................................................................................... 63

Hnh 4-2..................................................................................................................... 64

Hnh 4-3 Vt bay th hin trn phn mm Google Earth.......................................... 64

Hnh 4-4 minh ha cho vic chn vt bay c trng thi bay bng. ........................... 65

Hnh 4-5 th so snh kt qu thc nghim v m phng. ..................................... 67

xx

Danh mc bng biu - List of Tables

Bng 3.1 Thng s ca m hnh my bay Cessna 1300 EP ..................................... 31

Bng 3.2 nhm b mt ca cc loi vt liu ....................................................... 34

Bng 3.3 Cc thng s ca m hnh o c trn Autocad ..................................... 35

Bng 3.4 Vn tc hot ng ..................................................................................... 36

Bng 3.5 Tng hp cc thng s .............................................................................. 36

Bng 3.6 Cc h s lc cn ...................................................................................... 36

Bng 3.7 Cc v tr mt ct thn ............................................................................... 38

Bng 3.8 Ta cc im trn mt ct .................................................................... 42

Bng 3.9 Thng s cnh ........................................................................................... 45

Bng 3.10 Thng s ui ngang .............................................................................. 48

Bng 3.11 Thng s ui ng ................................................................................ 50

Bng 3.12 V tr t ng c .................................................................................... 52

Bng 3.13 Chiu di dy cung cnh trung bnh ....................................................... 60

Bng 3.14 Bng v tr trng tm ............................................................................... 60

Bng 3.15 H s ng ni suy ............................................................................... 61

X-Plane v cc phn mm h tr

Nguyn Khi Nguyn 1

Chng 1


Phn mm X-Plane s dng l thuyt phn t cnh m phng li c tnh bay

ca m hnh, nh s dng l thuyt ny m X-Plane c th m phng gn nh chnh

xc thc t bng cch chia mi b phn ca my bay thnh nhiu phn nh tnh

ton lc v sau tng hp li trn c m hnh c kt qu m phng hon chnh.

Hn na, cho php ngi s dng t xy dng m hnh gi lp ca mnh, k c my

bay trc thng, tn la, my bay c trc cnh qut xoay ( tilt-rotor).

m phng bay trong X-Plane th bc u tin l xy dng m hnh, Vic s

dng v ly d liu t X-Plane s c trnh by trong chng III.

1.1 Phn mm xy dng m hnh bay Plane Maker 10

1.1.1 Gii thiu

1.1.1.1 Tng quan

Phn mm Plane Maker cho php ngi dng c th thit k v m phng hu ht

nhng m hnh my bay c th tng tng c t nhng thng s vt l nh khi

lng, chiu di si cnh, v.v. Sau phn mm X-Plane s m phng li cch m

m hnh ny bay trong thc t.

Mt cch tng qut quy trnh xy dng mt m hnh trong Plane Maker s c cc

bc nh sau:

1. La chn thit k.

2. Dng thn, cnh, ui ca my bay.

3. Dng cc chi tit ph nh cng p, gi treo ng c.

4. Ci t cc thng s ca h thng v tnh cht bn trong bao gm: ng c,

h thng in, khi lng, cn bng, gc nhn khi m phng.


Nguyn Khi Nguyn 2

5. Ci t thm cc chi tit ph nh cc b mt iu khin c bit.

6. To bng iu khin 2-D.

7. Bay th m hnh trong X-Plane v tinh chnh cc thng s m hnh theo th

t cc bc t 1-6 n khi t c kt qu m phng tng ng vi m

hnh tht.

8. Ci t cc chi tit sn, vt th 3-D, v.v.

Quy trnh xy dng m hnh ny l mt quy trnh chung v ty thuc cch tip cn

m ta c th c cc quy trnh khc ph hp hn.

1.1.2 Giao din ca Plane Maker

Hnh 1-1 Giao din ca phn mm Plane-Maker

Vic s dng Plane Maker l tng t nh cc phn mm thit k hin nay, vic to

mi, lu v m m hnh l kh n gin. Tuy vy di chuyn m hnh ln, xung

v qua tri, phi cn phi dng cc phm mi tn trn bn phm, v xoay m hnh

phi dng cc phm W, A, S, D.


Nguyn Khi Nguyn 3

1.2 Xy dng m hnh

Phn ny s gii thiu mt cch chi tit cch xy dng thn, ui, cnh, v cng

p.

1.2.1 Cc quy c c bn

1.2.1.1 im mc

Tt c cc thnh phn ca thn m hnh s c t theo v tr tng i so vi

im mc. im mc ny do chnh ngi dng nh ngha v n c th l u mi

ca thn hay nm ngay im trng tm ca thn, tuy nhin vi mi im mc khc

nhau cc b phn ca thn s c v tr tng i khc nhau. Do nn la chn

im mc ph hp vic xy dng m hnh d dng v sau.

1.2.1.2 nh ngha v ta ca cc b phn

Hnh 1-2 Cc thng s ta

Hnh 1-2 cho ta thy ba bin ci t v tr ca mt b phn. long arm l di

tnh theo trc dc thn m hnh, vert arm l di tnh theo trc thng ng v

lat arm l di tnh theo trc ngang, chiu dng ca khong cch c xc

nh theo Hnh 1-3.


Nguyn Khi Nguyn 4

Hnh 1-3 Quy nh trc, chiu dng trn trc

1.2.2 Xy dng thn

bt u ta vo mc Fuselage theo , th mc Fuselage s c bt ln, bao gm

3 bn l Section, Top/Bottom, Front/Back

Hnh 1-4 Cc bng trong mc "Fuselage"

Theo Error! Reference source not found. ta thy cc bng Section s th hin

c mt ct ngang ca than my bay, s lng cc mt ct cng nh v tr v hnh

dng ca chng c th c iu chnh. Top/Bottom th hin ba hnh chiu ca

thn my bay da vo cc mt ct ngang xy dng Section, cc im vn c

th c di chuyn bng chut hiu chnh hnh dng ca thn. Front/Back cho

ta thy hnh chiu dc thn my bay t trc v sau, tng t nh mc Top/Bottom

ta c th hiu chnh cc im bng chut. Tt c cc bn ca th mc Fuselage u

hin th m hnh xy dng di dng im v li (wideframe). Bn cnh

vic xy dng m hnh c chnh xc hn, Plane-Maker cho php ta chn hnh nh

chiu ng v chiu cnh ca m hnh, ta c th thy Hnh 1-5, kch chut vo nt

Load image v chn hnh nh cho vo th mc Plane-Maker t trc, ch

hnh nh phi l file .bmp 8 bit


Nguyn Khi Nguyn 5

.

Hnh 1-5 Chn hnh mu vo bng Top/Bottom

Sau khi lm quen vi cc bn trong th mc Fuselage ta s thc hin xy dng

thn my bay theo cc bc nh sau:

1. Bt u vi bn Section, t Hnh 1-6 , ta chn s lng mt ct s cu thnh

nn thn (thng thng l 20) v s lng im trn mi na mt ct

(thng thng l 9), bn knh thn ti a ca cc mt ct. H s lc cn hnh

hc Cd s c tra bng biu da trn din tch thn nhn theo hng dc

trc.

Hnh 1-6 Thng s bng "Section"

K n ta xc nh v tr ca ton b thn so vi im mc v tinh chnh

bng bn thng s bn di. Trong long arm, lat arm, vert arm


Nguyn Khi Nguyn 6

c gii thch t phn trn, heading offset iu chnh hng ca thn

sang tri vi gi tr m v ngc li, pitch offset l hng ca thn ngc

ln vi gi tr dng v xoay xung vi gi tr m, roll offset l xoay c

thn, ch cc trc xoay c gc ta l im mc. Tham kha thm ti

Hnh 1-7.

Hnh 1-7 Cc thng s v tr ca thn

Hnh 1-8 Thao tc vi cc mt ct


Nguyn Khi Nguyn 7

2. Xc nh v tr ca tng im trong cc mt ct vic ny c

thc hin nh hp thoi Cross-Section box, ta dng chut bm

chn mt im v chnh thng s v tr ca cc im so vi

im mc bng cc nt s 5 v 6 trong Hnh 1-9, tng t

chn v tr ca tng mt ct. Hnh 1-8 v Hnh 1-9minh ha

cc bc ny.

3. Chuyn qua bn Top/Bottom iu chnh li cc im trn

mt ct da vo hnh v chiu ng v chiu cnh chn vo.

4. Thay i gia 3 bn hiu chnh nhm c c m hnh

chnh xc nht.

5. Nu thn my bay c cc thnh phn ph gn thm vo

thn chnh ta c th vo mc Misc Bodies thm cc

hnh dng ph , minh ha Hnh 1-10. VIc xy dng s tng t nh cc

bc t 1 n 4 vi mt ch duy nht l phi nh du vo hp thoi

nh hnh

Hnh 1-10 To hnh thn ph

Hnh 1-9 Thao tc

vi cc im trn mt ct


Nguyn Khi Nguyn 8

1.2.3 Xy dng cnh, ui

Cch xy dng cnh trong Plane-Maker l chia nh cnh thng cc phn c kch

thc, thng s bin dng cng nh b mt iu khin ging nhau, mi phn ny

c gi l wing section, vi cc cnh n gin ta c th thit lp cnh bng mt

phn duy nht cn i vi cc cnh phc tp ta c th chia nh thnh bn hoc

nhiu phn hn, thng s hnh hc cng nh b mt iu khin ca cc phn l c

lp vi nhau.

1 Thit lp thng s c bn

Vo mc Wings. Trong mc ny s c rt nhiu bng khc nhau, wing cho

php to ra cc phn ca cnh chnh, horizontal stabilizer to v thit lp cnh n

nh ngang, vertical stabilizer to v thit lp cnh n nh ng.

Hnh 1-11 Mc Wings trong phn mm Plane-Maker

Ta s vo bng Wing, Hnh 1-11, to v thit lp cnh chnh trc. trong bng

ny s c cc hp thng s:

1. Foil Specs cho php thit lp tt c cc thng s hnh hc c bn ca cnh,

ngoi cc thng s v v tr tng t nh phn thn ta s c cc thng s c

trng ca cnh nh sau, tham kho Hnh 1-12.

Semi-length: l chiu di ca phn cnh t gc cnh n mi

cnh tnh t v tr 25% ng chord.


Nguyn Khi Nguyn 9

Root chord: chiu rng ca bin dng cnh ti gc.

Tip chord: chiu rng ca bin dng cnh ti mi.

Sweep: l gc li sau ca cnh, s mang du dng khi cnh

li v pha sau.

Dihedral: l gc vnh ca cnh

Hnh 1-12 Thng s c bn ca cnh

hinh 13

2. Element Specs cho php ta thit lp v tr cc b mt iu khin trn phn

cnh dang xy dng, theo Hnh 1-13. S trong mu l s ming m

phn cnh s c chia ra, cc ming ny c kch thc bng nhau, mi

ming s cho php ty chnh v gc ti, cng nh b mt iu khin ca

tng ming. Bn cnh mi ming cn ng vai tr l mt phn t X-

Plane thc hin m phng v tng kt qu gi lp ca tng phn t chnh l

kt qu gia lp cho c m hnh. Phn mu xanh cho php ta ci t gc ti

ca tng ming.


Nguyn Khi Nguyn 10

Hnh 1-13 Gn b mt iu khin cho phn cnh

hinh 14

Bn cnh ta c th thay i hnh dng ca tng ming trong phn cnh

bng cch bm vo customize chords ta s thy xut hin bng nh hnh

v cc thng s ty bin, Chord ratio l t l chiu rng ca bin dng

cnh, 1 tng ng vi chiu rng bng vi chiu rng m Plane-Maker

tnh ton, Chord offset l v tr tng i ca ming vi nhng phn cn

l, d thy Hnh 1-14.

Bn cnh nu nhng chi tit cnh hoc ui qu phc tp v mc

Wings khng xy dng ta c th s dng thm mc Misc Wing

to ra thm nhng phn cnh cn thiu, cch xy dng cng tng t nh

hng dn trn, Hnh 1-15.

Hnh 1-14 Ty chnh cc phn cnh

hinh 15


Nguyn Khi Nguyn 11

Hnh 1-15 Thit lp cnh ph

hinh 16

1.2.3.1 Thit lp thng s ca cc b mt iu khin

thit lp cc thng s cho b mt iu khin u tin ta vo mc Control

Geometry trong mc ny s c rt nhiu bng, Hnh 1-16. Tuy nhin trong phn

xy dng m hnh ta ch cn quan tm n bng Controls cc bng cn li s

c s dng tinh chnh m hnh sau khi bay th.

Hnh 1-16 Thit lp b mt iu khin

Trong bng Controls ta s thy c tng thit lp c th cho ailerons, elevators,

rudders cho n flaps. Cc thit lp cng tun theo mt quy tc chung l phn

Chord ratio bn tri l t l chiu rng b mt iu khin so vi chiu rng ca

cnh ti gc, cn bn phi l ti mi. Ti control surface up/down s cho ta thit

lp v bin hot ng ca b mt iu khin tnh theo , bn tri l khi vnh ln

v bn phi l vnh xung.

Bng cch ny ta s thit lp c thng s b mt iu khin. Bn cnh , ta c

th thit lp thng s cho flaps, slats cng nh speed brakes, tuy nhin, do phc

tp ca m hnh l khng cao nn trong bo co ny s khng cp n.


Nguyn Khi Nguyn 12

1.2.4 xy dng cng p v thit lp cc thng s lin quan.

xy dng cng p ta vo mc Landing Gear , m hnh khng th thu h cng

p, do ta vo bng Gear Data b chn gear is retractable. K n bt bng

Gear Loc, Hnh 1-17, bng ny cho php ta thit lp tt c cc thng s c bn

cho cng p, mi ct tng ng vi mt cng p, do mc gear type ta s

chn none cho cc cng khng s dng, lateral cho cu hnh cc bnh t song

song nhau trn cng 1 cng, long cho cu hnh bnh trc-bnh sau.

Hnh 1-17 Thit lp cng p

Ba thng s tip theo nhm thit lp v tr ca tng cng. Thng s tip theo l lon

angle l gc m cng s hng v sau hay ra trc theo trc dc thn, lat angle

l gc m cng s nghin sang tri hoc sng phi, k n l leg length y l

thng s th hin chiu di ca cng p, tire radius l bn knh ca bnh xe, tire

semi-width l na chiu rng ca bnh. Ch vi cng p no m nhn ch

nng dn hng th phi nh vo this gear steers


Nguyn Khi Nguyn 13

1.3 Xy dng cc h thng trn my bay

cc h thng trn my bay bao gm h thng lc y, h thng in, h thng thy

lc, v.v. Tuy nhin do y l m hnh UAV do vic xy dng cc h thng ch

tp trung vo phn h thng lc y.

1.3.1 Thit lp thng s ca h thng lc y

ng c cng vi cnh qut hoc cc thit b to lc y my bay c gom chung

vo nhm h thng lc y. bt u thit lp cc thng s ng c ta vo mc

Engine Specs, s dng bng Location thit lp s lng cng nh loi ng

c, vic chn s lng v loi ng c s c nh hng n nhng thit lp sau .

y ta chn ng c in v s lng l 1, thy trn Hnh 1-18

Hnh 1-18 Thng s c bn ca ng c

1.3.1.1 Thit lp thng s c bn

Nhng thng s c bn ny l ging nhau vi tt c cc loi ng c.

V tr: ngoi 3 thng s c bn v v tr ta s cn c thm , vertical cant c

gc dng s lm cho ng c hng mi ln, side cant c gi tr dng

s lm cho ng c xoay theo chiu kim ng h khi nhn t trn nhn

xung.


Nguyn Khi Nguyn 14

Cn ga: trong hp GENERAL ENGINE SPECS nh hnh, ta s chn max

forwards throttle l 1.00 tng ng vi v tr cn ga cao nht s cho ra

100% cng sut ng c, max reverse throttle l 0.00 v m hnh khng c

ch o chiu ng c. Cc thng s khc khng quan trng vi ng c

in c cnh qut c nh (fixed pitch), Hnh 1-19.

Hnh 1-19 Thng s cn ga

1.3.1.2 Thit lp thng s cho ng c cnh qut

Vi cc m hnh chng ta xy dng, ch yu l dng h thng lc y bng cnh

qut. Do phn trnh by s ch tp trung vo cch thit lp thong s cho ng c

cnh qut. Trc ht vo bng Location thit lp thng s bao gm s cnh qut

v loi cnh, y ta chn fixed. K n l s l cnh qut cng nh chiu quay

l cng chiu kim ng h, CW hay ngc li, CCW. Cc bn cnh l dnh

cho trc thng do khng cn nh vo, tham kho Hnh 1-18.

Ngay di l bng thng s hnh hc ca cnh qut, Hnh 1-20, bao gm cc thng

s:

prop radius: bn knh ca cnh qut tnh theo feet.

root and tip chord : chiu rng ca l cnh qut ti gc, v bn phi l ti

ngn.


Nguyn Khi Nguyn 15

min and max pitch: ch dnh cho cc cnh qut c th thay i gc pitch.

design RPM: l thng s vn tc cnh qut ti u, thng s ny do nh sn

xut cnh qut cung cp.

design spd acf, prop: bn tri l vn tc thit k ca gi qua cnh qut,

thng l vn tc ti ca my bay cng vi mt na vn tc xoay ca cnh

qut (propwash), tnh theo knot. bn phi l vn tc dng i qua ti mi

cnh qut.

engine to gear ratio l hiu sut truyn ca ng c n cnh qut, do m

hnh dn ng trc tip, ta chn gi tr 1.

Hnh 1-20 Thng s hnh hc ca cnh qut

Tip tc thit lp thng s cho ng c, Hnh 1-21. Vo bng Description cc

thng s cn nhp vo l:

maximum allowable power : cng sut cc i ca ng c cung cp c

ti mt bin. Do ng c in nn cng sut khng thay i theo cao.

redline: s vng quay ti a ng c c th hot ng.


Nguyn Khi Nguyn 16

idle: chn bng khng do l ng c in.

Transmission losses l tn hao do truyn ng, chn bng khng do dng

ng c in.

Cc thng s khc khng s dng n do m hnh dng ng c in c bc cnh

qut c nh.

Sau vn trong bng Description s c mc nh hnh 23 thit lp thng s

cho cnh qut, trong cc thng s ny ch c prop mass ratio, t l khi lng

ring ca vt liu lm cnh qut so vi khi lng ring ca nhm, l cn thit lp.

cc thng s khc khng lin quan n cu hnh h thng lc y ta chn.

Hnh 1-21 Thng s ng c


Nguyn Khi Nguyn 17

Hnh 1-22 Thit lp cnh qut

1.3.2 Thit lp thng s c tnh ca my bay.

1.3.2.1 Thit lp gc nhn

Vo mc Viewoint thit lp gc nhn khi gi lp m hnh trong X-Plane. Trong

bng Default ta nhp vo tm nhn ca ngi iu khin, phn t d quan ca Hnh

1-23.

Hnh 1-23 Thit lp viewpoint


Nguyn Khi Nguyn 18

1.3.2.2 Thit lp khi lng v trng tm.

Vo mc Weight & Balance, mc ny cho php ta thit lp khi lng cng nh

trng tm ca m hnh.

V thit lp trong tm, theo hnh, ta nhn thy trng tm c thit lp theo 2 chiu,

long CG thit lp v tr ca trng tm nm cch xa bao nhiu so vi im mc vi

3 thng s, gii hn trc, v tr thit k, gii hn sau. vert CG, l cao ca

trng tm so vi im mc, Hnh 1-24.

Thit lp khi lng, ta vo bng weight do m hnh l my bay in do ta ch

cn thit lp empty weight bng vi khi lng max weight.

Hnh 1-24 Thit lp trng tm

Xy dng tnh hung bay th nghim

Nguyn Khi Nguyn 19

Chng 2


Bay th nghim l cn thit nhm gip cho ngi thit k xc thc li cc tnh ton

l thuyt hp l cha v t a ra cc nh gi v thay i hp l trong thit

k ban u.

2.1 Tnh hung mt

Tnh hung bay th nghim ny c lp ra nhm kho st li biu Drag Polar,

vic chn kho st c tnh Drag Polar v biu ny c trng cho tng m hnh

my bay v c th c s dng tnh ton cc c tnh bay khc.

2.1.1 C s l thuyt v biu Drag Polar.

tm ra biu lc cn cho m hnh, ta kho st qu trnh bay bng, cc phng

trnh cn bng lc nh sau:

Hnh 2-1 M hnh lc tc dng ln my bay. Reference (Initial Flight Test of half-scale Unmanned Air Vehicle, Master thesis, Naval Postgraduate School, 09/1989)

21

2LW L V C S (2.1)

21

2r DT D V C S (2.2)


Nguyn Khi Nguyn 20

Vi l khi lng ring ca khng kh ti cao thc hin th nghim, V l vn

tc ca my bay so vi dng kh, S l din tch cnh, Tr l lc y ng c cung

cp, W l trng lng my bay lc th nghim.

T hai phng trnh (II.1.1) v (II.1.2) ta c th xc nh c h s lc nng v lc

cn ca m hnh

2

2D

TC

V S (2.3)

2

2L

WC

V S

(2.4)

Vi lc y ng c c tnh theo cng thc:

2 4

r TT C n d (2.5)

Vi n l s vng quay ca cnh qut trong mt giy, d l ng knh cnh qut, CT

l h s lc y ca tng loi cnh qut c th, h s ny c th c tham kho ti

T s tin ca cnh qut l mt i lng v th nguyn (J) c tnh bng cng

thc:

VJ

n (2.6)


Nguyn Khi Nguyn 21

Hnh 2-2 Thay i ca CT theo J. Reference (Propeller performance data at low Reynold numbers, John B.Brandt and Michael S.Selig, University of Illinois at Urbana-Champaign, USA)

H s lc cn ton th c th c vit di dng sau:

0

2

1 2D D L LC C K C K C (2.7)

Vi CD l h s lc c, CL l h s lc nng, CD0 l h s lc nng ti thiu, K1 v

K2 l cc hng s.

Nu ta gi s lc cn l nh nht khi lc nng l khng ta s c phng trnh nh

sau:

0

2

D D LC C KC (2.8)

Sau thc hin v th DC theo 2

LC t cc s liu thu thp c trong qu trnh

bay th nghim l vn tc vng quay, vn tc ca m hnh, y chnh l biu

Drag-Polar


Nguyn Khi Nguyn 22

2.1.2 Kch bn bay bng

Kch bn bay bng c thc hin trong iu kin ln gi, nhm gim ti a sai

lch kt qu do gi gy ra v khi lng my bay l 1.5kg v vn tc bay ti a ch

t c 20 m/s vn tc ny l ko qu ln so vi vn tc gi ca mi trng l t

0.5 n 3 m/s dn n kh nng kt qu o c l khng chnh xc.

Hnh 2-3 S ng bay

My bay s ct cnh v tin n im A t gi ng bay thng n im B, sau

quay li v tin hnh bay ngc chiu t C v D.

Ch : qu trnh bay th phi thc hin bay ngc v xui gi, trnh hin tng gi

ngang v s lm nh hng n kt qu o.

2.2 Tnh hung hai

Tnh hung bay th nghim th hai nhm xc nh li im cn bng (neutral point)

trong trng hp bnh li cao khng t do di chuyn khi c nhiu, m ch chu

s iu khin ca cn li. (Stick-fixed).

y l mt trong nhng c tnh n nh tnh dc quan trng cn c xc nh.

2.2.1 C s l thuyt n nh tnh dc

Tng Pitching moment tc ng trn my bay bao gm nhiu thnh phn, Pitching

moment gy ra bi cnh, thn, ui l ba phn ng gp nhiu nht.

Phng trnh di dng v th nguyn th hin Pitching moment c dng:


Nguyn Khi Nguyn 23

0cg em m m m eC C C C

(2.9)

Vi

0 0 0 0w f tm m m H L w t

C C C V C i i

(2.10)

1w f t

cg acm L m H L

x x dC C C V C

c c d

(2.11)

mC l h s moment

l gc ti

l h s p sut ng hay hiu sut ui

0 l gc downwash khi gc ti ti cnh chnh ( w ) bng khng.

2aw

L

w

Cd

d AR

l tc thay i gc downwash theo gc ti.

/H t tV l S Sc l t s th tch ca ui ngang.

T phng trnh (2.11) ta c th d dng tm c im neutral point, c ngha l

im m ti moment pitching khng ph thut vo gc . Khi trng tm b t

vt ra sau im ny my bay khng cn c n nh tnh dc.

1f t

w w

m LNP acH

L L

C Cx x dV

c c C C d

(2.12)


Nguyn Khi Nguyn 24

Hnh 2-4 th v tr im trung ha reference(Flight Stability and Automatic Control - 2nd Nelson, 1974)

T Hnh 2-4 ta nhn thy, my bay s t trng thi cn bng, tc 0cgm

C , ti mt

vn tc duy nht, ng vi mi v tr trng tm. Do tng tnh c ng v my

bay khng th ch hot ng ti mt vn tc, b mt iu khin bnh li cao

c s dng to ra trang thi cn bng vi di vn tc rng hn v khng phi

thay i v tr trng tm. Phng trnh m t cho cn bng moment khi c tnh n

bnh li cao:

0cg em m m m eC C C C

(2.13)

Trong :

e tm H LC V C

(2.14)

Vi:

emC

l h s moment gy ra bi bnh li cao,

e l gc m ca bnh li cao so vi b mt cnh, quy c v du ca gc

ny c th hin bng Hnh 2-5.

l hiu sut ca bnh li cao, c tra t th Hnh 2-6, ph thuc vo

din tch ui ng v din tch bnh li cao.


Nguyn Khi Nguyn 25

Hnh 2-5 Quy c v du ca gc bnh li cao . Reference(Flight Stability and Automatic Control - 2nd Nelson,

1974)

Hnh 2-6 Biu hiu sut ca bnh li cao. Reference(Flight Stability and Automatic Control - 2nd Nelson, 1974)

T phng trnh (2.13) ta c th m t li nh hng ca bnh li cao n

trng thi cn bng tnh dc ca my bay. Hnh 2-7 th hin th ny, trong th

ta nhn thy dc ca ng h s moment l khng thay i, nh vy my bay

ang hot ng ti cng mt v tr trng tm, tuy nhin vi gc bnh li cao thay

i, ta thy ng lc nng b tnh tin v pha trc hoc sau, vy vi mi vn tc

bay ta c th iu chnh cho my bay t trng thi cn bng nh bnh li cao.


Nguyn Khi Nguyn 26

Hnh 2-7 dc ca ng h s Moment theo CL hay . reference(Flight Stability and Automatic Control - 2nd Nelson, 1974)

Vy vi khi my bay vn hnh vi h s lc nng khc nhau, hay c th hiu l tc

khc nhau, s c mt gi tr gc bnh li cao tng ng gip cho my bay t

trng thi cn bng. T phng trnh (2.14) ta c th tm c mi lin h gia 2

gi tr ny

0 trim

trim

e e

m L m L

e

m L m L

C C C C

C C C C

(2.15)

Hnh 2-8 l th th hin phng trnh (2.15) ti 3 v tr trng tm khc nhau.

Hnh 2-8 Phng trnh (2.15) ti 3 v tr trng tm khc nhau. reference(Flight Stability and Automatic Control - 2nd Nelson, 1974).

Tip tc o hm phng trnh (2.15) theo trimL

C ta c phng trnh


Nguyn Khi Nguyn 27

trim

trim e e

e m

L m L m L

d C

dC C C C C

(2.16)

Phng trnh (2.16) cho ta thy rng khi phng trnh c gi tr l 0 th tng

ng vi 0mC , vy trng thi cn bng c thit lp.

Nh nhn xt ny ta c th v th ca hm trim

trim

e

L

d

dC

vi v tr trng tm, v ngoi

suy tm ra im trim

trim

e

L

d

dC

= 0.

Hnh 2-9 cho ta v d v cch tm ra im Neutral Point, ng ngoi suy c to

ra t cc gi tr dc v v tr trng tm khc nhau, nhng c h s lc nng lc

cn bng trimL

C bng nhau.

Hnh 2-9 Phng php ngoi suy tm im trung ha. Reference(Flight Stability and Automatic Control - 2nd Nelson, 1974).

Vy vic tm th nh hng gia h s lc nng lc cn bng trimL

C v v tr

im trung ha (Neutral Point) c quy v tm th gia vn tc cn bng (Trim

Speed) v gc bnh li cao cn bng trime

, ly kt qu ti nhiu thit lp v tr

trng tm khc nhau, t nht l 3 v tr trng tm. Hnh 2-10 cho ta thy kt qu thu

c.


Nguyn Khi Nguyn 28

Hnh 2-10 Biu ph thuc ca vn tc vo gc bnh li. Reference(Flight testing of fixed-wing aircraft, Ralph D.Kimberlin.)

K n ta v li th gia h s lc nng cn bng trimL

C v gi tr trime

, Hnh 2-11 minh ha cho kt qu

s t c.

Hnh 2-11 Biu ph thuc ca lc nng vo gc bnh li. Reference(Flight testing of fixed-wing aircraft, Ralph

D.Kimberlin).

Cui cng ti mi gi tr trimL

C ta s tm c 3 dc trim

trim

e

L

d

dC

khc nhau ng vi

3 v tr trng tm khc nhau, dng 3 cp gi tr ny ngoi suy ra v tr im trung

ha, v d minh ha cho bc ny Hnh 2-12


Nguyn Khi Nguyn 29

Thc hin qu trnh ny vi cng nhiu gi tr trimL

C cng tt, kt qu cui cng

c th hin Hnh 2-13.

Hnh 2-12 Biu h s gc ca ng lc nng. Reference(Flight testing of fixed-wing aircraft, Ralph D.Kimberlin).

Hnh 2-13 Biu mi lien h gia v tr im trung ha v h s lc nng cn bng. Reference(Flight testing of fixed-wing aircraft, Ralph D.Kimberlin).

2.2.2 Kch bn bay

kch bn bay bng c thc hin trong iu kin ln gi, nhm gim ti a sai lch

kt qu do gi gy ra v khi lng my bay l 1.5kg v vn tc bay ti a ch t

c 20 m/s vn tc ny l ko qu ln so vi vn tc gi ca mi trng l t 0.5

n 3 m/s dn n kh nng kt qu o c l khng chnh xc.


Nguyn Khi Nguyn 30

Hnh 2-14 S ng bay

My bay s ct cnh v tin n im A t gi ng bay thng n im B, sau

quay li v tin hnh bay ngc chiu t C v D. Trong qu trnh bay t im A

n B v im C n im D chng ta s gi m hnh bay cn bng nhiu vn tc,

lu li d liu vn tc tht ca dng kh v gc vnh ca bnh li cao nhm duy

tr trng thi cn bng ny. Thc hin ly d liu nh vy cho t nht 3 thit t v

tr trng tm khc nhau. Cc bc phn tch d liu s c trnh by chng III

Ch : qu trnh bay th phi thc hin bay ngc v xui gi, trnh hin tng gi

ngang v s lm nh hng n kt qu o.

p dng X-Plane cho m hnh Cessna 1300 EP

Nguyn Khi Nguyn 31

Chng 3


3.1 Xy dng m hnh trn X-Plane

3.1.1 Gii thiu m hnh Cessna 1300 EP

Hnh 3-1 M hnh Cessna 1300 EP

M hnh s dng xy dng m phng trn phn mm X-Plane l Cessna 182

1300EP, m hnh ny s dng ng c in, c thit k m phng li my bay

Cessna 182. Cc thng s c bn ca m hnh c trnh by li trong bng 1

Bng 3.1 Thng s ca m hnh my bay Cessna 1300 EP

Si cnh (mm) 1320

Trng lng ct cnh (kg) 1.45-1.5

Bin dng cnh chnh NACA 2412

Din tch cnh (m2) 0.2088

Bin dng ui NACA 2412

V h thng lc y, m hnh s dng ng c Brushless Motor c ch s vng

quay l 1100KV, 12 cc. B iu tc 70A v ngun pin 2200mAh, kt hp vi cnh

qut 11x7.


Nguyn Khi Nguyn 32

H thng iu khin s dng b iu khin 6 knh kt hp vi 4 servo.

3.1.2 Qu trnh xy dng m hnh

3.1.2.1 Tnh ton h s lc cn khi lc nng bng khng gy ra bi thn

Tnh ton h s lc cn nh hng bi thn khi lc nng bng khng,

Ta c cng thc tnh h s lc cn ny nh sau:

0 3

601 0.0025

B b

SB BeD f WB D

BREF REFB

S SC C R C

d S Sd

(3.1)

V

3

0.029

b

f

b

D

Db

d

dC

C

(3.2)

Vi:

/bd d l t l gia ng knh gc v ng knh ln nht ca thn minh ho

theo hnh 1.

s eS l din tch t ca thn tr i phn din tch t cnh v ui.

BS l din tch phn mt ct pha trc ln nht.

REFS l din tch hnh chiu ca cnh.

WBR h s hiu chnh s giao thoa thn cnh t c t hnh 2, l mt hm

theo s Mach v s Reynold thn da trn chiu di thc t thn, B .

Bf

C h s nht trn tm phng cho dng ri ca thn, bao gm nh hng

ca nhm vt liu b mt tm, tra bng 1, v l hm theo s Mach v s

Reynold da trn chiu di thn B . Gi tr BfC c tm t Hnh 3-3 v

Hnh 3-4


Nguyn Khi Nguyn 33

fD b

C l h s lc cn khi lc nng bng khng gy ra do phn gc,

c cng thc nh sau:

3

601 0.0025

/f B

sB eD f

bBB

SC C

d Sd

(3.3)

Hnh 3-2 Quy c kch thc thn. Reference (Methods for estimating drag polar of subsonic airplane, Jan Roskam,

1973).

Hnh 3-3 H s hiu chnh giao thoa thn v cnh. Reference (Methods for estimating drag polar of subsonic airplane, Jan Roskam, 1973).


Nguyn Khi Nguyn 34

Hnh 3-4 H s ma st nht b mt. Reference (Methods for estimating drag polar of subsonic airplane, Jan Roskam, 1973).

Bng 3.2 nhm b mt ca cc loi vt liu


Nguyn Khi Nguyn 35

Hnh 3-5 Bng tra gii hn s Reynold. Reference (Methods for estimating drag polar of subsonic airplane, Jan Roskam, 1973).

T bng v m hnh ta a vo phn mm Autocad, tin hnh o c cc thng s

cn thit c lng mt cch chnh xc nht c th h s lc cn do thn gy ra.

Bng 3.3 Cc thng s ca m hnh o c trn Autocad

bd 0.1 (m)

d 0.1753 (m)

B 0.88 (m)

S eS 0.33 (m2)

BS 0.0237 (m2)

REFS 0.2088 (m2)

Chn vn tc bay ca m hnh s l t 50 km/h n 90 km/h chn vn tc tnh s

Reynold bng 70 km/h.


Nguyn Khi Nguyn 36

Vi Re BV

v

VM

RT

Bng 3.4 Vn tc hot ng

v 19.4 (m/s)

Re 809099

M 0.06

K n t bng 1 chn gi tr 30.08 10k (inches), sau dng Hnh 3-3 v Hnh

3-4 tra ra gi tr Bf

C , dng Hnh 3-3 tra ra gi tr WBR , y ta khng th tra ra

do nm ngoi gii hn ca ng ni suy nn t lng s b v cho bng 1.

Bng 3.5 Tng hp cc thng s

k (m) B k Cut off Re Computed

Re BfC WBR

43307 2934800 809099 0.0047 1

T tt c cc gi tr va tm c ta th vo cng thc c kt qu

Bng 3.6 Cc h s lc cn

fD b

C 0.097304

bDC 0.017258

0D B

C 0.013

3.1.2.2 Xy dng thn

Nh gii thiu chng I, m hnh thn c xy dng bng cch chia thn ra

thnh nhiu mt ct sut dc chiu di thn, mi mt ct s c xc nh bng v

tr ca n so vi im gc. V bin dng ca tng mt ct s c nh ngha bng

9 im, s mt ct dng ln m hnh thn ta chn 13 mt. H s lc cn tnh

pha trn cng c nhp vo trong bc ny.


Nguyn Khi Nguyn 37

Hnh 3-6 Thng s mt ct thn trong phn mm Plane-Maker

c th o c v ly s liu t bn v. Ta s chn bn v thnh hnh nn trong

khng gian lm vic ca Autocad bng cch vo Insert v chn Raster Image

Reference, minh ha cho bc ny bng Hnh 3-7, sau chn ng dn l hnh

nh bn v, tip tc chn h s t l l 1, v tr t nh ti gc ta ca khng gian

lm vic, Hnh 3-8 minh ha bc ny.

Hnh 3-7 Mc Raster Image Reference trong phn mm Autocad

Hnh 3-8 Mc chn ng dn v gc t nh trong phn mm Autocad


Nguyn Khi Nguyn 38

K n ta s xc nh h s t l kch thc bn v c kch thc si cnh l 1m3

nh m hnh hin c. Vic xc nh h s ny l cn thit v ta ch cn xc nh 1

ln, sau cc kt qu o c s c Autocad t chia theo ng t l.

Cch xc nh t l ny nh sau. u tin o di ca mt na cnh ta s c

khong cch ny l 1.4686 m ta cn khong cch ny ch cn 0.66 m do si cnh l

1.32 m do t l s l 0.66/1.4686=0.4494. M hp thoi Format v chn

Dimensions Style, chn Modify, vo mc Measurement scale, nh vo 0.4494,

Hnh 3-9.

Hnh 3-9 Mc Measurement scale trong hp thoi Format

Kt qu thu c s nh Hnh 3-10, nh vy bc tip theo ta s xc nh v tr ca

cc mt ct so vi im gc, chn im gc l im nm trn trc cnh qut v

ngay trung im ca cnh qut, Hnh 3-11 cho php d hnh dung hn.

Da vo kt qu do c ta c bn thng s v tr ca cc mt ct nh sau

Bng 3.7 Cc v tr mt ct thn

v tr x(ft)

A-A 0.134559

B-B 0.441883

C-C 0.7326

D-D 1.090122

E-E 1.362463

F-F 1.550807

G-G 2.170793

H-H 2.751651


Nguyn Khi Nguyn 39

Hnh 3-10 V d v vic nhn t l kch thc

Hnh 3-11 V tr im mc

T cc gi tr va o nhp s liu v tr ca tng mt ct vo phn mm Plane-

Maker. Do phn mm Plane-Maker s dng thang o l feet do ta phi chuyn

n v cho cc thng s, bn cnh Plane-Maker ch cho php chnh xc n

10-2

nn cn lm trn mi gi tr n 2 con s sau du phy. Kt qu c c nh

Hnh 3-12.

Hnh 3-12 V tr cc mt ct trong phn mm Plane-Maker

Tin hnh ly 9 im trn mt na bin dng ca tng mt ct, na bin dng ny

khi ly i xng qua trc thng ng s to ra bin dng hon chnh. Vn l phi

chn nhng im nh th no vi chng s im c th dng li c nhng

on cong gn ging nht vi bin dng. Trong Autocad, ta m Draw v chn lnh

Polyline, lnh ny s v bin dng ca mt ct t cc im cho trc, tuy nhin cc

im ny c th c iu chnh sau khi v cc ng cong tht trng vi bin


Nguyn Khi Nguyn 40

dng nht c th. Ch rng s im ti a cho mi bin dng l 9 im v s im

ny trn tt c cc bin dng phi ging nhau. Hnh 3-13 minh ha cho vic s dng

lnh Polyline v Hnh 3-14 minh ha cch thc t c im tao nn ng Polyline

ng ny ging nht vi bin dng, cc im hnh vung chnh l cc im m

Autocad dng dng ln bin dng, ta c th iu chnh nhng im ny, c

c cc ng cong gn nht vi bin dng tht.

Hnh 3-13 Lnh Polyline trong phn mm Autocad

Hnh 3-14 ng Polyline v theo bin dng cnh

Bc tip theo s l ly s liu v v tr ca 9 im ta va xc nh c. Vi mi

mt ct, s liu v v tr cho tng im ch cn thiu khong cch trn trc X, Y so

vi im gc, v khong cch trn trc Z c xc nh ti bc xc nh v tr

tng mt ct. Ta nhn thy trn bn v, vic chn im gc trng vi trc ca my

bay c u im l cc mt ct cng c th hin v tr m trc ny i qua, chm

trn Hnh 3-11 chnh l v tr trc my bay i qua. Vy ta ch cn xc nh v tr

tng i ca 9 dim va xc nh vi im m trc my bay giao vi mt ct (

im mu ). ly s liu v tr cc im ny mt cch nhanh chng v hiu qu.

Vic u tin thc hin s l di gc ta v im mu , do ta ch cn khong

cch gia trc my bay vi bin dng theo 2 trc X, Y, di trc bng lnh


Nguyn Khi Nguyn 41

3Point,Hnh 3-15. Sau khi kch vo lnh, Autocad s yu cu ta chn im u tin

l im gc, im th 2 phi nm trn trc X v im th 3 phi nm trn trc Y.

Bng cch ny d liu ta cng chnh l d liu v khong cch trn tng trc

cho mi im.

K n dng mt lnh c lp trnh sn s dng trn Autocad, tham kho t

internet, c tn l Click2XLS.vlx. Lnh ny sau khi c np vo Autocad s

chuyn mi d liu ta ca im m ta chn vo file excel. Nh cu lnh ny

vic ly d liu im s c lm nhanh chng v chnh xc. Tuy nhin, cu lnh

ny ch xut ra d liu ta ch cha nhn cho h s t l, do vy cn ch x l

s liu ny trc khi nhp vo Plane-Maker.

Cch thc nhp cu lnh vo Autocad c hng dn c th nh sau. Pha di

mn hnh giao din Autocad, ta s thy khung lnh Command, nh vo khung lnh

ny cu lnh APPLOAD, mt ca s s hin ra nh Hnh 3-16, chn ng dn

ca file v bm load. Sau khi mun s dng cu lnh ch cn nh vo khung

Command dng ch Click2XLS th cu lnh s c thc thi.

Hnh 3-15 Mc 3 Point trong phn mm Autocad

T cc bc trn ta s thu c d liu im ca tng mt, d liu ny c trnh

by trong Bng 3.8, vi cc thng s v tr c chuyn ra n v l Feet.


Nguyn Khi Nguyn 42

Hnh 3-16 Hp thoi APPLOAD

Bng 3.8 Ta cc im trn mt ct

Mt ct X (ft) Y (ft) Mt ct X (ft) Y (ft) Mt ct

X (ft) Y (ft)

A-A

0.126 0.000

B-B

0.189 -0.001

G-G

0.227 -0.001

0.124 0.089 0.182 0.117 0.224 0.058

0.102 0.150 0.157 0.178 0.207 0.097

0.059 0.181 0.105 0.211 0.168 0.116

0.013 0.182 0.000 0.217 0.063 0.112

-0.037 0.161 -0.130 0.213 0.000 0.086

-0.082 0.125 -0.192 0.178 -0.011 0.062

-0.133 0.061 -0.211 0.117 -0.015 0.033

-0.151 0.000 -0.215 -0.001 -0.016 0.000

C-C

0.360 0.000

D-D

0.340 0.000

H-H

0.227 -0.001

0.360 0.212 0.340 0.213 0.227 0.019

0.217 0.234 0.223 0.234 0.216 0.035

-0.002 0.237 -0.003 0.234 0.202 0.047

-0.104 0.230 -0.102 0.223 0.150 0.049

-0.155 0.217 -0.145 0.209 0.118 0.045

-0.199 0.178 -0.174 0.178 0.094 0.031

-0.213 0.120 -0.189 0.134 0.081 0.016

-0.215 0.000 -0.193 0.000 0.077 0.000

E-E 0.288 0.000

F-F 0.229 0.000

0.281 0.116 0.223 0.107


Nguyn Khi Nguyn 43

0.250 0.189 0.201 0.165

0.184 0.215 0.150 0.194

-0.003 0.214 -0.001 0.192

-0.079 0.202 -0.065 0.175

-0.118 0.177 -0.102 0.142

-0.146 0.124 -0.117 0.095

-0.149 0.000 -0.120 0.000

T cc s liu ny, nhp tng im vo trong Plane-Maker to ra tit din thn

ca m hnh, Hnh 3-17 minh ha cho kt qu lm c.

Hnh 3-17 Ta mt ct nhp vo phn mm Plane-Maker

Sau ta a hnh nh hnh chiu ng v chiu cnh ca m hnh vo so snh

vi m hnh thn va dng c. Bc ny ch c ngha so snh li nhng kt

qu m ta va lm c, c th thc hin nhng tinh chnh nh trong tng mt ct

nu thy hnh dng m hnh cha tht s ging vi hnh chiu ca thn, ch

Plane-Maker ch cho php nhp hnh nh mang nh dng 24-bit Bitmap. Hnh 3-18

minh ha kt qu xy dng thn vi cc hnh chiu trn bn v.


Nguyn Khi Nguyn 44

Hnh 3-18 Kt qu thu c

3.1.2.3 Xy dng cnh

Vic xy dng cnh c tin hnh vi tng l chia nh cnh ra thnh nhng

phn c c im ging nhau. Sau nhp d liu v v tr, kch thc, gc t

cnh, gc vnh cho tng phn. Vi m hnh my bay Cessna, nhn thy cnh c 2

phn vi c tnh hnh dng khc nhau, Hnh 3-18 th hin iu ny. Phn pha

trong gn gc cnh c di cung cnh khng thay i, trong khi phn gn mi

cnh li c di dy cung cnh gim dn. Do ta s chia c cnh ra lm 2 phn,

tin hnh o kch thc ca dy cung cnh ti gc cng nh mi cnh ca tng

phn, di ca tng phn cnh tnh t v tr 25% cung cnh ti gc cho n 25%

cung cnh ti mi. Bn cnh ta cng phi xc nh v tr ca cnh so vi thn,

vi quy c l khong cch gia im 25% cung cnh ti gc cnh v im gc

chn t lc xy dng thn.

Sau khi o cc kt qu bng cch s dng Autocad ta c Bng 3.9. Hnh 3-19 m t

li mt cng on ly s liu trong nhiu bc thao tc bng Autocad.

Hnh 3-19 Chiu di cung cnh gc


Nguyn Khi Nguyn 45

Hnh 3-20 Gc vnh

Bng 3.9 Thng s cnh

Phn 1 Phn 2

Semi-lenght (ft) 0.74 1.08

Root chord (ft) 0.66 0.66

Tip chord (ft) 0.66 0.44

Diheral (ft) 1 2

Sweep (ft) 0

Long arm (ft) 0.83

Lat arm (ft) 0.22

Vert arm (ft) 0.32

Sau khi c cc s liu cn thit, tin hnh nhn s liu ny vo phn mm Plane-

Maker nh hng dn chng I, chn s phn t trong mi cnh l 6, Tab

Wing 1 s dnh thit lp phn cnh 1 v Wing 2 l phn cnh 2. Vi phn

cnh s 2 ta khng cn s liu v tr v Plane-Maker c ty chn ghp phn cnh 2

vo phn cnh 1, s dng chc nng ny c th vo Wing 2 v chn Snap to

RIGT WING 1 , Hnh 3-21 minh ha cho chc nng ny.

Hnh 3-21 Cch ni 2 phn cnh vi nhau


Nguyn Khi Nguyn 46


Sau khi nhp xong s liu cho tng phn cnh. Ta c th kim tra li kt qu

bng cch vo mc Customize chords kim tra di cung cnh c ng vi

bn v hay khng, Hnh 3-23 th hin chiu di cung cnh ca phn cnh 2. Kim

tra cho vi kt qu o c bng Autocad cho thy vic xy dng cnh khng b

sai lch so vi bn v

Hnh 3-23 Kim tra chiu di dy cung cnh

Nh vy cnh chnh ca m hnh c xy dng xong, Hnh 3-24 l kt qu thu

c sau bc ny. Bc tip theo ta thc hin l xy dng ui ng cng nh

ui ngang cho m hnh.


Nguyn Khi Nguyn 47

Hnh 3-24 Kt qu xy dng cnh

3.1.2.4 Xy dng ui

Vic xy dng cng tng t nh lc xy dng cnh. Cn nh gi hnh dng ca

ui phn dui thnh cc phn c cng c im. Bc u tin s trnh by qu

trnh ly d liu ca ui ngang v nhp d liu vo Plane-Maker.

Hnh 3-25 cho thy hnh dng ca ui ngang, Nhn xt thy ui ngang ca m

hnh c to t ng bao mu nh Hnh 3-25, nn ta s o kch thc theo

nh ng gii hn mu , cc on vut cong mi cnh xem nh rt nh nn s

b qua chi tit ny. Bn cnh , ti gn gc cnh hnh dng ca ui ngang b

xing vo trong. Do sau khi o bng Autocad ta nhn thy phn b xing vo

trong c chiu di ng bng 1/10 chiu di ca cnh, vy ta s chn 10 l s phn

t trong mi bn ca ui ng, sau s vo mc customize chords dng li

on xing ny sau khi nhp ton b cc s liu khc.


Nguyn Khi Nguyn 48

Hnh 3-25 Hnh dng cnh ui ngang

Cc kt qu o c bng Autocad th hin ti Bng 3.10.

Bng 3.10 Thng s ui ngang

Horizontal Stab

Semi-Length (ft) 0.66

Root chord (ft) 0.51

Tip chord (ft) 0.31

Sweep 3

Diheral 0

Long arm (ft) 2.56

Lat arm (ft) 0.04

Vert arm (ft) 0.18

Sau khi nhp d liu vo Plane-Maker, vo mc customize chord, v chnh chord

ratio ca phn t u tin ca ui ngang v gi tr 0.744, Hnh 3-26 th hin bc

ny, sau tng t thc hin o dc cc s liu ca m hnh va dng vi

Autocad, ta c kt qu chp nhn c so vi bn v gc.

Hnh 3-27 l m hnh sau khi tin hnh cc bc nh trn, k n s l bc dng

ui ng.


Nguyn Khi Nguyn 49

Hnh 3-26 Kt qu sau khi nhp thng s

Hnh 3-27 Kt qu xy dng ui ng v ui ngang

Hnh 3-28 Hnh dng ui ng

Dng Autocad v li bin dng ca ui ng v nhn thy n c chia lm 2

phn, phn di c gc sweep ln hn phn trn. Do vi ui ng ta s xy

dng m hnh bng cch chia ra lm 2 phn. Tin hnh o cc s liu da vo


Nguyn Khi Nguyn 50

ng bin dng va v c cc d liu cn thit nhp vo Plane-Maker, Bng

3.11 l kt qu o c t Autocad.

Bng 3.11 Thng s ui ng

Vert Stab 1 Vert Stab 2

Semi-Length (ft) 0.6 0.57

Root chord (ft) 1.16 0.47

Tip chord (ft) 0.47 0.28

Sweep 76.4 37

Diheral 90 90

Long arm (ft) 2.1

Lat arm (ft) 0

Vert arm (ft) 0.22

Nhn thy ti im mi phn 1 v im gc ca phn 2 c s thay i khc vi

hnh dng bin dng m ta dng c bng cc on thng nn do s phn t

ca mi phn cng c chn sao cho mi phn bt thng ny thuc v 1 phn t

cnh. Do ti phn 1, s phn t cnh l 6, cn ti phn 2, th s phn t cnh l 7.

Sau khi nhp cc d liu vo cho phn 1, bt customize chords v chnh li

chord ratio ca phn t cui cng, Hnh 3-29 minh ha bc ny. Tin hnh kim

tra chiu di dy cung vi Autocad cho ta c kt qu ng nh bng v.


Nguyn Khi Nguyn 51

Hnh 3-29 Hiu chnh dy cung cnh ui ng

Lm tng t cho phn ui ng th 2 t bc nhp s liu, tuy nhin phn ui

th 2 khng cn nhp d liu v tr m ch cn chn Snap to Vert Stab 1 th t

ng Plane-Maker s t phn 2 lin k phn 1. Cng vy m customize chords

cho phn 2 v chnh li thng s Chord ratio cho phn t nm ti v tr gc ca

ui ng 2. Hnh 3-30 minh ha cho bc ny, kim tra li di dy cung ca

ui ti phn t ny cho kt qu ng vi kt qu o trn bn v. Hnh 3-27 th hin

kt qu cui cng t c khi dng hon tt phn ui ng.

Hnh 3-30 Hiu chnh dy cung cnh ui ng

3.1.2.5 Xy dng h thng lc y

T thc nghim, kho st bng h thng Eagle Tree, s c trnh by y hn

chng III, ta c c thng s v cng sut cng nh dy vn tc vng quay ng

c v kch thc ca cnh qut, t chn c cc thng s nhp vo mc

Engine specs


Nguyn Khi Nguyn 52

S liu thc nghim cho thy vng quay ca ng c vo khong 10,000 vng/pht.

Cnh qut s dng l loi 11x7 c ngha l ng knh 11 inchs.

ng c in c cng sut khi bay thc nghim vo khon 230W.

Cc thng s v tr c ng c c gi nh t bn v.

Bng 3.12 V tr t ng c

long arm (ft) -0.04

lat arm (ft) 0

vert arm (ft) 0.02

Hnh 3-31Vn tc vng quay ti a ca ng c

Bn cnh cc thit lp v b mt iu khin cng nh cng p c ni

chng I nn s khng c nhc li. Cc s liu v t l b mt iu khin, cng v

tr cng p s c trnh by trong bng ti ph lc, s liu ly t bn v c i

chiu li vi m hnh thc t.


Nguyn Khi Nguyn 53

3.2 Kt qu chy m phng

3.2.1 Thit b

3.2.1.1 APM 2.6

Hnh 3-32 Mch iu khin APM

Mch iu khin APM l mch bay t ng a nng, m ngun m. vi gi thnh

phi chng, ng tin cy v kh nng ty bin cao. Vi cng mt mch APM ta c

th lp t vo Multicopter, my bay cnh bng, xe nhm bin cc thit b t hnh.

Mch c trang b con quay hi chuyn, gia tc k, la bn, h thng nh v ton

cu v p k, bn cnh ta c th trang b thm ng pitot o vn tc dng kh

khi bay. Do qu trnh thu thp d liu khi bay l d dng v y

Tnh nng:

Cho php lp trnh n gin nh phn mm h tr l Mission Planner.

Nhiu ch bay khc nhau ph hp vi tng ng dng c th: Acro,

Stabilize, Loiter, Alt-hold, Land, Auto.

Cho php lp trnh Failsafe, trong trng hp thit b b mt tn hiu iu

khin

H tr iu khin, truyn d liu o c theo thi gian thc gia mch v

my tnh.

H tr lu tr ton b d liu bay v c cc cng c tch hp sn phn

tch sau bay.


Nguyn Khi Nguyn 54

M ngun m cho php ngi s dng ty bin mch iu khin trong c

phn cng v phn mm.

3.2.2 Ci t phn cng v phn mm

Vic ci t phn cng v phn mm phi tun th mt s quy tc nhm gip cho

mch APM c th hot ng ch Hardware In the Loop (HIL). Ch hot

ng ny s xut d liu bay t phn mm X-Plane sang mch APM, mch s x l

v a ra tn hiu iu khin ph hp ngc vo X-Plane. Gia mch APM v X-

Plane s c mt cu ni l phn mm Mission Planner.

3.2.2.1 Phn mm

3.2.2.1.1 X-Plane

Vic ci t phn mm X-Plane l d dng v khng qu kh khn. K n ta s

thit lp X-Plane xut d liu bay m phng theo thi gian thc sang phn mm

Mission Planner. Theo Hnh 3-33 ta s thy cc d liu c nh du l cc d

liu xut qua Mission Planner. Ta cng thay i tc gi d liu l 50 ln mt

giy.

Hnh 3-33 Thit lp X-Plane. Reference (Mission Planner | Ground Station Internet: http://planner.ardupilot.com).


Nguyn Khi Nguyn 55

K n ta ci t a ch (port) d liu t X-Plane gi vo Mission Planner, Hnh

3-34. 49005 l a ch cng m d liu s i vo Mission Planner v 49000 l a

ch cng d liu iu khin i ra t Mission Planner. Nu c 2 phn mm X-Planne

v Mission Planner u chy trn 1 my tnh ta dng a ch IP l 127.0.0.1 nu

chy khc my tnh th ta phi nhp a ch IP ca my tnh chy Mission Planner.

Hnh 3-34 Thit lp cng kt ni phn mm v phn cng. Reference (Mission Planner | Ground Station Internet:

http://planner.ardupilot.com).

3.2.2.1.2 Mission Planner

Phn mm Mission Planner l phn mm m ngun m c thit k s dng

vi mch APM. Phn mm ny c chc nng gip ta lp trnh cho mch APM, ti

nhim v bay t ng ln cho mch, ti xung d liu bay sau khi bay hoc theo

thi gian thc nu dng kt ni khng giy. Bn cnh phn mm ny cn ng

vai tr l cu ni gia X-Plane v mch iu khin APM to thnh kt ni HIL.

Sau khi ci t phn mm ta s m ch Advanced c thm chc nng

Simulation. Nh Hnh 3-35


Nguyn Khi Nguyn 56

Hnh 3-35 Giao din Mission Planner. Reference (Mission Planner | Ground Station Internet: http://planner.ardupilot.com).

Tip tc vo bng Simulation, Hnh 3-36, chn cc thng tin cn thit, nh vy l ta

hon thnh vic ci t cho phn mm Mission Planner.

Hnh 3-36 Giao din chc nng m phng

3.2.2.2 Phn cng

Cch kt ni HIL c th hin nh Hnh 3-37. Vi kt ni nh vy ta c th iu

khin m phng bng b iu khin, hoc cho m hnh bay theo ch nh trc

bng cch dng Mission Planer.

mch APM hot ng ch HIL, ta phi ti firmware ln cho mch. Theo

Hnh 3-37, kt ni mch vi cp usb. Vo Mission Planner. Vo bng Firmware v


Nguyn Khi Nguyn 57

chn Plane trong phn t . Mission Planer s t ng kt ni vi mch APM v

ti ln phn mm iu khin (firmware) mi nht cho mch.

kt ni v bt u m phng ta bm Connect trn gc phi mn hnh theo

Hnh 3-38 v sau bm Sim link start/stop nh Hnh 3-36. Kt ni HIL bt u

hot ng.

Hnh 3-37 Thit lp phn cng Reference (Mission Planner | Ground Station Internet: http://planner.ardupilot.com).

Hnh 3-38 Giao din np firmware. Reference (Mission Planner | Ground Station Internet: http://planner.ardupilot.com).

3.2.3 M phng v x l s liu

3.2.3.1 M phng tnh hung mt

3.2.3.1.1 Thc hin m phng


Nguyn Khi Nguyn 58

thc hin m phng u tin ta phi ci t ng bay cho b APM, kt qu s

c s ng bay nh hnh. Tip tc vo mc Flight Data chn ch bay l

auto v nhn Set Mode. M hnh gi lp s c mch APM iu khin cho t

ng ct cnh v bay theo ng bay ci. Trong khi bay, thay i cn ga t t

mch APM t iu chnh gc ti my bay lun t trng thi cn bng. Nu dy

vn tc . Tt X-Plane v ly d liu trong file data.txt c lu li trong th

mc ci t ca X-Plane.

3.2.3.1.2 X l s liu v kt qu

Sau khi tin hnh bay m phng, ly file c tn

l data.txt trong th mc ca phn mm X-

Plane. Tin hnh import d liu vo Excel,

Hnh 3-41, ta c thng s h s lc cn ton

phn v h s lc nng ton phn ti mi thi

im ly mu.

Hnh 3-40 S ng bay t ng Hnh 3-39 Thc hin m phng


Nguyn Khi Nguyn 59


S dng s liu ny cho vo Matlab, v s dng b tool v thng k cftool, c sn

trong matlab, nhm tm hm lin h gia h s lc cn v h s lc nng bnh

phng. kt qu c phn chnh xc, ta s chn ly nhng cp d liu no c h

s lc cn nh hn 0.07, l do l v trong qu trnh m phng c rt nhiu s liu

nhiu lm cho kt qu ni suy km chnh xc.

Kt qu thu c th hin Hnh 3-42.

Hnh 3-42 ng c tnh Drag-Polar


Nguyn Khi Nguyn 60

3.2.3.2 M phng tnh hung hai.

3.2.3.2.1 Thc hin m phng

Vic u tin cn lm trong bc ny l tm di dy cung cnh trung bnh. V

v tr t dy cung ny, t c th bit c trng tm nm v tr bao nhiu

phn trm so vi dy cung cnh.

C cng thc tm dy cung cnh trung bnh nh sau

/2

2

0

2b

w

MAC c dyS

(3.4)

T o c ta c c thng s cn tm.

Bng 3.13 Chiu di dy cung cnh trung bnh

MAC (ft) 0.5745

V tr 25%MAC so vi mc (ft) 0.824

Tin hnh kho st mi lin h gia h s lc nng v gc hot ng ca bnh li

cao e ti 2 v tr trng tm l 0.83ft v 0.84ft.

Bng 3.14 Bng v tr trng tm

V tr trng tm %MAC

0.83 ft 0.26044

0.84 ft 0.27785

S dng li s ng bay nh m phng u tin, vi cng thao tc l thay

i cn ga t t cho vi mi thay i ca lc y, mch s iu chnh gc bnh

li cao cho my bay lun trng thi cn bng.

3.2.3.2.2 X l s liu

Sau khi chy m phng, ta ly d liu vo excel nh lm vi tnh hung u tin.


Nguyn Khi Nguyn 61

Nhn thy d liu t b nhiu nht vng c h s lc nng t 0.5 n 0.7 nn ta

chn vng ny ni suy ra hm lin h gia e v trimlC

Kt qu ni suy cho trng hp trng tm 0.83 ft c th hin hnh di. Kt

qu ng ni suy cho trng hp trng tm 0.84 c trnh by ph lc A

Hnh 3-43 Kt qu ng ni suy

Vy ta tm c hm ni suy ca hai trng hp nh sau.

Bng 3.15 H s ng ni suy

21 2 3f x P x P x P

V tr P1 P2 P3

0.83 ft 5.655 -21.63 6.44

0.84 ft 5.36 -20.5 6.515

Tip tc vit mt on chng trnh bng file.m trong MATLAB tm v tr im

trung bnh. File MATLAB ny s c trnh by trong phn ph lc B.

Kt qu cui cng sau khi ly o hm ca 2 hm va tm c kt hp vi ngoi

suy c trnh by hnh


Nguyn Khi Nguyn 62

Hnh 3-44 Kt qu biu v tr trung ha vi h s lc nng

Trin khai bay thc nghim trn m hnh Cessna 1300 EP

Nguyn Khi Nguyn 63

Chng 4

Trin khai bay thc nghim trn m hnh

Cessna 1300 EP

4.1 Ci t m hnh

Hnh 4-1 B tr thit b

M hnh Cessna 182 khng c lp ghp sn, do vic u tin khi tin hnh

thc nghim vi m hnh ny l lp cnh, cng p, cc thit b iu khin, b

ng c v ng c, sau khi c mt m hnh hon chnh, cng vic tip theo l

lp b ghi d liu bay Eagle Tree, cn chnh li cm bin vng quay ca ng c.

Tuy cng vic n gin nhng i hi s chun b rt k lng trc mi ln mang

my bay i bay thc nghim, v ch cn mt s sut nh l m hnh v thit b o c

th h hng. B lu d liu c th lu c cc thng s v cng sut ng c,

vng quay ng c v tc m hnh so vi mt t.


Nguyn Khi Nguyn 64

4.2 Bay thc nghim

Hnh 4-2 Bay thc nghim ti Ct Li

Bay thc nghim c tin hnh nhm mc ch kim chng li s khc nhau gia

biu drag polar thc t v biu do phn mm m phng tnh ra. T c

nhng nh gi v quy trnh xy dng m hnh v nhng hng pht trin sau ny

vi phn mm X-Plane. Hai ngy bay thc nghim tin hnh sn bay my bay m

hnh Ct Li.

Kch bn bay thc nghim tng t nh kch bn mt, d liu thu v x l s l

vn tc vng quay v vn tc ca my bay, vi gi s nh hng ca gi l khng

ng k.

Hnh 4-3 Vt bay th hin trn phn mm Google Earth


Nguyn Khi Nguyn 65

4.3 X l kt qu v so snh vi kt qu t m phng

D liu s c lu li di dng file.FDR, ta c th dng Excel m v x l s

liu trn Excel.

Hnh 4-4 minh ha cho vic chn vt bay c trng thi bay bng.

Kho st vt bay hnh 4-3 chn ra nhng on thng m m hnh t i hng.

Vt bay c lu li thi gian ti tng v tr do ta c th d dng bit c thng s

vn tc v s vng quay ca cnh qut trn c on thng. Vi gi s trng thi bay

bng c thit lp ti nhng on thng ny. Bng 4.1 minh ha cho ta thy vic

x l s liu.

Bng 4.1 v d cch x l d liu

Tc vng quay

(RPM)

Tc m hnh

(km/h) Hng bay Thi im ly mu

9940.017138 92 41.9 06/17/2015,11:28:23.51

9940.017138 92 41.7 06/17/2015,11:28:24.217

9917.737789 92 41.3 06/17/2015,11:28:24.227

9963.153385 91.7 41 06/17/2015,11:28:24.237


Nguyn Khi Nguyn 66

10080.54841 91.7 40.4 06/17/2015,11:28:24.247

9917.737789 91.3 40 06/17/2015,11:28:24.01

9894.601542 90.6 39.3 06/17/2015,11:28:24.11

9871.465296 90.2 39 06/17/2015,11:28:24.21

9894.601542 90.7 39 06/17/2015,11:28:24.31

9935.5 91.35 Gi tr trung bnh

T cc gi tr trung bnh vn tc v tc vng quay ca nhng vt bay m m

hnh trng thi bay bng ta c th tnh ra h s lc nng v h s lc cn da vo

cng thc tng hp bng 4.2

Bng 4.2 tnh h s lc nng v lc cn t d liu.

Velocity RPM CL CL2 J CT Thrust CD

V

n 2

2*

* *

T

W

W

V S

CL2 V

nd

2 4* * *TC n d 2

2*

* * W

T

V S

Gi tr h s lc y c ni suy t kt qu thc nghim ca Phm B Sn, 2012,

lun vn.

Kt qu thu c trong 4 ln bay c trnh by ph lc C

Tin hnh v th gia ng biu Drag Polar tm c bng X-Plane v kt

qu thc nghim so snh.

Ta nhn thy th do s dng m phng thp hn rt nhiu so vi thc t. Hn

na gi tr h s lc cn ti lc nng bng khng 0d

C ng bng gi tr 0

0.013dB

C ,

h s lc cn do thn gy ra. Vy r rng X-Plane khng tnh n phn h s lc

cn ti lc nng bng khng ca cng p, vy tng chnh xc, ta cn phi c

nhng phng on v h s lc cn gy ra bi cn p v nhp nhng s liu ny

vo Plane-Maker iu chnh li cho ng vi thc t.


Nguyn Khi Nguyn 67

Hnh 4-5 th so snh kt qu thc nghim v m phng.

V phn dc ca th, do m hnh c trng lng ct cnh ln nn nhng ci

t v ng c trc khng mnh bay th nghim dy vn tc vng quay

rng hn. V vy cha th dng gi tr thc nghim ny nh gi dc ca

ng m phng. Cn phi thay i ci t v ng c, sau l nhng kt qu

thc nghim tt hn, t mi c th hiu chnh li m hnh X-Plane mt cch

chnh xc.

4.4 Th nghim mch APM autopilot cho bay thc nghim

Nh gii thiu chng 3 mch APM c th c s dng nh mt mch bay

t ng, gip gi cao cng nh gc ti khng i, nh d liu thu c s

chnh xc hn. Bn cnh mch cn lu thng tin v gc hot ng ca cc b

mt iu khin cng nh trng thi v hng, gc lin (Roll), gc chc (Pitch), gc

Yaw. Nh c cc chc nng trn m mch APM s rt hiu qu trong vic thc hin

bay thc nghim. Tuy nhin do mch c nhiu thit b i km nn trng lng tng

ca ton mch l gn 200g nn vi m hnh Cessna 182 ang phn tch s rt kh

iu khin do cng sut ng c khng . Nn ti ch s dng th mch trong vic

thu thp d liu bay. Hnh 4-6 l th gc chc trong sut qu trnh bay. Ta c th

s dng d liu ny phn tch Short Mode v Long Mode trong phn tch n nh

0

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0 0.2 0.4 0.6 0.8 1

Cd

Cl2

real

simulation

Linear (simulation)


Nguyn Khi Nguyn 68

dc trc ca m hnh. Hnh 4-7 l th xung iu khin servo ca bnh li cao,

vi thng s ny ta c th suy ra c gc hot ng ca bnh li cao trong qua

trnh bay thc nghim, phc v cho mc ch phn tch im trung ha.

Hnh 4-6 trng thi gc chc trong khi bay.

Hnh 4-7 xung iu khin servo ca bnh li cao

Kt lun v cc hng pht trin

Nguyn Khi Nguyn 69

Chng 5

Kt lun v cc hng pht trin

Sau khi thc hin xy dng m hnh v tin hnh m phng cc tnh hung bay th

nghim khc nhau, cc kt lun sau y c rt ra.

V vic xy dng m hnh trong X-Plane, cc bc tin hnh c bn hon chnh,

t nhng g nghin cu c, ta c th tin hnh m phng thm nhiu m hnh

khc th nghim chnh xc ca m hnh ny.

V vic thc hin cc tnh hung m phng, nh c phn mm gi lp m cc tnh

hung bay thc nghim c th c tin liu trc, sa sai trc khi bay thc s

trnh ri ro v ti sn, bn cnh cch thc phn tch d liu cng gn tng t

nh khi thc nghim gip ta d dng kim nh li quy trnh thc hin m khng

cn i bay thc t.

V kt qu bay thc nghim kim tra li tnh xc thc, do yu t thi tit v thit

b m hin nay trong lun vn ny ti cha thc hin hon chnh, t nhng kt qu

hin c kt lun c rng h s lc cn ti lc nng bng khng phi bao gm

phn thn v cng p. Tuy nhin vi nhng kt qu hin c ta cng c th kt lun

s b rng c th s dng X-Plane trong m phng bay thc nghim.

Vi ng dng ca mch APM trong bay thc nghim, t nhng kt qu s b c th

thy mch l mt thit b nhiu chc nng, c th h tr rt tt cho vic bay thc

nghim.

REFERENCES

Nguyn Khi Nguyn 70

REFERENCES

[1] Model aircraft carrying payload 300grams, PhamBaSon, University of Technology Ho

Chi Minh city, 2012.

[2] Propeller performance data at low Reynolds numbers, John B. Brandt and Michael S.

Selig, University of Illinois at Urbana-Champaign, USA.

[3] Flight testing of fixed-wing aircraft, Ralph D.Kimberlin.

[4]Flight Stability and Automatic Control - 2nd Nelson, 1974.

[5] Mission Planner | Ground Station Internet: http://planner.ardupilot.com

[6] Plane Maker Manual - X-Plane Developer, Internet: http://developer.x-

plane.com/manuals/planemaker/

[7] Methods for estimating drag polar of subsonic airplane, Jan Roskam, 1973

Ph lc A: kt qu ng c tnh gia h s lc nng v gc bnh li cao ti trng tm l 0.84ft

Nguyn Khi Nguyn 71

Ph lc A: kt qu ng c tnh gia h s

lc nng v gc bnh li cao ti trng tm

l 0.84ft

Ph lc B: M matlab dng ngoi suy im trung ha

Nguyn Khi Nguyn 72

Ph lc B: M matlab dng ngoi suy im

trung ha

Cl=[0.7:0.01:0.8]';

a=zeros(size(Cl,1),2);

b=[0.260444 0.27785];

c=zeros(size(Cl,1),1);

for i=1:size(Cl,1)

[a(i,1),v]=differentiate(fitA,Cl(i));

[a(i,2),v]=differentiate(fitB,Cl(i));

xq=[0];

c(i,1)=interp1(a(i,1:2),b(1:2),xq,'linear','extrap');

end

plot(Cl,c)

Ph lc C: kt qu bay thc nghim

Nguyn Khi Nguyn 73


V (km/h) RPM lC 2

lC J tC T dC

90.18 9950.086 0.185730586 0.034496 0.540637 0.03991 8.193644 0.1021

60.8525 9780.591 0.407893741 0.166377 0.371138 0.07703 15.28018 0.418158

83.22254 9814.729 0.218083098 0.04756 0.505807 0.048695 9.726933 0.142319

57.93 9645.644 0.450087378 0.202579 0.358257 0.079084 15.25769 0.460734

84.35283 11407.94 0.212277798 0.045062 0.441077 0.063741 17.20163 0.244984

59.57342 9613.431 0.425597295 0.181133 0.369655 0.077273 14.80888 0.422849

84.70143 9670.107 0.210534087 0.044325 0.522495 0.044522 8.63337 0.121946

59.8225 9590.103 0.422060563 0.178135 0.372103 0.076871 14.66046 0.415133

58.312 9502.365 0.444209678 0.197322 0.366057 0.077855 14.57771 0.434452

79.95143 9591.235 0.236293315 0.055835 0.497249 0.050798 9.690282 0.153622

56.21375 9485.197 0.477989961 0.228474 0.353524 0.079807 14.88924 0.477481

81.6975 9289.696 0.22630094 0.051212 0.524602 0.04399 7.872227 0.119522

41.10571 6851.328 0.893921726 0.799096 0.35789 0.07914 7.703477 0.462009

74.69714 9312.278 0.270704771 0.073281 0.478487 0.055303 9.94496 0.180619

46.92911 9280.448 0.68583427 0.470369 0.301645 0.086655 15.47647 0.712124

86.48333 9036.911 0.201947765 0.040783 0.570867 0.032161 5.446419 0.073793

47.92364 8907.666 0.657664444 0.432523 0.320928 0.084335 13.87633 0.612271

69.36134 9039.646 0.31395607 0.098568 0.457708 0.060089 10.18216 0.214473

80.87 9896.59 0.23095587 0.053341 0.487443 0.053172 10.79934 0.167337

89.10111 9809.463 0.190255689 0.036197 0.541827 0.039606 7.902973 0.100877

61.64733 9737.818 0.39744341 0.157961 0.377637 0.075946 14.93369 0.398205

86.58286 9744.714 0.201483768 0.040596 0.530011 0.042619 8.392291 0.113445


Nguyn Khi Nguyn 74

58.77458 9684.353 0.437245026 0.191183 0.362027 0.078496 15.26601 0.447832

83.44343 9631.084 0.216929967 0.047059 0.51682 0.04595 8.838487 0.128636

60.262 9578.847 0.415926708 0.172995 0.375278 0.076343 14.52566 0.405338

77.395 9640.054 0.252161095 0.063585 0.478912 0.055203 10.63806 0.179972

85.01571 9537.389 0.208980361 0.043673 0.531731 0.042182 7.956535 0.111556

60.61429 9434.919 0.411106087 0.169008 0.38323 0.074988 13.84224 0.38179

78.83 9899.957 0.24306411 0.05908 0.474986 0.056126 11.40695 0.186018

81.38667 9946.287 0.228032825 0.051999 0.488107 0.053013 10.87541 0.166382

82.70125 9732.134 0.22084102 0.048771 0.506905 0.048423 9.51054 0.140912

66.68667 9834.995 0.339645505 0.115359 0.404471 0.071136 14.26845 0.325138

59.21667 9845.347 0.430740767 0.185538 0.358786 0.079002 15.87956 0.458901

83.34035 9766.238 0.217466939 0.047292 0.509038 0.047893 9.472615 0.138206

67.266 9606.113 0.333820255 0.111436 0.417706 0.068569 13.12095 0.293861

77.4925 9707.377 0.251526963 0.063266 0.47619 0.055844 10.91234 0.184148

75.62308 9653.299 0.264116299 0.069757 0.467306 0.057908 11.18996 0.198284

67.73559 7524.314 0.329207722 0.108378 0.536998 0.04084 4.794667 0.105899

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