Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

Kho st h thng t ng n nh trn khoang tn la c iu khin bng phng php gas-ng mmen Investigation the automatic stability system of missile with lateral impulsive thrust
Cao Hu Tnh, V Ha Tin, Nguyn Cng nh Hc vin K thut qun s e-Mail: caohuutinh@yahoo.com, hoatien57@yahoo.com, dinhnc@mta.edu.vn Tm tt
Kho st h thng t ng n nh trn khoang tn la s dng phng php to lc v mmen iu khin gas-ng l vn mi i vi chng ta hin nay. Trong hu ht cc ti liu tham kho nhng ni dung lin quan n vn ny mi ch dng li vic xc nh nguyn l lm vic, cu trc v tham s ca h thng. Trong bi bo ny, cc tc gi kho st nh gi h thng t ng n nh trn khoang tn la c s dng thit b ng c xung kiu mmen. Cc kt qu kho st cho php khng nh tnh ng n v kt qu phn tch nguyn l lm vic, cu trc v tham s h thng. Kt qu kho st cng chng minh kh nng tc ng nhanh ca loi tn la ny tng gp nhiu ln so vi tn la s dng phng php iu khin cnh li kh ng truyn thng, trong khi vn bo m c chnh xc cho php.
g Wp c

m/s2

* a Cy Vtb p0 JR Lgtt
Kg gtt
Kg vtg
g K ss

Abstract:
Detail information of an automatic stability system of missile steered by impulsivity forces and moment of gasdynamics is not widely published. Almost published documents only described its parameters, structures and working principles. In this paper, the automatic stability system of missile with lateral impulsive thrust is investigated. The result proved the correctness of the working principles, structures and parameters of system. It also showed that this kind of missile manoeuvres several times higher than the missile with aerodynamic fin deflection under the same requirements.

wa E[.]

Gia tc php tuyn TL Khi lng tng i ca TL Tc tiu hao khi lng nhin liu tng i H s d tr n nh tnh 1/ o hm h s lc nng 3 kg/m Mt khng kh m/s Vn tc trung bnh ca TL kg/m2 Ti trng ring ca TL N.s/kg Xung lc ring ca ng c m Khong cch t cm bin GTT ti trng tm TL s2/m H s khuch i mch hi tip GTT s H s khuch i mch hi tip VTG H s truyn mch h h n nh trn khoang rad/s2 Gia tc gc to bi lc kh ng Lnh iu khin Hm ly gi tr nguyn

Ch vit tt
GTT MCX TBG TBCX TL VTG Gia tc thng Micro-ng c xung Thit b gas-ng Thit b ng c xung Tn la Vn tc gc

K hiu
K hiu n v ngha n S lng MCX c m s Thi gian lm vic trung bnh ca 1 mt MCX 1 N Lc y ca mt MCX w rad/s Vn tc gc quay thn TL to bi n MCX rad/s2 Gia tc gc quay thn TL to bi w1 mt MCX Iz N.m2 Mmen qun tnh ca TL g Gc tn cng xTBG m Ta trng tm khi TBCX xm m Ta trng tm TL

1. t vn
Nng cao kh nng c ng ca tn la bng cc phng php to lc v mmen iu khin gas-ng l mt trong nhng hng nghin cu mi nhm tng hiu qu chin u ca cc loi tn la th h mi. Theo hng nghin cu ny, cc nc pht trin c nhiu kt qu ng dng vo thc t nh iu khin v tinh, iu khin i hng tn la sau khi phng thng ng, iu khin tn la trong giai on cui tip cn mc tiu cao ln. Nm 2008, Bhagat v cng s cng b kt qu nghin cu bi ton iu khin kt hp hng ca vec-t lc y v gas-ng kiu mmen cho mt m hnh tn la nh chn [4]. Cc m hnh tn la s dng nhng phng php iu khin gas-ng khc nhau cng l i tng ca

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

nhiu nghin cu nhm tng kh nng c ng ca tn la th h mi [5][6][7]. Cc kt qu tnh ton thit k v kho st hiu qu i vi tn la s dng phng php iu khin gas-ng c a ra trong ti liu [8] v [9].Thng tin gii thiu trn y cho thy, vic nghin cu i tng tn la ni chung v h thng t ng n nh trn khoang tn la s dng phng php to lc v mmen iu khin gas-ng ni ring c trin khai v ng dng nhiu nc c trnh cng ngh cao. i vi cc nc ang pht trin, y l mt lnh vc mi ang c gii quyt tng bc [7]. n thi im ny, nc ta, cc kt qu nghin cu v lnh vc ny cn mc rt hn ch [2][3]. Trong , [3] a ra phng n thit k h cnh li gas-ng kiu mmen ci tin trn m hnh tn la cnh li kh ng truyn thng, cn trong ti liu [2], cc tc gi a ra kt qu nghin cu thut ton chn phn t ng c xung da trn thng s u vo l s lng v pha ca thit b gasng. Ring bi ton kho st nh gi kh nng iu khin c v cht lng ca h thng ni trn hon ton cha c cng b. Bi bo ny cp v gii quyt bi ton nu trn vi cc kt qu kho st h t ng n nh trn khoang tn la c s dng phng php gas-ng kiu mmen. y cng l kt qu nghin cu tip theo ca [2] v [3], gp phn hon thin v lm tin cho cc nghin cu su hn trong lnh vc mi ny. Theo m hnh trn, cc thng s iu khin gas-ng ca TL c tnh ton theo cc cng thc sau [8][9]: Gia tc gc quay thn TL, to bi mt MCX: P .( xm xTBG ) 1 (1) w1 Iz Vn tc gc, to bi n MCX: (2) w(t ) nw1t Gc tn cng to bi n MCX c xc nh bi cng thc: (3) ag (t ) nw1t Gia tc php tuyn ca TL c xc nh thng qua biu thc tnh lc tng hp trong mt phng iu khin. Gi thit gc tn cng nh, gc sai lch gia vector lc y vi trc dc TL l rt nh, cc tham s kt cu v kh ng ca TL thay i khng ng k trong khong thi gian kho st. Khi , gia tc php tuyn to bi phng php iu khin gas-ng kiu mmen c xc nh bng biu thc:

Wpg

ag 57,3.m

. J R .m

a 2 C y .r.Vtb .(1 c* )

2 po

(4)

2.2 S cu trc h t ng n nh trn khoang TL iu khin bng TBCX S cu trc knh t ng n nh TL iu khin bng TBCX s dng hai vng hi tip theo vn tc gc v gia tc thng c trnh by trn hnh H. 2 [8]. k
1 g K ss

2. M hnh TL s dng TBG mmen

2.1 M hnh TL v tnh ton tham s TBG Xt m hnh TL trn hnh H. 1, theo , TBG dng c th l mt thit b ng c xung c t pha trc trng tm TL. Nguyn l iu khin gas-ng kiu mmen c thc hin bng cch to lc y phn lc vung gc vi trc dc TL trong mt phng iu khin vo nhng thi im v hng cn thit. Khi gia tc php tuyn tng ng c to ra bi lc kh ng v s thay i gn nh tc thi ca gc tn cng, kt qu s lm thay i qu o bay ca TL. Trn thc t, cc micro-ng c xung c b tr theo lp cc vng xuyn vi phn gii nh m bo sai s iu khin nm trong vng cho php [3]. Thut ton chn MCX trong ma trn thit b ng c xung c nghin cu trong ti liu [2]. n gin ha vic tnh ton, ta quy c rng, cc thng s ng lc hc do cc MCX to ra trong mt pha iu khin c quy v gi tr trung bnh ca MCX t ti trng tm ca TBCX. nP1 g V

Kg gtt

1 min

Wpg
TL

TBCX

VTG GTT
H. 2 S cu trc h t ng n nh TL iu khin gas-ng mmen

Phng php tnh ton h s khuch i mch hi tip VTG v GTT c thc hin ging nh i vi TL cnh li kh ng. S khc nhau c th hin trong vic s dng h s hiu qu iu khin v h s ng lc iu khin tng ng phng php to lc v mmen tnh ton [1]. Gi tr min tng ng vi gi tr trung bnh ca vn tc gc quay trc dc TL do mt MCX to ra, c tnh theo biu thc sau [8]: g g (5) smin a3 gm .t1.vtg w Lgtt K gtt vi h s ng hc phn nh hiu qu iu khin ca mt MCX a3gm tnh theo cng thc [8]: P ( xm xTBG ) 1 (6) a3 gm IZ Tn hiu iu khin k s xc nh vec t s lng MCX cn s dng n (gm s lng v pha ca

xm - xTBG
H. 1 M hnh tn la iu khin gas-ng mmen

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MCX).Vec t s lng MCX n s xc nh ln v hng ca vec t phn lc iu khin TL. Phng php iu khin kh ng truyn thng lm vic ch lin tc theo thi gian, cn knh iu khin gas-ng mmen lm vic ch ri rc trong khong thi gian hu hn l t k . m bo loi tr trng hp cng lc m c hai MCX theo hai hng ngc nhau th yu cu khong thi gian ny khng nh hn thi gian lm vic cc i ca mt MCX c tnh ti sai s, tc l phi tha mn iu kin sau: (7) tk t1max kho st ng hc h t ng n nh iu khin gas-ng mmen, hot ng ca TBCX trong mt chu k ri rc t k c to gi theo gi m sau: n = TBCX(RunningTime, k) if ( E[k] != 0)
if (RunningTime < 1) return E[k] ; else if (RunningTime <= return 0; else return 0;

kh ng c th hin tng ng trn hnh H. 4 v H. 5.

Hoat dong cua thiet bi dong co xung 25 Pha "vuot" 20 15 On dinh goc tan cong 10

So luong MDCX

5 0 -5 -10 -15 -20 Pha "ham"

0.05

0.1

0.15

0.2

0.25 0.3 Thoi gian (s)

0.35

0.4

0.45

0.5

H. 4

Hot ng ca thit b ng c xung

Vi TBCX, tc gc TL t c gi tr t bin rt ln ngay chu k iu khin u tin do gia tc gc TL c to ra bi mt s lng ln MCX. y l nguyn nhn chnh lm tnh c ng ca tn la vt tri so vi TL s dng cnh li kh ng.
Toc do goc ten lua 3.5 3 2.5

t k - 1)
Toc do goc ten lua (rad/s)

2 1.5 1 0.5 0 -0.5

3. Kho st v bin lun kt qu

Ta thc hin kho st i vi loi tn la phng khng t dn tm trung cao 10km, tc V tb = 1000m/s. Cc tham s chnh nh sau: mmen qun tnh Iz = 150kg.m2, lc y ca mt MCX P1 = 2500N, thi gian lm vic trung bnh ca mt MCX 1 = 0.016s, chu k ri rc t k = 0.032s, gia tc gc to bi lc kh ng wa = 5.25rad/s2, khong cch trng tm khi TBCX n trng tm TL x m - xTBG = 1m. Qu trnh qu ca h t ng n nh trn khoang c th hin trn hnh H. 3.
7 6

0.05

0.1

0.15

0.2

0.25 Thoi gian (s)

0.3

0.35

0.4

0.45

0.5

H. 5

Quy lut thay i tc gc tn la

5
Goc tan cong (do)

th m t quy lut lm vic ca TBCX th hin r hai giai on: giai on thit lp gc tn cng (giai on tng tc) v giai on n nh gc tn cng xc lp. phn u ca giai on tng tc (pha vt), mt s lng ln (n1) MCX c s dng to cho gc tn cng ca TL c c s gia tng rt nhanh. pha hm, tip theo cui giai on tng tc, cc MCX c iu khin hot ng theo chiu ngc li hm s gia tng ca gc tn cng (xem hnh H. 6).
n w1
150 100 6 4 2 0 -2 -4 -2 -4

g
6 4 2

0.05

0.1

0.15

0.2

0.25 Thoi gian (s)

0.3

0.35

0.4

0.45

0.5

50 0 -50 -100

H. 3

th gc tn cng

Thi gian phn ng ca TL l 0,04s, nh hn nhiu ln so vi phng php iu khin cnh li kh ng truyn thng (0,15s). iu ny khng nh kh nng tc ng nhanh ca iu khin gas-ng trong vic nng cao tnh c ng ca TL. chnh xc n nh gc tn cng nm trong gii hn cho php, th hin thng qua sai s <10%. Quy lut lm vic ca TBCX v quy lut thay i tc gc ca TL c tnh ti nh hng ca cc lc

H. 6

Biu qu trnh qu trong giai on thit lp gc tn cng

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

giai on n nh gc tn cng xc lp, s tc ng ca thnh phn gia tc gc to bi lc kh ng wa lm cho gc tn cng c xu hng lch khi gi tr xc lp. t ng iu chnh sai lch ny, mt s lng nh (n3) MCX c s dng (hnh H. 4). Kt qu kho st s lng (n1+n2+n3) MCX s dng mt ln a gc tn cng n gi tr xc lp yu cu v n nh gc tn cng trong mt khong thi gian xc nh l 0.5s c th hin trn hnh H. 7. S liu kho st cho thy, s lng MCX tng lin tc trong sut qu trnh n nh gc tn cng xc lp. y cng l im hn ch ca TL s dng TBCX v s lng MCX b tr c trn TL l hu hn. Hn ch ny dn n vic xut hin mt m hnh iu khin kt hp gas-ng v kh ng s c kho st trong nhng nghin cu tip theo.
n
75

[2]

[3]

[4]

g
6

[5]

50

[6]
25 2

[7]
H. 7 Kho st s lng MCX s dng

4. Kt lun
TBG l thnh phn chnh to nn s khc bit cn bn ca m hnh TL iu khin gas-ng so vi m hnh TL iu khin kh ng truyn thng, nh m kh nng c ng ca TL c tng cao do tng c tnh tc ng nhanh v gia tc php tuyn. Sau thi gian tip cn nghin cu, nhm tc gi la chn gii quyt bi ton kho st h t ng n nh trn khoang TL s dng TBG kiu mmen. Hot ng ca thit b ng c xung c to gi phc v cho qu trnh kho st. Kt qu kho st phn nh ng bn cht, quy lut v c ch tc ng ca phng php iu khin gas-ng. Kt qu kho st cng chng minh c nhng u vit v mt ng hc h thng t ng n nh ca TL trong min thi gian, l tnh tc ng nhanh v chnh xc cao. Kt qu nghin cu cho chng ta nhng thng tin hu ch v c ngha trong bi cnh cc nghin cu v loi tn la mi trong nc cn rt hn ch. Trn c s nghin cu ny, bi ton thit k h t ng n nh trn khoang TL s dng kt hp gas-ng mmen v cnh li kh ng truyn thng s c nhm tc gi nghin cu gii quyt trong thi gian ti.

[8]

[9]

V Ha Tin; Trnh Vn Hi: Xy dng thut ton iu khin thit b gas-ng trong h thng cnh li gas kh ng kt hp ca TLPK. Tp ch Nghin cu KH v CNQS, s 9, 10-2010 V Ha Tin; Trnh Vn Hi, Phm Tun Hi: Phng n thit k h cnh li gas-ng kiu mmen trong ci tin tn la phng khng t dn tm trung. Tp ch Nghin cu KH v CNQS, s 3, 10-2009 A.A. Bhagat; V.S. Rao; C.S.Adishesha; N.V. Kadam; G. Swathi: Co-operative control of reaction control system and thrust vector control during homing phase. Proceedings of the International Conference on Aerospace Science and Technology, Bangalore, India, 2628 June 2008 C. Tournes; Y. Shtessel; I. Shkolnikov; James Stott: Second-Order Sliding Mode Autopilot for Missiles Steered by Aerodynamic Lift and Divert Thrusters. Proceedings of 17th IMACS World Congress, Paris, France, July 11-15, 2005 Seiji Yamaoka; Seiya Ueno: Minimum-Time Guidance and Control Law for High Manueuvering Missile. Intl J. Of Aeronautical & Space Sciences, Vol. 10, No. 1, May 2009 Xing Lidan; Zhang Kenan; Chen Wanchun; Yin Xingliang: Optimal Control and Output Feedback Considerations for Missile with Blended Aero-fin and Lateral Impulsive Thrust. Chinese Journal of Aeronautics, 2010 ..: . . . , 2000 ..; ..: . . . , 2003

ThS Cao Hu Tnh sinh nm 1976, tt nghip Hc vin KTQS chuyn ngnh Tn la phng khng nm 2000, nhn bng Thc s ngnh T ng ho v iu khin t xa ti Hc vin KTQS nm 2003. ThS Cao Hu Tnh cng tc ti Hc vin KTQS t nm 2000, hin nay ang l NCS chuyn ngnh iu khin cc thit b bay. Cc hng nghin cu chnh l iu khin cc thit b bay, k thut m phng v xy dng cc thit b m phng phc v KTXH v ANQP.

Ti liu tham kho

[1] V Ha Tin: C s thit k h t ng n nh tn la. NXB QND, 2011

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Hi ngh ton quc v iu khin v T ng ho - VCCA-2011

TS V Ha Tin sinh nm 1957, tt nghip i hc ti trng Tn la phng khng Minsk (CH Belarus) nm 1984, nhn bng Tin s ti i hc Hng khng Matxcova nm 2005. TS V Ha Tin cng tc ti Hc vin KTQS t nm 1984, hin nay l Ph Ch nhim khoa K thut iu khin, Hc vin KTQS. TS V Ha Tin l Chuyn gia thuc lnh vc thit k, ch to v sn xut h thng iu khin thit b bay. PGS. TSKH Nguyn Cng nh sinh nm 1963, nhn bng Tin s chuyn ngnh "iu khin trong cc h thng k thut" nm 1991 ti Vin hn lm khoa hc Udbekixtan (Lin X c), bng TSKH chuyn ngnh "Phn tch h thng v iu khin t ng" nm 1995 ti H Tng hp k thut Taskent (Lin X c) v nhn PGS chuyn ngnh T ng ha nm 2002. PGS Nguyn Cng nh tham gia ging dy ti Hc vin K thut Qun s t nm 1986 v hin nay l Ph Gim c Hc vin KTQS. Cc hng nghin cu chnh l: iu khin ri rc da trn graph ng, iu khin thch nghi cc h thng phi tuyn, x l v nhn dng nh i tng, k thut m phng v xy dng cc thit b m phng phc v KTXH v ANQP.

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