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luận văn về sử dụng X-Plane trong mô phỏng máy bay không người lái loại nhỏ-2015-bách khoa
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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
iv
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
vi
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
ix
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
xi
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
xiii
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
21
X-Plane v cc phn mm h tr
Nguyn Khi Nguyn 1
Chng 1
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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.
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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
X-Plane v cc phn mm h tr
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
Xy dng tnh hung bay th nghim
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)
Xy dng tnh hung bay th nghim
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)
Xy dng tnh hung bay th nghim
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
Xy dng tnh hung bay th nghim
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:
Xy dng tnh hung bay th nghim
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)
Xy dng tnh hung bay th nghim
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.
Xy dng tnh hung bay th nghim
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.
Xy dng tnh hung bay th nghim
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
Xy dng tnh hung bay th nghim
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.
Xy dng tnh hung bay th nghim
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
Xy dng tnh hung bay th nghim
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.
Xy dng tnh hung bay th nghim
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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).
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
Nguyn Khi Nguyn 46
Hnh 3-22 Kt qu thu c
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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).
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
Nguyn Khi Nguyn 59
Hnh 3-41 Kt qu thu c
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
p dng X-Plane cho m hnh Cessna 1300 EP
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
p dng X-Plane cho m hnh Cessna 1300 EP
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.
Trin khai bay thc nghim trn m hnh Cessna 1300 EP
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
Trin khai bay thc nghim trn m hnh Cessna 1300 EP
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
Trin khai bay thc nghim trn m hnh Cessna 1300 EP
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.
Trin khai bay thc nghim trn m hnh Cessna 1300 EP
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)
Trin khai bay thc nghim trn m hnh Cessna 1300 EP
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
Ph lc C: kt qu bay thc nghim
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
Ph lc C: kt qu bay thc nghim
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