B GIO DC V O TO B QUC PHềNG HC VIN K THUT QUN S NGUYN MINH HNG NGHIấN CU NNG CAO CHT LNG QU TRèNH T DN TấN LA TRấN C S S DNG KT HP LOGIC M V GII THUT DI TRUYN LUN N TIN S K THUT H NI NM 2016 B GIO DC V O TO B QUC PHềNG HC VIN K THUT QUN S NGUYN MINH HNG NGHIấN CU NNG CAO CHT LNG QU TRèNH T DN TấN LA TRấN C S S DNG KT HP LOGIC M V GII THUT DI TRUYN Chuyờn ngnh: K thut iu khin v T ng húa Mó s: 62 52 02 16 LUN N TIN S K THUT NGI HNG DN KHOA HC: PGS.TS PHM TRUNG DNG TS ON TH TUN H NI NM 2016 i LI CAM OAN Tụi cam oan õy l cụng trỡnh nghiờn cu ca riờng tụi Cỏc s liu, kt qu nờu lun ỏn l trung thc v cha tng c cụng b bt k mt cụng trỡnh no khỏc Tỏc gi Nguyn Minh Hng Nguyn Minh Hng ii LI CM N Trc ht, tụi xin by t lũng bit n chõn thnh n thy giỏo hng dn khoa hc, PGS.TS Phm Trung Dng v TS on Th Tun, ó nh hng, kim tra kt qu nghiờn cu, giỳp v khuyn khớch tụi hon thnh lun ỏn Tụi cng xin cm n cỏc nh khoa hc v th cỏn b giỏo viờn B mụn Tờn la / Khoa K thut iu khin ó quan tõm úng gúp ý kin giỳp tụi hon thin ni dung nghiờn cu Tụi chõn thnh cm n cỏc ng nghip Khoa K thut iu khin / Hc vin K thut quõn s ó chia s cụng vic giỳp tụi cú thi gian trung thc hin lun ỏn Cui cựng, tụi xin cm n gia ỡnh, bn bố v cỏc ng nghip ó luụn ng viờn khuyn khớch giỳp tụi cú thờm ngh lc hon thnh ni dung lun ỏn iii MC LC LI CAM OAN i LI CM N ii MC LC iii DANH MC CC CH CI VIT TT V Kí HIU vi DANH MC CC HèNH V, TH ix DANH MC CC BNG xiii M U Chng 1: TNG QUAN V CC LUT DN TấN LA T DN 1.1 Tng quan tỡnh hỡnh nghiờn cu ca nc ngoi 1.1.1 Cỏc lut dn kinh in 1.1.1.1 Dn ba im 1.1.1.2 Dn ui 10 1.1.1.3 Dn tip cn t l 12 1.1.1.4 Mt s hn ch ca lut dn kinh in 13 1.1.2 Cỏc lut dn s dng lý thuyt iu khin hin i 13 1.1.2.1 Dn ti u 14 1.1.2.2 Dn d bỏo 15 1.1.2.3 Dn trũ chi vi phõn 15 1.1.2.4 Mt s hn ch ca cỏc lut dn ó c phỏt trin trờn c s lý thuyt iu khin hin i 16 1.1.3 Cỏc lut dn s dng cỏc cụng c ca iu khin thụng minh 17 1.1.3.1 Cỏc lut dn s dng mng neural 19 1.1.3.2 Cỏc lut dn s dng logic m 20 1.1.3.3 Mt s hn ch ca cỏc lut dn ó c phỏt trin trờn c s s dng cỏc cụng c ca iu khin thụng minh 21 1.2 Tng quan tỡnh hỡnh nghiờn cu nc 22 1.3 t nghiờn cu 23 1.4 Kt lun chng 24 iv Chng 2: NH GI CHT LNG CA LUT DN TIP CN T L V LUT DN TIP CN T L M 26 2.1 Quan h ng hỡnh hc tờn la mc tiờu mt phng ng 27 2.2 ỏnh giỏ cht lng ca lut dn tip cn t l v lut dn tip cn t l m mc tiờu c ng 33 2.2.1 ỏnh giỏ tỏc ng s c ng ca mc tiờu lờn lut dn tip cn t l da vo biu thc gii tớch 33 2.2.2 Xõy dng lut dn tip cn t l m 37 2.2.3 Kt qu kho sỏt ỏnh giỏ tỏc ng ca mc tiờu c ng lờn lut dn tip cn t l v lut dn tip cn t l m bng phng phỏp s 42 2.3 ỏnh giỏ nh hng ca nhiu n cht lng ca lut dn tip cn t l v lut dn tip cn t l m 47 2.3.1 ỏnh giỏ nh hng ca nhiu n cht lng ca lut dn tip cn t l bng phng phỏp gii tớch 48 2.3.2 ỏnh giỏ nh hng ca nhiu n cht lng ca h thng dn s dng lut dn tip cn t l v lut dn tip cn t l m bng phng phỏp s 58 2.3.2.1 Mụ hỡnh nhiu tn mỏt tõm phn x 58 2.3.2.2 Mụ hỡnh nhiu pha-inh 60 2.3.2.3 Kt qu kho sỏt 60 2.4 Kt lun chng 64 Chng 3: TI U HO LUT DN TIP CN T L M DA TRấN GII THUT DI TRUYN 65 3.1 Gii thut di truyn 65 3.1.1 Khỏi nim 65 3.1.2 Cu trỳc gii thut di truyn 66 3.2 Ti u lut dn tip cn t l m bi gii thut di truyn 72 3.2.1 Ti u hm liờn thuc ca lut dn tip cn t l m bi gii thut di truyn 73 3.2.1.1 Cu trỳc lut dn vi phõn t l m ti u hm liờn thuc 73 3.2.1.2 Gii thut di truyn ti u hm liờn thuc 78 v 3.2.2 Ti u h quy tc m ca lut dn tip cn t l m bi gii thut di truyn 79 3.2.2.1 Cu trỳc lut dn vi phõn t l m ti u h quy tc m 80 3.2.2.2 Gii thut di truyn ti u h quy tc m 84 3.2.3 Ti u hm liờn thuc v h quy tc m ca lut dn tip cn t l m bi gii thut di truyn 84 3.2.3.1 Cu trỳc lut dn tip cn t l m ti u 85 3.2.3.2 Gii thut di truyn ti u hm liờn thuc v h quy tc m 85 3.3 Kt lun chng 86 Chng 4: NH GI HIU QU LUT DN TIP CN T L M TI U 88 4.1 Phng phỏp v iu kin kho sỏt 88 4.2 Lut dn tip cn t l m ti u hm liờn thuc 89 4.2.1 Kt qu thc hin gii thut di truyn 89 4.2.2 Kt qu kho sỏt lut dn 93 4.2.3 Nhn xột 99 4.3 Lut dn tip cn t l m ti u h quy tc m 100 4.3.1 Kt qu thc hin gii thut di truyn 100 4.3.2 Kt qu kho sỏt lut dn 102 4.3.3 Nhn xột 108 4.4 Lut dn tip cn t l m ti u hm liờn thuc v h quy tc m 108 4.4.1 Kt qu thc hin gii thut di truyn 108 4.4.2 Kt qu kho sỏt 113 4.4.3 Nhn xột 119 4.5 Kt lun chng 119 KT LUN CHUNG 120 DANH MC CC CễNG TRèNH CễNG B 123 TI LIU THAM KHO 124 vi DANH MC CC CH CI VIT TT V Kí HIU Bng ch cỏi vit tt TLPK Tờn la phũng khụng TLKQ Tờn la khụng quõn PK-KQ Phũng khụng Khụng quõn UAV Thit b bay khụng ngi lỏi APN Tip cn t l tng cng PID Vi tớch phõn t l PN Tip cn t l PF T l m PDF Vi phõn t l m PIF Tớch phõn t l m BN m ln MN m va SN m nh Z Khụng SP Dng nh MP Dng va BP Dng ln GA Gii thut di truyn VK Vũng iu khin HH ng hỡnh hc vii Bng ký hiu Ký hiu n v / / / / / / / / / / / í ngha H ta gn vi mt t (nm mt phng phng v) H ta quy tc m Vn tc tờn la Vn tc mc tiờu Vn tc tip cn tờn la mc tiờu Lnh gia tc phỏp tuyn tờn la Thnh phn vuụng gúc vi ng ngm tờn la mc tiờu ca lnh gia tc phỏp tuyn tờn la Thnh phn song song vi ng ngm tờn la mc tiờu ca lnh gia tc phỏp tuyn tờn la Giỏ tr cc i ca Gia tc phỏp tuyn mc tiờu Quỏ ti mc tiờu Gia tc phỏp tuyn tờn la Khong cỏch gia tờn la v mc tiờu Ta tờn la trờn trc X Ta tờn la trờn trc Y Ta mc tiờu trờn trc X Ta mc tiờu trờn trc Y Gúc ng ngm tờn la mc tiờu Tc gúc ng ngm tờn la mc tiờu Gia tc gúc ng ngm tờn la mc tiờu Gúc ng bay ca mc tiờu Gúc ún Sai s gúc ún Ta tờn la trờn trc Y trng hp tuyn tớnh Ta mc tiờu trờn trc Y trng hp tuyn tớnh Khong cỏch tng i tờn la mc tiờu trờn trc Y trng hp tuyn tớnh H s dn Toỏn t Laplace Hng s thi gian ca khõu quỏn tớnh mụ t ng hc ca tờn la viii Thi im gp Thi im bt u c ng Thi im ht c ng Giỏ tr ca gia tc trng trng 9.81 / Nhiu tn mỏt tõm phn x Nhiu pha-inh Hm mt ph cụng sut ca nhiu tn mỏt tõm phn x Hm mt ph cụng sut ca nhiu pha-inh trt ti thi im gp lch quõn phng trt gõy bi nhiu tn mỏt tõm phn x lch quõn phng trt gõy bi nhiu phainh Giỏ tr cn quõn phng ca trt nhiu tn mỏt tõm phn x tỏc ng vo h thng Giỏ tr cn quõn phng ca trt nhiu phainh tỏc ng vo h thng Kớch thc qun th Xỏc sut lai ghộp Xỏc sut t bin Tham s xỏc nh mc ph thuc vo s ln lp phộp t bin khụng ng nht Cỏc chui nhim sc th b m Chui nhim sc th Xỏc sut chn lc Qun th cỏ th ban u Qun th cỏ th mi Cỏ th th k ca qun th ban u Cỏc th th k ca qun th mi Giỏ tr chn di ca nhim sc th Giỏ tr chn trờn ca nhim sc th Nhim sc th sau b t bin Hm thớch nghi B s xỏc nh hỡnh dng ca hm liờn thuc Cỏc ng li ca h ta quy tc m Cỏc im to ca h ta quy tc m / / , , , ,, ,, ,, , , , 117 Lut dn cú tỏc ng ca nhiu tn mỏt tõm phn x Ch tiờu ỏnh giỏ hiu qu lut dn v nhiu pha-inh PN PDF PDFGA trt trung bỡnh (m) 0.516 0.104 0.026 lch quõn phng trt (m) 0.0774 0.0248 0.0185 Lnh gia tc phỏp tuyn cc i trung bỡnh (g) 25.836 4.923 2.587 2.289 0.319 0.220 lch quõn phng lnh gia tc phỏp tuyn cc i (g) Bng 4.15 Kt qu kho sỏt ti thi im gp mc tiờu c ng 7g d) Trng hp mc tiờu c ng -7g QMT QTL(PN) QTL(PDF) QTL(PDFGA) Hỡnh 4.47 Qu o tờn la mc tiờu 118 PN PDFGA PDF Hỡnh 4.48 Gia tc phỏp tuyn tờn la Lut dn cú tỏc ng ca Ch tiờu ỏnh giỏ hiu qu lut dn nhiu tn mỏt tõm phn x v nhiu pha-inh PN PDF PDFGA trt trung bỡnh (m) 4.993 0.794 0.128 lch quõn phng trt (m) 0.2699 0.0255 0.0201 Lnh gia tc phỏp tuyn cc i trung bỡnh (g) 50.174 11.420 4.747 2.206 0.701 0.468 lch quõn phng lnh gia tc phỏp tuyn cc i (g) Bng 4.16 Kt qu kho sỏt ti thi im gp mc tiờu c ng -7g 119 4.4.3 Nhn xột So sỏnh hỡnh 4.31 vi hỡnh 4.1 v hỡnh 4.19, hỡnh 4.36 vi hỡnh 4.6 v hỡnh 4.21 ta thy giỏ tr hm thớch nghi cc i qua cỏc th h ti u ng thi hm liờn thuc v h lut m ln hn so vi trng hp ti u tng thnh phn iu ny chng t cht lng ca lut dn tip cn t l m cú hm liờn thuc v h quy tc m ti u tt hn (s dng hm thớch nghi lm tiờu ỏnh giỏ) lut dn tip cn t l m ch cú mt thnh phn ti u (hoc hm liờn thuc hoc h quy tc m) Nhng ti u ng thi hm liờn thuc v h quy tc m thỡ chiu di nhim sc th tng lờn, ú s tng thi gian thc hin gii thut di truyn 4.5 Kt lun chng Trờn c s cỏc lut dn tip cn t l m ti u ó xut chng Trong chng 4, lun ỏn thc hin kho sỏt v so sỏnh cỏc lut dn mc tiờu c ng v cú s tỏc ng ca hai loi nhiu: nhiu tn mỏt tõm phn x v nhiu pha-inh Thụng qua vic kho sỏt phng phỏp dn tip cn t l, tip cn t l m v tip cn t l m ti u cú th rỳt kt lun sau - Lut dn tip cn t l m ti u hm liờn thuc cú cht lng ci thin hn so vi phng phỏp tip cn t l c v trt cng nh lnh gia tc phỏp tuyn, c bit trng hp mc tiờu c ng cao - Lut dn tip cn t l m ti u h quy tc m cng cú cht lng ci thin hn so vi phng phỏp tip cn t l Tuy nhiờn khụng gian tỡm kim khụng liờn tc nờn ũi hi phi tng s th h (s ln lp) ca gii thut di truyn - Trong ba lut dn tip cn t l m ti u ó kho sỏt, lut dn tip cn t l m ti u c hm liờn thuc v h quy tc m cho cht lng tt nht Nhng s lng nhim sc th mó húa cỏc tham s cn ti u tng lờn dn n tng thi gian thc hin ca gii thut di truyn 120 KT LUN CHUNG Nghiờn cu ci tin v phỏt trin cỏc lut dn l lnh vc c quan tõm t rt sm Ngy nay, vi nhng yờu cu mi ca chin tranh hin i thỡ lnh vc dn cng cú vai trũ quan trng Nh s phỏt trin khụng ngng ca khoa hc k thut m cỏc lut dn mi ngy cng cú kh nng c hin thc húa thc t Trong lnh vc dn, ng dng logic m, mng neural hay gii thut di truyn ci thin, nõng cao cht lng dn ang l mt hng nghiờn cu mi Lun ỏn ó nghiờn cu v kt hp logic m vi gii thut di truyn nõng cao cht lng dn tờn la iu kin mc tiờu c ng mnh vi s tỏc ng ca hai loi nhiu chớnh nh hng n cỏc giỏ tr o ca u t dn vụ tuyn: nhiu tn mỏt tõm phn x v nhiu pha-inh Lun ỏn ó tng hp thnh cụng ba lut dn tip cn t l m ti u trờn c s lut dn tip cn t l, logic m v gii thut di truyn Kt qu thc hin c túm lc nh sau: Cỏc ó thc hin lun ỏn 1) Lun ỏn ó phõn tớch, ỏnh giỏ u im v nhc im ca cỏc cụng trỡnh nghiờn cu nc v nc ngoi cú liờn quan n ti nghiờn cu T ú xỏc nh phng hng, phng phỏp v cụng c gii quyt nhng bi toỏn c bn t nhim v nghiờn cu 2) Nghiờn cu, ỏnh giỏ nh hng s c ng ca mc tiờu, s tỏc ng ca tng loi nhiu (nhiu tn mỏt tõm phn x v nhiu pha-inh) n cht lng ca lut dn T kt qu kho sỏt cho thy vic ng dng logic m thit k lut dn tip cn t l m hon ton cú th nõng cao c cht lng dn so vi s dng lut dn tip cn t l thụng thng Tuy nhiờn, nhc im ca phng phỏp thit k thụng thng ny l thi gian thit k lõu, ph thuc hon ton vo kinh nghim ca ngi thit k v ta khụng th khng nh c lut dn tip cn t l m sau thit k cũn cú th tt hn c na khụng? Do ú, lun ỏn xut phng phỏp kt hp logic m vi gii thut di truyn 121 tng hp lut dn tip cn t l m ti u nhm khc phc nhng nhc im tng hp lut dn tip cn t l m bng phng phỏp thụng thng 3) Lun ỏn ó nghiờn cu c ch hot ng ca gii thut di truyn la chn tham s ca gii thut di truyn, kt hp vi cỏc phng phỏp biu din hm liờn thuc (bng cụng thc bin i (3.13)) v h quy tc m (thụng qua h ta quy tc m) cho hiu qu thc hin gii thut t tt nht T ú lun ỏn xut ba lut dn tip cn t l m ti u: tip cn t l m ti u hm liờn thuc; tip cn t l m ti u h quy tc m; tip cn t l m ti u ng thi hm liờn thuc v h quy tc m 4) ó thc hin kho sỏt v chng minh c ba lut dn tip cn t l m ti u ó xut u cho cht lng dn tt hn lut dn tip cn t l m v lut dn tip cn t l Cỏc kho sỏt thc hin mc tiờu c ng cỏc mc khỏc v cú tỏc ng ca nhiu Trong hu ht cỏc nghiờn cu, kho sỏt cỏc lut dn, cỏc tỏc gi thng b qua s nh hng ca nhiu hoc n gin húa mụ hỡnh nhiu thun li quỏ trỡnh phõn tớch, xõy dng lut dn Trong lun ỏn ó kho sỏt cht lng ca cỏc lut dn cú tớnh ti s tỏc ng ca hai loi nhiu vi mụ hỡnh c th, m bo gn sỏt vi thc t Hai loi nhiu c s dng cỏc kho sỏt l nhiu tn mỏt tõm phn x v nhiu pha-inh bi vỡ õy l hai loi nhiu nh hng trc tip n cỏc h thng u t dn vụ tuyn úng gúp mi v khoa hc ca lun ỏn Di õy l nhng úng gúp mi v khoa hc ca lun ỏn, ú l: 1) Lun ỏn ó kho sỏt cht lng ca cỏc lut dn cú tớnh ti s tỏc ng ca hai loi nhiu nh hng trc tip n cỏc h thng u t dn vụ tuyn vi mụ hỡnh c th, m bo sỏt vi thc t 122 2) Trờn c s xõy dng v mụ phng cỏc lut dn PF, PDF v PIF, lun ỏn ó ch rng ng dng logic m cú th ci thin cht lng phng phỏp dn tip cn t l, ú PDF cho kt qu tt nht lut dn m núi trờn 3) ng dng gii thut di truyn vi cỏc phng phỏp chn lc, lai ghộp v t bin phự hp xut cỏc thut toỏn ti u húa tham s lut dn tip cn t l xõy dng trờn c s logic m Mt s kin ngh v nhng tn ti v hng phỏt trin ca lun ỏn 1) Khi thc hin cỏc kho sỏt, lun ỏn ch xột ti nh hng ca hai loi nhiu chớnh tỏc ng trc tip n chớnh xỏc ca cỏc phộp o l nhiu tn mỏt tõm phn x v nhiu pha-inh Tuy nhiờn thc t, cú rt nhiu yu t nh hng n cht lng vũng iu khin nh: nhiu un thõn tờn la, sai s gõy bi np che u t dn, cho kt qu nghiờn cu hon chnh hn, iu kin cho phộp, ta cú th kho sỏt lut dn tớnh ti nh hng ca cỏc yu t ú Tuy nhiờn, iu ny khụng lm nh hng n kt qu chớnh ca lun ỏn 2) Lun ỏn s dng gii thut di truyn ti u hm liờn thuc v h quy tc m ca lut dn tip cn t l m ti u Tuy nhiờn, vic la chn, iu chnh cỏc tham s ca lut dn tip cn t l m cú th c thc hin bi mng neural õy cng l ni dung cn c gii quyt tip theo Tuy nhiờn, iu ny khụng lm nh hng n kt qu chớnh ca lun ỏn 3) Lun ỏn l ti liu tham kho tt cho cỏn b nghiờn cu khoa hc, cỏn b thit k cỏc c s nghiờn cu v phũng thit k tờn la Lun ỏn cú th s dng vo mc ớch ging dy, o to i hc v sau i hc theo chuyờn ngnh thit k h thng iu khin thit b bay mt s hc vin, nh trng quõn i 123 DANH MC CC CễNG TRèNH CễNG B Nguyn Minh Hng, Bựi Ngc M, Nghiờn cu cht lng h thng iu thit b bay bng phng phỏp phõn tớch hip phng sai, Nghiờn cu KH&CN Quõn s, s 35/ 02-2015 Nguyn Minh Hng, Bựi Ngc M, Trn quý, ng dng lý thuyt iu khin ti u vo tng hp lut dn Tờn la, Nghiờn cu KH&CN Quõn s, s 35/ 022015 Phm Trung Dng, Nguyn Minh Hng, Trn Quý, Xõy dng lut dn bỏm ui cho Tờn la trờn c s logic m, Hi ngh ton quc ln th hai v iu khin v t ng hoỏ VCCA, 2013 Phm Trung Dng, Nguyn Minh Hng, Nguyn Trng Sn, Gii phỏp gim tr mng kt ni cỏc h System-on-Chips da trờn k thut hng i u o, Hi ngh ton quc ln th hai v iu khin v t ng hoỏ VCCA, 2013 Nguyn Minh Hng, Lờ K Biờn, Trn Quý, Xõy dng lut dn m ti u trờn c s lut dn tip cn t l v thut toỏn di truyn, Nghiờn cu KH&CN Quõn s, c san T 10/2015 Phm Trung Dng, Nguyn Minh Hng, Trn quý, Xõy dng lut dn tờn la trờn c s lut dn tip cn t l, logic m v gii thut di truyn, Tp khoa hc v k thut s 175/ 4-2016, Hc vin K thut Quõn s 124 TI LIU THAM KHO Ting Vit: [1] Lờ Anh Dng, Nguyn Hu , Hunh Lng Ngha, Lý thuyt bay v h thng iu khin tờn la phũng khụng, Hc vin K thut quõn s, 1998 [2] V Võn H, ng dng logic m h iu khin bin tn ng c khụng ng b, Lun ỏn Phú Tin s Khoa hc k thut, i hc Bỏch khoa H Ni, 1995 [3] Hunh 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