CN102205876B - Comprehensive control method for keeping fixed-point height of airship in stratosphere - Google Patents
Comprehensive control method for keeping fixed-point height of airship in stratosphere Download PDFInfo
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- CN102205876B CN102205876B CN 201010598925 CN201010598925A CN102205876B CN 102205876 B CN102205876 B CN 102205876B CN 201010598925 CN201010598925 CN 201010598925 CN 201010598925 A CN201010598925 A CN 201010598925A CN 102205876 B CN102205876 B CN 102205876B
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Abstract
The invention relates to a comprehensive control method for keeping a fixed-point height of an airship in the stratosphere, which is used for keeping the fixed-point height of the airship in the stratosphere by adopting a combined mode of pressure adjustment and thrust vector. The method has the advantages of small fluctuation range of the fixed-point height and great corresponding reduction of the reserve volume of an auxiliary ballonet. To be explained, the application of the thrust vector does not increase extra energy consumption because the airship in the stratosphere always keeps a certain thrust in a fixed-point flight in order to overcome the wind resistance; According to the method, only the direction of the thrust is changed and an increased net buoyancy is balanced by utilizing the component in the vertical direction, which can result in that the component in the horizontal direction cannot overcome the wind resistance so that the position precision of the airship in the stratosphere in the horizontal direction cannot be kept; however, in terms of engineering application, the expense of a little horizontal positioning precision is worthy because the fixed-point height position of the airship in the stratosphere is far more important than the horizontal position precision thereof; and the airship in the stratosphere can flexibly fly to a fixed-point position once the temperature returns to normal.
Description
Technical field
This invention relates to the stratospheric airship field.
Technical background
Stratospheric airship is a kind of lighter-than-air flight device; it is empty to rely on quiet buoyancy to stay, and provides the energy by solar power and fuel cell for it, and with propulsion system; the capacity weight of hundreds of kilograms even several tons of weights can be carried, 12～50 kilometers highly long-time spot hovers or low-speed maneuver flight can be implemented in.Dirigible all has the main gasbag that is full of buoyance lift gas (being generally helium) and the balloonet that is full of air, and the aerodynamic configuration of dirigible keeps by the superpressure of inside air bag, as shown in Figure 1.Between the rising stage, bar pressure constantly reduces at stratospheric airship, and air bag will expand, and need to open choker relief valve and emit air in the balloonet to reduce gaseous tension in the air bag; And between the stratospheric airship decrement phase, bar pressure constantly increases, and it is flat that air bag will become, and need to open blower fan and be filled with air with gaseous tension in the augmented airbag in balloonet.The height that reaches when the balloonet air was emptied completely when dirigible rose is called pressure altitude, also is the maximum height that dirigible allows operation.
Stratospheric airship is at the fixed point run duration, because the variation of external heat radiation condition, so that the air bag diurnal temperature significantly changes (maximum temperature difference can reach more than 60 ℃), can directly have influence on the gaseous tension in the air bag, dirigible buoyancy is changed, cause dirigible can't keep fixed point height, will not cause that the airship envelope superpressure is excessive even break that (it generally is 25mmH that the utricule aerodynamic configuration keeps required pressure differential range if gasbag pressure is not imposed control
2O～55mmH
2O).Therefore, when larger variation occurs the air bag temperature, must adopt certain policy control gasbag pressure at zone of reasonableness, and keep the predetermined altitude of dirigible.
Gravity when stratospheric airship is fixed a point in the high-altitude (not containing helium and air in the air bag) and net buoyancy balance, its net buoyancy is:
L
N＝V
H(ρ
A-ρ
H)g＝(V
Hρ
A-m
H)g
V in the formula
HBe the volume of main gasbag, ρ
ABe atmospheric density, ρ
HBe helium density, g is acceleration due to gravity, m
HBe the helium quality.When outer atmospheric temperature raise, helium temperature also must increase, and calculated formula by gaseous tension:
P
H＝ρ
HR
HT
H
P in the formula
HBe main gasbag helium pressure, R
HBe helium atmosphere constant, T
HBe the helium atmosphere temperature.Hence one can see that, and after helium temperature raise, helium pressure must increase, thereby main gasbag can expand, and causes net buoyancy to strengthen, and dirigible can be toward rising, and along with the reduction of atmospheric density, net buoyancy reduces gradually, and dirigible can reach new balance height.In this process, as long as airship flight does not highly arrive pressure altitude, then the continuous exhaust of balloonet meeting is kept gasbag pressure at zone of reasonableness; If the overpressure height, this moment, the balloonet air was all emptying, if gasbag pressure is also increasing, just can only be by putting helium or reduce pressure, but these operations are all lost more than gain.Therefore, the fixed point of stratospheric airship design highly normally is lower than pressure altitude.At present, convective zone dirigible (flying height is below 8000 meters) adopts pressure to regulate to keep the dirigible profile, and the thrust vectoring that produces with shrouded propeller is controlled the landing of dirigible, and it highly keeps is to realize by the control rudder face.And for stratospheric airship, because upper atmosphere is thin, and dirigible speed is slow, thereby the rudder face failure of adjustment.The outer research to stratospheric airship of Current Domestic all just is in explores the demonstration stage, how to allow stratospheric airship stay the method that keeps predetermined altitude unripe in the null process in long-time fixed point.
Summary of the invention
Purpose of the present invention is exactly for also not having at present the ripe stratospheric airship that makes to fix a point for a long time to keep the present situation of method highly both at home and abroad, a kind of comprehensive control method for keeping fixed-point height of airship in stratosphere being provided.
Comprehensive control method for keeping fixed-point height of airship in stratosphere adopts the mode that pressure is regulated and thrust vectoring combines to realize that the Stratospheric Airship in Position-Attitude height keeps.
The mode that pressure is regulated and thrust vectoring combines is pressure sensor, on off controller, blower fan, valve, height sensor, PD controller, thrust vectoring device on dirigible, pressure sensor is transferred on off controller with the gasbag pressure of stratospheric airship, and on off controller is by valve and Fan Regulation stratospheric airship pressure; Height sensor is transferred to the PD controller with the height of stratospheric airship, and PD controller control thrust vectoring device produces thrust vectoring and acts on stratospheric airship.
Advantage of the present invention is: existing simple employing pressure is regulated and is carried out the high hold method of Stratospheric Airship in Position-Attitude, its fluctuation range is large, and occur the excessive possibility of air bag superpressure, simultaneously, balloonet was still reserved larger volume when simple pressure adjusting can require stratospheric airship to fly the fixed point height, regulate in order to carry out pressure during height fluctuation, so that the dirigible volume increases, cause cost to increase so virtually.The present invention is because in the pressure controlled control that is aided with simultaneously thrust vectoring, and its fixed point height fluctuation scope is little, balloonet reserve volume also corresponding reduce many.The application that need to prove thrust vectoring does not increase extra energy consumption, because stratospheric airship is being fixed a point in-flight for overcoming windage, always maintain certain thrust, the present invention has just changed the direction of thrust, the component of vertical direction is used for the net buoyancy that balance increases, may cause like this component of horizontal direction can't overcome windage, so that stratospheric airship positional precision in the horizontal direction can't keep, but with regard to engineering is used, stratospheric airship to decide high precision important more than the level attitude precision, thereby sacrifice some horizontal location precision and be worth, in case temperature recover normal after, stratospheric airship can maneuvering flight to fixed position.
Description of drawings
Accompanying drawing 1 is Stratospheric Airship in Position-Attitude height mode block scheme of the present invention.
The specific embodiment
The present invention adopts the mode that pressure is regulated and thrust vectoring combines to realize that the Stratospheric Airship in Position-Attitude height keeps.The mode that pressure is regulated and thrust vectoring combines is pressure sensor on dirigible, on off controller, blower fan, valve, height sensor, the PD controller, thrust vectoring device (shrouded propeller), pressure sensor is transferred on off controller with the gasbag pressure of stratospheric airship, on off controller is electrically connected with valve and blower fan, the interface of valve and blower fan communicates with the stratospheric airship balloonet respectively, height sensor is transferred to the PD controller with the height of stratospheric airship, PD controller control shrouded propeller, shrouded propeller produces thrust vectoring and acts on stratospheric airship, can realize thus keeping the Stratospheric Airship in Position-Attitude height with the mode that pressure is regulated and thrust vectoring combines.
Principle of work:
Pressure is regulated control and is adopted the switch control law, namely regulates gasbag pressure by the switching of control blower fan and choker relief valve, and the air bag inside and outside differential pressure is opened choker relief valve during greater than the valve opening setting value, closes choker relief valve when being lower than the valve closing setting value; The air bag inside and outside differential pressure is lower than when blower fan is opened setting value opens blower fan, is higher than and closes blower fan when blower fan cuts out setting value.This pressure is regulated rule and is adopted in a plurality of dirigible models in the past, and the pressure regulating effect is good, blower fan, valve break-make number of times are few, has also prolonged the life-span of blower fan, valve when saving the energy.
It is as follows that pressure is regulated the control loop working process: pressure sensor is converted to voltage signal with gasbag pressure and inputs to the control computing machine, by comparing with the bar pressure of measuring, obtains air bag pressure reduction.If air bag pressure reduction in setting range, power element do not work (blower fan does not turn round, valve closing); When detecting air bag pressure reduction and be higher than the valve opening setting value, computing machine sends signal and connects the choker relief valve power supply, opens choker relief valve, the balloonet venting; When air bag pressure reduction was returned to the valve closing setting value, computing machine provided the signal at stop choker relief valve; When air bag pressure reduction was lower than blower fan and opens setting value, computing machine sent signal and opens blower fan and inflate to balloonet; When air bag pressure reduction was returned to blower fan and closes setting value, computing machine sent the signal at stop blower fan.
PD (ratio, differential) control law is adopted in thrust vectoring control, and controlling quantity is the thrust inclination angle, and the variation range at thrust inclination angle is-120 °～120 °.Control law is given as follows:
deltaH＝H
com-H
meas
1 formula
H in the formula
ComBe predetermined altitude, H
MeasBe actual measurement height, K
pBe proportional gain, K
dBe the differential gain, ξ is the thrust inclination angle.Thrust vectoring control is just effective after diff-H deltaH exceeds certain limit (depending on that the mission payload system is to the accuracy requirement of fixed point height), thrust vectoring is frequently enabled in the time of can avoiding like this dirigible height tolerance in permissible range, reduces the life-span of equipment.
Thrust vectoring control loop working process is as follows: height sensor is that voltage signal inputs to the control computing machine with the dirigible height conversion, by comparing with predetermined altitude, obtains height tolerance.If height tolerance is in permissible range, thrust vectoring control is invalid; When detecting height tolerance and exceed permissible range, computing machine carries out control law according to above-mentioned 1 formula and resolves (K
p, K
dConcrete numerical value remains flight test and determines) try to achieve the thrust inclination angle of requirement, realized the change at thrust inclination angle by the duct steering hardware.After the dirigible height was returned in the permissible range, thrust vectoring control was invalid, and the thrust inclination angle resets.
It is to be noted that pressure is regulated and thrust vectoring is coupled, the pressure adjusting can cause net buoyancy to change, and then the impact height, otherwise thrust vectoring control can cause highly changing, and then affect pressure, how good the two the relation of balance is still waiting flight test and finishes.
Claims (1)
1. comprehensive control method for keeping fixed-point height of airship in stratosphere, it is characterized in that adopting the mode that pressure is regulated and thrust vectoring combines to realize that the Stratospheric Airship in Position-Attitude height keeps, the mode that pressure is regulated and thrust vectoring combines is pressure sensor, on off controller, blower fan, valve, height sensor, PD controller, thrust vectoring device on dirigible, pressure sensor is transferred on off controller with the gasbag pressure of stratospheric airship, and on off controller is by valve and Fan Regulation stratospheric airship pressure; Height sensor is transferred to the PD controller with the height of stratospheric airship, and PD controller control thrust vectoring device produces vectored thrust and acts on stratospheric airship; PD(ratio, differential are adopted in thrust vectoring control) control law, controlling quantity is the thrust inclination angle, and the variation range at thrust inclination angle is-120 °～120 °, and control law is given as follows:
In the formula
Be predetermined altitude,
Be the actual measurement height,
Be proportional gain,
Be the differential gain,
Be the thrust inclination angle.
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| CN102205876B true CN102205876B (en) | 2013-01-23 |
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| CN102759928B (en) * | 2012-04-28 | 2015-04-15 | 中国人民解放军国防科学技术大学 | Control method for flight path of airship on stratosphere |
| CN103832572A (en) * | 2013-07-15 | 2014-06-04 | 中国特种飞行器研究所 | Novel air speed self-adaption pressure regulation and control method |
| CN103832573A (en) * | 2013-08-28 | 2014-06-04 | 中国特种飞行器研究所 | Device for automatically controlling pressure of captive balloon |
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| CN104210640B (en) * | 2014-09-18 | 2016-12-07 | 北京航空航天大学 | A kind of stratosphere aerostatics vector propulsion device |
| CN104950908B (en) * | 2015-07-02 | 2017-08-15 | 上海交通大学 | Stratospheric airship horizontal level control system and implementation method |
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| CN106291758A (en) * | 2016-07-28 | 2017-01-04 | 无锡信大气象传感网科技有限公司 | A kind of pinpoint sounding balloon |
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| CN106291757A (en) * | 2016-07-28 | 2017-01-04 | 无锡信大气象传感网科技有限公司 | A kind of using method of the sounding balloon of adjustable point monitoring |
| CN106291759A (en) * | 2016-07-28 | 2017-01-04 | 无锡信大气象传感网科技有限公司 | A kind of using method of pinpoint sounding balloon |
| CN106218852A (en) * | 2016-07-28 | 2016-12-14 | 无锡信大气象传感网科技有限公司 | A kind of using method of sounding balloon |
| CN106081047A (en) * | 2016-07-28 | 2016-11-09 | 无锡信大气象传感网科技有限公司 | A kind of sounding balloon of adjustable point monitoring |
| CN106114811A (en) * | 2016-07-28 | 2016-11-16 | 无锡信大气象传感网科技有限公司 | A kind of sounding balloon |
| CN106240787A (en) * | 2016-07-28 | 2016-12-21 | 无锡信大气象传感网科技有限公司 | A kind of using method of highly controllable sounding balloon |
| CN106681337B (en) * | 2017-01-05 | 2019-03-15 | 烟台南山学院 | Stratospheric airship height-lock control control method based on odd times sliding formwork |
| CN109649627B (en) * | 2019-01-28 | 2022-04-05 | 上海交通大学 | Super-cooling and super-heating control method for high-altitude airship |
| CN110466731B (en) * | 2019-08-24 | 2023-03-17 | 哈尔滨工业大学 | Airship floating weight balance control method based on interaction of air bag and helium bag |
| CN112487559B (en) * | 2020-12-03 | 2023-04-28 | 中国人民解放军63660部队 | Parameter self-adaptive single-bag stratospheric airship floating weight balance assessment method |
| CN112572755B (en) * | 2020-12-11 | 2023-01-13 | 中国特种飞行器研究所 | Cooperative control method for internal and external pressure difference and speed of stratospheric airship in ascending process |
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| JP3624351B2 (en) * | 2002-01-15 | 2005-03-02 | 川崎重工業株式会社 | Airship airframe parameter setting method and apparatus, airship ascent speed adjustment method with airframe parameters set |
| US7871035B2 (en) * | 2007-04-11 | 2011-01-18 | Hamilton Sundstrand Corporation | Propulsion system for an airship or hybrid aircraft |
| CN201350970Y (en) * | 2008-12-30 | 2009-11-25 | 北京龙圣联成航空科技有限公司 | Pressure control device for airship capsule |
| CN101723082A (en) * | 2009-12-22 | 2010-06-09 | 易思海 | Flying method of airship and novel airship |
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