CN106200670A - A kind of airship gondola system of horizontal omnidirectional rotational power output - Google Patents
A kind of airship gondola system of horizontal omnidirectional rotational power output Download PDFInfo
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- CN106200670A CN106200670A CN201510311818.XA CN201510311818A CN106200670A CN 106200670 A CN106200670 A CN 106200670A CN 201510311818 A CN201510311818 A CN 201510311818A CN 106200670 A CN106200670 A CN 106200670A
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- dirigible
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Abstract
The invention discloses the airship gondola system of a kind of horizontal omnidirectional rotational power output, include power take-off module, be horizontally diverted module, main control module, sensor assembly, wireless communication module, solve integration by what the data obtained from wireless communication module carried out algorithm, make gondola can rotate and level comprehensive output power with horizontal omnidirectional.The airship gondola system of this horizontal omnidirectional rotational power output changes tradition dirigible mode of unidirectional power output in level, exported by horizontal omnidirectional power, substantially increase the mobility of dirigible, make dirigible large-scale aerostatics flexibility can be made to be possibly realized with pivot turn.
Description
Technical field
The present invention designs the airship gondola system of a kind of horizontal omnidirectional rotational power output, particularly relates to unmanned airship control field
Design of Flight Control.
Background technology
Dirigible is a kind of aircraft being lighter than air, compared to fixed-wing and rotor craft in fields such as supervision, detections more
Application potential.Along with society development, dirigible daily life, scientific research field, military field application more and more extensive.
Dirigible include fairshaped hull, be positioned at the gondola below ship capsule, play stability contorting effect empennage composition.It is filled with in ship capsule
The buoyance lift gas (hydrogen, helium or hydrogen helium gas mixture) that density is less than air is to produce buoyancy.Empennage includes rudder and lifting
Rudder, control and go as course, pitching stable on play a role.The major impetus of dirigible is typically by the duct on gondola
Electromotor provides.
At present, the course change of dirigible and to be horizontally diverted be by regulation rudder or to change the speed of duct electromotor on gondola
Difference realizes, but this is under the control of two kinds of methods, and dirigible radius of turn is bigger, and course line precision is inadequate, the flight of dirigible
Underaction.The present invention realizes being horizontally diverted and course change by changing the direction of power output, solves dirigible ratio of cornering radius
Relatively big, course line precision is inadequate, and the problem of the flight underaction of dirigible, this will greatly promote the dirigible application in every field.
Summary of the invention
Gesture stability and direct of travel in order to make unmanned airship are more flexible and easily dimmable, and one horizontal omnidirectional of the present invention rotates
The airship gondola system of power output, by changing the direction of gondola duct electromotor, different directions output in the horizontal direction
Power.By revising and regulating power outbound course, can accurately control course line and the course of unmanned airship.Solve tradition to hang
The power in cabin in the horizontal direction can only the problem of unidirectional output, the power making dirigible can omnidirectional's output in the horizontal direction.
The present invention a kind of horizontal omnidirectional rotational power output airship gondola system, it is characterised in that include power take-off module,
It is horizontally diverted module, main control module, sensor assembly, wireless communication module；Be horizontally diverted module include servomotor and
Reduction box, and be connected with gondola and ship capsule by connecting plate；Sensor assembly include three-axis gyroscope, three axis accelerometer,
Three axle magnetic resistance, barometertic altimeter and GPS locating module, obtain attitude and the locus of dirigible；Main control module includes list
Sheet machine control chip and input control, singlechip control chip carries out sensor data acquisition, resolves and controls output, according to defeated
Enter control instruction and be controlled output, and by wireless communication module real-time communication；Hung by horizontal omnidirectional rotational power output dirigible
Cabin achieves the comprehensive output function of power and flight path zero offset capability.
The described direction changing gondola duct electromotor, it is characterised in that by manipulation ground control unit, control to be horizontally diverted
Brushless electric machine in module static and rotating, changes the direction of duct electromotor on gondola, can be before Synchronization Control unmanned airship
Enter, retreat, turn and radius of turn.By making the direction of duct electromotor on gondola realize unmanned airship flight forward backward；
Realize forward unmanned airship by duct electromotor direction on gondola to fly backward；By making on gondola duct electromotor direction and flying
Ship axis becomes different angles to realize unmanned airship and turn to different radiuss of turn.
The described course line and the course that accurately control unmanned airship, it is characterised in that by sensor assembly identification dirigible position and appearance
State, by main control module collection, resolves and controls output, controls power take-off module and is horizontally diverted module amendment power output
Direction and size, it is achieved attitude and course feedback modifiers.
Accompanying drawing explanation
Fig. 1 is the schematic diagram before gondola turns to；
Fig. 2 is the schematic diagram after gondola turns to；
Fig. 3 is control flow schematic diagram.
Detailed description of the invention
The present invention a kind of horizontal omnidirectional rotational power output airship gondola system, it is characterised in that include power take-off module,
It is horizontally diverted module, main control module, sensor assembly, wireless communication module；Be horizontally diverted module include servomotor and
Reduction box, and be connected with gondola and ship capsule by connecting plate；Sensor assembly include three-axis gyroscope, three axis accelerometer,
Three axle magnetic resistance, barometertic altimeter and GPS locating module, obtain the attitude of dirigible and locus pitching, roll, deflection,
Longitude, latitude, height and as shown in Figure 2 before and after two gondolas and attitude and the sky such as ship capsule axis angulation angle α and angle beta
Between position data；Main control module includes singlechip control chip and input control, and singlechip control chip carries out sensor number
According to gathering, resolve and control output, it is controlled output according to input control instruction, and nothing can be carried out by input control instruction
People's dirigible advances, brakes, retreats and regulates the instruction inputs such as radius of turn, and the data simultaneously obtained according to sensor assembly are carried out
Resolve and draw the attitude that unmanned airship is current, and the servomotor controlling to be horizontally diverted module adjusts gondola power outbound course,
Thus realize the accurate control of course line and attitude；The reality between unmanned airship and ground control system is realized by wireless communication module
Time both-way communication, it is achieved unmanned airship obtains instruction and reaches ordered course and realize course line and accurately control function.
Obtaining instruction and reach ordered course and realize course line and accurately control function, it it is critical only that and is obtained by sensor assembly
Data integrated by the resolving of algorithm, calculate attitude and the course of unmanned airship, by wireless telecommunications under attitude control mode
Attitude and course line that system receives from ground control system instruct expectation attitude and course line as unmanned airship and are transferred to turn to water
Flat steering module, makes unmanned airship adjust to specifying attitude and course.
Described unmanned airship attitude and flight course control, it is characterised in that by manipulation ground control system can Synchronization Control nobody fly
Ship flight attitude and course line.After obtaining expectation input, main control module obtains three-axis gyroscope by I2C agreement, three axles accelerate
The data of the sensors such as degree meter, three axle magnetic resistance, carry out attitude algorithm, i.e. in figure below by quaternary number and Kalman filtering scheduling algorithm
Sensor measurement H (s) link, obtains the attitude datas such as the current angle of pitch, roll angle and azimuth, then by its negative feedback to position
PID (s) controller and attitude PD (s) controller, finally export desired output to turning to servomotor G1 (s) link and power current
Machine G2 (s) link, thus realize unmanned airship attitude and course line accurately controls function.
Claims (3)
1. the airship gondola system of a horizontal omnidirectional rotational power output, it is characterised in that include power take-off module, level
Steering module, main control module, sensor assembly, wireless communication module；It is horizontally diverted module and includes servomotor and deceleration
Case, and be connected with gondola and ship capsule by connecting plate；Sensor assembly include three-axis gyroscope, three axis accelerometer, three
Axle magnetic resistance, barometertic altimeter and GPS locating module, obtain attitude and the locus of dirigible, and main control module includes monolithic
Machine control chip and input control, singlechip control chip carries out sensor data acquisition, resolves and controls output, according to input
Control instruction is controlled output, and by wireless communication module real-time communication；Realized by horizontal omnidirectional rotational power output gondola
The comprehensive output function of power and course line zero offset capability.
2. according to the gondola power omnidirectional output described in claim 1, it is characterised in that utilize corresponding hardware module to realize following
Control mode: manipulation ground control system can horizontally rotate by being horizontally diverted module synchronization control former and later two gondolas of unmanned airship,
And can by control before and after two gondolas rotate after with ship capsule axis angulation, it is achieved straight ahead, regulation radius of turn, system
The functions such as dynamic and straight line retrogressing.
3. automatically revise according to course line described in claim 1, it is characterised in that utilize corresponding algorithm to realize following control mode:
According to the course line specified by ground control system, in conjunction with dirigible position and the attitude of sensor assembly identification, adopted by main control module
Collect, resolve and control output, control to be horizontally diverted module and power take-off module amendment power outbound course and size, it is achieved appearance
State and course line feedback modifiers.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510129282 | 2015-03-23 | ||
| CN201510129282X | 2015-03-23 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106200670A true CN106200670A (en) | 2016-12-07 |
Family
ID=57459496
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510311818.XA Pending CN106200670A (en) | 2015-03-23 | 2015-06-04 | A kind of airship gondola system of horizontal omnidirectional rotational power output |
Country Status (1)
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| CN (1) | CN106200670A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244754A (en) * | 2019-06-28 | 2019-09-17 | 上海工程技术大学 | It is a kind of to stay empty control system and method for stratosphere aerostatics fixed point |
| CN112180966A (en) * | 2020-10-15 | 2021-01-05 | 深圳市广域鹏翔研究开发有限公司 | Three-component aviation wide area survey system with airship long-endurance random measuring points |
-
2015
- 2015-06-04 CN CN201510311818.XA patent/CN106200670A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244754A (en) * | 2019-06-28 | 2019-09-17 | 上海工程技术大学 | It is a kind of to stay empty control system and method for stratosphere aerostatics fixed point |
| CN110244754B (en) * | 2019-06-28 | 2021-12-10 | 上海工程技术大学 | Control system and method for fixed-point air parking of stratosphere aerostat |
| CN112180966A (en) * | 2020-10-15 | 2021-01-05 | 深圳市广域鹏翔研究开发有限公司 | Three-component aviation wide area survey system with airship long-endurance random measuring points |
| CN112180966B (en) * | 2020-10-15 | 2024-04-30 | 深圳市广域鹏翔研究开发有限公司 | Three-component aviation wide-area survey system with long-endurance random measuring points of airship |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20161207 |
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| WD01 | Invention patent application deemed withdrawn after publication |