AU2021102211A4

AU2021102211A4 - Bionic Telescopic Airship and Coordination Control Method Thereof

Info

Publication number: AU2021102211A4
Application number: AU2021102211A
Authority: AU
Inventors: Tieneng Guo; Minghang Li; Wei Li; Zhibin Li; Guilin ZHANG
Original assignee: Shandong University of Science and Technology
Current assignee: Shandong University of Science and Technology
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2021-06-17
Anticipated expiration: 2029-04-27

Abstract

A bionic telescopic airship is disclosed in the invention, consisting of a head cabin, a stern cabin and a plurality of middle cabins arranged between the head cabin and the stem cabin. Each middle cabin has two radial connection rings-bottom connection ring and end connection ring respectively, and the radial connection rings of two adjacent middle cabins are shared. In addition, the outer radial connecting rings of the two middle cabins close to the head and stern cabins are the bottom connecting rings of the head and stern cabins, respectively. Each cabin also includes an active telescopic longitudinal axis assembly and an auxiliary telescopic bladder assembly. The active telescopic longitudinal axis assembly is used to drive the radial connecting ring of each cabin to move in the axial direction to realize the longitudinal telescopic of the entire airship. The auxiliary telescopic bladder assembly is driven by the active telescopic longitudinal axis assembly to realize synchronization telescope with the radial connecting rings. The bionic telescopic airship can achieve a large range of volume changes in the course of lifting up and down, which meets the working requirements of the stratosphere. The invention also provides a coordination control method based on the bionic telescopic airship. 1/10 FIGURES I I 4 S * :4 * * ~I I S S I 35:1 ''.4 a a * / ft * 2 a I I p Figure1aThestructuraldiagramofasinglemiddlecabinofthebionictelescopicairship. FigurelbThestructuraldiagramofthebottomconnectingringandtheendconnecting ringrespectivelyinthemiddlecabinshowninFig.1a.

Description

1/10 FIGURES

I I 4

S

* :4

* * ~I I S

S I

35:1

''.4 a a

* /

ft * 2 a I I p

Figure1aThestructuraldiagramofasinglemiddlecabinofthebionictelescopicairship.

FigurelbThestructuraldiagramofthebottomconnectingringandtheendconnecting

ringrespectivelyinthemiddlecabinshowninFig.1a.

Bionic Telescopic Airship and Coordination Control Method Thereof

TECHNICAL FIELD

The invention relates to a bionic telescopic airship, and particularly involves a

coordination control method based on the bionic telescopic airship, belonging to the

technical field of airships.

BACKGROUND

The airship is filled with gas less than the air density through the hull or gasbag and lifted

off by buoyancy. Airship can stay in the air for a long time at any height according to the

needs of the mission, which consumes less energy. It can easily use new energy means to

solve the problem of long time staying in the air and meet the energy consumption of

modern equipment operation. It is easier to realize the role of floating platform, such as

air patrol, survey, search and rescue, aerial photography, air communication, air early

warning and aerial monitoring. The stay in the outer space of orbit realizes the round-trip

of ground- space station- orbit as well as the new air space transportation scheme,

providing a safe flight mode for human beings to fly back and forth from the sky.

Although the airship has the above advantages in its application, the existing airship still

has many shortcomings. The existing conformal airship has a large body, a low flying

speed, and difficult balance and stable manoeuvring. Moreover, it is found in the research

that for the conformal airship with air sub-gasbags, it is required to always maintain a

large volume, which leads to large-scale changes in the mass inertia characteristics and

influence of thermal coupling. If the overpressure requirements are strictly met, it will

take a long time to rise to the stratosphere at an altitude of more than 20 kilometres.

Further considering the requirements for the gasbag materials and other aspects, this is

almost impossible to achieve. For this reason, in recent years, many scholars have begun

to devote themselves to the study of variant airships.

For example, the Jet Propulsion Laboratory in the United States proposed a lantern

variant airship in 2006 for Venus exploration (Radioisotope Power Systems for In-situ

Exploration of Titan and Venus, 4th International Planetary Probe Workshop, California

2006; Venus Mobile Explorer with RPS for active cooling-A feasibility study,2006

Venus Entry Probe Workshop, ESA). However, the overall calculation of its volume

change ratio is limited, especially its shape determines its aerodynamic characteristics is

very poor. The Chinese invention patent "Variant Transformable Airship" (with patent

No. ZL 200510090070.1) proposes a radial variant airship. If it is not fully expanded, its

aerodynamic characteristics are also very poor, and its internal volume change range is

only 6-8 times, which cannot meet the 14-contract volume change required by high

altitude airships at an altitude of 20 kilometres or more. The expansion and contraction

process may bring great difficulty to the laying of solar cells. In the paper "Analysis of

the Mechanism of the Release and Recovery Process of an Adaptive Variant Airship"

(published by the China Conference of Theoretical and Applied Mechanics in 2013), the

inventor studied a vertical and horizontal linkage variant airship and considered the

geometric constraints of the volume change ratio. However, the vertical and horizontal

linkage variant airship does not have a relatively fixed outer surface, which is not suitable

for flexible installation of equipment and loads, and it may be disadvantageous to install

solar cells due to the wear of the outer surface.

SUMMARY

The primary technical problem to be solved by the present invention is to provide a

bionic telescopic airship whose volume change can meet the requirements of staying in

the stratosphere at an altitude of more than 20 kilometres.

In response to another technical problem to be solved, the present invention provides a

coordination control method based on the above-mentioned bionic telescopic airship.

In order to achieve the above-mentioned purpose of the invention, the present invention

adopts the following technical solutions.

A bionic telescopic airship is composed of a head cabin, a stern cabin and a plurality of

middle cabins arranged between the head cabin and the stern cabin.

Each middle cabin has two radial connection rings-bottom connection ring and end

connection ring respectively, and the radial connection rings of two adjacent middle

cabins are shared. In addition, the outer radial connecting rings of the two middle cabins

close to the head and stern cabins are the bottom connecting rings of the head and stem

cabins, respectively.

Each cabin also includes an active telescopic longitudinal axis assembly and an auxiliary

telescopic bladder assembly. The active telescopic longitudinal axis assembly is provided

between the two radial connecting rings of the middle cabin. The active telescopic

longitudinal axis assembly is also provided between the ends of the head cabin and the

stem cabin and the bottom connecting rings. The auxiliary telescopic bladder assembly is

used to connect the outer circumference of the two radial connecting rings of the middle

cabin, as well as the outer circumference of the ends of the head cabin and the stern cabin

and the bottom connecting rings.

The active telescopic longitudinal axis assembly is used to drive the radial connecting

ring of each cabin to move in the axial direction to realize the longitudinal telescopic of

the entire airship. The auxiliary telescopic bladder assembly is driven by the active

telescopic longitudinal axis assembly to realize synchronization telescope with the radial

connecting rings.

More preferably, the auxiliary telescopic bladder assembly includes a central longitudinal

telescopic tube and a plurality of connecting rods. The length of the central longitudinal

telescopic tube is stretchable, and the two ends of it are respectively fixed at the centre

positions of the two radial connecting rings of the middle cabin. Alternatively, the two

ends of the central longitudinal telescopic tube are respectively fixed at the ends of the

head cabin and the stern cabin and the centre position of the bottom connecting ring.

A plurality of lead screws is respectively arranged on the bottom connecting ring of each

cabin. And a motor and multiple bearings are provided at the centre of the bottom

connecting ring. One end of each lead screw is connected to the motor through a bearing,

and the other end of the lead screw is arranged on the edge of the bottom connecting ring

through a bearing sleeve.

One end of each connecting rod and one end of the central longitudinal telescopic tube

are fixed at the centre position of the end connecting ring of the middle cabin or fixed at

the ends of the head cabin and the stem cabin. The other end of the connecting rod is

provided with balls, which are sleeved on the lead screw through a threaded hole inside.

The motor drives a plurality of the lead screws to rotate in a forward or reverse direction,

causing the balls to move in the length direction of the lead screw, and then the central longitudinal telescopic tube is driven by the movement of the plurality of connecting rods to telescope.

More preferably, the central longitudinal telescopic tube is formed by multiple socketed

circular tubes with different diameters.

More preferably, the auxiliary telescopic bladder assembly includes a base shell and n

layer bladder combination. Each bladder combination includes a soft bladder, a hard skin,

a cable and its guide pipe, a drive motor, a cable tightening box and an enabling device.

The drive motor and the cable tightening box drive the cable and its guide pipe to expand

or contract, and simultaneously drive the hard skin and the soft bladder to contract inward

or expand outward. The enabling device can switch between the three states of

"prohibited", "contracted" and "expanded", and controls the drive motor and the cable

tightening box to execute corresponding commands.

Wherein, one end of the base shell is vertically fixed on the outer circumference of the

bottom connecting ring and the soft bladder in the first bladder combination is connected

to the base shell. Then, the soft bladder and the hard skin in each layer of bladder

combination are alternately connected in turn, and finally fixed on the outer

circumference of the end connecting ring of the middle cabin or the ends of the head

cabin and stern cabin.

The base shell is provided with a drive motor of the first layer of bladder combination

and a cable tightening box. The connection between the soft bladder and the hard skin in

each layer bladder combination is provided with a drive motor and a cable tightening box

for the next layer bladder combination. One end of the cable and its guide pipe in each

layer of bladder combination is connected to the drive motor and cable tightening box of the current layer of bladder combination, and the other end is fixed on the drive motor and cable tightening box of the next layer of bladder combination.

The enabling devices of the n-layer bladder combination are respectively arranged on the

radial rods of the bottom connecting ring. The enabling device of the (i-1)th layer bladder

combination changes from the "prohibited" state to the "expanded" as the ith layer bladder

combination expands. The enabling device of the ith layer bladder combination changes

from the "prohibited" state to the " contracted " with the contraction of the (i-1)th layer

bladder combination. Moreover, at any time during the expansion and contraction

process, only one layer of the n-layer bladder combinations of each cabin section has an

unprohibited enabling device, wherein n and i are both positive integers.

More preferably, the base shell on the top of each cabin and the outer surface of each

hard skin are used to selectively install solar cells and/or satellite positioning

communication antennas. The base shell at the bottom of each cabin and the outer surface

of each hard skin layer are used for selective installation of equipment and loads.

More preferably, it also includes a gas management assembly and a coordination control

unit installed in several cabins.

More preferably, the airship composed of a head cabin, a stern cabin, and a plurality of

middle cabins arranged between the head cabin and the stem cabin has a shape with a

thick middle and gradually contracting ends at both ends.

More preferably, according to the generatrix function r=f(l) of the airship, the position

lmaxf( with the largest section of the airship is calculated. And from here on, taking

rB*=maxf(Imaxf) as the radius of the bottom connecting ring of the largest cabin. Then dividing the cabins forward and backward according to the maximum expansion of each cabin, which is smaller than the radius of the bottom connecting ring.

Wherein, r represents the distance of the auxiliary telescopic bladder relative to the axis

of rotation, and 1 is the total longitudinal length of the entire airship when all cabins are

fully expanded.

More preferably, when the layer number n of bladder assembly in the head cabin, the

stern cabin and all the middle cabins is the same, the following formula is used to

calculate the number of bladder division layers n.

n=I+itiF~c p(0) a,_' 1>0.

Wherein, hM is the maximum working height of the airship, riisthe radius of the bottom

connecting ring of the it cabin, rEi is the radius of the end connecting ring of the ith cabin

and m is the total number of cabins of the airship. The small positive number layer is the

layered insurance adjustment value selected by iterative calculation.

Besides, p() represents the atmospheric density of the sea level atmosphere, p(hM)

represents the atmospheric density of the desired working height, and p()/p(hM)

represents the maximum volume change multiple required by the task.

A coordination control method based on above-mentioned bionic telescopic airship

comprises the following steps.

(1) Plan a desired height change curve and height acceleration change curve hd(t). (2)

Obtain actual atmospheric density and altitude information.

(3) According to the attitude measurement and height information of the whole airship,

calculate the aerodynamic resistance in the height direction, and make the auxiliary device generate appropriate thrust to offset the aerodynamic resistance in the height direction.

(4) Calculate the volume change curve according to the mechanism characteristic model

and then calculate the expansion (t) of the entire airship and each cabin according to the

volume change curve. Further calculate the relative axial positions of the balls required to

be driven by the active expansion of each cabin. And get the specific driving commands

for the auxiliary operations of each layer of the bladder.

(5) Judge and process the feasibility of the manipulation command. If it is not feasible,

reduce the expected value of acceleration in the height direction, and recalculate from the

beginning until the manipulation command is feasible

Preferably, it also includes following gas management strategies based on pressure

difference and temperature difference requirements and overcoming the effects of

thermal coupling.

if 6 , > - + M The gas management assembly collects gas or performsliquefaction (CT>0) if m +C> Ap eThegasmanagementassemblyreleasesgasorperformsgasficatio 1

Wherein, APatm is the actual pressure difference between the inside and outside of the

airship, ApM is the maximum allowable internal and external pressure difference of the

airship, APm is the minimum allowable internal and external pressure difference of the

airship, and a represents the safety threshold for adjusting the pressure difference.

The bionic telescopic airship provided by the present invention realizes the longitudinal

expansion and contraction of the entire airship through the radial connecting ring, the

active telescopic longitudinal axis assembly and the auxiliary telescopic bladder assembly

provided in each cabin, thereby it can achieve a large multiple volume change in the

process of lift-off to meet the working height of stratosphere. Moreover, the bionic telescopic airship can change its volume freely in the process of lifting. The bionic telescopic airship provided by the invention imitates the telescopic mechanism of insects, and proposes a design principle of longitudinal telescopic configuration according to the overall task requirements and a coordination control method based on the expected buoyancy requirements. It overcomes the difficulty of the control system caused by the large-scale change of the mass inertia parameters of the conventional airship in the process of lifting. Meanwhile, it overcomes the shortcomings that the existing variant airship schemes cannot meet the requirements of the air environment of high altitude airship on the volume change multiple, or the specific coordination control method has not been proposed, as well as difficulty in taking into account the requirements of the airship working height on the aerodynamic shape and energy configuration.

BRIEF DESCRIPTION OF THE FIGURES

Figure la is the structural diagram of a single middle cabin of the bionic telescopic

airship.

Figure lb and Figure lcare the structural diagrams of the bottom connecting ring and the

end connecting ring respectively in the middle cabin shown in Fig. la.

Figure 2a, Figure 2b and Figure 2c are the state diagrams of the active telescopic

longitudinal axis assembly in the fully contracted, telescopic process and fully expanded

state respectively.

Figure 3a is a schematic diagram of the expansion and contraction state of the auxiliary

telescopic bladder assembly when the cabin is fully contracted.

Figure 3b is a schematic diagram of the expansion and contraction state of the @ bladder

when the cabin is half closed.

Figure 3c is a schematic diagram of the expansion and contraction state of the 0 bladder

when the cabin is half closed.

Figure 3d is a schematic diagram of the expansion and contraction state of the auxiliary

telescopic bladder assembly when the cabin is fully expanded.

Figure 4a is a schematic diagram of the relationship between the length change of the

longitudinal axis of the cabin and the effective bus when the cabin is fully expanded.

Figure 4b is a schematic diagram of the relationship between the length change of the

longitudinal axis of the cabin and the effective bus when the jth layer of the cabin expands

and contracts.

Figure 5 is the schematic diagram of cabin division according to the expected

aerodynamic shape bus of the airship corresponding to the working height.

Figure 6 is a schematic diagram of the whole bionic telescopic airship in the telescopic

process.

Figure 7 is a schematic block diagram of the coordination control principle of the bionic

telescopic airship.

DESCRIPTION OF THE INVENTION

The technical content of the invention is described in detail below in combination with

the attached figures and specific embodiments.

The bionic telescopic airship provided by the invention is based on the starting point that

the airship mass is basically unchanged, fully uses the experience of aerospace

engineering for reference, simulates the telescopic mechanism of insects for design,

especially gets inspiration from the telescopic mechanism of natural insects (such as

silkworms), and proposes a configuration of bionic longitudinal telescopic airship.

According to the significant characteristics of buoyancy and volume requirements of the

expected track of the airship with a specific mass, the physical mechanism characteristic

model of the system is fully exploited, and the detailed coordination control

implementation method is proposed.

The bionic telescopic airship is composed of a head cabin, a stern cabin and a plurality of

middle cabins arranged between the head cabin and the stem cabin. The overall shape of

the insect is thick in the middle and gradually contracted at both ends as shown in Fig. 6.

When each cabin expands and contracts along the longitudinal axis, the shape change of

the airship is similar to that of insects.

Specifically, as shown in figures la, 2b and 3c, each middle cabin has two radial

connection rings (4)- bottom connection ring in Fig. lb and end connection ring Fig. ic

respectively, and the radial connection rings (4) of two adjacent middle cabins are shared.

In addition, the outer radial connecting rings (4) of the two middle cabins close to the

head and stem cabins are the bottom connecting rings of the head and stem cabins,

respectively. An end of the cabin body is arranged outside the bottom connecting ring of

the head cabin and the stern cabin, and the end is arranged on the extension line of the

central axis of all the radial connecting rings (4). Each cabin also includes an active

telescopic longitudinal axis assembly (1) and an auxiliary telescopic bladder assembly

(2). The active telescopic longitudinal axis assembly (1) is provided between the two

radial connecting rings (4) of the middle cabin. The active telescopic longitudinal axis

assembly (1) is also provided between the ends of the head cabin and the stem cabin and

the bottom connecting rings. The auxiliary telescopic bladder assembly (2) is used to

connect the outer circumference of the two radial connecting rings (4) of the middle cabin, as well as the outer circumference of the ends of the head cabin and the stern cabin and the bottom connecting rings. The active telescopic longitudinal axis assembly (1) is used to drive the radial connecting ring (4) of each cabin to move in the axial direction to realize the longitudinal telescopic of the entire airship. The auxiliary telescopic bladder assembly (2) is driven by the active telescopic longitudinal axis assembly (1) to realize synchronization telescope with the radial connecting rings (4).

Wherein, the auxiliary telescopic bladder assembly (1), as shown in figures 2a to 2c,

includes a central longitudinal telescopic tube (11) and a plurality of connecting rods

(12). The length of the central longitudinal telescopic tube (11) is stretchable, and the two

ends of it are respectively fixed at the centre positions of the two radial connecting rings

of the middle cabin. Alternatively, the two ends of the central longitudinal telescopic tube

(11) are respectively fixed at the ends of the head cabin and the stem cabin and the centre

position of the bottom connecting ring. A plurality of lead screws (14) are respectively

arranged on the bottom connecting ring of each cabin. And a motor (17) and multiple

bearings (15) are provided at the centre of the bottom connecting ring. One end of each

lead screw (14) is connected to the motor (17) through a bearing (15), and the other end

of the lead screw (14) is arranged on the edge of the bottom connecting ring through a

bearing sleeve (16). One end of each connecting rod (12) and one end of the central

longitudinal telescopic tube (11) are fixed at the centre position of the end connecting

ring of the middle cabin or fixed at the ends of the head cabin and the stem cabin. The

other end of the connecting rod (12) is provided with balls (13), which are sleeved on the

lead screw (14) through a threaded hole inside.

The motor (17) drives a plurality of the lead screws (14) to rotate in a forward or reverse

direction, causing the balls (13) to move in the length direction of the lead screw (14),

and then the central longitudinal telescopic tube (11) is driven by the movement of the

plurality of connecting rods (12) to telescope.

The auxiliary telescopic bladder assembly (2) as shown in figures 3a and 3d, includes a

base shell (21) and n-layer bladder combination (, @, --- , (. Each bladder

combination includes a soft bladder (22), a hard skin (23), a cable and its guide pipe (24),

a drive motor, a cable tightening box (25) and an enabling device (26). The drive motor

and the cable tightening box (25) drive the cable and its guide pipe (24) to expand or

contract, and simultaneously drive the hard skin (23) and the soft bladder (22) to contract

inward or expand outward. The enabling device (26) can switch between the three states

of "prohibited", "contracted" and "expanded", and controls the drive motor and the cable

tightening box (25) to execute corresponding commands.

Wherein, one end of the base shell (21) is vertically fixed on the outer circumference of

the bottom connecting ring and the soft bladder in the first bladder combination (22D) is

connected to the base shell (21). Then, the soft bladder (22) and the hard skin (23j) in

each layer of bladder combination are alternately connected in turn, and finally fixed on

the outer circumference of the end connecting ring of the middle cabin or the ends of the

head cabin and stern cabin through the hard skin (23n) of the nth bladder combination.

The base shell (21) is provided with a drive motor and a cable tightening box (25D) of

the first layer of bladder combination. The connection between the soft bladder (226) and

the hard skin (236) in each layer bladder combination is provided with a drive motor and

a cable tightening box (25i+1) for the next layer bladder combination. One end of the cable and its guide pipe (246) in each layer of bladder combination is connected to the drive motor and cable tightening box (256) of the current layer (25i+1) of bladder combination, and the other end is fixed on the drive motor and cable tightening box of the next layer of bladder combination.

The enabling devices- 260, 26@, ... , 26n of the n-layer bladder combination are

respectively arranged on the radial rods of the bottom connecting ring. The enabling

device (26Q-1) of the (i-1)th layer bladder combination changes from the "prohibited"

state to the "expanded" as the ith layer bladder combination expands. The enabling device

(26i) of the ith layer bladder combination changes from the "prohibited" state to the

" contracted " with the contraction of the (i-1)th layer bladder combination. Moreover, at

any time during the expansion and contraction process, only one layer of the n-layer

bladder combinations of each cabin section has an unprohibited enabling device, wherein

n and i are both positive integers.

The shell of the bionic telescopic airship can be equipped with solar cells (6), satellite

positioning communication antennas, and other installation equipment and loads. Among

them, the base shell (21) at the top of the cabin and the outer surface of each layer of hard

skin are used to selectively install solar cells (6) and/or satellite positioning

communication antennas; the base shell (21) at the bottom of the cabin and the outer

surface of each layer of hard skin The surface is used for selective installation of

equipment and loads.

The structure of the above-mentioned bionic telescopic airship and the coordination

control method based on the expected buoyancy requirements are described below in

conjunction with the specific design process.

I . A bionic longitudinal telescopic mechanism (cabin, mechanism analysis).

(1) Composition of longitudinal telescopic cabin.

Imitating the telescopic mechanism of insects (silkworms, etc.), a bionic airship

longitudinal telescopic configuration is proposed, which can be composed of a head

cabin, a stern cabin and multiple middle cabins. Figure la is an oblique view of one

middle cabin. Wherein, the active telescopic longitudinal axis assembly (1), the auxiliary

telescopic bladder assembly (2), the radial connecting ring (4) are used to jointly realize

the longitudinal expansion and contraction of the airship, the gas management assembly

(3) is used to control the gas/liquid conversion of the gas in the cabin, and the

coordination control unit (5) is used to realize the volume expansion and gas management

of the entire release telescopic airship during the lifting process.

The gas management assembly (3) may include high-pressure gas cylinders with more

than one kind of light gas working medium, gas-liquid phase change devices, solenoid

valves, pressure reducing valves, pressure stabilizing valves, and the like. The radial

connecting ring (4) includes the bottom connecting ring (see Fig. lb) and the end

connecting ring (see Fig. Ic) of this cabin section. Specifically, it can be composed of a

ring and multiple reinforcing spokes. The end connecting ring of this cabin section can be

used as the bottom connecting ring of the adjacent cabin section, and the bottom

connecting ring of this cabin section can be used as the bottom connecting ring or the end

connecting ring of the adjacent cabin section. The coordination control unit (5) includes

sensors (measuring pressure, temperature, altitude, etc.), calculation, communication and

drive modules.

In addition, referring to Fig. 6, after a reasonable design of the subsequent telescopic

mechanism, solar cells (6), propeller and their vector drive devices (7), other internal

equipment and loads (8), and other external equipment and loads (9) can also be installed

in appropriate positions on the hull. Among them, the solar cell (6) can be selectively

installed on the base shell (21) and each layer of hard skin at the top of the hull, other

internal equipment and loads (8) can be installed inside the hull, propeller and its vector

drive device (7) and other external equipment and loads (9) can be selectively installed on

the base shell (21) and each layer of hard skin at the bottom of the hull.

(2) Active telescopic mechanism and geometric constraints.

Fig. 2a to Fig. 2c show the schematic diagram of the telescopic principle of the active

telescopic longitudinal axis assembly (1), and its specific structure is described above,

including a central longitudinal telescopic tube (11), a connecting rod (12), a ball (13), a

lead screw (14), a bearing (15), a bearing sleeve (16) and a motor (17).

The central longitudinal telescopic tube (11) is a telescopic structure similar to a

telescopic whip or a radio antenna, which is formed by a plurality of circular tubes with

different diameters. One end of a plurality of connecting rods (12) (3 shown in the figure)

is fixedly connected with the connection point of the innermost pipe end of the central

longitudinal telescopic pipe (11), and the innermost pipe end is fixedly connected with

the centre of the end connecting ring. The other ends of these connecting rods (12) are

fixedly connected with the corresponding balls (13). The bottom connecting ring (4) is

provided with a plurality of lead screws (14) (three are 3 shown in the figure). The

number of lead screws (14) corresponds to the number of connecting rods (12). The lead

screws (14) are installed between the bearing (15) and the bearing sleeve (16). A bearing

(15) and a motor (17) are arranged near the centre of the bottom connecting ring, and a

bearing sleeve (16) is arranged near the edge of the bottom connecting ring. The bearing

sleeve (16) is fixed on the edge of the bottom connecting ring (4), and the ball (13) can be

set on the lead screw (14) through the threaded hole passing through the ball centre of the

ball (13).

Basic principles

The control command drives the lead screws (14) forward or backward through the motor

(17) and the bearing (15), which causes the ball (13) to move on the lead screws (14), and

then drives the telescopic longitudinal tube (11) to move through the connecting rod (12).

According to the need, the same group of "motor- lead screw- ball" can synchronously

drive the two front and rear sets of retractable longitudinal tubes to retract.

Figures 2a, 2b and 2c show that the active telescopic longitudinal axis assembly (1) is in

the state of full retraction, retracting and full deployment respectively. In the fully

contracted state shown in Fig. 2a, all the balls (13) are at the edge of the bottom

connecting ring. In the right triangle composed of connecting rod (12), central

longitudinal telescopic tube (11) and lead screw (14), the effective length of central

longitudinal telescopic tube (11) is the shortest. As shown in Fig. 2b, the effective length

of the central longitudinal telescopic tube (11) in the right triangle increases as the ball

(130 moves from the edge to the centre. As shown in Fig. 2c, as the ball (13) moves to

the limit position of the bearing (15), the effective length of the central longitudinal

telescopic tube (11) increases to the longest in the right triangle. The expansion process

of the active telescopic longitudinal axis assembly (1) is as follows: Fig. 2a -> Fig. 2b->

Fig. 2c; the contraction process is as follows: Fig. 2c -> Fig. 2b -> Fig. 2a.

In fact, the right triangle of tube and bar limits the expansion length of the central

longitudinal telescopic tube (11), and its maximum expansion should be appropriately

less than the radius of the bottom connecting ring, so that the stability is the best, which is

an important geometric constraint. If the length of connecting rod (12) in the figure is s

and the length of longitudinal axis of cabin section is t, the distance between ball (13)

and centre of bottom connecting ring is as follows:

p, = s _2

(3) Auxiliary telescopic mechanism.

The auxiliary telescopic bladder assembly (2) includes a base shell (21) and n-layer

bladder combination (D, @, ... , a (there is a two-layer bladder combination in Fig.3).

The outer surfaces of the base shell (21) and the hard skin (23) on the top of the cabin are

suitable for installing solar cells and satellite positioning communication antennas. The

outer surface of the base shell (21) and the hard skin (23) at the bottom of the cabin is

suitable for installing equipment and loads. According to the actual situation, certain

equipment and loads can also be installed inside the base shell, for example, auxiliary

energy devices such as fuel power can be installed. The proper position of the radial

connecting ring (4) is suitable for the installation of the propeller and its vector driving

device. Through reasonable design between the base shell (21) and the bottom connecting

ring, and between the nt layer of hard skin and the end connecting ring, not only the leak

proof seamless connection of the whole boat can be realized, but also it can be

disassembled, which is convenient for the implementation of the ground assembly

process.

Each bladder combination includes a soft bladder (22), a hard skin (23), some cable and

its guide pipes (24) (The pipe can also be a soft and wear-resistant clasp), some drive

motors and cable tightening boxes (25) and some enabling devices (26). Each group of

cable and its guide pipes (24), drive motors and cable tightening boxes (25) and enabling

devices (26) corresponds to one of the auxiliary zones evenly distributed on the edges of

the bottom connecting ring. Each enabling device (26) for each layer of each auxiliary

zone is mounted at an appropriate position on a radial rod of the radial connecting ring

(4). The drive motor and cable tightening box (25) of the ( layer are installed at the

appropriate position where the base shell (21) meets the corresponding radial rod. The

drive motor and cable tightening box (25@) of the @layer are installed at the

appropriate position where the end of the hard shell of the ( layer meets the

corresponding radial rod. When n>i>3, the drive motor and the cable tightening box of

the ith layer are installed at the appropriate position where the end of the hard shell of the

(i-1)th layer meets the corresponding radial rod.

Fig. 3a to Fig. 3d show the auxiliary telescopic process of the cabin, in which Fig. 3a and

Fig. 3d are in the state of full retraction and full deployment respectively. As shown in

Fig. 3b, the auxiliary extension process starts from the innermost layer, namely the @

layer. The enabling device of the @ layer is changed from the original "prohibited" state

to the "expanded" command. With the longitudinal extension of the main expansion

centre axis, the hard shell, cable and soft bladder of the @ layer can be expanded

outward. When the @ layer is about to be fully expanded, the enabling device of the (

layer will change from the original "prohibited" state to the "expanded" command. With the longitudinal extension of the main telescopic central axis, the hard shell, cable and soft bladder of the ( layer can be expanded outwards, as shown in Fig.3c.

The contraction process is in reverse order. As shown in Fig. 3c, starting from the

outermost layer, i.e. the ( layer, the enabling device of the ( layer switches to execute

the "contraction" command. With the longitudinal contraction of the main telescopic

central axis (1), the root of the cable of the ( layer rolls up to the cable tightening box,

and the cable pulls the hard shell and soft bladder to contract inward. When the Q layer

is fully tightened, the enabling device of the @ layer changes from the original

"prohibited" state to the " contracted " command. The root of the @ layer cable rolls up

to the cable tightening box, and the cable pulls the hard shell and soft bladder to contract

inward, as shown in Fig. 3 (b). The rest may be deduced by analogy.

As mentioned above, in each auxiliary retractable bladder assembly (2) with n-layer

bladder combination, the n-layer bladder combinations are connected with each other to

cover the outer circumference of the two radial connecting rings (4), and then the

auxiliary retractable bladder assembly (2) of all middle cabins, head cabins and stern

cabins are connected with each other to form the shell of the whole airship.

In addition, in the n-layer bladder combination of each auxiliary retractable bladder

assembly (2), the enabling device (26) of the (i-1)th layer bladdercombination changes

from the "prohibited" state to the "expanded" command with the expansion of the i-layer

bladder combination. The enabling device of the ith layer bladder combination changes

from the "prohibited" state to the "contracted" with the contraction of the (i-1)th layer

bladder combination. Moreover, at any time during the expansion and contraction

process, only one layer of the n-layer bladder combinations of each cabin section is in enabling (unprohibited) state, wherein the drive motor and the cable tightening box (25) of the layer are in the same position where the enabling device (26) on the corresponding radial rod of the root can intersect. This is mainly guaranteed by the reasonable design of active telescopic longitudinal axis assembly (1) and leather bladder decision process.

(4) The relationship between the length of the longitudinal axis of the cabin and the

volume change.

Fig. 4a and Fig. 4b show the relationship between the length change of the longitudinal

axis of the cabin and the effective generatrix when the n-layer bladder is fully expanded

and the j-layer bladder combination is contracting, respectively. It is assumed that the

subscript "i" is temporarily ignored for the analysis of the i-cabin.

Fig. 4a shows the case when the cabin is fully expanded. The longitudinal axis 1

represents the axis of rotation. IM and lm are the length of the longitudinal axis when the

cabin is fully expanded and fully contracted, respectively. Wherein, A= IM-Im is the

maximum longitudinal extension of the cabin. The generatrix r(l) represents the change of

the radius of the bladder relative to the longitudinal axis, and rB > rE is the radius of the

connecting ring at the bottom and end of the cabin respectively, so the maximum volume,

minimum volume and upper limit of volume magnification are

~rrZ/)dl V J'r(I cdl, k_ (2)( d

Fig. 4b is the case when the skin bladder combination of jth layer expands and contracts.

The layers outside j* layer that have not been expanded or have been contracted, that is,

the shadow part in Fig. 4a, are rolled in (marked "not drawn" in Fig. 4b). The longitudinal

length of the expanded or not contracted part of jth layer is li (< 1c), and IC is the corresponding longitudinal axis length of each layer. At this time, the longitudinal length of the extended or not contracted part of the whole cabin is the longitudinal axis length of the cabin. According to equation (1), the distance pt between the ball and the centre of the bottom connecting ring can be calculated, that is p, = s2 + . (3)

At this time, the volume magnification of the cabin is

r 2 (1)dl k,,V " -o J r2 (l)Jdl+" (4)

Although theoretically, the structure of the retractable head cabin and the retractable stern

cabin is different from that of each middle cabin. The end connecting ring degenerates to

a point, but its essence is the same, and it only needs to take rE = 0 to calculate.

II. Airship configuration design principles based on overall mission requirements (whole

ship, static design).

(1) Clarify the overall task requirements.

The principle of configuration design of bionic telescopic airship is given here.

The maximum working height hM and wind resistance requirements should be given for

airship mission. In general, according to the wind resistance requirements, push

resistance balance and power balance analysis, the specific requirements of solar cell

laying area are given. Meanwhile, based on the preliminary design iteration analysis of

the buoyant weight balance and each subsystem, the generatrix of expected aerodynamic

airship shape is r = f(l) (as shown in Fig. 5) and the load mass of the equipment to be

placed outside and inside the airship are given.

(2) Cabin division.

The generatrix f(l) actually gives the relationship between the position of the fully

expanded auxiliary telescopic bladder and the rotation axis of the active telescopic

longitudinal axis. Where r is the distance (radius) of the auxiliary telescopic bladder

relative to the axis of rotation, and 1 is the total longitudinal length of the whole airship

when all cabin sections are fully expanded. According to the generatrix f(l), it is easy to

find the position of the largest section of the airship.

Imax=maxf(l). (5)

And from here on, taking rB*=maxf(Imaxf) as the radius of the bottom connecting ring of

the largest cabin. Then dividing the cabins forward and backward according to the

geometric constraint principle obtained above (wherein, the maximum expansion of each

cabin should be smaller than the radius of the bottom connecting ring). In this way, a

plurality of front and rear cabins can be obtained, in which the bottom connecting rings of

front and head cabins are at the rear, while the bottom connecting rings of rear cabins and

stem cabins are at the front. The example in Fig.5 is divided into m=11 cabins (i.e. head

cabin, tail cabin, 3 front cabins and 6 rear cabins), and three basic geometric parameters

of each cabin can be obtained according to the above generatrix f(l)- rBi, rEi, IMi (i=1,...,

m). Wherein, rBi is the radius of the connecting ring at the bottom of the ithcabinsection,

rEi is the radius of the connecting ring at the end of the ith cabin section, m is the total

number of cabin sections of the airship, and lmi is the maximum length of the ith cabin

section after the extension of the rotation axis.

(3) Determination of the number of skin bladder layers.

According to the requirements of the maximum working height hM of the task, people can

know that the maximum volume change multiple should be appropriately greater than

p()/p(hM), wherein p() is the density of the earth atmosphere, p(hM) is the atmospheric

density at the desired working height, p(O)/p(hM) is less than the maximum volume

change multiple. For the earth atmosphere, p(O)=1.225(kg-m- 3), p(hM) can refer to the

relevant atmospheric standards.

Considering the basic geometric parameters of all cabin sections, the layer number of

skin bladder is calculated as

2r, p(_) n =1I+ int (1Ja)mye*,o

[(I) max e _ >0. 0 (6) p( h )iO , r,,+rEi

Wherein, cayer is the layered insurance adjustment value appropriately selected through

iterative calculation. The selection of the layered insurance adjustment value Iayer should

ensure that the actual change multiple is slightly larger than the maximum volume change

required by the task.

Thus, the length of the longitudinal axis when each cabin is fully folded is

la= 1+,) ,(C, >0,i =1,---, m). (7) n

Among them, the small positive number layer is the layered insurance adjustment value

appropriately selected through iterative calculation; here, the lower limit of the

longitudinal length insurance adjustment value (i=,...,m) of each cabin section should

be determined according to the material, structure and process.

(4) Load distribution of solar cell and equipment inside and outside the airship.

Assuming that the entire airship is fully expanded, the solar cells are laid on the top of the

base shell and shell of the relevant middle cabin, according to the number of solar cells,

the geometric size and quality of the monolithic cells.

If the entire hull is completely contracted, reasonably arranging the equipment loads that

need to be installed outside the hull at the appropriate positions of the base shell and

connecting ring. Treating them as multiple concentrated masses, and setting the total

volume as Vout. It is known that the specific positions and total volume of the active

telescopic assembly, passive telescopic assembly, gas management assembly, connecting

ring and control unit in each cabin are Vini. The load of other equipment that needs to be

installed in the airship is reasonably arranged in the remaining internal space after fully

contracted and its total volume is Vin2.

If the entire hull is fully expanded, calculating the volume of the hull according to the

generatrix in Fig. 5, and subtracting the volume occupied by the internal structure and

equipment load, the fully expanded internal volume of the hull at the working height

filled with floating gas can be obtained.

V1-- , V = 0 f()dl= J fI) d] (8)

Wherein, i=1 is the length of the entire hull body. Further according to

the molar mass of the floating gas, the molar mass of the outside atmosphere and its

density at the working height, the total mass of the floating gas is obtained.

From this, the total mass of the airship and the total volume exactly fully expanded at the

working height can be obtained as:

mas=i mass, -V +V =J" f 2{ )d+V.. (9)

The total mass of the airship does not change during the entire lift-off process.

Finally, compare the buoyancy mass of the airship's working height with the actual total

mass.

e,.,=p(h) V - m=p h,) ""rf'()dl+V,,-- mass, (10)

If emass, hM=0, it is a high neutral buoyancy state; or if the task requirements emass,

hMC6mass, hMare not met, iterate from equations (6) to (10) by modifying the relevant

parameters until the task requirements are met; Otherwise, feedback and iteratively

modify the task requirements based on the overall task.

(5) Determination of the relationship between the volume of the whole airship and the

longitudinal elongation.

For each cabin section i=,...,m,firstly establishing the corresponding relationship

between the radius r(li) and the generatrix function f(l) as follows

f( lA - 1 for the front cabin

r(l,) (iQ= 1,---,M) (

The length and volume of the longitudinal axis when the entire hull is fully retracted is

f= Imi~V"ull..= Yf.""r 2 1,)dl, (12) Let the length of the longitudinal axis corresponding to each layer of the bladder in i*

cabin is lci, then lAi=nli. So, the length and volume of the longitudinal axis when the

entire hull is fully extended is

k,=,+ZnI, V,,,,I=I+ rr 2 (I)d, (13)

Now supposing that each layer of all cabins expands and contract synchronously. When

expanding, they firstly extend from the innermost nth layer from the inside to the surface,

and when contracting, they firstly contract from the first outside layer to the inside. Let

s(t) E- [0,1] be the instantaneous longitudinal axis extension, then the instantaneous

longitudinal axis length of the entire hull and its corresponding hull volume are

respectively as

Er 2 (i)d, (14) 1(s)=1. +ce=Z( m +c). V' 1 (c)=Vh,,,±"+ 1

n-j n-j+1 It is easy to see that the jth layeris being contracted when (t) n n .The following is an estimate of the stem cabin volume.

) -i =Zj > Just completed the expansion of the (j+1)-th layer or the contraction of the j-th layer.

ifjs) e+1 => The j-th layer is being contracted.

Taking '".), the volume of the entire airship is calculated as

V~i.' + ., rQl VdI1. (16)

According to the above formula, it is easy to establish a complete correspondence

between the instantaneous longitudinal extension and the volume of the entire hull, and

obtain a set ofjudgment values based on the bladder level, that is

n -n+v.. nin> 0 , V (17) .+>

III. Coordination control method based on expected buoyancy requirement (whole

airship, dynamic control).

The coordination control is carried out based on the physical mechanism characteristic

model of the movement in the height direction, and the whole hull during the expansion and contraction process is shown in Fig. 6. Each cabin can be independently expanded and contracted along the longitudinal axis. When each cabin is independently expanded and contracted, the shape change of the whole hull is similar to the creeping of an insect.

In order to simplify the expansion and contraction control of the entire hull, the

corresponding number of bladder combinations in the n-layer bladder combination of

each cabin section can be synchronized to contract, thereby simplifying the control

process of the entire airship. Taking each cabin with the same number of bladder

combinations and the coordination action of n-layer bladder assemblies in each cabin as

an example, the coordination control process of the bionic telescopic airship will be

introduced in conjunction with Fig. 7.

(1) Buoyancy requirement based on expected height variation.

According to the above-mentioned bionic telescopic mechanism of the whole airship

configuration design, it can ensure that the total mass of the airship remains unchanged

during the lifting process, and its movement in the height direction can be treated as the

movement of a particle, and the following motion equation is derived:

airship )(t) (airshp8 +

The items are the total mass, the acceleration of the current altitude change, the external

atmospheric density at the current altitude, the total volume, and the auxiliary force in the

altitude direction (including power and aerodynamic drag). The auxiliary power in the

altitude direction can be generated by the propeller and its vector drive device (7). The

above formula belongs to the physical mechanism model of the high-altitude airship,

which reflects the essential characteristics of the airship moving in the height direction. In

this way, the complex large-scale variable parameter mass transfer and heat transfer coupling model of the variable mass airship can be greatly simplified into a characteristic model with the fixed mass point of the bionic telescopic airship, which is convenient for the implementation of high motion control.

(1) Coordination control method.

The principle of coordination control is shown in Fig. 7. The coordination control method

is explained as follows.

Firstly, plan a desired height change curve and height acceleration change curve. For

example, during the launching process, usually a variety of different methods can be used

at the beginning to make the airship start smoothly, and gradually accelerate to a

satisfactory ascent speed. Then maintain a large speed and basically rise at a constant

speed. Finally, gradually slow down to near zero speed and hover smoothly at the target

height.

Secondly, atmospheric density and altitude information acquisition. Obtain the actual

temperature measurement value and pressure measurement value through the atmospheric

temperature sensor and the atmospheric pressure sensor, and then calculate the actual

atmospheric density according to the thermodynamic state formula as

p.(t)= P(t) R.TJt P.. (0-(19)

Among them, Ratm is the atmospheric constant.

The altitude information can be obtained by comparing the measured value of

atmospheric pressure with the standard atmospheric model, or by other measurement

methods.

Thirdly, auxiliary force generation in the height direction. According to the attitude

measurement and height information of the whole hull, the aerodynamic resistance

received in the height direction is estimated, and then the appropriate thrust is generated

in the height direction to offset the adverse effects of the aerodynamic resistance

according to the specific configuration of the actual engineering thrust.

Fourthly, telescopic structure control. According to the mechanism characteristic model,

the volume change curve is calculated as follows

V.d Marhip (h+ g)fh f ) (20)

According to the volume change curve, based on the complete correspondence between

the instantaneous longitudinal extension and the entire hull volume established by the

total volume formula (16), using inverse solution to calculate the extension change s(t) of

the entire hull and each cabin. It can further be used to calculate the relative axial

positions of the balls required to drive the active expansion and contraction of each cabin

section.

pli =" Asi - (1,, +d ) (=1- -,) (21) Meanwhile, according to formulas (15) and (17), specific driving commands for auxiliary

operations of each bladder layer can be obtained.

Judge and process the feasibility of the manipulation command, and if it is not feasible,

appropriately reduce the expected value of acceleration in the height direction.

Fifthly, gas management strategy based on pressure difference and temperature difference

requirements and overcoming the influence of thermal coupling. In essence, no matter how large the internal volume is, the mass of the floating gas that evenly fills the internal volume is constant.

However, there is still a requirement for overpressure control for part of the bladder that

has been expanded, that is Apm<Apatm<ApM, wherein, the main basis is the material

strength and conformal needs. During the movement of the airship, it will be affected by

changes in external heat radiation and internal heat transfer, and will affect the pressure

difference through thermodynamic mechanisms. The influence mechanism of

temperature difference and pressure difference can be obtained by solving

thermodynamic equations. The basic strategy of gas management is

if Apq > -C + A1, =The gas management assembly collects gas or performs liquefactio

if ApM +o> Ap The gas management assembly releases gas or performs gasficato

In practice, distributed internal overpressure sensors and gas management pipeline layout

can be used to deal with the uneven overpressure distribution of huge volume.

In the above control process, "synchronous expansion of each cabin and each level" is

only one of many possible applications of the technology. According to the bionic

telescopic airship configuration based on the high motion mechanism feature model of

the patent technology, any possible way of cabin or level asynchrony can be adopted,

which belongs to the protection scope of the patent technology.

To sum up, the bionic telescopic airship provided by the invention is designed according

to the working height required by the task and the aerodynamic shape when fully

uncontracted on the premise of keeping the total mass of the airship unchanged, so as to

facilitate the installation of solar cells, equipment and loads, and can implement a large

range of volume changes on the airship during the lifting process, realizing the

coordination control of height, buoyancy and volume, as well as the coordination control

of telescopic structure and gas management. It effectively avoids the influence of large

scale mass inertia parameter change, thermal coupling, overpressure and other problems

on the flight control of stratospheric airship, solves the contradiction between buoyant

weight balance and pressure balance, and provides an effective way for stratospheric

airship to adapt to large-scale air density change, temperature change, ascending return

and so on.

In practical use, the bionic telescopic airship is expected to reduce the difficulty of flying

and returning, make it easier to achieve the goal of reusable airship, increase the

feasibility and manoeuvrability of near space airship engineering, especially greatly

reduce the size of airship hangar, return site and recovery site. It also has attractive

application prospects in deep space exploration missions for planets with atmosphere.

The bionic telescopic airship and its coordination control method provided by the present

invention are described in detail above.

The foregoing descriptions are merely illustrative specific embodiments of the present

invention and are not intended to limit the scope of the present invention. Any equivalent

changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the protection scope of the present invention.

Claims

THE CLAIMS DEFINING THE INVENTION ARE AS FOLLOWS:

1. A bionic telescopic airship, characterized by comprising a head cabin, a stem cabin and

a plurality of middle cabins arranged between the head cabin and the stern cabin.

close to the head and stern cabins are the bottom connecting rings of the head and stern

cabins, respectively.

and the bottom connecting rings.

connecting rings.

Wherein, the auxiliary telescopic bladder assembly includes a central longitudinal

telescopic tube and a plurality of connecting rods. The length of the central longitudinal telescopic tube is stretchable, and the two ends of it are respectively fixed at the centre positions of the two radial connecting rings of the middle cabin. Alternatively, the two ends of the central longitudinal telescopic tube are respectively fixed at the ends of the head cabin and the stern cabin and the centre position of the bottom connecting ring.

through a bearing sleeve.

causing the balls to move in the length direction of the lead screw, and then the central

longitudinal telescopic tube is driven by the movement of the plurality of connecting rods

to telescope.

2. The bionic telescopic airship as stated in Claim 1, characterized in that the central

longitudinal telescopic tube is formed by multiple socketed circular tubes with different

diameters.

3. The bionic telescopic airship as stated in Claim 1, characterized in that the auxiliary

telescopic bladder assembly includes a base shell and n-layer bladder combination. Each

bladder combination includes a soft bladder, a hard skin, a cable and its guide pipe, a drive motor, a cable tightening box and an enabling device. The drive motor and the cable tightening box drive the cable and its guide pipe to expand or contract, and simultaneously drive the hard skin and the soft bladder to contract inward or expand outward. The enabling device can switch between the three states of "prohibited",

"contracted" and "expanded", and controls the drive motor and the cable tightening box

to execute corresponding commands.

combination are alternately connected in turn, and finally fixed on the outer

cabin and stern cabin.

layer of bladder combination is connected to the drive motor and cable tightening box of

the current layer of bladder combination, and the other end is fixed on the drive motor

and cable tightening box of the next layer of bladder combination.

radial rods of the bottom connecting ring. The enabling device of the (i-l)th layer bladder

combination expands. The enabling device of the ith layer bladder combination changes from the "prohibited" state to the " contracted " with the contraction of the (i-1)th layer bladder combination. Moreover, at any time during the expansion and contraction process, only one layer of the n-layer bladder combinations of each cabin section has an unprohibited enabling device, wherein n and i are both positive integers.

4. The bionic telescopic airship as stated in Claim 3, characterized in that each group of

cable and its guide pipe, drive motor and cable tightening box, and enabling device

corresponds to one of the auxiliary zones with evenly distributed edges. The enabling

device of each layer of each auxiliary zone is installed at the appropriate position of a

radial rod of the radial connecting ring. The drive motor and cable tightening box of the

first layer are installed at the appropriate position where the base shell meets the

corresponding radial rod. The drive motor and cable tightening box of the second layer

are installed at the appropriate position where the end of the hard shell of the first layer

meets the corresponding radial rod. When n>i>3, the drive motor and the cable tightening

box of the ith layer are installed at the appropriate position where the end of the hard shell

of the (i-l)th layer meets the corresponding radial rod.

5. The bionic telescopic airship as stated in Claim 3, characterized in that the base shell

on the top of each cabin and the outer surface of each hard skin are used to selectively

install solar cells and/or satellite positioning communication antennas.

6. The bionic telescopic airship as stated in Claim 1, characterized in that the radial

connecting ring is composed of a ring and a plurality of reinforcing spokes.

7. The bionic telescopic airship as stated in Claim 1, characterized in that it also includes

a gas management assembly and a coordination control unit installed in several cabins.

8. The bionic telescopic airship as stated in Claim 1, characterized in that the airship

composed of a head cabin, a stem cabin, and a plurality of middle cabins arranged

between the head cabin and the stem cabin has a shape with a thick middle and gradually

contracting ends at both ends.

9. The bionic telescopic airship as stated in Claim 8, characterized in that according to the

generatrix function r =f(l) of the airship, the position Imaxf() with the largest section of the

airship is calculated. And from here on, taking rB-=maxf(lmaxf) as the radius of the bottom

connecting ring of the largest cabin. Then dividing the cabins forward and backward

according to the maximum expansion of each cabin, which is smaller than the radius of

the bottom connecting ring.

fully expanded.

10. The bionic telescopic airship as stated in Claim 9, characterized in that when the layer

number n of bladder assembly in the head cabin, the stem cabin and all the middle cabins

is the same, the following formula is used to calculate the number of bladder division

layers n.

fl+flLL]+,,T,)P(h) ma- . e' > 0.

Among them, p(O) represents the atmospheric density of the sea level atmosphere, p(hM)

represents the atmospheric density of the desired working height, and p(0)/p(hM)

represents the maximum volume change multiple required by the task.

Besides, hMis the maximum working height of the airship, rBi is the radius of the bottom

connecting ring of the ith cabin, rEi is the radius of the end connecting ring of the i* cabin and m is the total number of cabins of the airship. The small positive number ayer is the layered insurance adjustment value selected by iterative calculation.

11. The bionic telescopic airship as stated in Claim 9, characterized in that the difference

between the buoyancy mass of the airship's working height and the actual total mass

should be greater than the minimum mass difference allowed by the working height.

12. A coordination control method based on the bionic telescopic airship as stated in

Claim 1, characterized in that it comprises the following steps.

Obtain actual atmospheric density and altitude information.

calculate the aerodynamic resistance in the height direction, and make the auxiliary

device generate appropriate thrust to offset the aerodynamic resistance in the height

direction.

for the auxiliary operations of each layer of the bladder.

beginning until the manipulation command is feasible.

13. The coordination control method based on the bionic telescopic airship as stated in

Claim 12, characterized in that it also includes following gas management strategies based on pressure difference and temperature difference requirements and overcoming the effects of thermal coupling.

if Ap.2 > -a+ =:>The gas management assembly collects gas orperforms liquefactio

iApm+C> Ap, =sThegasmanagementassemblyreleasesgasorperformsgasifcatios