CN102629139A - Ground effect flight management system for ground effect vehicle - Google Patents
Ground effect flight management system for ground effect vehicle Download PDFInfo
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Abstract
The invention discloses a ground effect flight management system for ground effect vehicle, comprising a ground effect performance database, a wing vortex distance and under-wing airspeed detector, an error control and algorithm module, a processing platform, a video indication device, an audio warning device and a flight control device, wherein the wing vortex distance and under-wing airspeed detector is connected with the ground effect performance database, the ground effect performance database is further connected with the error control and algorithm module and the processing platform, and the video indication device, the audio warning device and the flight control device are connected with the processing platform; the maximal value of the wing-vortex distance of the designed ground effect vehicle is stored in the ground effect performance database, and the wing vortex distance and under-wing airspeed detector achieves measurement using an image recognition technique. The ground effect flight management system disclosed by the invention guarantees the safety in stable flight, and lowers the requirement on pilot vision for horizon observation, thus reducing the error in visual observation and improving the safety in ground effect flight.
Description
Technical field
The present invention relates to a kind of management system, flight management system is imitated on the ground that particularly relates to a kind of ground effect vehicle.
Background technology
Ground effect vehicle has utilized the compressibility of air, through the mode of ground proximity (or water surface) flight, obtains " air cushion " effect; Simultaneously, utilize ground effect, reduce the wing induced drag, effectively promote the lift performance, realize navigation at a high speed.
The differential pressure of atmospheric pressure of wing upper and lower surfaces forms lift, but also cause lower stream of airflow towards the top circulation, thisly upwards be referred to as eddy current around the air-flow that surrounds wing.Eddy current has reduced airfoil lift efficient, influences flight safety when serious.Aircraft is when nap of the earth flight, because the suppression on the face of land, the movement locus of this eddy current postpones to be elliptical path (as shown in Figure 2) by aerial circular trace (as shown in Figure 1).This ground effect has postponed going up around speed of eddy current, increased eddy current on the footpath that detours, reduce interference in air flow to upper surface of the airfoil, significantly promoted lifting force of wings efficient.When the effect of imitating reaches maximum thisly, be equivalent to increase nearly 40% lift usually.Perhaps, under equal lift demand, utilize the effect that delays of this eddy current conversely speaking,, can significantly reduce the physical size requirement of wing, significantly alleviated construction weight thus.Say that from operation angle under equal power consumption, the lift that increase is imitated on ground is many more, the voyage of ground effect vehicle is big more, or the commercial transport of ground effect vehicle is big more.
Aircraft very near ground the time, for example, when the wing lower surface has only more than ten centimetre apart from ground; Wing below air receives extremely compression; Form a powerful especially air pressure higher-pressure region, wing below air flow is almost stagnated, and forms maximum " air cushion " effect.
Therefore, delay the airfoil vortices influence through ground effect, and produce maximum these two requirements of " air cushion " effect, be that ground effect vehicle utilizes ground to imitate the ultimate principle of flight, and imitate the working environment of flight as ground.In other words, for ensureing ground effect vehicle safety, effectively and normally utilize ground to imitate to fly that minimum terrain clearance altitude can not be lower than maximum " air cushion " effect height, and ceiling altitude should not be higher than the significant height that delays airfoil vortices.If depart from this highly zone, though ground effect vehicle can use, lost and utilized ground to imitate the benefit that this characteristic obtains, thereby lost the competitive power with conventional airplane or boat means of transportation.
China academician of the Chinese Academy of Sciences and Chinese Academy of Engineering Gu Songfen, academician of the Chinese Academy of Sciences, the Chinese mechanics president Cui Erjie of association once jointly write " gold blank--ground effect principle and the ground effect vehicle of filling up conevying efficiency " literary composition; The research and development of the ground effect vehicle of propaganda and promotion China, some high-tech enterprises of China are are also researching and developing this type advanced means of transportation energetically.Ground effect vehicle not only can extensively be born all kinds of transport tasks, and has special strategic value in the development of the national economy and national defence field, for example is used for perils of the sea rescue, supports to dispose fast.It is the Soviet Union and Germany that the airmanship pioneer is imitated on the ground of generally acknowledging in the world, and this advanced transport agent is all being studied energetically by other American-European industrially developed country.The Soviet Union just begins the large-scale ground effect vehicle of secret development as far back as the sixties in last century, and is a kind of by long 106.1 meters of the large-scale ground effect vehicle of west called after " the Caspian Sea monster ", 40 meters of the spanes, and take-off weight is up to 500 tons.
But; Flight is imitated as contemporary a kind of new subject and advanced high-tech area in ground; Current only have the small-sized ground effect vehicle that carries about 2-10 people tentatively to come into operation; The main advantage of large-scale ground effect vehicle be that load is big and require in the long-range movement capacity, still have the technology barriers of the aspect controlled to demand urgently capturing, could get into the practical stage.Because the effect completion of the sharpest edges of ground effect vehicle are taken off and are landed with not only being utilization, cruise to the effect stable performance with more being utilization.This just requires convenient and reliable technological means to come accurately to judge ground effect performance, and means are controlled in the flight that solves large-scale ground effect vehicle, ensure the flight safety of cruising with pasting.Can not only be limited to right up and down good weather condition operation, the practicability that can not realize ground effect vehicle through the superb Personal Skills who cultivates the driver is with universal.
Existingly in the world imitate the known of performance over the ground and be, the maximum of ground effect vehicle " air cushion " effect height is no more than tens centimetres, and the maximum height that delays airfoil vortices is roughly 1/2nd of wing wing chord.That is, if 2 meters of the chord-lengths of wing, when utilizing ground to imitate flight, the maximum terrain clearance of ground effect vehicle is advisable with about 1 meter; On height, it has been generally acknowledged that ground effect effect completely loses greater than 10 times of the spanes.
In the world, be referred to as IGE (Into Ground Effect increases ground and imitates performance) to the flight course that increases ground effect performance usually; Be referred to as OGE (Out Ground Effect reduces ground and imitates performance) to the flight course that reduces ground effect performance.Changed with " air cushion " effect two parts by eddy current path and forms since performance is imitated on ground, the current aircraft flying height of using is imitated the performance of flying with flying speed with controlling, be not be a kind of concisely, direct accurate control mode.
It is thus clear that; As a kind of means of transport; Especially the medium-and-large-sized ground effect vehicle that has commercial value, get into practicability the crucial difficult problem that must solve be the technological means guarantee to be arranged in a very narrow and small height change scope; Safely, effectively, accurately utilize ground to imitate performance, low cruise flight; Secondly, this technological means also should reduce the operation skill of driver to ground effect vehicle, alleviates driver workload, makes things convenient for day-to-day operation.The 3rd, should have direct, easy, accurately and reliably imitate the performance operating parameter, improve the existing control mode of using aircraft flying height and speed.
Consider that from effect of imitating performance over the ground and flight safety current ground effect vehicle can the practical method of operation be the operation of agio face, is not to paste land flight, the operation that operation also is meant the agio face is imitated on the ground of discussion of the present invention, no longer specially statement.
But the land used of ground effect vehicle effect flying height scope interval is very little, and ceiling altitude is very low, and the height in hand space between IGE and OGE is very narrow and small, and this will ask and accurately control and operate.In case because of driver's observation, judgement or misoperation, will with water surface grazing, cause the structural failure of ground effect vehicle, body to topple, parts smash even fatal crass's heavy losses.How accurately to control IGE and OGE characteristic, also will ensure the safety of nap of the earth flight simultaneously, just become a specific safety problem of ground effect vehicle.
Even if technical measures performance IGE and OGE performance are arranged; In the nap of the earth flight stage, the driver receives serious challenge, the steam that especially water surface caused through the horizontal ability of visual inspection; Under the influence of weather conditions such as the thunderstorm in the physical environment, dense fog, morning and dusk; Keeping good flight attitude, avoid and water surface collision, is the fundamental that ensures ground effect flight safety.According to open source information, in the development process, " the Caspian Sea monster " large-scale ground effect vehicle causes the body major injury because this type of major accident takes place, and causes this project to be shelved.
In a word, satisfy following requirement: the means of conveniently and accurately controlling arranged, imitate performance with making full use of; Ensure the security of nap of the earth flight; Reduce the technical ability requirement of flight operation, realize controlling effectively, realize the robotization assisting in flying; Could solve its practicality, make ground effect vehicle possess the condition of popularizing.
Solve in the technical scheme of this difficult problem, two gordian technique key elements are arranged: the one, the technical guarantee means of realization nap of the earth flight; The 2nd, the technical supervision means of realization nap of the earth flight.A basic premise of these two technology essential factors is to have and imitate flight required operating parameter and WT-MSR contentedly.On the basis of this operating parameter and WT-MSR, form the technical scheme of imitating flight based on automatically-monitored and robotization auxiliaryly.Thus, realize a kind of be applicable to ground effect vehicle, imitate flight management system based on the ground of robotization mechanism.
Since the invention ground effect vehicle, people continue to use air speed and the flying height of aircraft as operating parameter always, and correspondingly, its WT-MSR is mainly continued to use aeronautical product.For example, ground effect vehicle adopts aviation aeromerric moasurenont device to measure flying speed usually.The principle of this device foundation is the skin tau effect.It is French slip-stick artist Henry PITOT as far back as invention in 1837 that the skin tau effect tests the speed, and use till today, but the shortcoming that the skin tau effect tests the speed is always, unreliable when low speed is measured.The international technical standards regulation of aviation aeromerric moasurenont device, the minimum air speed that is suitable for is not less than 60 joints (111 kilometers/hour).Excessive and lack practicality for fear of the low speed measuring error, real atmosphere DATA REASONING product can be not less than 70 joints usually by practical Minimum Airspeed.Under these speed, ground effect vehicle has reached liftoff state usually, therefore lacks the measurement means of accurately imitating flying speed with controlling.(takeoff speed of conventional airplane reaches more than 110 joints usually, and use pitot-type air speed measurement mechanism is no problem).
Aspect measurement of flight altitude, ground effect vehicle has been continued to use the device of aircraft measurement flying height.It mainly contains two types: the one, and aviation pressure altimeter, the 2nd, aviation radio height indicator.The international technical standards index regulation of aviation pressure altimeter, least error is 5 meters.When flight was imitated on ground, the height change scope was very little, and for example in the precedent, the ceiling altitude when flight is imitated on ground is about 1 meter, and then the typical error of pressure altimeter is up to 500%.The principle of aviation radio height indicator is that calculating transmits and receives the time difference of radiowave and obtains distance (highly) information, and the international technical standards horizontal specification of aviation radio height indicator, least error are 0.6 meter, still are example with the precedent, and height error also reaches 10%.Moreover the ground effect with occasion in because nearer apart from ground (or water surface), the body form on the face of land is different, comprises the fluctuating of water wave, causes the interference of radio altitude reading.
The performance of imitating at ground not only depends on self design performance of ground effect vehicle, influenced by the residing running environment of ground effect vehicle.In practical flight, the ground that left and right sides wing is produced is imitated performance and is often occurred than evident difference, and this is to imitate the key factor that flight can not be stablized, moved safely currently.
In brief, the core technology difficult problem that ground effect vehicle moves towards practicability is, the necessary nap of the earth flight of ground effect vehicle, and this is the lifeblood of imitating flight with maintaining, and simultaneously, this is again the danger zone of hedgehopping, and for example great waves are threatening flight safety.Existing aviation pressure altimeter and aviation radio height indicator can't be imitated flight for ground provide high-precision observing and controlling means, is difficult to realize that effective robotization controls solution.
Summary of the invention
Technical matters to be solved by this invention provides a kind of ground effect flight management system of ground effect vehicle; It ensures flight safety ability stably; Reduce the horizontal visual requirement of driver's observation, reduce the visual inspection error thus, improve the security that flight is imitated on ground.The present invention is based on the principles of science, propose to imitate contentedly flight required, more effective imitate flight and control means, this comprises operating parameter, measurement technology and device thereof.On this basis, it also should have certain automatic technology means, to ensure flight safety ability stably, reduces the horizontal visual requirement of driver's observation, reduces the visual inspection error thus, improves the security that flight is imitated on ground; Robotization ground keeps ground to imitate the stability of flight, slows down driver's operation fatigue, increases the practical value of ground effect vehicle; At last, this system can also provide the speed of video and audio form or the alarm ability that highly transfinites.
The present invention solves above-mentioned technical matters through following technical proposals: flight management system is imitated on a kind of ground of ground effect vehicle; It is characterized in that; It imitates air speed detector, error control and algoritic module under performance database, wing whirlpool distance and the wing, processing platform, video indicating device, audible alarm device, flight control assemblies with comprising; The air speed detector is imitated performance database with ground and is connected under the wing-whirlpool distance and the wing; Ground is imitated performance database and also is connected with error control and algoritic module, processing platform, and video indicating device, audible alarm device, flight control assemblies are connected with processing platform; The maximum value data of the wing-whirlpool distance of the ground effect vehicle of the set meter of ground effect performance data library storage; The air speed detector utilizes image recognition technology to measure under the wing whirlpool distance and the wing; Error control and algoritic module comprise the geometric data corrected Calculation of air speed detector installation site under the wing-whirlpool distance and the wing; Processing platform accomplishes flying height and speed selection, control and the monitoring of robotization; The information of resolving that the video indicating device provides according to processing platform is imitated the deixis of maximum height, minimum constructive height and the flying speed data of flight with accomplishing; The warning information that the audible alarm device provides according to processing platform is imitated height and the speed data alarm function of flight with accomplishing, the automatic adjusting that flight control assemblies provides according to processing platform and the dynamic instruction of control, the realization robotization follow control.
Positive progressive effect of the present invention is: the present invention ensures flight safety ability stably, reduces the horizontal visual requirement of driver's observation, reduces the visual inspection error thus, improves the security that flight is imitated on ground.Robotization of the present invention ground keeps ground to imitate the stability of flight, slows down driver's operation fatigue, increases the practical value of ground effect vehicle; At last, the present invention can also provide the speed of video and audio form or the alarm ability that highly transfinites.
Description of drawings
The synoptic diagram of the movement locus of eddy current when Fig. 1 is imitated for there not being ground.
Fig. 2 is the synoptic diagram of the movement locus of eddy current when imitating with having.
The synoptic diagram of the movement locus of eddy current when Fig. 3 is imitated for the present invention with having.
Fig. 4 is imitated the theory diagram of flight management system for the present invention ground.
Fig. 5 is equipped with the structural representation of Figure recognition sensor for ground effect vehicle of the present invention.
Fig. 6 calculates the principle schematic of measured data for the present invention.
Fig. 7 is imitated the synoptic diagram of a kind of display frame design proposal of performance graph demonstration control for the present invention ground.
Embodiment
Provide preferred embodiment of the present invention below in conjunction with accompanying drawing, to specify technical scheme of the present invention.
The objective of the invention is to,, propose a kind ofly to imitate flight more effectively and control means based on the principles of science.In this new technical solution, at first propose to be used to imitate operating parameter theory flight, new, straight from the shoulder, be effectively applied to control IGE and these two ground effect performance stages of OGE with controlling; Secondly,, these new operating parameters are realized robotization supervision and control, reduce the manually-operated work share that the driver of flight is imitated on ground through the technological means of robotization.The 3rd, through the exploitation of application software, realize the flying quality management function of Automatic Optimal ground effect flight.Thus, flight management system is imitated on the ground of this technical scheme called after ground effect vehicle, serve the demand that advances ground effect vehicle practicability.
Proposing aspect the new operating parameter; Eddy current path due to imitating changes, reduces induced drag with the present invention is based on; Be equivalent to amplify this know-why of aspect ratio of wing; Air line distance between wingtip end face when the aspect ratio enlarge-effect takes place and the eddy current path of separating is as an operating parameter A (being designated hereinafter simply as " wing-whirlpool distance "), rather than indirectly with flying height or flying speed as controlling the basis, referring to Fig. 3.
Obviously, when this air line distance is maximum, imitate exactly in the performance maximum.With it correspondingly, we obtain aircraft and imitate maximum usable altitude and the flying speed when flying with utilizing.Like this, just no longer need can imitate the indirect control mode of performance indirectly with respect to the geographical height on ground through measuring ground effect vehicle with assessing.The performance of imitating at ground not only depends on self design performance of ground effect vehicle, also receives the influence of ground effect vehicle running environment of living in deeply.In practical flight, the ground of left and right sides wing is imitated performance and is often occurred than evident difference, and this is a reason of imitating the flight loss of stability with causing.Therefore, can further define left and right sides wing and measure respectively separately, abbreviate left wing-whirlpool distance and the right side-wing whirlpool as apart from two subparameters, so that realize accurately controlling, the flight stability of effect aircraft with improvement increases practical value, improvement occupant comfortableness thus.Gas velocity when secondly, the present invention proposes to form " air cushion " is as another operating parameter.Aforementioned showing, when wing downstream speed was minimum, " air cushion " effect was maximum, and vice versa, promptly when wing downstream speed is consistent with contiguous air velocity, can think that positice ground effect disappears.Thus, through measuring the gas velocity (being designated hereinafter simply as " air speed under the wing ") that forms " air cushion ", " air cushion " effect is measured and is controlled on robotization ground.In other words, when minimum i.e. " air cushion " effect of wing downstream maximum, be exactly the minimum safe flight altitude of ground effect vehicle.Similarly, can further distinguish air speed under the observing and controlling left and right, realize accurately controlling, the flight stability of effect aircraft with improvement promotes occupant's comfortableness thus.
Aspect measuring technique, propose through treatment technology based on Figure recognition, robotization ground test constantly with control these two parameters of air speed under the above-mentioned wing whirlpool distance and the wing.This measurement means can realize through technological means such as holographic photography, video camera, millimeter wave, infrared and laser acquisitions.Additionally, for the enhancing visibility effect, can design corresponding technical measures, be included near the soft high-strength durable property cellulosic braid of the configuration of sensor, its mobile status and variation are as the measuring object of pattern recognition technique.Similarly, also can utilize the ultimate principle of air pressure change, select the displacement sense device of electromechanical for use; Typically, for example angular displacement sensor can accurately measure the distance that receives airflow influence and change; Set up mathematical model thus, calculate the numerical value of air speed under the wing whirlpool distance and the wing.
Through computerized processing platform, utilize two parameters of air speed under the above-mentioned wing-whirlpool distance and the wing, through computing, obtain being used for the dynamic instruction of adjusting automatically and control, ensure that ground effect vehicle flies according to pre-determined characteristics.When flying automatically, the flight control assemblies of ground effect vehicle is exported in these instructions, realizes the control of following of robotization; When manual work was flown, display system was exported in these instructions, so that the driver controls.This operation can be a simple function, and the measuring and calculating function of operating parameter is promptly only arranged; Also can be synthesization, promptly utilize processing platform, measurement is provided, resolves, control and Presentation Function.This synthesization device of operating parameter measuring and calculating and processing platform that comprises is imitated flight management system with being referred to as.
As shown in Figure 4; The ground of ground effect vehicle of the present invention is imitated flight management system and is imitated air speed detector, error control and algoritic module under performance database, wing whirlpool distance and the wing, processing platform, video indicating device, audible alarm device, flight control assemblies with comprising; The air speed detector is imitated performance database with ground and is connected under wing whirlpool distance and the wing; Ground is imitated performance database and also is connected with error control and algoritic module, processing platform, and frequency indicating device, audible alarm device, flight control assemblies are connected with processing platform;
The maximum value data of the wing-whirlpool distance of the ground effect vehicle of the set meter of performance data library storage is imitated on ground, these data characterizations ground effect vehicle under various conditions of work, imitate the lift effect the biglyyest; And the data of air speed value under the minimum wing; These data characterizations maximum " air cushion " effect of ground effect vehicle under various conditions of work; Set up thus corresponding to " imitating lift " and " maximum cushioning effect " corresponding flying height and speed data the biglyyest; Through mating corresponding engine capacity, obtain the required drive value.Contact between these data can constitute the mathematical model of imitating flight needed flying height, speed and dynamic relation with controlling.The required concrete parameter of depositing can not be final distance value and velocity amplitude in the ground effect performance database, but surveys the corresponding measure physical quantities of physical sensors self that this distance and speed adopts.When serving the flight management task of robotization, performance database is imitated on ground also should deposit complete ground effect vehicle performance and engine data, so that support the flying quality that flight management system is imitated on ground to calculate and guiding automatically.Need to prove; Ground that above-mentioned ground effect vehicle designed imitate performance self be the research and development ground effect vehicle scientific experiment, the data collection and analysis process that must carry out; The objective law performance that performances are based on physical principle is imitated on these ground, be not the present invention institute especially need human activity.
Not only there is visuality in the effect of these two operating parameters of air speed under the wing-whirlpool distance and the wing, and exists temperature field and the special variation of having a meeting, an audience, etc. well under one's control, and this is in order to based measurement.The air speed detector utilizes image recognition technology to measure under the wing whirlpool distance and the wing.Accomplish accurate distance and velocity survey self is a kind of typical application in contemporary image recognition technology field through image recognition technology.The visual form that upward " air cushion " effect under the eddy current and the wing of wingtip end embodies on the water surface is the steam of turnup, and simultaneously, mechanical function also must cause temperature field and the variation of having a meeting, an audience, etc. well under one's control.Typically, being used for distance required for the present invention and speed detector can realize in conjunction with concrete The visual design means through technological means such as holographic photography, video camera, millimeter wave, infrared and laser acquisitions.Also can combine the overall design design of ground effect vehicle, utilize the displacement sense device of all kinds of electromechanicals, for example angular displacement sensor is realized the measurement of these two parameters of air speed under the wing-whirlpool distance and the wing.Shock wave when holographic photography is widely used in the exploration rocket high-speed flight; The what comes into a driver's that video camera and infrared sensor technology have been applied to the take-off and landing stage of Large Civil Aircraft strengthens; Add Computer Processing platform and database technology; The Synthetic vision system product has not only been arranged on the international market, also set up the airworthiness standard of industry.Therefore, collection and Treatment Technology means are diversified, are ripe.
Error control and algoritic module are a kind of modules of resolving of gathering raw data that is used to calibrate; Usually; Error control and algoritic module comprise the geometric data corrected Calculation of air speed detector installation site under the wing-whirlpool distance and the wing; Also comprise the actual measurement deviation; Such as the actual value data of ground effect vehicle air speed under different load-carryings and the running environment condition bottom wing-whirlpool distance and the wing, can pass through " mathematical model+actual measurement drift correction " this engineering usual way thus, accurately and easily measurement data output is provided.
Processing platform is a kind of Computer Processing platform; It also can be arithmetical unit chip form cheaply; Application software is used in their inside, accomplish based on two ground of IGE and OGE imitate the stage correspondence of performance flying height and speed selection, control and the monitoring of robotization.This application software is diversified; For example; Survey and corrected raw data through distance and speed detector, application software can be analyzed and the design data of comparatively imitating performance database, draws the corresponding numerical value between required flying quality and distance and the speed.For example, the increase of the wing-whirlpool distance is embodied in the increase of additional lift; Thereby can derive, under the equal in other words load-carrying condition of equal lift, the power output of the engine that can reduce.In other words, flying height or speed that Here it is saves fuel oil more.Practical for the ease of engineering, these logical relations can be expressed as the data ratio of a kind of measured data and ground effect performance database.No matter be the wing-whirlpool distance, or air speed under the wing, when this ratio is " 1 ", can characterizes ground effect vehicle and reach and imitate performance the biglyyest, and less than or during greater than this ratio, signs needs the controlled quentity controlled variable variation requirement regulated respectively; Then, through monitoring the variation tendency of this ratio and numerical value " 1 ", draw the direction of operating of the parameter variation of regulating control.A kind of ratio approach that the present invention proposes is, with the denominator of design load as ratio, as molecule, such ratio changes the mental habit that comparatively meets the people with measured value, makes things convenient for the driver to keep watch on or operates operation.In the application software of processing platform; Can also comprise that typically the corresponding conversion that imitate between flying height and the flying speed on the ground that makes things convenient for driver's operation calculates; Indication output and alarm function algorithm are so that indicate and the audible alarm device provides needed indication and warning information to import for video.On this basis, processing platform just can pass through application software, for example imitates the flight management module; For ground effect vehicle provides the regulated value of controlling of flying height and flying speed, especially, design a kind of robotization equilibrium function; Promptly through monitoring in real time, relatively, can reduce the fluctuation and the concussion of ground effect vehicle more significantly with the ground effect performance of robotization compensation left and right sides wing; Strengthen the stability of flight path, strengthened the practical value of ground effect vehicle, improved occupant's comfortableness.Imitating performance database on ground has under the situation of complete ground effect vehicle performance and engine data; The flight management module is imitated on ground not only can provide required ground to imitate flying height and velocity amplitude calculating and output; Can also be crosslinked with flight control assemblies, realize the robotization flight management task of ground effect vehicle.Typically; The core competence of algorithm is embodied in the stage of accurately controlling IGE and two ground of OGE effect performance; Make the ground effect vehicle that utilizes technical scheme of the present invention can imitate performance with giving full play to; The stability of the flight path of robotization ground maintenance ground effect vehicle and harmonious has practicality and competitiveness.
The video indicating device can adopt conventional electronic console, and the information of resolving that the video indicating device provides according to processing platform is imitated the deixis of maximum height, minimum constructive height and the flying speed data of flight with accomplishing.
The audible alarm device comprises loudspeaker and driver's earphone, and the warning information that the audible alarm device provides according to processing platform is imitated the height and the speed data alarm function of flight with accomplishing.The figure indication information that electronic console provides comprises the raw data of gathering based on the graphical sensory device, is shown by the local horizon or the surface level of computer simulation.The horizontal effect of visual inspection when the local horizon of this video image can remedy driver's hedgehopping accurately and efficiently comprises the height profile that actual landform or water are unrestrained, has strengthened flight safety.
The automatic adjusting that flight control assemblies provides according to processing platform and the dynamic instruction of control realize the control of following of robotization, ensure that ground effect vehicle flies according to pre-determined characteristics.
The present invention has utilized a series of the principles of science, at first, proposes to utilize the mechanics principle that flight is imitated on ground to imitate the operation of flight with controlling, rather than continues to use the flying height of aircraft and the technical scheme that the air speed notion is controlled simply.Promptly discern wing whirlpool distance automatically, and discern under the wing these two of air speeds automatically and typically imitate the characteristic performance, propose a kind of new solution that ground effect vehicle is controlled technology thus through technological means; Secondly, imitate this engineering mode of ratio of performance data, effectively and easily solved directly and two imitated controlling of performance stages to IGE and OGE through setting up measured value and ground.The 3rd, through application, strengthened the flight stability of ground effect vehicle to subparameters such as left wing's whirlpool distance and right flank whirlpool distances, increased the practical value of ground effect vehicle, improved occupant's comfortableness.On the thinking of dealing with problems, be different from existing ground effect vehicle by aviation height indicator and aviation velometer, and through simple flying height and the flying speed measured, traditional thinking, the principles of science and the technical scheme of flight imitated on control ground indirectly.In other words, the present invention has changed imitates the flight control key element existingly, makes the operation of ground effect vehicle safer, more practical.This change of technical scheme has effectively remedied existing aviation height indicator and the poor excessively long-term puzzlement of the application accuracy of velometer on ground effect vehicle, has solved the specific question in this new technical field of existing ground effect vehicle effectively.Promptly, a kind of new technical scheme is provided for solving existing issue through the change of technological means.Utilize the measurement wing of the present invention-whirlpool distance; And these two parameters of air speed are controlled the operation of ground effect vehicle under the wing; On concrete means, adopted pattern recognition technique; Accurate measurement demand when efficiently solving the extreme low-altitude nap of the earth flight of ground effect vehicle is different from the ground effect vehicle industry is existing, continue to use aeronautical chart flying height and air speed control mode on the realization approach.The present invention proposes to control the wing-whirlpool distance, and the mode of these two parameters of air speed is that directly performance and effect are imitated in measurement ground under the wing, from know-why is: measure and imitate aerodynamic performance with judging whether imitate the flight demand contentedly.This directly contentedly the method controlled of effect aircraft operation changed that industry is existing, the measurement face of land height through continuing to use aviation flight and flying speed imitate with inferring performance, obtain the demand of ground effect performance indirectly.The technological emphasis of the present invention's innovation is: proposed two directly operating parameters of control ground effect vehicle operation, the present invention utilizes the ratio of measured data and gross data to resolve and criterion as controlling.Simultaneously; The ground of ground effect vehicle self is imitated performance computation, utilizes image recognition technology to accomplish parameter measurement, is realized technology such as identification, calculating, indication and alarm through electronic installation; In their technical field separately, be ripe, be the technician in these fields generally knows.
As shown in Figure 5, the wingtip end face of the left and right sides of the ground effect vehicle wing outside with below respectively equip a cover Figure recognition sensor (starlike symbol signal), be referred to as the wingtip sensor.Wherein, outer sensors identification and the detection wing-whirlpool distance, air speed under the identification of below sensor and the detection wing; At the head of aircraft, thereby configuration one is with the Figure recognition sensor that certain top rake has certain preceding visual function, is referred to as hot nose, its identification local horizon, the place ahead profile, and the air speed data of explorer vehicle head position.These Figure recognition sensors self can use existing survey sensor means; Comprise all kinds ofly, realize in conjunction with concrete The visual design means based on technological means such as computer-controlled holographic photography, video camera, millimeter wave, infrared, laser or COMS image measurement sensors.When funds are abundant, also can different types of graphical sensory device be combined, performance performance advantage separately constitutes special-purpose this product form of survey sensor of effect aircraft compatibly.
A kind of wing-whirlpool that the present invention proposes apart from the ratio formula of measured value and theoretical maximum as shown in the formula (1):
Operating parameter H
MAX=measured value/theoretical maximum ... Formula (1)
The ratio formula of the measured value of air speed and contiguous air-flow velocity numerical value is as shown in the formula (2) under a kind of wing that the present invention proposes:
Operating parameter H
MINAir speed under the=wing/vicinity air-flow velocity ... Formula (2)
Ground is imitated effect and when aircraft moves, is generated, and available ground effect performance need could produce after reaching certain speed, promptly begins to separate with the generation of wingtip end face around eddy current in the wingtip place.Gather the data of this variable in distance by the wingtip outer sensors.
The flow speed data of the sensor acquisition wing downstream of wingtip below is as air speed data under the wing.
The air-flow velocity of hot nose collection head location is as calculating H
MINThe numerical value of required contiguous air-flow velocity, hot nose also will be surveyed the place ahead terrain profile, provide the information of visual identity and alarm to import for discerning and avoiding the place ahead obstacle.
Computing platform utilizes the wing-whirlpool that the wingtip sensor records apart from measured data, and the theoretical maximum data value of imitating performance database with ground compares, and promptly obtains operating parameter H
MAXIn Fig. 6, numeral 1 is the signal of wing, and numeral 2 is the variation signal of the wing-whirlpool air line distance; Numeral 3 is the measurement signal of the wing-whirlpool air line distance, and outermost distance is ultimate range.
When engine capacity continues to increase, operating parameter H
MAXRatio ascending, just characterized this process of IGE.When reaching a ratio that is designed, ground effect vehicle can break away from ground, the flight of soaring.This point can be decided to be take off speed, lift off speed, derives the distance of departing thus; If engine capacity continues to increase, operating parameter H
MAXRatio continue to increase, ratio reaches at 1 o'clock, reaches the height of imitating flight the biglyyest, and corresponding flying speed.
No matter engine capacity further increases, and still from then on reduces operating parameter H
MAXRatio all can change to little 1 direction, ground is imitated performance and is from then on fallen into a decline.And then, operating parameter H
MAXThe ratio meaning that descends land and imitate the additional lift that performance provided and descending, this has just accurately characterized the OGE process.Up to operating parameter H
MAXRatio when reducing to a particular design value, can imitate performance with thinking and lose basically, this point is if due to engine capacity reduces, the velocity amplitude of pairing flying speed for landing; This point is due to engine capacity continues to increase in this way, and pairing flying speed can be used for promptly judging that the OGE stage finishes, and the flying quality that ground effect vehicle need rely on self fully realizes soaring flight.
Air speed under the wing that the sensor that computing platform utilizes the wingtip end face to install downwards records, the air-flow velocity that records with hot nose compares, i.e. operating parameter H
MINRatio.Operating parameter H
MINRatio when trending towards diminishing, be characterized by the IGE process.H
MINRatio reaches hour, thinks that promptly the flow velocity of wing downstream is minimum, and " air cushion " effect is maximum.Accordingly, imitate the minimum altitude of flight with obtaining, and corresponding flying speed.
On the contrary, operating parameter H
MINRatio when trending towards increasing, " air cushion " effect is reducing, and is characterized by the OGE process.Operating parameter H
MINRatio approached 1 o'clock, can think that " air cushion " effect disappears basically.Controlled variable when height that this moment is corresponding and flying speed can be used as ground effect vehicle disengaging ground effect " air cushion " effect.
Thus it is clear that, through H
MAXAnd H
MINThese two parameter controls, we have obtained ground effect vehicle and have utilized ground to imitate ceiling altitude and minimum flying height when flying.In maximum and minimum flying height scope, we have obtained ground effect vehicle and have utilized ground to imitate the operating altitude range of flight.H
MAXAnd H
MINThe variation tendency of these two parameters has characterized ground straight from the shoulder and has imitated the IGE of flight and the performance that performance is imitated on these two ground of OGE, has realized the accurate judgement of ground effect flying quality.Ground effect effect is directly related with flying speed.If highly constant, obtain to imitate accordingly performance variation through velocity variations.
Driver's monitoring and operation for ease, we can imitate the flying height and the flying speed data splitting table of flight with listing; Through this combination table, we can derive corresponding engine capacity relation.
A kind of typical H that the present invention proposes
MAX, highly, the flight utility data series of combination of speed and engine capacity is as shown in table 1.
Table 1H
MAX, highly, speed and engine capacity data combination table
Similarly, we can obtain a kind of typical H
MIN, highly, the flight utility data series of combination of speed and engine capacity, as shown in table 2.
Table 2H
MIN, highly, speed and engine capacity data combination table
The direct acting factor of these combination table comprises the flight gross weight and the atmospheric temperature of ground effect vehicle.Therefore, combination table answers the different flight gross weight of base area effect aircraft to list with different atmospheric temperatures.We just can obtain covering the performance data table of the flight envelope of ground effect flight like this, enumerate no longer one by one.
This performance data table that has covered the flight envelope of ground effect flight can be used as the i.e. ingredient of " ground effect vehicle Pilot Operating Hand book " of paper document; Also can be used as performance data; Imitate in the database of flight management system, it is used that functions such as flight management system calculating ground effect performance, demonstration and monitoring alarm are imitated on confession ground with leaving in.
Based on above-mentioned two operating parameter H
MAXAnd Parameter H
MINThe application of principle of ratio, the ground of processing platform are imitated the flight management program and are passed through operating parameter H
MAXAnd Parameter H
MINThe flight management task of " imitating flying height " is planned and is ensured in the management of ratio automatically the biglyyest, and this highly imitates the height upper limit of flight with being; And the flight management task of planning and guarantee " maximum cushioning effect flying height ", this highly imitates the height lower limit of flight with being.
And then we can be with above-mentioned two operating parameter H
MAXAnd Parameter H
MINRatio is made flying height and function of speed equation, and they are associated.We have obtained the mutual relationship between these two operating parameters thus, so that practical flight is manipulated.For example, these two functional equations separate the intersection point that shows as these two function curves altogether, its physical significance is at these two operating parameter H
MAXAnd Parameter H
MINBetween the ratio, set up ground and imitated break-even point and the stable point that performance is controlled.
According to the mission requirement of concrete aerial mission, the flight management program is carried out the planning of aerial mission, and the flying height of ground effect vehicle is remained on any place of these two limitation in height values or the arbitrary height between these two limits values.It is a kind of that to be used for data form illustration purpose, after simplifying as shown in table 3.These height are interval with the numerical value one to one of speed, just constituted ground and imitated the range of operation of flying.
Table 3 is based on H
MAXThe flying height of Numerical Control and flying speed service data
| The height ft air speed kt | 45 | 123 | 158 | - | - | - |
| H MAX＝0.2 | 110 | 146 | 159 | - | - | |
| - | 0.50 | H MAX＝0.4 | 133 | 153 | - | - |
| - | - | 1.10 | H MAX＝0.6 | 148 | 176 | - |
| - | - | 1.25 | 3.10 | ?H MAX＝0.8 | 162 | - |
| - | - | - | 3.72 | 8.50 | ?H MAX＝1.0 | 185 |
| - | - | - | 4.25 | 11.5 | 20.1 | ?H MAX＝1.2 |
| - | - | - | - | 13.4 | 25.6 | 35.6 |
| - | - | - | - | - | - | - |
Arbitrary operating parameter H
MAXPerhaps H
MINConcrete ratio numerical value, can be respectively realize by control flying height or flying speed, therefore, for the steering logic that robotization is controlled, derive funtcional relationship based on the steering logic of flying height or flying speed at this point; Flying height or flying speed are associated with corresponding engine capacity numerical value then one by one, obtain the numerical value of required engine capacity thus.
Thus, through to operating parameter H
MAXRatio management, can also realize ground effect vehicle soar or the speed during ground connection is accurately controlled; In like manner, through to operating parameter H
MINThe ratio management of ratio realizes the automatic control of maximum " air cushion " effect of ground effect vehicle, in engineering practice, can express the relation between its control variable through above-mentioned similar numerical table.
No matter be ground effect vehicle at the pilot steering state, still carry out automatic driving condition through imitate flight management system of the present inventionly, the computing platform can utilize operating parameter H
MAXAnd Parameter H
MINRatio is imitated flying quality over the ground and is effectively controlled.Under the pilot steering state, in case bigger aberrations in property occurs, then system proposes alarm automatically; When the effect flight management system flew automatically on ground, system accomplished from NMO correction according to the feedback information of monitoring circuit.
Typically, come imagery ground display and operation Parameter H through electronic console
MAXAnd Parameter H
MINRatio, so that the driver operates according to demonstration, perhaps when imitating flight management system robotization flight by ground, driver's monitor system performance easily shows.Fig. 7 has only provided ground and has imitated a kind of display frame design proposal that the performance graph demonstration is controlled.Among Fig. 7, shown in the numeral 11 is the aircraft symbol, and shown in the numeral 12 is " air cushion " performance indicator that is positioned under the left and right, and shown in the numeral 13 is additional lift (wing-whirlpool distance) indicator that is positioned at wing both sides, the left and right sides." air cushion " performance indicator and additional lift indicator be in order to the impact of performance of effect practically of the indication left and right sides, and utilize the direction of wedge-type shape to change, and dynamically representes operating parameter H
MAXAnd Parameter H
MINThe variation tendency of ratio just characterizes out IGE and OGE performance brightly.Digital calibration window 14 can be represented operating parameter H respectively
MAXAnd Parameter H
MINThe operational ton of ratio, or set amount.The driver also can select to show and operating parameter H according to the preference of oneself
MAXAnd Parameter H
MINPairing flying height of the operational ton of ratio and speed data.
Additionally, the place ahead terrain profile information that electronic console use hot nose collects provides the information of visual identity and alarm to show for discerning and avoiding the place ahead obstacle, and for example, the live telecast of local horizon, the place ahead and barrier shows to be digital 15.
On the ground effect vehicle with robotization flight control assemblies, flight management system is imitated on ground can design a kind of automatic balance function, promptly monitors the operating parameter H that left and right sides wing is generated automatically
MAXAnd Parameter H
MINThe difference of ratio, and carry out the robotization compensation.So the flight path of practical flight is more steady, effectively improve occupant's comfortableness, help the promotion and application of ground effect vehicle.
The foregoing description is as to qualification of the present invention, all any modifications of being done within the scope of the invention, is equal to replacement, improvement etc., all belongs to protection scope of the present invention.
Claims (3)
1. flight management system is imitated on the ground of a ground effect vehicle; It is characterized in that; It imitates air speed detector, error control and algoritic module under performance database, wing whirlpool distance and the wing, processing platform, video indicating device, audible alarm device, flight control assemblies with comprising; The air speed detector is imitated performance database with ground and is connected under wing whirlpool distance and the wing; Ground is imitated performance database and also is connected with error control and algoritic module, processing platform, and video indicating device, audible alarm device, flight control assemblies are connected with processing platform; The maximum value data of the wing-whirlpool distance of the ground effect vehicle of the set meter of ground effect performance data library storage; The air speed detector utilizes image recognition technology to measure under the wing whirlpool distance and the wing; Error control and algoritic module comprise the geometric data corrected Calculation of air speed detector installation site under the wing-whirlpool distance and the wing; Processing platform accomplishes flying height and speed selection, control and the monitoring of robotization; The information of resolving that the video indicating device provides according to processing platform is imitated the deixis of maximum height, minimum constructive height and the flying speed data of flight with accomplishing; The warning information that the audible alarm device provides according to processing platform is imitated height and the speed data alarm function of flight with accomplishing, the automatic adjusting that flight control assemblies provides according to processing platform and the dynamic instruction of control, the realization robotization follow control.
2. flight management system is imitated on the ground of ground effect vehicle according to claim 1, it is characterized in that, a cover Figure recognition sensor is respectively equipped in the wingtip end face outside of the left and right sides wing of said ground effect vehicle and below.
3. flight management system is imitated on the ground of ground effect vehicle according to claim 1, it is characterized in that said processing platform is a kind of Computer Processing platform.
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| CN110780679A (en) * | 2014-09-30 | 2020-02-11 | 深圳市大疆创新科技有限公司 | Flight indication method and device and aircraft |
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