CN103144779B - Many rotor unmanned aircrafts mooring system - Google Patents

Many rotor unmanned aircrafts mooring system Download PDF

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Publication number
CN103144779B
CN103144779B CN201210510858.3A CN201210510858A CN103144779B CN 103144779 B CN103144779 B CN 103144779B CN 201210510858 A CN201210510858 A CN 201210510858A CN 103144779 B CN103144779 B CN 103144779B
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mooring
rotor unmanned
many rotor
heaving pile
unmanned aircrafts
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CN103144779A (en
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付松源
彭革新
杨涛
程晓洁
武广友
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CETC 17 Research Institute
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CETC 17 Research Institute
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Abstract

The invention discloses a kind of many rotor unmanned aircrafts mooring system, comprise as many rotor unmanned aircrafts of tethered platform, heaving pile and ground installation, described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile.The present invention's many rotor unmanned aircrafts mooring system has the features such as structure is simple, reliability is high, hovering is stable, easy to use and with low cost, mooring mode is applied on many rotor unmanned aircrafts, solves tethered platform ubiquitous problem in stability, erection comfort feature, use alerting ability and use cost etc.Further, by the power transmission cable in heaving pile, ground power supply is powered to tethered platform continuously, realize the long-time stagnant sky flight of aircraft.

Description

Many rotor unmanned aircrafts mooring system
Technical field
The present invention relates to mooring system technical field, particularly relate to a kind of many rotor unmanned aircrafts mooring system.
Background technology
The unmanned vehicles such as balloon, dirigible and culvert type aircraft have the feature of vertical takeoff and landing and steadily hovering, are widely used as tethered platform in investigation, the field such as communicate and take photo by plane.Although captive balloon or kite balloon airship can aloft be detained for a long time, its volume is very large, and blanketing gas is expensive, and maintenance cost is high.And duct aircraft must use many heaving piles, cost is high, erection is opened complexity, and needed larger erection place; During many heaving pile pending flights, standard of fuselage towards being fixing, cannot according to the actual demand flexible rotating level of task towards, unless after aircraft is fallen, again rise after the heaving pile of all directions is moved to another level angle simultaneously, operation extremely bothers; And the balance weight of whole aircraft must be considered, otherwise the stability of aircraft can be affected, many restrictions are proposed to the practical application of system; Because the self-stability of duct aircraft is limited, therefore require very high to the automatic control ability of Fu.
Visible, current tethered platform existing defects in the alerting ability etc. of the comfort feature of economy, stability, erection comfort feature, mission payload carrying and practicality, use.
Summary of the invention
Based on this, the invention provides a kind of many rotor unmanned aircrafts mooring system.
A kind of many rotor unmanned aircrafts mooring system, comprise as many rotor unmanned aircrafts of tethered platform, heaving pile and ground installation, described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile.
Compared with general technology, the present invention's many rotor unmanned aircrafts mooring system has the features such as structure is simple, reliability is high, hovering is stable, easy to use and with low cost, mooring mode is applied on many rotor unmanned aircrafts, solves tethered platform ubiquitous problem in stability, erection comfort feature, use alerting ability and use cost etc.By the power transmission cable in heaving pile, ground power supply is powered to tethered platform continuously, greatly extend the hang time of aircraft.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention's many rotor unmanned aircrafts mooring system;
Fig. 2 is mooring electric power system structural representation of the present invention;
Fig. 3 is the structural representation of photoelectric comprehensive heaving pile of the present invention;
Fig. 4 is mooring communication system architecture schematic diagram of the present invention.
Detailed description of the invention
For further setting forth the technological means that the present invention takes and the effect obtained, below in conjunction with accompanying drawing and preferred embodiment, to technical scheme of the present invention, carry out clear and complete description.
Referring to Fig. 1, is the structural representation of the present invention's many rotor unmanned aircrafts mooring system.The present invention's many rotor unmanned aircrafts mooring system, comprise as many rotor unmanned aircrafts of tethered platform, heaving pile and ground installation, described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile.
As one of them embodiment, described power transmission cable is made up of two wires be included in described heaving pile, and the two ends of two wires are connected with described mooring supply unit and described floor power supply device respectively.
As one of them embodiment, described floor power supply device comprises the bridge rectifier circuit, boost booster circuit and the first filter circuit that connect successively, described bridge rectifier circuit connects the ac input end of described floor power supply device, and described first filter circuit connects described power transmission cable;
As one of them embodiment, described mooring supply unit comprises interconnective step-down/mu balanced circuit and the second filter circuit, described step-down/mu balanced circuit connects described power transmission cable, and described second filter circuit connects the DC output end of described mooring supply unit.
The function of mooring electric power system be realize ground power supply by heaving pile on aircraft and aircraft carry mission payload electric energy be provided.Refer to Fig. 2, be mooring electric power system structural representation, mooring electric power system comprises floor power supply device, heaving pile and is mounted in carry-on mooring supply unit.
For four rotor unmanned aircrafts, the power of four rotor unmanned aircrafts derives from four DC machine carrying screws completely and rotates the blast produced.Current maximum take-off weight is at four rotor unmanned aircrafts of about 6 kilograms, and its overall average output power needed for four DC machine is about 700W, and total peak power can reach more than 1000W.If directly carry 25V direct supply to aircraft by heaving pile, then average current is 28A, and peak current can reach 56A.Obviously the wire of so large electric current can be carried very thick, and unit weight is very large, and the line loss that conductor length increase causes is also very serious, is not applicable to SUAV (small unmanned aerial vehicle) mooring and uses.
In order to realize high-power electrical transfer in the light-duty heaving pile of up to a hundred meters, must power supply voltage be improved, reducing supply current.Booster circuit is devised in the floor power supply device of mooring electric power system, the 220V source of AC provided outside utilizes the bridge rectifier in power factor correction module (PFC) and boost booster circuit to be transformed to the HVDC of 360V, is input in the wire of light-duty photoelectric comprehensive heaving pile after filtering.Photoelectric comprehensive heaving pile uses the wire of two cross sections about 0.2 square millimeter can continuous transmission 3A(peak value 6A) electric current.The power conversion module of carrying on board the aircraft by HVDC step-down and voltage stabilizing export, after filtering, connect output with emergency battery, the direct supply of the 25V needed for aircraft and mission payload be provided.
In surface power supply part, power factor correction module can adopt general PFC power module, and efficiency is 94%, 360V direct current maximum current output is 6A(horsepower output 2160W).
As one of them embodiment, described heaving pile is a photoelectric comprehensive heaving pile, and described photoelectric comprehensive heaving pile comprises cable core and sheath, and it is outer that described sheath is wrapped in described cable core, and described cable core is by 2 conductor wire, 2 optical fiber and aramid fiber is stranded forms.
Referring to Fig. 3, is the structural representation of photoelectric comprehensive heaving pile.Photoelectric comprehensive heaving pile can by 2 cross-sectional area of conductor 0.2 ~ 0.4mm 2electric wire, 2 B1.1 single mode tightly packaged fibers and aramid fiber is stranded forms, cable core outer bale breaking polyethylene, polyvinylchloride or polytetrafluoroethylsheath sheath.Heaving pile can bear 100N pulling force, and conductor DC resistance is not more than 0.094 Ω/m, and withstand voltage 1000V between insulated wire cores, weight is about 11g/m.
As one of them embodiment, described mooring supply unit also comprises emergency battery, and described emergency battery is connected described second filter circuit in the mode of the DC output end parallel connection with described mooring supply unit.
For four rotor unmanned aircrafts, power conversion module instead of the battery compartment of former free flight four rotor unmanned aircraft, step-down/mu balanced circuit wherein can adopt two pieces of general 800W high power D C/DC Voltage stabilizing module parallel connection uses, gross horsepower 1600W, efficiency can reach more than 90%, and input voltage applicable area is 200V ~ 400V.In airborne power supply conversion module, also retain the lithium cell of a low capacity, for surface power supply meet accident interruption or mooring electric power system break down time provide electric energy to aircraft, ensure that aircraft has time enough safe falling to go back to ground.Meanwhile, the emergency battery being connected to power conversion module mouth also has the phase same-action of Large Copacity energy-storage capacitor, can provide high moment horsepower output, can reach more than 1000W in aircraft landing, attitude significantly adjustment process.During normal work, the electric energy that mooring electric power system utilizes ground to provide charges for emergency battery, keeps battery to be in full capacity state.Be not more than 10 minutes because aircraft highly returns ground required time from 300 meters, so the capacity of emergency battery only has former free flight four rotor unmanned aircraft to carry about 1/3rd of capacity of cell, weight is about 600g.Whole power conversion module is not more than 1.2kg together with the structural housing total weight being attached with 100W radiating gill.
If be 700W by the average power needed for the normal stagnant sky flight of aircraft, mission payload power consumption is pressed 50W and is calculated, and airborne power supply conversion module average powr output is 750W, and can obtain airborne power supply conversion module horsepower input by conversion efficiency 90% is 833W; By the minimum input voltage 200V of power conversion module, can obtain maximum received current is 4.165A; According to heaving pile single wire electrical resistivity 0.094 Ω/m, and surface power supply output voltage 360V, the maximum bond cable length that can calculate electric power system permission is (360V-200V) ÷ (0.094 Ω/m × 4.165A × 2)=204.3m.
Suppose former free flight quadrotor carry heavily about 1.8kg lithium cell after capacity weight 2.5kg, after changing 1.8kg battery into 1.2kg power conversion module, capacity weight rises to 3.1kg.Capacity weight comprises mission payload weight and heaving pile weight used from aircraft to ground.Can draw carried bond cable length under different task load weight condition if heaving pile unit weight is 11g/m, maximum delay height is as table 1.
Maximum delay height under table 1 different task load weight condition
Mission payload weight (kg) 2.5 2.0 1.5 1.0 0.9
Heaving pile weight (kg) can be carried 0.6 1.1 1.6 2.1 2.2
Maximum delay height (m) 55 100 145 191 200
As one of them embodiment, described many rotor unmanned aircrafts also comprise mooring communicator, described heaving pile also comprises the communications cable, and described ground installation also comprises terrestrial communication device, and described mooring communicator connects described terrestrial communication device by the communications cable in described heaving pile.
As one of them embodiment, the described communications cable is made up of two optical fiber be included in described heaving pile, and the two ends of described two optical fiber are connected with described mooring communicator and described terrestrial communication device respectively.
As one of them embodiment, described terrestrial communication device comprises the first photoelectric conversion device, described mooring communicator comprises the second photoelectric conversion device, and the two ends of two optical fiber are connected with described first photoelectric conversion device and described second photoelectric conversion device respectively.
As one of them embodiment, described first photoelectric conversion device and described second photoelectric conversion device are ethernet optical fiber transceiver or bearing optical fiber RF receiving and transmission module.
The function of mooring communication system is for providing wide-band-message transmission path between wayside equipment and aircraft and mission payload.Referring to Fig. 4, is mooring communication system architecture schematic diagram, and mooring communication system comprises two photoelectric conversion devices, two optical fiber (being contained in light-duty photoelectric comprehensive heaving pile).One of them photoelectric conversion device is placed in wayside equipment, and another photoelectric conversion device is positioned in aircraft mission payload.
Photoelectric conversion device in mooring communication system can be ethernet optical fiber transceiver also can be bearing optical fiber RF receiving and transmission module (ROF module).
If use ethernet optical fiber transceiver as photoelectric conversion device, can set up a Fast Ethernet data transmission channel by the optical fiber in heaving pile between wayside equipment and aircraft and mission payload, transfer rate can from 10Mbps to 1000Mbps.Now whole mooring communication system regards a netting twine as.Fly the customer data (as the multimedia messages such as image, audio frequency) of control information and mission payload generation all by this channel transfer.
If use bearing optical fiber RF receiving and transmission module (ROF module) as photoelectric conversion device, two radio-frequency transmission channels can be set up between wayside equipment and aircraft and mission payload by the optical fiber in heaving pile, radio frequency bandwidth can reach 25MHz ~ 3GHz, even higher.Now whole mooring communication system regards the radio frequency coaxial-cable that two Insertion Loss are very little as.Some wireless communication system antenna and radio-frequency front-end can be installed on board the aircraft as mission payload in this way, be connected with the radio frequency interface of ground communications equipment by optical fiber and ROF module, realize the significantly rising of wireless communication system antenna, significantly expand the coverage of wireless communication system.This antenna raises technology and has very wide application prospect in tactical communication field.In addition, the control information that flies needed for aircraft also can be modulated on the radio frequency of different frequency range, by this channel transfer after merging with the radiofrequency signal of radio communication.
As one of them embodiment, the rotor quantity of described many rotor unmanned aircrafts is four rotors, five rotors, six rotors, eight rotors or more.
Can not ferry optics comunication be adopted and adopt wire cable signalling methods or communication realize between aircraft with ground flying control communicate or user data transmission.
Fly control navigator fix mode and can adopt big-dipper satellite or other navigator fix means.
Surface power supply part can adopt DC supply to export high pressure to heaving pile through Switching Power Supply boosting; Also be transferred to airborne power supply module by heaving pile after voltage transformer can be used directly to be raised by alternating-current voltage/AC voltage and carry out rectification and step-down again.
Photoelectric conversion device in mooring communication system may also be the transfer device of optical signal to other electric signal, if light is to RS232/RS485, light to the transfer device etc. of vision signal.
Compared with general technology, the present invention's many rotor unmanned aircrafts mooring system has the features such as structure is simple, reliability is high, hovering is stable, easy to use and with low cost, mooring mode is applied on many rotor unmanned aircrafts, solves tethered platform ubiquitous problem in stability, erection comfort feature, use alerting ability and use cost etc.Further, by the power transmission cable in heaving pile, ground power supply is powered to tethered platform continuously, greatly extend the hang time of aircraft.
Further, the tethered platforms such as the present invention and captive balloon apply at present and kite balloon airship are compared, and heaving pile does not need to bear the effect of drawing mooring.And in current tethered platform, heaving pile needs to bear this effect usually, namely downward pulling force is provided to keep stable height and position to make it to tethered platform.In the present invention, owing to have employed lightweight heaving pile, therefore heaving pile can be in the state of naturally drooping, and the flying power of tethered platform and self-stabilization all rely on many rotor unmanned aircrafts self to realize.Even if aircraft aloft time heaving pile to meet accident fracture, system will automatically switch to airborne emergency battery and power, and ensure that aircraft steadily returns to ground safely.
As one of them preferred embodiment, four rotor unmanned aircrafts can be adopted as tethered platform, four screw propellers of four rotor unmanned aircraft tethered platforms are symmetrically distributed in aircraft periphery, and the center of gravity of aircraft is positioned at central body position.Below body center, freely a sagging heaving pile neither affects aircraft power air-flow, also can not affect the pose adjustment of aircraft self, and makes the decentralization of aircraft due to the deadweight of heaving pile, contributes to the stagnant empty stability improving aircraft.
The gesture stability mechanism of four rotor unmanned aircraft tethered platforms keeps completely the same with former free flight four rotor unmanned aircraft, is namely completed by the flight control system that aircraft is self-contained, does not rely on the traction of heaving pile to adjust and maintain stable.
The present invention adopts wall scroll heaving pile, solves existing duct pending flight device many heaving piles and draws erection inconvenience, the stability brought and be subject to impact that heaving pile pulls, the stagnant sky of aircraft towards many defects such as adjustment are inconvenient.
The mission payload of four rotor unmanned aircraft tethered platforms is equipped on the central lower position of body, as long as ensure that center of gravity does not depart from body center's axle too far, without the need to carrying out special counterbalance design.And substantially unobstructed around this carry position, be convenient to place the mission payload such as pick up camera, antenna.
In mooring electric power system, devise emergency battery scheme, solve the safety issue that prior art causes when surface power supply interruption or mooring power supply trouble.
In the present invention, heaving pile is not used in the traction of aircraft, and the intensity of heaving pile only needs gravity and the ambient wind that can bear self overhang, thus devises a kind of light-duty photoelectric comprehensive heaving pile.This light-duty photoelectric comprehensive heaving pile includes two wires and two optical fiber, and unit weight is about 11g/m only.The lightweight of heaving pile greatly can alleviate the load of pending flight device, is convenient to the miniaturization realizing mooring unmanned aerial vehicle platform, also reserves load-carrying surplus for carrying more multiplexing Mux.
The present invention devises a kind of high-power mooring power supply plan being applicable to light-duty heaving pile.Program structure is simple, lightweight, is convenient to small-sized unmanned aircraft and carries.Actual test through accumulative hundreds of hours shows, system works is reliable and stable.
The present invention devises a kind of ferry optics comunication scheme, solves aircraft and terrestrial transmission bandwidth problem.The Broadband emission passage set up by optical fiber, can realize the passback of aerial high clear video image easily; Also can set up the antenna rising that ROF system realizes wireless communication system, expand communication coverage.
A whole set of four rotor unmanned aircraft tethered platforms can put into about 1 meter of cube of Portable packing box, together can be loaded in a miniature cross-country car with gen-set.Launch place and be no more than 30 × 30 square meters, launch/remove between the time receiving, to be no more than 20 minutes.Therefore system has good maneuvering performance.
Four rotor unmanned aircraft costs are lower, stable performance, easy to use, can be used for performing the multiple air taskings such as Data acquisition, coordinative command, search, measurement, communication, detection, investigation.Have larger mission payload, stronger wind loading rating, outstanding gesture stability ability.Four rotor unmanned aircrafts of current comparative maturity adopt full carbon fiber airframe structure, be provided with and fly to control navigation circuit card, 4 brushless motors, GPS/INS navigationsystem in conjunction with three dimensional magnetometer, support 2.0BCAN bus, support full automaticity navigation flight at controls.Maximum take-off weight can reach 6kg.Four rotor unmanned aircraft moorings power and communication system no matter civilian or military aspect all has very considerable application prospect.
The above embodiment only have expressed several embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.

Claims (8)

1. the mooring system of rotor unmanned aircraft more than, is characterized in that, comprise as many rotor unmanned aircrafts of tethered platform, wall scroll heaving pile and ground installation, described heaving pile connects described many rotor unmanned aircrafts and described ground installation; Described many rotor unmanned aircrafts comprise mooring supply unit, and described heaving pile comprises power transmission cable, and described ground installation comprises floor power supply device, and described mooring supply unit connects described floor power supply device by the power transmission cable in described heaving pile; Described floor power supply device also comprises the bridge rectifier circuit, boost booster circuit and the first filter circuit that connect successively, and described bridge rectifier circuit connects the ac input end of described floor power supply device, and described first filter circuit connects described power transmission cable;
Described mooring supply unit comprises interconnective step-down/mu balanced circuit and the second filter circuit, and described step-down/mu balanced circuit connects described power transmission cable, and described second filter circuit connects the DC output end of described mooring supply unit; Described mooring supply unit also comprises emergency battery, described emergency battery is connected described second filter circuit in the mode of the DC output end parallel connection with described mooring supply unit, wherein said emergency battery is used for when floor power supply device or mooring supply unit break down, and provides the electric energy on safe falling ground to many rotor unmanned aircrafts.
2. many rotor unmanned aircrafts mooring system according to claim 1, it is characterized in that, described many rotor unmanned aircrafts also comprise mooring communicator, described heaving pile also comprises the communications cable, described ground installation also comprises terrestrial communication device, and described mooring communicator connects described terrestrial communication device by the communications cable in described heaving pile.
3. many rotor unmanned aircrafts mooring system according to claim 1, it is characterized in that, described power transmission cable is made up of two wires be included in described heaving pile, and the two ends of two wires are connected with described mooring supply unit and described floor power supply device respectively.
4. many rotor unmanned aircrafts mooring system according to claim 2, it is characterized in that, the described communications cable is made up of two optical fiber be included in described heaving pile, and the two ends of described two optical fiber are connected with described mooring communicator and described terrestrial communication device respectively.
5. many rotor unmanned aircrafts mooring system according to any one of claim 1 to 4, it is characterized in that, described heaving pile is a photoelectric comprehensive heaving pile, described photoelectric comprehensive heaving pile comprises cable core and sheath, it is outer that described sheath is wrapped in described cable core, and described cable core is by 2 conductor wire, 2 optical fiber and aramid fiber is stranded forms.
6. many rotor unmanned aircrafts mooring system according to claim 1, is characterized in that, the rotor quantity of described many rotor unmanned aircrafts is four rotors, six rotors, eight rotors or 16 rotors.
7. many rotor unmanned aircrafts mooring system according to claim 4, it is characterized in that, described terrestrial communication device comprises the first photoelectric conversion device, described mooring communicator comprises the second photoelectric conversion device, and the two ends of two optical fiber are connected with described first photoelectric conversion device and described second photoelectric conversion device respectively.
8. many rotor unmanned aircrafts mooring system according to claim 7, is characterized in that, described first photoelectric conversion device and described second photoelectric conversion device are ethernet optical fiber transceiver or bearing optical fiber RF receiving and transmission module.
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