CN104784852B - A kind of computational methods of the compressed-air foam intelligent cannon jet angle of pitch - Google Patents

A kind of computational methods of the compressed-air foam intelligent cannon jet angle of pitch Download PDF

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CN104784852B
CN104784852B CN201510188460.6A CN201510188460A CN104784852B CN 104784852 B CN104784852 B CN 104784852B CN 201510188460 A CN201510188460 A CN 201510188460A CN 104784852 B CN104784852 B CN 104784852B
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air foam
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CN104784852A (en
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胡成
陈涛
傅学成
张宪忠
包志明
夏建军
靖立帅
王荣基
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Tianjin Institute of Fire Protection, Ministry of Emergency Management
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Tianjin Fire Fighting Institute Ministry of Public Security
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    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C31/00—Delivery of fire-extinguishing material

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Abstract

The invention discloses a kind of computational methods of the compressed-air foam intelligent cannon jet angle of pitch.Automatic monitoring surrounding fire condition after compressed-air foam intelligent cannon installation, when fire occurs, gun muzzle alignment burning things which may cause a fire disaster completes fire location positioning, control system feedback obtains the burning things which may cause a fire disaster orientation angle of now gun barrel, then the angle of pitch needed for compressed-air foam jet is ejected into burning things which may cause a fire disaster point is calculated according to computational methods, finally controls servomotor to complete the adjustment of gun barrel angle.The present invention breach this complex fluid of compressed-air foam from motion tracking, pinpoint technical bottleneck, compressed air foam extinguishing technology is realized to automation, the development of intelligent direction, the novel fire extinguishing equipment with the function " from motion tracking, precision strike, quick extinguishing " can be provided for the typical case such as vcehicular tunnel, garage, hangar place.The computational methods are easy and effective, and data calculation complexity is relatively low, can in real time be completed to calculate by the control system of compressed-air foam intelligent cannon.

Description

A kind of computational methods of the compressed-air foam intelligent cannon jet angle of pitch
Technical field
The present invention relates to automatic fire extinguishing technology, and in particular to a kind of calculating of the compressed-air foam intelligent cannon jet angle of pitch Method.
Background technology
What intelligent fire big gun was directed to the large space high such as stadiums, conference and exhibition center, bulk storage plant and specially developed A kind of automatic fire extinguisher, its operation principle is：Burning things which may cause a fire disaster is detected automatically by auto fire-detection alignment system and is carried out Positioning, the attitude of fire monitor is automatically adjusted according to location data, so it is accurate sprayed to burning things which may cause a fire disaster, reach that " precision strike is quickly gone out The target of fire ".Existing intelligent fire big gun in the market, is all, with water as firing-fighting medium, therefore to be also called Intelligent Monitor Or homing vector fire water monitor, it is the place of A classes fire that this kind of intelligent cannon is mainly used in fire type, and for vcehicular tunnel, vapour There is the typical place of B classes fire, A classes fire and AB classes mixing fire in garage, hangar etc., then be difficult to meet actual fire attack demand.
Compressed air foam extinguishing technology is a kind of new and effective fire-fighting technique, and it will be a certain proportion of using malleation mode Compressed air (or nitrogen) is injected into foam solution, and compressed-air foam is formed after being sufficiently mixed, and is conveyed by pipeline, Compressed air foam release device carries out injection release again.Compared with traditional negative pressure air suction type foam, compressed-air foam tool There are the outstanding features such as uniform foam, good stability, fire extinguishing effectiveness is high, A classes of suitably putting out a fire to save life and property fire, B classes fire, AB classes mixing fire, therefore Possess the advantage and potentiality for solving the typical place fire attack technical barrier such as vcehicular tunnel, garage, hangar.But, at present Compressed air foam extinguishing technology is mainly used on movable air compression foam truck, compressed-air foam release device Mainly include Fire branch and fire monitor, mode of operation is manual, i.e., carry out foam release and fire extinguishing by manual control, be there is no at present Compressed-air foam intelligent cannon automatic fire extinguisher.
The compressed-air foam of biphase gas and liquid flow is entirely different with the water of single-phase flow.Compressed-air foam is one kind by slightly soluble Property or insoluble gas be scattered in the dispersion formed in liquid, and be a thermodynamic unstable system, its density Change with the change of pressure, this results in the jet path of the skyborne jet path of compressed-air foam and water completely not Together.The automatic method for tracking and positioning of existing Intelligent Monitor is not suitable for compressed-air foam intelligent cannon.In order to develop compression Air foam intelligent cannon, it is ensured that compressed-air foam jet can exactly be ejected into burning things which may cause a fire disaster point, needs a kind of compression of foundation badly empty The computational methods of the gas foam jet angle of pitch.
The content of the invention
In view of the shortcomings of the prior art, the invention provides a kind of compressed-air foam intelligent cannon jet angle of pitch Computational methods.After compressed-air foam intelligent cannon installation, automatic monitoring surrounding fire condition, when fire occurs, gun muzzle Alignment burning things which may cause a fire disaster completes fire location positioning, and control system feedback obtains the burning things which may cause a fire disaster orientation angle of now gun barrel, then bowed according to jet Elevation angle computational methods calculate the angle of pitch needed for compressed-air foam jet is ejected into burning things which may cause a fire disaster point, finally control servomotor Complete the adjustment of gun barrel angle.
To achieve these goals, the technical solution used in the present invention is：A kind of compressed-air foam intelligent cannon jet The computational methods of the angle of pitch, it is characterised in that the computational methods have the following steps：
Step one, Initial parameter sets
1. allows gun muzzle to be grouped into zero-bit after compressed-air foam intelligent cannon installation, and manual measurement gun muzzle arrives ground Setting height(from bottom), is designated as H, and unit is rice；
2. measures now gun barrel and the absolute angle of horizontal plane by angulometer, is designated as α, and unit is degree, when gun barrel is higher than During horizontal plane, α is negative value, when gun barrel be less than horizontal plane when, α be on the occasion of；
3. compressed-air foams generation device sets foams mix ratio, water-carrying capacity QWater, air mass flow QGas；
4. is by the setting height(from bottom) H of gun muzzle to ground, absolute angle α, water-carrying capacity QWaterWith air mass flow QGasIt is input into initial boundary Face, initiation parameter；
The calculating of the step 2 compressed-air foams intelligent cannon jet angle of pitch and adjustment angle needed for gun muzzle
1. calculates the initial velocity V of compressed-air foam jet according to below equation0With coefficient of air resistance K：
Compressed-air foam liquid phase part presses the physical characteristic value of water,
Compressed-air foam gas liquid ratio：
In formula (1)：λ is dimensionless group；Water-carrying capacity QWaterUnit is L/min；Air mass flow QGasUnit is m3/h；
Compressed-air foam mass gas content rate：
In formula (2)：ε is dimensionless group；ρGasIt is atmospheric density, unit is kg/m3；ρWaterIt is water density, unit is kg/m3；
According to formula
Draw compressed-air foam average power viscosity
In formula (3)：Compressed-air foam average power viscosityUnit is Pas；μGasIt is air force viscosity, unit is Pa·s；μWaterIt is hydrodynamic force viscosity, unit is Pas；
Compressed-air foam averag density：
In formula (4)：Compressed-air foam averag densityUnit is kg/m3；
Compressed-air foam jet initial velocity：
In formula (5)：V0Unit is m/s；D is gun muzzle caliber, and unit is m；
Reynolds number：
In formula (6)：ReIt is dimensionless group；
The coefficient of air resistance of compressed-air foam jet：
In formula (7)：K is dimensionless group；
2. when gun muzzle is directed at burning things which may cause a fire disaster point P, control system feedback obtains the burning things which may cause a fire disaster orientation angle β of now gun muzzle to, according to formula R=alpha+betas and formula X=H/tan (r) calculate the horizontal range X of true burning things which may cause a fire disaster orientation angle r and burning things which may cause a fire disaster point P apart from gun muzzle of gun muzzle；
3. solves variable ω according to compressed-air foam jet path equation using Newton iteration method, and iterative initial value is ω =1.1, iteration ends precision is 10-6, its equation of locus f (ω) and single order derived function df (ω) are：
In formula (8)：Burning things which may cause a fire disaster point is m apart from the horizontal range X unit of gun muzzle；G is acceleration of gravity；
4. whether judgment variables ω restrains, the output variable ω if convergence, performs next step；If do not restrained, output Burning things which may cause a fire disaster point distance exceeds radius of protection；
5. is according to formula θ=arccos (ω) and formula θad=θ-r calculate compressed-air foam intelligent cannon jet and bow Adjustment angle θ required for elevation angle theta and gun muzzlead。
Beneficial effects of the present invention show：
(1) the compressed-air foam intelligent cannon jet set up on the basis of lot of experiments and numerical Analysis is bowed Elevation angle computational methods, breach this complex fluid of compressed-air foam from motion tracking, pinpoint technical bottleneck, realize Compressed air foam extinguishing technology, to automation, the development of intelligent direction, can be the allusion quotations such as vcehicular tunnel, garage, hangar Type place provides the novel fire extinguishing equipment with the function " from motion tracking, precision strike, quick extinguishing ".
(2) after compressed-air foam intelligent cannon installation, only need to carry out once initial ginseng according to place operating mode on the spot Several settings.When fire occurs, gun muzzle alignment burning things which may cause a fire disaster completes fire location positioning, then according to jet angle of pitch computational methods The angle of pitch needed for compressed-air foam jet is ejected into burning things which may cause a fire disaster point is calculated, finally controls servomotor to complete gun barrel angle Adjustment.
(3) after the positioning that compressed-air foam intelligent cannon completes to burning things which may cause a fire disaster, the compression for different flow, gas liquid ratio is empty Gas foam can realize calculating automatically the required angle of the jet angle of pitch and gun muzzle adjustment of compressed-air foam, adjust automatically Gun muzzle, it is ensured that the end of compressed-air foam jet is accurately hit in burning things which may cause a fire disaster point.
(4) computational methods are easy and effective, and data calculation complexity is relatively low, can be by the control of compressed-air foam intelligent cannon System processed completes to calculate in real time.
Brief description of the drawings
Fig. 1 is compressed-air foam intelligent cannon burning things which may cause a fire disaster orientation angle and jet angle of pitch relation schematic diagram；
Fig. 2 is the Initial parameter sets operational flowchart of compressed-air foam intelligent cannon；
The calculation flow chart of Fig. 3 adjustment angles for needed for the compressed-air foam intelligent cannon jet angle of pitch and gun muzzle；
Fig. 4 is compressed-air foam jet angle of pitch calculated value and actual value comparison diagram.
In figure：- -expression actual value；- zero-represent calculated value.
Specific embodiment
Understand for the ease of professional and technical personnel in the field, do further detailed annotation to the present invention below in conjunction with the accompanying drawings.
After compressed-air foam intelligent cannon installation, automatic monitoring surrounding fire condition, when fire occurs, gun muzzle pair Quasi- burning things which may cause a fire disaster completes fire location positioning, and control system feedback obtains the burning things which may cause a fire disaster orientation angle of now gun barrel, then according to jet pitching Angle computational methods calculate the angle of pitch needed for compressed-air foam jet is ejected into burning things which may cause a fire disaster point, finally control servomotor complete Into the adjustment of gun barrel angle.
A kind of compressed-air foam intelligent cannon jet angle of pitch computational methods are comprised the following steps that：
Step one, Initial parameter sets --- referring to Figures 1 and 2：
1. allows gun muzzle to be grouped into zero-bit after compressed-air foam intelligent cannon installation, and manual measurement gun muzzle arrives ground Setting height(from bottom), is designated as H, and unit is rice.
2. measures now gun barrel and the absolute angle of horizontal plane by angulometer, is designated as α, and unit is degree, when gun barrel is higher than During horizontal plane, α is negative value, when gun barrel be less than horizontal plane when, α be on the occasion of.
3. compressed-air foams generation device sets foams mix ratio, water-carrying capacity QWater, air mass flow QGas.For example：Use Fire foam is class A foam, and foam proportioner is set as 1%, water-carrying capacity QWater=400L/min, air mass flow QGas= 210m3/h.Open system is fired for adjustment, after air foam jet stability to be compressed, is collected foam and is determined foaming properties, is met Coefficient of foaming is between 10~15 times.
4. is by the setting height(from bottom) H of gun muzzle to ground, absolute angle α, water-carrying capacity QWaterWith air mass flow QGasIt is input into initial boundary Face, initiation parameter.
Calculating --- the reference of the step 2 compressed-air foams intelligent cannon jet angle of pitch and adjustment angle needed for gun muzzle Fig. 1 and Fig. 3：
1. calculates the initial velocity V of compressed-air foam jet according to below equation0With coefficient of air resistance K：
Compressed-air foam liquid phase part presses the physical characteristic value of water,
Compressed-air foam gas liquid ratio：
In formula (1)：λ is dimensionless group；Water-carrying capacity QWaterUnit is L/min；Air mass flow QGasUnit is m3/h；
Compressed-air foam mass gas content rate：
In formula (2)：ε is dimensionless group；ρGasIt is atmospheric density, unit is kg/m3；ρWaterIt is water density, unit is kg/m3；
According to formula
Draw compressed-air foam average power viscosity
In formula (3)：Compressed-air foam average power viscosityUnit is Pas；μGasIt is air force viscosity, unit is Pa·s；μWaterIt is hydrodynamic force viscosity, unit is Pas；
Compressed-air foam averag density：
In formula (4)：Compressed-air foam averag densityUnit is kg/m3；
Compressed-air foam jet initial velocity：
In formula (5)：V0Unit is m/s；D is gun muzzle caliber, and unit is m；
Reynolds number：
In formula (6)：ReIt is dimensionless group；
The coefficient of air resistance of compressed-air foam jet：
In formula (7)：K is dimensionless group.
2. when gun muzzle is directed at burning things which may cause a fire disaster point P, control system feedback obtains the burning things which may cause a fire disaster orientation angle β of now gun muzzle to, according to formula R=alpha+betas and formula X=H/tan (r) calculate the horizontal range X of true burning things which may cause a fire disaster orientation angle r and burning things which may cause a fire disaster point P apart from gun muzzle of gun muzzle；
3. solves variable ω according to compressed-air foam jet path equation using Newton iteration method, and iterative initial value is ω =1.1, iteration ends precision is 10-6, its equation of locus f (ω) and single order derived function df (ω) are：
In formula (8)：Burning things which may cause a fire disaster point is m apart from the horizontal range X unit of gun muzzle；G is acceleration of gravity；
4. whether judgment variables ω restrains, the output variable ω if convergence, performs next step；If do not restrained, output Burning things which may cause a fire disaster point distance exceeds radius of protection；
5. is according to formula θ=arccos (ω) and formula θad=θ-r calculate compressed-air foam intelligent cannon jet and bow Adjustment angle θ required for elevation angle theta and gun muzzlead。
Finally export gun muzzle adjustment angle θad, control system control servomotor carry out angle adjustment so that compressed air Foam can accurately be ejected into burning things which may cause a fire disaster point P.
Compressed-air foam jet path equation is gained knowledge according to compressed-air foam homogeneous model and particle movement The compressed-air foam jet path Mathematical Modeling for pushing over out, on the basis of lot of experiments carrying out parameters revision obtains 's.
Reference picture 4, ordinate θ represents the compressed-air foam intelligent cannon jet angle of pitch in figure；X represents burning things which may cause a fire disaster point P distances The horizontal range of gun muzzle, contrast actual experimental results and the jet angle of pitch calculated using the present invention, error very little, it was demonstrated that Computational methods of the invention are accurately reliable.

Claims (1)

1. a kind of computational methods of the compressed-air foam intelligent cannon jet angle of pitch, it is characterised in that the computational methods just like Lower step：
Step one, Initial parameter sets
1. allows gun muzzle to be grouped into zero-bit, the installation of manual measurement gun muzzle to ground after compressed-air foam intelligent cannon installation Highly, H is designated as, unit is rice；
2. measures now gun barrel and the absolute angle of horizontal plane by angulometer, is designated as α, and unit is degree, when gun barrel is higher than level During face, α is negative value, when gun barrel be less than horizontal plane when, α be on the occasion of；
3. sets compressed-air foam generation device foams mix ratio, water-carrying capacity QWater, air mass flow QGas；
4. is by the setting height(from bottom) H of gun muzzle to ground, absolute angle α, water-carrying capacity QWaterWith air mass flow QGasInput initial interface, just Beginningization parameter；
The calculating of the step 2 compressed-air foams intelligent cannon jet angle of pitch and adjustment angle needed for gun muzzle
1. calculates the initial velocity V of compressed-air foam jet according to below equation0With coefficient of air resistance K：
Compressed-air foam liquid phase part presses the physical characteristic value of water,
Compressed-air foam gas liquid ratio：
In formula (1)：λ is dimensionless group；Water-carrying capacity QWaterUnit is L/min；Air mass flow QGasUnit is m3/h；
Compressed-air foam mass gas content rate：
In formula (2)：ε is dimensionless group；ρGasIt is atmospheric density, unit is kg/m3；ρWaterIt is water density, unit is kg/m3；
According to formula
Draw compressed-air foam average power viscosity
In formula (3)：Compressed-air foam average power viscosityUnit is Pas；μGasIt is air force viscosity, unit is Pa s；μWaterIt is hydrodynamic force viscosity, unit is Pas；
Compressed-air foam averag density：
In formula (4)：Compressed-air foam averag densityUnit is kg/m3；
Compressed-air foam jet initial velocity：
In formula (5)：V0Unit is m/s；D is gun muzzle caliber, and unit is m；
Reynolds number：
In formula (6)：ReIt is dimensionless group；
The coefficient of air resistance of compressed-air foam jet：
In formula (7)：K is dimensionless group；
2. when gun muzzle is directed at burning things which may cause a fire disaster point P, control system feedback obtains the burning things which may cause a fire disaster orientation angle β of now gun muzzle to, according to formula r=α + β and formula X=H/tan (r) calculate the horizontal range X of true burning things which may cause a fire disaster orientation angle r and burning things which may cause a fire disaster point P apart from gun muzzle of gun muzzle；
3. is according to compressed-air foam jet path equation, and variable ω is solved using Newton iteration method, iterative initial value be ω= 1.1, iteration ends precision is 10-6, its equation of locus f (ω) and single order derived function df (ω) are：
f ( ω ) = Hω 3 - 1.356 X 1 - ω 2 ω 2 + 0.271 gX 2 V 0 2 ω - 4.787 gKX 3 V 0 3 - - - ( 8 )
In formula (8)：Burning things which may cause a fire disaster point is m apart from the horizontal range X unit of gun muzzle；G is acceleration of gravity；
d f ( ω ) = 3 Hω 2 + 1.356 Xω 3 1 - ω 2 - 2.712 X 1 - ω 2 ω + 0.271 gX 2 V 0 2 - - - ( 9 )
4. whether judgment variables ω restrains, the output variable ω if convergence, performs next step；If do not restrained, burning things which may cause a fire disaster is exported Point distance exceeds radius of protection；
5. is according to formula θ=arccos (ω) and formula θad=θ-r calculate compressed-air foam intelligent cannon jet pitching angle theta And the adjustment angle θ required for gun muzzlead。
CN201510188460.6A 2015-04-20 2015-04-20 A kind of computational methods of the compressed-air foam intelligent cannon jet angle of pitch Active CN104784852B (en)

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CN111054004A (en) * 2019-12-11 2020-04-24 中国科学技术大学 Automatic control method for spraying of elevating fire truck
CN111494847B (en) * 2020-04-28 2021-07-13 山东交通学院 Safe and accurate fire extinguishing method based on intelligent fire extinguishing robot

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CN101332345A (en) * 2008-07-25 2008-12-31 合肥科大立安安全技术有限责任公司 Tail type automatic fire defense gun and automatic addressing and positioning method
CN101574566A (en) * 2009-06-08 2009-11-11 南京航空航天大学 Monocular vision technique based fire monitor control method for adjusting relative positions of fire point and water-drop point
CN101814133A (en) * 2009-12-04 2010-08-25 四川川大智胜软件股份有限公司 Intelligent flame detector based on computer vision monitoring technology
CN102423529A (en) * 2011-12-19 2012-04-25 西安瑞金源能源科技有限责任公司 Wind speed/direction adapting system in automatic-tracking fire extinguishing system
CN103768748A (en) * 2013-12-27 2014-05-07 合肥科大立安安全技术股份有限公司 Method for calculating jet-flow pitch angle of automatically-tracked-positioned jet-flow extinguishing device

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Publication number Priority date Publication date Assignee Title
CN101332345A (en) * 2008-07-25 2008-12-31 合肥科大立安安全技术有限责任公司 Tail type automatic fire defense gun and automatic addressing and positioning method
CN101574566A (en) * 2009-06-08 2009-11-11 南京航空航天大学 Monocular vision technique based fire monitor control method for adjusting relative positions of fire point and water-drop point
CN101814133A (en) * 2009-12-04 2010-08-25 四川川大智胜软件股份有限公司 Intelligent flame detector based on computer vision monitoring technology
CN102423529A (en) * 2011-12-19 2012-04-25 西安瑞金源能源科技有限责任公司 Wind speed/direction adapting system in automatic-tracking fire extinguishing system
CN103768748A (en) * 2013-12-27 2014-05-07 合肥科大立安安全技术股份有限公司 Method for calculating jet-flow pitch angle of automatically-tracked-positioned jet-flow extinguishing device

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