CN106081048A - A kind of control method of dirigible buoyancy lift-off - Google Patents
A kind of control method of dirigible buoyancy lift-off Download PDFInfo
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- CN106081048A CN106081048A CN201610697646.9A CN201610697646A CN106081048A CN 106081048 A CN106081048 A CN 106081048A CN 201610697646 A CN201610697646 A CN 201610697646A CN 106081048 A CN106081048 A CN 106081048A
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- Prior art keywords
- dirigible
- lift
- gas
- speed
- buoyancy
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/58—Arrangements or construction of gas-bags; Filling arrangements
- B64B1/62—Controlling gas pressure, heating, cooling, or discharging gas
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Feedback Control In General (AREA)
Abstract
The invention discloses the control method of a kind of dirigible buoyancy lift-off, dirigible buoyancy lift-off formula is derived, the method proposing on this basis to control dirigible lift-off speed based on the regulation of buoyant gas temperature: first set buoyant gas consumption and dirigible expectation lift-off speed, through and the dirigible that obtains of velocity sensor currently go up to the air velocity amplitude comparison, temperature control module is sent to after difference signal processing and amplifying, temperature control module output corresponding operating instruction, change heater watt level, regulation buoyant gas temperature, and then realize the control to lift-off speed, lift-off velocity sensor is constantly by real-time speed feedback contrast simultaneously, form closed control loop, complete feedback regulation.Compared with prior art, the loss of the method buoyant gas is little, and control variable is reversible, can save dirigible payload space, and improve dirigible lift-off control accuracy and capacity of resisting disturbance.
Description
Technical field
The present invention relates to the automatic control technology of aviation aircraft, relate more specifically to a kind of by regulation buoyant gas temperature
Degree controls the control method that dirigible effectively goes up to the air.
Background technology
Dirigible is a kind of economical and practical aviation aircraft, mainly by huge streamlined hull, be positioned at below hull
Gondola, the tail surface playing stability contorting effect and a few part of propulsion plant composition.It is filled with density less than air in the air bag of hull
Buoyance lift gas (hydrogen or helium), realizes dirigible lift-off so as to producing buoyancy.Gondola is taken for personnel and loads goods.Tail surface is used
Control and go as course, the stablizing of pitching.Dirigible traffic, transport, entertain, relieve the people in stricken areas, movies-making, the aspect such as scientific experiments
There is huge using value.
At present in airship technology is studied, the major way controlling dirigible lift-off is confined to charge and discharge buoyant gas, sheds pressure
Cabin thing etc., by the control of dirigible buoyancy and dirigible weight difference regulates lifting, not only control accuracy is low, and not breakdown
Consumption buoyant gas or ballast so that span of control is limited, and occupy the payload space of preciousness.
Therefore, it is necessary to provide the dirigible lift-off controlling party of a kind of novel made full use of dirigible payload capability
Method, improves the control accuracy of dirigible lift-off.
Summary of the invention
It is an object of the invention to provide a kind of by regulation buoyant gas temperature realize dirigible only with buoyancy lift-off control
Method processed, to improve the control accuracy of dirigible lift-off and to utilize the useful load ability of dirigible more efficiently.
For achieving the above object, the present invention proposes a kind of dirigible buoyancy lift-off control method, for the buoyancy liter of dirigible
Empty problem, according to carat amber dragon state equation, atmospheric temperature T and the statistical formula of height above sea level H, the atmospheric pressure of ideal gas
Dirigible buoyancy lift-off formula is derived by the statistical formula of p and height above sea level H, specifically includes:
1) the carat amber dragon state equation of ideal gas
2) atmospheric temperature T and the statistical formula of height above sea level H
T=288.15-6.5H H≤11km
T=216.65 11km ＜ H≤20km
T=216.65+ (H-20) 20km ＜ H≤32km
3) atmospheric pressure p and the statistical formula of height above sea level H
P=10332.3 × (1-0.0225577H)5.25588 H≤11km
P=558.28 × (1+ (H-20) × 0.00461574)-34.163220km ＜ H≤32km
Deriving dirigible buoyancy lift-off formula is:
Wherein, ρ-gas density, p-gas pressure, M-gas molar quality, T-gas temperature, R-gas constant, mFloating-floating
Strength weight, m0-dirigible gross mass, TEmpty-atmospheric gas temperature, MEmpty-atmospheric gas molal weight, TFloating-buoyant gas temperature,
MFloating-buoyant gas molal weight.
According to above-mentioned formula: at mFloating、MFloating、MEmpty、m0Under the conditions of the most fixed, TFloatingAnd TEmptyDifference increase, then buoyancy gas
The buoyancy that body provides increases the most therewith, and then dirigible obtains bigger acceleration, and its lift-off speed increases, based on buoyant gas temperature
Degree regulation can realize the control of the buoyancy lift-off speed of dirigible, is embodied as comprising the following steps:
Step 1: the factors such as meteorological condition when taking off according to predetermined lift-off height, use requirement and the dirigible of dirigible,
Reasonably set the expectation lift-off speed of dirigible；The consumption of buoyant gas is determined according to dirigible buoyancy lift-off formula.
Step 2: the speed of currently going up to the air during utilizing the velocity sensor being arranged on dirigible to measure dirigible lift-off；
Step 3: contrast obtain dirigible currently go up to the air speed and dirigible expectation lift-off speed between deviation and be converted into difference
Value signal, is sent to temperature control module by difference signal, and temperature control module utilizes dirigible buoyancy lift-off formula to calculate according to difference signal
Required heating power size, and issue operational order to buoyant gas heater；
Step 4: buoyant gas heater response operational order, changes buoyancy gas by increasing or reducing heating power
Temperature, controls dirigible with this and currently goes up to the air the change of speed；
Step 5: utilize velocity sensor measure the current lift-off speed of dirigible in real time and feed back contrast, form closed loop control
Loop, completes feedback regulation.
Compared with prior art, the control method of the present invention is by regulating buoyant gas temperature control realization merely with floating
Power carries out dirigible and rises the control of null process, has the advantage that
1, controlling dirigible by regulation buoyant gas temperature effectively to go up to the air, the loss of buoyant gas is little, the lift-off of dirigible
Speed control range is big, and control variable is reversible, can substantially increase the time in sky of dirigible；
2, with respect to charge and discharge buoyant gas, the method that ballast etc. controls dirigible lift-off is shed, it is to avoid unnecessary
Buoyant gas and the setting of ballast, save the payload space of dirigible；
3, by using dirigible lift-off negative velocity feedback closed-loop control system, improve automatization's journey that dirigible lift-off controls
Degree and precision.
By description below and combine accompanying drawing, the present invention will become more fully apparent, and accompanying drawing is for explaining the reality of the present invention
Execute example.
Accompanying drawing explanation
Fig. 1 is dirigible buoyancy of the present invention lift-off control flow chart.
Detailed description of the invention
With reference now to accompanying drawing, embodiments of the invention are described.
Refer to Fig. 1, one dirigible buoyancy of the present invention lift-off control method, specifically include following steps:
Step 1: the factors such as meteorological condition when taking off according to predetermined lift-off height, use requirement and the dirigible of dirigible,
Set one and reasonably expect lift-off velocity amplitude v0, be converted to voltage signal U0, set initial buoyant gas temperature TFloatingAnd TEmptyIt is equal,
Buoyant gas consumption m is determined according to dirigible buoyancy lift-off formulaFloating。
Step 2: utilize the lift-off velocity sensor being arranged on dirigible directly to measure the speed v of currently going up to the air of dirigiblet,
Be converted to voltage signal Ut；
Step 3: by U0And UtInput difference amplifier obtains pressure difference signal Δ U after being amplified, and temperature control module obtains pressure reduction letter
Number Δ U, and calculate required heater watt level according to dirigible buoyancy lift-off formula, issue operational order；
Step 4: heater response operational order, changes buoyant gas temperature by increasing or reduce heating power, enters
And control the speed v of currently going up to the air of dirigibletChange.
Step 5: utilize velocity sensor to measure the speed v of currently going up to the air of dirigible in real timetAnd feed back contrast, by the electricity of conversion
Pressure signal UtConstantly pass to difference amplifier process, form closed control loop, complete feedback regulation.
Above in association with most preferred embodiment, invention has been described, but the invention is not limited in enforcement disclosed above
Example, and amendment, the equivalent combinations that the various essence according to the present invention is carried out should be contained.
Claims (2)
1. the control method of a dirigible buoyancy lift-off, it is characterised in that for the buoyancy lift-off problem of dirigible, according to gas completely
Carat amber dragon state equation, atmospheric temperature T and the statistical formula of height above sea level H, atmospheric pressure p and the system of height above sea level H of body
The buoyancy lift-off formula of meter derivation of equation dirigible, specifically, including:
1) the carat amber dragon state equation of ideal gas
2) atmospheric temperature T and the statistical formula of height above sea level H
T=288.15-6.5H H≤11km
T=216.65 11km ＜ H≤20km
T=216.65+ (H-20) 20km ＜ H≤32km
3) atmospheric pressure p and the statistical formula of height above sea level H
P=10332.3 × (1-0.0225577H)5.25588 H≤11km
P=558.28 × (1+ (H-20) × 0.00461574)-34.163220km ＜ H≤32km
Deriving dirigible buoyancy lift-off formula is:
Wherein, ρ-gas density, p-gas pressure, M-gas molar quality, T-gas temperature, R-gas constant, mFloating-buoyancy gas
Weight, m0-dirigible gross mass, TEmpty-atmospheric gas temperature, MEmpty-atmospheric gas molal weight, TFloating-buoyant gas temperature, MFloating-
Buoyant gas molal weight.
According to above-mentioned dirigible buoyancy lift-off formula, realize the control of the buoyancy lift-off speed of dirigible based on the regulation of buoyant gas temperature
System.
2. the control method of dirigible buoyancy lift-off as claimed in claim 1, it is characterised in that be embodied as comprising the following steps:
Step 1: the factors such as meteorological condition when taking off according to predetermined lift-off height, use requirement and the dirigible of dirigible, rationally
Ground sets the expectation lift-off speed of dirigible；The consumption of buoyant gas is determined according to dirigible buoyancy lift-off formula.
Step 2: the speed of currently going up to the air during utilizing the velocity sensor being arranged on dirigible to measure dirigible lift-off；
Step 3: contrast obtain dirigible currently go up to the air speed and dirigible expectation lift-off speed between deviation and be converted into difference letter
Number, difference signal is sent to temperature control module, temperature control module utilizes dirigible buoyancy lift-off formula to calculate required according to difference signal
Heating power size, and issue operational order to buoyant gas heater；
Step 4: buoyant gas heater response operational order, changes buoyant gas temperature by increasing or reducing heating power
Degree, controls dirigible with this and currently goes up to the air the change of speed；
Step 5: utilize velocity sensor measure the current lift-off speed of dirigible in real time and feed back contrast, form closed loop control ring
Road, completes feedback regulation.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610697646.9A CN106081048A (en) | 2016-08-19 | 2016-08-19 | A kind of control method of dirigible buoyancy lift-off |
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| CN201610697646.9A CN106081048A (en) | 2016-08-19 | 2016-08-19 | A kind of control method of dirigible buoyancy lift-off |
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| CN106081048A true CN106081048A (en) | 2016-11-09 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466731A (en) * | 2019-08-24 | 2019-11-19 | 哈尔滨工业大学 | A kind of dirigible buoyant weight balance control method based on air bag and the interaction of helium capsule |
| RU197257U1 (en) * | 2020-02-10 | 2020-04-16 | Сергей Андреевич Андреев | AERONAUTICAL APPARATUS |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201280224Y (en) * | 2008-09-16 | 2009-07-29 | 王自强 | Hot gas airship of helium gas |
| CN103661914A (en) * | 2012-09-25 | 2014-03-26 | 唐辉 | Novel closed high-temperature hot-air airship |
| CN103963954A (en) * | 2013-01-28 | 2014-08-06 | 上海科斗电子科技有限公司 | Heat adjusting and controlling suspension device |
| CN204137318U (en) * | 2014-08-14 | 2015-02-04 | 中航沈飞民用飞机有限责任公司 | A kind of dirigible utilizing the lifting of two gas cabins |
-
2016
- 2016-08-19 CN CN201610697646.9A patent/CN106081048A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201280224Y (en) * | 2008-09-16 | 2009-07-29 | 王自强 | Hot gas airship of helium gas |
| CN103661914A (en) * | 2012-09-25 | 2014-03-26 | 唐辉 | Novel closed high-temperature hot-air airship |
| CN103963954A (en) * | 2013-01-28 | 2014-08-06 | 上海科斗电子科技有限公司 | Heat adjusting and controlling suspension device |
| CN204137318U (en) * | 2014-08-14 | 2015-02-04 | 中航沈飞民用飞机有限责任公司 | A kind of dirigible utilizing the lifting of two gas cabins |
Non-Patent Citations (2)
| Title |
|---|
| 李惠峰: "《高超声速飞行器制导与控制技术》", 31 October 2012 * |
| 王生 译: "《飞艇技术》", 31 January 2008 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466731A (en) * | 2019-08-24 | 2019-11-19 | 哈尔滨工业大学 | A kind of dirigible buoyant weight balance control method based on air bag and the interaction of helium capsule |
| RU197257U1 (en) * | 2020-02-10 | 2020-04-16 | Сергей Андреевич Андреев | AERONAUTICAL APPARATUS |
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