CN106773740A - A kind of near space aerostatics wind field self-adapting adjusting apparatus and method - Google Patents
A kind of near space aerostatics wind field self-adapting adjusting apparatus and method Download PDFInfo
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- CN106773740A CN106773740A CN201710114556.7A CN201710114556A CN106773740A CN 106773740 A CN106773740 A CN 106773740A CN 201710114556 A CN201710114556 A CN 201710114556A CN 106773740 A CN106773740 A CN 106773740A
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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Abstract
A kind of near space aerostatics wind field self-adapting adjusting apparatus and method are disclosed, described device includes：Wind direction measurement module, it is installed on aerostatics body, for measuring the angle difference of direction of flow and aerostatics body between, and exports the angle difference；Flight control computer, it communicates with wind direction measurement module, for receiving the angle difference, the start control data according to needed for the angle difference calculates aerostatics in face of wind direction navigation, and export the start control data；Actuation mechanism, it is installed on aerostatics body and is communicated with flight control computer, for receiving start control data, and controls itself according to start control data, the course of aerostatics is set to deflect certain angle, so as to complete the self-adaptative adjustment that aerostatics is navigated by water in face of wind direction.Real-time wind direction without accurate measurement wind field can be realized as the region flight in sky of near space aerostatics with wind speed.
Description
Technical field
The present invention relates to wind field Self Adaptive Control field, more particularly, to suitable for the near space under residing mode
The self-adapting adjusting apparatus and method of the Heading control of aerostatics.
Background technology
The stratification of atmosphere structure of near space stabilization makes it in vertical direction substantially without convective motion, and normal in the horizontal direction
There is Steady Wind in year.According to the These characteristics of near space, people have developed near space aerostatics and be applied to movement
Interconnected communication, sensitizing range monitoring, wireless network covering, land resources exploration, disaster area emergency communication etc..Near space aerostatics
Different from Fixed Wing AirVehicle, its needs carries out region and is resident in somewhere for a long time, and can overcome by natural buoyancy
Action of Gravity Field is realized staying sky.Additionally, near space aerostatics mainly needs to carry out wind resistance flight when region is resident, to keep current
Position.Therefore, how to judge current wind direction, and carry out headwind flight, be that near space aerostatics carries out the region institute of flight in sky
The matter of utmost importance to be faced.
However, because the air of near space is extremely thin, (20km high-altitudes are only 0.08kg/m3), what air flow was produced
Dynamic pressure is smaller, so the pitot that cannot be carried using traditional low flyer measures the floating near space
The air speed of device, also cannot just calculate the current wind speed and direction of aerostatics.Additionally, ultrasonic velocity meter is in the thin of near space
Certainty of measurement under atmospheric environment is very low, cannot also use.
It is, therefore, desirable to provide a kind of near space aerostatics wind field self-adapting adjusting apparatus and method realize near space
Self-adaptive flight of the aerostatics in wind field, so that near space aerostatics realizes region flight in sky.
The content of the invention
Measured in real time least for the high-altitude wind direction for realizing near space, the course self adaptation of the high-altitude wind field of near space
Adjustment, near space aerostatics carry out the control strategy that region flight in sky is used, and the present invention proposes following technical scheme：
Near space aerostatics wind field self-adapting adjusting apparatus of the invention, including：
Wind direction measurement module, it is installed on aerostatics body, for measuring between direction of flow and aerostatics body direction
Angle difference, and export the angle difference；
Flight control computer, it communicates with wind direction measurement module, for receiving above-mentioned angle difference, according to the angle difference meter
Start control data needed for calculating aerostatics in face of wind direction navigation, and export the start control data；
Actuation mechanism, it is installed on aerostatics body and is communicated with flight control computer, for receiving start control data,
And itself is controlled according to start control data, the course of aerostatics is deflected certain angle, so as to complete aerostatics meet
The self-adaptative adjustment of wind direction navigation.
Self-adapting adjusting apparatus of the invention, wind direction measurement module therein includes mounting bracket, connecting rod, upper axle
Hold, lower bearing, weathercock, angular displacement sensor, wherein,
Mounting bracket is used to connect weathercock and aerostatics body, and bearing holder (housing, cover) is left in mounting bracket, is used to fix upper bearing (metal)
With lower bearing, the mounting seat of angular displacement sensor is also left thereon, be used to fix angular displacement sensor so that after completing to connect
Upper bearing (metal) and the axis of axis and the mounting seat of angular displacement sensor of lower bearing overlap or parallel, mounting bracket also with floating
Device Course Measuring Unit, actuation mechanism keep be rigidly connected, for ensureing three between be not in relative angular displacement；
Connecting rod is used for integrated upper bearing (metal), lower bearing, angular displacement sensor and weathercock；
Weathercock is connected with connecting rod, and connecting rod is driven for being rotated according to wind direction；
Angular displacement sensor is used to measure the angle that weathercock is turned over, and rotor and the connecting rod of angular displacement sensor are connected,
So that weathercock drives the swing offset of connecting rod to be delivered on rotor, rotor drives the electronic component being attached thereto, output and rotation
Indexing moves into the angle difference of the voltage or current signal of ratio as direction of flow and aerostatics body between.
Self-adapting adjusting apparatus of the invention, flight control computer therein includes filtering submodule and segmentation PID
Module, institute is navigated by water for realizing that the angle difference according to direction of flow and aerostatics body between calculates aerostatics in face of wind direction
The start control data for needing, wherein：
The angle difference that filtering submodule is used for direction of flow and aerostatics body between is filtered to obtain filter
Angle difference after ripple；
Segmentation PID sub-module is used for the filtered angle difference application segmentation pid control algorithm to obtain start control
Data processed.
Near space aerostatics wind field self-adapting regulation method of the invention, the method combines mentioned above adaptive
Adjusting apparatus are answered to use, and methods described includes：
Wind direction measurement module measures the angle difference of direction of flow and aerostatics body between, and exports the differential seat angle
Value；
Flight control computer receives above-mentioned angle difference, according to needed for the angle difference calculates aerostatics in face of wind direction navigation
Start control data, and export the start control data；
Actuation mechanism receives start control data, and controls itself according to start control data, makes the boat of aerostatics
To certain angle is deflected, so as to complete the self-adaptative adjustment that aerostatics is navigated by water in face of wind direction.
Self-adapting regulation method of the invention, wherein, flight control computer is according to direction of flow and aerostatics body court
To angle difference calculate aerostatics in face of wind direction navigation needed for start control data comprise the following steps：
The angle difference of direction of flow and aerostatics body between is filtered to obtain filtered angle difference；
The filtered angle difference application is segmented pid control algorithm to obtain start control data.
Compared with prior art, the advantage of the invention is that：
First, it is thus only necessary to which measurement need not be surveyed accurately when the relative angle of stream and aerostatics body between that comes
The real-time wind direction and wind speed of wind field are measured, so as to reduce the difficulty of high-altitude Wind parameters in wind measurement.
Secondly, design wind field self-adaptative adjustment control algolithm for measured relative angle, eliminate aerostatics course with
Error between direction windward, realizes the real-time wind resistance Self Adaptive Control of near space aerostatics, and then solves near space
Wind speed and direction can not in real time measure the control problem under scene, realize the target of aerostatics region flight in sky.
Brief description of the drawings
By reading the detailed description of following detailed description, various other advantages and benefit is common for this area
Technical staff will be clear understanding.Accompanying drawing is only used for showing the purpose of specific embodiment, and is not considered as to the present invention
Limitation.And in whole accompanying drawing, identical part is denoted by the same reference numerals.In the accompanying drawings：
Fig. 1 is mounted in the signal of the near space aerostatics wind field self-adapting adjusting apparatus near space aerostatics
Figure.
Fig. 2 is the view of the multiple difference angle for the wind direction measurement module being mounted adjacent on the aerostatics of space.
Fig. 3 is the flow chart of near space aerostatics wind field self-adapting regulation method.
Specific embodiment
Illustrative embodiments of the invention are more fully described below with reference to accompanying drawings.Although showing this hair in accompanying drawing
Bright illustrative embodiments, it being understood, however, that may be realized in various forms the reality without that should be illustrated here of the invention
The mode of applying is limited.Conversely, there is provided these implementation methods are able to be best understood from the present invention, and can send out this
Bright scope it is complete convey to those skilled in the art.
According to the embodiment of the present invention, it is proposed that a kind of near space aerostatics wind field self-adapting adjusting apparatus.Fig. 1 is
The schematic diagram of the near space aerostatics wind field self-adapting adjusting apparatus being mounted adjacent on the aerostatics of space.
As shown in figure 1, self-adapting adjusting apparatus mainly include wind direction measurement module 1, flight control computer 2, actuation mechanism 3.
Wind direction measurement module 1 is installed on aerostatics body, for measuring between direction of flow and aerostatics body direction
Angle difference, and export the angle difference.Flight control computer 2 communicates with wind direction measurement module 1, for receiving the differential seat angle
Value, the start control data according to needed for the angle difference calculates aerostatics in face of wind direction navigation, and export start control
Data.Actuation mechanism 3 is installed on aerostatics body and is communicated with flight control computer 2, for receiving start control data, and
And itself is controlled according to start control data, the course of aerostatics is deflected certain angle, thus complete aerostatics in face of
The self-adaptative adjustment of wind direction navigation.
Wind direction measurement module 1, flight control computer 2, actuation mechanism 3 are introduced respectively below in conjunction with accompanying drawing.
Fig. 2 is the view of the multiple difference angle for the wind direction measurement module being mounted adjacent on the aerostatics of space.
The connected mode of wind direction measurement module 1 and aerostatics body as shown in figure 1, its be measure the wind direction of near space with
The device of the angle between aerostatics heading (that is, course).As shown in Fig. 2 wind direction measurement module 1 includes mounting bracket
101st, connecting rod 102, upper bearing (metal) 103, lower bearing 104, weathercock 106, angular displacement sensor 105.
Mounting bracket 101 is used to connect weathercock 106 and aerostatics body, and bearing holder (housing, cover) is left in mounting bracket 101, is used to solid
Determine upper bearing (metal) 103 and lower bearing 104, the mounting seat of angular displacement sensor 105 is also left thereon, be used to fix angular displacement sensor
105 so that the axis of upper bearing (metal) 103 and lower bearing 104 after completion connection and the axle of the mounting seat of angular displacement sensor 105
Line overlaps or parallel, and mounting bracket 101 also keeps being rigidly connected (in Fig. 1 with aerostatics Course Measuring Unit, actuation mechanism 3
It is not shown), for ensureing three between be not in relative angular displacement.
It should be noted that upper bearing (metal) 103 should select low temperature resistant low resistance bearing with lower bearing 104, it is set to close on sky
Between remain to normal work under harsh temperature environment.Low temperature resistant low resistance bearing can expire after special low temperature grease is added
Extremely -70 DEG C good operations of environment of sufficient low temperature.Near space rarefaction of air, dynamic pressure is smaller, therefore to reduce measurement dress as far as possible
The damping put, to ensure the relative precision of angular surveying.
Connecting rod 102 is used for integrated upper bearing (metal) 103, lower bearing 104, angular displacement sensor 105 and weathercock 106.Connecting rod
102 should select light-weight high-strength material (such as carbon fiber), on the premise of rod member intensity is ensured, its rotary inertia be reduced as far as possible, with
Reduce the measurement response time.
Weathercock 106 is connected with connecting rod 102, and connecting rod 102 is driven for being rotated according to wind direction.
The configuration of weathercock 106 is as shown in figure 1, its size should be related to the damping due to rotation of device itself.Design principle is：
Under smaller wind speed (1m/s) operating mode, the dynamic pressure that air flow acts on weathercock 106 should achieve deflection；Therefore, weathercock 106 should
Accomplish that size is big as far as possible in the case where structural strength and weight constraints is ensured, while using high-aspect-ratio, increasing rotatory force
Square.Cell foams are selected in the suggestion of weathercock material, and surface attaches carbon cloth, its quality can be reduced while proof strength.
Angular displacement sensor 105 is used to measure the angle that weathercock 106 is turned over, the rotor of angular displacement sensor 105 and company
Extension bar 102 is connected so that weathercock 106 drives the swing offset of connecting rod 102 to be delivered on rotor, and rotor drives what is be attached thereto
Electronic component, the output voltage proportional to swing offset (anglec of rotation) or current signal are current with body as direction of flow
Angle difference between.It should be noted that selected angular displacement sensor 105 should be by near space environmental testing reality
Test.
Although self-adapting adjusting apparatus are shown mounted near space aerostatics in Fig. 1, close on
Space aerostatics can combine the miscellaneous equipment for needing that self-adaptative adjustment is carried out according to wind direction.
Flight control computer 2 is the computing device for calculating the start control data that near space aerostatics is used, bag
Filtering submodule and segmentation PID sub-module are included, for realizing the angle according to the current body of direction of flow aerostatics between
Start control data (that is, for realizing wind field adaptive control algorithm) needed for mathematic interpolation aerostatics in face of wind direction navigation,
The angle difference that filtering submodule therein is used for direction of flow and aerostatics body between is filtered to obtain filtering
Angle difference afterwards, segmentation PID sub-module is used for the filtered angle difference application segmentation pid control algorithm to obtain work
Dynamic control data.
Selectively, flight control computer 2 is received from the angular displacement sensor in wind direction measurement module 1 by data-interface
105 exported rotate angle proportional voltage or current signal, this voltage or current signal representation aerostatics navigate
To the relative angular displacement between wind field and be converted into data value and be filtered treatment, and try to achieve it and expect angular displacement it
Between differential seat angle.Then the differential seat angle being worth to by filtered data is solved by wind field adaptive control algorithm
Calculate, so as to show that actuation mechanism 3 realizes the start control data of wind resistance flight.
Wind field adaptive control algorithm is substantially course error track algorithm, and the final purpose of control algolithm is to eliminate floating
Error (angle i.e. between direction of flow weathercock and axis) between the actual body direction and direction of flow of pocket.Algorithm
Input for the current body of aerostatics towards and error between direction of flow, algorithm is output as to be changed into error current
The start control data of zero (that is, aerostatics course being adjusted to direction windward).
Comprising segmentation pid control algorithm (can also be used for Guidance and control) in wind field adaptive control algorithm, it performs step
It is as follows：
To=(Po+Io+Do)*KT
Wherein, eiFor the error current of course and direction windward is input into as error；Output is output to actuation mechanism 3
Start control data.Kp1、Kp2、KI、KD、KTIt is controller parameter, Max, Th, Limit are the execution corresponding to the separate equations
The controller threshold value of respective Piecewise Operation, all controller parameters and controller threshold value are both needed to according to current aerostatics model
Carry out on-line tuning.
Actuation mechanism 3 is used for the work for being calculated and being exported using foregoing wind field adaptive control algorithm according to flight control computer 2
Dynamic control data performs adjustment action.Specifically, actuation mechanism 3 is typically made up of propeller plant and vector device.Spiral shell
Rotation oar propulsive unit includes propeller and propulsion electric machine, and propulsion electric machine drives propeller to provide the thrust in horizontal plane.Vector is filled
Put comprising mechanisms such as vector motor, bearing and turbine and worms, vector motor driving turbine and worm mechanism makes airscrew thrust in boat
Swung in plane, produce yawing, and then change course.
The start control data for calculating gained by flight control computer 2 is output to actuation mechanism 3.Spiral shell in actuation mechanism 3
Rotation oar propulsive unit and vector device perform adjustment action according to start control data, so as to eliminate working as near space aerostatics
Error angle between preceding course and direction windward, and then realize that wind resistance flies.
For example, after receiving start control data (for example, vector angle tilt value), vector device passes through vector motor
Controller controls the mechanisms such as the bearing and turbine and worm in vector motor, and then control vector device to perform adjustment action, makes
Near space aerostatics deflects to direction windward, so as to eliminate between the current course of near space aerostatics and direction windward
Error angle, and then realize that wind resistance flies.
According to the embodiment of the present invention, it is also proposed that a kind of near space aerostatics wind field self-adapting regulation method, should
Method is used with reference to above-described self-adapting adjusting apparatus.
Fig. 3 is the flow chart of near space aerostatics wind field self-adapting regulation method.As shown in figure 3, this self adaptation is adjusted
Adjusting method is comprised the following steps：
Step S302：Wind direction measurement module 1 measures the angle difference of direction of flow and aerostatics body between, and defeated
Go out the angle difference (that is, measurement in real time is flowed relatively).
For example, near space aerostatics is static resident, after wind disturbance, weathercock 106 enters horizontal deflection, angle displacement transducer
Device 105 measures deflection angle, exports angle of the angle to flight control computer 2 as direction of flow and aerostatics body between
Difference.
Step S304：Flight control computer 2 receives the angle difference of direction of flow and current body between, and according to this angle
Start control data needed for degree mathematic interpolation aerostatics in face of wind direction navigation, and export the start control data (i.e., currently
Heading control signal is resolved).
For example, flight control computer 2 receives the angle-data from angular displacement sensor 105, angle-data is filtered
Treatment, obtains accurate error angle, and as the error input e of wind field adaptive control algorithmi(that is, to come the side of stream
It is filtered to angle difference of the aerostatics body between to obtain filtered angle difference and is input into e as errori)。
Interval where error in judgement angle successively, proportional, integral term, the differential term of resolution error input are cumulative every simultaneously to carry out
Amplitude limit constraint is carried out to it after scaling, start control data is tried to achieve and (that is, pid control algorithm is segmented to obtain to differential seat angle application
Start control data, specific steps can be found in formula above), and gained start control data is exported to actuation mechanism 3.
Step S306：Actuation mechanism 3 receives start control data, and controls itself according to start control data, makes
The course of aerostatics deflects certain angle, so as to complete self-adaptative adjustment (that is, the actuation mechanism that aerostatics is navigated by water in face of wind direction
3 perform control instruction).
For example, actuation mechanism 3 receives the start control data from flight control computer 2, control vector electric machine controller makes
Near space aerostatics deflects certain angle according to start control data, so as to carry out course adjustment, completes to be directed to wind field side
To self-adaptative adjustment.
Wind field self-adapting adjusting apparatus of the invention and algorithm are applied to the near space aerostatics of various configurations, because
This, wind field self-adapting adjusting apparatus of the invention and algorithm should be independently of dirigible models.And, wind field of the invention
Control algolithm (correspondence above-mentioned steps S304) in self-adapting regulation method can also be applied individually to any other similar control systems
System.
The above, exemplary specific embodiment only of the invention, but protection scope of the present invention is not limited to
This, any one skilled in the art the invention discloses technical scope in, the change that can readily occur in or replace
Change, should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection of the claim
Scope is defined.
Claims (5)
1. a kind of near space aerostatics wind field self-adapting adjusting apparatus, it is characterised in that described device includes：
Wind direction measurement module (1), it is installed on aerostatics body, for measuring between direction of flow and aerostatics body direction
Angle difference, and export the angle difference；
Flight control computer (2), it communicates with wind direction measurement module (1), for receiving the angle difference, according to the angle difference
Start control data needed for calculating aerostatics in face of wind direction navigation, and export the start control data；
Actuation mechanism (3), it is installed on aerostatics body and is communicated with flight control computer (2), for receiving start control number
According to, and itself is controlled according to start control data, the course of aerostatics is deflected certain angle, so as to complete aerostatics
In face of the self-adaptative adjustment of wind direction navigation.
2. self-adapting adjusting apparatus according to claim 1, it is characterised in that wind direction measurement module (1) includes installing branch
Frame (101), connecting rod (102), upper bearing (metal) (103), lower bearing (104), weathercock (106), angular displacement sensor (105), wherein,
Mounting bracket (101) leaves bearing holder (housing, cover), is used to for connecting weathercock (106) and aerostatics body, mounting bracket on (101)
Fixed upper bearing (metal) (103) and lower bearing (104), also leave the mounting seat of angular displacement sensor (105) thereon, to fixed angles position
Displacement sensor (105) so that complete the axis and angular displacement sensor of the upper bearing (metal) (103) and lower bearing (104) after connection
(105) axis of mounting seat overlaps or parallel, mounting bracket (101) also with aerostatics Course Measuring Unit, actuation mechanism (3)
Holding is rigidly connected, for ensureing three between be not in relative angular displacement；
Connecting rod (102) is for integrated upper bearing (metal) (103), lower bearing (104), angular displacement sensor (105) and weathercock (106)；
Weathercock (106) is connected with connecting rod (102), and connecting rod (102) is driven for being rotated according to wind direction；
Angular displacement sensor (105) for measuring the angle that weathercock (106) is turned over, the rotor of angular displacement sensor (105) with
Connecting rod (102) is connected so that weathercock (106) drives the swing offset of connecting rod (102) to be delivered on the rotor, described turn
Subband moves the electronic component being attached thereto, and the output voltage proportional to swing offset or current signal are used as the differential seat angle
Value.
3. self-adapting adjusting apparatus according to claim 1, it is characterised in that flight control computer (2) includes filtering submodule
Block and segmentation PID sub-module, for realizing the start control according to needed for the angle difference calculates aerostatics in face of wind direction navigation
Data processed, wherein：
Filtering submodule is used to that the angle difference to be filtered to obtain filtered angle difference；
Segmentation PID sub-module is used for the filtered angle difference application segmentation pid control algorithm to obtain start control number
According to.
4. a kind of near space aerostatics wind field self-adapting regulation method, it is characterised in that methods described using claim 1 to
Self-adapting adjusting apparatus any one of 3 realize that methods described includes：
Wind direction measurement module (1) measures the angle difference of direction of flow and aerostatics body between, and exports the differential seat angle
Value；
Flight control computer (2) receives the angle difference, according to needed for the angle difference calculates aerostatics in face of wind direction navigation
Start control data, and export the start control data；
Actuation mechanism (3) receives start control data, and controls itself according to start control data, makes the course of aerostatics
The certain angle of deflection, so as to complete the self-adaptative adjustment that aerostatics is navigated by water in face of wind direction.
5. self-adapting regulation method according to claim 4, it is characterised in that flight control computer (2) is according to the angle
Start control data needed for mathematic interpolation aerostatics in face of wind direction navigation is comprised the following steps：
The angle difference is filtered to obtain filtered angle difference；
The filtered angle difference application is segmented pid control algorithm to obtain start control data.
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| CN111422351B (en) * | 2020-04-14 | 2021-09-21 | 中国人民解放军32180部队 | High-wind-resistance tail-cone type mooring unmanned aerial vehicle and flight control method thereof |
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