CN106773740B - 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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- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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- 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
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Abstract
Disclose a kind of near space aerostatics wind field self-adapting adjusting apparatus and method, described device includes: wind direction measurement module, it is installed on aerostatics ontology, for measuring the angle difference of direction of flow and aerostatics body between, and exports the angle difference；Flight control computer is communicated with wind direction measurement module, for receiving the angle difference, is calculated aerostatics according to the angle difference and is controlled data in face of actuation needed for wind direction navigation, and exports actuation control data；Actuation mechanism, it is installed on aerostatics ontology and communicates with flight control computer, controls data for receiving actuation control data, and according to actuation to control itself, the course of aerostatics is set to deflect certain angle, to complete the adaptive adjustment that aerostatics is navigated by water in face of wind direction.It can be realized as the region flight in sky of near space aerostatics without the real-time wind direction and wind speed of precise measurement wind field.
Description
Technical field
The present invention relates to wind field self adaptive control fields, more particularly, to the near space being suitable under residing mode
The self-adapting adjusting apparatus and method of the Heading control of aerostatics.
Background technique
The stable stratification of atmosphere structure of near space makes it in vertical direction substantially without convective motion, and in the horizontal direction often
Nian Douyou Steady Wind.According to the These characteristics of near space, people have developed near space aerostatics and are 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, it needs to carry out region in somewhere for a long time to be resident, and can overcome by natural buoyancy
Gravity, which is realized, stays sky.In addition, 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 region flight in sky institute
The matter of utmost importance to be faced.
However, since the atmosphere of near space is extremely thin, (high-altitude 20km is only 0.08kg/m3), air flowing generates
Dynamic pressure is smaller, so not being available traditional low flyer pitot mounted to measure the floating near space
The air speed of device also can not just calculate the current wind speed and direction of aerostatics.In addition, ultrasonic velocity meter is in the thin of near space
Measurement accuracy under atmospheric environment is very low, is not also available.
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 be made to realize region flight in sky.
Summary of the invention
It is adaptive least for the high-altitude wind direction real-time measurement of realization near space, the course of the high-altitude wind field of near space
Adjustment, near space aerostatics carry out control strategy used in the flight in sky of region, and the invention proposes following technical schemes:
Near space aerostatics wind field self-adapting adjusting apparatus according to the present invention, comprising:
Wind direction measurement module is installed on aerostatics ontology, for measuring direction of flow and aerostatics body between
Angle difference, and export the angle difference；
Flight control computer is communicated with wind direction measurement module, for receiving above-mentioned angle difference, according to the angle difference meter
It calculates aerostatics and controls data in face of actuation needed for wind direction navigation, and export actuation control data；
Actuation mechanism is installed on aerostatics ontology and communicates with flight control computer, for receiving actuation control data,
And data are controlled to control itself according to actuation, so that the course of aerostatics is deflected certain angle, is met to complete aerostatics
Wind direction navigation adaptive adjustment.
Self-adapting adjusting apparatus according to the present invention, wind direction measurement module therein include mounting bracket, connecting rod, upper axis
It holds, lower bearing, weathercock, angular displacement sensor, wherein
Mounting bracket is for connecting weathercock and aerostatics ontology, and there are bearing holder (housing, cover)s in mounting bracket, to fixation upper bearing (metal)
With lower bearing, also there are the mounting bases of angular displacement sensor thereon, to fixed angular displacement sensor, so that after completing connection
Upper bearing (metal) and lower bearing axis and angular displacement sensor mounting base axis be overlapped or it is parallel, mounting bracket also with floating
Device Course Measuring Unit, actuation mechanism keep rigid connection, for guaranteeing between three to be not in relative angular displacement；
Connecting rod is for integrating upper bearing (metal), lower bearing, angular displacement sensor and weathercock；
Weathercock and connecting rod are connected, and drive connecting rod for rotating according to wind direction；
Angular displacement sensor is connected for measuring the angle that weathercock is turned over, the rotor and connecting rod of angular displacement sensor,
So that weathercock drives the swing offset of connecting rod to be transmitted 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 according to the present invention, flight control computer therein include filtering submodule and segmentation PID
Module navigates by water institute in face of wind direction for realizing aerostatics is calculated according to the angle difference of direction of flow and aerostatics body between
The actuation needed controls data, in which:
Filtering submodule is used to be filtered to obtain filter the angle difference of direction of flow and aerostatics body between
Angle difference after wave；
PID sub-module is segmented to be used for the filtered angle difference application segmentation pid control algorithm to obtain actuation control
Data processed.
Near space aerostatics wind field self-adapting regulation method according to the present invention, this method combine described above adaptive
Device should be adjusted to use, and the described method 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, calculates aerostatics in face of needed for wind direction navigation according to the angle difference
Actuation controls data, and exports actuation control data；
Actuation mechanism receives actuation and controls data, and controls data according to actuation to control itself, makes the boat of aerostatics
To certain angle is deflected, to complete the adaptive adjustment that aerostatics is navigated by water in face of wind direction.
Self-adapting regulation method according to the present 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 actuation control data bag include following steps:
The angle difference of direction of flow and aerostatics body between is filtered to obtain filtered angle difference；
To the filtered angle difference application segmentation pid control algorithm to obtain actuation control data.
Compared with the prior art, the advantages of the present invention are as follows:
Firstly, it is only necessary to measure the relative angle of current incoming flow and aerostatics body between, without accurately surveying
The real-time wind direction and wind speed of wind field are measured, to reduce the difficulty of high-altitude Wind parameters in wind measurement.
Secondly, adaptively adjust control algolithm for measured relative angle design wind field, 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 control problem under real-time measurement scene, realize the target of aerostatics region flight in sky.
Detailed description of the invention
By reading the detailed description of following detailed description, various other advantages and benefits are common for this field
Technical staff will become clear.Attached drawing is only used for showing the purpose of specific embodiment, and is not considered as to the present invention
Limitation.And throughout the drawings, the same reference numbers will be used to refer to the same parts.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 for being mounted adjacent to multiple and different angles of the wind direction measurement module on the aerostatics of space.
Fig. 3 is the flow chart of near space aerostatics wind field self-adapting regulation method.
Specific embodiment
The illustrative embodiments that the present invention will be described in more detail below with reference to accompanying drawings.Although showing this hair in attached drawing
Bright illustrative embodiments, it being understood, however, that may be realized in various forms the reality of the invention without that should be illustrated here
The mode of applying is limited.It is to be able to thoroughly understand the present invention on the contrary, providing these embodiments, and this can be sent out
Bright range is fully disclosed to those skilled in the art.
Embodiment according to the present invention proposes a kind of near space aerostatics wind field self-adapting adjusting apparatus.Fig. 1 is
It is mounted adjacent to the schematic diagram of the near space aerostatics wind field self-adapting adjusting apparatus on the aerostatics of space.
As shown in Figure 1, self-adapting adjusting apparatus mainly includes wind direction measurement module 1, flight control computer 2, actuation mechanism 3.
Wind direction measurement module 1 is installed on aerostatics ontology, for measuring direction of flow and aerostatics body between
Angle difference, and export the angle difference.Flight control computer 2 is communicated with wind direction measurement module 1, for receiving the differential seat angle
Value calculates aerostatics according to the angle difference and controls data in face of actuation needed for wind direction navigation, and exports actuation control
Data.Actuation mechanism 3 is installed on aerostatics ontology and communicates with flight control computer 2, for receiving actuation control data, and
And data are controlled according to actuation and control itself, so that the course of aerostatics is deflected certain angle, thus complete aerostatics in face of
The adaptive adjustment of wind direction navigation.
Wind direction measurement module 1, flight control computer 2, actuation mechanism 3 are introduced respectively below in conjunction with attached drawing.
Fig. 2 is the view for being mounted adjacent to multiple and different angles of the wind direction measurement module on the aerostatics of space.
The connection type of wind direction measurement module 1 and aerostatics ontology as shown in Figure 1, its be measure near space wind direction and
The device of angle between aerostatics heading (that is, course).As shown in Fig. 2, wind direction measurement module 1 includes mounting bracket
101, connecting rod 102, upper bearing (metal) 103, lower bearing 104, weathercock 106, angular displacement sensor 105.
Mounting bracket 101 is for connecting weathercock 106 and aerostatics ontology, and there are bearing holder (housing, cover)s in mounting bracket 101, to consolidate
Determine upper bearing (metal) 103 and lower bearing 104, also there are the mounting bases of angular displacement sensor 105 thereon, to fixed angular displacement sensor
105, so that completing the axis of the mounting base of the axis and angular displacement sensor 105 of the upper bearing (metal) 103 and lower bearing 104 after connection
Line is overlapped or in parallel, mounting bracket 101 also keeps rigid connection (in Fig. 1 with aerostatics Course Measuring Unit, actuation mechanism 3
It is not shown), for guaranteeing between three to be not in relative angular displacement.
It should be noted that upper bearing (metal) 103 and lower bearing 104 should select low temperature resistant low resistance bearing, it is made to close on sky
Between remain to work normally under harsh temperature environment.Low temperature resistant low resistance bearing can expire after it joined special low temperature grease
The good operation of sufficient low temperature extremely -70 DEG C of environment.Near space rarefaction of air, dynamic pressure is smaller, therefore to reduce measurement dress as far as possible
The damping set, to guarantee the relative precision of angle measurement.
Connecting rod 102 is for integrating 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), under the premise of guaranteeing rod piece intensity, reduce its rotary inertia as far as possible, with
Reduce the measurement response time.
Weathercock 106 and connecting rod 102 are connected, and drive connecting rod 102 for rotating 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 are as follows: In
Under smaller wind speed (1m/s) operating condition, dynamic pressure of the air stream movement for weathercock 106 should achieve deflection；Therefore, weathercock 106 is answered
Accomplish that size is big as far as possible in the case where guaranteeing structural strength with weight constraints, while using high-aspect-ratio, increases rotatory force
Square.Cell foams are selected in weathercock material suggestion, and surface attaches carbon cloth, its quality can be reduced while proof strength.
Angular displacement sensor 105 is for measuring 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 transmitted on rotor, rotor drive is attached thereto
It is current with body as direction of flow to export the voltage or current signal proportional to swing offset (rotation angle) for electronic component
Angle difference between.It should be noted that selected angular displacement sensor 105 should be real by near space environmental testing
It tests.
Although self-adapting adjusting apparatus is shown mounted near space aerostatics in Fig. 1, close on
Space aerostatics can be in conjunction with the other equipment for needing adaptively to be adjusted according to wind direction.
Flight control computer 2 is the computing device for calculating the control data of actuation used near space aerostatics, packet
Filtering submodule and segmentation PID sub-module are included, for realizing the angle according to the current body of direction of flow aerostatics between
Difference calculates aerostatics and controls data (that is, for realizing wind field adaptive control algorithm) in face of actuation needed for wind direction navigation,
Filtering submodule therein is used to be filtered to obtain filtering the angle difference of direction of flow and aerostatics body between
Angle difference afterwards, segmentation PID sub-module are used to make the filtered angle difference application segmentation pid control algorithm to obtain
Dynamic control data.
Selectively, flight control computer 2 receives 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 boat
To the relative angular displacement between wind field and be converted into data value and be filtered, and acquire itself and desired angular displacement it
Between differential seat angle.Then the differential seat angle obtained by filtered data value is solved by wind field adaptive control algorithm
It calculates, to show that actuation mechanism 3 realizes the actuation 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 to float
Practical body direction and the error (angle i.e. between direction of flow weathercock and axis) between direction of flow of pocket.Algorithm
Input be the current body of aerostatics towards and the error between direction of flow, the output of algorithm be that error current can be made to become
The actuation of zero (that is, aerostatics course is adjusted to direction windward) controls data.
Comprising segmentation pid control algorithm (can also be used for Guidance and control) in wind field adaptive control algorithm, step is executed
It is as follows:
To=(Po+Io+Do)*KT
Wherein, eiIt is inputted for the error current of course and direction windward as error；Output is output to actuation mechanism 3
Actuation control data.Kp1、Kp2、KI、KD、KTFor controller parameter, Max, Th, Limit are 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 aforementioned wind field adaptive control algorithm according to flight control computer 2
Dynamic control data execute adjustment movement.Specifically, actuation mechanism 3 is generally made of propeller plant and vector device.Spiral shell
Revolving oar propulsive unit includes propeller and propulsion electric machine, and propulsion electric machine drives propeller to provide the thrust in horizontal plane.Vector dress
It sets comprising mechanisms such as vector motor, bearing and turbine and worms, vector motor driving turbine and worm mechanism makes airscrew thrust navigate
It is swung into plane, generates yawing, and then change course.
Resulting actuation control data are calculated by flight control computer 2 and are output to actuation mechanism 3.Spiral shell in actuation mechanism 3
It revolves oar propulsive unit and vector device and data execution adjustment movement is controlled according to actuation, to eliminate working as near space aerostatics
Error angle between preceding course and direction windward, and then realize wind resistance flight.
For example, vector device passes through vector motor after receiving actuation control data (for example, vector angle tilt value)
Controller controls vector motor, and then controls the mechanisms such as bearing and turbine and worm in vector device to execute adjustment movement, makes
Near space aerostatics deflects to direction windward, to eliminate between the current course of near space aerostatics and direction windward
Error angle, and then realize wind resistance flight.
Embodiment according to the present invention, it is also proposed that a kind of near space aerostatics wind field self-adapting regulation method, it should
Method is used in conjunction with 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 adaptive tune
Adjusting method the following steps are included:
Step S302: wind direction measurement module 1 measures the angle difference of direction of flow and aerostatics body between, and defeated
The angle difference (that is, opposite incoming flow real-time measurement) out.
For example, near space aerostatics static state is resident, after wind disturbance, weathercock 106 is deflected, 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
It spends difference and calculates aerostatics in face of actuation control data needed for wind direction navigation, and export actuation control data (that is, current
Heading control signal resolves).
For example, flight control computer 2 receives the angle-data from angular displacement sensor 105, angle-data is filtered
Processing obtains accurate error angle, and inputs e as the error of wind field adaptive control algorithmi(that is, to incoming flow side
It is filtered to angle difference of the aerostatics body between to obtain filtered angle difference as error and inputs ei)。
The successively section where error in judgement angle, proportional, the integral term, differential term of resolution error input, cumulative items simultaneously carry out
Clipping constraint is carried out to it after scaling, acquires actuation control data (that is, to differential seat angle application segmentation pid control algorithm to obtain
Actuation controls data, and specific steps can be found in formula above), and gained actuation control data are exported to actuation mechanism 3.
Step S306: actuation mechanism 3 receives actuation and controls data, and controls data according to actuation to control itself, makes
The course of aerostatics deflects certain angle, thus complete aerostatics in face of wind direction navigate by water it is adaptive adjustment (that is, actuation mechanism
3 execute control instruction).
For example, actuation mechanism 3, which receives the actuation from flight control computer 2, controls data, control vector motor controller makes
Near space aerostatics controls data according to actuation and deflects certain angle, to carry out course adjustment, completes to be directed to wind field side
To adaptive adjustment.
Wind field self-adapting adjusting apparatus and algorithm according to the present invention are suitable for the near space aerostatics of various configurations, because
This, wind field self-adapting adjusting apparatus and algorithm according to the present invention should be independently of dirigible models.Moreover, wind field according to the present invention
Control algolithm (corresponding above-mentioned steps S304) in self-adapting regulation method can also be applied individually to any other similar control systems
System.
The above, illustrative specific embodiment only of the invention, but protection scope of the present invention is not limited to
This, anyone skilled in the art in the technical scope disclosed by the present invention, the variation that can readily occur in or replaces
It changes, should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with the protection of the claim
Subject to range.
Claims (4)
1. a kind of near space aerostatics wind field self-adapting adjusting apparatus, which is characterized in that described device includes:
Wind direction measurement module (1), is installed on aerostatics ontology, for measuring direction of flow and aerostatics body between
Angle difference, and export the angle difference；
Flight control computer (2) is communicated with wind direction measurement module (1), for receiving the angle difference, according to the angle difference
It calculates aerostatics and controls data in face of actuation needed for wind direction navigation, and export actuation control data；
Actuation mechanism (3) is installed on aerostatics ontology and communicates with flight control computer (2), for receiving actuation control number
According to, and data are controlled to control itself according to actuation, so that the course of aerostatics is deflected certain angle, to complete aerostatics
The adaptive adjustment navigated by water in face of wind direction；
Wind direction measurement module (1) includes mounting bracket (101), connecting rod (102), upper bearing (metal) (103), lower bearing (104), weathercock
(106), angular displacement sensor (105), wherein
Mounting bracket (101) is for connecting weathercock (106) and aerostatics ontology, there are bearing holder (housing, cover) in mounting bracket (101), to
Fixed upper bearing (metal) (103) and lower bearing (104), also there are the mounting bases of angular displacement sensor (105) thereon, to fixed angles position
Displacement sensor (105), so that completing the axis and angular displacement sensor of the upper bearing (metal) (103) and lower bearing (104) after connection
(105) axis of mounting base is overlapped or parallel, mounting bracket (101) also with aerostatics Course Measuring Unit, actuation mechanism (3)
Rigid connection is kept, for guaranteeing between three to be not in relative angular displacement；
Connecting rod (102) is for integrating upper bearing (metal) (103), lower bearing (104), angular displacement sensor (105) and weathercock (106)；
Weathercock (106) and connecting rod (102) are connected, and drive connecting rod (102) for rotating 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 transmitted on the rotor, described turn
The dynamic electronic component being attached thereto of subband, exports the voltage or current signal proportional to swing offset as the differential seat angle
Value.
2. self-adapting adjusting apparatus according to claim 1, which is characterized in that flight control computer (2) includes filtering submodule
Block and segmentation PID sub-module calculate aerostatics in face of actuation control needed for wind direction navigation for realizing according to the angle difference
Data processed, in which:
Filtering submodule is for being filtered the angle difference to obtain filtered angle difference；
Segmentation PID sub-module is used for the filtered angle difference application segmentation pid control algorithm to obtain actuation control number
According to.
3. a kind of near space aerostatics wind field self-adapting regulation method, which is characterized in that the method using claim 1 or
Self-adapting adjusting apparatus described in 2 is realized, which comprises
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, calculates aerostatics in face of needed for wind direction navigation according to the angle difference
Actuation controls data, and exports actuation control data；
Actuation mechanism (3) receives actuation and controls data, and controls data according to actuation to control itself, makes the course of aerostatics
Certain angle is deflected, to complete the adaptive adjustment that aerostatics is navigated by water in face of wind direction.
4. self-adapting regulation method according to claim 3, which is characterized in that flight control computer (2) is according to the angle
Difference calculates aerostatics and includes following steps in face of actuation control data bag needed for wind direction navigation:
The angle difference is filtered to obtain filtered angle difference；
To the filtered angle difference application segmentation pid control algorithm to obtain actuation control data.
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| CN111422351A (en) * | 2020-04-14 | 2020-07-17 | 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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| CN108639316A (en) * | 2018-03-29 | 2018-10-12 | 成都众宜合生科技有限公司 | When a kind of landing can effectively damping unmanned plane |
| CN111284687B (en) * | 2020-04-14 | 2021-07-06 | 中国人民解放军32180部队 | High-wind-resistance coaxial reverse-paddle type mooring unmanned aerial vehicle and flight control method thereof |
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