CN108082524A - A kind of controllable two-stage of unmanned plane launches vehicle control syetem and catapult technique - Google Patents
A kind of controllable two-stage of unmanned plane launches vehicle control syetem and catapult technique Download PDFInfo
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- CN108082524A CN108082524A CN201810056223.8A CN201810056223A CN108082524A CN 108082524 A CN108082524 A CN 108082524A CN 201810056223 A CN201810056223 A CN 201810056223A CN 108082524 A CN108082524 A CN 108082524A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64F—GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR
- B64F1/00—Ground or aircraft-carrier-deck installations
- B64F1/04—Ground or aircraft-carrier-deck installations for launching aircraft
- B64F1/06—Ground or aircraft-carrier-deck installations for launching aircraft using catapults
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Abstract
The invention discloses a kind of controllable two-stage ejection vehicle control syetems of unmanned plane, and vehicle-mounted control mechanism, automatic open-shelf and unmanned plane lock frame mechanism are launched including launching cradle, catapult car, ejection slide, controllable two-stage ejection driving mechanism, controllable two-stage；The invention also discloses a kind of control methods of the controllable two-stage ejection vehicle control syetem of unmanned plane, generate gases at high pressure respectively including air compressor machine and low-pressure gas is conveyed to high pressure tank, low pressure gasholder；Controllable two-stage ejection vehicle control syetem starts the movement of launching cradle first stage, while sends to the ejection time relay and to start the time command that launching cradle second stage move and the time command that release ejection latches；It launches the time relay and starts the movement of launching cradle second stage；And release ejection lock.The present invention realizes reduction starting ejection acceleration, so as to avoid the problem of overload of the starting in ejection process is excessive to greatest extent, and reaches enough from frame rate request simultaneously.
Description
Technical field
The invention belongs to unmanned aerial vehicle ejecting technical field more particularly to a kind of unmanned plane controllable two-stage ejection vehicle control syetem and
Catapult technique.
Background technology
Every aircraft using fixed-wing mode is required for being utilized the speed of relative atmospheric by aircraft, generates power
Flight.So Fixed Wing AirVehicle is typically required for enough runways, enough liters are obtained when aircraft reaches certain speed
Power carrys out liftoff fly into the air.The aircraft that aerodynamic lift is obtained also with speed is also required to sufficient length when earthward landing
Runway.Although when landing, many aircraft use various ways need to use landing airdrome length to lower landing speed to shorten,
It is to tell on still cancel landing runway.
The runway of aircraft can have the laying surface of various different qualities at present, for high speed or large-scale heavy aircraft
The runway surface armored concrete that almost has 1-2 meters be laid with, length is 2000 meters -4000, about 30 meters or so of width, cost
It is sufficiently expensive.For light aerocraft, small drone although compacting natural-surfaced runway or brick pressure concrete laying may be employed, one
As be also it is relatively expensive.
The runway being laid with using which kind of quality all occupies huge land area and flying area, and cost is held high
It is expensive.But since the commercial profit of aircraft is very high, enormous profits income is for building the runway of large-scale landing aircraft
Or it is worth, therefore there are many commercial and military airfields in the whole world.
For flight in mountain area, river and lake, oversea flight area, especially military purposes aircraft, often speed reads fast, weight
Greatly, therefore use scope is placed restrictions on by runway very much.It is obtained therefore using ejection mode by aircraft in narrow and small region and space with making
With.
Aircraft catapult can be traced to World War II early stage earliest.Small-sized military reconnaissance plane is initially applied in warship
Flight-deck on using rocket and compressed air as power cataplane.Hereafter ejector is mainly used for military flight
Device.In recent years, it is widely used in small and medium size unmanned aerial vehicles taking off on small space, complex landform, river and lake area, ships, is
Very successfully.
Conventional ejector uses three kinds of dynamical systems at present：
- rocket-powered ejector
- compression control ejector
- rubber band ejector
So far, the ejector that we see all is the fixed-wing unmanned plane for launching low aspect ratio.In order to pursue high-performance, nothing
It is man-machine progressively to use high aspect ratio wing, so bring existing ejector that cannot all meet the requirements.
Above-mentioned three kinds of ejectors can be less than 400 kilograms of fixed-wing unmanned plane with catapult-assisted take-off weight, can not directly launch
Wing aspect ratio (wing aspect ratio can also state as the length of wing square divided by wing area) be more than 16 the big span
Long endurance unmanned aircraft.With the raising to unmanned plane during flying performance requirement, the unmanned plane of tens hours, Zhan Xian are reached for endurance
Than being nearly all more than 18, the wing carries also bigger.For small drone aspect ratio 21, the wing carries 30-40 kilograms, and long endurance reaches 30-
40 it is small when unmanned plane, be extremely harmful using common ejector.
No matter using rocket-powered, compressed air or rubber band elastic force, nearly all in more than 15g, (g is aircraft to initial overload
Weight), it is all a very big challenge so to give unmanned plane Structural Strength Design and service life.Cataplane is from frame
Speed is generally in 12-17 meter per seconds.
Since the dynamical system of above-mentioned three kinds of ejectors is all that overload is very big in initial ejection, especially rubber band launches
Device and rocket catapult, starting point acceleration is from maximum 15-17 on entire frame, and during to from frame, rocket thrust drops to very low, and rubber
Rubber band pulling force drops to almost 0.Namely ejection acceleration is minimized from maximum, thus be subject on aircraft originate launch when
The power that the effect of very big acceleration and aerodynamic force generates is very big, has been more than the power that normal flight can bear.Accomplish to meet
The unmanned plane of the characteristic of ejector must will be designed to that the structure with than normal flight design is eager to excel very much, it is clear that cause nobody
The increase of machine weight, the design of unmanned plane is very unfavorable when being eaten for long boat.
Furthermore when wing area is identical, the root string of low aspect ratio wing is bigger, using similar relative thickness
During aerofoil profile, root thickness is with regard to bigger.Therefore bending stiffness is with regard to bigger.
It is controlled since high aspect ratio wing length is twice than low aspect ratio wing length, the machine of such low aspect ratio wing
1 times bigger than high aspect ratio wing of wing longitudinal direction bending stiffness or more.During ejection, the moment M of wing quality generation caused by acceleration
4 times or more small the M that is at least on short wing for high aspect ratio wing greatly (because high aspect ratio wing quality is big).
Further, when unmanned plane is in starting ejection on launching cradle, it is subject to three huge power：Downward gravity, edge
The motive force of direction of ejection, perpendicular to the aerodynamic force for promoting force direction.
Motive force is to add to unmanned plane by ejector, and common ejector is originated to be overloaded to unmanned machine power up to 15-17 times, false
Determine aircraft and weigh 100 kilograms, then instantaneous ejection force is up to 1.5 tons.Entire ejection process is about -1.5 seconds 1 second, aircraft i.e. from frame,
It is 12-17 meter per seconds from frame speed.
According to data above reasoning, when ejection acceleration is maximum 0.2 second, aircraft has reached about 5-6 meter per seconds speed
Degree, about 20-22 km/h.When overload is reached up to 10, when about originating after launching, air speed reaches 10 meter per seconds, this two kinds
Situation, which is got off the plane, is subject to the horizontal direction thrust of about 10-15 times aircraft weight, and is subject to 50% perpendicular to gravity direction simultaneously
Weight lift, the equilibrant force one of this two power are counter-force and gravity on body.And the mistake of unmanned aerial vehicle design is loaded in Vertical Square
To being positive 3, minus 2, i.e., allow maximum lift in design for 1.5 times of gravity；It is that aircraft always hinders in direction of advance design overload
1-2 times of power, i.e., it is 1-2 times to allow longitudinal direction (being both longitudinally the direction that aircraft advances) overload in design.And even if aircraft is from frame
When reach about 60-70 km/h of maximum speed, aerodynamic drag is only just 40% to the 60% of take-off weight, it is assumed that aircraft 100
Kilogram weight, aerodynamic drag are 40-60 kilograms, allow in that petty design along aircraft axial acceleration be exactly 80- 120 kgs,
And it is 1200-1800 kilograms actually to overload.So longitudinal strength needed for big overload catapult-assisted take-off is completed far beyond normal
Design strength several times.This is very big influence flying quality.
To sum up, for the big span, for high-aspect-ratio aircraft, the maximum axial acceleration that wing is subject in ejection is almost
15-17 times, the lift on wing is more than 3 times of designs and overloads, this is breakneck.Therefore, for high aspect ratio wing,
It is main engineering striving direction to reduce starting ejection acceleration.
The content of the invention
In view of the deficiencies of the prior art, the present invention proposes a kind of controllable two-stage ejection vehicle control syetem of unmanned plane and ejections
Method, it is therefore an objective to reduce starting ejection acceleration, avoid the problem that the starting overload in ejection process is excessive, while can expire again
Enough requirements from frame speed fully, solve the prior art due to wing the axial acceleration that is subject in ejection it is too big and caused by
The problem of abnormally dangerous.
A kind of controllable two-stage ejection vehicle control syetem of unmanned plane, it is characterized in that：It is slided including launching cradle, catapult car, ejection
Rail, controllable two-stage ejection driving mechanism, the vehicle-mounted control mechanism of controllable two-stage ejection, automatic open-shelf and unmanned plane lock frame mechanism,；Institute
It states launching cradle and catapult car and ejection slide with controllable two-stage ejection driving mechanism to be connected, the controllable two-stage ejection driving machine
Structure is connected with automatic open-shelf and unmanned plane lock frame mechanism, and the controllable two-stage launches vehicle-mounted control mechanism and passes through wired network respectively
Network or wireless network are connected with catapult car, controllable two-stage ejection driving mechanism, automatic open-shelf and unmanned plane lock frame mechanism.
The controllable two-stage ejection driving mechanism includes high-power electric air compressor machine, two level ejection height air accumulator, essence
True control pressure valve and pressure sensor, the pressurized strut of ejection pneumaticpiston, multigroup double loop sound wheel wirerope component, generating set；
The generating set is respectively high-power electric air compressor machine, two level ejection height air accumulator, accurate control pressure valve and pressure
Sensor, the pressurized strut of ejection pneumaticpiston, double loop sound wheel wirerope assembly power supply；The high-power electric air compressor machine is two
Grade ejection provides compressed air with height air accumulator；The accurate control pressure sensor is launched for gathering two level with high and low
The pressure information of air accumulator simultaneously feeds back to the vehicle-mounted control mechanism of controllable two-stage ejection, and the accurate control pressure valve can for receiving
Two-stage is controlled to launch the control instruction of vehicle-mounted control mechanism and provide Pneumatic pressure to the ejection pneumaticpiston pressurized strut；The bullet
Penetrate pneumaticpiston pressurized strut driving double loop sound wheel wirerope component movement.
The controllable two-stage, which launches vehicle-mounted control mechanism, includes controllable two-stage ejection control software, data processor, controllable
Two-stage ejection performs data display screen.
Multigroup double loop sound wheel wirerope component is the component formed using multiple double loop sound wheel wirerope components,
Movable pulley move distance can be greatly shortened using multigroup double loop sound wheel wirerope component.
It is described to launch pneumaticpiston pressurized strut as the driving pneumatic cylinders on movable pulley, the ejection pneumaticpiston
Pressurized strut includes the ejection pneumaticpiston for being separately positioned on mouth A, the mouth B at both ends and being arranged in pressurized strut, is arranged on ejection
The wirerope component connecting pin of pneumaticpiston pressurized strut one end；The mouth A, mouth B can be used as air inlet or exhaust outlet, so as to fulfill
The reciprocating motion of pressurized strut.
The ejection pneumaticpiston pressurized strut uses the scheme of two-stage ejection, and the scheme of the two-stage ejection is included using two
Two-stage ejection is realized in a pressurized strut：Wherein described high pressure pressurized strut is used for primary bullet for final stage ejection, the low pressure pressurized strut
It penetrates；It further includes and two-stage ejection is realized using a pressurized strut：The pressurized strut have sufficiently accurate big flow pneumatic flowrate valve and
Sufficiently large air pressure source of the gas.
When realizing two-stage ejection using two pressurized struts, the high pressure pressurized strut, low pressure pressurized strut working condition are by master control
Program instruction performs, full automatic working；Or empty low pressure is opened for gas shift by exercise bicycle is airborne；When using a pressurized strut reality
During existing two-stage ejection, which is controlled entire two level ejection process by program.
Described to open empty low pressure for gas shift by exercise bicycle is airborne, which includes slide, on slide
The catapult car that is slidably connected with slide, be separately positioned on the high pressure tank close to one end of slide both sides, low pressure gasholder,
It is arranged on the pressure switch of A points on slide；The pressure switch for catapult car from B points reach A points when, shut-off
Low-pressure compressed air supplies, opening high pressure air switch, to driving pressurized strut supply, continues that catapult car is promoted with higher to add
Speed moves, until unmanned aerial vehicle ejecting takes off.
The automatic open-shelf mechanism include catapult car slide, on catapult car slide, by driving wirerope component
Coaster driving, can moving forward and backward；The aircraft bracket for being packed on coaster, being moved forward and backward with coaster；It is packed in coaster
Open-shelf mandril on one end is packed in the open-shelf closing piece above open-shelf mandril, the open-shelf closing piece is fixed on unmanned plane
On hook socket；The open-shelf mandril for can elastic bar, with open-shelf mandril in opposite directions be mounted on slide one end hard bullet
Property body, which is used to resist the impact of open-shelf mandril.
The unmanned plane lock frame mechanism includes the hard elastic body of extreme, the ejection being slidably connected on slide is slided
Vehicle, the one end for being packed in ejection pulley and the open-shelf mandril moved toward one another with hard elastic body are packed in above open-shelf mandril
Open-shelf closing piece, the hook being fixed on unmanned plane and the open-shelf mandril on half after open-shelf mandril recover spring, consolidate
Lock frame mechanism between the rear end portion of catapult car and the slide other end recovers spring；When open-shelf mandril travels forward in shock
During the hard elastic body end of extreme, open-shelf mandril recovers spring and is compressed, and open-shelf mandril moves backward with respect to slide, open-shelf
Also opposite slide moves closing piece backward simultaneously, therefore the hook of fixed unmanned plane is disengaged from open-shelf closing piece end, at this time unmanned plane
It is flown in the air with the coaster for leaving launching cradle.
A kind of control method of the controllable two-stage ejection vehicle control syetem of unmanned plane, comprises the following steps：
Step 1: air compressor machine generates gases at high pressure respectively and low-pressure gas is conveyed to high pressure tank, low pressure gasholder；Described
Air compressor machine is high-power electric air compressor machine；
Step 2: after controllable two-stage launches the signal that vehicle-mounted control mechanism receives low pressure gasholder completion gas storage, start ejection
The frame first stage moves, at the same send to the ejection time relay start the time command that moves of launching cradle second stage and
The time command of release ejection lock；
The low pressure gasholder moves low pressure pressure supply to the launching cradle first stage；
The periods of low pressure acceleration is slower；
The periods of low pressure uses accurate Air Valve Control acceleration；
Step 3: the ejection time relay at the appointed time starts the movement of launching cradle second stage；
The high pressure tank moves high pressure pressure supply to the launching cradle second stage；
The high pressure phase acceleration is very fast；
The high pressure phase uses accurate Air Valve Control acceleration；
Step 4: the ejection time relay at the appointed time discharges ejection lock；
Step 5: cataplane is from frame.
Advantages of the present invention effect
1st, the present invention overcomes the technology prejudice of this field for a long time, i.e.,：For aircraft is enabled to reach enough when from frame
From frame speed, it is necessary to ejection acceleration is from the prejudice that is minimized of maximum.By using programme controlled unmanned aerial vehicle ejecting frame gas
It presses piston type pressurized strut, by the way that ejection process is divided into two stages, is transported forward using dragging unmanned plane at a slow speed in the first stage
Dynamic, using smaller acceleration, the air valve that high pressure gas holder is opened in second stage is supplied to gas tank, with larger flow pressure by setting
Fixed speed promotes coaster to travel forward, and until airplane catapult takes off, realizes for high aspect ratio wing, reduces starting
Ejection acceleration so as to avoid the problem of overload of the starting in ejection process is excessive to greatest extent, and meets foot simultaneously
It is enough from frame speed.
2nd, the present invention is by the method for programming, with time command instruction electronic flow valve by program setting flow/
Time controls pneumatic actuation pressurized strut campaign, using a high pressure tank, and a flow control valve replaces double air accumulators, double
Flow control valve so that control means are more succinct, can have different ejection curves for different aircrafts, and ejection process is with accurately
Air Valve Control speed, perfection embody the advantage of the ejector of sequencing, bullet large size unmanned plane or can launch miniature
Unmanned plane.
Description of the drawings
Fig. 1 is the controllable two-stage ejection system structure chart of unmanned plane of the present invention；
Fig. 2 launches driving mechanism schematic diagram for the controllable two-stage of the present invention；
Fig. 3 launches vehicle-mounted control mechanism schematic diagram for the controllable two-stage of the present invention；
Fig. 4 is double loop sound wheel wirerope component diagram；
Fig. 5 is present invention ejection air pressure activity pressurized strut schematic diagram；
Fig. 6 is the driving pneumatic cylinders schematic diagram that the present invention is mounted on movable pulley；
Fig. 7 is the connection mode of two-stage of the present invention ejection；
Fig. 8 is open-shelf structural scheme of mechanism of the present invention；
Fig. 9 is present invention lock frame mechanism schematic diagram；
Figure 10 launches flow diagram for the controllable two-stage of the present invention；
Figure 11 is prior art airplane catapult overload curves schematic diagram；
Figure 12 is two-stage ejection acceleration curve synoptic diagram of the present invention；
In figure, 1-1:Static fast pulley 1；1-2:Static fast pulley 2；1-3:Movable pulley；2:Launch pneumatic activity pressurized strut；2-1:
Gases at high pressure air inlet；2-2:Exhaust outlet；2-3：Launch pneumaticpiston；2-4：Wirerope component connecting pin；3-1:Slide；3-2:Bullet
Penetrate vehicle；3-3:Launch truck position B；3-4:Launch truck position A；3-5:High pressure tank；3-6:Low pressure gasholder；4-1:Hard bullet
Property body；4-2:Open-shelf mandril； 4-3:Unlocking mandril；4-2-1:Open-shelf mandril recovers spring；4-4:It locks frame mechanism and recovers spring；
4-5：The hook being fixed on unmanned plane； 4-6:Aircraft bracket；4-7：Drive wirerope
Specific embodiment
Present invention is made below in conjunction with the accompanying drawings and being explained further.
First, inventive principle and inventive method general introduction：
1st, airplane catapult starting overload it is excessive the reason is that starting ejection instantaneous acceleration is excessive, acceleration and overload factor into just
Than.Ejection instantaneous acceleration is excessive two aspect reasons for starting, first, it is enough fast from frame that aircraft to be made to be generated when from frame
Degree must just use enough acceleration that could generate enough from frame speed in ejection process, which is referred to as " bullet
Penetrate acceleration "；Second, current three kinds of conventional dynamical systems, are all that overload is very big in initial ejection, that is, starting point acceleration
It spends for maximum, especially rubber band ejector and rocket catapult, since starting point acceleration is maximum, overload reaches 15-17 times
Aircraft gravity, during to from frame, rocket thrust drops to very low, and rubber band pulling force drops to almost 0.Namely ejection acceleration from
Maximum is minimized.Therefore the power that the effect for the acceleration and aerodynamic force very big when originating ejection being subject on aircraft generates is very
Greatly, power that normal flight can bear has been more than it.
2nd, " ejection acceleration " is split in entire ejection process rather than concentrated in ejection starting point by the present invention.
As shown in figure 12, it is divided into two ejection stages, low pressure ejection stage, high pressure ejection stage, in the acceleration in low pressure ejection stage
It is relatively slow, it is very fast in high pressure ejection stage acceleration, and the total trend of acceleration is the trend gradually risen.It is of the invention controllably to add
Speed generate effect it is as shown in figure 12, although overload when aircraft is from frame is only 8 or so, can equally produce it is enough from
Frame speed.Its principle is：Acceleration of the Figure 12 of the present invention from frame moment point is existing compared with the acceleration of Figure 11 ejection starting points
From 0 second to 2 seconds, ejection process was moderating process to Figure 11 of technology, and the present invention Figure 12 from 0 second to 2 seconds ejection process be plus
The reason for fast process, Figure 11 is moderating process:Since the technical solution is programme controlled without using during airplane catapult
Method, when running into the air drag opposite with acceleration in ejection process, air drag so that acceleration is slower and slower；Although this
The aircraft of Invention figure 12 equally ran into air drag in the ejection process of 0 second to 2 seconds, but due to being made using programme controlled air pressure
Dynamic cylinder, atmospheric pressure actuating cylinder overcome air drag with larger flow pressure, by the speed of setting coaster are promoted to travel forward so that
Acceleration remains the trend progressively accelerated in entire ejection process, until airplane catapult takes off.Although Figure 12 of the present invention
It is only 8 in overload factor of the aircraft from frame moment point, which is prior art Figure 11 ejection starting point overload factors
17 half, but since Figure 12 of the present invention is using controllable acceleration, foot can be reached when reaching aircraft from frame moment point
It is enough from frame speed.From another interpretation inventive principle, from Figure 11 and Figure 12 it is obvious that two ejection acceleration songs
Line is different, but it is identical to design this two curves and X, the area coverage of Y-axis.Their area represents ejection
The total amount of energy, so while two ejection acceleration differences, but the ejection that unmanned plane obtains can be essentially identical.Only meet this
A situation, unmanned plane just have enough from frame speed.In short, design two level ejection curve of the present invention must abandon original ejection reason
It reads.
3rd, launching cradle of the invention uses gases at high pressure as ejection power, is power resources by compressed air gas bomb, by
Compressed air gas-powered atmospheric pressure actuating cylinder, pulls and the steel cable circuit of aircraft fixation balladeur train, traction unmanned aerial vehicle ejecting take off.With
Common ejector is a difference in that using two air accumulators of high pressure and low pressure gas bomb.
4th, inventive method is summarized：
(1) unmanned aerial vehicle ejecting frame uses air pressure piston type pressurized strut, by High-pressure air valve supply gas pressure is controlled to elongate or shorten gas
The length of the cylinder piston connects with pulley wirerope component movable pulley on the overhanging head of cylinder, pushes or pull on movable pulley along slide side
Formula moves forward and backward.
(2) one, pulley blocks wirerope is connected with coaster pulls coaster quickly to be moved to cataplane direction, until stop is slided
Bar opens locking and discharges unmanned plane, completes ejection sequence.
(3) when coaster is moved forward from 0 position, it is divided into the two-stage, the first stage is that dragging unmanned plane is transported forward at a slow speed
Dynamic, smaller acceleration, in second stage end, when speed reaches the predetermined speed of setting, programme controlled low pressure valve will
The pressure supply of cutoff low gas tank, while the air valve for opening high pressure gas holder is supplied to gas tank, with larger flow pressure by the speed of setting
Degree reads that coaster is promoted to travel forward, and until airplane catapult takes off, immediately turns off intake valve, cut-out supply at this time, while instructs work
Piston cylinder is deflated, and stops piston motion, and whole ejection process terminate at this time.
2nd, be based on more than inventive principle, the present invention devise a kind of controllable two-stage ejection vehicle control syetem of unmanned plane and
Catapult technique.
As shown in Figure 1, a kind of controllable two-stage ejection vehicle control syetem of unmanned plane, feature are：Including launching cradle, bullet
It penetrates vehicle, ejection slide, controllable two-stage ejection driving mechanism, controllable two-stage and launches vehicle-mounted control mechanism, automatic open-shelf and unmanned plane
Lock frame mechanism,；The launching cradle and catapult car and ejection slide are connected with controllable two-stage ejection driving mechanism, and described controllable two
Grade ejection driving mechanism is connected with automatic open-shelf and unmanned plane lock frame mechanism, and the controllable two-stage launches vehicle-mounted control mechanism point
Driving mechanism, automatic open-shelf and unmanned plane are not launched with catapult car, controllable two-stage by cable network or wireless network and lock frame machine
Structure is connected.
It further illustrates：The catapult car can also be mounted on a pickup truck or on trailer, all attachmentes and sheet
Body is installed with fixed form.
As shown in Fig. 2, the controllable two-stage ejection driving mechanism includes high-power electric air compressor machine, two level ejection height
Air accumulator, accurate control pressure valve and pressure sensor, the pressurized strut of ejection pneumaticpiston, double loop sound wheel wirerope component, hair
Electric group；The generating set be respectively high-power electric air compressor machine, two level ejection height air accumulator, accurate control pressure valve and
Pressure sensor, the pressurized strut of ejection pneumaticpiston, double loop sound wheel wirerope assembly power supply；The high-power electric air compressor machine
For two level ejection compressed air is provided with height air accumulator；The accurate control pressure sensor is used for gathering two level ejection
The pressure information of high and low air accumulator simultaneously feeds back to the vehicle-mounted control mechanism of controllable two-stage ejection, and the accurate control pressure valve is used for
Controllable two-stage is received to launch the control instruction of vehicle-mounted control mechanism and provide Pneumatic pressure to the ejection pneumaticpiston pressurized strut；
The ejection pneumaticpiston pressurized strut driving double loop sound wheel wirerope component movement.
As shown in figure 3, the controllable two-stage, which launches vehicle-mounted control mechanism, includes controllable two-stage ejection control software, at data
Manage device, the ejection of controllable two-stage performs data display screen.
As shown in figure 4, it is double loop sound wheel wirerope component of the present invention, including 1-1：Static fast pulley 1,1-2：It is static solid
Fixed wheel 2：1-3:Movable pulley；The component is the dual range principle using silk cable sound pulley circuit and the component that designs.Using it is dynamic,
Quiet principle of confounding can save the not up to final traction of active drive pressurized strut move distance away from required length, and principle is as follows：
When movable pulley moves to position 2, move distance L from position 1, then generate wirerope L movement lengths.And former traction hook end
From home position, A moves to position B, and A-B length is 2L at this time.
As shown in figure 5, the ejection air pressure activity pressurized strut schematic diagram for the present invention:Enter high-voltage device from mouth A, pressurized strut to
Right movement, driving wirerope moving wheel, gas is discharged from mouth B.After pneumatic gas is inputted from mouth B, pressurized strut is resetted to left movement.
As shown in fig. 6, ejection pneumaticpiston pressurized strut of the present invention is the pneumatic start of driving on movable pulley
Cylinder, the ejection pneumaticpiston pressurized strut on the movable pulley along the position 1 of Fig. 6 double loops sound wheel wirerope component,
The line direction of position 2 two pumps, and is specially：
When from mouth A pressure breathings, mouth B exhausts, since the upper end of ejection pneumaticpiston pressurized strut is connected with movable pulley 1-3, this
When, movable pulley 1-3 is moved downward along the airintake direction of mouth A, when from below mouth B air inlets, be vented from mouth A when, movable pulley 1-3
It is moved upwards along the airintake direction of mouth B.
Multigroup double loop sound wheel wirerope component is using multiple double loop sound wheel wirerope components as shown in Figure 6
The component of composition.In the case where drawing length required by launching cradle is certain, the present invention uses multigroup double loop sound wheel wirerope
Component can not only greatly shorten movable pulley move distance, also shorten the scale of heavy, expensive driving pressurized strut and reduce
Weight；The ejection pneumaticpiston pressurized strut controls gas flow by one flow control air valve of procedure auto-control, so as to
Determine actuating speed.
The ejection pneumaticpiston pressurized strut uses the scheme of two-stage ejection, and the scheme of the two-stage ejection is included using two
Two-stage ejection is realized in a pressurized strut：Wherein described high pressure pressurized strut is used for primary bullet for final stage ejection, the low pressure pressurized strut
It penetrates；It further includes and two-stage ejection is realized using a pressurized strut：The pressurized strut have sufficiently accurate big flow pneumatic flowrate valve and
Sufficiently large air pressure source of the gas.
When realizing two-stage ejection using two pressurized struts, the high pressure pressurized strut, low pressure pressurized strut working condition are by master control
Program instruction performs, full automatic working；Or empty low pressure is opened for gas shift by exercise bicycle is airborne；The exercise bicycle is airborne to be opened
Open sky low pressure for gas shift as shown in fig. 7, the exercise bicycle include slide 3-1, be slidably connected on slide with slide
Catapult car 3-2, the high pressure tank 3-5 close to one end of slide both sides, low pressure gasholder 3-6 are separately positioned on, is arranged on
The pressure switch of A points on slide；The pressure switch reaches bullet for catapult car from ejection truck position B points 3-3
When penetrating truck position A point 3-4, low-pressure compressed air supply is turned off, opens high pressure air switch, is supplied to driving pressurized strut,
Continue that catapult car is promoted to move with higher accelerations, until unmanned aerial vehicle ejecting takes off.
When realizing two-stage ejection using a pressurized strut, the pressurized strut is by the entire two level ejection process of programme-control.Such as
Shown in Fig. 7, to realize the launching cradle structure diagram of two-stage ejection using a pressurized strut.
Described program control simply controls gas with time command instruction electronic flow valve by flow/time of program setting
Dynamic driving pressurized strut campaign.Because a high pressure tank, a flow control valve are only set.This control program is can be more
Change different pressures, flow/time control curve, for launching different weight rank unmanned plane.
It is open-shelf structural scheme of mechanism of the present invention as shown in Figure 8, Figure 9.The automatic open-shelf mechanism includes catapult car slide
3- 1, on catapult car slide, driven by driving wirerope component, the coaster 3-2 that can move forward and backward, be packed in cunning
The aircraft bracket 4-6 moved forward and backward on vehicle 3-2, with coaster, the open-shelf mandril 4-2 being packed on one end of coaster, are fixedly mounted with
Open-shelf closing piece 4-3, the open-shelf closing piece 4-3 above open-shelf mandril 4-2 are fixed on the hook 4-4 sockets on unmanned plane；
The open-shelf mandril 4-2 be can elastic bar, with open-shelf mandril 4-2 in opposite directions be mounted on slide one end hard elastic body 4-1,
The hard elastic body is used to resist the impact of open-shelf mandril.
It is illustrated in figure 9 present invention lock frame mechanism schematic diagram.The unmanned plane lock frame mechanism includes the hard of extreme
Matter elastomer 4-1, the ejection pulley 3-2 being slidably connected on slide, the one end for being packed in ejection pulley and with hard elastic body
Open-shelf mandril 4-2 that 4-1 is moved toward one another, the open-shelf closing piece 4-3 being packed in above open-shelf mandril 4-2, it is fixed on unmanned plane
Hook 4-4 and the open-shelf mandril on half after open-shelf mandril 4-2 recover spring 4-2-1, are packed in catapult car 3-2
Rear end portion and the slide 3-1 other ends between lock frame mechanism recover spring 4-5.
When open-shelf mandril 4-2 travels forward the hard elastic body 4-1 ends for hitting upper extreme, open-shelf mandril recovers bullet
Spring 4-2-1 is compressed, and open-shelf mandril 4-2 is moved backward with respect to slide 3-1, open-shelf closing piece 4-3 also simultaneously opposite slide 3-1 to
After move, therefore the hook 4-4 of fixed unmanned plane is disengaged from open-shelf closing piece 4-3 ends, unmanned plane and leaves launching cradle at this time
Coaster is flown in the air.
Flow diagram is launched for the controllable two-stage of the present invention as shown in Figure 10, a kind of controllable two-stage of unmanned plane launches vehicle-mounted control
The control method of system processed, comprises the following steps：
Step 1: air compressor machine generates gases at high pressure respectively and low-pressure gas is conveyed to high pressure tank, low pressure gasholder；Described
Air compressor machine is high-power electric air compressor machine；
Step 2: after controllable two-stage launches the signal that vehicle-mounted control mechanism receives low pressure gasholder completion gas storage, start ejection
The frame first stage moves, at the same send to the ejection time relay start the time command that moves of launching cradle second stage and
The time command of release ejection lock；
The low pressure gasholder moves low pressure pressure supply to the launching cradle first stage；
The periods of low pressure acceleration is slower；
The periods of low pressure uses accurate Air Valve Control acceleration；
Step 3: the ejection time relay at the appointed time starts the movement of launching cradle second stage；
The high pressure tank moves high pressure pressure supply to the launching cradle second stage；
The high pressure phase acceleration is very fast；
The high pressure phase uses accurate Air Valve Control acceleration；
Step 4: the ejection time relay at the appointed time discharges ejection lock；
Step 5: cataplane is from frame.
It is emphasized that embodiment of the present invention is illustrative rather than limited, therefore present invention bag
Include the embodiment being not limited to described in specific embodiment.
Claims (10)
1. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane, it is characterised in that：It is slided including launching cradle, catapult car, ejection
Rail, controllable two-stage ejection driving mechanism, the vehicle-mounted control mechanism of controllable two-stage ejection, automatic open-shelf and unmanned plane lock frame mechanism,；Institute
It states launching cradle and catapult car and ejection slide with controllable two-stage ejection driving mechanism to be connected, the controllable two-stage ejection driving machine
Structure is connected with automatic open-shelf and unmanned plane lock frame mechanism, and the controllable two-stage launches vehicle-mounted control mechanism and passes through wired network respectively
Network or wireless network are connected with catapult car, controllable two-stage ejection driving mechanism, automatic open-shelf and unmanned plane lock frame mechanism.
2. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 1, it is characterised in that：It is described can
Control two-stage ejection driving mechanism include high-power electric air compressor machine, two level ejection with height air accumulator, accurate control pressure valve and
Pressure sensor, the pressurized strut of ejection pneumaticpiston, multigroup double loop sound wheel wirerope component, generating set；The power generation component
It Wei not high-power electric air compressor machine, two level ejection height air accumulator, accurate control pressure valve and pressure sensor, ejection air pressure
Piston pressurized strut, double loop sound wheel wirerope assembly power supply；The high-power electric air compressor machine stores up for two level ejection height
Gas tank provides compressed air；The accurate control pressure sensor is used to gather the air pressure letter of the high and low air accumulator of two level ejection
It ceases and feeds back to controllable two-stage and launch vehicle-mounted control mechanism, the accurate control pressure valve is vehicle-mounted for receiving controllable two-stage ejection
The control instruction of control mechanism simultaneously provides Pneumatic pressure to the ejection pneumaticpiston pressurized strut；The ejection pneumaticpiston start
Cylinder driving double loop sound wheel wirerope component movement.
3. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 1, it is characterised in that：It is described can
It controls the vehicle-mounted control mechanism of two-stage ejection and performs number including controllable two-stage ejection control software, data processor, the ejection of controllable two-stage
According to display screen.
4. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 2, it is characterised in that：It is described more
Group double loop sound wheel wirerope component is using the component of multiple double loop sound wheel wirerope components composition, using multigroup double loop
Sound wheel wirerope component can greatly shorten movable pulley move distance.
5. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 2, it is characterised in that：The bullet
Pneumaticpiston pressurized strut is penetrated as the driving pneumatic cylinders on movable pulley, which includes difference
Be arranged on mouth A, the mouth B at both ends and be arranged in pressurized strut ejection pneumaticpiston, be arranged on ejection pneumaticpiston pressurized strut
The wirerope component connecting pin of one end；The mouth A, mouth B can be used as air inlet or exhaust outlet, so as to fulfill the reciprocal fortune of pressurized strut
It is dynamic.
6. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 2, it is characterised in that：The bullet
The scheme that pneumaticpiston pressurized strut uses two-stage ejection is penetrated, the scheme of the two-stage ejection includes realizing two using two pressurized struts
Grade ejection：Wherein described high pressure pressurized strut is used for primary ejector for final stage ejection, the low pressure pressurized strut；It further includes using one
Two-stage ejection is realized in a pressurized strut：The pressurized strut has sufficiently accurate big flow pneumatic flowrate valve and sufficiently large air pressure gas
Source.
7. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 6, it is characterised in that：Work as use
When two-stage ejection is realized in two pressurized struts, the high pressure pressurized strut, low pressure pressurized strut working condition are instructed by primary control program and performed, entirely
It is automatically brought into operation；Or empty low pressure is opened for gas shift by exercise bicycle is airborne；It, should when realizing two-stage ejection using a pressurized strut
Pressurized strut is controlled entire two level ejection process by program.
8. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 7, it is characterised in that：It is described by
Exercise bicycle is airborne to open empty low pressure for gas shift, which includes slide, be slidably connected on slide with slide
Catapult car, be separately positioned on close to the high pressure tanks of one end of slide both sides, low pressure gasholder, be arranged on A on slide
The pressure switch of point；The pressure switch for catapult car from B points reach A points when, turn off low-pressure compressed air
Supply opens high pressure air switch, to driving pressurized strut supply, continues that catapult car is promoted to move with higher accelerations, directly
It takes off to unmanned aerial vehicle ejecting.
9. a kind of controllable two-stage ejection vehicle control syetem of unmanned plane according to claim 1, it is characterised in that：
The automatic open-shelf mechanism include catapult car slide, on catapult car slide, by driving wirerope component drive
, the coaster that can be moved forward and backward；The aircraft bracket for being packed on coaster, being moved forward and backward with coaster；It is packed in one, coaster
Open-shelf mandril on end is packed in the open-shelf closing piece above open-shelf mandril, the open-shelf closing piece is fixed on unmanned plane
Hook socket；The open-shelf mandril for can elastic bar, with open-shelf mandril in opposite directions be mounted on slide one end hard elastic body,
The hard elastic body is used to resist the impact of open-shelf mandril；
Described unmanned plane lock frame mechanism include the hard elastic body of extreme, the ejection pulley being slidably connected on slide,
The open-shelf mandril for being packed in one end of ejection pulley and being moved toward one another with hard elastic body, the open-shelf being packed in above open-shelf mandril
Closing piece, the hook being fixed on unmanned plane and the open-shelf mandril on half after open-shelf mandril recover spring, are packed in
Lock frame mechanism between the rear end portion of catapult car and the slide other end recovers spring；Upper slide is hit when open-shelf mandril travels forward
During the hard elastic body end of end, open-shelf mandril recovers spring and is compressed, and open-shelf mandril moves backward with respect to slide, open-shelf closing piece
Also opposite slide moves backward simultaneously, therefore the hook of fixed unmanned plane is disengaged from open-shelf closing piece end, at this time unmanned plane and from
The coaster for opening launching cradle is flown in the air.
10. a kind of a kind of control of the controllable two-stage ejection vehicle control syetem of unmanned plane as described in any one of claims 1-9
Method processed, comprises the following steps：
Step 1: air compressor machine generates gases at high pressure respectively and low-pressure gas is conveyed to high pressure tank, low pressure gasholder；Described
Air compressor machine is high-power electric air compressor machine；
Step 2: after controllable two-stage launches the signal that vehicle-mounted control mechanism receives low pressure gasholder completion gas storage, start ejection
The frame first stage moves, at the same send to the ejection time relay start the time command that moves of launching cradle second stage and
The time command of release ejection lock；
The low pressure gasholder moves low pressure pressure supply to the launching cradle first stage；
The periods of low pressure acceleration is slower；
The periods of low pressure uses accurate Air Valve Control acceleration；
Step 3: the ejection time relay at the appointed time starts the movement of launching cradle second stage；
The high pressure tank moves high pressure pressure supply to the launching cradle second stage；
The high pressure phase acceleration is very fast；
The high pressure phase uses accurate Air Valve Control acceleration；
Step 4: the ejection time relay at the appointed time discharges ejection lock；
Step 5: cataplane is from frame.
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| CN108082524B (en) | 2023-10-10 |
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