CN109141429A - The balloon borne solar energy unmanned plane launch process track design method of near space - Google Patents
The balloon borne solar energy unmanned plane launch process track design method of near space Download PDFInfo
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- CN109141429A CN109141429A CN201811024597.8A CN201811024597A CN109141429A CN 109141429 A CN109141429 A CN 109141429A CN 201811024597 A CN201811024597 A CN 201811024597A CN 109141429 A CN109141429 A CN 109141429A
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- unmanned plane
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
Abstract
The disclosure provides a kind of balloon borne solar energy unmanned plane launch process track design method of near space, comprising: step A: the state of flight that risk factors of unmanned plane body during pull-up require and should meet is carried out mathematicization description and founding mathematical models；Step B: constraint condition and objective function are chosen；Step C: the objective function is optimized using control variable parameter method, obtains real-time pitching angle of rudder reflection of unmanned plane body during pull-up.The balloon borne solar energy unmanned plane launch process track design method of near space that the disclosure provides can make the longitudinal direction of unmanned plane body allow to overload maintenance within the allowable range in launch process；And in the range of being in the flying angle of unmanned plane body during launching pull-up allows, while it is short to meet the launch process time, reduces launch risk as far as possible.
Description
Technical field
This disclosure relates to air vehicle technique field more particularly to a kind of balloon borne solar energy unmanned plane launch process of near space
Track design method.
Background technique
Near space solar energy unmanned plane has the characteristics that the cruise time is long, can across round the clock even across Zhou Feihang, while its fly
Row height is high, with being constantly progressive for energy-storage battery technology, has vast potential for future development.Solar energy unmanned plane enters and faces at present
The mode of near space mainly relies on runway independently to climb, and unmanned plane climbs high to scheduled cruise by the power device of itself
Degree, which require the motor performance of unmanned plane relatively high；The shadow of process in addition, unmanned plane needs to consider to climb in design
It rings.
In consideration of it, designing a kind of new solar energy unmanned plane enters near space mode, which for the first time by solar energy without
It is man-machine in conjunction with aerostat, solar energy unmanned plane is carried to specified height using high-altitude aerostatics platform and is launched again
To enter near space, which need to only consider cruising condition demand when carrying out autonomous system design, while unmanned plane is pneumatic
Design has higher cruise performance using cruising flight height as Reference Design point, reduces body weight itself, increases load energy
Power.
However, in implementing the present disclosure, present inventor's discovery, using the balloon borne putting mode pair of near space
Flight track proposes very high requirement, and one side solar energy unmanned plane size is big, light weight, flexible big, longitudinally allows to overload
It is smaller；On the other hand the unmanned plane angle of attack should in allowed limits during launching pull-up, while track design will also expire
The sufficient launch process time is short, as far as possible reduction risk, therefore existing flight track is unable to satisfy requirement.
Disclosure
(1) technical problems to be solved
Based on above-mentioned technical problem, the disclosure provides a kind of balloon borne solar energy unmanned plane launch process track of near space and sets
Meter method, to alleviate the technical issues of flight track in the prior art is unable to satisfy axial acceleration and release time.
(2) technical solution
The disclosure provides a kind of balloon borne solar energy unmanned plane launch process track design method of near space, the balloon borne sun
Energy unmanned plane includes: unmanned plane body；Aerostat is connect with unmanned plane body by rope；And cutter, for cutting off
Rope between the unmanned plane body and the aerostat；The balloon borne solar energy unmanned plane launch process track of the near space
Design method is used to optimize the cutter and cuts off track after the rope during the unmanned plane body pull-up, comprising:
Step A: the state of flight that risk factors of unmanned plane body during pull-up are required and should be met into
Row mathematicization description and founding mathematical models；
Step B: constraint condition and objective function are chosen；
Step C: the objective function is optimized using control variable parameter method, obtains the unmanned plane body
Real-time pitching angle of rudder reflection during pull-up.
In some embodiments of the present disclosure, in the step A, the risk factors are required to include: launching pull-up
The axial acceleration of the unmanned plane body is set to be less than the maximum overload that its structural strength allows in journey；And it is required meeting overload
Under the premise of, reduce the time that the unmanned plane body is changed into level flight condition by vertical state.
In some embodiments of the present disclosure, the maximum overload that the structural strength of the unmanned plane body allows passes through design
Verification or ground test of static strength determine.
In some embodiments of the present disclosure, the unmanned plane body is reduced by vertical state and is changed into level flight condition
Time by reduce its by vertical state be changed into level flight condition turning radius r realize；
Turning radius r is set to meet following formula:
r≥rmin
Wherein, rminIt is changed into the minimum turning radius of level flight condition, m by vertical state for the unmanned plane body
For the quality of the unmanned plane body, V0For the real-time speed of the unmanned plane body during the turn.
In some embodiments of the present disclosure, in the step A, state of flight packet that the unmanned plane body should meet
Include: flying angle of unmanned plane body during pull-up is in allowed limits；The unmanned plane body is in pull-up
Pitching angle of rudder reflection is in maximum travel limit in journey；And attitude angle, angular speed, acceleration and the position of the unmanned plane body
The variation set is in reasonable range.
In some embodiments of the present disclosure, in which:
The allowed band of the flying angle passes through CFD calculating or wind according to the aerodynamic configuration of the unmanned plane body
Hole test decision, i.e. αmin≤α≤αmax；Wherein,Change nutation for unit pitching angle of rudder reflection
The variable quantity of torque is faced upward,Change the variable quantity of lower pitching moment for unit flying angle；The attitude angle includes roll angle,
The roll angle is between ± 20 °；The angular speed is between ± 20 °/s；The acceleration is less than 25m/s2；Institute's rheme
It sets variation and is less than 200m.
In some embodiments of the present disclosure, in the step B: the constraint condition includes: control variable, state variable
And control constraints；Wherein, the control variable, the state variable and the control constraints pass through the institute of the unmanned plane body
Mathematical model, airframe structure intensity and aerodynamic configuration is stated to determine；The objective function is according to the control variable, the state
Variable and the control constraints determine.
In some embodiments of the present disclosure, in the step C, is optimized and adopted using control variable parameter method
Optimization method is multi-target optimal design method.
In some embodiments of the present disclosure, the step C includes: step C1: converting canonical form for objective function；
Step C2: time and the inclined control amount of rudder are divided between n adjacent subarea respectively；Step C3: it in each time subinterval, adopts
Control system is gone with piecewise constant, objective function will be substituted by the control variable after time discrete, obtain optimal objective function；
Step C4: being solved using sequence quadratic programming method, obtains the optimal solution of the optimal objective function.
In some embodiments of the present disclosure, the step C4 includes: step C4a: calculating the optimal objective function and closes
In the gradient information of control amount parameter；Step C4b: checking whether with optimal performance, if best performance, iteration terminates, otherwise
Jump procedure C4c；Step C4c: being sent to using quasi-Newton method calculating search and optimal step size, is obtained new control function and is counted again
Target function gradient is calculated, and jumps to step C4b.
(3) beneficial effect
It can be seen from the above technical proposal that the balloon borne solar energy unmanned plane launch process boat of near space that the disclosure provides
Mark design method has the advantages that
The balloon borne solar energy unmanned plane launch process track design method of near space that the disclosure provides can launch
The longitudinal direction of unmanned plane body is set to allow to overload maintenance within the allowable range in journey；And make unmanned plane machine during launching pull-up
The flying angle of body is in the range of allowing, while it is short to meet the launch process time, reduces launch risk as far as possible.
Detailed description of the invention
Fig. 1 is the structural schematic diagram for the balloon borne solar energy unmanned plane of near space that the embodiment of the present disclosure provides.
Fig. 2 is the balloon borne solar energy unmanned plane launch process track design method of near space that the embodiment of the present disclosure provides
Flow diagram.
Specific embodiment
The embodiment of the present disclosure provide the balloon borne solar energy unmanned plane launch process track design method of near space by pair
The dispensing pull-up process founding mathematical models of balloon borne solar energy unmanned plane simultaneously optimize, and unmanned plane can be made in launch process
The longitudinal direction of body, which allows to overload, to be maintained within the allowable range；And launching the flying angle for making unmanned plane body during pull-up
In the range of permission, while it is short to meet the launch process time, reduces launch risk as far as possible.
For the purposes, technical schemes and advantages of the disclosure are more clearly understood, below in conjunction with specific embodiment, and reference
The disclosure is further described in attached drawing.
The disclosure provides a kind of balloon borne solar energy unmanned plane launch process track design method of near space, as shown in Figure 1,
The balloon borne solar energy unmanned plane includes: unmanned plane body；Aerostat is connect with unmanned plane body by rope；And cutting
Device, for cutting off the rope between unmanned plane body and aerostat.
In some embodiments of the present disclosure, as shown in Fig. 2, the balloon borne solar energy unmanned plane launch process boat of the near space
Mark design method is for the track during unmanned plane body pull-up after optimizing incision device cutting rope, comprising: step A: by nothing
The state of flight that risk factors of man-machine body during pull-up require and should meet carries out mathematicization description and establishes mathematics
Model；Step B: constraint condition and objective function are chosen；Step C: objective function is carried out using control variable parameter method
Optimization obtains real-time pitching angle of rudder reflection of unmanned plane body during pull-up, the near space ball that the embodiment of the present disclosure provides
Carrying solar energy unmanned plane launch process track design method can be such that the longitudinal direction of balloon borne solar energy unmanned plane permits in launch process
Perhaps overload maintains within the allowable range；And the range allowed is in launching the flying angle for making unmanned plane during pull-up
It is interior, while it is short to meet the launch process time, reduces launch risk as far as possible.
In some embodiments of the present disclosure, in step A, risk factors are required to include: making nothing during launching pull-up
The axial acceleration of man-machine body is less than the maximum overload that its structural strength allows；And it under the premise of meeting overload requirement, reduces
Unmanned plane body is changed into the time of level flight condition by vertical state.
In some embodiments of the present disclosure, risk factors of unmanned plane body during pull-up are required and should be met
State of flight carry out mathematicization description and founding mathematical models be risk factors are required and state of flight in the limit that should meet
Condition and range processed is quantified, and corresponding value or value range are chosen, as described below:
In some embodiments of the present disclosure, the maximum overload that the structural strength of unmanned plane body allows passes through design verification
Or ground test of static strength determines, for solar energy unmanned plane, can be overloaded and be limited in 2.5g hereinafter, wherein g adds for gravity
Speed, about 25m/s2。
In some embodiments of the present disclosure, reduce unmanned plane body by vertical state be changed into level flight condition when
Between by reduce its by vertical state be changed into level flight condition turning radius r realize；
That is, turning radius r is made to meet following formula: r >=rmin, in which:
Wherein, rminIt is changed into the minimum turning radius of level flight condition, m by vertical state for the unmanned plane body
For the quality of the unmanned plane body, V0For the real-time speed of unmanned plane body during the turn, according to V0Different values,
The r acquiredminValue is also varied, and enables r >=max [rmin]。
In some embodiments of the present disclosure, in step A, the state of flight that unmanned plane body should meet includes: unmanned plane
Flying angle of body during pull-up in allowed limits, for solar energy unmanned plane, can enable the permission of flying angle
Range is (- 5 °, 15 °)；Unmanned plane body during pull-up pitching angle of rudder reflection in maximum travel limit；And unmanned plane machine
Attitude angle, angular speed, acceleration and the variation of position of body are in reasonable range.
In some embodiments of the present disclosure, the allowed band of flying angle is led to according to the aerodynamic configuration of unmanned plane body
It crosses CFD calculating or wind tunnel test determines, i.e. αmin≤α≤αmax；Wherein,It bows for unit
The variable quantity that angle of rudder reflection changes lower pitching moment is faced upward,Change the variable quantity of lower pitching moment for unit flying angle.
In some embodiments of the present disclosure, attitude angle includes roll angle, and roll angle is between ± 20 °；Angular speed is situated between
Between ± 20 °/s；Acceleration is less than 25m/s2；Change in location is less than 200m.
In some embodiments of the present disclosure, in step B: constraint condition includes: control variable, state variable and controls about
Beam；Wherein, variable (such as rudder bias) is controlled, state variable (such as flying speed, flying angle), control constraints are (as most risen higher
Drop rudder bias, rudder exports angular speed etc. partially), the mathematical model of unmanned plane body, airframe structure intensity and pneumatically can be passed through
Shape determines；Objective function is determined according to control variable, state variable and control constraints.
In some embodiments of the present disclosure, in step C, used by being optimized using control variable parameter method
Optimization method is multi-target optimal design method.
In some embodiments of the present disclosure, step C includes: step C1: converting canonical form for objective function；Step
C2: time and the inclined control amount of rudder are divided between n adjacent subarea respectively；Step C3: in each time subinterval, using point
Section constant value goes control system, will substitute into objective function by the control variable after time discrete, obtains optimal objective function；Step
C4: being solved using sequence quadratic programming method, obtains the optimal solution of the optimal objective function.
In some embodiments of the present disclosure, step C4 includes: step C4a: calculating the optimal objective function about control
The gradient information of amount parameter processed；Step C4b: checking whether with optimal performance, if best performance, iteration terminates, and otherwise jumps
Step C4c；Step C4c: being sent to using quasi-Newton method calculating search and optimal step size, is obtained new control function and is calculated mesh again
Scalar functions gradient, and jump to step C4b.
According to above description, those skilled in the art should be to the balloon borne solar energy of near space of embodiment of the present disclosure offer
Unmanned plane launch process track design method has clear understanding.
In conclusion the balloon borne solar energy unmanned plane launch process track design side of near space that the embodiment of the present disclosure provides
Method is by the dispensing pull-up process founding mathematical models to balloon borne solar energy unmanned plane and optimizes, and obtains unmanned plane body and exists
Optimal trajectory during pull-up is completed solar energy unmanned plane and is turned from vertical zero initial velocity state to level cruise state of flight
It changes.
It should also be noted that, the direction term mentioned in embodiment, for example, "upper", "lower", "front", "rear", " left side ",
" right side " etc. is only the direction with reference to attached drawing, not is used to limit the protection scope of the disclosure.Through attached drawing, identical element by
Same or similar appended drawing reference indicates.When may cause understanding of this disclosure and cause to obscure, conventional structure will be omitted
Or construction.
And the shape and size of each component do not reflect actual size and ratio in figure, and only illustrate the embodiment of the present disclosure
Content.In addition, in the claims, any reference symbol between parentheses should not be configured to the limit to claim
System.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each open aspect,
Above in the description of the exemplary embodiment of the disclosure, each feature of the disclosure is grouped together into single implementation sometimes
In example, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: i.e. required to protect
The disclosure of shield requires features more more than feature expressly recited in each claim.More precisely, such as front
Claims reflect as, open aspect is all features less than single embodiment disclosed above.Therefore,
Thus the claims for following specific embodiment are expressly incorporated in the specific embodiment, wherein each claim itself
All as the separate embodiments of the disclosure.
Particular embodiments described above has carried out further in detail the purpose of the disclosure, technical scheme and beneficial effects
Describe in detail it is bright, it is all it should be understood that be not limited to the disclosure the foregoing is merely the specific embodiment of the disclosure
Within the spirit and principle of the disclosure, any modification, equivalent substitution, improvement and etc. done should be included in the guarantor of the disclosure
Within the scope of shield.
Claims (10)
1. a kind of balloon borne solar energy unmanned plane launch process track design method of near space, the balloon borne solar energy unmanned plane packet
It includes:
Unmanned plane body；
Aerostat is connect with unmanned plane body by rope；And
Cutter, for cutting off the rope between the unmanned plane body and the aerostat；
The balloon borne solar energy unmanned plane launch process track design method of the near space is for optimizing described in the cutter cutting
Track after rope during the unmanned plane body pull-up, comprising:
Step A: the state of flight that risk factors of unmanned plane body during pull-up require and should meet is counted
Huas description and founding mathematical models；
Step B: constraint condition and objective function are chosen；
Step C: the objective function is optimized using control variable parameter method, the unmanned plane body is obtained and is drawing
Real-time pitching angle of rudder reflection during rising.
2. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 1, the step
In rapid A, the risk factors are required to include:
It is less than the maximum overload that its structural strength allows launching the axial acceleration for making the unmanned plane body during pull-up；With
And
Meet overload require under the premise of, reduce the unmanned plane body by vertical state be changed into level flight condition when
Between.
3. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 2, the nothing
The maximum overload that the structural strength of man-machine body allows is determined by design verification or ground test of static strength.
4. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 2 reduces institute
It states unmanned plane body and level is changed by vertical state by reducing it by the time that vertical state is changed into level flight condition
The turning radius r of state of flight is realized；
Turning radius r is set to meet following formula:
r≥rmin
Wherein, rminIt is changed into the minimum turning radius of level flight condition by vertical state for the unmanned plane body, m is institute
State the quality of unmanned plane body, V0For the real-time speed of the unmanned plane body during the turn.
5. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 1, the step
In rapid A, the state of flight that the unmanned plane body should meet includes:
Flying angle of unmanned plane body during pull-up is in allowed limits；
The unmanned plane body during pull-up pitching angle of rudder reflection in maximum travel limit；And
Attitude angle, angular speed, acceleration and the variation of position of the unmanned plane body are in reasonable range.
6. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 5, in which:
The allowed band of the flying angle is calculated by CFD according to the aerodynamic configuration of the unmanned plane body or wind-tunnel tries
Test decision, i.e. αmin≤α≤αmax；
Wherein, Change the variable quantity of lower pitching moment for unit pitching angle of rudder reflection,For list
Position flying angle changes the variable quantity of lower pitching moment；
The attitude angle includes roll angle, and the roll angle is between ± 20 °；
The angular speed is between ± 20 °/s；
The acceleration is less than 25m/s2；
The change in location is less than 200m.
7. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 1, the step
In rapid B:
The constraint condition includes: control variable, state variable and control constraints；
Wherein, the control variable, the state variable and the control constraints pass through the mathematics of the unmanned plane body
Model, airframe structure intensity and aerodynamic configuration determine；
The objective function is determined according to the control variable, the state variable and the control constraints.
8. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 1, the step
In rapid C, optimization method used by using control variable parameter method to optimize is multi-target optimal design method.
9. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 8, the step
Suddenly C includes:
Step C1: canonical form is converted by objective function；
Step C2: time and the inclined control amount of rudder are divided between n adjacent subarea respectively；
Step C3: in each time subinterval, going control system using piecewise constant, will be become by the control after time discrete
Amount substitutes into objective function, obtains optimal objective function；
Step C4: being solved using sequence quadratic programming method, obtains the optimal solution of the optimal objective function.
10. the balloon borne solar energy unmanned plane launch process track design method of near space according to claim 9, the step
Suddenly C4 includes:
Step C4a: gradient information of the optimal objective function about control amount parameter is calculated；
Step C4b: checking whether with optimal performance, if best performance, iteration terminates, otherwise jump procedure C4c；
Step C4c: being sent to using quasi-Newton method calculating search and optimal step size, is obtained new control function and is calculated target letter again
Number gradient, and jump to step C4b.
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| CN201811024597.8A CN109141429B (en) | 2018-09-03 | 2018-09-03 | Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process |
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| CN201811024597.8A CN109141429B (en) | 2018-09-03 | 2018-09-03 | Method for designing flight path of near space ball-borne solar unmanned aerial vehicle in throwing process |
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| CN111984023A (en) * | 2020-08-17 | 2020-11-24 | 中国科学院工程热物理研究所 | Dynamic pressure compensation-based ball-borne unmanned aerial vehicle system launching section guidance law design method |
| CN111984023B (en) * | 2020-08-17 | 2023-12-19 | 中国科学院工程热物理研究所 | Dynamic pressure compensation-based ball-carried unmanned aerial vehicle system throwing section guidance law design method |
| CN112326185A (en) * | 2020-10-21 | 2021-02-05 | 中国空气动力研究与发展中心高速空气动力研究所 | Positioning control method for three-degree-of-freedom throwing mechanism of temporary-impulse type supersonic wind tunnel |
| CN112326185B (en) * | 2020-10-21 | 2021-07-06 | 中国空气动力研究与发展中心高速空气动力研究所 | Positioning control method for three-degree-of-freedom throwing mechanism of temporary-impulse type supersonic wind tunnel |
| CN112783184A (en) * | 2020-12-29 | 2021-05-11 | 中国科学院力学研究所广东空天科技研究院 | Method and system for controlling starting point of phase in vertical launching in near space |
| CN112783184B (en) * | 2020-12-29 | 2022-11-15 | 广东空天科技研究院 | Method and system for controlling phase starting point in near space vertical launching |
| CN116501079A (en) * | 2023-03-09 | 2023-07-28 | 浙江大学 | Unmanned aerial vehicle high-altitude ball-load throwing control method based on reinforcement learning |
| CN116501079B (en) * | 2023-03-09 | 2023-12-01 | 浙江大学 | Unmanned aerial vehicle high-altitude ball-load throwing control method based on reinforcement learning |
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