CN112612292B - Efficient load shedding method for active section of carrier - Google Patents
Efficient load shedding method for active section of carrier Download PDFInfo
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- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
- G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
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Abstract
The invention discloses a high-efficiency load shedding method for a carrier driving section, which comprises the steps that a grid rudder is arranged on a carrier head according to the position of 0.5-0.8 m from the top end, the grid rudder comprises a grid rudder body and four rudder pieces arranged on the grid rudder body, the grid rudder is driven by a servo motor, the grid rudder generates control force by means of aerodynamic force in the carrier flying process, and the control force is used for controlling the attitude to reduce an attack angle. The efficient load shedding method is characterized in that a grid rudder at the head part and a flexible spray pipe at the tail part are added for combined control, the added grid rudder is added into a load shedding loop, and an actuating mechanism is added, so that the control capability is increased, the attack angle of a carrier is reduced more quickly, the control force of the grid rudder is favorable for reducing the load, and the efficient load shedding is realized.
Description
Technical Field
The invention relates to the field of load shedding attitude control of a carrier active section, in particular to a high-efficiency load shedding method for the carrier active section.
Background
The attitude control system selects controlled variables according to control requirements, wherein the controlled variables comprise a plurality of variables such as attitude angles, attack angles, overload and the like. The load shedding is to reduce the attack angle in flight to generate lift force, and the lift force acts on the vehicle to generate overload, so that the attack angle of the vehicle in flight in the air is in positive correlation with the load, and the aim of reducing the load is indirectly achieved by reducing the attack angle. Overload is generated by forces generated by flight angle of attack, forces generated by wind angle of attack, and thrust projected by engine swing to the normal. The model of the load can be used for analyzing how to more effectively reduce the load through control, and the attitude control system changes the attitude through a certain control method to ensure that the attitude is stable and simultaneously reduce the attack angle so as to achieve the purpose of load reduction, and the method is called as a conventional load reduction method; the grid rudder is additionally arranged at the carrying head and driven by a servo motor, and the grid rudder generates control force by the aerodynamic force in the flying process of the carrier. Because the control force is arranged at the head, the attitude can be controlled by the control force to reduce the attack angle, meanwhile, the overload reducing amount can be generated, the normal overload of the carrier can be reduced quickly, the efficient load reduction method is called, the load reduction efficiency is improved, and the carrier is subjected to better control force in flight, so that the technical problem to be solved at present is solved.
Disclosure of Invention
The embodiment of the invention provides a method for efficient load shedding analysis of a carrier active section. The control force can control the attitude to reduce the attack angle and can generate an overload reducing amount at the same time, so that the normal overload of the carrier can be reduced quickly, the condition capable of reducing the overload efficiently is given out by analyzing a mathematical model of the load, the load reduction design of overload feedback control is further completed, finally, the load reduction advantage of the efficient load reduction method relative to the conventional load reduction method is given out by simulation, and the correctness and the effectiveness of the technical method are verified.
The invention provides a method for high-efficiency load shedding, which comprises the following steps: the grid rudder is installed at the position, from 0.5 m to 0.8 m, of the top end of the carrying head, the grid rudder comprises a grid rudder body and four rudder pieces installed on the grid rudder body, the grid rudder is driven by a servo motor, the grid rudder generates control force by means of aerodynamic force in the flying process of the carrier, and the control force is used for controlling the attitude to reduce the attack angle.
The amount that the attitude control system can control is the rudder angle of an engine at the tail of the carrier, and the change of the rudder angle generates control force to change the attitude of the carrier. The overload generating amount is composed of variables such as a flight attack angle, a wind attack angle, rudder swinging and the like, in the flight process of the carrier, about 80% of normal overload is generated by the flight attack angle and the wind attack angle, the attack angle is reduced, most of normal overload in the flight process is reduced, and therefore the purpose of reducing load is achieved. However, the control force of the flexible nozzle can generate an increased load amount when the attack angle is reduced in the load shedding process, and the load shedding effect is influenced by the contradiction relation.
In a first possible implementation form for the efficient load shedding method according to the first aspect, the controlling the attitude to reduce the angle of attack is implemented by the grid rudder, a flexible nozzle of a tail engine, a load shedding loop, a load shedding control network, an attitude loop, an attitude control network, and an inertial combination, and includes:
the direction of the normal force generated by the swinging of the grid rudder is opposite to the direction of the normal force generated by the flexible jet pipe of the tail engine. The direction of a normal force generated by the attitude loop is the same as that of a normal force generated by a flexible spray pipe of the tail engine, and the normal moment generated by the attitude loop enables the carrier to quickly lower the head to enable the projectile body shaft to be close to the speed shaft, so that the attack angle is reduced.
The inertial combination is used for measuring the normal force and the body posture of the carrier in real time.
The load shedding loop is composed of a grid rudder, a flexible jet pipe of the tail engine, a load shedding control network and an inertia combination, the load shedding control network measures the normal force in real time by using the inertia combination to calculate a load shedding rudder pivot angle instruction, and the load shedding rudder pivot angle instruction enables the flexible jet pipe of the tail engine to swing and the pivot angle of the grid rudder to deflect to generate normal force to control the carrier to be less overloaded.
The attitude loop is composed of a grid rudder, a flexible spray pipe of a tail engine, a load shedding control network and an inertia combination to ensure that the carrier flies stably, the attitude control network measures the attitude of the carrier in real time by using the inertia combination to calculate an attitude rudder pivot angle instruction, and the attitude rudder pivot angle instruction enables the flexible spray pipe of the tail engine to swing and the pivot angle of the grid rudder to deflect to generate normal torque to control the attitude of the carrier.
In the efficient load shedding process, a carrier is disturbed to generate a positive attack angle, in order to eliminate the positive attack angle, the flexible jet pipe of the engine is controlled to swing downwards to generate an upward normal force, and the grid rudder is mounted on the head of the carrier and swings upwards to generate a downward normal force, so that the attitude loop generates a positive normal moment to enable the carrier to quickly lower the head to enable a projectile body shaft to be close to a speed shaft, the stability is guaranteed, meanwhile, the attack angle is reduced, and the load shedding purpose is achieved. The unloading of the vehicle is accomplished by decreasing the angle of attack, the flexible nozzle control forces produce an increased amount of load, and the head mounted grid rudder produces a decreased amount of load. So that the vehicle reduces the load more quickly. The load is reduced rapidly while the angle of attack is eliminated.
In a second possible implementation form for the efficient offloading method according to the first aspect, the vehicle speed is greater than 3Ma and the dynamic pressure is greater than 8000Pa. The added grid rudder of the head in this case has control efficiency.
According to the first aspect or the first possible implementation manner for the high-efficiency load shedding method, in the third possible implementation manner for the high-efficiency load shedding method, the rudder pivot angle of the tail flexible nozzle and the rudder pivot angle of the head grid adopt a linkage control manner. Compared with the conventional load shedding control scheme, the high-efficiency load shedding control scheme is adopted to further reduce the load by about 30% in an overlarge wind area, the high-efficiency load shedding attitude deviation is further reduced, and the problem of contradiction between the reduction of the attitude angle deviation and the reduction of the load is solved.
The second aspect of the present invention discloses an intelligent device, comprising: a transmitter, a receiver, a memory, and a processor; the memory is to store computer instructions; the processor is configured to execute the computer instructions stored by the memory to implement the above-described efficient offloading method for an active segment of a vehicle.
A third aspect of the present invention discloses a storage medium comprising: a readable storage medium and computer instructions, the computer instructions stored in the readable storage medium; the computer instructions are for implementing the above-described efficient offloading method for an active segment of a vehicle.
The invention achieves the following beneficial effects: the efficient load shedding method is characterized in that a grid rudder at the head part and a flexible spray pipe at the tail part are added for combined control, the added grid rudder is added into a load shedding loop, and an actuating mechanism is added, so that the control capability is increased, the attack angle of a carrier is reduced more quickly, the control force of the grid rudder is favorable for reducing the load, and the efficient load shedding is realized. The overload feedback control load shedding design is further completed, finally, the load shedding advantage of the high-efficiency load shedding method relative to the conventional load shedding method is given through simulation, the correctness and the effectiveness of the technical method are verified, the problem of overlarge load of overlarge wind areas of other carriers can be solved, and the overload feedback control load shedding method has great application value and application prospect.
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The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a schematic diagram of a conventional load shedding scheme disclosed in an embodiment of the present invention;
fig. 2 is a schematic diagram of an efficient load shedding scheme disclosed in the embodiment of the present invention.
Specific embodiments of the present disclosure have been shown by way of example in the drawings and will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the disclosure, as detailed in the appended claims.
In the implementation process, firstly, an overload generation mechanism and a load shedding principle are given, wherein the overload generation mechanism and the load shedding principle comprise mathematical expressions of a conventional load shedding principle and a high-efficiency load shedding principle, a grid rudder is additionally arranged on a carrying head and is driven by a servo motor, the grid rudder generates a control force by virtue of aerodynamic force in the flying process of a carrier, the control force can control the attitude to reduce the attack angle, and meanwhile, an overload reduction amount is generated, so that the normal overload of the carrier can be reduced rapidly; further, a high-efficiency load shedding condition is given through analysis, a high-efficiency load shedding design method is completed, and finally the control effect of high-efficiency load shedding is verified through comparison simulation.
The elasticity and the shaking of the carrier are neglected, only the rigid body condition is considered, the overload is the normal overload of the carrier, namely the carrier has a specific value of the normal resultant external force to the gravity in the flying process except the normal resultant external force to the gravity, and the unit is the gravity acceleration g. During the flight of the vehicle, the overload of the vehicle is mainly generated by the lift generated by the flight attack angle and the thrust projected to the normal direction by the swing of the engine. Apparent acceleration can be measured by the inertia combination of the carrier
Normal overload n obtained by dividing by gravitational acceleration g y . In the analytical calculations, the measured normal acceleration equation for the vehicle inertial combination is given as follows:
in the formula: alpha is the flight angle of attack of the vehicle, alpha w In order to provide an angle of attack for the flying wind,
the rudder turning angle of the tail part of the aircraft.
Normal acceleration coefficient of attack angle
Is a variable quantity. Wherein the content of the first and second substances,
the partial derivative of the normal force coefficient to the attack angle is changed along with the flight attack angle and the flight speed; q is a flying dynamic pressure which changes along with the flying height and the flying speed; s is m Characteristic area of the longitudinal section of the carrier; m is the mass of the carrier.
Coefficient of normal acceleration of rudder angle
Is a variable quantity. Wherein the content of the first and second substances,
the partial derivative of the normal force coefficient to the tail rudder pivot angle;
the normal overload is obtained by dividing the normal acceleration by the gravity acceleration, and the normal overload equation is as follows:
from equation (2), it can be seen that the normal acceleration and the normal overload are linear transformations.
The attitude control system can control the rudder angle of an engine at the tail of the carrier, and the rudder angle changes to generate control force to change the attitude of the carrier. As can be seen from the formula (1), the overload generating amount is composed of variables such as a flight attack angle, a wind attack angle, rudder swinging and the like, and about 80% of normal overload is generated by the flight attack angle and the wind attack angle in the flight process of the carrier, so that the normal overload in most flight processes is reduced by reducing the attack angle, and the load is reduced. The conventional load shedding method of the carrier is that an attitude control system changes the attitude of the carrier by controlling the swing angle of an engine rudder at the tail part, the attack angle is reduced while the attitude stability is ensured, and the load shedding purpose is achieved.
The invention discloses a high-efficiency load shedding method for an active section of a carrier, wherein a grid rudder is additionally arranged at a position of 0.5-0.8 m from the top end of a carrier head, the closer the grid rudder is to the head, the larger control moment can be generated, four rudder pieces are arranged on the grid rudder and are driven by a 200w power servo motor, and the grid rudder generates control force by virtue of aerodynamic force in the flying process of the carrier. Due to the installation on the head, the control force can control the posture to reduce the attack angle, and meanwhile, the overload reducing amount is generated, so that the normal overload of the vehicle can be quickly reduced.
In the conventional load shedding method, a thrust is generated by using a flexible spray pipe of a tail engine, then the flexible spray pipe is pushed by electric servo to generate a control force, and the attitude of a carrier is controlled, so that the carrier accelerates to reduce an attack angle, but the control force of the flexible spray pipe can generate a load increasing amount when the attack angle is reduced in the load shedding process, and the load shedding effect is influenced by the contradictory relation. Taking the example of the angle of attack generated by wind interference as an example, a schematic diagram is shown in fig. 1.
In fig. 1, x1oy1 is a body coordinate system, the ox1 axis is a body axis, and the oy1 axis is a normal axis. xvoyv is a velocity coordinate system, oxv axis is a velocity axis, and oyv axis is a velocity longitudinal axis. The included angle between the machine body shaft and the speed shaft is a flight attack angle alpha, and the machine body shaft is a positive attack angle when being above the speed shaft.
The carrier is often influenced by disturbance wind, a positive attack angle is generated (vice versa), and the load shedding process is carried out when the positive attack angle is eliminated. The conventional load shedding principle is as follows: because the carrier is disturbed to generate a positive attack angle, the flexible jet pipe of the engine is controlled to swing downwards, an upward normal force is generated at the moment, and simultaneously, the attitude loop generates a positive normal moment to enable the carrier to quickly lower the head to enable the projectile body shaft to be close to the speed shaft, so that the aim of reducing the attack angle and load shedding is achieved while stability is ensured. The unloading of the vehicle is accomplished by reducing the angle of attack, and the flexible nozzle control forces produce an increased amount of load. The mathematical expression is shown in formula (3).
↓ indicates a decrease in the amount of overload, and ↓ indicates an increase in the amount of overload. From equation (3), it can be seen that the flexible nozzle swings downwards to generate an upward control force, so that the normal overload is increased, the downward low head attack angle of the carrier is reduced, and the overload is reduced. The downward swinging of the flexible spout creates an upward control force that counteracts the reduction of the overload.
The invention discloses an efficient load shedding method, which is characterized in that a grid rudder is additionally arranged at a carrying head and is driven by a servo motor, and the grid rudder generates control force by means of aerodynamic force in the flying process of a carrier. Due to the installation on the head, the control force can control the posture to reduce the attack angle, and simultaneously, an overload reducing amount is generated, so that the normal overload of the carrier can be quickly reduced. Also, by adding a load relief circuit, the control capability is increased due to the addition of an actuator, so that the vehicle can reduce the angle of attack more quickly. Also taking the positive angle of attack due to wind disturbance as an example, the schematic diagram of the high efficiency load shedding is shown in fig. 2.
The efficient load shedding process is that the carrier is disturbed to generate a positive attack angle, in order to eliminate the positive attack angle, the flexible jet pipe of the engine is controlled to swing downwards to generate an upward normal force, the grid rudder is mounted on the head of the engine, and the grid rudder swings upwards to generate a downward normal force, so that the attitude loop generates a positive normal moment to enable the carrier to quickly lower the head to enable the missile body shaft to be close to the speed shaft, the stability is ensured, meanwhile, the attack angle is reduced, and the load shedding purpose is achieved. The unloading of the vehicle is accomplished by decreasing the angle of attack, the flexible nozzle control forces produce an increased amount of load, and the head mounted grid rudder produces a decreased amount of load. So that the vehicle reduces the load more quickly. The mathematical expression is shown in formula (4).
The requirement of completing high-efficiency load shedding meets certain conditionsThe height of the large wind area of the vehicle is about 9-12km, the speed of the vehicle needs to exceed 3Ma, and when the dynamic pressure q exceeds 8000Pa, the grid rudder of the head is added to achieve control efficiency. The thrust P of the engine is 700KN, the normal force coefficient CN is 0.07, and the reference area s m Was 1.5m2. Through calculation, the head grid rudder
Control force coefficient n 3t And flexible jet pipe rudder pendulum of tail engine
Control force coefficient n of 3 And (4) the equivalent. The swing angle of the tail flexible spray pipe rudder and the head grid rudder adopt a linkage control mode.
The high-efficiency load shedding hardware is implemented by additionally arranging a grid rudder at the position of 0.5-0.8 m from the top end of a carrier head, wherein the closer the grid rudder is to the head, the larger control moment can be generated, the grid rudder is provided with four rudder pieces which are driven by a 2000w power servo motor, and the grid rudder generates control force by virtue of aerodynamic force in the flying process of a carrier. An actuator is arranged on a flexible jet pipe of the tail engine, and then the actuator is pushed by 5000w electric servo to push the flexible jet pipe to generate control force.
The high-efficiency load reduction algorithm design comprises two parts of an attitude stability control network design and an overload feedback control network design, so that load reduction control is completed. The attitude feedback control equation is written as shown in equation (5).
Wherein, a m0 Designing parameters for static gain, generally taking 1-5 according to the capacity of a carrier controller, and taking 2 according to the design of the invention; net(s) is a posture control network, and takes a three-order form
Wherein s is a laplace operator.
and a2, a1 and a0 are denominator network design parameters, b1 and b0 are numerator network design parameters, parameter design is carried out according to the characteristics of the carrier, and the design parameters for ensuring the stability of the system are only required according to the Nyquist stability criterion in the control theory.
The overload feedback control equation is written as shown in equation (6).
δ 2 ＝a ny ·Nynet(s)n y (6)
Wherein, a ny Designing parameters for the overload feedback gain, the values being related to the static gain, in a m0 :a ny The value of =4 is taken as 1, and the design of the invention is 0.5.
Nynet(s) is an overload control network, where the second order form of specific parameters can be taken
n y The vehicle normal overload is obtained by inertia combination measurement.
The control quantity of the tail rudder yaw angle and the control quantity of the grid rudder yaw angle of the efficient load-shedding design are shown as the following formulas (7) and (8).
The tail flexible spray pipe and the grid rudder adopt a linkage control mode, the swing angle proportion is 1.
The conclusion from the simulation is: compared with the conventional load shedding control scheme, the high-efficiency load shedding control scheme has the advantages that the load is further reduced by about 30% in an overlarge wind area, the high-efficiency load shedding attitude deviation is further reduced, and the problem of contradiction between attitude angle deviation reduction and load reduction is solved.
The invention achieves the following beneficial effects: the efficient load shedding method is characterized in that a grid rudder at the head part and a flexible spray pipe at the tail part are added for combined control, the added grid rudder is added into a load shedding loop, and an actuating mechanism is added, so that the control capability is increased, the attack angle of a carrier is reduced more quickly, the control force of the grid rudder is favorable for reducing the load, and the efficient load shedding is realized. The overload feedback control load shedding design is further completed, finally, the load shedding advantage of the high-efficiency load shedding method relative to the conventional load shedding method is given through simulation, the correctness and the effectiveness of the technical method are verified, the problem of overlarge load of overlarge wind areas of other carriers can be solved, and the overload feedback control load shedding method has great application value and application prospect.
It is to be understood that the specific embodiments described above are merely exemplary of the application of the present method and are not intended to limit the scope of the invention, which is to be given the full breadth of the appended claims and any and all modifications and variations which fall within the true spirit and scope of the present invention. Therefore, the protection scope of the present invention should be defined by the appended claims.
Those of ordinary skill in the art will understand that: all or part of the steps for implementing the method embodiments may be implemented by hardware related to program instructions, and the program may be stored in a computer readable storage medium, and when executed, the program performs the steps including the method embodiments; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
The above-described embodiments of electronic devices and the like are only illustrative, where the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the embodiments of the present invention, and are not limited thereto; although embodiments of the present invention have been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (6)
1. An efficient offloading method for a vehicle active leg, comprising:
the grid rudder is arranged at the position, 0.5-0.8 meter away from the top end of the carrier, of the head of the carrier and comprises a grid rudder body and four rudder pieces arranged on the grid rudder body, the grid rudder is driven by a servo motor, the grid rudder generates a control force by means of aerodynamic force in the flying process of the carrier, and the control force is used for controlling the attitude to reduce the attack angle and generating the amount of reduced load;
the control attitude reduces the angle of attack and is realized through grid rudder, the flexible spray tube of afterbody engine, deloading return circuit, deloading control network, gesture return circuit, attitude control network and inertia combination jointly, include:
the direction of a normal force generated by the swinging of the grid rudder is opposite to the direction of a normal force generated by a flexible spray pipe of the tail engine;
the inertia combination is used for measuring the normal force and the body posture of the carrier in real time;
the load shedding loop consists of a grid rudder, a flexible spray pipe of a tail engine, a load shedding control network and an inertia combination, wherein the load shedding control network measures the normal force of the carrier in real time by utilizing the inertia combination to calculate a load shedding rudder pivot angle instruction, and the load shedding rudder pivot angle instruction enables the flexible spray pipe of the tail engine to swing and the pivot angle of the grid rudder to deflect to generate the normal force to control the carrier to be less overloaded;
the attitude loop is composed of a grid rudder, a flexible jet pipe of a tail engine, an attitude control network and an inertia combination to ensure that the carrier flies stably, the attitude control network measures the attitude of the carrier in real time by using the inertia combination to calculate an attitude rudder oscillation angle instruction, and the attitude rudder oscillation angle instruction enables the flexible jet pipe of the tail engine to swing and the oscillation angle of the grid rudder to deflect to generate a normal moment to control the attitude of the carrier.
2. An efficient load shedding method as claimed in claim 1, wherein the normal force direction generated by the load shedding loop is the same as the normal force direction generated by the grid rudder oscillation, and the normal force direction generated by the attitude loop is the same as the normal force direction generated by the flexible nozzle of the tail engine.
3. A method for efficient load shedding as claimed in claim 1, wherein the vehicle speed is greater than 3Ma and the dynamic pressure is greater than 8000Pa.
4. An efficient load shedding method as claimed in claim 1, wherein the flexible nozzle swing of the tail engine and the head grid rudder swing angle adopt a linkage control mode.
5. A smart device, comprising: a transmitter, a receiver, a memory, and a processor;
the memory is to store computer instructions; the processor is configured to execute the computer instructions stored in the memory to implement the method for efficient offloading of an active segment of a vehicle of any of claims 1 to 4.
6. A storage medium, comprising: a readable storage medium and computer instructions stored in the readable storage medium; the computer instructions are for implementing the efficient offloading method for an active segment of a vehicle of any of claims 1 to 4.
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