CN114954894A - Autonomous control method and autonomous control system for height adjustment of aerostat - Google Patents
Autonomous control method and autonomous control system for height adjustment of aerostat Download PDFInfo
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- CN114954894A CN114954894A CN202210367607.8A CN202210367607A CN114954894A CN 114954894 A CN114954894 A CN 114954894A CN 202210367607 A CN202210367607 A CN 202210367607A CN 114954894 A CN114954894 A CN 114954894A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/58—Arrangements or construction of gas-bags; Filling arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
- B64B1/58—Arrangements or construction of gas-bags; Filling arrangements
- B64B1/62—Controlling gas pressure, heating, cooling, or discharging gas
Abstract
The invention belongs to the technical field of aerostats, and discloses an autonomous control method for height adjustment of an aerostat, which is used for the aerostat without thrust configuration and comprises a main air bag, an auxiliary air bag and an air blower for controlling the volume of the auxiliary air bag. An autonomous control system for aerostat altitude adjustment is also disclosed.
Description
Technical Field
The invention belongs to the technical field of intelligent control, and particularly relates to an autonomous control method and an autonomous control system for height adjustment of an aerostat.
Background
The object of research is a balloon aerostat configured without thrust, which consists of a main helium air bag, an auxiliary air bag and a bidirectional blower, wherein the aerostat realizes the change of height by means of buoyancy, and the change of the buoyancy is realized by charging and discharging the auxiliary air bag through the bidirectional blower.
The height of most existing aerostats is passively adjusted, a valve and a one-way blower are installed on a common aerostat, the aerostat can naturally expand and lift off along with the change of the environment and the height, and after a certain pressure difference is exceeded, the valve is opened by the pressure difference, so that the auxiliary air bag is deflated, and overpressure is prevented. When the air needs to descend, the blower is usually inflated, the mass of the air in the auxiliary air bag is increased, gravity is generated, and then the air descends.
The active adjustment of the height is achieved indirectly by adjusting the buoyancy. Through the published (announced) day 2019.10.18 of the Chinese patent No. CN201910597228.6 of the prior art, the stratospheric aerostat and the height adjusting method are disclosed, the number of the convex lobes on the balloon body is adjusted, and therefore the volume of the balloon body is changed to realize height adjustment; chinese patent No. CN202111322242.9 discloses (announces) No. 2021-11-09 that by carrying a liquid helium dewar, the buoyancy of the aerostat can be controlled for many times, and the aerostat can be ensured to fly at a fixed height for a long time; the buoyancy adjustment is realized through a physical mechanism.
Linkang, Maryupeng, Zhengzheng Wei and the like, and research on the height control of the stratospheric aerostat based on the ballonet.https://doi.org/10.13700/j.bh.1001-5965.2020.0679The current vertical acceleration and the current pressure difference change are established, the height control is carried out by adopting a backstepping method, and the design of a controller is complex; stratospheric aerostat height control [ J/OL ] based on deep reinforcement learning]The university of aerospace, beijing.https://doi.org/10.13700/j.bh.1001-5965.2021.0622The current changes of the vertical acceleration and the differential pressure are established, a thermal environment model is considered, a reinforcement learning method is adopted for height control, and the algorithm is complex.
Disclosure of Invention
The invention provides an autonomous control method and an autonomous control system for height adjustment of an aerostat.
The invention can be realized by the following technical scheme:
the autonomous control method for the height adjustment of the aerostat is used for the aerostat with no thrust configuration, the aerostat comprises a main air bag, an auxiliary air bag and an air blower for controlling the size of the auxiliary air bag, the current pressure difference of the auxiliary air bag of the aerostat at the current height and the target pressure difference of the auxiliary air bag at the target height are calculated according to a stress balance equation, the pressure difference between the current pressure difference and the target pressure difference is used as a control quantity, the flow control of the air blower is realized by adopting a threshold switching strategy, and the autonomous control of the height adjustment of the aerostat is further realized.
Further, note that the current differential pressure is δ P ah Target differential pressure is deltaP at If the pressure difference delta is delta P ah -δP at Setting the threshold value to delta and the differential pressure tracking command of the auxiliary air bag to delta P ac The pressure difference tracking command of the main airbag is delta P hc And δ P hc ＝δP ac According to the following relational expression, a threshold value switching strategy is executed, the volume required by the auxiliary air bag is calculated according to the constant mass of the main air bag and the constant total volume of the aerostat, and the flow control of the blower is realized
Further, the main airbag volume V is calculated by using the following relational expression hc Volume V of the ballonet ac And mass m of gas required for the corresponding sub-airbag ac ，
V ac ＝V-V hc
Where V represents the total volume of the aerostat, ρ h 、ρ a The distribution represents the gas density inside the main airbag and the auxiliary airbag at the current height, m h Indicating gas mass inside the main airbagAnd P represents the pressure of the external reference atmosphere.
Further, the method comprises the following steps:
step one, calculating the current differential pressure delta P of the auxiliary air bag of the aerostat at the current height by using the following relational expression ah And a target differential pressure deltaP of the ballonet at a target height at Further, the differential pressure difference delta-deltaP is obtained ah -δP at ；
Wherein m is struc Representing aerostat structural mass, p at And V at Respectively representing the gas density inside the ballonet and the ballonet volume at the target height, rho ht And V ht Respectively representing the internal gas density and the volume of the main airbag at the target height, and P represents the pressure of the external reference atmosphere;
where ρ is a And V a Respectively representing the internal gas density and the volume of the ballonet at the current height h And V h The internal gas density and the volume of the main airbag at the current height are respectively;
further obtaining a differential pressure tracking command delta P of the main airbag and the auxiliary airbag hc ，δP ac The evaluation logic of (c) is as follows, wherein δ P hc ＝δP ac The threshold value delta is the maximum air charge and discharge amount which can be reached by the air blower in a control period;
step two, calculating the gas mass m required by the auxiliary air bag according to the pressure difference tracking instructions of the main air bag and the auxiliary air bag ac ；
V ac ＝V-V hc
Where V represents the total volume of the aerostat, ρ h 、ρ a The distribution represents the gas density inside the main airbag and the auxiliary airbag at the current height, m h Represents the mass of helium gas within the helium bladder, and P represents the pressure of the external reference atmosphere;
thirdly, the auxiliary air bag is inflated and deflated by utilizing the blower so as to enable the gas mass inside the auxiliary air bag to reach the required gas mass m ac And calculating the corresponding buoyancy to act on the aerostat, thereby realizing the height adjustment of the aerostat.
An autonomous control system based on the autonomous control method for the height adjustment of the aerostat comprises a target height differential pressure calculation module, a state measurement module, a current height differential pressure calculation module, a differential pressure difference calculation module, a differential pressure adjustment module, a tracking differential pressure instruction assignment module, an auxiliary air bag mass calculation module, a valve flow controller module and an aerostat buoyancy calculation module;
the state measurement module is used for measuring current attitude information and vertical height information of the aerostat, and position information and speed information under a geographic coordinate system;
the current height differential pressure calculation module receives the height information of the state measurement module and calculates the current differential pressure of the auxiliary air bag at the current height according to a stress balance equation;
the target height differential pressure calculation module calculates the target differential pressure of the ballonet under the target height according to the given target height and the stress balance equation;
the differential pressure difference calculation module is used for calculating the differential pressure difference between the target differential pressure and the current differential pressure of the ballonet;
the pressure difference adjusting module is used for calculating a pressure difference tracking instruction according to a comparison result of the pressure difference and a threshold value;
the pressure difference tracking instruction assignment module assigns the pressure difference tracking instruction of which the pressure difference is within the range of a threshold value delta and is not within the range of the threshold value delta to the ballonet mass calculation module;
the ballonet mass calculation module is used for calculating the gas mass required by the ballonet according to the pressure difference tracking instruction;
the valve flow controller module is used for controlling inflation and deflation through a valve of the blower according to the required gas quality so as to realize the change of the gas quality of the auxiliary air bag;
and the buoyancy calculation module of the aerostat is used for calculating the buoyancy of the aerostat according to the changed gas mass of the auxiliary air bag, and acting on the aerostat body to realize the state update of the aerostat.
The beneficial technical effects of the invention are as follows:
the height of the aerostat is adjusted by taking the differential pressure difference as a variable, a threshold value of differential pressure change is set according to the capacity of the blower, control instruction switching is performed according to the threshold value, the flow of the blower is controlled, and then the height is automatically adjusted. Compared with direct control with the height as a variable, the control variable of the invention is the differential pressure difference, the differential pressure difference of the aerostat is a slow variable quantity, and the differential pressure difference is taken as the control variable, so that the response speed of the control of the actuator can be delayed, the overshoot caused by the large inertia of the aerostat is further inhibited, and the invention is suitable for the motion control of large-mass aircrafts such as the aerostat in a large range; moreover, the method has simple principle, small calculated amount and high response speed, and avoids inverse operation of a motion equation; in addition, because the differential pressure is a slow variable quantity and is insensitive to external disturbance, the designed controller has strong anti-interference capability and is suitable for engineering application.
Drawings
Fig. 1 is a schematic structural view of an aerostat to which the present invention is directed;
FIG. 2 is a general block diagram of the control system of the present invention;
FIG. 3 is a block diagram of the pressure regulation logic of the present invention;
FIG. 4 is the result of the height tracking simulation of the present invention;
FIG. 5 is a simulation result of the pressure difference change during the height change of the present invention.
Detailed Description
The following detailed description of the preferred embodiments will be made with reference to the accompanying drawings.
As shown in fig. 1-2, the present invention provides an autonomous control method for height adjustment of an aerostat, which is used for an aerostat configured without thrust, the aerostat includes a primary air bag, a secondary air bag, and an air blower for controlling the volume of the secondary air bag, a current pressure difference of the secondary air bag at the current height of the aerostat and a target pressure difference of the secondary air bag at the target height of the aerostat are calculated according to a stress balance equation, and a pressure difference between the current pressure difference and the target pressure difference is used as a control quantity, and a threshold switching strategy is adopted to implement flow control of the air blower, thereby implementing autonomous control of height adjustment of the aerostat. Therefore, the differential pressure difference is used as a judgment basis, the differential pressure regulation strategy is adopted to realize the height target tracking, the higher tracking precision and response speed can be kept, the complexity of model calculation can be reduced, the robustness of control is improved, and the design cost of the controller is reduced. The method comprises the following specific steps:
step one, calculating the current differential pressure deltaP of the auxiliary air bag of the aerostat at the current height by using the following relational expression ah And a target differential pressure deltaP of the ballonet at a target height at Further, the differential pressure difference Δ ═ δ P is obtained ah -δP at ；
Wherein m is struc Representing aerostat structural mass, p at And V at Respectively representing the gas density inside the ballonet, such as air and ballonet volume, p, at the target altitude ht And V ht Respectively representing the density of gas inside the main airbag at the target height, such as helium and the volume of the main airbag, and P represents the pressure of external reference atmosphere;
where ρ is a And V a Respectively indicate the internal gas of the auxiliary air bag at the current heightBulk density and ballonet volume, ρ h And V h Respectively representing the internal gas density and the volume of the main airbag at the current height;
further obtaining a differential pressure tracking command delta P of the main airbag and the auxiliary airbag hc ，δP ac The evaluation logic of (1) is as follows, wherein, delta P hc ＝δP ac The threshold value delta can be set as the maximum air charging and discharging amount which can be reached by the air blower in a control period, and a threshold value switching strategy is executed based on the maximum air charging and discharging amount;
step two, based on the condition that the differential pressure of the main airbag and the auxiliary airbag is equal, the differential pressure tracking instruction delta P of the main airbag can be obtained hc ＝δP ac Calculating the volume V of the main airbag by the conservation of the gas mass of the main airbag hc Since the total volume of the aerostat is constant and only the secondary airbag has gas exchange, the volume V required by the secondary airbag can be calculated ac And further calculates the mass m of gas required for the sub-airbag ac 。
V ac ＝V-V hc
Where V represents the total volume of the aerostat, ρ h 、ρ a The distribution represents the gas density inside the main airbag and the auxiliary airbag at the current height, m h Represents the mass of gas inside the main balloon, P represents the pressure of the external reference atmosphere;
thirdly, the auxiliary air bag is inflated and deflated by utilizing the blower so as to enable the gas mass inside the auxiliary air bag to reach the required gas mass m ac And calculating the corresponding buoyancy to act on the aerostat, thereby realizing the height adjustment of the aerostat.
Usually, a bidirectional blower is arranged at the bottom of the auxiliary air bag, so that the auxiliary air bag can be inflated and deflatedThe gas mass change in the auxiliary air bag can be realized by controlling the flow of the blower. According to the performance of the blower, the maximum air charging and discharging amount which can be realized in one control period can be given, and the value is taken as the basis of the threshold value delta of the designed differential pressure difference, so that the change delta m-m of the quality of the auxiliary air bag in one control period is ensured a -m ac Wherein m is a Is the mass of gas inside the ballonet at the present moment.
Step four, updating the motion state of the aerostat
The net buoyancy force B generated by the aerostat body is as follows
Wherein Δ P h And Δ P a Internal and external pressure difference, rho, of helium and ballonet, respectively a And V a Respectively the volume of the gas inside the ballonet and the ballonet at the current altitude, p h And V h Respectively representing the air stripping degree inside the main airbag and the volume of the main airbag at the current height, rho and P respectively representing the density and the pressure of the external reference atmosphere, V representing the total volume of the aerostat, and g representing the gravity acceleration.
The aerostat is subjected to pneumatic external force:
wherein S is ref The reference area is approximately taken as the cross section area of a sphere and the aerodynamic drag coefficient c x ＝c y ＝c z ＝0.5，v x ，v y ，v z Is the ground speed of the aerostat, w x ，w y ，w y Is the space velocity.
The whole aerostat is regarded as a mass point, and the external force components borne by the aerostat in a machine body coordinate system are as follows:
F x ＝-D x
F y ＝-D y
F z ＝B-G-D z
wherein, B and G represent buoyancy and gravity of aerostat respectively, and the equation of motion of the translation of aerostat is as follows:
wherein a is x ，a y ，a z The mass center of the aerostat is the acceleration component under the coordinate system of the aerostat, and m is the total mass of the aerostat.
The invention also provides an autonomous control system based on the autonomous control method for aerostat height adjustment, which comprises a target height differential pressure calculation module, a state measurement module, a current height differential pressure calculation module, a differential pressure difference calculation module, a differential pressure adjustment module, a tracking differential pressure instruction assignment module, an auxiliary air bag quality calculation module, a valve flow controller module and an aerostat buoyancy calculation module;
the state measurement module is used for measuring current attitude information and vertical height information of the aerostat, and position information and speed information under a geographic coordinate system;
the current height differential pressure calculation module receives the height information of the state measurement module and calculates the current differential pressure of the auxiliary air bag at the current height according to a stress balance equation;
the target height differential pressure calculation module calculates the target differential pressure of the auxiliary air bag at the target height according to the given target height and the stress balance equation;
the differential pressure difference calculation module is used for calculating the differential pressure difference between the target differential pressure and the current differential pressure of the ballonet;
the pressure difference adjusting module is used for calculating a pressure difference tracking instruction according to a comparison result of the pressure difference and a threshold value;
the pressure difference tracking instruction assignment module assigns the pressure difference tracking instruction of which the pressure difference is within the range of a threshold value delta and is not within the range of the threshold value delta to the ballonet mass calculation module;
the ballonet mass calculation module is used for calculating the gas mass required by the ballonet according to the pressure difference tracking instruction;
the valve flow controller module is used for controlling inflation and deflation through a valve of the blower according to the required gas quality so as to realize the change of the gas quality of the auxiliary air bag;
and the buoyancy calculation module of the aerostat is used for calculating the buoyancy of the aerostat according to the changed gas mass of the auxiliary air bag, and acting on the aerostat body to realize the state update of the aerostat.
In order to verify the feasibility of the autonomous control method, a simulation test is carried out, the whole process simulation flow of the target tracking control of the aerostat is shown in fig. 4 and 5, wherein helium is filled in the main airbag, air is filled in the auxiliary airbag, the bottom of the auxiliary airbag is provided with a bidirectional blower, h in fig. 4 is the height change of the aerostat, w is the vertical speed change of the aerostat, and V is the vertical speed change of the aerostat a For volumetric change of the ballonet, V h For the change in helium gas envelope volume, m in FIG. 5 a Is the mass of air in the ballonet,
is the rate of change of air mass, δ P, in the ballonet a Is the internal and external pressure difference, delta P, of the ballonet h Is the pressure difference between the inside and the outside of the helium balloon.
The aerostat keeps for a period of time from the height of 18km, the helium air bag and the auxiliary air bag are filled with the whole volume, the volume of the aerostat is unchanged, and when the aerostat is stably parked, the pressure difference between the inside and the outside of the aerostat is 48.7 Pa. Helium balloon volume of 936m 3 The ballonet is 174m 3 (fig. 4), the air mass in the sub-bag was 22.28kg (fig. 5).
1) An autonomous control flight test of the change in the flying height was performed from 2000 s. Firstly, the target parking control height is 10km, and the height is increased by inflating the auxiliary air bagThe weight of the aerostat is realized, the aerostat reaches 10km on a 5000s platform, and the volume of the helium air bag is 267m 3 The volume of the ballonet is 847m 3 The maximum descent speed was-4.8 m/s. The steady-state pressure difference was 50.07Pa, the air mass at steady altitude was 305kg, the maximum flow change of the blower during descent occurred at the start of inflation at 0.26kg/s, and the pressure difference reached a limit of 500Pa within 125s, as shown in fig. 4 and 5.
2) Changing the parking height to 15000m at 15000s, exhausting through a blower, and reducing the weight of the aerostat, wherein the aerostat is constrained by the maximum pressure difference of 500 Pa. The platform reached this height at 12854s, and the helium envelope had a volume of 500m 3 The ballonet is 614m 3 The maximum rising speed was 1.15 m/s. The steady state pressure difference was 51Pa, the air mass at steady altitude was 121kg, and the maximum flow rate of the blower was changed to-0.172 kg/s during the ascent as shown in FIGS. 4 and 5.
Although specific embodiments of the present invention have been described above, it will be appreciated by those skilled in the art that these embodiments are merely illustrative and that many variations or modifications may be made thereto without departing from the principles and spirit of the invention, the scope of which is therefore defined by the appended claims.
Claims (5)
1. An autonomous control method for aerostat altitude regulation, characterized in that: the aerostat for non-thrust configuration comprises a main airbag, an auxiliary airbag and an air blower for controlling the size of the auxiliary airbag, the current pressure difference of the auxiliary airbag of the aerostat at the current height and the target pressure difference of the auxiliary airbag at the target height are calculated according to a stress balance equation, the pressure difference between the current pressure difference and the target pressure difference is used as a control quantity, the flow control of the air blower is realized by adopting a threshold switching strategy, and the autonomous control of the height adjustment of the aerostat is further realized.
2. The autonomous control method for aerostat altitude regulation according to claim 1, characterized in that: recording the current pressure difference as delta P ah Target differential pressure is deltaP at If the pressure difference delta is delta P ah -δP at Setting the threshold value to delta and the differential pressure tracking command of the auxiliary air bag to delta P ac The pressure difference tracking command of the main airbag is delta P hc And δ P hc ＝δP ac According to the following relational expression, a threshold value switching strategy is executed, the volume required by the auxiliary air bag is calculated according to the constant mass of the main air bag and the constant total volume of the aerostat, and the flow control of the blower is realized
3. The autonomous control method for aerostat altitude regulation according to claim 2, characterized in that: the volume V of the main airbag is calculated by using the following relation hc Volume V of the ballonet ac And mass m of gas required for the corresponding sub-airbag ac ，
V ac ＝V-V hc
Where V represents the total volume of the aerostat, ρ h 、ρ a The distribution represents the gas density inside the main airbag and the auxiliary airbag at the current height, m h Representing the mass of helium gas within the helium bladder and P representing the pressure of the external reference atmosphere.
4. The autonomous control method for aerostat altitude adjustment, according to claim 3, characterized by comprising the steps of:
step one, calculating the current differential pressure delta P of the auxiliary air bag of the aerostat at the current height by using the following relational expression ah And a target differential pressure deltaP of the ballonet at a target height at Further, the differential pressure difference Δ ═ δ P is obtained ah -δP at ；
Wherein m is struc Representing aerostat structural mass, p at And V at Respectively representing the gas density inside the ballonet and the ballonet volume at the target height, rho ht And V ht Respectively representing the internal gas density and the volume of the main airbag at the target height, and P represents the pressure of the external reference atmosphere;
where ρ is a And V a Respectively representing the internal gas density and the volume of the ballonet at the current height h And V h Respectively representing the internal gas density and the volume of the main airbag at the current height;
further obtaining a differential pressure tracking command delta P of the main airbag and the auxiliary airbag hc ，δP ac The evaluation logic of (1) is as follows, wherein, delta P hc ＝δP ac The threshold value delta is the maximum air charge and discharge amount which can be reached by the air blower in a control period;
step two, calculating the gas mass m required by the auxiliary air bag according to the pressure difference tracking instructions of the main air bag and the auxiliary air bag ac ；
V ac ＝V-V hc
Where V represents the total volume of the aerostat, ρ h 、ρ a The distribution represents the gas density inside the main airbag and the auxiliary airbag at the current height, m h Indicating the mass of gas inside the main airbag, P indicating the external reference is largeThe pressure of the gas;
thirdly, the auxiliary air bag is inflated and deflated by utilizing the blower so as to enable the gas mass inside the auxiliary air bag to reach the required gas mass m ac And calculating the corresponding buoyancy to act on the aerostat, thereby realizing the height adjustment of the aerostat.
5. An autonomous control system based on the autonomous control method for aerostat altitude adjustment according to claim 1, characterized in that: the device comprises a target altitude and pressure difference calculation module, a state measurement module, a current altitude and pressure difference calculation module, a pressure difference regulation module, a tracking pressure difference instruction assignment module, an auxiliary air bag mass calculation module, a valve flow controller module and an aerostat buoyancy calculation module;
the state measurement module is used for measuring current attitude information and vertical height information of the aerostat, and position information and speed information under a geographic coordinate system;
the current height differential pressure calculation module receives the height information of the state measurement module and calculates the current differential pressure of the auxiliary air bag at the current height according to a stress balance equation;
the target height differential pressure calculation module calculates the target differential pressure of the auxiliary air bag at the target height according to the given target height and the stress balance equation;
the differential pressure difference calculation module is used for calculating the differential pressure difference between the target differential pressure and the current differential pressure of the ballonet;
the pressure difference adjusting module is used for calculating a pressure difference tracking instruction according to a comparison result of the pressure difference and a threshold value;
the pressure difference tracking instruction assignment module assigns the pressure difference tracking instruction of which the pressure difference is within the range of a threshold value delta and is not within the range of the threshold value delta to the ballonet mass calculation module;
the ballonet mass calculating module is used for calculating the gas mass required by the ballonet according to the pressure difference tracking instruction;
the valve flow controller module is used for controlling inflation and deflation through a valve of the blower according to the required gas quality so as to realize the change of the gas quality of the auxiliary air bag;
and the aerostat buoyancy calculation module is used for calculating buoyancy received by the aerostat according to the changed gas mass of the ballonet, acting on the aerostat body and realizing state updating of the aerostat.
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