CN116755473B - Unmanned aerial vehicle aerial delivery mission planning method for wing lifting - Google Patents
Unmanned aerial vehicle aerial delivery mission planning method for wing lifting Download PDFInfo
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Abstract
The application discloses a method for planning an air-drop mission of a wing-handling unmanned aerial vehicle, which relates to the field of unmanned aerial vehicle mission planning and comprises the following steps: firstly, determining the types of pods and hangers for executing tasks according to the hanging and carrying capacity of unmanned wings, and distinguishing the unmanned aerial vehicle out-of-flight configuration and back-flight configuration according to the number of pods and the carrying weight; then calculating the maximum take-off weight and the maximum take-off oiling amount which can simultaneously prevent the unmanned aerial vehicle from rushing out of the runway when taking off and running and prevent the unmanned aerial vehicle from touching the take-off airspace obstacle; calculating the minimum take-off and oil filling amount of the mission under the condition of taking the standby fuel into consideration according to the radius of the mission and the distance of the operation route; calculating the maximum flight weight, climbing oil consumption and task maximum take-off and oil filling quantity corresponding to the lowest cruising altitude; finally, combining the weight data, analyzing the feasibility of the throwing task, and determining the range of the take-off and oil filling quantity; according to the application, on the premise of ensuring the flight safety of the unmanned aerial vehicle, data support is provided for the implementation of pod launching tasks.
Description
Technical Field
The application relates to the field of unmanned aerial vehicle mission planning, in particular to a wing lifting unmanned aerial vehicle aerial delivery mission planning method.
Background
The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.
In recent years, the transportation unmanned aerial vehicle is rapidly developed, and compared with the unmanned aerial vehicle, the unmanned aerial vehicle has the advantages of low cost and low risk, particularly in the situation that the throwing area is on a plateau, a mountain area and a sea island, or cannot land; the wing lifting unmanned aerial vehicle uses hanging points on two sides of the wing to hang cargo carrying pods for throwing, and is easier to throw, separate and control compared with a belly throwing structure; and the device has larger oil carrying space, so that the transportation distance is longer, the endurance time is longer, and the device has great significance for supporting the guarantee tasks.
For different freight pods, different hangers, different cargo carrying capacities, different take-off airports and different delivery areas, the maximum take-off and oil filling amount, the minimum mission oil filling amount and the maximum flight weight corresponding to the minimum cruising altitude of the unmanned aerial vehicle are different, and a constraint relationship exists; compared with an unmanned aerial vehicle, the unmanned aerial vehicle takes autonomous control as a main part and takes a flight operator as an auxiliary part to execute a throwing task, so that the unmanned aerial vehicle is required to be planned in advance according to the throwing task to ensure the flight safety, and whether the unmanned aerial vehicle has the task execution capability and the applicable take-off and oil filling quantity range are determined; at present, the task planning is still in a blank stage, and is mostly judged by human experience.
Disclosure of Invention
The application aims at: aiming at the problems in the prior art, the air drop task planning method of the unmanned aerial vehicle for the wing lifting and conveying is provided, according to the transportation capacity of the unmanned aerial vehicle for the wing lifting and conveying and the characteristics of the task for the pod throwing, under the condition of fully considering the flight safety of the unmanned aerial vehicle, whether the unmanned aerial vehicle has the task execution capacity and the applicable take-off oil filling amount range is determined, and data support is provided for implementation of the task for the pod throwing, so that the problems are solved.
The technical scheme of the application is as follows:
a method for planning an air-drop mission of a wing-handling unmanned aerial vehicle comprises the following steps:
step S1: selecting a nacelle type and a pylon type for executing tasks according to the unmanned wing hanging capacity;
step S2: determining an unmanned aerial vehicle navigational configuration and an unmanned aerial vehicle navigational configuration according to the number of the pods and the loading weight;
step S3: according to the take-off airport, the method can simultaneously prevent the unmanned aerial vehicle from rushing out of a runway during take-off and running and prevent the unmanned aerial vehicle from touching the take-off airspace obstacle pairMaximum takeoff weight to be appliedMaximum take-off fuelling amount->；
Step S4: determining a launch mission radius and an operation route distance according to a take-off airport and a launch area;
step S5: calculating minimum take-off and oil filling quantity of a mission according to the radius of the mission and the distance of an operation routeAnd task minimum takeoff weight->；
Step S6: according to the lowest cruising altitude, calculating the maximum flying weight corresponding to the lowest cruising altitudeClimbing fuel consumption up to the lowest cruising altitude +.>Task maximum take-off fuelling amount +.>；
Step S7: and judging the feasibility of the task and giving a take-off oil filling amount range.
Further, the step S1 includes:
total weight of selected nacelleAnd the selected hanger weight +.>The sum is required to be smaller than the maximum hanging weight of the corresponding hanging point；
Wherein the total weight of the selected nacelleEqual to the pod empty weight +.>And maximum loading weight->And (3) summing;
weight of loaded goodsLess than the maximum loading weight +.>。
Further, the step S2 includes:
the unmanned aerial vehicle is called as an unmanned aerial vehicle navigational configuration before being put into the nacelle, and is called as an unmanned aerial vehicle navigational configuration after being put into the nacelle;
wherein, unmanned aerial vehicle configuration of navigating out:
unmanned aerial vehicle puts in nacelle front configuration empty weightEqual to the weight of the unmanned aerial vehicle>Sum of the empty weights of the cabins usedSum of the loading weights of the pods>The weight of the hanging rack used is->And (3) summing;
total resistance of external stores before unmanned aerial vehicle puts in nacelleEqual to the total resistance of the nacelle used/>And total resistance of the used hangerAnd (3) summing;
unmanned aerial vehicle returns to journey configuration:
configuration empty weight after unmanned aerial vehicle puts in nacelleEqual to the weight of the unmanned aerial vehicle>And the weight of the hanger used->And (3) summing;
total resistance of store after unmanned aerial vehicle puts in nacelleEqual to the total resistance of the hanging rack>。
Further, the step S3 includes:
according to the length of the runway of the take-off airportMinimum climbing gradient in take-off direction>Selecting a distance for stopping take-off and running at the same time>Less than or equal to the length of the runway of the take-off airport>And take-off climb gradient->Less than or equal to take-offDirectional minimum climbing gradient->The corresponding maximum weight is the maximum takeoff weight +.>；
Maximum take-off fuelling amountEqual to the maximum takeoff weight>Empty weight of configuration before unmanned aerial vehicle is put in nacelle>And (3) a difference.
Further, the take-off and running stopping distanceEqual to the distance of acceleration running +.>Inertial run distance->Distance of deceleration run->And (3) summing;
wherein, the distance of the running accelerationAccording to the maximum takeoff weight->Gravity acceleration g, break-off limit speedSpeed is +.>Thrust force of engine in takeoff state ∈>Resistance to running acceleration->Coefficient of rolling friction->Acceleration of the running Lift->Altitude of take-off airport>Corresponding atmospheric density->Ground clearance gauge speed->Standard atmospheric density at sea levelStop take-off limit speed and take-off ground speed +.>Proportional coefficient of>Calculating to obtain;
inertial run distanceAccording to the limit speed of interrupted take-off>Inertial run time->Calculating to obtain;
speed-reducing running distanceAccording to the maximum takeoff weight->Gravitational acceleration g, break-off limit speed +.>Speed is +.>Thrust of the engine in the slow-driving state +.>Resistance to deceleration running->Coefficient of rolling friction->Deceleration and running liftCalculating to obtain;
climbing gradient for take-offFrom take-off climbing thrust->Climbing resistance for take-off>Maximum take-off weight->And calculating the gravity acceleration g.
Further, the distance of the acceleration runCalculated by the following formula:
wherein,，/>；
the inertial run distanceCalculated by the following formula:
the distance of deceleration runningCalculated by the following formula:
the take-off climbing gradientCalculated by the following formula:
。
further, the step S4 includes:
map measurement of distance between take-off airport and launch area, i.e. launch task radiusThe method comprises the steps of carrying out a first treatment on the surface of the Map measurement of the working route distance +.>Post-launch operational route distance->。
Further, the step S5 includes:
minimum take-off and oil filling amount for missionEqual to the minimum fuel consumption before the unmanned aerial vehicle is launched into the nacelle +.>Minimum fuel consumption after unmanned aerial vehicle puts in nacelle +.>Spare fuel quantity->And (3) summing;
minimum take-off weight of missionEqual to the minimum take-off fuelling amount of the mission->Empty weight of configuration before unmanned aerial vehicle is put in nacelle>And (3) summing;
wherein the minimum fuel consumption of the unmanned aerial vehicle before throwing the nacelleCalculated by the following formula:
wherein:
representing the average flying speed of the unmanned aerial vehicle before the unmanned aerial vehicle is thrown into the nacelle;
representing the average oil consumption of the unmanned aerial vehicle before throwing the nacelle;
minimum fuel consumption of unmanned aerial vehicle after throwing nacelleCalculated by the following formula:
wherein:
representing the average flying speed of the unmanned aerial vehicle after the unmanned aerial vehicle is thrown into the nacelle;
representing the average oil consumption of the unmanned aerial vehicle after the unmanned aerial vehicle is put into the nacelle;
if the maximum take-off and oil filling quantity isLess than the minimum take-off fuelling amount of mission->The take-off and oil filling amount does not meet the task requirement; if the maximum take-off and oil filling quantity is->Is greater than the minimum take-off fuelling amount of the mission>And the take-off and oil filling amount meets the task requirement.
Further, the step S6 includes:
maximum flying weightBy gravity acceleration g, lowest cruising altitude +.>Corresponding residual thrust->Climbing speedMinimum climbing rate->Calculating to obtain;
climbing fuel consumptionFrom the lowest cruising altitude +>Altitude of take-off airport>Average climbing rate->Average climbing oil consumption->Calculating to obtain;
maximum take-off and oil filling amount of missionEqual to maximum flight weight->Is>And (3) summing;
wherein the maximum flying weightCalculated by the following formula:
climbing fuel consumptionCalculated by the following formula:
if the task has the minimum take-off weightSubtracting climbing fuel consumption->Rear is greater than the lowest cruising altitude +.>Corresponding maximum flight weight->If it is->The lowest cruising altitude +.>The task requirements are not met; if the task is at minimum take-off weight->Subtracting climbing fuel consumption->Less than the minimum cruising altitude +.>Corresponding maximum flight weight->If it is->The lowest cruising altitude +.>Meeting the task demands.
Further, the step S7 includes:
when the take-off and oil filling quantity and the lowest cruising altitude meet the task requirements at the same time, the task is feasible;
when one of the take-off and oil filling amount and the lowest cruising altitude is not satisfied, the task is not feasible;
when the task is feasible, obtaining a take-off and fueling range according to the calculation results in the steps S1-S6:；
when the mission is not feasible, the take-off and fueling amount is 0.
Compared with the prior art, the application has the beneficial effects that:
1. according to the unmanned aerial vehicle-mounted nacelle type, number, loading weight and takeoff airport information, the method for planning the unmanned aerial vehicle-mounted unmanned aerial vehicle aerial delivery mission can calculate the maximum takeoff weight and the maximum takeoff fuelling amount which can prevent the unmanned aerial vehicle from rushing out of a runway during takeoff and running and prevent the unmanned aerial vehicle from touching a takeoff airspace obstacle.
2. According to the radius of the nacelle throwing task and the distance of an operation route, the minimum fuel consumption before throwing the nacelle and the minimum fuel consumption after throwing the nacelle are calculated respectively under the condition of taking standby fuel into consideration, the minimum take-off fuelling amount of the task is finally obtained, and then compared with the maximum take-off fuelling amount, whether the unmanned aerial vehicle meets the take-off fuelling amount requirement is judged.
3. According to the method for planning the aerial delivery mission of the unmanned aerial vehicle by lifting the wing, taking the altitude condition of a mission route into consideration, climbing oil consumption and maximum flight weight corresponding to the minimum cruising altitude can be calculated according to the safe minimum cruising altitude, and whether the unmanned aerial vehicle meets the minimum cruising altitude requirement is judged by combining with the minimum take-off oil filling amount of the mission.
4. A planning method for an air-drop mission of a wing lifting unmanned aerial vehicle can analyze the feasibility of a mission according to the requirement of the mission of a nacelle and determine the range of take-off and fueling. On the premise of ensuring the flight safety of the unmanned aerial vehicle, data support is provided for the implementation of the pod throwing task, and the practical situation is met.
Drawings
FIG. 1 is a flow chart of a method for planning an air-drop mission of a wing-handling unmanned aerial vehicle
Figure 2 is a cross-sectional view of a pod launch mission.
Detailed Description
It is noted that relational terms such as "first" and "second", and the like, are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
The features and capabilities of the present application are described in further detail below in connection with examples.
Example 1
Referring to fig. 1, a method for planning an air-drop mission of a wing-handling unmanned aerial vehicle specifically includes the following steps:
step S1: selecting a nacelle type and a pylon type for executing tasks according to the unmanned wing hanging capacity;
step S2: determining an unmanned aerial vehicle navigational configuration and an unmanned aerial vehicle navigational configuration according to the number of the pods and the loading weight;
step S3: according to the take-off airport, the calculation can simultaneously prevent the unmanned aerial vehicle from taking offThe maximum takeoff weight corresponding to the runway and the obstacle preventing unmanned aerial vehicle from touching the takeoff airspace during runningMaximum take-off fuelling amount->；
Step S4: determining a launch mission radius and an operation route distance according to a take-off airport and a launch area;
step S5: calculating minimum take-off and oil filling quantity of a mission according to the radius of the mission and the distance of an operation routeAnd task minimum takeoff weight->；
Step S6: according to the lowest cruising altitude, calculating the maximum flying weight corresponding to the lowest cruising altitudeClimbing fuel consumption up to the lowest cruising altitude +.>Task maximum take-off fuelling amount +.>；
Step S7: and judging the feasibility of the task and giving a take-off oil filling amount range.
In this embodiment, specifically, the step S1 includes:
total weight of selected nacelleAnd the selected hanger weight +.>The sum is required to be smaller than the maximum hanging weight of the corresponding hanging point；
Wherein the total weight of the selected nacelleEqual to the pod empty weight +.>And maximum loading weight->And (3) summing;
weight of loaded goodsLess than the maximum loading weight +.>；
The nacelle mainly comprises a nacelle body, a parachute opening mechanism and a parachute, and the total weight of the single nacelle(equivalent to the total weight of the selected nacelle described above +.>) Comprising nacelle empty weight->And maximum loading weight->I.e.；
Weight of loaded goodsShould be less than the maximum loading weight +.>；
The nacelle and wing hanging points are received by a pylon, the pylon being selected to be capable of carrying the total weight of the nacelle;
the unmanned aerial vehicle wing has limited mounting capability at each hanging point, and the total weight of the selected nacelleAnd hanger weight->Should be smaller than the maximum hanging weight of the corresponding hanging point +.>I.e. +.>。
In this embodiment, specifically, the step S2 includes:
the unmanned aerial vehicle is called as an unmanned aerial vehicle navigational configuration before being put into the nacelle, and is called as an unmanned aerial vehicle navigational configuration after being put into the nacelle; the aerodynamic resistance and the weight of the unmanned aerial vehicle before and after the unmanned aerial vehicle is put in the nacelle are changed, and the flying performance is changed along with the change, so that the resistance and the weight states of the unmanned aerial vehicle before and after the unmanned aerial vehicle is put in the nacelle are required to be determined;
specifically, wherein, unmanned aerial vehicle configuration of navigating out:
unmanned aerial vehicle puts in nacelle front configuration empty weight(without fuel) equals unmanned aerial vehicle weight +.>The sum of the empty weights of the cabins used +.>Sum of the loading weights of the pods>The weight of the hanging rack used is->And (3) summing;
total resistance of external stores before unmanned aerial vehicle puts in nacelleEqual to the total resistance of the nacelle used>And total resistance of the used hangerAnd (3) summing;
namely:
unmanned aerial vehicle returns to journey configuration:
configuration empty weight after unmanned aerial vehicle puts in nacelle(without fuel) equals unmanned aerial vehicle weight +.>And the weight of the hanger used->And (3) summing;
total resistance of store after unmanned aerial vehicle puts in nacelleEqual to the total resistance of the hanging rack>；
Namely:
in this embodiment, specifically, the step S3 includes:
according to the length of the runway of the take-off airportMinimum climbing gradient in take-off direction>Selecting a distance for stopping take-off and running at the same time>Less than or equal to the length of the runway of the take-off airport>（/>) And take-off climb gradient->Less than or equal to the lowest climbing gradient in the take-off direction>（/>) The corresponding maximum weight is the maximum takeoff weight +.>Wherein->The maximum allowable takeoff weight of the unmanned aerial vehicle is not more than the maximum takeoff design weight;
maximum take-off fuelling amountEqual to the maximum takeoff weight>Empty weight of configuration before unmanned aerial vehicle is put in nacelle>The difference is that: />=/>-/>Wherein, maximum take-off fuelling amount +.>The maximum allowable oiling amount of the unmanned aerial vehicle is not more than the maximum take-off oiling amount of the whole engine oil tank;
the distance for stopping taking off and runningEqual to the distance of acceleration running +.>Inertial run distance->Distance of deceleration run->And (3) summing;
wherein, the distance of the running accelerationAccording to the maximum takeoff weight->Gravity acceleration g, break-off limit speedSpeed is +.>Thrust force of engine in takeoff state ∈>Resistance to running acceleration->Coefficient of rolling friction->Acceleration of the running Lift->Altitude of take-off airport>Corresponding atmospheric density->Ground clearance gauge speed->Standard atmospheric density at sea levelStop take-off limit speed and take-off ground speed +.>Proportional coefficient of>Calculating to obtain;
inertial run distanceAccording to the limit speed of interrupted take-off>Inertial run time->Calculating to obtain;
speed-reducing running distanceAccording to the maximum takeoff weight->Gravitational acceleration g, break-off limit speed +.>Speed is +.>Thrust of the engine in the slow-driving state +.>Resistance to deceleration running->Coefficient of rolling friction->Deceleration and running liftCalculating to obtain;
climbing gradient for take-offFrom take-off climbing thrust->Climbing resistance for take-off>Maximum take-off weight->And calculating the gravity acceleration g.
In the present embodiment, specifically, the running acceleration distanceCalculated by the following formula:
wherein,，/>；
the inertial run distanceCalculated by the following formula:
the distance of deceleration runningCalculated by the following formula:
the take-off climbing gradientCalculated by the following formula:
。
in this embodiment, it is further described for step S3 that the take-off capability of the unmanned aerial vehicle is subject to the take-off airport altitudeEmpty weight of configuration before unmanned aerial vehicle is put in nacelle>Total resistance of store before unmanned aerial vehicle is put in nacelle +.>Mainly reflecting whether the take-off running distance and the take-off climbing gradient are suitable for take-off airports or not.
Taking the most severe take-off stopping condition into consideration, and taking-off and running stopping distanceShould be less than or equal to the length of the runway of the take-off airportThe method comprises the steps of carrying out a first treatment on the surface of the Stop the take-off and slide distance->By distance of run-up>Inertial run distance->Distance of deceleration run->Composition, i.e.)>The method comprises the steps of carrying out a first treatment on the surface of the Normal takeoff and running distance +.>Thus, satisfy->The unmanned aerial vehicle can be prevented from rushing out of the runway during take-off and running.
In order to ensure that the unmanned aerial vehicle can safely climb after leaving the ground, take-off climbing gradientShould be no less than the minimum climbing gradient in the take-off direction +.>I.e. +.>The unmanned aerial vehicle can be prevented from touching the obstacle of the take-off airspace.
In this embodiment, specifically, the step S4 includes:
map measurement of distance between take-off airport and launch area, i.e. launch task radiusThe method comprises the steps of carrying out a first treatment on the surface of the Map measurement of the working route distance +.>Post-launch operational route distance->。
In this embodiment, specifically, the step S5 includes:
minimum take-off and oil filling amount for missionEqual to the minimum fuel consumption before the unmanned aerial vehicle is launched into the nacelle +.>Minimum fuel consumption after unmanned aerial vehicle puts in nacelle +.>Spare fuel quantity->And (3) summing;
minimum take-off weight of missionEqual to the minimum take-off fuelling amount of the mission->Empty weight of configuration before unmanned aerial vehicle is put in nacelle>And (3) summing;
wherein the minimum fuel consumption of the unmanned aerial vehicle before throwing the nacelleCalculated by the following formula:
wherein:
representing the average flying speed of the unmanned aerial vehicle before the unmanned aerial vehicle is thrown into the nacelle;
representing the average oil consumption of the unmanned aerial vehicle before throwing the nacelle;
minimum fuel consumption of unmanned aerial vehicle after throwing nacelleCalculated by the following formula:
wherein:
representing the average flying speed of the unmanned aerial vehicle after the unmanned aerial vehicle is thrown into the nacelle;
representing the average oil consumption of the unmanned aerial vehicle after the unmanned aerial vehicle is put into the nacelle;
if the maximum take-off and oil filling quantity isLess than the minimum take-off plus of a missionOil quantity->The take-off and oil filling amount does not meet the task requirement; if the maximum take-off and oil filling quantity is->Is greater than the minimum take-off fuelling amount of the mission>And the take-off and oil filling amount meets the task requirement.
In this embodiment, it should also be noted that, in step S5, after the unmanned aerial vehicle arrives at the delivery area from the take-off airport, the unmanned aerial vehicle flies according to the working route distance before the unmanned aerial vehicle delivers the nacelle, and the average flying speed before the unmanned aerial vehicle delivers the nacelle isThe average oil consumption of the unmanned plane before the unmanned plane is put into the nacelle is +.>. Before the pod is put in, the unmanned aerial vehicle is in a sailing configuration, the total weight of the hung pod and the resistance brought by the pod enable the flying speed and the oil consumption per hour before the pod is put in to be larger than those after the pod is put in, and the minimum oil consumption before the unmanned aerial vehicle is put in the pod is->The method comprises the following steps:
after the nacelle is put in, the unmanned aerial vehicle is in a return flight configuration, and the flight weight of the unmanned aerial vehicle does not contain the total weight of the suspended nacelle and the flight total resistance of the unmanned aerial vehicle; flying according to the working route distance after the unmanned aerial vehicle is thrown into the nacelle, and returning to a take-off airport from a throwing area, wherein the average flying speed after the unmanned aerial vehicle is thrown into the nacelle is as follows（/>) The average oil consumption of the unmanned aerial vehicle after being put into the nacelle is +.>Minimum fuel consumption of unmanned plane after launching nacelle>The method comprises the following steps:
the spare fuel quantity isTask minimum take-off fuelling amount +.>Minimum fuel consumption before launching the nacelle by the unmanned aerial vehicle +.>Minimum fuel consumption after unmanned aerial vehicle puts in nacelle +.>Spare fuel quantity->The composition is as follows:
minimum take-off weight of missionThe method comprises the following steps:
in this embodiment, specifically, the step S6 includes:
maximum flying weightBy gravity acceleration g, lowest cruising altitude +.>Corresponding residual thrust->Climbing speedMinimum climbing rate->（/>) Calculating to obtain;
climbing fuel consumptionFrom the lowest cruising altitude +>Altitude of take-off airport>Average climbing rate->Average climbing oil consumption->Calculating to obtain;
maximum take-off and oil filling amount of missionEqual to maximum flight weight->Is>And (3) summing; namely:。
wherein the maximum flying weightCalculated by the following formula:
climbing fuel consumptionCalculated by the following formula:
if the task has the minimum take-off weightSubtracting climbing fuel consumption->Rear is greater than the lowest cruising altitude +.>Corresponding maximum flight weight->If it is->The lowest cruising altitude +.>The task requirements are not met; if the task is at minimum take-off weight->Subtracting climbing fuel consumption->Less than the minimum cruising altitude +.>Corresponding maximum flight weight->If it is->The lowest cruising altitude +.>Meeting the task demands.
In this embodiment, it should be further noted that, as shown in fig. 2, there is a mountain (altitude is) Is the lowest cruising altitude of the unmanned aerial vehicle +.>Should be greater than +.>I.e. +.>. When the unmanned aerial vehicle mounts the suspended cabin, the flight resistance is increased, and the climbing capacity is limited, so that the minimum cruising altitude meeting the throwing task needs to be calculatedCorresponding maximum flight weight->The method comprises the steps of carrying out a first treatment on the surface of the If the task is at minimum take-off weight->Subtracting climbing fuel consumption->Greater than the maximum flying weight corresponding to the lowest cruising altitude>I.e. +.>-/>>/>The minimum cruising altitude does not meet the task requirements; if->-/></>The minimum cruising altitude meets the task requirements.
In this embodiment, specifically, the step S7 includes:
when the take-off and oil filling quantity and the lowest cruising altitude meet the task requirements at the same time, the task is feasible;
when one of the take-off and oil filling amount and the lowest cruising altitude is not satisfied, the task is not feasible;
when the task is feasible, obtaining a take-off and fueling range according to the calculation results in the steps S1-S6:；
when the mission is not feasible, the take-off and fueling amount is 0.
Example two
The second embodiment is a specific application of the air-drop mission planning method of the wing lifting unmanned aerial vehicle provided in the first embodiment.
The wing lifting unmanned aerial vehicle needs to execute four nacelle throwing tasks, the nacelle mounting quantity, the loading capacity, the take-off airport and the throwing destination of each task are different, feasibility analysis is carried out according to the air throwing task planning method provided by the first embodiment, and the analysis results are shown in table 1.
TABLE 1 air drop mission planning example table
The above examples merely illustrate specific embodiments of the application, which are described in more detail and are not to be construed as limiting the scope of the application. It should be noted that it is possible for a person skilled in the art to make several variants and modifications without departing from the technical idea of the application, which fall within the scope of protection of the application.
This background section is provided to generally present the context of the present application and the work of the presently named inventors, to the extent it is described in this background section, as well as the description of the present section as not otherwise qualify as prior art at the time of filing, are neither expressly nor impliedly admitted as prior art against the present application.
Claims (8)
1. The method for planning the aerial delivery mission of the wing lifting unmanned aerial vehicle is characterized by comprising the following steps of:
step S1: selecting a nacelle type and a pylon type for executing tasks according to the unmanned wing hanging capacity;
step S2: determining an unmanned aerial vehicle navigational configuration and an unmanned aerial vehicle navigational configuration according to the number of the pods and the loading weight;
step S3: according to the take-off airport, calculating the maximum take-off weight corresponding to the maximum take-off weight capable of preventing the unmanned aerial vehicle from rushing out of the runway and preventing the unmanned aerial vehicle from touching the take-off airspace obstacle when taking off and runningMaximum take-off fuelling amount->；
Step S4: determining a launch mission radius and an operation route distance according to a take-off airport and a launch area;
step S5: calculating minimum take-off and oil filling quantity of a mission according to the radius of the mission and the distance of an operation routeAnd task minimum takeoff weight->；
Step S6: according to the lowest cruising altitude, calculating the maximum flying weight corresponding to the lowest cruising altitudeClimbing fuel consumption up to the lowest cruising altitude +.>Task maximum take-off fuelling amount +.>；
Step S7: judging the feasibility of the task and giving a take-off oil filling amount range;
the step S3 includes:
according to the length of the runway of the take-off airportMinimum climbing gradient in take-off direction>Selecting a distance for stopping take-off and running at the same time>Less than or equal to the length of the runway of the take-off airport>Climbing ladder for taking offDegree->Minimum climbing gradient less than or equal to take-off directionThe corresponding maximum weight is the maximum takeoff weight +.>；
Maximum take-off fuelling amountEqual to the maximum takeoff weight>Empty weight of configuration before unmanned aerial vehicle is put in nacelle>A difference between;
the step S5 includes:
minimum take-off and oil filling amount for missionEqual to the minimum fuel consumption before the unmanned aerial vehicle is launched into the nacelle +.>Minimum fuel consumption after unmanned aerial vehicle puts in nacelle +.>Spare fuel quantity->And (3) summing;
minimum take-off weight of missionEqual to the minimum take-off fuelling amount of the mission->Empty weight of configuration before unmanned aerial vehicle is put in nacelleAnd (3) summing;
if the maximum take-off and oil filling quantity isLess than the minimum take-off fuelling amount of mission->The take-off and oil filling amount does not meet the task requirement; if the maximum take-off and oil filling quantity is->Is greater than the minimum take-off fuelling amount of the mission>The take-off and oil filling amount meets the task requirement;
the step S6 includes:
maximum take-off and oil filling amount of missionEqual to maximum flight weight->Is>And (3) summing;
maximum flying weightCalculated by the following formula:
wherein: g is the gravity acceleration rate of the gravity,is the lowest cruising altitude +.>Corresponding residual thrust, ++>For climbing speed +.>Is the minimum climbing rate;
climbing fuel consumptionCalculated by the following formula:
wherein:for the lowest cruising altitude, +.>For the altitude of the take-off airport, +.>For average climbing rate->The average climbing oil consumption is;
if the task has the minimum take-off weightSubtracting climbing fuel consumption->Rear is greater than the lowest cruising altitude +.>Corresponding maximum flight weight->If it is->The lowest cruising altitude +.>The task requirements are not met; if the task is at minimum take-off weight->Subtracting climbing fuel consumption->Less than the minimum cruising altitude +.>Corresponding maximum flight weight->If it is->The lowest cruising altitude +.>Meeting the task demands.
2. The method for planning the aerial delivery mission of the wing-handling unmanned aerial vehicle according to claim 1, wherein the step S1 comprises:
total weight of selected nacelleAnd the selected hanger weight +.>The sum is less than the maximum hanging weight of the corresponding hanging point>；
Wherein the total weight of the selected nacelleEqual to the pod empty weight +.>And maximum loading weight->And (3) summing;
weight of loaded goodsLess than the maximum loading weight +.>。
3. The method for planning the aerial delivery mission of the wing-handling unmanned aerial vehicle according to claim 2, wherein the step S2 comprises:
the unmanned aerial vehicle is called as an unmanned aerial vehicle navigational configuration before being put into the nacelle, and is called as an unmanned aerial vehicle navigational configuration after being put into the nacelle;
wherein, unmanned aerial vehicle configuration of navigating out:
unmanned aerial vehicle puts in nacelle front configuration empty weightEqual to the weight of the unmanned aerial vehicle>Hanging cabin usedSum of empty weight->Sum of the loading weights of the pods>The weight of the hanging rack used is->And (3) summing;
total resistance of external stores before unmanned aerial vehicle puts in nacelleEqual to the total resistance of the nacelle used>And total resistance of the hanger used>And (3) summing;
unmanned aerial vehicle returns to journey configuration:
configuration empty weight after unmanned aerial vehicle puts in nacelleEqual to the weight of the unmanned aerial vehicle>And the weight of the hanger used->And (3) summing;
total resistance of store after unmanned aerial vehicle puts in nacelleEqual to the total resistance of the hanging rack>。
4. The method for planning the mission of an air-drop of a wing-handling unmanned aerial vehicle according to claim 1, wherein the stopping of the take-off and running distance is as followsEqual to the distance of acceleration running +.>Inertial run distance->Distance of deceleration run->And (3) summing;
wherein, the distance of the running accelerationAccording to the maximum takeoff weight->Gravitational acceleration g, break-off limit speed +.>Speed is +.>Thrust force of engine in takeoff state ∈>Resistance to running acceleration->Coefficient of rolling friction->Acceleration of running liftAltitude of take-off airport>Corresponding atmospheric density->Ground clearance gauge speed->Sea level standard atmospheric Density->Stop take-off limit speed and take-off ground speed +.>Proportional coefficient of>Calculating to obtain;
inertial run distanceAccording to the limit speed of interrupted take-off>Inertial run time->Calculating to obtain;
speed-reducing running distanceAccording to the maximum takeoff weight->Gravitational acceleration g, break-off limit speed +.>Speed of rotationDegree is->Thrust of the engine in the slow-driving state +.>Resistance to deceleration running->Coefficient of rolling friction->Deceleration and running Lift +.>Calculating to obtain;
climbing gradient for take-offFrom take-off climbing thrust->Climbing resistance for take-off>Maximum take-off weight->And calculating the gravity acceleration g.
5. The method for planning an air-drop mission of a wing-handling unmanned aerial vehicle as claimed in claim 4, wherein the distance of the acceleration run isCalculated by the following formula:
wherein,，/>；
the inertial run distanceCalculated by the following formula:
the distance of deceleration runningCalculated by the following formula:
the take-off climbing gradientCalculated by the following formula:
。
6. the method for planning the aerial delivery mission of a wing-handling unmanned aerial vehicle according to claim 5, wherein the step S4 comprises:
map measurement of distance between take-off airport and launch area, i.e. launch task radiusThe method comprises the steps of carrying out a first treatment on the surface of the Map measurement of the working route distance +.>Post-launch operational route distance->。
7. The method for planning the mission of an air-drop of a wing-handling unmanned aerial vehicle according to claim 6, wherein the unmanned aerial vehicle has the lowest fuel consumption before being launched into a nacelleCalculated by the following formula:
wherein:
representing the average flying speed of the unmanned aerial vehicle before the unmanned aerial vehicle is thrown into the nacelle;
representing the average oil consumption of the unmanned aerial vehicle before throwing the nacelle;
minimum fuel consumption of unmanned aerial vehicle after throwing nacelleCalculated by the following formula:
wherein:
representing unmannedAverage flying speed after the nacelle is thrown in;
the average fuel consumption of the unmanned aerial vehicle after the unmanned aerial vehicle is thrown into the nacelle is shown.
8. The method for planning the aerial delivery mission of a wing-handling unmanned aerial vehicle according to claim 7, wherein the step S7 comprises:
when the take-off and oil filling quantity and the lowest cruising altitude meet the task requirements at the same time, the task is feasible;
when one of the take-off and oil filling amount and the lowest cruising altitude is not satisfied, the task is not feasible;
when the task is feasible, obtaining a take-off and fueling range according to the calculation results in the steps S1-S6:；
when the mission is not feasible, the take-off and fueling amount is 0.
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