CN117818864A - Ocean captive balloon receiving and releasing device and method - Google Patents
Ocean captive balloon receiving and releasing device and method Download PDFInfo
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- CN117818864A CN117818864A CN202311783248.5A CN202311783248A CN117818864A CN 117818864 A CN117818864 A CN 117818864A CN 202311783248 A CN202311783248 A CN 202311783248A CN 117818864 A CN117818864 A CN 117818864A
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- 238000004804 winding Methods 0.000 claims description 6
- 238000013528 artificial neural network Methods 0.000 claims description 5
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Abstract
The invention discloses a marine tethered balloon retraction device, which comprises: the system comprises a six-degree-of-freedom platform, a satellite navigator, a tethered winch assembly, a rotary platform and a controller; the satellite navigator is arranged on the tethered balloon; the six-degree-of-freedom platform is arranged on the ship; the rotating platform is arranged on the platform of the six-degree-of-freedom platform and is coaxial with the platform of the six-degree-of-freedom platform; the mooring winch assembly is arranged on the rotary platform and rotates along with the rotary platform; the controller is connected with the rotating platform circuit and controls the rotating angle of the rotating platform according to the posture and the recovery speed of the tethered balloon. The invention ensures that the captive balloon is more stable when being retracted and released at sea, can adjust the retraction mode according to the actual sea condition, improves the stability of the retraction process of the mooring rope and avoids the breakage of the mooring rope.
Description
Technical Field
The invention relates to the technical field of receiving and releasing a marine tethered balloon, in particular to a device and a method for receiving and releasing a marine tethered balloon.
Background
The tethered balloon is an unpowered balloon aircraft capable of being lifted off and is connected with a ground winch through a tethered cable. The functions of lifting, recovering and air residence of the tethered balloon are mainly realized by controlling the winch to retract and release the tethered cable. When the tethered balloon is suspended in the air by filling some light gases such as helium, the tethered balloon can be used as a carrying platform of various devices such as rescue communication, monitoring, radar and the like to realize functions such as reconnaissance early warning, communication relay and the like, and plays a very important role in a plurality of fields.
The tethered balloon product is basically applied to the land, and most of the tethered balloon products are vehicle-mounted small and medium-sized platforms, and generally, a motor is adopted as a power source, so that the tethered balloon product is simple in retraction process, small in retraction load, large in wind influence and low in reliability.
At present, the patent CN202010617895.9 adopts a BP neural network to conduct prediction guidance on an aircraft, but the BP neural network is used as a more common algorithm, so that higher precision cannot be achieved, and huge data volume is required for training; the patent CN201811224363.8 only uses constant tension to retract and release, and for the marine complex situation, the constant tension does not meet the retraction and release requirements; the automatic winding type marine winch of the patent CN202321350290.3 is only used for automatically arranging cables, a compacting structure is not adopted, and the situation of uneven cable arrangement still occurs when the cables are arranged to the second layer; in patent cn20162083954. X, two rollers are used to clamp the cable, but the clamping effect is poor and the cable is easy to be messed during cable arrangement; the use of a simple six-degree-of-freedom platform in patent CN202121383667.6 compensates for the six degrees of freedom of motion produced by the ocean wave by the vessel, however, the problem of the vessel not being convenient to adjust the direction of the payout on the ocean is not considered.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a device and a method for collecting and releasing a marine tethered balloon, which are used for solving the technical problems that a cable is easy to be blocked or broken when being recovered in the prior art and the winding is messy when the cable is easy to be recovered.
The invention provides a marine tethered balloon retraction device, which comprises: the system comprises a six-degree-of-freedom platform, a satellite navigator, a tethered winch assembly, a rotary platform and a controller;
the satellite navigator is arranged on the tethered balloon; the six-degree-of-freedom platform is arranged on the ship; the rotating platform is arranged on the platform of the six-degree-of-freedom platform and is coaxial with the platform of the six-degree-of-freedom platform; the mooring winch assembly is arranged on the rotary platform and rotates along with the rotary platform; the controller is connected with the rotating platform circuit and controls the rotating angle of the rotating platform according to the posture and the recovery speed of the tethered balloon.
Further, the marine tethered balloon deployment apparatus further comprises: a plurality of guide wheels and guide wheels; the guide wheels are horizontally arranged on a circle on the surface of the rotary platform; the guide wheel is arranged on the rotary platform outside the guide wheel; the cable passes around a loop of guide wheel through the guide wheel and enters the mooring winch assembly.
Further, the mooring winch assembly comprises: the device comprises a cable storage barrel, a rope pressing device, a first guide wheel, a second guide wheel, a winch and a synchronous cable arranging device;
the mooring rope sequentially passes through the first guide wheel, the second guide wheel, the winch, the synchronous cable arranging device and the rope pressing device and then is wound on the cable storage barrel.
Further, the rope pressing device includes: the device comprises a first rope pressing wheel, a second rope pressing wheel, a screw rod, a frame and a synchronous belt;
the screw rod is arranged in parallel with the screw rod in the synchronous cable arranger; one end of the synchronous belt is connected with the screw rod, the other end of the synchronous belt is connected with the screw rod in the synchronous cable arranging device, and the synchronous belt enables the screw rod to synchronously rotate with the screw rod in the synchronous cable arranging device; the frame is arranged on the screw rod and moves back and forth on the screw rod along with the rotation of the screw rod; the first rope pressing wheel and the second rope pressing wheel are vertically erected on the frame through the support, and the cables are wound on the cable storage cylinder after bypassing the first rope pressing wheel and the second rope pressing wheel.
Further, the rope pressing device further includes: a spring; the spring is sleeved on a support supporting the first rope pressing wheel, and the support supporting the first rope pressing wheel is a telescopic rod.
The invention also provides a receiving and releasing method of the marine tethered balloon receiving and releasing device, which comprises the following steps:
step 1: acquiring the current coordinates of the tethered balloon by a satellite navigator;
step 2: predicting the actual speed and deflection angle of the tethered balloon through a particle swarm optimization long-short-term memory neural network according to the current coordinates;
step 3: and adjusting the rotation angle of the rotating platform and the retraction compensation amount of the mooring winch assembly according to the predicted actual speed and the deflection angle.
Further, the specific formula of the retraction compensation amount of the mooring winch assembly is as follows:
wherein alpha is the included angle between the tethered balloon and the winch and the sea level, E is the elastic modulus of the cable, and A is the cross-sectional area of the cable.
Further, the specific formula of the rotation angle of the rotating platform is as follows:
θ＝l elongation of /l Circumference of turntable ·360°
Wherein, I Elongation of For cable winding and unwinding compensation quantity l Circumference of turntable Is the actual circumference of the turntable.
Further, in the step 3, the method further includes adjusting a retraction mode of the mooring winch assembly according to the current wave height, specifically:
when the current wave height is greater than the maximum travel of the platform with six degrees of freedom, the winch-remaining assembly is retracted and released in a constant-speed mode;
when the current wave height is less than or equal to the maximum travel of the platform with six degrees of freedom, the winch assembly is kept in a constant tension mode for retraction.
Further, the specific formula of the current wave height is as follows:
wherein H (t) is wave height, ζ ai For the ith wave amplitude, S (ω i ) For wave energy spectral density, omega i ,ε i For angular frequency and initial phase, Δω is the frequency spacing.
The invention has the beneficial effects that:
the invention ensures that the captive balloon is more stable when being retracted and released at sea, can adjust the retraction mode according to the actual sea condition, improves the stability of the retraction process of the mooring rope and avoids the breakage of the mooring rope; according to the invention, rotation compensation can be performed according to the stress condition of the cable, so that the shaking problem of the cable in the winding and unwinding process is avoided; the invention provides a more optimized method for acquiring the wave height of the sea wave, which can ensure that the switching of the receiving and releasing modes is more accurate.
Drawings
The features and advantages of the present invention will be more clearly understood by reference to the accompanying drawings, which are illustrative and should not be construed as limiting the invention in any way, in which:
FIG. 1 is a schematic diagram of an embodiment of the present invention;
FIG. 2 is a schematic illustration of a winch assembly according to an embodiment of the present invention;
FIG. 3 is a side view of a rope press according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a six degree of freedom platform and a rotary platform according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to fall within the scope of the invention.
The invention will be further elucidated with reference to specific examples. It will be appreciated by those skilled in the art that these examples are intended to illustrate the invention and not to limit the scope of the invention, and that various equivalent modifications to the invention fall within the scope of the invention as defined in the claims appended hereto.
The invention provides a marine tethered balloon retraction device, which comprises: the system comprises a six-degree-of-freedom platform 1, a satellite navigator 2, a mooring winch assembly 3, a rotating platform 4, a controller 5, a plurality of guide wheels 7 and guide wheels 8;
the satellite navigator 2 is arranged on the tethered balloon 6; the six-degree-of-freedom platform 1 is arranged on a ship; the rotary platform 4 is arranged on the platform of the six-degree-of-freedom platform 1 and is coaxial with the platform of the six-degree-of-freedom platform 1; the mooring winch assembly 3 is arranged on the rotary platform 4 and rotates along with the rotary platform 4; the controller 5 is in circuit connection with the rotary platform 4, and the controller 5 controls the rotation angle of the rotary platform 4 according to the posture and the recovery speed of the tethered balloon 6; the guide wheels 7 are horizontally arranged on a circle on the surface of the rotary platform 4, and the axes of the guide wheels 7 are parallel to the axis of the rotary platform 4; the guide wheel 8 is arranged on the rotating platform 4 outside the guide wheel 7, the axis of the guide wheel 8 is parallel to the axis of the rotating platform 4, and the guide wheel 8 plays a role in guiding the cable to the guide wheel 7; the cable passes around a loop of guide wheel 7 via guide wheel 8 and enters the mooring winch assembly 3.
The mooring winch assembly 3 comprises: a cable storage drum 31, a rope pressing device 32, a first guide wheel 33, a second guide wheel 34, a winch 35 and a synchronous cable arranging device 36;
the cable passes through the first guide wheel 33, the second guide wheel 34, the winch 35, the synchronous cable arranging device 36 and the rope pressing device 32 in sequence and then is wound on the cable storage drum 31.
The rope pressing device comprises: the first rope pressing wheel 321, the second rope pressing wheel 322, a screw rod 323, a frame 324, a synchronous belt 325 and a spring 326;
the screw rod 323 is arranged in parallel with the screw rod in the synchronous cable arranger 36; one end of a synchronous belt 325 is connected with a screw rod 323, the other end of the synchronous belt 325 is connected with the screw rod in the synchronous cable arranging device, and the synchronous belt 325 enables the screw rod 323 to synchronously rotate with the screw rod in the synchronous cable arranging device; the frame 324 is arranged on the screw rod 323 and moves back and forth on the screw rod 323 along with the rotation of the screw rod 323; the first rope pressing wheel 321 and the second rope pressing wheel 322 are vertically erected on the frame 324 through the support, a cable bypasses the first rope pressing wheel 321 and the second rope pressing wheel 322 to be wound on the cable storage drum 31, the spring 326 is sleeved on the support supporting the first rope pressing wheel 321, and the support supporting the first rope pressing wheel 321 is a telescopic rod.
The specific embodiment of the invention also provides a receiving and releasing method of the marine tethered balloon receiving and releasing device, which comprises the following steps:
step 1: acquiring the current coordinates of the tethered balloon by a satellite navigator, and calculating the current coordinates as the actual speed of the balloon according to the change rate of the coordinates;
step 2: predicting the actual speed and deflection angle of the tethered balloon through a particle swarm optimization long-short-term memory neural network according to the current coordinates;
step 3: the rotation angle of the rotating platform and the retraction compensation quantity of the mooring winch assembly are adjusted according to the predicted actual speed and the deflection angle, the retraction mode of the mooring winch assembly is adjusted according to the current wave height after the compensation is equal to the set speed,
the specific formula of the retraction compensation quantity of the mooring winch assembly is as follows:
wherein alpha is the included angle between the tethered balloon and the winch and the sea level, E is the elastic modulus of the cable, and A is the cross-sectional area of the cable.
The specific formula of the rotation angle of the rotating platform is as follows:
θ＝l elongation of /l Circumference of turntable ·360°
Wherein, I Elongation of The cable elongation is also the retraction compensation quantity, l Circumference of turntable Is the actual circumference of the turntable.
The retraction mode of the mooring winch assembly is adjusted according to the current wave height, and the retraction mode is specifically as follows:
when the current wave height is greater than the maximum travel of the platform with six degrees of freedom, the winch-remaining assembly is retracted and released in a constant-speed mode;
when the current wave height is less than or equal to the maximum travel of the platform with six degrees of freedom, the winch-reserving component adopts a constant tension mode to retract and release,
the specific formula of the current wave height is as follows:
wherein H (t) is wave height, ζ ai For the ith wave amplitude, S (ω i ) For wave energy spectral density, omega i ,ε i For angular frequency and initial phase, delta omega is a frequency interval, and when H (t) is more than H, namely the wave height is greater than the maximum height travel of the six-degree-of-freedom platform, a constant-speed mode is needed for retraction; when H (t) < H, the winding and unwinding are performed by using a constant tension mode.
Although embodiments of the present invention have been described in connection with the accompanying drawings, various modifications and variations may be made by those skilled in the art without departing from the spirit and scope of the invention, and such modifications and variations are within the scope of the invention as defined by the appended claims.
Claims (10)
1. A marine tethered balloon deployment apparatus comprising: six degrees of freedom platforms, satellite navigator, its characterized in that still includes: a mooring winch assembly, a rotating platform, and a controller;
the satellite navigator is arranged on the tethered balloon; the six-degree-of-freedom platform is arranged on the ship; the rotating platform is arranged on the platform of the six-degree-of-freedom platform and is coaxial with the platform of the six-degree-of-freedom platform; the mooring winch assembly is arranged on the rotary platform and rotates along with the rotary platform; the controller is connected with the rotating platform circuit and controls the rotating angle of the rotating platform according to the posture and the recovery speed of the tethered balloon.
2. The marine tethered balloon deployment apparatus of claim 1, further comprising: a plurality of guide wheels and guide wheels; the guide wheels are horizontally arranged on a circle on the surface of the rotary platform; the guide wheel is arranged on the rotary platform outside the guide wheel; the cable passes around a loop of guide wheel through the guide wheel and enters the mooring winch assembly.
3. The marine tethered balloon deployment apparatus of claim 1, wherein the tethered winch assembly comprises: the device comprises a cable storage barrel, a rope pressing device, a first guide wheel, a second guide wheel, a winch and a synchronous cable arranging device;
the mooring rope sequentially passes through the first guide wheel, the second guide wheel, the winch, the synchronous cable arranging device and the rope pressing device and then is wound on the cable storage barrel.
4. A tethered marine balloon deployment apparatus according to claim 3 wherein said tether release means comprises: the device comprises a first rope pressing wheel, a second rope pressing wheel, a screw rod, a frame and a synchronous belt;
the screw rod is arranged in parallel with the screw rod in the synchronous cable arranger; one end of the synchronous belt is connected with the screw rod, the other end of the synchronous belt is connected with the screw rod in the synchronous cable arranging device, and the synchronous belt enables the screw rod to synchronously rotate with the screw rod in the synchronous cable arranging device; the frame is arranged on the screw rod and moves back and forth on the screw rod along with the rotation of the screw rod; the first rope pressing wheel and the second rope pressing wheel are vertically erected on the frame through the support, and the cables are wound on the cable storage cylinder after bypassing the first rope pressing wheel and the second rope pressing wheel.
5. The marine tethered balloon deployment apparatus of claim 4, wherein the tether press further comprises: a spring; the spring is sleeved on a support supporting the first rope pressing wheel, and the support supporting the first rope pressing wheel is a telescopic rod.
6. A method for deploying and retracting a marine tethered balloon deployment device, suitable for a marine tethered balloon deployment device according to any one of claims 1-5, comprising the steps of:
step 1: acquiring the current coordinates of the tethered balloon by a satellite navigator;
step 2: predicting the actual speed and deflection angle of the tethered balloon through a particle swarm optimization long-short-term memory neural network according to the current coordinates;
step 3: and adjusting the rotation angle of the rotating platform and the retraction compensation amount of the mooring winch assembly according to the predicted actual speed and the deflection angle.
7. The method of deploying and retracting a marine tethered balloon deployment device of claim 6, wherein the specific formula of the deployment and retraction compensation amount of the tethered winch assembly is:
wherein alpha is the included angle between the tethered balloon and the winch and the sea level, E is the elastic modulus of the cable, and A is the cross-sectional area of the cable.
8. The method for deploying and retracting the marine tethered balloon deployment device according to claim 6 or 7, wherein the specific formula of the rotation angle of the rotating platform is:
θ＝l elongation of /l Circumference of turntable ·360°
Wherein, I Elongation of For cable winding and unwinding compensation quantity l Circumference of turntable Is the actual circumference of the turntable.
9. The method for deploying and retracting the marine tethered balloon deployment device according to claim 6, wherein in step 3, the deploying and retracting mode of the tethered winch assembly is further adjusted according to the current wave height, specifically:
when the current wave height is greater than the maximum travel of the platform with six degrees of freedom, the winch-remaining assembly is retracted and released in a constant-speed mode;
when the current wave height is less than or equal to the maximum travel of the platform with six degrees of freedom, the winch assembly is kept in a constant tension mode for retraction.
10. The method for deploying and retracting the marine tethered balloon deployment device of claim 9, wherein the specific formula of the current wave height is:
wherein H (t) is wave height, ζ ai For the ith wave amplitude, S (ω i ) For wave energy spectral density, omega i ,ε i For angular frequency and initial phase, Δω is the frequency spacing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311783248.5A CN117818864A (en) | 2023-12-22 | 2023-12-22 | Ocean captive balloon receiving and releasing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311783248.5A CN117818864A (en) | 2023-12-22 | 2023-12-22 | Ocean captive balloon receiving and releasing device and method |
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| Publication Number | Publication Date |
|---|---|
| CN117818864A true CN117818864A (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311783248.5A Pending CN117818864A (en) | 2023-12-22 | 2023-12-22 | Ocean captive balloon receiving and releasing device and method |
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| Country | Link |
|---|---|
| CN (1) | CN117818864A (en) |
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- 2023-12-22 CN CN202311783248.5A patent/CN117818864A/en active Pending
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