CN216424778U - Automatic change unmanned aerial vehicle continuous emission system - Google Patents
Automatic change unmanned aerial vehicle continuous emission system Download PDFInfo
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- CN216424778U CN216424778U CN202123049513.6U CN202123049513U CN216424778U CN 216424778 U CN216424778 U CN 216424778U CN 202123049513 U CN202123049513 U CN 202123049513U CN 216424778 U CN216424778 U CN 216424778U
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Abstract
The utility model relates to an automatic change unmanned aerial vehicle continuous emission system, including catapult, adjustment platform, lift adjustment device and control system, the adjustment platform supports through three lift adjustment device, just lift adjustment device lower extreme is installed on the hull, and on the adjustment platform was located to the catapult, unmanned aerial vehicle located on the catapult, each lift adjustment device's flexible volume passed through control system control, just control system calculates lift adjustment device's flexible volume according to the hull motion. The utility model discloses utilize the hull motion that adjustment platform compensation wave arouses to guarantee that unmanned aerial vehicle can not receive the wave to influence take off smoothly, be particularly useful for the small-size naval vessel that easily receives the wave to influence, and the utility model discloses a control system adjusts each lift adjusting device's flexible volume of lift according to LQR optimal control theory, not only can accurately adjust in time adjustment platform position appearance, whole process is automatic accomplishes simultaneously, need not other interventions.
Description
Technical Field
The utility model belongs to the technical field of unmanned aerial vehicle and specifically relates to an automatic change unmanned aerial vehicle continuous emission system.
Background
Unmanned aerial vehicle has with low costs, moreover, the steam generator is simple in structure, advantages such as damage redundancy height, the unmanned aerial vehicle organism carries little load can be to the ground, play a role in complicated combat missions such as to the sky, but when facing marine reconnaissance or other offshore operations, because unmanned aerial vehicle dead weight undersize, the range is limited, be unsuitable for reconnaissance at a distance, the unmanned aerial vehicle that takes off on the carrier-borne deck has then overcome unmanned aerial vehicle self range is little, the short problem of duration, carry unmanned aerial vehicle on the ship during the use, the ship takes unmanned aerial vehicle to the reconnaissance within range, can independently launch multiple unmanned aerial vehicle as required in order to carry out complicated missions such as reconnaissance strikes, also greatly expanded unmanned aerial vehicle's marine combat scope through the aforesaid mode, unmanned aerial vehicle's operational advantage has still been kept simultaneously.
At present, the catapult technology of the unmanned aerial vehicle is relatively mature, the types of the unmanned aerial vehicle are mainly divided into an elastic rope type, an air pressure type, an electromagnetic type and the like, the coverage magnitude is from 1kg to 30kg, the unmanned aerial vehicle is often used for taking off of small unmanned aerial vehicles on the land, but the unmanned aerial vehicle is not mature in application on ships and warships, the unmanned aerial vehicle is mainly limited by ship shaking caused by sea waves, the taking-off posture of the unmanned aerial vehicle is very unstable, and the unmanned aerial vehicle can only take off in a stable sea area or a stable ship with large displacement at present.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic change unmanned aerial vehicle continuous emission system utilizes the hull motion that adjustment platform compensation wave arouses to guarantee that unmanned aerial vehicle can not receive the wave to influence smooth taking off, be particularly useful for easily receiving the small-size naval vessel that the wave influences.
The purpose of the utility model is realized through the following technical scheme:
the utility model provides an automatic change unmanned aerial vehicle continuous emission system, includes catapult, adjustment platform, lift adjustment device and control system, and the adjustment platform supports through three lift adjustment device, just lift adjustment device lower extreme is installed on the hull, and on the adjustment platform was located to the catapult, unmanned aerial vehicle located on the catapult, each lift adjustment device's flexible volume passed through control system control, just control system calculates lift adjustment device's flexible volume according to the hull motion.
The two lifting adjusting devices are positioned on two sides of the front end of the adjusting platform, and the other lifting adjusting device is positioned in the middle of the rear end of the adjusting platform.
The catapult includes preceding stabilizer blade of catapult slide rail, catapult air pump, unmanned aerial vehicle slide and catapult, and wherein the support is supported before the catapult slide rail front end passes through the catapult, just stabilizer blade and catapult air pump all install in on the adjustment platform, catapult slide rail rear end is located on the adjustment platform, the unmanned aerial vehicle slide with catapult slide rail sliding connection, unmanned aerial vehicle put in on the unmanned aerial vehicle slide.
All be equipped with the draw-in groove on the curb plate of unmanned aerial vehicle slide both sides, the unmanned aerial vehicle both sides all are equipped with the bayonet lock, and when unmanned aerial vehicle put on the unmanned aerial vehicle slide, the bayonet lock is arranged in the draw-in groove that corresponds.
Unmanned aerial vehicle slide curb plate front end and rear end respectively are equipped with a draw-in groove, and two draw-in groove height difference.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses utilize the hull motion that adjustment platform compensation wave arouses to guarantee that unmanned aerial vehicle can not receive the wave to influence smooth taking off, be applicable to unmanned aerial vehicle ejection under the various sea conditions, be particularly useful for the small-size naval vessel that easily receives the wave influence.
2. The utility model discloses a control system adjusts each lift adjusting device's flexible volume of lift according to the optimal control theory of LQR, not only can in time accurately adjust the position appearance of adjustment platform according to the hull motion circumstances, and whole process is automatic to be accomplished simultaneously, need not other interventions.
3. The utility model discloses catapult system is equipped with the unmanned aerial vehicle slide, be equipped with the draw-in groove on the unmanned aerial vehicle slide, the unmanned aerial vehicle both sides are equipped with the bayonet lock, and unmanned aerial vehicle puts back on the unmanned aerial vehicle slide, and unmanned aerial vehicle receives gravity to move down the messenger the bayonet lock realizes unmanned aerial vehicle spacing fixed with corresponding the automatic gomphosis of draw-in groove, lays conveniently, and this structure also can not influence unmanned aerial vehicle to take off simultaneously.
Drawings
Figure 1 is a schematic structural diagram of the present invention,
figure 2 is a schematic view of the drone placement of figure 1,
fig. 3 is a schematic diagram of the control loop of the present invention.
Wherein, 1 is unmanned aerial vehicle, 2 is the catapult, 201 is the catapult slide rail, 3 is preceding stabilizer blade of catapult, 4 are the catapult air pump, 5 are the hull, 6 are the adjustment platform, 7 are lift adjustment device, 8 are the bayonet lock, 9 are the unmanned aerial vehicle slide.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-3, the utility model discloses an ejector 2, adjustment platform 6, lift adjusting device 7 and control system, wherein adjustment platform 6 supports through a plurality of lift adjusting device 7, just lift adjusting device 7 lower extreme is installed on hull 5, be equipped with ejector 2 on adjustment platform 6, and unmanned aerial vehicle 1 places on ejector 2 and pass through ejector 2 launches, lift adjusting device 7 can be according to the flexible adjustment of motion condition of hull 5 the position appearance of adjustment platform 6 to the hull 5 that the compensation wave arouses rocks and keeps ejector 2's gesture, and then guarantees that unmanned aerial vehicle 1 launches smoothly, and each lift adjusting device 7's flexible volume passes through control system control, in this embodiment, lift adjusting device 7 is the electric propulsion jar, and this buys the product for the market.
As shown in fig. 1, in this embodiment, three lifting adjusting devices 7 are provided, wherein two lifting adjusting devices 7 are located at two sides of the front end of the adjusting platform 6, and another lifting adjusting device 7 is located in the middle of the rear end of the adjusting platform 6, so that three degrees of freedom adjustment of the adjusting platform 6 can be realized, specifically: when the ship body 5 rolls left and right, the two front lifting adjusting devices 7 extend and contract to enable the adjusting platform 6 to roll reversely, so that the transverse horizontal posture of the catapult 2 can be kept; when the ship body 5 pitches forwards and backwards, the front two lifting adjusting devices 7 and the rear lifting adjusting devices 7 are adjusted to stretch backwards and further enable the adjusting platform 6 to pitch backwards, so that the longitudinal posture of the catapult 2 can be kept, and when the ship body 5 performs superposition motion of rolling left and right and pitching forwards and backwards, the three lifting adjusting devices 7 perform coupling motion to keep the posture of the catapult 2, and further the unmanned aerial vehicle 1 can take off smoothly.
As shown in fig. 1-2, in this embodiment, the ejector 2 includes an ejector slide rail 201, an ejector air pump 4, an unmanned aerial vehicle slide 9, and an ejector front support leg 3, wherein the front end of the ejector slide rail 201 is supported by the ejector front support leg 3, and the ejector front support leg 3 and the ejector air pump 4 are both mounted on the adjustment platform 6, and the rear end of the ejector slide rail 201 is disposed on the adjustment platform 6, so that the ejector slide rail 201 is tilted to facilitate the ejection and take-off of the unmanned aerial vehicle 1, the unmanned aerial vehicle slide 9 is slidably connected to the ejector slide rail 201, and as shown in fig. 2, the side plates on both sides of the unmanned aerial vehicle slide 9 are respectively provided with a slot, both sides of the unmanned aerial vehicle 1 are respectively provided with a latch 8, and when the unmanned aerial vehicle 1 is placed on the unmanned aerial vehicle slide 9, the unmanned aerial vehicle 1 can automatically move downwards under the action of gravity, so that the latch 8 automatically falls into the corresponding slot to realize the limiting and fixing, convenient laying, bayonet lock 8 and draw-in groove structure can not influence unmanned aerial vehicle 1 to take off and break away from unmanned aerial vehicle slide 9 yet simultaneously. In this embodiment, 9 curb plate front ends of unmanned aerial vehicle slide and rear end respectively are equipped with a draw-in groove, and two draw-in groove height differences to guarantee unmanned aerial vehicle 1 location. The unmanned aerial vehicle slide carriage 9 realizes pneumatic ejection through the ejector air pump 4, the compressed air tank, the ejection piston in the ejector slide rail 201, and the like, which is a technique known in the art, for example, a pneumatic ejection structure with the publication number CN207670683U may be adopted.
The utility model discloses a theory of operation does:
the utility model discloses utilize lifting adjusting device 7 to adjust 6 position appearance of adjustment platform, and then keep 2 gestures of catapult to guarantee that unmanned aerial vehicle 1 takes off smoothly. The utility model discloses utilize three lifting adjusting device 7 to make adjustment platform 6 realizes three degrees of freedom and adjusts, specifically does: when the ship body 5 rolls left and right, the two front lifting adjusting devices 7 extend and contract to enable the adjusting platform 6 to roll reversely, so that the transverse horizontal posture of the catapult 2 can be kept; when the ship body 5 pitches, the front two lifting adjusting devices 7 and the rear lifting adjusting device 7 are adjusted to stretch reversely, so that the adjusting platform 6 pitches reversely, the longitudinal posture of the catapult 2 can be kept, and when the ship body 5 performs superposition motion of rolling and pitching, the three lifting adjusting devices 7 move in a coupling mode.
Because the wave arouses the uncertainty of hull 5 motion, can make pitch, the roll direction of hull 5 rotate very greatly to irregularity, arouse the unstable motion of hull 5 for this kind of wave motion of compensation, the utility model discloses a control system adjusts each lift adjusting device 7's flexible volume of going up and down according to the LQR optimal control theory, so that 6 adjustment position appearance of adjustment platform compensate the wave, specifically include following step:
the method comprises the following steps: and establishing a system state equation and determining an objective function.
Establishing a system state equation:
y＝Cx+Du (1.1)；
the system state equation can obtain the output quantity of the system through the system state quantity and the input quantity, wherein in the formula, x is the system state quantity and is a 3 x 1 vector, namely the pitching, the rolling and the vertical displacement of the ship body 5, u is the system control input quantity and is a 3 x 1 vector, namely the expansion and contraction quantity of the three lifting adjusting devices 7 of the adjusting platform 6;
is derived from x to time, y is the system output quantity, A is the system characteristic matrix of the first derivative of the system state quantity, which means some inertia parameters of the system, B is the control variable characteristic matrix of the first derivative of the system state quantity, C is the system characteristic matrix of the system output, D is the control variable characteristic matrix of the system outputA feature matrix.
Establishing a system state equation is the first step of control system analysis, and on the basis, the effect of the LQR optimal control on a loop can be explained, that is, a state feedback controller u is designed to be-Kx, so that a closed loop as shown in fig. 3 is formed.
The LQR optimal control is performed by an extremum method, i.e., under a set of constraints of equality or inequality, the objective function of the system is extremum, i.e., maximum or minimum.
The method comprises the steps of firstly determining the performance index of LQR control, designing an energy function before designing an LQR controller, and enabling the energy function to be the minimum through an optimal control track. The utility model discloses select the energy function of following form as performance index objective function J:
in the above formula, Q is a semi-positive definite matrix, i.e. a state weight matrix, R is a positive definite matrix, and the control weight matrix is defined by the requirement.
Step two: after establishing the system state equation and determining the objective function, the state feedback controller u is designed to be-Kx, where K is a feedback matrix, that is, a feedback matrix of the feedback controlled variable u is generated according to the system state quantity x.
Step three: solving K, and the specific process is as follows:
substituting the state feedback controller u-Kx into the system state equation (1.1) to obtain:
the above formula (1.3)
Substituting into the objective function (1.2) yields:
to facilitate solving for K, assume that a constant matrix P exists such that:
unfolding the above formula (1.5) to obtain:
for the convenience of derivation, the formula (1.3) is simplified and taken
This was substituted for formula (1.6) and derived:
to ensure that equation (1.8) is always true, it must be 0 in parentheses, i.e.:
a is to becAfter finishing, the compound represented by formula (1.9) is represented by a-BK:
(A-BK)TP+P(A-BK)+Q+KTRK＝0 (1.10)；
ATP+PA+Q+KTRK-KTBTP-PBK＝0 (1.11)；
taking K as R-1BTAnd P, substituting (1.11) to obtain:
ATP+PA+Q+(R-1BTP)TR(R-1BTP)-(R-1BTP)TBTP-PB(R-1BTP)＝0 (1.12)；
the above formula (1.12) was found:
ATP+PA+Q-PBR-1BTP＝0 (1.13)；
in the above formula (1.13), A, B, Q, R is a known amount, P can be obtained, and K ═ R can be substituted-1BTP, obtaining K.
Step four: and (4) substituting K obtained in the third step for u-Kx to obtain a system control input quantity u, namely the expansion and contraction quantity of the lifting adjusting device 7.
Step five: and the control system controls each lifting adjusting device 7 to telescopically adjust the pose of the adjusting platform 6 according to the u value obtained in the step four.
In this embodiment, catapult slide rail 201 length is 2m, and when catapult air pump 4 internal gas pressure was 6bar, the pressure release promoted unmanned aerial vehicle slide 9 high-speed forward, and after loading unmanned aerial vehicle 1, the initial velocity that unmanned aerial vehicle 1 popped up can reach 9m/s, satisfies unmanned aerial vehicle 1 requirement of taking off. The takeoff weight of the unmanned aerial vehicle 1 is 1.5kg, the unmanned aerial vehicle can also carry 200g of load, the wing span is 1.6m, the lowest flight speed is 10m/s, the maximum flight speed is 20m/s, and the empennage is a V-shaped empennage, so that the unmanned aerial vehicle is simple in structure, suitable for small unmanned aerial vehicles and convenient to adapt to the unmanned aerial vehicle sliding seat 9.
Claims (5)
1. The utility model provides an automatic change unmanned aerial vehicle continuous emission system, includes catapult, its characterized in that: including adjustment platform (6), lift adjustment device (7) and control system, adjustment platform (6) are supported through three lift adjustment device (7), just lift adjustment device (7) lower extreme is installed on hull (5), and on adjustment platform (6) was located in catapult (2), on catapult (2) was located in unmanned aerial vehicle (1), the flexible volume of each lift adjustment device (7) passed through control system control, just control system calculates the flexible volume of lift adjustment device (7) according to hull (5) motion.
2. The automated drone continuous launch system of claim 1, comprising a catapult, characterized in that: the two lifting adjusting devices (7) are positioned at two sides of the front end of the adjusting platform (6), and the other lifting adjusting device (7) is positioned in the middle of the rear end of the adjusting platform (6).
3. The automated drone continuous launch system of claim 1, comprising a catapult, characterized in that: catapult (2) is including preceding stabilizer blade (3) of catapult slide rail (201), catapult air pump (4), unmanned aerial vehicle slide (9) and catapult, and wherein before catapult slide rail (201) front end through catapult stabilizer blade (3) support, just before the catapult stabilizer blade (3) and catapult air pump (4) all install in on adjustment platform (6), catapult slide rail (201) rear end is located on adjustment platform (6), unmanned aerial vehicle slide (9) with catapult slide rail (201) sliding connection, unmanned aerial vehicle (1) put in on unmanned aerial vehicle slide (9).
4. The automated drone continuous launch system of claim 3, comprising a catapult, characterized in that: all be equipped with the draw-in groove on unmanned aerial vehicle slide (9) both sides curb plate, unmanned aerial vehicle (1) both sides all are equipped with bayonet lock (8), and when unmanned aerial vehicle (1) put on unmanned aerial vehicle slide (9), bayonet lock (8) are arranged in the draw-in groove that corresponds.
5. The automated drone continuous launch system of claim 4, comprising a catapult, characterized in that: unmanned aerial vehicle slide (9) curb plate front end and rear end respectively are equipped with a draw-in groove, and two draw-in groove height difference.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123049513.6U CN216424778U (en) | 2021-12-07 | 2021-12-07 | Automatic change unmanned aerial vehicle continuous emission system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123049513.6U CN216424778U (en) | 2021-12-07 | 2021-12-07 | Automatic change unmanned aerial vehicle continuous emission system |
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| CN216424778U true CN216424778U (en) | 2022-05-03 |
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| CN202123049513.6U Active CN216424778U (en) | 2021-12-07 | 2021-12-07 | Automatic change unmanned aerial vehicle continuous emission system |
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