RU2378160C1 - Controlled paraplane system - Google Patents

Abstract

FIELD: aircraft engineering.

SUBSTANCE: invention relates to controlled paraplane systems. Proposed system comprises paraplane, navigation system for coordinate location and determination, altimetre, magnetometre and space navigation system, all connected in series. Outputs of above listed hardware are connected with inputs of control unit. The latter has its output connected with inputs of control unit that controls strips, sustainer, useful load unit and local circuit concentrator. The latter is connected with inputs and outputs of remote control unit and antenna circuit.

EFFECT: independent operation in take-off, flight and landing, as well as accuracy of landing.

6 dwg

Description

The invention relates to means for delivering cargo to hard-to-reach areas, in particular to controlled paragliding systems that can be used for various purposes: to deliver goods to hard-to-reach areas, areas of natural disasters, for diagnostics and reconnaissance of different areas, for environmental monitoring of polluted areas of the earth’s surface and etc.

With the increase in the number of environmental disasters, such as the Chernobyl accident, pollution of forests and fields, tundra and taiga, military waste and oil, the task arises of accurate diagnosis and reconnaissance of various areas of the earth's surface without human intervention due to inaccessibility and / or harmful effects.

Known means for the delivery of measuring and diagnostic equipment using helicopters, the disadvantage of which is the possibility of a person in dangerous conditions (radioactive radiation, etc.). Means for delivering equipment using probes and rockets are known, the drawback of such systems is the need for telemetry or return units, which is difficult to do in difficult to access areas.

Known means of delivery of equipment using a controlled parachute system. The disadvantage of such systems is the need for a carrier (aircraft, helicopter) to deliver a parachute system to a given area of the earth's surface.

Currently, a large number of mobile air vehicles have been developed abroad. For example, the controlled airborne parachute delivery system is the GPADS-1 wing. The system uses a high-pressure parachute to deliver loads of 700-1500 pounds (286-614 kg). An automatic navigation system using the Navstar global positioning system makes it possible to clarify the influence of wind disturbances and achieve a 100 m landing error.

It should be noted that there have been reports of the use of a parachute system with an engine that allows the system to be raised to a greater height when it is lost during system planning. In this case, such a system can be in the air for quite some time.

The table shows the characteristics of some delivery systems.

Technical specifications of various delivery systems Payload, lb Range, km Accuracy (SD), m GPADS-XL Without engine 500 35 50-100 With engine 500 300+ 50-100 SDW Without engine 500 45 50-100 With engine 500 300+ 50-100 GPADS - Light 2000 35 50-100 Managed System (AF NWV System) 2000 2 100-200 STO High Glide 10,000 35 (forecast) 50-100 STO High Altitude 10,000 2 100-200 Heavy Dump GPADS - Medium 20000 twenty one hundred GPADS - Heavy 37000 twenty one hundred FCS Precision DS 40,000 30 (forecast) 50 (forecast)

FIB devices (Flying Inflatable Boat) are produced in Italy, we have these devices known as flybot - a hybrid of a motor boat and a hang glider, Flybot is equipped with a two-stroke engine and a hang glider wing. With standard carburetor settings, the device can fly up to a height of three kilometers. The boat is manufactured by Lomas Nautica, and special refined plastic is used in its manufacture. Two-stroke engine, Rotax engine. The motor is offered in two versions - air-cooled (52 hp) and liquid-cooled (62 hp), the more powerful the engine, the more blades you can install the propeller and the quieter the machine will work.

These tasks can be solved using a controlled paraglider system, which is an independent aircraft.

Known gliding parachute system for transporting the payload (US patent No. 4865274, CL B64D 17/34, application. 04.29.88), which contains a parachute in the form of a wing, the control unit of the slings of the parachute to change the state of the wing and flight path. This design does not provide accurate cargo delivery and requires a carrier (airplane, helicopter) to deliver the platform.

Known managed parachute system, including a planning shell with a payload block, a command block, a sling control unit, a system for fixing and determining coordinates (Russian patent No. 2111898, IPC7 B64D 17/34, from 05.27.1998).

The system can be used in various weather conditions and at different times of the day, many times. The system contains a gliding parachute with a cargo platform, a beacon detection unit, a command unit, a parachute line control unit, an inertial navigation system, a control signal generation unit for switching on / off and setting initial conditions for an inertial navigation system and a block for diagnosing the Earth’s surface area.

However, this design, like other well-known systems, does not allow solving the problems of autonomous reconnaissance and diagnostics without using a carrier, because the parachute, as a stiffer wing, does not allow to obtain high aerodynamic quality and does not have a propulsion system to create lift.

The problem to which the invention is directed is to create, through the use of an unmanned aerial vehicle, a complex for autonomous reconnaissance and diagnostics of the earth's surface without the use of a carrier (airplane, helicopter, etc.), for the delivery of goods of various nature (medical, military, humanitarian , transport, etc.).

The technical result - ensuring the autonomy of the system and improving the accuracy of landing cargo. The problem is solved, and the technical result is achieved by the fact that in a controlled paragliding system, including a planning shell with a payload block, a command block, a sling control unit, a fixing and coordinate determination system, according to the invention, the planning shell is a paraglider, as a fixing system and determination of coordinates, it contains a navigation system and additionally contains a magnetometer, altimeter or variometer and a space navigation system, while the navigation I system, magnetometer, altimeter and space navigation system are connected in series so that their outputs are connected to the inputs of the command unit, and the output of the command unit is connected to the inputs of the sling control unit, the main engine and the payload block and the LAN hub, which is connected to the inputs and outputs of the remote control unit and antenna network.

The implementation of the planning shell in the form of a paraglider (flexible wing) in combination with a marching engine made it possible to create an aircraft instead of a descent parachute system. Management is carried out in two planes. Using a paraglider allows you to increase the aerodynamic quality of the device from 3-4 to 9, which allows for automatic control in two planes. The use of a paraglider system with a return to a given point on the earth's surface makes it possible to achieve an accuracy of cargo landing within 10-50 m depending on application conditions, reduce the risk of harmful effects on the human body, and also use the system in weather conditions: wind no more than 15 m / c, the absence of rain and vortex air flows, repeatedly and at low cost.

Aiming at the lighthouse in this case can be used as an emergency landing method in case of emergency.

The invention is illustrated by drawings, where

- figure 1 presents the structural diagram of the system;

- figure 2 is a structural diagram of a command unit;

- figure 3 is a structural diagram of a control unit slings paraglider;

- figure 4 is a sequence diagram of the onboard processor aircraft;

- figure 5 - correction of the real trajectory of the aircraft;

- Fig.6 - the movement of the aircraft without wind disturbance, when tightening the left and then the right slings by 50 cm, the calculation of the motion control of the aircraft.

Managed paraglider system is presented in figure 1, where

1 - paraglider (flexible wing);

2 - main engine with trolley;

3 - command unit (on-board processor with communication cables between the system sensors and the power source, digital-to-analog (DAC) and analog-to-digital (ADC) converters or I2C bus);

4 - control unit slings, including a microprocessor;

5 - navigation system (inertial, strapdown, etc.);

6 - altimeter or variometer;

7 - a space navigation system based on a GPS receiver for receiving information from the Glonass / GPS space navigation system;

8 - magnetometer;

9 - payload block (video, photosensors, loads, medicines, etc.);

10 - block remote control flight of the aircraft (joystick);

11 - a LAN hub on board the aircraft;

12 - Ethernet network antenna, for transmitting information to the information processing center and receiving commands for manual control of the device.

Managed paraglider system (PS) (figure 1) for the delivery of goods, monitoring a given section of the earth's surface includes a planning shell - a paraglider 1 with a trolley with a marching engine 2, a command unit 3, a sling control unit 4, an inertial navigation system 5, an altimeter 6, the GPS 7 space navigation system, magnetometer 8 and payload block 9, while the outputs of the altimeter 6, navigation system (NS) 5, magnetometer 8 and the GPS 7 space navigation system, LAN hub 11 are connected to the inputs of the on-board processor 3, the output of the on-board processor 3 is connected to the inputs of the sling control unit 4, the main engine 2, the payload block 9 and the LAN hub 11, which is connected to the inputs and outputs of the remote control unit 10 and the Ethernet antenna 12.

The command unit 3 (Fig. 1) is an on-board processor with communication cables between the system sensors and the power source, digital-to-analog (DAC) and analog-to-digital (ADC) converters or I2C bus, the executive bodies of which are the sling control unit 4, steering cars ( manufactured by HITEC, etc.) for controlling the propulsion engine itself 2.

Figure 2 shows a block diagram of the implementation of the PS in the form of an aircraft (LA).

Figure 3 shows the complex for monitoring the earth's surface, including an UAZ vehicle; LA a tent with a heater; Spare parts; a mobile control center, including 2 laptops, power supplies, a GARMIN device, a laser range finder, an intercom, documentation (passports, instructions, etc.); ladder; chains and a winch for an emergency with a car; generator.

After the UAZ vehicle arrives at the place of use, a controlled paraglider system is deployed as follows. A tent is installed with a mobile flight control center for the aircraft, including laptops for flight control and display of video information transmitted via Ethernet 12, a GARMIN device for pre-launch determination of the initial coordinates of the aircraft, a laser rangefinder to control the flight altitude of the aircraft, an intercom for 5 people providing operation complex documentation - instructions for working with the aircraft and the point, instruments and supporting equipment (generator, power supplies, etc.). A controlled paraglider system is unloaded from the car along three special ramps.

After a pre-launch check of the equipment installed on the aircraft and the wing of the paraglider 1 in vertical position from the mobile control center, a command is given to start (turning on the afterburner of the main engine 2). The flight of the aircraft can be carried out along the routes recorded in the memory of the on-board processor 3, on an electronic map, using the hand-held remote control 10 (joystick). In the event of an emergency using block 10 is an emergency landing of the aircraft.

The system uses a serial paraglider, a serial navigation system, an altimeter or variometer, a magnetometer, the Glonass / GPS space system.

Depending on the required flight range and payload mass, a serial paraglider, for example, Zorro or Jazz, manufactured by Paraavis in Russia, can be selected as a paraglider 1. Marching engine 2 is included in the delivery of the paraglider, the choice of engine type is determined depending on the tasks.

Altimeter 6 is any barometric altimeter or variometer that meets the requirements for accuracy and the range of the measured height. Devices are technically equivalent in terms of achieving a technical result.

Magnetometer 8 - a device, for example, the company "Honeywell" (USA).

The Glonass / GPS 7 space system is built on the basis of devices such as GPS receivers, GARMIN or other sensors working with the space navigation system. The choice of such devices on the market is wide enough.

As the on-board processor 3, you can use any on-board processor that allows you to install an abbreviated version of Windows XP and higher and provides the location of the control program, drivers, software for video recording, information transfer to the ground, etc.

The sling pull motors included in the sling control unit 4 are selected depending on the loads on the slings, the mass of the payload, the total mass of the system, and the operating conditions. The choice of engines is very wide and not difficult.

Operating modes of the control program recorded in the on-board processor 3: normal, emergency, planning mode (marching engine off), landing mode, information retrieval mode from sensors (video camera, IR sensor, etc.), information transmission mode to ground information receiving point.

The cyclogram of the operation of the apparatus includes the following cyclograms (figure 4).

A Unified cyclogram of product operation

one. pre-launch check and start (t ₁ ); 2. access to arbitrary flight altitude; 3. polling the navigation system; four. calculation of ΔX, ΔZ (t ₄ ); 5. inclusion of engines of pull-up slings; 6. team for pulling up the slings; 7. polling altimeter; 8. afterburner of the marching engine; 9. transition to claim 3 (t ₉ ); 10. development of on-board processor 3 commands; eleven. landing command (t _j ).

B Cyclogram of product operation during emergency landing

one. emergency response radio command (t _{j + 1} ); 2. command to turn off the main engine (t _{j + 2} ); 3. the command to pull the slings, the same amount (t _{j + 3} ).

C Functional diagram of the product during normal landing

one. check for landing in time or range (t _{j + 1} ); 2. command to turn off the main engine (t _{j + 2} ); 3. the command to pull the slings, the same amount (t _{j + 3} ).

It can be seen from the sequence diagram that, after outputting to the specified flight altitude, the navigation system 5 is constantly polled, the obtained X, Z coordinates are compared with the nominal trajectory recorded in the on-board processor 3, coordinate deviations are determined and the teams for lifting the slings with the help of the executive bodies are calculated 4 Next, a survey of the altimeter 6 is carried out and the control algorithm 3 determines the need to send a command to the afterburner of engine 2 to lift the apparatus 1 to the desired flight altitude.

If the indicators of the laser range finder (Fig. 3) show a critical deviation of the apparatus from the set mode, a signal is sent from the ground using the radio command 10 to turn off the main engine 2 and the maximum pull of the left and right paraglider slings 4.

LA sequence

The operation sequence of the aircraft includes the following stages: pre-launch exhibition of sensors, launch of the aircraft, exit to a given flight path, controlled flight, landing.

Pre-launch exhibition of sensors

After the exhibition of sensors, all power sources, on-board processor 3, and main engine 2 are turned on.

LA launch

If a specific aircraft launch height is not specified, the time from the start to the moment of stabilization lies in the range of 6-14 s. The distance from the starting point in the direction of flight is 400-600 m.

Exit to a given flight path

The exit to a given path is controlled according to the laser rangefinder (figure 3) in order to enable emergency descent of the apparatus.

Guided flight

A controlled flight is carried out either by commands from the on-board processor 3, or by radio commands 10. The movement is monitored visually using a laser rangefinder and a video camera (Fig. 3). At the same time, telemetry information is recorded in the on-board processor for subsequent analysis.

Landing

Aircraft planning at the final guidance site is carried out in a vertical plane passing through the observer and coinciding with the direction of the wind.

Control algorithm

The control feature of this unit is that the control is decoupled on two planes and is not correlated with each other. If the flight altitude of the vehicle deviates from one or another side from the specified altitude, the control command is a command for the afterburner of the main engine 2.

If the flight path of the vehicle deviates in the XOZ plane, the pull-ups of the sling length (left, right, both) are calculated from the obtained deviations. Correction is carried out along the OZ axis, as the OX axis is selected as the main axis when the apparatus is moving.

As a mismatch parameter, the linear deviation of the apparatus from the kinematic trajectory is taken: h ₂ = Zn-Zt, where Zn is the nominal coordinate, Zt is the real coordinate.

1. With a change in height H: dH = H _nom -H _tek > 0 - there is a decrease in aircraft; when dH = H _nom -H _tek <0 - there is a rise in the aircraft. When changing the height of the aircraft, it is necessary to develop a command:

- when the aircraft is reduced by 100 m or more, the afterburner time of the mid-flight engine 2 is calculated;

- when lifting the aircraft by 300 m or more, the calculation of the length of the sling pull to reduce (figure 5).

2. If the flight mission is not set to strictly match the trajectory, but to retrieve information in a given range of the earth's surface, it is advisable to replace the trajectory with a broken line 300-500 m in length, depending on its curvature. Thus, it will be possible to reduce the amount of memory on-board processor 3 to record the coordinates of the nominal path (curve 2). So at D = 1000 km and setting coordinates after 1 m, V = 1000 · 1000 · 3 · 4 b = 12 Mb of memory is needed.

If the deviation in the coordinate Z dz = Z _current -Z _nominal > M, M is the specified deviation from the nominal flight path of the aircraft, - the sling pull (left) must be calculated and realized by 1/2 of the calculated one;

when dz <M - it is necessary to calculate the pull of the slings (right) and implement 1/2 of the calculated value. The value of M is determined by the degree of curvature of the given trajectory and can fluctuate within 10 m <M <100 m.

The condition: dz <0 and | dz |> M is the deviation from the trajectory closer to the axis OX;

Condition: dz> 0 and | dz |> M is the deviation from the path above the nominal path (from the axis OX);

The current value of dz (curve 1) is calculated according to the navigation system 5 and block 7; the nominal value is taken from the table of the nominal path recorded in the on-board processor 3.

The on-board processor, which is part of the aircraft, contains:

- guidance system management program:

- data processing program of the navigation system;

- the program of pull-up slings;

- information processing programs;

- program - dispatcher for the implementation of the product flight cyclogram;

- a program for calculating the emergency mode of stopping the mid-flight engine;

- program for calculating commands for the afterburner of the marching engine;

- a program for interrogating devices and sensors 5, 6, 7, 8;

- a program for switching to another trajectory.

Sling pull-up algorithm

The required tightening length of the right and left slings is determined by the formulas:

where S is the maximum tightening length of the slings,

σ _G , σ _in - the coefficients of the team in the horizontal and vertical plane, and

| σ _G | + | σ _B | ≤1

)σ _G = ƒ ₁ (ε _B , ε _G ,

)

)σ _B = ƒ ₂ (ε _B , ε _G ,

)

The tightening length of the right and left slings is determined from the differential equations;

where i is the tightening speed of the slings. Figure 6 shows an example of modeling the flight trajectory of an aircraft with different values of the sling pull.

Power supplies

As the primary power source, it is proposed to use a rechargeable battery (AB) alkaline nickel-cadmium 1SCHNKGTS-6-1. This battery does not emit gases and vapors of electrolysis during charging, discharging, storage and transportation. Or rechargeable batteries AP 7-12 (12V / 7AH / 20HR) voltage of 12 V.

When analyzing the use of parachutes and paragliders, it should be borne in mind that the paraglider is an aircraft (LA) in its design, while the parachute wing can only land from the corresponding carrier (airplane, helicopter).

The industrial use of the complex is possible in the following sectors: in the oil and gas industries - for flying over oil pipelines and detecting leaks of oil products, unauthorized connection of other enterprises and countries, preventing emergency situations and terrorist attacks; for geologists - delivery of messages, products, instruments, etc .; for polar explorers, reconnaissance of new areas, control of atmospheric and landscape parameters in hard-to-reach areas, etc .; for special forces - solving problems with a terrorist threat to the population; for the services of the Ministry of Internal Affairs; for services of the Ministry of Emergency Situations; for meteorologists, ecologists, etc. - conducting reconnaissance of hard-to-reach areas during environmental assessments, etc .; for environmental monitoring; for exploration of fish stocks; for aerial photography of specified areas of the earth's surface; in geodesy; in agriculture - low-volume field cultivation; to monitor the status of highways; to save people in extreme conditions.

Claims (1)

A controlled paraglider system, including a planning shell with a payload block, a command block, a sling control unit, a fixation and coordinate determination system, characterized in that the gliding shell is a paraglider, it contains a navigation system as a fixation and determination system, additionally it contains a magnetometer, altimeter or variometer and a space navigation system, while the navigation system, magnetometer, altimeter and space navigation system and serially connected so that their outputs are connected to inputs of the command block, and command block output is connected to the inputs of the control unit slings, and the propulsion motor unit payload and the LAN hub, which is connected to the inputs and outputs of the remote control unit and the antenna network.

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