阅读说明：本技术 一种飞艇飞行姿态及浮力的控制方法 (Control method for flight attitude and buoyancy of airship ) 是由 黄少坡 于 2020-04-02 设计创作，主要内容包括：本发明提供一种飞艇飞行姿态及浮力的控制方法。所述控制方法包括：在飞艇的周围设置多个平衡点,该多个平衡点位于可对飞艇进行俯仰姿态调平的位置；所述俯仰姿态调平的位置包括飞艇头部、尾部和腹部；所述腹部为调节飞艇飞行姿态及浮力的液体输送动力输出的驱动部位,所述头部和尾部为被驱动部位,可存储液体增加或减少重量；腹部向头部或尾部增加重量,同时腹部减少相应重量以实现飞行姿态调节；通过将腹部的重量排出飞艇外的方法实现浮力控制。与相关技术相比,本发明仅在腹部设置一个动力输出端,仅仅用于飞艇飞行的俯仰姿态调节配平,单一可靠,可实现程度高。(The invention provides a method for controlling flight attitude and buoyancy of an airship. The control method comprises the following steps: arranging a plurality of balance points around the airship, wherein the balance points are positioned at positions capable of leveling the airship in a pitching attitude; the pitching attitude leveling positions comprise a head part, a tail part and an abdomen part of the airship; the belly is a driving part for outputting liquid conveying power for adjusting the flight attitude and buoyancy of the airship, the head and the tail are driven parts, and liquid can be stored to increase or reduce the weight; the belly increases the weight towards the head or the tail, and meanwhile, the corresponding weight is reduced by the belly to realize the flight attitude adjustment; buoyancy control is achieved by expelling the weight of the abdomen outside the airship. Compared with the prior art, the invention only arranges one power output end at the belly, is only used for the pitching attitude adjustment and balancing of the airship flight, is single and reliable, and has high realizability.)

1. A method for controlling the flight attitude and buoyancy of an airship is characterized by comprising the following steps:

arranging a plurality of balance points around the airship, wherein the balance points are positioned at positions capable of leveling the airship in a pitching attitude;

the pitching attitude leveling positions comprise a head part, a tail part and an abdomen part of the airship; the belly is a driving part for outputting liquid conveying power for adjusting the flight attitude and buoyancy of the airship, the head and the tail are driven parts, and liquid can be stored to increase or reduce the weight;

acquiring pitching attitudes of balance points at the head and the tail of the airship to obtain a pitching attitude angle, comparing the pitching attitude angle with a set pitching attitude threshold value, and if the pitching attitude angle exceeds the set threshold value, calculating a counterweight value x required by the airship;

when x is positive, the airship needs to increase the weight | x | towards the tail direction, and meanwhile, the weight | x | is reduced and increased at the belly of the airship; when x is negative, the airship needs to increase the weight | x | towards the head, and meanwhile, the weight | x | is reduced and increased at the abdomen of the airship;

sensing the process that the abdomen increases the weight to the head or the tail in real time, obtaining an increased weight value y through calculation, and stopping increasing the weight when | x | -y = 0;

the control method realizes buoyancy control by discharging the weight of the abdomen outside the airship.

2. The method for controlling the flight attitude and buoyancy of the airship according to claim 1, wherein the pitch attitude acquisition of the balance points of the head and the tail of the airship is measured and acquired through a gyroscope or a combined navigator.

3. The method for controlling the flight attitude and buoyancy of the airship according to claim 1, wherein the speed and the acceleration of the attitude angle change are calculated by a differential method, and the value x of the required counterweight of the airship is calculated by a mathematical model iteration method.

4. The method for controlling the flight attitude and the buoyancy of the airship according to claim 1, wherein at least three liquid containing cavities are formed in the head, the tail and the abdomen of the airship and are arranged close to respective collection points;

all liquid is stored in the liquid containing cavity at the belly of the airship, and when x is positive, the weight of the liquid at the belly of the airship is increased to the liquid containing cavity at the tail of the airship; when x is negative, the liquid in the airship abdomen adds weight to the liquid containing cavity in the head.

5. The method for controlling the flight attitude and the buoyancy of the airship according to claim 4, wherein the liquid cavity arranged on the belly is provided with a vent hole for ensuring the pressure balance inside and outside the cavity.

6. The method for controlling the flight attitude and buoyancy of the airship according to claim 4, wherein when the weight of the liquid in the belly cavity is less than the minimum weight required by the airship, the liquid in the head cavity and the tail cavity is recovered to the belly cavity by a gravity liquid recovery method.

7. The method for controlling the attitude and buoyancy of an airship according to claim 6, wherein the method for returning liquid by weight comprises the following steps:

1) calculating the weight a of the liquid which can be recovered at two ends simultaneously according to the liquid weight models at the head and the tail;

2) setting a threshold value of a liquid recovery working mode as a;

3) firstly, liquid in an abdominal cavity is conveyed to the head, and when the weight of the liquid in the head reaches a/16, the liquid in the abdominal cavity is switched to the tail; when the weight of tail liquid is increased to a/16, the liquid in the abdominal cavity is switched to the head;

4) and (5) circulating the step 3) for preset times to finish liquid return.

8. The method of claim 4, further comprising a method of adjusting the buoyancy of the airship by removing liquid from the abdominal cavity and changing the height of the center of the airship.

9. The method of claim 8, wherein the method of adjusting the buoyancy of the airship comprises the steps of:

1) calculating the weight c of the liquid to be discharged according to the flight control model;

2) setting the weight threshold value of the discharged liquid as c;

3) liquid moves from the abdomen cavity to the outside of the nacelle and is discharged;

4) the weight of the liquid discharged is sensed in real time, a reduced weight value d is obtained through calculation, and the liquid stops being discharged when c-d = 0.

Technical Field

The invention relates to the technical field of aircrafts lighter than air, in particular to a method for controlling flight attitude and buoyancy of an airship.

Background

An airship is an aircraft that relies primarily on gas buoyancy to overcome its own weight, and generally includes one or more enclosed air bags filled with buoyant gas, a propulsion system that can change the direction of thrust, a control mechanism (such as a tail rudder, tail vector thrust, etc.) mounted at the tail of the airship for adjusting the attitude of the airship, and a pod (or gondola) for mounting equipment or passengers.

When the airship adopts a traditional layout mode, the center of gravity of the airship is basically fixed. Since an airship is required to be capable of vertical take-off and landing and cruising flight, it is common to take into account both of these two flight states by disposing the center of gravity of the airship in front of the center of buoyancy of the airship. By adopting the gravity center configuration mode, when the airship flies, the thrust system of the airship overcomes the resistance of the airship and simultaneously overcomes the head lowering tendency of the airship, and the efficiency of the thrust system is not favorably exerted.

The traditional airship attitude adjusting method is that the pitching/yawing attitude of the airship is adjusted by relying on the aerodynamic force acting on a tail rudder when the airship flies, or the pitching/yawing moment generated by a tail vector thrust device is used for adjusting the attitude of the airship. When the tail rudder surface is adopted to adjust the posture, the function is passive, namely, the function is only realized when the airship has certain flying speed, and the tail rudder surface is not suitable for vertical take-off and landing of the airship. When aft vectoring thrust is used, a relatively large amount of energy is consumed to generate sufficient turning torque, while also adding significant weight. Thus, conventional attitude adjustment mechanisms can be considered to be limited and inefficient.

As in prior patent publication No. CN104875877B, patent name: the utility model provides an unmanned aerial vehicle automatic balancing system, has set up three container among its technical scheme, and wherein first container and second container are located unmanned aerial vehicle's wing, and the third container is located unmanned aerial vehicle's fuselage for adjust the posture roll angle of wing about unmanned aerial vehicle, the regulation of the every single move gesture that is not fit for the dirigible.

Also as in prior patent publication No. CN106114822A, patent name: the flight attitude regulating and controlling system of the oil-driven multi-rotor agricultural plant protection helicopter has the technical scheme that the attitude and the motion direction of the helicopter are regulated by regulating the weight distribution of three or four containers, the response speed is required to be high, the control is reliable and effective, the control rule of the technical scheme is complex, and the engineering realization degree is low.

The two infusion pumps arranged in the prior art are multiple, one infusion pump is arranged between every two containers, the arrangement of the infusion pumps means that the power output ends for adjusting the postures are multiple, the arrangement system is complex, and the realization difficulty of commercialization is high.

Disclosure of Invention

The invention aims to provide a control method for the flight attitude and the buoyancy of an airship, which only has one power output end to realize automatic adjustment of the pitching attitude of the airship.

The technical scheme of the invention is as follows: a method for controlling the flight attitude and buoyancy of an airship comprises the following steps:

arranging a plurality of balance points around the airship, wherein the balance points are positioned at positions capable of leveling the airship in a pitching attitude;

the pitching attitude leveling positions comprise a head part, a tail part and an abdomen part of the airship; the belly is a driving part for outputting liquid conveying power for adjusting the flight attitude and buoyancy of the airship, the head and the tail are driven parts, and liquid can be stored to increase or reduce the weight;

acquiring pitching attitudes of balance points at the head and the tail of the airship to obtain a pitching attitude angle, comparing the pitching attitude angle with a set pitching attitude threshold value, and if the pitching attitude angle exceeds the set threshold value, calculating a counterweight value x required by the airship;

when x is positive, the airship needs to increase the weight | x | towards the tail direction, and meanwhile, the weight | x | is reduced and increased at the belly of the airship; when x is negative, the airship needs to increase the weight | x | towards the head, and meanwhile, the weight | x | is reduced and increased at the abdomen of the airship;

sensing the process that the abdomen increases the weight to the head or the tail in real time, obtaining an increased weight value y through calculation, and stopping increasing the weight when | x | -y = 0;

the control method realizes buoyancy control by discharging the weight of the abdomen outside the airship.

In the scheme, only one power output end is arranged at the belly, and the power output end is only used for adjusting and balancing the pitching attitude of the airship during flying, so that the power output end is single and reliable, and the realizable degree is high.

Preferably, the pitch attitude acquisition of the balance points of the head and the tail of the airship is measured and acquired by a gyroscope or a combined navigator.

Preferably, the speed and the acceleration of the attitude angle change are calculated by adopting a differential method, and the value x of the required balance weight of the airship is calculated in an iterative mode of a mathematical model.

Preferably, at least three liquid containing cavities are arranged at the head, the tail and the belly of the airship and are arranged close to respective collection points;

all liquid is stored in the liquid containing cavity at the belly of the airship, and when x is positive, the weight of the liquid at the belly of the airship is increased to the liquid containing cavity at the tail of the airship; when x is negative, the liquid in the airship abdomen adds weight to the liquid containing cavity in the head.

Preferably, the liquid containing cavity arranged on the abdomen is provided with a vent hole for ensuring pressure balance inside and outside the containing cavity.

The liquid direction between each cavity is determined by the pressure of the water pipe, the air vent can keep the pressure inside and outside the cavity consistent, and the influence of high-altitude low-pressure and low-temperature environment on posture adjustment is fully considered.

Preferably, when the weight of the liquid in the abdominal cavity is less than the minimum weight required by the airship, the liquid in the head cavity and the tail cavity is recycled to the abdominal cavity by a gravity liquid return method.

Preferably, the weight liquid returning method comprises the following steps:

1) calculating the weight a of the liquid which can be recovered at two ends simultaneously according to the liquid weight models at the head and the tail;

2) setting a threshold value of a liquid recovery working mode as a;

3) firstly, liquid in an abdominal cavity is conveyed to the head, and when the weight of the liquid in the head reaches a/16, the liquid in the abdominal cavity is switched to the tail; when the weight of tail liquid is increased to a/16, the liquid in the abdominal cavity is switched to the head;

4) and (5) circulating the step 3) for preset times to finish liquid return.

Preferably, the airship further comprises a method for adjusting the buoyancy of the airship, wherein the method is used for discharging liquid in the abdominal cavity out of the airship and changing the height position of the center of the airship.

Preferably, the method for adjusting the buoyancy of the airship comprises the following steps:

1) calculating the weight c of the liquid to be discharged according to the flight control model;

2) setting the weight threshold value of the discharged liquid as c;

3) liquid moves from the abdomen cavity to the outside of the nacelle and is discharged;

4) the weight of the liquid discharged is sensed in real time, a reduced weight value d is obtained through calculation, and the liquid stops being discharged when c-d = 0.

Compared with the related technology, the invention has the beneficial effects that: the flying pitch attitude of the airship is adjusted by changing the liquid weight of the containers at the head and the tail of the airship; and the liquid can be discharged out of the cabin at any time through control, so that the weight of the airship is reduced, and the buoyancy of the airship is increased.

Drawings

Fig. 1 is a flowchart of a method for controlling the flight attitude and buoyancy of an airship according to the present invention.

Detailed Description

The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. For convenience of description, the words "upper", "lower", "left" and "right" in the following description are used only to indicate the correspondence between the upper, lower, left and right directions of the drawings themselves, and do not limit the structure.

As shown in fig. 1, the method for controlling the flight attitude and buoyancy of an airship according to the present embodiment includes the following steps:

step S1, arranging a plurality of balance points around the airship, wherein the balance points are positioned at positions capable of leveling the airship in pitch attitude;

the pitching attitude leveling positions comprise a head part, a tail part and an abdomen part of the airship; the belly is the drive position of liquid conveying power output for adjusting the flight attitude and buoyancy of the airship, and the head and the tail are driven positions, so that the liquid can be stored to increase or reduce the weight.

And step S2, arranging at least three liquid cavities at the head, the tail and the belly of the airship, wherein the three liquid cavities are arranged close to respective balance points and serve as collection points. All liquid is stored in the liquid containing cavity at the belly of the airship.

And step S3, acquiring the pitching postures of the balance points at the head and the tail of the airship to obtain a pitching posture angle. And the pitching attitude acquisition of the balance points of the head and the tail of the airship is measured and acquired by a gyroscope or a combined navigator.

And step S4, comparing the obtained pitch attitude angle with a set pitch attitude threshold value, and if the obtained pitch attitude angle exceeds the set threshold value, calculating the value x of the required counterweight of the airship.

When x is positive, the weight | x | is added to the liquid containing cavity at the tail part by the liquid at the abdomen of the airship, and meanwhile, the weight | x | is reduced and increased by the abdomen of the airship;

when x is negative, the liquid at the belly of the airship increases the weight | x | to the liquid containing cavity at the head, and meanwhile, the belly of the airship reduces and increases the weight | x |.

The process that the abdomen adds weight to the head or the tail is sensed in real time, an added weight value y (the head is negative, the tail is positive) is obtained through calculation, and when | x | -y =0, the weight addition is stopped.

In order to ensure the pressure balance of the liquid containing cavity, the liquid containing cavity arranged on the belly is provided with a vent hole for ensuring the pressure balance inside and outside the containing cavity.

If the weight of the liquid in the abdomen containing cavity is less than the minimum weight required by the airship, the liquid in the head containing cavity and the tail containing cavity is recycled into the abdomen containing cavity by a gravity liquid returning method (or by using a power device for returning and pumping).

The weight liquid returning method comprises the following steps:

1) calculating the weight a of the liquid which can be recovered at two ends simultaneously according to the liquid weight models at the head and the tail;

2) setting a threshold value of a liquid recovery working mode as a;

3) firstly, liquid in an abdominal cavity is conveyed to the head, and when the weight of the liquid in the head reaches a/16, the liquid in the abdominal cavity is switched to the tail; when the weight of tail liquid is increased to a/16, the liquid in the abdominal cavity is switched to the head;

4) and (5) circulating the step 3) for preset times to finish liquid return.

The cycle number is a preset value for manual judgment, and the higher the switching frequency is, the smaller the influence on the oscillation of the posture of the airship is. In this embodiment, the number of cycles is 8.

If the buoyancy of the airship needs to be controlled, the buoyancy of the airship can be adjusted by discharging liquid in the abdominal cavity out of the airship and changing the central height position of the airship.

The method for adjusting the buoyancy of the airship comprises the following steps:

1) calculating the weight c of the liquid to be discharged according to the flight control model;

2) setting the weight threshold value of the discharged liquid as c;

3) liquid moves from the abdomen cavity to the outside of the nacelle and is discharged;

4) the weight of the liquid discharged is sensed in real time, a reduced weight value d is obtained through calculation, and the liquid stops being discharged when c-d = 0.

The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.