阅读说明：本技术 航空灭火装置悬停喷射灭火的控制方法及系统 (Control method and system for hovering and spraying fire extinguishing of aviation fire extinguishing device ) 是由 周特军 李波 吴传平 刘毓 潘碧宸 于 2020-03-27 设计创作，主要内容包括：本发明公开了航空灭火装置悬停喷射灭火的控制方法及系统,通过获取喷射灭火对X轴反向作用力,重量变化对X轴作用力及其俯仰力矩、重量变化对Y轴作用力及其横滚力矩、重量变化对Z轴的作用力及其偏航力矩作为姿态变化量,获取并根据火场烟羽流对航空灭火装置向上产生的实时作用力和实时消耗的灭火液重量计算实时的前馈补偿量；在采用以所述实时的前馈补偿量作为实时扰动的前馈补偿控制算法对所述航空灭火装置实时的姿态变化量进行前馈校正,从而实时确保航空灭火装置的稳定飞行与灭火。(The invention discloses a control method and a system for hovering and spraying fire extinguishing of an aviation fire extinguishing device, wherein real-time feedforward compensation quantity is obtained and calculated according to real-time acting force generated by fire field smoke plume on the aviation fire extinguishing device and fire extinguishing liquid weight consumed in real time by obtaining reverse acting force of spraying fire extinguishing on an X axis, acting force of weight change on the X axis and pitching moment thereof, acting force of weight change on a Y axis and rolling moment thereof, and acting force of weight change on a Z axis and yawing moment thereof as attitude change quantities; and performing feedforward correction on the real-time attitude variation of the aviation fire extinguishing device by adopting a feedforward compensation control algorithm taking the real-time feedforward compensation amount as real-time disturbance, thereby ensuring the stable flight and fire extinguishing of the aviation fire extinguishing device in real time.)

1. A control method for fire extinguishing by hovering and spraying of an aviation fire extinguishing device is characterized by comprising the following steps:

acquiring real-time attitude variation of the aviation fire extinguishing device, wherein the attitude variation comprises reverse acting force of jet fire extinguishing on an X axis, acting force of weight variation on the X axis and pitching moment thereof, acting force of weight variation on a Y axis and rolling moment thereof, and acting force of weight variation on a Z axis and yawing moment thereof;

acquiring and calculating a real-time feedforward compensation quantity according to a real-time acting force generated by the fire field smoke plume on the aviation fire extinguishing device upwards and the weight of the fire extinguishing liquid consumed in real time;

and performing feedforward correction on the real-time attitude variation of the aviation fire extinguishing device by adopting a feedforward compensation control algorithm taking the real-time feedforward compensation amount as real-time disturbance, thereby ensuring the stable flight and fire extinguishing of the aviation fire extinguishing device in real time.

2. The fire extinguishing device hovering spray fire extinguishing control method according to claim 1, wherein obtaining and calculating a real-time feed-forward compensation amount according to a real-time acting force of a fire field smoke plume on the fire extinguishing device upwards and a real-time consumed fire extinguishing fluid weight, specifically comprises the steps of:

acquiring real-time pressure generated by air on the bottom surfaces of the rotor wing and the helicopter through a pressure sensor arranged right below the aviation fire extinguishing device, and then multiplying the real-time pressure generated by the air on the bottom surfaces of the rotor wing and the helicopter by the real-time projection area of the aviation fire extinguishing device in the Z-axis direction to calculate and obtain the upward real-time acting force of the fire field smoke plume on the aviation fire extinguishing device;

acquiring the density and the spraying time of the fire extinguishing agent, acquiring the real-time flow of the fire extinguishing agent through a flow sensor arranged at the outlet of a water pump or the outlet of a spray pipe of the aviation fire extinguishing device, and calculating the weight of the fire extinguishing liquid consumed in real time according to the density and the spraying time of the fire extinguishing agent and the real-time flow of the fire extinguishing agent;

and subtracting the real-time acting force of the fire field smoke plume on the aviation fire extinguishing device from the weight of the fire extinguishing liquid consumed in real time to obtain the real-time feedforward compensation quantity.

3. The fire extinguishing device hovering spray fire extinguishing control method according to claim 2, wherein a feedforward compensation control algorithm using the real-time feedforward compensation amount as a real-time disturbance is used to perform feedforward correction on the real-time attitude change amount of the fire extinguishing device, specifically comprising the steps of:

acquiring an expected attitude variation, and performing negative feedback processing on the expected attitude variation and the real-time attitude variation through the real-time attitude variation acquired at the output end of the controlled object to obtain a first negative feedback signal;

carrying out series correction processing on the first negative feedback signal to obtain a series correction signal; acquiring an execution control signal from an output end of an execution element, performing feedback correction on the execution control signal to obtain a feedback correction signal, and performing negative feedback processing on the series correction signal and the feedback correction signal to obtain a second negative feedback signal;

amplifying the second negative feedback signal to obtain a feedback amplification signal; carrying out feedforward correction on the real-time feedforward compensation quantity to obtain a feedforward correction signal; and performing positive feedback processing on the feedback amplification signal and the feedforward correction signal to obtain a positive feedback signal, inputting the positive feedback signal into an execution element, generating an execution control signal by the execution element according to the positive feedback signal, and transmitting the execution control signal to the controlled object so as to control the controlled object to provide a correction acting force and a correction moment corresponding to the execution control signal to correct the real-time attitude variation.

4. The fire-extinguishing device hovering spray fire-extinguishing control method according to claim 2, further comprising the steps of, before performing feedforward correction on the real-time attitude change of the fire-extinguishing device using a feedforward compensation control algorithm with the feedforward compensation amount as a disturbance:

setting an attitude stability threshold value of the attitude variation, comparing the real-time attitude variation with the corresponding attitude stability threshold values respectively, and performing feedforward correction on the real-time attitude variation of the aviation fire extinguishing device by directly adopting a feedforward compensation control algorithm taking the real-time feedforward compensation quantity as real-time disturbance when the real-time attitude variation does not exceed the corresponding attitude stability threshold value;

and when the comparison shows that any real-time attitude variation exceeds the corresponding attitude stability threshold value, calculating the exceeding value of the attitude variation and the corresponding attitude stability threshold value, correcting the exceeding value by reducing the fire extinguishing flow, controlling the real-time attitude variation of the aviation fire extinguishing device within the attitude stability threshold value, and performing feed-forward correction on the real-time attitude variation of the aviation fire extinguishing device by adopting a feed-forward compensation control algorithm taking the real-time feed-forward compensation as real-time disturbance.

5. The fire-extinguishing device hovering spray fire-extinguishing control method according to claim 1, wherein obtaining an attitude change of the fire-extinguishing device comprises:

acquiring the spraying speed and the spraying flow of fire extinguishing liquid of the aviation fire extinguishing device and the sectional area of a water gun spray hole in real time, and calculating the reverse acting force of the spraying fire extinguishing on an X axis according to a first calculation formula;

the first calculation formula isWherein, F₁Counter-acting force on X-axis for fire-extinguishing by spraying, V_rIs the exit velocity of the fire extinguisher, m is the mass of the aviation fire extinguishing device, and t is the spraying time;

acquiring the gravity of the aviation fire extinguishing device and the pitching angle of the fire extinguishing device in real time, and calculating the acting force of the weight change on the X axis and the acting force of the weight change on the Z axis by using a second calculation formula and a third calculation formula respectively;

the second calculation formula is: -H_s-Gsin θ is 0; wherein G is the gravity of the aviation fire extinguishing device H_sThe acting force of the weight change on the X axis;

the third calculation formula is: -T + Gcos θ ═ 0; wherein T is the acting force of weight change on the Z axis;

acquiring the roll angle and the tail rotor tension of the aviation fire extinguishing device in real time, and calculating the acting force of the weight change on the Y axis by using a fourth calculation formula; wherein the fourth calculation formula is:

wherein S is_sActing on the Y-axis for weight change, T_wjIs the tension of the tail rotor,is the roll angle;

acquiring the distance from the action point of the weight change on the X axis to the mass center, and further calculating the pitching moment according to the action point of the weight change on the X axis and the distance from the action point to the mass center;

acquiring the distance from the action point of the weight change on the X axis to the mass center, and further calculating the roll moment according to the action force of the weight change on the Y axis and the distance from the action point to the mass center;

and obtaining the distance from the action point of the weight change on the Z axis to the mass center, and further calculating the yaw moment according to the action point of the weight change on the Z axis and the distance from the action point to the mass center.

6. A control system that fire extinguishing device hovers and sprays and put out a fire of aviation, its characterized in that includes:

measurement element: the system is used for acquiring real-time attitude variation of the aviation fire extinguishing device, wherein the attitude variation comprises reverse acting force of jet fire extinguishing on an X axis, acting force of weight variation on the X axis and pitching moment thereof, acting force of weight variation on a Y axis and rolling moment thereof, and acting force of weight variation on a Z axis and yawing moment thereof;

a feedforward compensation amount acquisition module: acquiring and calculating a feedforward compensation quantity according to a real-time acting force generated by the fire field smoke plume on the aviation fire extinguishing device upwards and the weight of the fire extinguishing liquid consumed in real time;

a control module: and the feedforward compensation control algorithm is used for performing feedforward correction on the real-time attitude change quantity of the aviation fire extinguishing device by adopting the feedforward compensation quantity as disturbance, so that the stable flight and fire extinguishing of the aviation fire extinguishing device are ensured in real time.

7. The fire suppression hover spray fire suppression control system of claim 6, wherein the feed forward compensation amount acquisition module comprises: the device comprises a smoke plume acting force acquisition component, a consumed liquid acquisition component and a feedforward compensation amount calculation module;

the smoke plume acting force acquisition assembly comprises a pressure sensor, a projection area acquisition assembly and a first calculation assembly, wherein the pressure sensor is arranged right below the aviation fire extinguishing device; the pressure sensor is used for acquiring the pressure intensity of air on the bottom surfaces of the rotor wing and the helicopter in real time; the projection area acquisition assembly is used for acquiring the projection area of the aviation fire extinguishing device in the Z-axis direction; the first calculation assembly is used for multiplying the pressure intensity of the air on the bottom surfaces of the rotor wing and the helicopter by the projection area of the aviation fire extinguishing device in the Z-axis direction, and calculating to obtain the acting force of the fire field smoke plume on the aviation fire extinguishing device;

the consumption liquid acquisition assembly comprises a flow sensor and a second calculation assembly, wherein the flow sensor is installed at the outlet of a water pump or the outlet of a spray pipe of the aviation fire extinguishing device, and the flow sensor is used for acquiring the real-time flow of the fire extinguishing water agent; the second calculating component is used for calculating the weight of the fire extinguishing liquid consumed in real time according to the density and the spraying time of the fire extinguishing liquid agent and the real-time flow of the fire extinguishing liquid agent;

and the feedforward compensation amount calculation module is used for subtracting the real-time acting force of the fire scene smoke plume on the aviation fire extinguishing device from the weight of the fire extinguishing liquid consumed in real time to obtain the real-time feedforward compensation amount.

8. The fire suppression device hovering spray fire suppression control system according to claim 7, wherein: the control module comprises a given element, a first comparison element, a series correction element, a second comparison element, an amplification element, a feedback correction element, a feedforward correction element and an execution element;

the given element is used for acquiring expected attitude change and sending the expected attitude change to the first comparison element;

the measuring element is used for measuring real-time attitude variation and sending the real-time attitude variation to the first comparison element;

the first comparison element is used for receiving and carrying out negative feedback processing on the expected output quantity and the expected input quantity to obtain a first negative feedback signal, and the first negative feedback signal is transmitted to the series correction element;

the series correction element is used for receiving and carrying out series correction processing on the first negative feedback signal to obtain a series correction signal, and transmitting the series correction signal to the second comparison element;

the feedback correction element is used for performing feedback correction on the execution control signal acquired from the output end of the execution element to obtain a feedback correction signal, and transmitting the feedback correction signal to the second comparison element;

the second comparison element is used for receiving and carrying out negative feedback processing on the serial correction signal and the feedback correction signal to obtain a second negative feedback signal, and sending the second negative feedback signal to the amplifying element;

the amplifying element is used for receiving and amplifying the second negative feedback signal to obtain a feedback amplified signal, and sending the feedback amplified signal to the third comparing element;

the feedforward correction component is used for acquiring feedforward compensation from the feedforward compensation quantity calculation module, performing feedforward correction on real-time feedforward compensation quantity to obtain a feedforward correction signal, and sending the feedforward correction signal to the third comparison element;

the third comparison element is used for receiving and carrying out positive feedback processing on the feedback amplification signal and the feedforward correction signal to obtain a positive feedback signal, and inputting the positive feedback signal into the execution element;

the executive component generates an executive control signal according to the positive feedback signal and transmits the executive control signal to the controlled object so as to control the controlled object to provide a correction acting force and a correction moment corresponding to the executive control signal to correct the real-time attitude variation.

9. The fire suppression device hovering spray fire suppression control system according to claim 8, further comprising a comparison component, wherein the comparison component is configured to set an attitude stability threshold for the attitude change amount, compare the real-time attitude change amount with its corresponding attitude stability threshold, and directly control the control component to perform feedforward correction on the real-time attitude change amount of the fire suppression device using the real-time feedforward compensation amount as a real-time disturbance by using a feedforward compensation control algorithm when none of the real-time attitude change amounts exceeds its corresponding attitude stability threshold;

and when the comparison shows that any real-time attitude variation exceeds the corresponding attitude stability threshold value, calculating the exceeding value of the attitude variation and the corresponding attitude stability threshold value, correcting the exceeding value by reducing the fire extinguishing flow, controlling the real-time attitude variation of the aviation fire extinguishing device within the attitude stability threshold value, and controlling the control component to correct the real-time attitude variation of the aviation fire extinguishing device by adopting a feed-forward compensation control algorithm taking the real-time feed-forward compensation as real-time disturbance.

Technical Field

The invention relates to the technical field of electrical engineering, in particular to a hovering and spraying fire extinguishing control method and system for an aviation fire extinguishing device.

Background

Mountain fires near the power transmission corridor can cause tripping of the power transmission line, and the safe and stable operation of a power grid in China is seriously threatened. In 2003, the 220kV line in Hunan province trips 23 times due to mountain fire, and the total trip time of the 220kV line in the whole province in the same year is 63 times. During 2009-2010, mountain fire tripping accidents 71 happen on 220kV and 500kV power transmission lines of the Guizhou power grid in total, wherein 500kV line tripping 26 happens. Therefore, the power transmission line forest fire becomes an important disaster threatening the safety of the power grid.

The fire extinguishing device is an effective control means for preventing the mountain fire from spreading to cause line tripping when the mountain fire of the power transmission line is extinguished. However, the traffic environment of the mountain fire site of the power transmission line is severe, particularly, the great-speed mountain height of the ultra-high voltage power transmission line is far greater than 100 meters, no walking road exists, thorns are luxuriant, the time for people to arrive at the fire scene is long, and the timeliness of mountain fire treatment is influenced. Unmanned aerial vehicle and high-efficient fire extinguishing technique develop faster in recent years, and the flight is nimble, is applicable to the mountain fire of power grid point multifaceted wide and puts out a fire, has following advantage: 1) the fire extinguishing device can overcome adverse factors of terrain, can quickly reach a fire scene for fire extinguishing, and solves the problem that fire extinguishing equipment cannot reach the fire scene due to terrain obstruction; 2) the unmanned aerial vehicle does not need personnel to be in close contact with fire for fire extinguishment, so that the safety risk of manual fire extinguishment is avoided, and the safety of personnel is guaranteed; therefore, research and application of the small-flow fire extinguishing technology of the power transmission line forest fire unmanned aerial vehicle need to be developed, the defects of the existing power transmission line forest fire extinguishing equipment are overcome, and the fire extinguishing safety and the fire extinguishing rapidity are improved.

The flying state in which the helicopter maintains the altitude unchanged, the forward flying speed is zero, and the sum of the moments around the respective helicopter axes is zero is called hovering. The force acting on the body axis must therefore be balanced with the moment when hovering. The balance of longitudinal pitching moment and longitudinal force, and the balance of heading moment, the balance of roll moment, and the balance of lateral force at suspension will be analyzed below. Hovering flight is the most difficult state to control of the unmanned helicopter, and changes of temperature, air pressure and air flow can change the flight environment of the unmanned helicopter and interfere with the flight of the unmanned helicopter. Because big load, long-endurance unmanned helicopter extinguishing device body weight are less than 150kg, load the quality of fire extinguishing agent and reach 60kg, and the proportion of fire extinguishing agent is great, and the consumption of fuel, the rapid change of weight has provided very high requirement to unmanned aerial vehicle extinguishing device's control in the short time. Meanwhile, the fire extinguishing liquid needs to be sprayed out at the pressure of 2MPa, acting force is generated on the unmanned helicopter longitudinally, and meanwhile, the change of the mass brings interference to the posture and position control of the unmanned helicopter. The rotor wing is the most difficult to operate in a period variable pitch mode, and the real-time requirement is high.

Therefore, how to control the fire extinguishing apparatus to ensure stable flight and fire extinguishing of the aviation fire extinguishing apparatus in real time has become a technical problem to be solved by those skilled in the art.

Disclosure of Invention

The invention provides a hovering and spraying fire extinguishing control method and system for an aviation fire extinguishing device, which are used for solving the technical problem that the existing fire extinguishing device cannot stably fly and extinguish fire.

In order to solve the technical problems, the technical scheme provided by the invention is as follows:

a control method for hovering and spraying fire extinguishing of an aviation fire extinguishing device comprises the following steps:

acquiring real-time attitude variation of the aviation fire extinguishing device, wherein the attitude variation comprises reverse acting force of jet fire extinguishing on an X axis, acting force of weight variation on the X axis and pitching moment thereof, acting force of weight variation on a Y axis and rolling moment thereof, and acting force of weight variation on a Z axis and yawing moment thereof;

acquiring and calculating a real-time feedforward compensation quantity according to a real-time acting force generated by the fire field smoke plume on the aviation fire extinguishing device upwards and the weight of the fire extinguishing liquid consumed in real time;

and performing feedforward correction on the real-time attitude variation of the aviation fire extinguishing device by adopting a feedforward compensation control algorithm taking the real-time feedforward compensation amount as real-time disturbance, thereby ensuring the stable flight and fire extinguishing of the aviation fire extinguishing device in real time.

Preferably, the method for calculating the real-time feedforward compensation amount according to the real-time acting force generated by the fire field smoke plume on the aviation fire extinguishing device and the real-time consumed fire extinguishing liquid weight comprises the following steps:

acquiring real-time pressure generated by air on the bottom surfaces of the rotor wing and the helicopter through a pressure sensor arranged right below the aviation fire extinguishing device, and then multiplying the real-time pressure generated by the air on the bottom surfaces of the rotor wing and the helicopter by the real-time projection area of the aviation fire extinguishing device in the Z-axis direction to calculate and obtain the upward real-time acting force of the fire field smoke plume on the aviation fire extinguishing device;

acquiring the density and the spraying time of the fire extinguishing agent, acquiring the real-time flow of the fire extinguishing agent through a flow sensor arranged at the outlet of a water pump or the outlet of a spray pipe of the aviation fire extinguishing device, and calculating the weight of the fire extinguishing liquid consumed in real time according to the density and the spraying time of the fire extinguishing agent and the real-time flow of the fire extinguishing agent;

and subtracting the real-time acting force of the fire field smoke plume on the aviation fire extinguishing device from the weight of the fire extinguishing liquid consumed in real time to obtain the real-time feedforward compensation quantity.

Preferably, the method for performing feedforward correction on the real-time attitude change quantity of the aviation fire extinguishing device by adopting a feedforward compensation control algorithm taking the real-time feedforward compensation quantity as real-time disturbance specifically comprises the following steps:

acquiring an expected attitude variation, and performing negative feedback processing on the expected attitude variation and the real-time attitude variation through the real-time attitude variation acquired at the output end of the controlled object to obtain a first negative feedback signal;

carrying out series correction processing on the first negative feedback signal to obtain a series correction signal; acquiring an execution control signal from an output end of an execution element, performing feedback correction on the execution control signal to obtain a feedback correction signal, and performing negative feedback processing on the series correction signal and the feedback correction signal to obtain a second negative feedback signal;

amplifying the second negative feedback signal to obtain a feedback amplification signal; carrying out feedforward correction on the real-time feedforward compensation quantity to obtain a feedforward correction signal; and performing positive feedback processing on the feedback amplification signal and the feedforward correction signal to obtain a positive feedback signal, inputting the positive feedback signal into an execution element, generating an execution control signal by the execution element according to the positive feedback signal, and transmitting the execution control signal to the controlled object so as to control the controlled object to provide a correction acting force and a correction moment corresponding to the execution control signal to correct the real-time attitude variation.

Preferably, before performing feed-forward correction on the real-time attitude change quantity of the aviation fire extinguishing device by using a feed-forward compensation control algorithm taking the feed-forward compensation quantity as disturbance, the method further comprises the following steps:

setting an attitude stability threshold value of the attitude variation, comparing the real-time attitude variation with the corresponding attitude stability threshold values respectively, and performing feedforward correction on the real-time attitude variation of the aviation fire extinguishing device by directly adopting a feedforward compensation control algorithm taking the real-time feedforward compensation quantity as real-time disturbance when the real-time attitude variation does not exceed the corresponding attitude stability threshold value;

and when the comparison shows that any real-time attitude variation exceeds the corresponding attitude stability threshold value, calculating the exceeding value of the attitude variation and the corresponding attitude stability threshold value, correcting the exceeding value by reducing the fire extinguishing flow, controlling the real-time attitude variation of the aviation fire extinguishing device within the attitude stability threshold value, and performing feed-forward correction on the real-time attitude variation of the aviation fire extinguishing device by adopting a feed-forward compensation control algorithm taking the real-time feed-forward compensation as real-time disturbance.

Preferably, the method for acquiring the attitude variation of the aviation fire extinguishing device comprises the following steps:

acquiring the spraying speed and the spraying flow of fire extinguishing liquid of the aviation fire extinguishing device and the sectional area of a water gun spray hole in real time, and calculating the reverse acting force of the spraying fire extinguishing on an X axis according to a first calculation formula;

the first calculation formula isWherein, F₁Counter-acting force on X-axis for fire-extinguishing by spraying, V_rIs the exit velocity of the fire extinguisher, m is the mass of the aviation fire extinguishing device, and t is the spraying time;

acquiring the gravity of the aviation fire extinguishing device and the pitching angle of the fire extinguishing device in real time, and calculating the acting force of the weight change on the X axis and the acting force of the weight change on the Z axis by using a second calculation formula and a third calculation formula respectively;

the second calculation formula is: -H_s-Gsin θ is 0; wherein G is the gravity of the aviation fire extinguishing device H_sThe acting force of the weight change on the X axis;

the third calculation formula is: -T + Gcos θ ═ 0; wherein T is the acting force of weight change on the Z axis;

acquiring the roll angle and the tail rotor tension of the aviation fire extinguishing device in real time, and calculating the acting force of the weight change on the Y axis by using a fourth calculation formula; wherein the fourth calculation formula is:

wherein S is_sActing on the Y-axis for weight change, T_wjIs the tension of the tail rotor,is the roll angle;

acquiring the distance from the action point of the weight change on the X axis to the mass center, and further calculating the pitching moment according to the action point of the weight change on the X axis and the distance from the action point to the mass center;

acquiring the distance from the action point of the weight change on the X axis to the mass center, and further calculating the roll moment according to the action force of the weight change on the Y axis and the distance from the action point to the mass center;

and obtaining the distance from the action point of the weight change on the Z axis to the mass center, and further calculating the yaw moment according to the action point of the weight change on the Z axis and the distance from the action point to the mass center.

A control system for fire extinguishing by hovering and spraying of an aviation fire extinguishing device comprises:

measurement element: the system is used for acquiring real-time attitude variation of the aviation fire extinguishing device, wherein the attitude variation comprises reverse acting force of jet fire extinguishing on an X axis, acting force of weight variation on the X axis and pitching moment thereof, acting force of weight variation on a Y axis and rolling moment thereof, and acting force of weight variation on a Z axis and yawing moment thereof;

a feedforward compensation amount acquisition module: acquiring and calculating a feedforward compensation quantity according to a real-time acting force generated by the fire field smoke plume on the aviation fire extinguishing device upwards and the weight of the fire extinguishing liquid consumed in real time;

a control module: and the feedforward compensation control algorithm is used for performing feedforward correction on the real-time attitude change quantity of the aviation fire extinguishing device by adopting the feedforward compensation quantity as disturbance, so that the stable flight and fire extinguishing of the aviation fire extinguishing device are ensured in real time.

Preferably, the feedforward compensation amount obtaining module includes: the device comprises a smoke plume acting force acquisition component, a consumed liquid acquisition component and a feedforward compensation amount calculation module;

the smoke plume acting force acquisition assembly comprises a pressure sensor, a projection area acquisition assembly and a first calculation assembly, wherein the pressure sensor is arranged right below the aviation fire extinguishing device; the pressure sensor is used for acquiring the pressure intensity of air on the bottom surfaces of the rotor wing and the helicopter in real time; the projection area acquisition assembly is used for acquiring the projection area of the aviation fire extinguishing device in the Z-axis direction; the first calculation assembly is used for multiplying the pressure intensity of the air on the bottom surfaces of the rotor wing and the helicopter by the projection area of the aviation fire extinguishing device in the Z-axis direction, and calculating to obtain the acting force of the fire field smoke plume on the aviation fire extinguishing device;

the consumption liquid acquisition assembly comprises a flow sensor and a second calculation assembly, wherein the flow sensor is installed at the outlet of a water pump or the outlet of a spray pipe of the aviation fire extinguishing device, and the flow sensor is used for acquiring the real-time flow of the fire extinguishing water agent; the second calculating component is used for calculating the weight of the fire extinguishing liquid consumed in real time according to the density and the spraying time of the fire extinguishing liquid agent and the real-time flow of the fire extinguishing liquid agent;

and the feedforward compensation amount calculation module is used for subtracting the real-time acting force of the fire scene smoke plume on the aviation fire extinguishing device from the weight of the fire extinguishing liquid consumed in real time to obtain the real-time feedforward compensation amount.

Preferably, the control module comprises a given element, a first comparison element, a series correction element, a second comparison element, an amplification element, a feedback correction element, a feedforward correction element and an execution element;

the given element is used for acquiring expected attitude change and sending the expected attitude change to the first comparison element;

the measuring element is used for measuring real-time attitude variation and sending the real-time attitude variation to the first comparison element;

the first comparison element is used for receiving and carrying out negative feedback processing on the expected output quantity and the expected input quantity to obtain a first negative feedback signal, and the first negative feedback signal is transmitted to the series correction element;

the series correction element is used for receiving and carrying out series correction processing on the first negative feedback signal to obtain a series correction signal, and transmitting the series correction signal to the second comparison element;

the feedback correction element is used for performing feedback correction on the execution control signal acquired from the output end of the execution element to obtain a feedback correction signal, and transmitting the feedback correction signal to the second comparison element;

the second comparison element is used for receiving and carrying out negative feedback processing on the serial correction signal and the feedback correction signal to obtain a second negative feedback signal, and sending the second negative feedback signal to the amplifying element;

the amplifying element is used for receiving and amplifying the second negative feedback signal to obtain a feedback amplified signal, and sending the feedback amplified signal to the third comparing element;

the feedforward correction component is used for acquiring feedforward compensation from the feedforward compensation quantity calculation module, performing feedforward correction on real-time feedforward compensation quantity to obtain a feedforward correction signal, and sending the feedforward correction signal to the third comparison element;

the third comparison element is used for receiving and carrying out positive feedback processing on the feedback amplification signal and the feedforward correction signal to obtain a positive feedback signal, and inputting the positive feedback signal into the execution element;

the executive component generates an executive control signal according to the positive feedback signal and transmits the executive control signal to the controlled object so as to control the controlled object to provide a correction acting force and a correction moment corresponding to the executive control signal to correct the real-time attitude variation.

Preferably, the control system further comprises a comparison component, the comparison component is configured to set an attitude stability threshold of the attitude variation, compare the real-time attitude variation with the attitude stability thresholds corresponding to the real-time attitude variation, and directly control the control component to perform feedforward correction on the real-time attitude variation of the aviation fire extinguishing apparatus by using a feedforward compensation control algorithm that takes the real-time feedforward compensation amount as a real-time disturbance when the real-time attitude variation does not exceed the attitude stability threshold corresponding to the real-time attitude variation;

and when the comparison shows that any real-time attitude variation exceeds the corresponding attitude stability threshold value, calculating the exceeding value of the attitude variation and the corresponding attitude stability threshold value, correcting the exceeding value by reducing the fire extinguishing flow, controlling the real-time attitude variation of the aviation fire extinguishing device within the attitude stability threshold value, and controlling the control component to correct the real-time attitude variation of the aviation fire extinguishing device by adopting a feed-forward compensation control algorithm taking the real-time feed-forward compensation as real-time disturbance.

The invention has the following beneficial effects:

1. according to the hovering and spraying fire extinguishing control method and system for the aviation fire extinguishing device, real-time feedforward compensation quantity is obtained and calculated according to real-time acting force generated by fire field smoke plume on the aviation fire extinguishing device upwards and real-time consumed fire extinguishing liquid weight by obtaining reverse acting force of spraying fire extinguishing on an X axis, acting force of weight change on the X axis and pitching moment thereof, acting force of weight change on a Y axis and rolling moment thereof, and acting force of weight change on a Z axis and yawing moment thereof as attitude change quantities; and performing feedforward correction on the real-time attitude variation of the aviation fire extinguishing device by adopting a feedforward compensation control algorithm taking the real-time feedforward compensation amount as real-time disturbance, thereby ensuring the stable flight and fire extinguishing of the aviation fire extinguishing device in real time.

2. In a preferable scheme, an attitude stability threshold value is set in the invention, the attitude stability threshold value is a limit condition of the aviation fire extinguishing device, when the attitude variation exceeds the limit, the problem that the aviation fire extinguishing device is unstable in control to cause crash or the control precision is reduced, so that fire extinguishment is inaccurate, and the flight attitude of the aviation fire extinguishing device is generally difficult to correct for compensation in the case, therefore, the invention corrects the attitude variation and the exceeding value of the attitude stability threshold value corresponding to the attitude variation by reducing the fire extinguishing flow (such as 5% or 10% reduction, namely disturbance reduction control) so as to control the real-time attitude variation of the aviation fire extinguishing device within the attitude stability threshold value, and then performs feed-forward correction on the real-time attitude variation of the aviation fire extinguishing device by using the real-time feed-forward compensation amount as a feed-forward compensation control algorithm of real-time disturbance, thereby ensuring the stable flight and fire extinguishing of the aviation fire extinguishing device in real time.

In addition to the objects, features and advantages described above, other objects, features and advantages of the present invention are also provided. The present invention will be described in further detail below with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a flow chart of a control method of a hovering spray fire extinguishing of an aviation fire extinguishing apparatus of the present invention;

FIG. 2 is a schematic diagram of the longitudinal force and moment of suspension of the aviation fire suppression unit in accordance with the preferred embodiment of the present invention;

FIG. 3 is a schematic diagram of roll moment and lateral force when the aviation fire extinguishing device is suspended in accordance with the preferred embodiment of the present invention;

FIG. 4 is a schematic diagram of the forces and moments acting on the heading when the aviation fire extinguishing device is suspended in the preferred embodiment of the invention;

FIG. 5 is a schematic diagram of the force generated by the jet of the aviation fire suppression unit of the preferred embodiment of the present invention;

FIG. 6 is a schematic diagram of the feedforward corrective control of the aviation fire fighting device in accordance with the preferred embodiment of the present invention;

FIG. 7 is a simulation plot of the feed forward corrected height control of the preferred embodiment of the present invention using weight compensation.

Detailed Description

The embodiments of the invention will be described in detail below with reference to the drawings, but the invention can be implemented in many different ways as defined and covered by the claims.