阅读说明：本技术 一种飞艇副气囊体积监测装置及方法 (Airship ballonet volume monitoring device and method ) 是由 陶伟 唐浩然 熊思进 陈海燕 丁一杰 苏康 张朋 于 2020-12-11 设计创作，主要内容包括：本发明涉及一种飞艇副气囊体积监测装置及方法,属于浮空器体积测量技术领域。本发明通过监测和控制飞艇副气囊充放气过程中的气体流量和时间,并结合飞艇副气囊温度和压力参数,动态计算副气囊内空气质量和气体体积,可连续在线监测副气囊体积变化情况。本发明较好地平衡了测量精度和测量成本,满足实际工程应用需求,可推广应用于各类具有副气囊结构的浮空器上。本发明可在现有浮空器充放气阀门基础上改进实现,可替代充放气阀门,实现浮空器副气囊充放气功能。(The invention relates to a device and a method for monitoring the volume of an auxiliary airbag of an airship, and belongs to the technical field of aerostat volume measurement. The invention dynamically calculates the air quality and the air volume in the ballonet by monitoring and controlling the air flow and the time in the process of charging and discharging the airship ballonet and combining the temperature and the pressure parameters of the airship ballonet, and can continuously monitor the change condition of the ballonet volume on line. The invention better balances the measurement precision and the measurement cost, meets the application requirements of practical engineering, and can be popularized and applied to various aerostats with auxiliary air bag structures. The invention can be improved and realized on the basis of the existing aerostat inflation and deflation valve, can replace the inflation and deflation valve, and realizes the inflation and deflation functions of the aerostat ballonet.)

1. An airship ballonet volume monitoring device, comprising: the device comprises a control system (11), a valve opening and closing mechanism, a valve fan (17) and a gas flow monitoring device (16);

the control system (11) is respectively connected with the valve opening and closing mechanism and the valve fan (17), is used for controlling the valve opening and closing mechanism to be opened and closed, and is used for controlling the valve fan (17) to rotate;

the valve fan (17) can drive air to flow by rotating blades of the valve fan, so that air in the auxiliary air bag (2) is sucked and discharged;

the gas flow monitoring device (16) is arranged in a gas flow channel in the device, and when air is filled into or discharged from the auxiliary airbag (2) through the airship auxiliary airbag volume monitoring device (5), the gas flow monitoring device (16) can measure the flow velocity of the flowing gas in real time.

2. The device according to claim 1, wherein the valve opening and closing mechanism comprises a steering engine support (12), a servo steering engine (13), a valve sealing cover (15) and a flexible rope (14), the servo steering engine (13) is mounted on the steering engine support (12) and connected with the valve sealing cover (15) through the flexible rope (14), and the servo steering engine (13) rotates to drive the valve sealing cover (15) to open and close.

3. An airship ballonet volume monitoring method realized based on the airship ballonet volume monitoring device of claim 1 or 2, characterized by comprising the following steps:

s1, in the ground inflation stage of the airship, air is inflated into the ballonet (2) through the airship ballonet volume monitoring device (5), and the flow Q of the inflation gas is recorded₀(t) and an inflation time t, and after the inflation is finished, the internal gas pressure P of the auxiliary air bag (2) is measured₀(pa) and the temperature T of the gas inside the sub-bag (2)₀(k) Calculating the mass m of air charged into the sub-bag₀And volume V₀；

S2, measuring the pressure P of the ballonet (2) in real time in the flying process of the airship₁(pa) and ballonet temperature T₁(k) And calculating the volume of the ballonet.

4. The method of claim 3, wherein the calculation of the filling of the interior of the sub-bag is performed in step S1Air mass m₀And volume V₀The formula of (1) is:

5. the method according to claim 4, wherein step S2 is specifically:

in the flying process of the airship, if air is not filled into or discharged from the ballonet (2) through the airship ballonet volume monitoring device (5), the volume V of the current ballonet (2) is dynamically calculated according to an ideal gas state equation₁The calculation formula of (2) is as follows:

wherein, P₁、T₁In the process, if the airship ballonet volume monitoring device (5) is used for charging or discharging air into or out of the ballonet, the opening time t' of the airship ballonet volume monitoring device (5) and the air flow Q flowing through the airship ballonet volume monitoring device (5) are recorded for the air pressure and the temperature in the ballonet (2) measured at the moment₁(t'), calculating the current ballonet air mass m₁And volume V₁The calculation formula is

Wherein m is the residual air quality of the current ballonet (2) and is based on the calculated value of the closing time of the airship ballonet volume monitoring device (5).

6. The method of claim 5, wherein the inflation gas flow rate Q₀(t) is the mean value of the inflation gas flow.

7. Method according to claim 5, characterized in that said air flow rate Q₁(t') is the average air flow rate.

8. A low-altitude airship, characterized by comprising 1 main airbag (1) and 1 auxiliary airbag (2), wherein the auxiliary airbag (2) is internally provided with the airship auxiliary airbag volume monitoring device (5) as claimed in claim 1 or 2, helium is filled in the main airbag (1) for providing buoyancy of the airship, and air is filled in the auxiliary airbag (2) for adjusting the pressure difference between the inside and the outside of the airbag and maintaining the shape of the airship.

9. The low-altitude airship according to claim 8, wherein a temperature collector (3) and a pressure collector (4) are further installed inside the ballonet (2).

10. Use of the method according to any one of claims 3 to 7 in the field of aerostat volume measurement technology.

Technical Field

The invention belongs to the technical field of aerostat volume measurement, and particularly relates to a device and a method for monitoring the volume of an airship ballonet.

Background

An airship is an aerostat that provides buoyancy from a relatively light weight gas, typically helium, including blimps and hard airships. The bladder is an important part of the airship and is generally composed of a main airbag and a secondary airbag. Helium is filled in the main air bag to form the streamline shape of the airship and provide buoyancy for the airship to ascend. The auxiliary air bag is filled with air for adjusting the internal pressure, keeping the shape of the airship, adjusting the flying attitude, the flying height and the like.

In the process of the change of the flying height of the airship, the auxiliary air bags continuously fill and discharge air through the air valves, and the volume of the auxiliary air bags is adjusted. When the flying height increases, the external air pressure is reduced along with the rise of the altitude, the volume of the main airbag of the airship is expanded, and in order to balance the pressure difference between the inside and the outside of the airbag of the airship, part of the air of the auxiliary airbag needs to be discharged, so that the internal air pressure of the airbag is reduced. When the flying height is reduced, a proper amount of air needs to be filled into the auxiliary air bag, the net floating weight of the airship is increased, and the appearance of the airship is kept.

The volume fullness of the auxiliary airbag of the airship limits the flight lift limit and affects the flight safety, and the auxiliary airbag is an important state parameter in the flight process of the airship and generally needs real-time monitoring in flight. At present, the method for monitoring the volume of the airship ballonet mainly adopts a direct measurement method, for example, chinese patent publication No. CN 203601556U, publication date 2014 5, 21, entitled airship ballonet pressure regulation device based on volume measurement, and the patent refers to an airship ballonet volume measurement method which adopts a two-dimensional laser scanner as measurement equipment to roughly measure the volume of the airship ballonet. The defect is that a two-dimensional laser scanner is adopted to measure the accumulation of the auxiliary air bag body in a larger error. An article, "unmanned airship air bag volume monitoring system design", published in "measurement technology" volume 35 added in 2015, discloses a method for measuring the volume of an airship air bag by using a three-dimensional laser scanner. The method constructs a three-dimensional geometric model of the air bag through a three-dimensional laser scanner, and quantitatively calculates the volume of the air bag. The method has the disadvantages that the three-dimensional laser scanner is expensive and heavy, and is placed in the air bag, so that the floating weight of the airship is increased. The method for measuring the volume of the airship ballonet by adopting an indirect method, for example, Chinese patent publication No. CN 109060064A, published date 2018, 12 and 21 months, is named as a method for measuring the volume of the airship ballonet based on gas concentration change, and discloses a method for calculating the volume of the airship ballonet by measuring the change of the concentration of injected hydrogen. The method has the defects that the volume of the air bag needs to be measured, the volume of the measured air bag is large, but the mass of the gas filled with the measured gas is small, the measurement variation is not obvious, the requirement on the precision of the gas concentration sensor is high, and the engineering application is difficult.

Disclosure of Invention

Technical problem to be solved

The technical problem to be solved by the invention is as follows: how to design an airship ballonet volume on-line monitoring device and a monitoring method, which are used for dynamically calculating and monitoring the ballonet volume in real time in the flight process of an airship.

(II) technical scheme

In order to solve the technical problem, the invention provides a device for monitoring the volume of a ballonet of an airship, which comprises: the system comprises a control system 11, a valve opening and closing mechanism, a valve fan 17 and a gas flow monitoring device 16;

the control system 11 is respectively connected with the valve opening and closing mechanism and the valve fan 17, and is used for controlling the valve opening and closing mechanism to open and close and controlling the valve fan 17 to rotate;

the valve fan 17 can drive air to flow by the rotation of the blade thereof, so as to realize the suction and discharge of the air in the auxiliary air bag 2;

the gas flow monitoring device 16 is installed in a gas flow channel inside the device, and when air is filled into or discharged from the ballonet 2 through the airship ballonet volume monitoring device 5, the gas flow monitoring device 16 can measure the flow velocity of the flowing gas in real time.

Preferably, the valve opening and closing mechanism comprises a steering engine support 12, a servo steering engine 13, a valve sealing cover 15 and a flexible rope 14, the servo steering engine 13 is installed on the steering engine support 12 and is connected with the valve sealing cover 15 through the flexible rope 14, and the servo steering engine 13 rotates to drive the valve sealing cover 15 to be opened and closed.

The invention also provides an airship ballonet volume monitoring method based on the airship ballonet volume monitoring device, which comprises the following steps:

s1, in the ground inflation stage of the airship, the auxiliary air bag 2 is inflated with air through the auxiliary air bag volume monitoring device 5 of the airship, and the flow Q of inflation gas is recorded₀(t) and an inflation time t, and after the inflation is finished, the gas pressure P in the sub-bag 2 is measured₀(pa) and the temperature T of the gas inside the sub-bag 2₀(k) Calculating the mass m of air charged into the sub-bag₀And volume V₀；

S2, measuring the pressure P of the ballonet 2 in real time in the flight process of the airship₁(pa) and ballonet temperature T₁(k) And calculating the volume of the ballonet.

Preferably, in step S1, the mass m of air charged into the interior of the sub-bag is calculated₀And volume V₀The formula of (1) is:

preferably, step S2 is specifically:

in the flying process of the airship, if air is not filled into or discharged from the ballonet 2 through the airship ballonet volume monitoring device 5, the volume V of the ballonet 2 at present is dynamically calculated according to an ideal gas state equation₁The calculation formula of (2) is as follows:

wherein, P₁、T₁The measured air pressure in the sub-airbag 2Temperature, during which, if the ballonet is charged or discharged with air by the airship ballonet volume monitoring device 5, the opening time t' of the airship ballonet volume monitoring device 5 and the flow rate Q of air flowing through the airship ballonet volume monitoring device 5 are recorded₁(t'), calculating the current ballonet air mass m₁And volume V₁The calculation formula is

Wherein m is the residual air mass of the ballonet 2 at present, and the calculated value of the airship ballonet volume monitoring device 5 at the closing moment is taken as the standard.

Preferably, said inflation gas flow rate Q₀(t) is the mean value of the inflation gas flow.

Preferably, said air flow rate Q₁(t') is the average air flow rate.

The invention also provides a low-altitude airship, which comprises 1 main airbag 1 and 1 auxiliary airbag 2, wherein the auxiliary airbag 2 is internally provided with the airship auxiliary airbag volume monitoring device 5 as claimed in claim 1 or 2, helium is filled in the main airbag 1 for providing buoyancy of the airship, and air is filled in the auxiliary airbag 2 for adjusting the pressure difference between the inside and the outside of the airbag and keeping the appearance of the airship.

Preferably, a temperature collector 3 and a pressure collector 4 are further installed inside the ballonet 2.

The invention also provides application of the method in the technical field of aerostat volume measurement.

(III) advantageous effects

The invention dynamically calculates the air quality and the air volume in the ballonet by monitoring and controlling the air flow and the time in the process of charging and discharging the airship ballonet and combining the temperature and the pressure parameters of the airship ballonet, and can continuously monitor the change condition of the ballonet volume on line. The invention better balances the measurement precision and the measurement cost, meets the application requirements of practical engineering, and can be popularized and applied to various aerostats with auxiliary air bag structures. The invention can be improved and realized on the basis of the existing aerostat inflation and deflation valve, can replace the inflation and deflation valve, and realizes the inflation and deflation functions of the aerostat ballonet.

Compared with a two-dimensional laser radar or a laser range finder for measuring the volume of the auxiliary air bag, the measuring precision of the invention is greatly improved;

compared with the three-dimensional laser radar for measuring the volume of the auxiliary air bag, the measuring device is simple and low in cost;

compared with the method for indirectly calculating the volume of the auxiliary air bag through the change of the gas concentration, the method is simple to operate and convenient to realize.

Drawings

FIG. 1 is a diagram of a low altitude airship;

fig. 2 is a schematic structural diagram of the airship ballonet volume monitoring device.

Detailed Description

In order to make the objects, contents, and advantages of the present invention clearer, the following detailed description of the embodiments of the present invention will be made in conjunction with the accompanying drawings and examples.

The composition of a certain low-altitude airship is shown in figure 1 and comprises 1 main airbag (1) and 1 auxiliary airbag (2), wherein a temperature collector (3), a pressure collector (4) and an airship auxiliary airbag volume monitoring device (5) are arranged in the auxiliary airbag (2), helium is filled in the main airbag (1) to provide buoyancy of the airship, and air is filled in the auxiliary airbag (2) to adjust the pressure difference between the inside and the outside of the airbag and keep the appearance of the airship.

The structure of the airship ballonet volume monitoring device (5) provided by the invention is shown in figure 2, in particular to a charging and discharging valve with a gas flow monitoring function, which comprises a control system (11), a valve opening and closing mechanism, a valve fan (17) and a gas flow monitoring device (16);

the control system (11) is connected with the valve opening and closing mechanism and the valve fan (17), is used for controlling the valve opening and closing mechanism to be opened and closed by controlling a servo steering engine (13) in the valve opening and closing mechanism to rotate, and is used for controlling the valve fan (17) to rotate;

the valve opening and closing mechanism comprises a steering engine support (12), a servo steering engine (13), a valve sealing cover (15) and a flexible rope (14), the servo steering engine (13) is mounted on the steering engine support (12) and connected with the valve sealing cover (15) through the flexible rope (14), and the servo steering engine (13) rotates to drive the valve sealing cover (15) to open and close;

the valve fan (17) can drive air to flow by rotating blades of the valve fan, so that air in the auxiliary air bag (2) is sucked and discharged;

the gas flow monitoring device (16) is arranged in a gas flow channel in the device, and when air is filled into or discharged from the auxiliary airbag (2) through the airship auxiliary airbag volume monitoring device (5), the gas flow monitoring device (16) can measure the flow velocity of the flowing gas in real time.

The invention also provides an airship ballonet volume monitoring method based on the airship ballonet volume monitoring device, which comprises the following steps:

s1, in the ground inflation stage (with an altitude of 1066m) of the airship, air is inflated into the ballonet (2) through the ballonet volume monitoring device (5), and the mean value Q of the inflation flow is measured₀14655slm, and 650s inflation time t. After the inflation is finished, measuring the internal air pressure of the airship ballonet (2) to be P₀89409Pa, temperature T₀The mass m of air charged into the sub-bag was calculated according to the following formula at 14 ℃₀And volume V₀：

The mass m of the air filled into the auxiliary air bag (2) in the initial state is obtained by calculation₀204.80kg, the initial volume V of the ballonet (2)₀＝186.67m³。

S2, during the flight phase of the airship, the airship ascends to the altitude of 1100m, and the auxiliary air bag bodyThe product monitoring device (5) is not started, and the air pressure P in the auxiliary air bag (2) is measured at the moment₁89501Pa, temperature T₁13.8 ℃ according to the formula

Calculating the volume V of the auxiliary airbag of the airship at the current moment₁＝188.48m³；

At the moment, partial air in the ballonet (2) is discharged through the ballonet volume monitoring device (5), and the average value of the gas flow passing through the ballonet volume monitoring device (5) is measured to be Q₁After the ballonet volume monitoring device (5) is closed after (t ') is-1287 slm and t' is 20s, the internal air pressure P of the airship ballonet (2) is measured₁89430Pa, temperature T₁13.8 ℃ according to the formula

Calculating the mass m of the air remained in the ballonet (2)₁204.25kg, volume V of ballonet (2)₁＝188.12m³And m is the residual air quality of the current ballonet (2), and the calculated value of the closing time of the airship ballonet volume monitoring device (5) is used as the standard.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, several modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.