WO2018107733A1 - Method and device for controlling airship - Google Patents
Method and device for controlling airship Download PDFInfo
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- WO2018107733A1 WO2018107733A1 PCT/CN2017/092053 CN2017092053W WO2018107733A1 WO 2018107733 A1 WO2018107733 A1 WO 2018107733A1 CN 2017092053 W CN2017092053 W CN 2017092053W WO 2018107733 A1 WO2018107733 A1 WO 2018107733A1
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- 238000000034 method Methods 0.000 title claims abstract description 28
- 230000001133 acceleration Effects 0.000 claims abstract description 32
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 claims description 14
- 239000002828 fuel tank Substances 0.000 claims description 10
- 238000005259 measurement Methods 0.000 description 5
- 238000013519 translation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000001914 filtration Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64B—LIGHTER-THAN AIR AIRCRAFT
- B64B1/00—Lighter-than-air aircraft
Definitions
- the present invention relates to a control method, and in particular to a control method and control apparatus for an airship.
- the airship returning process needs to perform trajectory tracking. If the tethered airship is required to closely track the complex curve, the commonly used control algorithm using the linear feedback feedback may not achieve good tracking effect, because the airship inertia Larger, longer lag time.
- the proportional guidance method is a method for short-range missiles. This method is used for trajectory tracking. It can be assumed that there is a virtual point moving on the required route as our target point.
- the proportional guidance method is to guide the missile.
- a guiding law in which the rotational angular velocity of the navigation velocity vector V is proportional to the rotational angular velocity of the target line of sight (line of sight) is as shown in FIG.
- the missile is at point M, the target speed is V T , and the missile speed is V M , both in the same plane.
- K proportional guiding coefficient
- the rate of change of the missile's angle The angular velocity of the target line of sight.
- r in the figure is the relative distance between the missile and the target; ⁇ T and ⁇ are the angle between the target and the velocity vector of the missile and the reference line; ⁇ is the target line of sight; ⁇ T and ⁇ are the target and the missile velocity vector and the line of sight The angle is called the front angle.
- the most important point in the proportional guidance method is the use of the target line of sight of the missile and the target point. However, the target of the missile attack is fixed, and for the tracking trajectory, the target point is constantly changing.
- the present invention provides a control method and a control device for an airship, which improves the trajectory tracking capability of the airship.
- a control method for an airship is provided.
- the control method includes:
- the airship is controlled based on speed and tangential acceleration.
- the state information of the airship is acquired by the sensor.
- the senor comprises: a temperature sensor, a pressure sensor, a pressure sensor.
- the senor is disposed on the flight control board.
- the airship information of the airship is the return route information of the airship and the target node.
- position information position information, speed information, angle information, angular velocity information.
- controlling the airship based on speed and tangential acceleration includes:
- a control apparatus for an airship is provided.
- the control device comprises:
- An acquisition module configured to acquire route information of an airship, and status information of the airship
- a control module for controlling the airship based on speed and tangential acceleration.
- the state information of the airship is acquired by the sensor.
- the senor is disposed on the flight control board.
- the invention obtains the airship information of the airship and the state information of the airship, and then determines the speed and tangential acceleration of the airship according to the route information and the state information, and finally controls the airship according to the speed and the tangential acceleration, and can ensure the airship. Improved airship while improving flight Trajectory tracking capability.
- 1 is an angle information diagram of a prior art proportional guidance method
- FIG. 2 is a schematic diagram of a control method for a mooring type airship according to an embodiment of the present invention
- FIG. 3 is an angle information diagram of a mooring type airship according to an embodiment of the present invention.
- FIG. 4 is a flow chart of a mooring type airship in accordance with an embodiment of the present invention.
- FIG. 5 is a detailed flow chart of a flight control module in accordance with an embodiment of the present invention.
- FIG. 6 is a block diagram of a control device for a tethered airship in accordance with an embodiment of the present invention.
- the tethered airship 1 will be used to illustrate the solution of the present invention, although it will be understood that the present invention is equally applicable to other types of airships.
- a control method for a tethered airship 1 is provided.
- a control method includes:
- Step S201 acquiring route information of the tethered airship 1 and status information of the mooring airship 1;
- Step S203 determining the speed and tangential acceleration of the mooring airship 1 according to the route information and the state information;
- step S205 the mooring type airship 1 is controlled according to the speed and the tangential acceleration.
- the navigation control module 5 first disposed on the tethered airship 1 determines the desired distance between the tethered airship 1 and the target node 2 (or the navigation point 2) according to the actual situation. L 1 , then the navigation control module 5 determines its position relative to the tethered airship 1 of the target node 2 on the flight path of the tethered airship 1 according to the desired distance L 1 , ie the determined current tethered airship The distance between the target node 2 and the target node 2 is L 1 .
- the current flight speed v of the tethered airship 1 can be obtained by the sensor 3 provided on the tethered airship 1, and the speed v and the speed can be determined according to actual needs.
- the angle ⁇ of the distance L 1 Further, the centrifugal acceleration a of the tethered airship 1 is perpendicular to its velocity v, while the circumferential radius of the centrifugal acceleration a at the current position is R, and the angle between the two circumferential radii R is 2 ⁇ .
- L 1 is the distance between the tethered airship 1 and the target node 2
- ⁇ is the angle between the velocity vector v and the distance L 1
- v is the current speed of the airship
- R is the circumferential radius at the tangential acceleration .
- a plurality of sensors 3 are provided on the flight control board of the mooring type airship 1, and the plurality of sensors 3 transmit the obtained data to the attitude solving module 4 on the tethered airship 1, the attitude solving module 4
- the translation state quantity and the rotation state quantity of the airship may be estimated according to the above data, wherein the translation state quantity includes: a current position of the mooring airship 1 and a current speed v thereof, and the rotation state quantity includes: an angle of the mooring airship 1 And the angular velocity thereof, and then the attitude solving module 4 sends the acquired translation state quantity and rotation state quantity to the navigation control module 5 and the flight control module 6, the navigation control module 5 according to the received translation state quantity and the rotation state quantity, Determining the speed v of the tethered airship 1 and the centrifugal acceleration a, thereby generating a control command for the tethered airship 1 according to the speed v and the centrifugal acceleration a, and then, according to the control command, the r
- the mooring type airship 1 is controlled to improve the trajectory tracking ability of the airship while ensuring the stable flight of the airship.
- the status letter of the tethered airship 1 is acquired by the sensor 3 interest.
- the measurement data of the tethered airship 1 is acquired by the sensor 3, and the measurement data can be measured according to actual needs, for example, according to an embodiment of the present invention, the measurement The data includes: temperature, pressure, etc., and then the sensor 3 transmits the measurement data to the attitude solving module 4, so that the attitude solving module 4 estimates the translation state quantity and the rotation state quantity of the tethered airship 1 according to the above measurement data, wherein
- the estimation can be implemented by complementary filtering or extended Kalman filtering algorithm.
- the specific implementation case is Paul Riseborough's 22-state extended Kalman filter, which will not be described here.
- the navigation control module 5 determines the tethered airship according to the mission target.
- Target node 2 information and route information of 1 then the navigation module 3 sends a tracking instruction to the flight control module 6, wherein the tracking instruction includes: target node 2 information and route information, and then the flight control module 6 according to the tracking instruction and Estimating the information to determine the speed and centrifugal acceleration of the tethered airship 1 to produce a tethered airship 1
- the throttle and the control surface control command, and then the steering gear and the fuel tank in the mooring airship 1 are controlled according to the throttle and the control surface control command, and then the dynamic response module 7 dynamically responds according to the above command to the tethered airship 1
- the corresponding adjustment is made to the flight state.
- the above steps are repeated at the next moment, and will not be described here. For details, refer to the above steps.
- the senor 3 comprises a temperature sensor, a pressure sensor, a pressure sensor. It is to be understood that the type of the sensor may be selected according to actual needs.
- the sensor 3 includes a position sensor according to an embodiment of the present invention, which is not limited by the present invention.
- the senor 3 is disposed on the flight control board.
- the data information can be acquired more accurately.
- the setting position of the sensor 3 can be based on actual conditions. The requirements are set, and the present invention does not limit this.
- the route information of the mooring airship 1 is the return route information of the tethered airship 1 and the target node 2.
- the route information of the mooring airship 1 is an arc-shaped route information of the mooring airship 1 and the target node 2, and the route information may include: a mooring airship 1 The distance L1 from the target node 2, and the like.
- Position information, speed information, angle information, angular velocity, according to an embodiment of the present invention information information.
- the steering gear and the fuel tank in the mooring airship 1 are controlled;
- the specific flow of the flight control module 6 is: first receiving an input signal of the RC circuit, and then generating a scaling and mapping function of the RC signal according to the input signal, and then manually controlling the The input value is input to the attitude controller 9, and the position controller 8 generates a set value of the attitude of the tethered airship 1 based on the position setting value of the tethered airship 1, and then the attitude controller 9 is based on the above-described manual control input.
- the value and attitude setting values generate a control signal for the actuator 10, the control signal including a throttle and control surface control command for the tethered airship 1, and then mixing the control signals to achieve simultaneous completion by a control command
- a control algorithm capable of ensuring system stability such as a PID control algorithm, a variable structure synovial control algorithm,
- the model predicts the control algorithm and the like to ensure the temperature operation of the tethered airship 1.
- a control device for the tethered airship 1 is also provided.
- control apparatus includes:
- the obtaining module 61 is configured to acquire route information of the mooring airship 1 and state information of the mooring airship 1;
- a determining module 62 configured to determine a speed and a tangential acceleration of the tethered airship 1 according to the route information and the status information;
- the control module 63 is configured to control the tethered airship 1 according to the speed and the tangential acceleration.
- the state information of the tethered airship 1 is obtained by the sensor 3.
- the senor 3 is arranged on the flight control board.
- the speed information of the mooring type airship is determined by acquiring the route information of the mooring type airship and the state information of the mooring type airship, and then according to the route information and the state information.
- the tethered airship is controlled to improve the trajectory tracking ability of the airship while ensuring the stable flight of the airship.
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- Engineering & Computer Science (AREA)
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- Aviation & Aerospace Engineering (AREA)
- Feedback Control In General (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
A method and device for controlling an airship. The method comprises: acquiring route information and status information of the airship; determining, according to the route information and the status information, a speed and a tangential acceleration of the airship; and controlling, according to the speed and the tangential acceleration, the airship. The method can be utilized to ensure stable flight of the airship and enhance route tracking capability of the airship.
Description
本发明涉及控制方法，具体来说，涉及一种用于飞艇的控制方法和控制装置。The present invention relates to a control method, and in particular to a control method and control apparatus for an airship.
现有技术中，飞艇的返航过程需要进行轨迹跟踪，如果需要系留式飞艇对复杂曲线进行紧密跟踪时，常用的使用误差进行线性反馈的控制算法可能达不到良好的跟踪效果，因为飞艇惯性较大，滞后时间较长。In the prior art, the airship returning process needs to perform trajectory tracking. If the tethered airship is required to closely track the complex curve, the commonly used control algorithm using the linear feedback feedback may not achieve good tracking effect, because the airship inertia Larger, longer lag time.
比例导引法是用于近程导弹的一种方法，将此方法用于轨迹跟踪，可以假设有一个虚拟的点在需要的航线上移动作为我们的目标点，该比例导引法是指导弹在攻击目标的导引过程中，导航速度矢量V的转动角速度与目标瞄准线(视线)的转动角速度成比例的一种导引律，如图1所示，设某一时刻目标位于T点，导弹位于M点，目标速度为VT，导弹速度为VM，二者位于同一平面内。其导引关系式为：
式中K:比例导引系数；
导弹角的变化率；
目标瞄准线的转动角速度。图中的r为导弹和目标间的相对距离；σT和σ为目标和导弹的速度矢量与参考线的夹角；ε为目标视线角；ηT和η为目标和导弹速度矢量与视线的夹角，称为前置角。比例导引法中最重要的一点是使用导弹和目标点的目标瞄准线。但是导弹攻击的目标是固定不变的，而对于跟踪轨迹来说，目标点是不停变化的。The proportional guidance method is a method for short-range missiles. This method is used for trajectory tracking. It can be assumed that there is a virtual point moving on the required route as our target point. The proportional guidance method is to guide the missile. In the guiding process of the attack target, a guiding law in which the rotational angular velocity of the navigation velocity vector V is proportional to the rotational angular velocity of the target line of sight (line of sight) is as shown in FIG. The missile is at point M, the target speed is V T , and the missile speed is V M , both in the same plane. Its guiding relationship is: Where K: proportional guiding coefficient; The rate of change of the missile's angle; The angular velocity of the target line of sight. r in the figure is the relative distance between the missile and the target; σ T and σ are the angle between the target and the velocity vector of the missile and the reference line; ε is the target line of sight; η T and η are the target and the missile velocity vector and the line of sight The angle is called the front angle. The most important point in the proportional guidance method is the use of the target line of sight of the missile and the target point. However, the target of the missile attack is fixed, and for the tracking trajectory, the target point is constantly changing.
针对相关技术中的问题，目前尚未提出有效的解决方案。In view of the problems in the related art, no effective solution has been proposed yet.
发明内容Summary of the invention
针对相关技术中的问题，本发明提出一种用于飞艇的控制方法和控制装置，提高了飞艇的轨迹跟踪能力。In view of the problems in the related art, the present invention provides a control method and a control device for an airship, which improves the trajectory tracking capability of the airship.
本发明的技术方案是这样实现的：
The technical solution of the present invention is implemented as follows:
根据本发明的一个方面，提供了一种用于飞艇的控制方法。According to an aspect of the invention, a control method for an airship is provided.
该控制方法包括：The control method includes:
获取飞艇的航线信息，以及飞艇的状态信息；Obtain the route information of the airship and the status information of the airship;
根据航线信息和状态信息，确定飞艇的速度和切向加速度；以及Determining the speed and tangential acceleration of the airship based on route information and status information;
根据速度和切向加速度，对飞艇进行控制。The airship is controlled based on speed and tangential acceleration.
根据本发明的一个实施例，通过传感器获取飞艇的状态信息。According to an embodiment of the invention, the state information of the airship is acquired by the sensor.
根据本发明的一个实施例，传感器包括：温度传感器、压力传感器、压强传感器。According to an embodiment of the invention, the sensor comprises: a temperature sensor, a pressure sensor, a pressure sensor.
根据本发明的一个实施例，传感器设置于飞控板上。According to an embodiment of the invention, the sensor is disposed on the flight control board.
根据本发明的一个实施例，飞艇的航线信息为飞艇和目标节点的返航路线信息。According to an embodiment of the invention, the airship information of the airship is the return route information of the airship and the target node.
根据本发明的一个实施例，位置信息、速度信息、角度信息、角速度信息。According to an embodiment of the invention, position information, speed information, angle information, angular velocity information.
根据本发明的一个实施例，根据速度和切向加速度，对飞艇进行控制包括：According to one embodiment of the invention, controlling the airship based on speed and tangential acceleration includes:
根据速度和切向加速度，确定对飞艇的控制指令；Determining a control command for the airship based on the speed and the tangential acceleration;
根据控制指令，对飞艇中的出舵机和油箱进行控制；Control the steering gear and fuel tank in the airship according to the control instructions;
根据出舵机和油箱，调整飞艇的状态。Adjust the state of the airship according to the steering gear and the fuel tank.
根据本发明的另一个方面，提供了一种用于飞艇的控制装置。According to another aspect of the present invention, a control apparatus for an airship is provided.
该控制装置包括：The control device comprises:
获取模块，用于获取飞艇的航线信息，以及飞艇的状态信息；An acquisition module, configured to acquire route information of an airship, and status information of the airship;
确定模块，用于根据航线信息和状态信息，确定飞艇的速度和切向加速度；以及Determining a module for determining an airship speed and a tangential acceleration based on route information and status information;
控制模块，用于根据速度和切向加速度，对飞艇进行控制。A control module for controlling the airship based on speed and tangential acceleration.
根据本发明的一个实施例，通过传感器获取飞艇的状态信息。According to an embodiment of the invention, the state information of the airship is acquired by the sensor.
根据本发明的一个实施例，传感器设置于飞控板上。According to an embodiment of the invention, the sensor is disposed on the flight control board.
本发明通过获取飞艇的航线信息，以及飞艇的状态信息，然后根据航线信息和状态信息，确定飞艇的速度和切向加速度，最后根据速度和切向加速度，对飞艇进行控制，在能保证飞艇的稳定飞行的同时，提高了飞艇
的轨迹跟踪能力。The invention obtains the airship information of the airship and the state information of the airship, and then determines the speed and tangential acceleration of the airship according to the route information and the state information, and finally controls the airship according to the speed and the tangential acceleration, and can ensure the airship. Improved airship while improving flight
Trajectory tracking capability.
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings to be used in the embodiments will be briefly described below. Obviously, the drawings in the following description are only some of the present invention. For the embodiments, those skilled in the art can obtain other drawings according to the drawings without any creative work.
图1是现有技术中的比例导引法方法的角度信息图；1 is an angle information diagram of a prior art proportional guidance method;
图2是根据本发明实施例的用于系留式飞艇的控制方法的示意图；2 is a schematic diagram of a control method for a mooring type airship according to an embodiment of the present invention;
图3是根据本发明实施例的系留式飞艇的角度信息图；3 is an angle information diagram of a mooring type airship according to an embodiment of the present invention;
图4是根据本发明实施例的系留式飞艇的流程图；4 is a flow chart of a mooring type airship in accordance with an embodiment of the present invention;
图5是根据本发明实施例的飞行控制模块的具体流程图；5 is a detailed flow chart of a flight control module in accordance with an embodiment of the present invention;
图6是根据本发明实施例的用于系留式飞艇的控制装置的框图。Figure 6 is a block diagram of a control device for a tethered airship in accordance with an embodiment of the present invention.
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention are within the scope of the present invention.
在以下的实施例中，将采用系留式飞艇1对本发明的方案进行阐述，当然可以理解，本发明同样适用于其他类型的飞艇。In the following embodiments, the tethered airship 1 will be used to illustrate the solution of the present invention, although it will be understood that the present invention is equally applicable to other types of airships.
根据本发明的实施例，提供了一种用于系留式飞艇1的控制方法。According to an embodiment of the present invention, a control method for a tethered airship 1 is provided.
如图2所示，根据本发明实施例的控制方法包括：As shown in FIG. 2, a control method according to an embodiment of the present invention includes:
步骤S201，获取系留式飞艇1的航线信息，以及系留式飞艇1的状态信息；Step S201, acquiring route information of the tethered airship 1 and status information of the mooring airship 1;
步骤S203，根据航线信息和状态信息，确定系留式飞艇1的速度和切向加速度；以及Step S203, determining the speed and tangential acceleration of the mooring airship 1 according to the route information and the state information;
步骤S205，根据速度和切向加速度，对系留式飞艇1进行控制。In step S205, the mooring type airship 1 is controlled according to the speed and the tangential acceleration.
在该实施例中，如图3所示，首先设置于系留式飞艇1上的导航控制
模块5根据实际情况确定系留式飞艇1和目标节点2(或导航点2)之间的期望距离L1，随后该导航控制模块5根据期望距离L1，在系留式飞艇1的飞行航线上确定其相对于目标节点2的系留式飞艇1的位置，即确定后的当前系留式飞艇1与目标节点2之间的距离为L1，此外，可通过系留式飞艇1上设置的传感器3获取系留式飞艇1的当前的飞行速度v，另外，可根据实际需求确定速度v和距离L1的夹角η。此外，系留式飞艇1的离心加速度a与其速度v垂直，同时，在当前位置的离心加速度a的圆周半径为R，同时，两个圆周半径R之间的夹角为2η。In this embodiment, as shown in FIG. 3, the navigation control module 5 first disposed on the tethered airship 1 determines the desired distance between the tethered airship 1 and the target node 2 (or the navigation point 2) according to the actual situation. L 1 , then the navigation control module 5 determines its position relative to the tethered airship 1 of the target node 2 on the flight path of the tethered airship 1 according to the desired distance L 1 , ie the determined current tethered airship The distance between the target node 2 and the target node 2 is L 1 . Further, the current flight speed v of the tethered airship 1 can be obtained by the sensor 3 provided on the tethered airship 1, and the speed v and the speed can be determined according to actual needs. The angle η of the distance L 1 . Further, the centrifugal acceleration a of the tethered airship 1 is perpendicular to its velocity v, while the circumferential radius of the centrifugal acceleration a at the current position is R, and the angle between the two circumferential radii R is 2η.
在确定了上述数据的情况下，根据L1＝2Rsinη可以确定，离心加速度a为：In the case where the above data is determined, it can be determined from L 1 = 2Rsin η that the centrifugal acceleration a is:
其中，L1为系留式飞艇1与目标节点2的距离，η为速度矢量v与距离L1之间的夹角，v是飞艇当前的速度，R为在此切向加速度下的圆周半径。Where L 1 is the distance between the tethered airship 1 and the target node 2, η is the angle between the velocity vector v and the distance L 1 , v is the current speed of the airship, and R is the circumferential radius at the tangential acceleration .
此外，在系留式飞艇1的飞控板上设置有多个传感器3，该多个传感器3将获得的数据发送至系留式飞艇1上的姿态解算模块4，该姿态解算模块4可根据上述数据来估算飞艇的平移状态量和旋转状态量，其中，平移状态量包括：系留式飞艇1的当前位置以及其当前的速度v，旋转状态量包括：系留式飞艇1的角度以及其角速度，随后该姿态解算模块4将获取的平移状态量和旋转状态量发送至导航控制模块5和飞行控制模块6，该导航控制模块5根据接收到的平移状态量和旋转状态量，确定系留式飞艇1的速度v和离心加速度a，从而根据速度v和离心加速度a，产生对系留式飞艇1的控制指令，进而根据该控制指令，对系留式飞艇1中的出舵机和油箱进行控制，进而根据出舵机和油箱，调整系留式无人机的状态。Further, a plurality of sensors 3 are provided on the flight control board of the mooring type airship 1, and the plurality of sensors 3 transmit the obtained data to the attitude solving module 4 on the tethered airship 1, the attitude solving module 4 The translation state quantity and the rotation state quantity of the airship may be estimated according to the above data, wherein the translation state quantity includes: a current position of the mooring airship 1 and a current speed v thereof, and the rotation state quantity includes: an angle of the mooring airship 1 And the angular velocity thereof, and then the attitude solving module 4 sends the acquired translation state quantity and rotation state quantity to the navigation control module 5 and the flight control module 6, the navigation control module 5 according to the received translation state quantity and the rotation state quantity, Determining the speed v of the tethered airship 1 and the centrifugal acceleration a, thereby generating a control command for the tethered airship 1 according to the speed v and the centrifugal acceleration a, and then, according to the control command, the rudder in the tethered airship 1 The machine and the fuel tank are controlled to adjust the state of the mooring drone according to the steering gear and the fuel tank.
通过本发明的上述方案，能够通过获取系留式飞艇1的航线信息，以及系留式飞艇1的状态信息，然后根据航线信息和状态信息，确定系留式飞艇1的速度和切向加速度，最后根据速度和切向加速度，对系留式飞艇1进行控制，在能保证飞艇的稳定飞行的同时，提高了飞艇的轨迹跟踪能力。With the above aspect of the present invention, it is possible to determine the speed and tangential acceleration of the tethered airship 1 by acquiring the route information of the mooring type airship 1 and the state information of the mooring type airship 1, and then based on the route information and the state information. Finally, according to the speed and tangential acceleration, the mooring type airship 1 is controlled to improve the trajectory tracking ability of the airship while ensuring the stable flight of the airship.
根据本发明的一个实施例，通过传感器3获取系留式飞艇1的状态信
息。According to an embodiment of the invention, the status letter of the tethered airship 1 is acquired by the sensor 3
interest.
在该实施例中，如图4所示，首先，通过传感器3获取该系留式飞艇1的测量数据，该测量数据可根据实际需求进行测量，例如，根据本发明的一个实施例，该测量数据包括：温度、压力等，随后传感器3将测量数据传递给姿态解算模块4，从而该姿态解算模块4根据上述测量数据估算系留式飞艇1的平移状态量以及旋转状态量，其中，该估算可采用互补滤波或者扩展卡尔曼滤波算法来实现，具体的实施案例是Paul Riseborough的22状态扩展卡尔曼滤，在此不做赘述，随后导航控制模块5根据任务目标确定该系留式飞艇1的目标节点2信息和航线信息，随后该导航模块3将跟踪指令发送至飞行控制模块6，其中，该跟踪指令包括：目标节点2信息和航线信息，随后飞行控制模块6根据该跟踪指令以及估算信息，确定系留式飞艇1的速度和离心加速度，从而产生对系留式飞艇1的油门和舵面控制指令，随后根据该油门和舵面控制指令对系留式飞艇1中的出舵机和油箱进行控制，进而动态响应模块7根据上述指令动态响应，对系留式飞艇1的飞行状态做出对应的调整，在下一时刻，重复上述步骤，在此不做赘述，具体参见上述步骤。In this embodiment, as shown in FIG. 4, first, the measurement data of the tethered airship 1 is acquired by the sensor 3, and the measurement data can be measured according to actual needs, for example, according to an embodiment of the present invention, the measurement The data includes: temperature, pressure, etc., and then the sensor 3 transmits the measurement data to the attitude solving module 4, so that the attitude solving module 4 estimates the translation state quantity and the rotation state quantity of the tethered airship 1 according to the above measurement data, wherein The estimation can be implemented by complementary filtering or extended Kalman filtering algorithm. The specific implementation case is Paul Riseborough's 22-state extended Kalman filter, which will not be described here. Then the navigation control module 5 determines the tethered airship according to the mission target. Target node 2 information and route information of 1, then the navigation module 3 sends a tracking instruction to the flight control module 6, wherein the tracking instruction includes: target node 2 information and route information, and then the flight control module 6 according to the tracking instruction and Estimating the information to determine the speed and centrifugal acceleration of the tethered airship 1 to produce a tethered airship 1 The throttle and the control surface control command, and then the steering gear and the fuel tank in the mooring airship 1 are controlled according to the throttle and the control surface control command, and then the dynamic response module 7 dynamically responds according to the above command to the tethered airship 1 The corresponding adjustment is made to the flight state. The above steps are repeated at the next moment, and will not be described here. For details, refer to the above steps.
根据本发明的一个实施例，传感器3包括：温度传感器、压力传感器、压强传感器。当然可以理解，可以根据实际需求选择传感器的类型，例如，根据本发明的一个实施例，该传感器3包括：位置传感器，本发明对此不做限定，本发明对此不做限制。According to an embodiment of the invention, the sensor 3 comprises a temperature sensor, a pressure sensor, a pressure sensor. It is to be understood that the type of the sensor may be selected according to actual needs. For example, the sensor 3 includes a position sensor according to an embodiment of the present invention, which is not limited by the present invention.
根据本发明的一个实施例，传感器3设置于飞控板上，通过将传感器3设置于飞控板上，可以更准确的获取数据信息，当然可以理解，该传感器3的设定位置可根据实际需求进行设定，本发明对此不作限定。According to an embodiment of the present invention, the sensor 3 is disposed on the flight control board. By setting the sensor 3 on the flight control board, the data information can be acquired more accurately. Of course, it can be understood that the setting position of the sensor 3 can be based on actual conditions. The requirements are set, and the present invention does not limit this.
根据本发明的一个实施例，系留式飞艇1的航线信息为系留式飞艇1和目标节点2的返航路线信息。According to an embodiment of the present invention, the route information of the mooring airship 1 is the return route information of the tethered airship 1 and the target node 2.
在该实施例中，如图2所示，系留式飞艇1的航线信息为系留式飞艇1和目标节点2的圆弧状的路线信息，如该航线信息可包括：系留式飞艇1与目标节点2之间的距离L1等。In this embodiment, as shown in FIG. 2, the route information of the mooring airship 1 is an arc-shaped route information of the mooring airship 1 and the target node 2, and the route information may include: a mooring airship 1 The distance L1 from the target node 2, and the like.
根据本发明的一个实施例，位置信息、速度信息、角度信息、角速度
信息。Position information, speed information, angle information, angular velocity, according to an embodiment of the present invention
information.
根据速度和切向加速度，确定对系留式飞艇1的控制指令；Determining a control command for the tethered airship 1 based on the speed and the tangential acceleration;
根据控制指令，对系留式飞艇1中的出舵机和油箱进行控制；According to the control instruction, the steering gear and the fuel tank in the mooring airship 1 are controlled;
根据出舵机和油箱，调整系留式无人机的状态。Adjust the state of the mooring drone according to the steering gear and the fuel tank.
在该实施例中，如图5所示，该飞行控制模块6的具体流程为：首先接收RC电路的输入信号，随后根据该输入信号，产生RC信号的缩放和映射函数，随后将手动控制的输入值输入姿态控制器9，以及位置控制器8根据系留式飞艇1的位置设定值，产生系留式飞艇1的姿态的设定值，随后该姿态控制器9根据上述手动控制的输入值和姿态设定值，产生执行器10的控制信号，该控制信号包括对系留式飞艇1的油门和舵面控制指令，随后将该控制信号进行混控，以实现通过一个控制指令同时完成对系留式飞艇1的出舵机和油箱的控制，此外，在系留式飞艇1的飞行控制中会使用能保证系统稳定性的控制算法，如PID控制算法，变结构滑膜控制算法，模型预测控制算法等，以保障系留式飞艇1的温度运行。In this embodiment, as shown in FIG. 5, the specific flow of the flight control module 6 is: first receiving an input signal of the RC circuit, and then generating a scaling and mapping function of the RC signal according to the input signal, and then manually controlling the The input value is input to the attitude controller 9, and the position controller 8 generates a set value of the attitude of the tethered airship 1 based on the position setting value of the tethered airship 1, and then the attitude controller 9 is based on the above-described manual control input. The value and attitude setting values generate a control signal for the actuator 10, the control signal including a throttle and control surface control command for the tethered airship 1, and then mixing the control signals to achieve simultaneous completion by a control command For the control of the steering gear and the fuel tank of the mooring airship 1, in addition, in the flight control of the mooring airship 1, a control algorithm capable of ensuring system stability, such as a PID control algorithm, a variable structure synovial control algorithm, The model predicts the control algorithm and the like to ensure the temperature operation of the tethered airship 1.
根据本发明的实施例，还提供了一种用于系留式飞艇1的控制装置。According to an embodiment of the invention, a control device for the tethered airship 1 is also provided.
如图6所示，根据本发明实施例的控制装置包括：As shown in FIG. 6, the control apparatus according to an embodiment of the present invention includes:
获取模块61，用于获取系留式飞艇1的航线信息，以及系留式飞艇1的状态信息；The obtaining module 61 is configured to acquire route information of the mooring airship 1 and state information of the mooring airship 1;
确定模块62，用于根据航线信息和状态信息，确定系留式飞艇1的速度和切向加速度；以及a determining module 62, configured to determine a speed and a tangential acceleration of the tethered airship 1 according to the route information and the status information;
控制模块63，用于根据速度和切向加速度，对系留式飞艇1进行控制。The control module 63 is configured to control the tethered airship 1 according to the speed and the tangential acceleration.
根据本发明的一个实施例，通过传感器3获取系留式飞艇1的状态信息。According to an embodiment of the invention, the state information of the tethered airship 1 is obtained by the sensor 3.
根据本发明的一个实施例，传感器3设置于飞控板上。According to an embodiment of the invention, the sensor 3 is arranged on the flight control board.
综上所述，借助于本发明的上述技术方案，通过获取系留式飞艇的航线信息，以及系留式飞艇的状态信息，然后根据航线信息和状态信息，确定系留式飞艇的速度和切向加速度，最后根据速度和切向加速度，对系留式飞艇进行控制，在能保证飞艇的稳定飞行的同时，提高了飞艇的轨迹跟踪能力。
In summary, by means of the above technical solution of the present invention, the speed information of the mooring type airship is determined by acquiring the route information of the mooring type airship and the state information of the mooring type airship, and then according to the route information and the state information. To the acceleration, and finally according to the speed and tangential acceleration, the tethered airship is controlled to improve the trajectory tracking ability of the airship while ensuring the stable flight of the airship.
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本发明的保护范围之内。
The above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., which are included in the spirit and scope of the present invention, should be included in the present invention. Within the scope of protection.
Claims (10)
- 一种用于飞艇的控制方法，其特征在于，包括：A control method for an airship, characterized in that it comprises:获取所述飞艇的航线信息，以及所述飞艇的状态信息；Obtaining route information of the airship and status information of the airship;根据所述航线信息和所述状态信息，确定所述飞艇的速度和切向加速度；以及Determining the speed and tangential acceleration of the airship based on the route information and the status information;根据所述速度和切向加速度，对所述飞艇进行控制。The airship is controlled based on the speed and tangential acceleration.
- 根据权利要求1所述的控制方法，其特征在于，通过传感器获取所述飞艇的状态信息。The control method according to claim 1, wherein the state information of the airship is acquired by a sensor.
- 根据权利要求2所述的控制方法，其特征在于，所述传感器包括：温度传感器、压力传感器、压强传感器。The control method according to claim 2, wherein the sensor comprises: a temperature sensor, a pressure sensor, and a pressure sensor.
- 根据权利要求2所述的控制方法，其特征在于，所述传感器设置于飞控板上。The control method according to claim 2, wherein the sensor is disposed on the flight control board.
- 根据权利要求1所述的控制方法，其特征在于，所述飞艇的航线信息为所述飞艇和目标节点的返航路线信息。The control method according to claim 1, wherein the airship information of the airship is return route information of the airship and the target node.
- 根据权利要求1所述的控制方法，其特征在于，所述状态信息包括：位置信息、速度信息、角度信息、角速度信息。The control method according to claim 1, wherein the status information comprises: position information, speed information, angle information, and angular velocity information.
- 根据权利要求1所述的控制方法，其特征在于，根据所述速度和切向加速度，对所述飞艇进行控制包括：The control method according to claim 1, wherein controlling the airship according to the speed and the tangential acceleration comprises:根据所述速度和切向加速度，确定对所述飞艇的控制指令；Determining a control command for the airship based on the speed and tangential acceleration;根据所述控制指令，对所述飞艇中的出舵机和油箱进行控制；Controlling the steering gear and the fuel tank in the airship according to the control instruction;根据所述出舵机和所述油箱，调整所述飞艇的状态。The state of the airship is adjusted according to the steering gear and the fuel tank.
- 一种用于飞艇的控制装置，其特征在于，包括：A control device for an airship, characterized in that it comprises:获取模块，用于获取所述飞艇的航线信息，以及所述飞艇的状态信息；An acquiring module, configured to acquire route information of the airship, and status information of the airship;确定模块，用于根据所述航线信息和所述状态信息，确定所述飞艇的速度和切向加速度；以及a determining module, configured to determine a speed and a tangential acceleration of the airship based on the route information and the state information;控制模块，用于根据所述速度和切向加速度，对所述飞艇进行控制。a control module for controlling the airship based on the speed and tangential acceleration.
- 根据权利要求8所述的控制装置，其特征在于，通过传感器获取所述飞艇的状态信息。 The control device according to claim 8, wherein the state information of the airship is acquired by a sensor.
- 根据权利要求8所述的控制装置，其特征在于，所述传感器设置于飞控板上。 The control device according to claim 8, wherein the sensor is disposed on the flight control board.
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