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WO2018107733A1 - Procédé et dispositif de commande de dirigeable - Google Patents

Procédé et dispositif de commande de dirigeable Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
airship
information
speed
control
sensor
Prior art date
Application number
PCT/CN2017/092053
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English (en)
Chinese (zh)
Inventor
刘若鹏
栾琳
林玉娟
Original Assignee
深圳光启空间技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳光启空间技术有限公司 filed Critical 深圳光启空间技术有限公司
Publication of WO2018107733A1 publication Critical patent/WO2018107733A1/fr

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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)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Feedback Control In General (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un procédé et un dispositif de commande de dirigeable. Le procédé comprend les étapes consistant : à acquérir des informations d'itinéraire et des informations d'état du dirigeable ; à déterminer, en fonction des informations d'itinéraire et des informations d'état, une vitesse et une accélération tangentielle du dirigeable ; et à commander, en fonction de la vitesse et de l'accélération tangentielle, le dirigeable. Le procédé peut être utilisé pour assurer un vol stable du dirigeable et améliorer la capacité de suivi d'itinéraire du dirigeable.
PCT/CN2017/092053 2016-12-15 2017-07-06 Procédé et dispositif de commande de dirigeable WO2018107733A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201611161418.6A CN108216548A (zh) 2016-12-15 2016-12-15 一种用于飞艇的控制方法和装置
CN201611161418.6 2016-12-15

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WO2018107733A1 true WO2018107733A1 (fr) 2018-06-21

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097765A (zh) * 2020-09-22 2020-12-18 中国人民解放军海军航空大学 一种采用定常与时变前置角相结合的飞行器前置导引方法

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111027206B (zh) * 2019-12-05 2024-02-09 哈尔滨工业大学 具有规定性能的拦截机动目标自适应滑模控制方法
CN112660358B (zh) * 2020-12-24 2022-09-20 中国特种飞行器研究所 一种模式可选的平流层飞艇下降轨迹预测方法

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JP2007317165A (ja) * 2006-04-26 2007-12-06 Nippon Telegr & Teleph Corp <Ntt> 自律移動ロボットの動作計画方法、自律移動ロボットの動作計画方法を利用した自律移動ロボットの制御方法、自律移動ロボットの動作計画装置、自律移動ロボットの動作計画プログラム及びその記録媒体、自律移動ロボットの制御プログラム
CN103389092A (zh) * 2013-08-13 2013-11-13 湖南航天机电设备与特种材料研究所 一种系留飞艇姿态测量装置及测量方法
CN104118555A (zh) * 2014-07-14 2014-10-29 北京大学 一种无人自主飞艇及其飞行控制系统的建立方法
CN105573339A (zh) * 2016-01-16 2016-05-11 深圳先进技术研究院 一种基于旋翼飞艇的导航飞行系统
CN106125755A (zh) * 2016-08-31 2016-11-16 中国科学院南海海洋研究所 一种无人机的大气边界层环境自主探测系统及其控制方法

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WO2003004352A1 (fr) * 2001-07-06 2003-01-16 Seiko Epson Corporation Système de dirigeable

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JP2007317165A (ja) * 2006-04-26 2007-12-06 Nippon Telegr & Teleph Corp <Ntt> 自律移動ロボットの動作計画方法、自律移動ロボットの動作計画方法を利用した自律移動ロボットの制御方法、自律移動ロボットの動作計画装置、自律移動ロボットの動作計画プログラム及びその記録媒体、自律移動ロボットの制御プログラム
CN103389092A (zh) * 2013-08-13 2013-11-13 湖南航天机电设备与特种材料研究所 一种系留飞艇姿态测量装置及测量方法
CN104118555A (zh) * 2014-07-14 2014-10-29 北京大学 一种无人自主飞艇及其飞行控制系统的建立方法
CN105573339A (zh) * 2016-01-16 2016-05-11 深圳先进技术研究院 一种基于旋翼飞艇的导航飞行系统
CN106125755A (zh) * 2016-08-31 2016-11-16 中国科学院南海海洋研究所 一种无人机的大气边界层环境自主探测系统及其控制方法

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112097765A (zh) * 2020-09-22 2020-12-18 中国人民解放军海军航空大学 一种采用定常与时变前置角相结合的飞行器前置导引方法

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