CN104020779B - A kind of distribution dirigible control system - Google Patents
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- CN104020779B CN104020779B CN201410293290.3A CN201410293290A CN104020779B CN 104020779 B CN104020779 B CN 104020779B CN 201410293290 A CN201410293290 A CN 201410293290A CN 104020779 B CN104020779 B CN 104020779B
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Abstract
The invention discloses a kind of distributed dirigible control system, including at least one collection driving unit, a core computer and at least one Digital Transmission bus；Collection driving unit is distributed on dirigible, on the one hand the environment and running state information of dirigible are gathered, after converting information into digital signal, is sent by Digital Transmission bus to core computer, on the other hand the control instruction of core computer, the action of control executing agency are received；Core computer is located in airship gondola, and the environment and running state information of collection driving unit are received by Digital Transmission bus, sends control instruction to each collection driving unit by Digital Transmission bus after being handled.This dirigible control system has stronger flexibility and scalability by the way of distributed capture drives and manages control concentratedly.
Description
Technical field
The present invention relates to a kind of dirigible control system, more particularly to one kind to be driven and be managed concentratedly control using distributed capture
The distributed dirigible control system of system, belongs to airship technology field.
Background technology
Dirigible is a kind of lighter-than-air craft, its principle of going up to the air is identical with balloon, but can carry out dynamic navigation
And manipulation.Dirigible generally has a huge air bag and corresponding propulsion, steerable system.Dirigible passes through into hull air bag
Gas (such as helium) lift-off for being lighter than air is filled with, kayak body is promoted with driven by engine propeller, is manipulated and navigated with ship tail vane face
Line direction.Modern dirigible is surveyed, photographed in the air, advertisement, is widely used in lifesaving and air transport.
Dirigible is a complicated integrated system, generally includes structure, dynamical system, core computer (ship load computer)
Multiple subsystems such as system, remote control telemetering system, takeoff and anding system and electric supply system.Wherein ship carries computer system
Be the core of electric system in dirigible system, be the command centre of whole dirigible, it be responsible for dirigible flight control, navigation and
Ship business management uses the structure of the controls such as pressure, guarantor's type, temperature, buoyancy guarantee dirigible to ensure the flight safety of dirigible
Stablize.In addition, ship carries computer receives the control command from earth command station in flight course, the flight appearance of dirigible is controlled
State, presumptive area is flown to by route set in advance control dirigible, and commands dirigible to complete predetermined task.
For large-scale and huge dirigible, it is mainly characterized by sensor collection point, control point disperses, communication distance
Far, the distance between each collection point and control point and core computer are differed from several meters to hundreds of meters.In dirigible common at present
In control system, all by the way of core central computer (ship load computer) is directly gathered and controlled, i.e., using a CPU or
Person's dsp operation control algolithm；Sensor signal is directly gathered by analog-to-digital conversion (A/D), obtains flight environment of vehicle；Turned by digital-to-analogue
Change the action such as (D/A) direct output control, driving executing agency, steering engine and air blower；It is direct by DIO (digital IO)
Obtain the signal of simultaneously driving switch amount；Last additional supply, GPS module, serial port module, Signal-regulated kinase etc. complete ship and carry meter
The Control System Design of calculation machine.
But existing dirigible control system still has the shortcomings that following：It is that command range is short first：Using analog-to-digital conversion, number
When the mode such as mould conversion and DIO realizes control, have no problem in several meters even more than ten meters of distance range.But
It is if when distance reaches tens meters even more than 100 meters, due to reasons such as signal of communication decay, can not transmits so remote
Distance.Secondly adaptive capacity to environment is poor：The flying height of large-scale and huge dirigible can reach more than 2 myriametres, and outside flies
Row environment is very severe, and common dirigible control system does not take into full account the adaptability to such environment, especially low temperature
The problem of environment.Such as Airbus SAS discloses a set of point in the patent application of Application No. 200980104459.3
Cloth flight control system.Although the system can partly solve the problems, such as that transmission range is short, its transmission range can only achieve
100 meters or so, it can not meet that the flight control of huge dirigible of the space scale more than 100 meters requires, and the control system
System can not also adapt to the ultra-low temperature surroundings in high-altitude for a long time.
The content of the invention
In view of the deficiencies of the prior art, the technical problems to be solved by the invention are to provide a kind of distributed dirigible control
System.
For achieving the above object, the present invention uses following technical solutions：
A kind of distribution dirigible control system, including at least one collection driving unit, a core computer and at least
One Digital Transmission bus；
The collection driving unit is distributed on dirigible, the environment and running state information of dirigible is on the one hand gathered, by institute
State after information is converted to digital signal, sent by Digital Transmission bus to the core computer, on the other hand receive institute
State the control instruction of core computer, the action of control executing agency；
The core computer is located in airship gondola, and the collection driving unit is received by Digital Transmission bus
Environment and running state information, control instruction is sent to each collection drive after being handled by the Digital Transmission bus
Moving cell.
Wherein more preferably, the collection driving unit includes CPU module, FPGA module, A/D modules, D/A modules, PWM moulds
Block, DIO modules, serial port module, transport module and Signal-regulated kinase；Wherein,
The Signal-regulated kinase gathers flight environment of vehicle information, and the A/D modules are transmitted to after conditioned；The A/D moulds
Block carries out signal sampling to flight environment of vehicle information and is converted into digital signal；The DIO modules and the Signal-regulated kinase phase
Connection, controls the switching value equipment and collection switching value information of dirigible；The D/A modules, the PWM module, the serial ports mould
Block is connected by Signal-regulated kinase with performing structure, the executing agency for drive control dirigible；The FPGA module is led to
Cross the shape vision signal that Signal-regulated kinase obtains dirigible from sensor；The transport module is total by the Digital Transmission
Line is connected with the core computer, for the information exchange with the core computer；The CPU module receives modules
Collection information, and transmit information to the core computer, while obtain the control instruction of the core computer, control
Make executing agency's action.
Wherein more preferably, the collection driving unit further includes environmental control module, and the environmental control module includes temperature
Control box, sensor and shielding box；
The temperature controlling box is according to the collecting temperature of sensor to determine whether needing to start refrigeration or heating；The shielding box
For shielding the electromagnetic interference of the collection driving unit.
Wherein more preferably, the core computer and the collection driving unit pass through Digital Transmission bus head and the tail
It is connected.
Wherein more preferably, the Digital Transmission bus uses optical fiber, and the core computer and the collection driving are single
Member is connected by optical fiber interface with optical fiber switch.
Wherein more preferably, the collection driving unit is attached with the core computer using point-to-point mode, institute
State Digital Transmission bus and/reception mode is sent using difference.
Wherein more preferably, the Digital Transmission bus includes the bus repeater of band border control module.
Wherein more preferably, the Digital Transmission bus includes bus and ship bottom bus on ship：Adopted described on ship
Collection driving unit is connected by bus on the ship with the core computer；The collection driving unit positioned at ship bottom leads to
Ship bottom bus is crossed with the core computer to be connected.
Wherein more preferably, ship bottom bus is arranged using redundant fashion.
Distribution dirigible control system provided by the present invention is driven using distributed capture and is mutually tied with centralized management control
The mode of conjunction, can effectively cover scattered collection point and control point, be the spirit that the structure design of dirigible and installation bring bigger
Activity；By the quantity for increasing collection driving unit, you can realize the extension of dirigible control system；With command range is remote, ring
The technical advantages such as border is adaptable.
Brief description of the drawings
Fig. 1 is the structure diagram of distributed dirigible control system provided by the present invention；
Fig. 2 is the structure diagram that driving unit is gathered in the present invention；
Fig. 3 is the structure diagram of core computer in the present invention；
Fig. 4 is in the present invention, using the schematic diagram of the dirigible control system of optical fiber ring network；
Fig. 5 is in the present invention, using the schematic diagram of the dirigible control system of optical fiber switch；
Fig. 6 is in the present invention, using the schematic diagram of the dirigible control system of point-to-point interconnection；
Fig. 7 is in the present invention, using the schematic diagram of the hybrid air-ship control system without redundant fashion；
Fig. 8 is in the present invention, using the schematic diagram of the hybrid air-ship control system with redundant fashion.
Embodiment
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings.
Referring to Fig. 1, distribution dirigible control system (abbreviation dirigible control system) provided by the present invention includes several
Gather driving unit, a core computer and at least one Digital Transmission bus.Wherein, each collection driving unit point
The environment and running state information in each place of dirigible, on the one hand gathered near the unit is dissipated, and will collection information conversion
After digital signal, sent by Digital Transmission bus to core computer；On the other hand the control of core computer is received
Instruction, controls the executing agency near the unit to act.Core computer is the core of whole dirigible control system, for concentrating
The various functions of control management dirigible.Core computer receives the dirigible ring for the collection driving unit that Digital Transmission bus is sent
Border running state information, and draw corresponding control output signal according to preset dirigible control software, pass through Digital Transmission
Bus will control output signal to be sent to corresponding collection driving unit.Core computer is except controlling each collection driving unit
Outside, a variety of measurement task equipment can also be controlled at the same time, for example, it is atmosphere data machine, anemoclinograph, remote measuring and controlling, load, used
Lead, altimeter, magnetic compass, laser range finder and GPS/BD2 positioning etc..
Compared with prior art, the present invention several collection driving units of scattering device with dirigible.Each collection
Driving unit controls by gathering dirigible information and drives neighbouring executing agency to act.Core meter in airship gondola
Calculation machine is managed concentratedly, and controls collection driving unit and other equipment work.In this way, this dirigible control system not only may be used
With effective over all scattered collection points and control point on dirigible, while the structure design of dirigible and installation are had more
Big flexibility.
Fig. 2 is the structure diagram of collection driving unit.The collection driving unit is essentially a small-sized control system,
It is used for realization the functions such as the state acquisition of dirigible, drive control, video monitoring, digitlization converting transmission.Each collection driving is single
Member include CPU module, FPGA module, A/D (analog-to-digital conversion) module, D/A (digital-to-analogue conversion) module, PWM (pulsewidth modulation) module,
Signal-regulated kinase needed for DIO (digital IO) module, serial port module, transport module and each module.Signal condition
The flight environment of vehicle information that module gathers sensor assembly, such as temperature, humidity, pressure difference information are transmitted to after carrying out signal condition
A/D modules.Environmental signal after conditioning is sampled A/D modules and analog-to-digital conversion；DIO modules and Signal-regulated kinase phase
Connection, for controlling the switching value equipment of dirigible, and gathers dirigible switching value equipment state；D/A modules, PWM module, serial ports mould
Block is connected by Signal-regulated kinase with performing structure, for the executing agency of drive control dirigible, such as valve, air blast
Machine, propulsion electric machine, steering engine, navigation light, landing rope etc.；FPGA module is connected with sensor die video signal source in the block, uses
Handled in the shape vision signal of collection dirigible, while according to preconfigured program is run；Transport module passes through numeral
Change transfer bus with core computer to be connected, for gathering the information exchange of driving unit and core computer；CPU module is to adopt
Collect the control core of driving unit, for controlling the behavior of other modules.Such as obtain sensor information, the information of executing agency
And video information.Information processing is carried out by Digital Transmission bus transfer to core computer after CPU module acquisition information, together
When obtain the relevant control instruction of core computer, and executing agency's action near controlling, such as valve, air blower, propulsion
Motor, steering engine, navigation light, landing rope etc..
In practice, the large-scale and huge usual flying height of dirigible is higher, exterior working environment also very severe.In order to
The adaptive capacity to environment of dirigible is improved, the present invention is also each collection in addition to setting environmental control module in airship gondola
Environmental control module has been respectively configured in driving unit.The environmental control module be used for for collection driving unit provide temperature control and
Electro-magnetic screen function.Wherein temperature control unit includes temperature controlling box and sensor.Temperature controlling box according to the collecting temperature of sensor come
Judge whether to need to start refrigeration or heating.When temperature is less than setting value, starts heating, stop after reaching setting range；When
When temperature is higher than setting value, start to freeze.Therefore the temperature control unit is passed through so that dirigible can adapt to the temperature model of bigger
Enclose.For electromagnetic interference, closed (such as copper, brass and aluminium) shielding box can be used.The present invention passes through for collection driving unit
Configuration surroundings control module, temperature acquisition point can accurately reflect some local temperature of dirigible due to more disperseing.Relative to
Concentrate and carry out ring control, distributed capture control can be controlled and adjusted in time, ensure that the response speed of information.By using point
The dirigible control system of cloth environmental control module, can make dirigible adapt to the low temperature environment in high-altitude, and working depth may be up to
50000 meters or so (as reference, the highest flying height of common airline carriers of passengers is not over 12600 meters).
Referring to Fig. 3, core computer is the centralized management control centre of dirigible, in airship gondola.The core meter
Calculation machine also manages load, task device and energy resource system etc. concentratedly except the information of control collection driving unit.Core meter
Calculation machine includes CPU module, FPGA module, serial port module, transport module, memory module and emergency processing module etc..Wherein CPU
Module is connected with FPGA module, serial port module, transport module, memory module, emergency processing module respectively.FPGA module is expansion
Interface is opened up, is controlled for aiding CPU module and runs preconfigured agreement；Serial port module and inertial navigation, GPS/BD2 are fixed
The tasks such as position, altimeter, remote measuring and controlling, atmosphere data machine, anemoclinograph, altimeter, magnetic compass and laser range finder are set
It is standby to be connected, for obtaining the information such as navigation, flight control, energy monitor, load；Memory module is connected with CPU module, storage
Necessary state of flight and data；Emergency processing module and CPU module, FPGA module, serial port module, transport module etc. are connected
Connect, the flight control information being used for transmission under contingency mode；Transport module passes through Digital Transmission bus and collection driving unit
It is connected, receives the dirigible status information of collection driving unit collection, while control instruction is sent to collection driving unit.CPU
The dirigible state parameter and environmental parameter that module is obtained according to serial port module, transport module are controlled resolving, navigation calculation, ship
Business management etc., and dirigible is controlled so that dirigible can judge what is used to target point set in advance or flight path
Flying method, ensures the flight path of airship platform, fixed position, attitude stabilization etc. in certain accuracy rating.
Digital Transmission bus is not traditional bus in the present invention, but be used for realization collection driving unit with
The data channel of status information, control instruction and video information interaction between core computer.Therefore dirigible control system
Network is not limited to the topological structure such as bus-type, star-like, ring-like.In a particular embodiment, Digital Transmission bus can use
The communication standards such as CAN, MIL-STD-1553, Fibre channel (i.e. FC, fiber channel) or RS485.And transmission medium is excellent
Select the optical fiber from outside electromagnetic interference, naturally it is also possible to select cable etc..Since in the actual use of dirigible, digitlization passes
Defeated bus selection is different, and dirigible control system has different embodiments.Below for distributed dirigible provided by the present invention
Control system, specifically introduces several preferred embodiments.
Embodiment one
Referring to Fig. 4, the dirigible control system in the embodiment uses optical fiber ring network.Digital Transmission bus uses optical fiber.
The multiple collection driving units of dirigible control and core computer join end to end and connect, and constitute a ring-like control system.
Embodiment two
Referring to Fig. 5, the Digital Transmission bus of the dirigible control system still uses optical fiber, and core computer and collection are driven
Moving cell is all connected on an optical fiber switch by optical fiber interface.Exchanged using optical fiber and realize collection information and control life
The transmission of order.Ground telemetering remote control, temperature controlling box, sensor, air computer, inertial navigation, GPS/BD2, vertical gyro, magnetic sieve
Disk etc. is still connected between core computer using serial ports, RS422.Here temperature controlling box, sensor is used for controlling gondola
Temperature, with gather driving unit environmental control module function it is similar.By the control system, each collection of dirigible and
The distance at control point, extends to tens meters even up to a hundred meters of distance, after especially Digital Transmission bus uses optical fiber, adopts
Collection and the distance at control point can even reach 1 km, at the same the transmission speed of optical fiber will not because of the big signal attenuation of transmission range,
Therefore the size of dirigible is no longer limited by transmission range, is conducive to the construction of large-scale or even huge dirigible.
Embodiment three
Referring to Fig. 6, Digital Transmission bus uses RS485/RS422 buses.Collection driving unit and core computer are adopted
With point-to-point connection mode.Since the bus using difference sends/reception mode, there is certain common mode interference to suppress energy
Power, therefore communication distance can reach km.
Example IV
A kind of hybrid air-ship control system is proposed in the present embodiment.Wherein, the collection driving unit of dirigible bottom
It is connected when being connected with core computer by ship bottom bus.And the collection driving unit on ship can pass through RS485/RS422
Directly it is connected with core computer.Referring to Fig. 7, ship bottom configuration a set of ship bottom bus of the dirigible control system, is without redundancy
Hybrid air-ship control system.The bus can use CAN bus or MIL-MTD-1553B buses.When actually connecting,
Multiple collection driving units of ship bottom are all directly hung over above the bus of ship bottom.Due to the increase of dirigible volume, distance
Increase can cause the transmission rate of Digital Transmission bus to decline.To solve this technical problem, the present invention in the bus every
A distance installs a bus repeater.To reduce the influence of working environment, environment is configured with each bus repeater
Control module, so as to the transmission rate of further Support Digitalization transfer bus.
Embodiment five
In order to further ensure the reliability of dirigible control system, the present invention also provides the hybrid air-ship of a cuff redundancy
Control system, referring specifically to Fig. 8.Difference lies in ship bottom configures the ship bottom bus of a set of redundancy as numeral by the system and Fig. 7
Change transfer bus.Each collection driving unit at ship bottom is connected by two ship bottom buses with core computer respectively, and
The bus repeater with environmental control module is equipped with the bus of each ship bottom.Collection driving unit on ship passes through RS485/
RS422 is connected with core computer.
In conclusion dirigible control system provided by the present invention can be effective over scattered collection point and control
Point, greater flexibility is brought for the structure design and installation of dirigible, can be achieved by the quantity for increasing collection driving unit
The extension of system；By selecting suitable Digital Transmission bus so that the volume of dirigible is no longer by data transmission distance with passing
The limitation of defeated speed.In addition the present invention is configured with environmental control module for dirigible control system, can have dirigible stronger
Adaptive capacity to environment, working depth is up to 50000 meters.
Distributed dirigible control system provided by the present invention is described in detail above.To the general of this area
For technical staff, to any obvious change that it is done on the premise of without departing substantially from true spirit, all will
Form to infringement of patent right of the present invention, corresponding legal liabilities will be undertaken.
Claims (8)
1. a kind of distribution dirigible control system, it is characterised in that including at least one collection driving unit, a core calculations
Machine and at least one Digital Transmission bus；
The collection driving unit is distributed on dirigible, the environment and running state information of dirigible is on the one hand gathered, by the letter
After breath is converted to digital signal, is sent by Digital Transmission bus to the core computer, on the other hand receive the core
The control instruction of heart computer, the action of control executing agency；
The core computer is located in airship gondola, and the environment of the collection driving unit is received by Digital Transmission bus
And running state information, control instruction is sent to each collection driving list by the Digital Transmission bus after being handled
Member；Wherein,
The collection driving unit includes CPU module, FPGA module, A/D modules, D/A modules, PWM module, DIO modules, serial ports
Module, transport module and Signal-regulated kinase；The Signal-regulated kinase gathers flight environment of vehicle information, is transmitted to after conditioned
The A/D modules；The A/D modules carry out signal sampling to flight environment of vehicle information and are converted into digital signal；The DIO modules
It is connected with the Signal-regulated kinase, controls the switching value equipment and collection switching value information of dirigible；The D/A modules, institute
State PWM module, the serial port module is connected by Signal-regulated kinase with executing agency, the execution for drive control dirigible
Mechanism；The FPGA module obtains the shape vision signal of dirigible by Signal-regulated kinase from sensor；The transport module
It is connected by the Digital Transmission bus with the core computer, for the information exchange with the core computer；Institute
The information that CPU module receives the collection of modules is stated, and transmits information to the core computer, while obtains the core
The control instruction of heart computer, controls the executing agency to act.
2. distribution dirigible control system as claimed in claim 1, it is characterised in that the collection driving unit further includes ring
Border control module, the environmental control module include temperature controlling box, sensor and shielding box；
The temperature controlling box is according to the collecting temperature of sensor to determine whether needing to start refrigeration or heating；The shielding box is used for
The electromagnetic interference of shielding collection driving unit.
3. distribution dirigible control system as claimed in claim 1, it is characterised in that：
The core computer and the collection driving unit are joined end to end by the Digital Transmission bus.
4. distribution dirigible control system as claimed in claim 1, it is characterised in that：
The Digital Transmission bus uses optical fiber, the core computer and the collection driving unit by optical fiber interface with
Optical fiber switch is connected.
5. distribution dirigible control system as claimed in claim 1, it is characterised in that：
The collection driving unit is attached with the core computer using point-to-point mode, the Digital Transmission bus
/ reception mode is sent using difference.
6. distribution dirigible control system as claimed in claim 1, it is characterised in that：
The Digital Transmission bus includes the bus repeater of band border control module.
7. distribution dirigible control system as claimed in claim 1, it is characterised in that the Digital Transmission bus includes ship
Upper bus and ship bottom bus：Collection driving unit on ship is connected by bus on the ship with the core computer
Connect；Collection driving unit positioned at ship bottom is connected by ship bottom bus with the core computer.
8. distribution dirigible control system as claimed in claim 7, it is characterised in that：
Ship bottom bus is arranged using redundant fashion.
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| CN105006032B (en) * | 2014-10-28 | 2018-08-24 | 陕西千山航空电子有限责任公司 | A kind of distributed FDR system and its implementation based on 1394B |
| FR3036475B1 (en) * | 2015-05-22 | 2018-08-10 | Flying Whales | AIRCRAFT AND METHOD FOR STABILIZING AN AIRCRAFT |
| CN105425671B (en) * | 2015-11-30 | 2019-01-08 | 上海宇航***工程研究所 | Moon exploration distributed information system |
| CN105373047A (en) * | 2015-12-05 | 2016-03-02 | 中国航空工业集团公司洛阳电光设备研究所 | Photoelectric pod gyroscope stabilization control platform |
| CN109510655B (en) * | 2017-09-15 | 2021-04-13 | 山东科技大学 | Task-oriented formation networking distributed cooperative flight control method for near space platform |
| CN108281045A (en) * | 2018-01-31 | 2018-07-13 | 汪印 | A kind of low latitude traffic management method and system |
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