CN106005354A - Airship buoyancy sky-staying control method - Google Patents

Abstract

The invention discloses an airship buoyancy sky-staying control method. An airship buoyancy sky-staying formula is derived, on this basis, a technical scheme of achieving airship sky-staying control based on buoyancy gas temperature adjustment is provided, the method comprises the steps that according to a preset airship sky-staying height, the buoyancy gas mass, the airship capsule volume and a sky-staying temperature needed by the buoyancy gas at the height are calculated by means of an airship buoyancy sky-staying formula, the buoyancy gas temperature is controlled through a temperature control module, and airship sky-staying control is achieved. Compared with the prior art, by means of the control method, airship sky-staying control is conducted only through buoyancy, a loss of the buoyancy gas can be effectively reduced, the airship airborne period is prolonged, an available effective load of an airship is increased, and the control method is simple, reliable and easy to achieve.

Description

A kind of dirigible buoyancy control method in sky

Technical field

The present invention relates to aviation aircraft automatic control technology field, relate more specifically to a kind of by calculating and controlling floating Strength weight, dirigible utricule volume, buoyant gas temperature control dirigible and only stay empty method with buoyancy.

Background technology

Dirigible is that a kind of dependence is lighter than the gas (such as helium, hydrogen etc.) of air and produces the lift-off of quiet buoyancy, relies on and controls system System and propulsion system realize the floating class aircraft of the resident and low-speed maneuver of fixed point, have that airborne period length, energy consumption be low, efficiency-cost ratio Advantages of higher, is widely used in the fields such as reconnaissance and surveillance, earth observation, environmental monitoring, emergency disaster relief, scientific exploration, has weight The using value wanted and wide application prospect, become the study hotspot of aviation field the most.

But, the current dirigible technology of control in sky is mainly limited to charge and discharge buoyant gas, sheds the modes such as ballast and regulate Dirigible buoyancy and the balance of dirigible weight, which is a kind of loss for buoyant gas, and ballast then occupies dirigible A part of payload, it is impossible to make full use of the effective load-carrying ability of dirigible, reduces the available payload of dirigible and stays sky Time.

Therefore, it is necessary to provide a kind of novel made full use of dirigible payload capability simple and reliable dirigible to stay Empty control method.

Summary of the invention

It is an object of the invention to provide a kind of by calculating and controlling buoyant gas quality, dirigible utricule volume, buoyancy gas Temperature controls dirigible and only stays empty method with buoyancy, to realize the control in sky of dirigible easily and reliably and more efficient Utilize the useful load of dirigible.

For achieving the above object, the present invention proposes a kind of dirigible buoyancy control method in sky, and the buoyancy for dirigible is stayed Empty problem, according to carat amber dragon state equation, atmospheric temperature T and the statistical formula of height above sea level H, the atmospheric pressure of ideal gas Dirigible buoyancy formula in sky is derived by the statistical formula of p and height above sea level H, specifically includes:

1) the carat amber dragon state equation of ideal gas

$\mathrm{\ρ}=\frac{pM}{RT}$

2) atmospheric temperature T and the statistical formula of height above sea level H

T=288.15-6.5H H≤11km

T=216.65 11km ＜ H≤20km

T=216.65+ (H-20) 20km ＜ H≤32km

3) atmospheric pressure p and the statistical formula of height above sea level H

P=10332.3 × (1-0.0225577H)^5.25588 H≤11km

$p=2307.8\&times;{2.7182848}^{\frac{11-H}{6.34142}},11km<H\&le;20km$

P=558.28 × (1+ (H-20) × 0.00461574)^-34.163220km ＜ H≤32km

Deriving dirigible buoyancy formula in sky is:

Wherein, ρ is gas density, and p is gas pressure, and M is gas molar quality, and T is gas temperature, and R is gas constant, m_FloatingFor buoyant gas quality, m₀For dirigible gross mass, T_EmptyFor atmospheric gas temperature, M_EmptyFor atmospheric gas molal weight, T_FloatingIt is floating Strength temperature, M_FloatingFor buoyant gas molal weight, ρ (H) is the atmospheric density of corresponding height above sea level H, V_FloatingFor dirigible bladders Long-pending.

The buoyancy formula in sky derived is used for: calculates and controls buoyant gas quality and dirigible utricule volume goes control to fly Ship only stays sky with buoyancy；Calculate design buoyant gas temperature to go to control buoyancy in sky.

Dirigible buoyancy control in sky is based primarily upon buoyant gas temperature adjusting, and technical scheme is implemented to include:

Set dirigible degree in outage according to task situation, calculate required buoyant gas quality by dirigible buoyancy formula in sky With dirigible utricule volume；

After dirigible arrives predetermined degree in outage, calculate buoyant gas at this highly desired degree in air temperature；

Regulate and control buoyant gas temperature by temperature control modules, make dirigible only rely on buoyancy at the predetermined place of degree in outage and stay Empty.

Compared with prior art, the control method of the present invention is by calculating dirigible utricule volume, buoyant gas quality and floating Strength temperature control realization carries out dirigible control in sky merely with buoyancy, effectively reduces the loss of buoyant gas, and increase flies Ship airborne period, increases dirigible and can use payload, and control method is the most simple and reliable, is also more prone to realize.

By description below and combine accompanying drawing, the present invention will become more fully apparent, and accompanying drawing is for explaining the reality of the present invention Execute example.

Accompanying drawing explanation

Fig. 1 is dirigible buoyancy control flow chart in sky of the present invention.

Detailed description of the invention

With reference now to accompanying drawing, embodiments of the invention are described.

Refer to Fig. 1, one dirigible buoyancy control method in sky of the present invention is based primarily upon buoyant gas temperature adjusting, specifically Including:

Step 1: set dirigible task height H according to task situation, calculates required buoyancy by dirigible buoyancy formula in sky Gaseous mass m_FloatingWith dirigible utricule volume V_Floating, according to result of calculation, the above-mentioned design parameter of dirigible is set；

Step 2: after dirigible arrives the predetermined H of degree in outage, calculate buoyant gas T of degree in air temperature at height above sea level H_Floating, turn Turn to signal of telecommunication U₀；

Step 3: utilize height sensor directly to measure current dirigible actual height H_t, be converted to voltage signal U_t；

Step 4: by U₀And U_tInput difference amplifier, obtains pressure difference signal Δ U after being amplified；

Step 5: temperature control module obtains pressure difference signal Δ U, calculates required heater watt level also according to the value of Δ U Issue operational order；

Step 6: heater response operational order, increases or reduces heating power, causing buoyant gas temperature to change, logical Cross buoyant gas temperature and change the size regulating buoyant gas buoyancy, and then control dirigible actual height H_t。

Step 7: dirigible actual height H measured in real time by height sensor_t, and by the voltage signal U of conversion_tConstantly pass to Difference amplifier processes, and completes H_tFeedback regulation, makes dirigible actual height H_tKeep consistent with dirigible task height H.

Above in association with most preferred embodiment, invention has been described, but the invention is not limited in enforcement disclosed above Example, and amendment, the equivalent combinations that the various essence according to the present invention is carried out should be contained.

Claims (3)

1. a dirigible buoyancy control method in sky, it is characterised in that for the buoyancy problem in sky of dirigible, according to ideal gas Carat amber dragon state equation, atmospheric temperature T and the statistical formula of height above sea level H, atmospheric pressure p and the statistics of height above sea level H The derivation of equation buoyancy formula in sky of dirigible, specifically, including:

1) the carat amber dragon state equation of ideal gas

$\mathrm{\&rho;}=\frac{pM}{RT}$

2) atmospheric temperature T and the statistical formula of height above sea level H

T=288.15-6.5H H≤11km

T=216.65 11km ＜ H≤20km

T=216.65+ (H-20) 20km ＜ H≤32km

3) atmospheric pressure p and the statistical formula of height above sea level H

P=10332.3 × (1-0.0225577H)^5.25588 H≤11km

$\begin{array}{cc}p=2307.8\&times;{2.7182848}^{\frac{11-H}{6.34142}}& 11km<H\&le;20km\end{array}$

P=558.28 × (1+ (H-20) × 0.00461574)^-34.163220km ＜ H≤32km

Deriving dirigible buoyancy formula in sky is:

Wherein, ρ is gas density, and p is gas pressure, and M is gas molar quality, and T is gas temperature, and R is gas constant, m_FloatingFor Buoyant gas quality, m₀For dirigible gross mass, T_EmptyFor atmospheric gas temperature, M_EmptyFor atmospheric gas molal weight, T_FloatingFor buoyancy gas Temperature, M_FloatingFor buoyant gas molal weight, ρ (H) is the atmospheric density of corresponding height above sea level H, V_FloatingFor dirigible utricule volume.

According to default dirigible degree in outage, utilize dirigible buoyancy formula in sky calculate buoyant gas quality, dirigible utricule volume and Buoyant gas, at this highly desired degree in air temperature, regulates and controls buoyant gas temperature by temperature control modules, it is achieved sky stayed by dirigible Control.

2. dirigible buoyancy control method in sky as claimed in claim 1, it is characterised in that utilize dirigible buoyancy formula in sky: meter Calculate and control buoyant gas quality and dirigible utricule volume goes to control dirigible and only stays sky with buoyancy；Calculate design buoyant gas temperature Go to control dirigible buoyancy and stay sky.

3. dirigible buoyancy control method in sky as claimed in claim 1, it is characterised in that technical scheme includes:

Set dirigible degree in outage according to task situation, calculate required buoyant gas quality by dirigible buoyancy formula in sky and fly Ship utricule volume；

After dirigible arrives predetermined degree in outage, calculate buoyant gas at this highly desired degree in air temperature；

Regulate and control buoyant gas temperature by temperature control modules, make dirigible only rely on buoyancy at the predetermined place of degree in outage and stay sky.