A dual airship system based on sail-assisted navigation and its regional residence control strategy

Abstract

The application discloses a kind of dual floaters system based on sail navigation and its regional residence control strategy, system includes the upper buoyancy ball and lower float boat connected by traction rope;The vertical tail of the capsule body tail of lower float boat is provided with, the symmetrical stabilizer of the upper and lower of capsule body is provided with, can cause Bernoulli effect, energy cabin is connected outside capsule body, and adjusting device is arranged in energy cabin to realize the retraction of traction rope;Solar panel is installed on the left and right sides of capsule body to power supply adjusting device, and auxiliary air bag is built-in in capsule body;The upper buoyancy ball and float boat are filled with quantitative lifting gas in capsule body, and air inlet and air outlet are arranged in auxiliary air bag, compressor is installed at air inlet to supplement air for auxiliary air bag, and air release opening is opened to release air for auxiliary air bag;The capsule body of float boat is suspended with load cabin under side.This application solves the problem of unpowered floater regional / point residence, solves the key problem of long-time ground reconnaissance monitoring, regional communication relay and other application needs of floater.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of sounding balloons, and specifically relates to a dual-float balloon system based on sail-assisted navigation and a regional residence control strategy thereof. BACKGROUND

[0002] The airspace 20-100 kilometers away from the ground is called near space, and the air in this airspace is relatively thin and is not limited by national boundaries, and has great development value. The near-space balloon balances gravity by buoyancy to achieve suspension in the atmosphere. Due to its lower launch cost, lower launch condition requirement, better maneuverability and suitability for mass production compared with large airships, it has attracted widespread attention in various fields.

[0003] The stratospheric airship is a near-space low-dynamic aircraft with controllable flight, and uses a circulating energy source composed of solar cells and energy storage batteries to provide power for a propeller driven by a motor, and can carry a task load to achieve long-term stable residence and controllable flight in a certain area. Since the anti-wind strategy is adopted for the residence, that is, the propeller power is used to overcome the influence of the wind field on the fixed-point flight, the stratospheric airship puts forward very high requirements for the energy, propulsion and control systems, which greatly limits its development and application.

[0004] The quasi-zero wind layer is a height layer in which the east-west wind speed in the lower layer of the stratosphere is close to 0, and it is essentially the conversion of the east-west wind in the lower layer of the stratosphere. The existing floaters can control the force in the east-west direction by adjusting their height according to the wind field characteristics of the stratosphere, and then realize regional residence in the east-west direction. However, there is no quasi-zero wind layer in the south-north direction of the stratosphere, and the height of the floater cannot be adjusted to realize regional residence in the south-north direction.

[0005] Regarding the structure and control strategy of the regional residence floater, the currently disclosed patents are as follows:

[0006] CN 110244754B proposes a control system and method for fixed-point residence of a stratospheric floater, which uses a PID tracking algorithm to control the vector thrust module to resist the action of the wind field and realize fixed-point residence. However, this strategy still relies on the active propulsion system, and puts forward very high requirements for the energy, propulsion and control systems, which affects its application in the field of floaters.

[0007] CN 108408018 B proposes a near-space floating device and its control method, which innovatively proposes a nested structure of a power ball and a balance ball. The buoyancy of the balance ball is less than the gravity of the load cabin, and the sum of the buoyancy of the power ball and the balance ball is greater than the overall gravity of the floating device. At a certain height after release, the power ball explodes, the device as a whole receives a downward force, the device speed gradually changes until it reaches the target height, the control counterweight cabin door opens to unload, so that the buoyancy of the balance ball is equal to the overall gravity of the device, achieving vertical force balance and vertical high-altitude residence. However, this method only solves the residence in the height direction, and does not propose a solution to the residence in the east-west and north-south directions.

[0008] CN 112896483 A proposes a floating device based on mechanical compression variable volume control and its high altitude control method. The method innovatively proposes a mechanical structure installed inside the buoyancy ball to adjust the volume of the buoyancy ball and change the overall buoyancy of the floating device, achieving height adjustment of the floating device in the wind field, adjusting the east-west force of the floating device in the wind field, and solving the east-west regional residence problem. However, this method does not solve the north-south regional residence problem.

[0009] CN 113371174 A proposes a regional residence floating system based on wind sail navigation. The method creatively proposes a double buoyancy ball floating system structure, which theoretically solves the problem of residence in the north-south direction of the floating device in the stratosphere. The principle is that by rotating the rudder between the first sail plate and the second sail plate, the second sail plate forms an angle with the wind field flow, thereby generating a north-south aerodynamic force to offset the deflection under the action of the north-south wind. However, in actual application, due to the flexible nature of the connecting rope, the aerodynamic force generated by the second sail plate in the wind field will cause the flexible connecting rope to rotate, making it difficult for the second sail plate to form an ideal angle with the wind field flow, and thus making it difficult to form an ideal aerodynamic force, hindering its practical application. SUMMARY

[0010] The purpose of the present application is to provide a double floating device system that fully utilizes the wind field and combines wind sail navigation, and a regional residence control strategy, to solve the regional / point residence problem of unpowered floating devices.

[0011] The application provides the double floating airship system based on the sail navigation, which adopts the following technical scheme: the system comprises an upper floating ball and a lower floating airship connected through a traction rope; a vertical tail fin is arranged at the tail of the airbag body of the lower floating airship; symmetrical stabilizers capable of causing Bernoulli effect are arranged above and below the airbag body; an energy cabin is connected to the airbag body; an adjusting device is arranged in the energy cabin to realize the winding and unwinding of the traction rope; solar panels are installed on the left and right sides of the airbag body to supply power to the adjusting device; a secondary airbag is arranged in the airbag body; the airbag bodies of the upper floating ball and the lower floating airship are filled with a certain amount of lifting gas; an air inlet and an air outlet are arranged on the secondary airbag; an air compressor is installed at the air inlet to supplement air for the secondary airbag; and the air outlet is opened to release air for the secondary airbag; and a load hanging cabin is hung below the airbag body of the lower floating airship.

[0012] In an embodiment of the system, the lower side of the upper floating ball is provided with a flange plate for fixing the upper end of the traction rope.

[0013] In an embodiment of the system, the stabilizers are two symmetrical inflatable airfoils.

[0014] In an embodiment of the system, the vertical tail fin is two full-moving tail fins connected to the airbag body of the lower floating airship through rotating shafts; a rudder is installed on the airbag body of the lower floating airship; and the rudder is connected to the vertical tail fin through a connecting rod, so that the vertical tail fin rotates around the rotating shaft under the traction of the rudder.

[0015] In an embodiment of the system, the adjusting device comprises a battery pack, a motor, a speed reducer and a winding drum connected in sequence; the battery pack supplies power to the output shaft of the motor to drive the speed reducer; and the output shaft of the speed reducer drives the winding drum to rotate.

[0016] In an embodiment of the system, a limiting cylinder is arranged outside the energy cabin; a rubber pad is arranged on the inner wall of the limiting cylinder; and the lower end of the traction rope passes through the limiting cylinder and is fixed to the winding drum in the energy cabin.

[0017] In an embodiment of the system, a lifting buckle is arranged on the lower side of the airbag body of the lower floating airship; and the load hanging cabin is hung through the lifting buckle and a connecting rope.

[0018] The residence control strategy of the system provided by the application is as follows: when the system is in a target area, a wind field effect offsetting strategy is executed; and when the system drifts out of the target area, a position correction strategy is executed, which comprises east-west direction offset correction and simultaneous east-west direction and south-north direction offset correction.

[0019] In the control strategy, the wind field effect offsetting strategy comprises the following steps:

[0020] (1) Real-time wind field data are obtained through a satellite; the height at which the upper floating ball and the lower floating airship are subjected to the smallest resultant force is calculated according to the wind speed and wind direction values at different heights, and is set as a target height;

[0021] (2) Start the air compressor of the adjustment device and the auxiliary air bag, and adjust the height of the upper floating ball and the lower airship to the target height, at which the overall system is subjected to the minimum resultant force, so as to realize the residence of the system in the target area.

[0022] The east-west offset correction strategy includes the following steps:

[0023] (1) Obtain real-time wind field data through a satellite, calculate the height at which the resultant force on the upper floating ball and the lower airship has the maximum westward component according to the wind speed and wind direction values at different heights, and set the height as the target height;

[0024] (2) Start the air compressor of the adjustment device and the auxiliary air bag, and adjust the height of the upper floating ball and the lower airship to the target height, at which the overall system is subjected to the maximum westward component of the resultant force, so as to make the system return to the target area under the action of the resultant force;

[0025] The simultaneous east-west and north-south offset correction includes the following steps:

[0026] (1) Obtain real-time wind field data through a satellite, select the height at which the system is subjected to the resultant force having the maximum angle with the current offset direction and set the height as the target height, start the air compressor of the adjustment device and the auxiliary air bag, and adjust the height of the upper floating ball and the lower airship, so that the lower airship reaches the target height, the system is subjected to the aerodynamic force Fs of the northward wind in the wind field, under the action of the aerodynamic force Fs, the system continues to offset southward, the rudder is started to pull the vertical tail to rotate β2° around the shaft, the vertical tail generates the aerodynamic force F3 under the action of the west wind, forms a moment, makes the lower airship rotate around the limiting cylinder, and generates the attack angle β1 with the west wind flow, at this time, the stabilizer generates the aerodynamic force F1 under the action of the westward component of the wind field, the airship bag generates the aerodynamic force F2 under the action of the west wind, the aerodynamic resultant force F of F1, F2 and F3 is minimum in the angle with Fs, and under the joint action of the aerodynamic forces Fs and Fn, the double airship system returns to the target area.

[0027] This invention designs a dual-aircraft system connecting a buoyancy ball and an airship model via a retractable tow rope. Utilizing the aerodynamic characteristics of the buoyancy ball and the airship, the overall force on the dual-aircraft system is adjusted, effectively controlling the north-south drift of the dual-aircraft platform and enabling long-term regional agile stay in a specific airspace. A unique airship based on the principle of sail-assisted navigation is designed, including two stabilizing surfaces that induce the Bernoulli effect, and a vertical tail fin at the stern for adjusting the airship's attitude. A dual altitude adjustment mechanism based on the inflation and deflation of auxiliary airbags and the extension and retraction of the tow rope, combined with the hull stabilizing surfaces, actively utilizes the aerodynamic forces of the dual aircraft to counteract the north-south wind forces, achieving position correction and returning the airship to the target area. In short, this invention fully utilizes wind fields and combines a unique sail-assisted navigation concept to solve the problem of regional / fixed-point agile stay for unpowered airships, thereby addressing key issues for applications such as long-term ground reconnaissance and surveillance, and regional communication relay. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a structure according to an embodiment of the present invention.

[0029] Figure 2(a) is a schematic diagram of the state of the stationary position in the target area in this embodiment.

[0030] Figure 2(b) is a schematic diagram of the east-west offset correction process in this embodiment.

[0031] Figure 3(a) is a schematic diagram of the state under the action of wind field in this embodiment.

[0032] Figure 3(b) is a schematic diagram of the position correction force under the action of wind field in this embodiment.

[0033] Figure 4(a) is a schematic diagram of the system's height change when the amount of air in the auxiliary airbag is changed in this embodiment.

[0034] Figure 4(b) is a schematic diagram of the system height change when the total mass of the system remains constant and the length of the connecting rope is changed in this embodiment. Detailed Implementation

[0035] like Figure 1 As shown, the dual airship system based on sail-assisted navigation disclosed in this embodiment mainly includes an upper buoyancy ball 1, a tow rope 2, a lower airship 3, and a payload compartment 4.

[0036] The buoyancy ball 1 includes a balloon and a flange on its lower side. The balloon is filled with buoyancy gas, and the flange is used to fix the upper end of the traction rope 2.

[0037] The length of the traction rope 2 is 4-8 kilometers.

[0038] The airship 3 includes an energy compartment 31, a capsule 32, a stabilizer 33, and a vertical tail 34.

[0039] The capsule 32 is filled with a buoyant gas and has a sub-gas bag.

[0040] The energy cabin 31 is connected to the outside of the capsule 32, and the energy cabin 31 has a regulating device for winding and unwinding the traction rope.

[0041] The regulating device includes a battery pack, a motor, a speed reducer, and a winding drum. The battery pack serves as the driving power source of the motor. The output shaft of the motor and the input shaft of the speed reducer are connected by a rigid shaft coupling. The winding drum is installed on the output shaft of the speed reducer. The motor drives the speed reducer, and the speed reducer drives the winding drum to rotate.

[0042] Solar panels are installed on the left and right sides of the capsule 32. The solar panels are connected to the battery pack of the regulating device by wires for power supply.

[0043] A limiting cylinder is arranged outside the energy cabin 31, and a rubber pad is arranged in the limiting cylinder. The lower end of the traction rope 2 passes through the limiting cylinder into the energy cabin and is fixed to the winding drum. The winding and unwinding of the traction rope 2 are realized by the forward and reverse rotation of the winding drum, so as to adjust the relative height of the upper buoyancy ball 1 and the lower airship 3.

[0044] The stabilizer surface 33 is two symmetrical inflatable wing surfaces, which are fixedly connected above and below the capsule 32, respectively. The vertical tail 34 is two full-moving tail wings, which are connected to the capsule 32 through rotating shafts. The capsule 32 is provided with a rudder, and the rudder is provided with a connecting rod, which is connected to the vertical tail. The vertical tail can rotate around the rotating shaft under the traction of the rudder.

[0045] The sub-gas bag has an air inlet and an air outlet. An air compressor is installed at the air inlet. The air compressor installed on the sub-gas bag can fill the sub-gas bag with air, increase the overall mass of the system, and thus cause the overall rise of the double airship system. The air outlet is opened to release air, reduce the overall mass of the system, and thus cause the overall descent of the double airship system, as shown in FIG. 4(a). That is, the overall height of the system is adjusted by adjusting the overall weight of the double airship system through filling and releasing air of the sub-gas bag.

[0046] When the total mass of the system is constant, the height of the center of mass of the system is constant when the length of the traction rope is adjusted. By using this principle, lengthening the traction rope can simultaneously realize the rise of the upper buoyancy ball and the descent of the lower airship, and shortening the traction rope can simultaneously realize the descent of the upper buoyancy ball and the rise of the lower airship, as shown in FIG. 4(b).

[0047] The linkage control of the overall mass adjustment and the length adjustment of the traction rope can realize the arbitrary adjustment of the respective heights of the upper buoyancy ball and the lower airship within a certain range, and thus reach any target height.

[0048] The load cabin 4 is connected to the lifting buckle on the capsule 32 through a connecting rope, as shown in FIG. 1. Figure 1 ​

[0049] The function of the dual airship system is mainly to carry scientific loads to complete the regional residence task. As shown in FIG. 2(a) and FIG. 2(b), the circular area is the target residence area. When the dual airship system is in the target residence area, the wind field action offset strategy is executed. When the dual airship system drifts out of the area, the position correction strategy is executed.

[0050] (1) Wind field action offset strategy

[0051] As shown in FIG. 2(a), the dual airship system is in the target area, at this time the wind field action offset strategy is executed, the specific implementation is: through the satellite to obtain real-time wind field data, according to the wind speed and wind direction value at different heights to calculate the height of the upper buoyancy ball 1 and the lower airship 3 under the smallest resultant force, and set it as the target height, start the adjusting device in the energy cabin 31 and the air compressor of the auxiliary air bag, linkage adjust the height of the upper buoyancy ball 1 and the lower airship 3 in the dual airship system, reach the target height, at this time the system as a whole is under the smallest force, realize the residence in the target area.

[0052] (2) Position correction strategy

[0053] The above-mentioned wind field action offset strategy can effectively slow down the drift of the dual airship system, but in actual application, the resultant force received by the airship cannot be zero. With the passage of time, the airship will continuously accumulate the position drift under the action of the wind field, and the position correction strategy needs to be adopted to eliminate this drift, and then realize the continuous residence of the dual airship system in the target area. When the dual airship system leaves the target area and starts to execute the position correction strategy, the specific implementation is as follows:

[0054] When the dual airship system drifts eastward under the continuous action of the wind field, as shown in FIG. 2(b), the system drifts from the initial position M0 point to M1 point under the continuous action of the wind field, at this time the eastward drift is the main drift, so the north-south drift is sacrificed to correct the east-west drift, the specific implementation is: through the satellite to obtain real-time wind field data, according to the wind speed and wind direction value at different heights to calculate the height of the upper buoyancy ball and the lower airship under the maximum westward component force, and set it as the target height, start the traction rope adjusting mechanism of the energy cabin and the air compressor of the auxiliary air bag, linkage adjust the height of the upper buoyancy ball and the lower airship in the dual airship system, reach the target height, at this time the system as a whole is under the maximum westward component force, under the action of the resultant force, the dual airship system returns to the target area.

[0055] When the dual airship system continues to displace to M2 point under the continuous action of the wind field, at this time the displacement is southwestward displacement, it is needed to correct the east-west and north-south displacement at the same time, the specific implementation is: obtaining real-time wind field data through satellite, selecting the height with the largest angle between the direction of the resultant force and the current displacement direction and setting it as the target height, starting the traction rope adjusting mechanism of the energy cabin and the air compressor of the auxiliary air bag, linkage adjusting the height of the upper buoyancy ball and the lower airship in the dual airship system, so that the lower airship reaches the target height, at this time the stress of the system is shown in FIG. 3(a) and (b), the system is subjected to the aerodynamic force Fs of the north component of the wind field, under the action of the aerodynamic force Fs, the system continues to displace to the south, starting the rudder to pull the vertical tail to rotate β2° around the shaft, the vertical tail generates the aerodynamic force F3 under the action of the west wind, forming the moment effect, so that the lower airship rotates around the limiter, and the attack angle β1 with the west wind flow is generated, at this time, the aerodynamic force F1 is generated by the stabilizer under the action of the west component of the wind field, the aerodynamic force F2 is generated by the airship bag under the action of the west wind, F1, F2 and F3 form the aerodynamic resultant force F, the angle between F and Fs is the smallest, under the joint action of the aerodynamic force Fs and Fn, the dual airship system reaches M2 point, and returns to the target area.

[0056] In summary, the present application designs a dual airship system with retractable traction ropes connecting buoyancy balls and airship models, uses the aerodynamic characteristics of the buoyancy balls and airship to adjust the overall stress of the dual airship system, effectively controls the north-south drift of the dual airship platform, and realizes long-time regional residence in a specific airspace; a unique airship based on the principle of wind sail navigation is designed, which includes two stabilizers that can cause Bernoulli effect, and a vertical tail at the tail to adjust the attitude of the airship; a dual height adjustment mechanism based on auxiliary air bag inflation and deflation and traction rope extension and retraction is adopted, combined with the stabilizer of the airship body, actively uses the aerodynamic force of the dual airship to offset the north-south wind force, realizes the correction of the residence position, and makes the airship return to the target area. In short, the present application makes full use of the wind field, combines the unique wind sail navigation idea, solves the regional / point residence problem of the unpowered airship, and solves the key application requirements of long-time ground reconnaissance, monitoring, regional communication relay and other application requirements of the airship.

Claims

1. A dual aerostat system residence control strategy based on sail-assisted navigation, characterized by: The double floating airship system based on sail-assisted navigation includes an upper floating ball and a lower floating airship connected by a traction rope; The tail of the capsule of the lower floating airship is provided with a vertical tail wing, and symmetrical stabilizers capable of causing Bernoulli effect are arranged above and below the capsule, and an energy cabin is connected outside the capsule, and an adjusting device is arranged in the energy cabin to realize the winding and unwinding of the traction rope; solar panels are installed on the left and right sides of the capsule to supply power to the adjusting device, and a secondary air bag is arranged in the capsule; The upper floating ball and the capsule of the lower floating airship are filled with a certain amount of lifting gas, the secondary air bag is provided with an air inlet and an air outlet, and an air compressor is installed at the air inlet to supplement air for the secondary air bag, and the air outlet is opened to release air for the secondary air bag; The lower side of the capsule of the lower floating airship is suspended with a load cabin; The vertical tail wing is a two-piece full-moving tail wing connected with the capsule of the lower floating airship through a rotating shaft, a rudder is installed on the capsule of the lower floating airship, and the rudder is connected with the vertical tail wing through a connecting rod, so that the vertical tail wing rotates around the rotating shaft under the traction of the rudder; The adjusting device includes a battery pack, a motor, a speed reducer and a winding drum connected in sequence, the battery pack supplies power to drive the output shaft of the motor to drive the speed reducer, and the output shaft of the speed reducer drives the winding drum to rotate; A limiting cylinder is arranged outside the energy cabin, a rubber pad is arranged on the inner wall of the limiting cylinder, and the lower end of the traction rope passes through the limiting cylinder into the energy cabin and is fixed on the winding drum; When the system is in the target area, a wind field action offset strategy is executed, and when the system drifts out of the target area, a position correction strategy is executed, which includes east-west offset correction and simultaneous east-west and north-south offset correction; The east-west offset correction strategy includes the following steps: (1) Obtain real-time wind field data through a satellite, calculate the height at which the upper floating ball and the lower floating airship receive the maximum west component of the resultant force according to the wind speed and wind direction values at different heights, and set it as the target height; (2) Start the adjusting mechanism and the air compressor of the secondary air bag, and adjust the height of the upper floating ball and the lower floating airship to the target height in linkage, at this time, the system as a whole receives the maximum west component of the resultant force, and under the action of the resultant force, the system returns to the target area; The simultaneous east-west and north-south offset correction includes the following steps: By satellite to obtain real-time wind field data, the system is subjected to the maximum angle of the resultant force direction and the current offset direction and is set to the target height, the regulating device and the auxiliary air bag are started, the air compressor is started, the height of the upper floating ball and the lower floating airship is adjusted, the lower floating airship reaches the target height, the system is subjected to the north wind of the wind field, the aerodynamic force Fs, under the action of the aerodynamic force Fs, the system continues to offset to the south, the rudder is started to pull the vertical tail to rotate β2 around the shaft, the vertical tail generates the aerodynamic force F3 under the action of the west wind, a moment is formed to make the lower floating airship rotate around the limiting cylinder, and an attack angle β1 is generated with the west wind flow, at this time, the stabilizer generates the aerodynamic force F1 under the action of the west component of the wind field, the capsule body of the lower floating airship generates the aerodynamic force F2 under the action of the west wind, the aerodynamic resultant force F 合 , F 合 is the smallest angle with Fs, and the double floating airship system returns to the target area under the joint action of the aerodynamic forces Fs and Fn.

2. The dual floatation aerostat system residency control strategy based on sail-assisted navigation of claim 1, wherein: The lower side of the upper floating ball is provided with a flange for fixing the upper end of the traction rope.

3. The sail-assisted dual floatation airship system residency control strategy of claim 1, wherein: The stabilizer is a two-piece symmetrical inflatable airfoil.

4. The sail-assisted dual floatation airship system residency control strategy of claim 1, wherein: The lower side of the capsule of the lower floating airship is provided with a lifting buckle, and the load cabin is suspended by the lifting buckle and a connecting rope.

5. The sail-assisted dual floatation airship system residency control strategy of claim 1, wherein, The wind field action offset strategy includes the following steps: (1) Obtain real-time wind field data through a satellite, calculate the height at which the upper floating ball and the lower floating airship receive the minimum resultant force according to the wind speed and wind direction values at different heights, and set it as the target height; (2) Start the adjusting device and the air compressor on the secondary air bag, and adjust the height of the upper floating ball and the lower floating airship to the target height in linkage, at this time, the system as a whole receives the minimum resultant force, and realizes the residence of the system in the target area.

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