Method and system for adjusting attitude of tethered airship
By using the attitude adjustment system of the main capsule, front and rear secondary capsule and fan valve in the tethered airship, and using sensors and controllers to achieve dynamic air pressure adjustment, the problems of system weight increase and attitude adjustment in traditional methods are solved, and efficient, stable adjustment of the airship attitude and overall weight reduction are achieved.
Patent Information
- Application Number
- CN202411915907.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-24
- Publication Date
- 2025-03-25
AI Technical Summary
The traditional tethered airship attitude adjustment method relies on complex aerodynamic components, resulting in increased system weight, increased flight energy consumption and reduced mission load weight, making it difficult to meet diverse mission needs.
The attitude adjustment system of the main capsule filled with helium, the front and rear secondary capsules filled with air and the fan valve is adopted. The airship attitude and air pressure value are monitored in real time through inertia sensors and pressure sensors, and the fan speed is dynamically adjusted by the controller and the solenoid valve opening and closing time, and the air pressure of the secondary capsule is finely controlled to achieve stable and efficient adjustment of the airship attitude.
It effectively reduces the overall weight of the airship, simplifies the attitude adjustment process, improves flight efficiency and attitude stability, can quickly respond to the needs of attitude changes during flight, and significantly reduces the wetting area between the airship and the air.
Smart Images
Figure CN119682965A_ABST
Abstract
Description
Technical Field
[0001] The invention relates to the technical field of airships, and in particular to a method and a system for adjusting the attitude of a tethered airship. Background Art
[0002] As an important space suspension platform, traditional tethered airships are mostly unpowered and are easily disturbed by wind when flying in the air, causing their attitude to change. In the past, the way to adjust the attitude of airships mainly relied on aerodynamic components such as engine-driven propellers. This method has many disadvantages. Its components are numerous and the structure is complex, which leads to a significant increase in the weight of the entire system. This not only increases the flight energy consumption of the airship, but also seriously compresses the weight of the mission payload that can be carried, limiting the performance of the airship in practical applications and making it difficult to meet the growing diverse mission needs. Summary of the invention
[0003] The object of the present invention is to provide a tethered airship attitude adjustment method and system thereof, so as to solve the technical problems of heavy weight and inconvenient attitude adjustment in the prior art.
[0004] In order to solve the above problems, a tethered airship attitude adjustment method and system involved in the present invention adopts the following technical solutions: The present invention provides a tethered airship attitude adjustment system, comprising a main bag filled with helium, a front auxiliary bag and a rear auxiliary bag filled with air, and two blower valves. The front auxiliary bag is arranged at the front end inside the main bag, and the rear auxiliary bag is arranged at the rear end inside the main bag. The two blower valves are respectively installed on the front auxiliary bag and the rear auxiliary bag to connect the outside air with the auxiliary bags corresponding thereto.
[0005] Preferably, the fan valve comprises a fan, an air duct and a valve, one end of the air duct is connected to the air outlet of the fan, and the other end of the air duct is provided with a valve for controlling the opening and closing of the air duct.
[0006] Preferably, it also includes a controller and a sensor, the valve is set as a solenoid valve, the sensor is set as an inertial sensor, the controller is electrically connected to the inertial sensor and the solenoid valve respectively, and the inertial sensor is installed in the main bag.
[0007] Preferably, the sensor further comprises two pressure sensors respectively arranged in the front auxiliary bag and the rear auxiliary bag, and the two pressure sensors are respectively electrically connected to the controller.
[0008] Preferably, the sensor also includes a pressure sensor disposed in the main bag and electrically connected to the controller.
[0009] The present invention provides a tethered airship attitude adjustment method, including a tethered airship attitude adjustment system, comprising the steps of: a. Inertial sensors monitor the motion parameters of the airship in real time and obtain the current attitude information of the airship, including pitch angle, roll angle and yaw angle. The pressure sensors located in the front auxiliary bag, rear auxiliary bag and main bag continuously measure the air pressure value of each bag and transmit the data to the controller; b. The controller receives the data and processes and analyzes it to build a real-time state model of the airship. The controller compares the preset ideal attitude parameters with the actual monitoring data to accurately calculate the attitude deviation; c. When it is determined that the airship needs to adjust its pitch attitude, if it is detected that the airship needs to pitch up, the controller generates a control instruction to drive the solenoid valve corresponding to the front auxiliary bag to open the deflation channel, and at the same time start the fan of the rear auxiliary bag and open its solenoid valve for inflation. According to the degree and rate of change of attitude deviation, combined with the air pressure data fed back by the pressure sensor, the fan speed and the opening and closing time of the solenoid valve are dynamically adjusted to precisely control the rate and amplitude of change of air pressure of the front and rear auxiliary bags, ensuring that the airship can smoothly and efficiently achieve the pitch-up action; if it needs to pitch down, the opposite operation process is executed, that is, the front auxiliary bag is inflated and the rear auxiliary bag is deflated, and the same control adjustment is performed; d. When the airship's attitude approaches the target attitude, the controller enters the stable control stage. Through high-frequency monitoring and analysis of the pressure sensor data, the air pressure of the front and rear auxiliary airbags is slightly adjusted. The rapid response characteristics of the solenoid valve are used to implement the inflation or deflation pulse operation, so that the air pressure of the front and rear auxiliary airbags gradually tends to balance, thereby stabilizing the airship at the target attitude; e. Continuously monitor the inertial sensor data. If a slight deviation in the attitude of the airship is detected, immediately activate the fine-tuning mechanism and adjust the airbag pressure again to correct the deviation, thus ensuring that the airship always maintains a stable and precise attitude during long-term flight.
[0010] Preferably, during the flight, keep an eye on the changes in external environmental factors. When the environmental conditions change significantly, the controller automatically adjusts the working parameters of the fan and the control logic of the solenoid valve according to the built-in environmental compensation algorithm to compensate for the changes in airbag pressure and airship attitude fluctuations caused by environmental factors. Preferably, when a sensor fails, a fan is abnormal, or the air pressure changes drastically, the controller sends an alarm signal to notify the operator and stops the attitude adjustment operation to ensure the safety and stability of the airship and avoid flight accidents caused by system failures.
[0011] The beneficial effects of the present invention are as follows: The present invention provides a tethered airship attitude adjustment system, comprising a main bag filled with helium, a front auxiliary bag and a rear auxiliary bag filled with air, and two fan valves. The front auxiliary bag is arranged at the front end inside the main bag, and the rear auxiliary bag is arranged at the rear end inside the main bag. The two fan valves are respectively installed on the front auxiliary bag and the rear auxiliary bag to connect the outside air with the auxiliary bags corresponding thereto. The difference from the prior art is that the traditional complex aerodynamic components are abandoned, and the attitude adjustment is achieved only by relying on the main bag, the front and rear auxiliary bags and the fan valves, which effectively reduces the overall weight of the airship. The adjustment process of the device is more direct and rapid, and the attitude change requirements during flight can be quickly responded to. At the same time, the front auxiliary bag and the rear auxiliary bag are arranged inside the main bag, which significantly reduces the infiltration area of the airship exterior with the air. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the following briefly introduces the drawings required for use in the embodiment: Figure 1 The figure is a capsule coordination diagram of a tethered airship attitude adjustment system.
[0013] In the figure: 1. Main bag; 2. Front auxiliary bag; 3. Rear auxiliary bag; 4. Fan valve; 5. Inertial sensor; 6. Pressure sensor. DETAILED DESCRIPTION
[0014] In order to make the technical purpose, technical solution and beneficial effects of the present invention more clear, the technical solution of the present invention is further described below in conjunction with the accompanying drawings and specific embodiments.
[0015] The present invention provides a tethered airship attitude adjustment system which is mainly composed of a main bag 1, a front auxiliary bag 2, a rear auxiliary bag 3, a fan valve 4, a controller and a sensor. The main bag 1 is filled with helium to provide basic buoyancy for the airship. The material thereof is a composite material with high strength, light weight and excellent air tightness, such as aramid fiber composite material, carbon fiber reinforced composite material, polyester film composite material, etc., to ensure that the helium content and pressure can be stably maintained during flight. The front auxiliary bag 2 and the rear auxiliary bag 3 are respectively installed at the front and rear ends of the main bag 1, and are filled with air. The air pressure regulating function is realized by being connected with the corresponding fan valves 4. The auxiliary bags are made of a rubber material with flexibility and pressure resistance. While ensuring gas containment and air pressure changes, they can adapt to the spatial structure and flight stress environment inside the main bag 1.
[0016] The fan valve 4 is composed of a fan, an air duct and a solenoid valve. The controller is electrically connected to the fan, the solenoid valve and the sensor respectively. One end of the air duct is tightly connected to the fan outlet, and the other end is equipped with a solenoid valve to control the airflow in and out of the auxiliary bag. The fan is set as a turbine fan, which can quickly adjust the speed according to the controller command to provide a stable and adjustable airflow. The solenoid valve can complete the opening and closing action under the drive of the controller signal to accurately control the gas flow.
[0017] The controller is the core control unit of the system and is installed in the airship. The sensors include inertial sensor 5, pressure sensor 6 and meteorological sensor. The inertial sensor 5 is installed in the main bag 1 near the center of gravity. Through the combination of accelerometer and gyroscope, it can sense the motion state of the airship in real time and accurately measure attitude parameters such as pitch angle, roll angle and yaw angle. The pressure sensor 6 is installed in the front auxiliary bag 2, the rear auxiliary bag 3 and the main bag 1 respectively to continuously monitor the air pressure value of each bag. The meteorological sensor is set outside the airship.
[0018] During the flight of the airship, the inertial sensor 5 continuously collects the motion data of the airship and converts it into digital signals for transmission to the controller. At the same time, each pressure sensor 6 also monitors the air pressure of the capsule in real time and transmits the analog signal to the controller via the A / D conversion module. After receiving the data, the controller uses the built-in signal processing algorithm to filter, amplify and calibrate the data to remove noise interference and improve data accuracy. Through mathematical models and state estimation algorithms, a real-time state model of the airship is constructed to accurately describe the current posture and mechanical state of the airship.
[0019] The controller compares and calculates the attitude parameters in the real-time state model with the preset ideal attitude parameters. For example, if the preset pitch angle target value is 0°, when the actual monitored pitch angle is +5°, the controller determines that the airship needs to be adjusted downward and calculates the attitude deviation to be -5°. According to the deviation and the pre-set control strategy, the controller generates corresponding control instructions. If it is an upward adjustment instruction, it includes parameters such as the opening time of the electromagnetic valve of the front auxiliary bag 2 (such as 5s), the speed of the fan of the rear auxiliary bag 3 (such as 1500rpm) and the running time (such as 8s); if it is a downward adjustment instruction, the parameters are correspondingly adjusted to the relevant control quantities of the inflation of the front auxiliary bag 2 and the deflation of the rear auxiliary bag 3. Taking the upward adjustment of the airship as an example, after the controller issues a control instruction, the electromagnetic valve corresponding to the front auxiliary bag 2 quickly opens the deflation channel, and the fan of the rear auxiliary bag 3 starts and opens the electromagnetic valve for inflation. During the adjustment process, the controller adjusts the fan speed and the opening and closing time of the electromagnetic valve in real time according to the air pressure data fed back by the pressure sensor 6. For example, when the air pressure of the rear auxiliary bag 3 rises too fast and approaches the preset safety threshold, the controller reduces the fan speed or shortens the opening time of the electromagnetic valve to ensure that the air pressure changes smoothly. Through this dynamic feedback control mechanism, the air pressure changes of the front and rear auxiliary airbags are finely controlled, so that the airship can pitch up smoothly and efficiently. When adjusting downward, the operation process is reversed, and precise control is also achieved.
[0020] When the airship's attitude approaches the target attitude, the controller enters the stable control stage, performs high-frequency monitoring and analysis on the data of the pressure sensor 6, and uses the rapid response characteristics of the solenoid valve to perform microsecond-level inflation or deflation pulse operations. At the same time, the inertial sensor 5 data is continuously monitored. Once a slight attitude deviation trend of the airship is detected, the fine-tuning mechanism is immediately activated to adjust the auxiliary airbag pressure again to correct the deviation and maintain the long-term stable flight of the airship.
[0021] During the flight, the system uses meteorological sensors to monitor changes in external environmental factors in real time, such as temperature, air pressure, wind speed, etc. When the ambient air pressure decreases (such as due to increased altitude) or the temperature changes affect the airbag pressure, the controller automatically adjusts the fan's operating parameters and the control logic of the solenoid valve according to the built-in environmental compensation algorithm. For example, in high-altitude areas, the controller will increase the fan's output pressure setting value to compensate for the problem of insufficient inflation caused by reduced air pressure, ensure that the airbag pressure is maintained within the normal adjustment range, and stabilize the airship's attitude.
[0022] When the system detects emergency situations such as sensor failure (such as abnormal fluctuations in pressure sensor 6 data or no signal output from inertial sensor 5), fan abnormality (such as out-of-control fan speed or excessive noise) or sudden changes in air pressure (such as airbag leakage causing a sudden drop in air pressure), the controller immediately activates the emergency plan. On the one hand, it sends an alarm signal to the ground control center or operator through the wireless communication module to prompt system failure information; on the other hand, it quickly stops the attitude adjustment operation and puts the fan and solenoid valve in a safe locking state to prevent further erroneous operations. At the same time, according to the preset safety strategy, the flight mode of the airship is adjusted, such as maintaining the current attitude or slowly descending to a safe altitude, to ensure the safety and stability of the airship, avoid flight accidents caused by system failures, and ensure the reliable operation of the tethered airship under complex and changeable environments and working conditions.
[0023] Finally, it should be noted that the above embodiments are only used to illustrate but not limit the technical solutions of the present invention, and any equivalent substitutions of the present invention and any modifications or partial substitutions that do not depart from the spirit and scope of the present invention should be included in the scope of protection of the claims of the present invention.
Claims
1. A tethered airship attitude adjustment system, characterized in that: The invention comprises a main bag (1) filled with helium, a front auxiliary bag (2) and a rear auxiliary bag (3) filled with air, and two blower valves (4), wherein the front auxiliary bag (2) is arranged at the front end of the main bag (1), and the rear auxiliary bag (3) is arranged at the rear end of the main bag (1), and the two blower valves (4) are respectively arranged on the front auxiliary bag (2) and the rear auxiliary bag (3) to connect the outside air with the auxiliary bags corresponding thereto.
2. A tethered airship attitude adjustment system according to claim 1, characterized in that: The fan valve (4) comprises a fan, an air duct and a valve. One end of the air duct is connected to the air outlet of the fan, and the other end of the air duct is provided with a valve for controlling the opening and closing of the air duct.
3. A tethered airship attitude adjustment system according to claim 2, characterized in that: It also includes a controller and a sensor, the valve is set as a solenoid valve, the sensor is set as an inertial sensor (5), the controller is electrically connected to the inertial sensor (5) and the solenoid valve respectively, and the inertial sensor (5) is installed in the main bag (1).
4. A tethered airship attitude adjustment system according to claim 3, characterized in that: The sensor also includes two pressure sensors (6) respectively arranged in the front auxiliary bag (2) and the rear auxiliary bag (3), and the two pressure sensors (6) are respectively electrically connected to the controller.
5. A tethered airship attitude adjustment system according to claim 4, characterized in that: The sensor also includes a pressure sensor disposed in the main bag and electrically connected to the controller.
6. A method for adjusting the attitude of a tethered airship, characterized in that: The tethered airship attitude adjustment system according to any one of claims 3 to 5 comprises the steps of: a. Inertial sensors monitor the motion parameters of the airship in real time and obtain the current attitude information of the airship, including pitch angle, roll angle and yaw angle. The pressure sensors located in the front auxiliary bag, rear auxiliary bag and main bag continuously measure the air pressure value of each bag and transmit the data to the controller; b. The controller receives the data and processes and analyzes it to build a real-time state model of the airship. The controller compares the preset ideal attitude parameters with the actual monitoring data to accurately calculate the attitude deviation; c. When it is determined that the airship needs to adjust its pitch attitude, if it is detected that the airship needs to pitch up, the controller generates a control instruction to drive the solenoid valve corresponding to the front auxiliary bag to open the deflation channel, and at the same time start the fan of the rear auxiliary bag and open its solenoid valve for inflation. According to the degree and rate of change of attitude deviation, combined with the air pressure data fed back by the pressure sensor, the fan speed and the opening and closing time of the solenoid valve are dynamically adjusted to precisely control the rate and amplitude of change of air pressure of the front and rear auxiliary bags, ensuring that the airship can smoothly and efficiently achieve the pitch-up action; if it needs to pitch down, the opposite operation process is executed, that is, the front auxiliary bag is inflated and the rear auxiliary bag is deflated, and the same control adjustment is performed; d. When the airship's attitude approaches the target attitude, the controller enters the stable control stage. Through high-frequency monitoring and analysis of the pressure sensor data, the air pressure of the front and rear auxiliary airbags is slightly adjusted. The rapid response characteristics of the solenoid valve are used to implement the inflation or deflation pulse operation, so that the air pressure of the front and rear auxiliary airbags gradually tends to balance, thereby stabilizing the airship at the target attitude; e. Continuously monitor the inertial sensor data. If a slight deviation in the attitude of the airship is detected, immediately activate the fine-tuning mechanism and adjust the airbag pressure again to correct the deviation, thus ensuring that the airship always maintains a stable and precise attitude during long-term flight.
7. A method for adjusting the attitude of a tethered airship according to claim 6, characterized in that: During the flight, the controller continuously monitors changes in external environmental factors. When environmental conditions change significantly, the controller automatically adjusts the fan operating parameters and the control logic of the solenoid valve based on the built-in environmental compensation algorithm to compensate for changes in airbag pressure and airship attitude fluctuations caused by environmental factors.
8. A method for adjusting the attitude of a tethered airship according to claim 7, characterized in that: When a sensor fails, the fan is abnormal, or the air pressure changes drastically, the controller will send an alarm signal to notify the operator and stop the attitude adjustment operation to ensure the safety and stability of the airship and avoid flight accidents caused by system failures.