Method and system for considering influence of wind field on field solution weighing of airship

Abstract

The invention discloses a method and a system for considering the influence of a wind field on the field solution weighing of an airship. The method comprises the following steps: theoretically calculating the net weight of the field solution of the airship by considering the influence of environmental factors of the wind field; measuring the field solution net weight of the airship in real time by considering the influence of wind field environmental factors; the theoretical calculation method is corrected based on multiple real-time measurement results, so that the corrected theoretical calculation method is applied to airship field solution weighing; the method has the advantages that an accurate theoretical calculation method is provided, and the method is applied to accurately and quantitatively evaluate the weight of the airship before the airship is released.

Description

Technical Field

[0001] The present invention relates to the field of aeronautical aerostats, and particularly to a method and system for weighing a moored airship in the wild considering the influence of the wind field. Background Art

[0002] Before a unmanned airship is moored and launched in the wild, it is necessary to accurately evaluate the net weight of the airship. Most traditional moored airships in the wild use 4 - 5 people to lift the gondola of the airship, and then place the landing gear on a platform scale. An electronic platform scale is placed under the landing gear at the bottom of the gondola of the airship to measure the net weight of the airship. Then, after the airship stabilizes, the reading on the platform scale is read as the net weight of the airship. For example, the method for measuring the net weight and center of gravity of an airship and its device and method for weighing the net weight disclosed in Chinese Patent Publication No. CN119245929A. However, when weighing the airship with a platform scale in the wild, it takes a certain period of time for the airship to stabilize, and changes in wind speed and direction during this stabilization period will have a greater impact on the measurement reading. Moreover, the reading range of the platform scale changes significantly after the so-called stable state, and the general error range of the upper and lower limits reaches about 70 - 80 kg. Therefore, the measurement result is difficult to meet the flight requirements, and it is also difficult for designers to determine which specific value to adopt from the weighed values. Sometimes, it is even difficult to qualitatively judge the net weight of the airship, let alone accurately and quantitatively evaluate the net weight of the airship. It is completely an empirical measurement method.

[0003] The net weight of the airship is the key to evaluating the flight performance and index performance of the airship. Therefore, the traditional measurement methods cannot meet the performance index boundary test and the true evaluation of the performance index of high-performance unmanned airships. Therefore, the traditional measurement methods cannot be applied to the weight evaluation before the airship is launched. Summary of the Invention

[0004] The technical problem to be solved by the present invention is that the traditional method for weighing a moored airship in the wild cannot accurately and quantitatively evaluate the net weight of the airship, and thus cannot be applied to the weight evaluation before the airship is launched.

[0005] The present invention solves the above technical problems by the following technical means: A method for weighing a moored airship in the wild considering the influence of the wind field, including:

[0006] S1. Theoretically calculate the net weight of the moored airship in the wild considering the influence of wind field environmental factors;

[0007] S2. Measure the net weight of the moored airship in the wild in real time considering the influence of wind field environmental factors;

[0008] S3. Modify the theoretical calculation method based on multiple real-time measurement results, and thus apply the modified theoretical calculation method to the weighing of the moored airship in the wild.

[0009] In the present invention, the net weight of the airship is first calculated by theoretical calculation, and then the true net weight result is obtained through real-time measurement. The theoretical calculation method is corrected by using the actual net weight measured multiple times, so as to obtain a more accurate theoretical calculation method, and this method is applied to accurately quantify the weight assessment before the airship takes off.

[0010] Further, S1 includes:

[0011] S11. Collect status data, where the status data includes wind speed, wind direction, atmospheric pressure, airbag pressure, airbag temperature, and airbag volume;

[0012] S12. Analyze the forces and moments acting on the airship after it is untied, and establish the relationship of the force and moment balance equations on the ground after the airship is untied;

[0013] S13. Calculate the gas density of different airbags; calculate the buoyancy of the airship according to the gas density of different airbags and the airbag volume;

[0014] S14. According to the relationship of the force and moment balance equations on the ground after the airship is untied, combined with the status data and the buoyancy of the airship, calculate the theoretical calculation result of the net weight of the airship after it is untied in the wild;

[0015] S15. The ground control station displays the collected status data and the theoretical calculation result of the net weight of the airship after it is untied in the wild, and displays the graph of the theoretical calculated net weight varying with wind speed, the graph of the theoretical calculated net weight varying with angle of attack, the graph of the theoretical calculated net weight varying with airbag pressure, and the graph of the theoretical calculated net weight varying with airbag temperature.

[0016] Even further, the relationship of the force and moment balance equations on the ground after the airship is untied includes the force balance equation in the longitudinal plane, and the force balance equation in the longitudinal plane is:

[0017] F z cosα + F x sinα - mg + F 浮力 + F 净重 =0 and -F z sinα + F x cosα = 0

[0018] Among them, F z represents the force acting on the airship in the vertical direction, F x represents the force acting on the airship in the lateral direction, α represents the angle of attack of the airship, mg represents the gravity of the airship, F 浮力 represents the buoyancy of the airship, F 净重 represents the net weight of the airship.

[0019] Even further, the relationship of the force and moment balance equations on the ground after the airship is untied also includes the moment balance equation in the longitudinal plane, and the moment balance equation in the longitudinal plane is:

[0020] -mg·X mg +F 浮力 ·X f +M y +F 气动力x ·X fx +F 气动力z ·X fz +F 净重 ·X j =0

[0021] Wherein, X mg represents the X-axis coordinate value of the center of gravity of the airship, X f represents the X-axis coordinate value of the buoyancy of the airship, M y represents the moment of the airship itself due to the external wind speed, F 气动力x represents the aerodynamic force in the lateral direction, X fx represents the X-axis coordinate value of the lateral aerodynamic force of the airship, F 气动力z represents the aerodynamic force in the vertical direction, X fz represents the X-axis coordinate value of the vertical aerodynamic force of the airship, X j represents the X-axis coordinate value of the net weight of the airship.

[0022] Furthermore, the calculation formula for the buoyancy of the airship is F 浮力 =V·ρ 大气 -V 主 ρ 主 -V 前 ρ 前 -V 后 ρ 后 , wherein, V represents the total volume of the airship, ρ 大气 represents the atmospheric density, V 主 represents the volume of the main airbag, ρ 主 represents the density of the main airbag, V 前 represents the volume of the front auxiliary airbag, ρ 前 represents the density of the front auxiliary airbag, V 后 represents the volume of the rear auxiliary airbag, ρ 后 represents the density of the rear auxiliary airbag.

[0023] Furthermore, the net weight measured in real time in S2 is displayed in the ground control station, showing the graph of the net weight of the airship measured in real time changing with the wind speed, the curve graph of the net weight of the airship measured in real time changing with the angle of attack, the curve graph of the net weight of the airship measured in real time changing with the airbag pressure, and the curve graph of the net weight of the airship measured in real time changing with the airbag temperature.

[0024] The present invention also provides a system for weighing the airship in the wild considering the influence of the wind field, including:

[0025] A theoretical calculation module for theoretically calculating the net weight of the airship in the wild considering the influence of wind field environmental factors;

[0026] A real-time measurement module for real-time measuring the net weight of an airship during field untying while considering the influence of wind field environmental factors;

[0027] A theoretical correction module for correcting the theoretical calculation method based on the results of multiple real-time measurements, and then applying the corrected theoretical calculation method to the weighing of the airship during field untying.

[0028] Furthermore, the theoretical calculation module is further used for:

[0029] S11. Collecting state data, where the state data includes wind speed, wind direction, atmospheric pressure, airbag pressure, airbag temperature, and airbag volume;

[0030] S12. Analyzing the forces and moments acting on the airship after untying, and constructing the relationship of the force and moment balance equations on the ground after the airship is untied;

[0031] S13. Calculating the gas density of different airbags; calculating the buoyancy of the airship according to the gas density of different airbags and the airbag volume;

[0032] S14. Calculating the theoretical calculation result of the net weight of the airship during field untying according to the relationship of the force and moment balance equations on the ground after the airship is untied, combined with the state data and the buoyancy of the airship;

[0033] S15. The ground control station displays the collected state data and the theoretical calculation result of the net weight of the airship during field untying, and displays the graph of the theoretical calculated net weight varying with wind speed, the graph of the theoretical calculated net weight varying with angle of attack, the graph of the theoretical calculated net weight varying with airbag pressure, and the graph of the theoretical calculated net weight varying with airbag temperature.

[0034] Even further, the relationship of the force and moment balance equations on the ground after the airship is untied includes the force balance equation in the longitudinal plane, and the force balance equation in the longitudinal plane is:

[0035] F z cosα + F x sinα - mg + F 浮力 + F 净重 =0 and -F z sinα + F x cosα=0

[0036] Wherein, F z represents the force acting on the airship in the vertical direction, F x represents the force acting on the airship in the lateral direction, α represents the angle of attack of the airship, mg represents the gravity of the airship, F 浮力 represents the buoyancy of the airship, and F 净重 represents the net weight of the airship.

[0037] Furthermore, the relationship between the forces and moment balance equations on the ground after the airship is decoupled also includes the moment balance equation in the longitudinal plane, and the moment balance equation in the longitudinal plane is:

[0038] -mg·X mg +F 浮力 ·X f +M y +F 气动力x ·X fx +F 气动力z ·X fz +F 净重 ·X j =0

[0039] Wherein, X mg represents the X-axis coordinate value of the center of gravity of the airship, X f represents the X-axis coordinate value of the buoyancy of the airship, M y represents the moment of the airship itself due to the external wind speed, F 气动力x represents the aerodynamic force in the transverse direction, X fx represents the X-axis coordinate value of the transverse aerodynamic force of the airship, F 气动力z represents the aerodynamic force in the vertical direction, X fz represents the X-axis coordinate value of the vertical aerodynamic force of the airship, X j represents the X-axis coordinate value of the net weight of the airship.

[0040] Furthermore, the calculation formula for the buoyancy of the airship is F 浮力 =V·ρ 大气 -V 主 ρ 主 -V 前 ρ 前 -V 后 ρ 后 , wherein, V represents the total volume of the airship, ρ 大气 represents the atmospheric density, V 主 represents the volume of the main airbag, ρ 主 represents the density of the main airbag, V 前 represents the volume of the front auxiliary airbag, ρ 前 represents the density of the front auxiliary airbag, V 后 represents the volume of the rear auxiliary airbag, ρ 后 represents the density of the rear auxiliary airbag.

[0041] Furthermore, the net weight measured in real time in S2 is displayed in the ground control station, and the graphs of the net weight of the airship measured in real time changing with the wind speed, the graph of the net weight of the airship measured in real time changing with the angle of attack, the graph of the net weight of the airship measured in real time changing with the airbag pressure, and the graph of the net weight of the airship measured in real time changing with the airbag temperature are displayed.

[0042] The advantages of the present invention are:

[0043] (1) In the present invention, the net weight of the airship is first calculated through theoretical calculation, and then the real net weight result is obtained through real-time measurement. The theoretical calculation method is corrected by using the actual net weight measured multiple times, so as to obtain a relatively accurate theoretical calculation method, and this method is applied to accurately quantitatively evaluate the weight of the airship before takeoff.

[0044] (2) The present invention collects state data such as wind speed and direction, airbag pressure, airbag temperature, and volume of the auxiliary airbag through the ground control station, and can calculate the gas density of different airbags, and then calculate the buoyancy of the airship; according to the relationship of the force and moment balance equation on the ground after the airship is untethered, combined with the database of the aerodynamic force of the airship including lift, drag, and moment varying with the angle of attack, the net weight in the untethered ground state can be calculated. At the same time, the software interface parameters of the flight control ground control station are displayed, and the change curves of the net weight with parameters such as wind speed, angle of attack, airbag temperature, and pressure are calculated in real time, solving the problem of inaccurate measurement of the traditional net weight of the airship, and providing a process method for field net weight measurement in engineering for airship products.

[0045] (3) Because the field weighing of the airship is relatively complex, aiming at the need for field weighing of the airship, the present invention analyzes the principle of weighing during the field mooring process of the airship, obtains the force characteristics of the airship during field mooring, and further obtains the principle and formula for field weighing of the airship. Different from the traditional airship weighing method, the formula of the present invention is a unique formula obtained based on the proposed requirements for the field force of the airship, and different from the traditional one, the formula of the present invention is applicable to the weighing process of the airship during field mooring. Description of the Drawings

[0046] Figure 1 It is a flow chart of a method for weighing the untethering of an airship in the wild considering the influence of the wind field disclosed in an embodiment of the present invention;

[0047] Figure 2 It is a schematic diagram of the ground force during the untethering of an airship in a method for weighing the untethering of an airship in the wild considering the influence of the wind field disclosed in an embodiment of the present invention;

[0048] Figure 3 It is a schematic diagram of the display and control interface of the ground control station in a method for weighing the untethering of an airship in the wild considering the influence of the wind field disclosed in an embodiment of the present invention;

[0049] Figure 4 It is a schematic diagram of the net weight measurement and display and control of the ground control station in a method for weighing the untethering of an airship in the wild considering the influence of the wind field disclosed in an embodiment of the present invention, wherein, Figure 4 (a) is the change curve of the net weight with the wind speed, Figure 4 (b) is the change curve of the net weight with the angle of attack, Figure 4 (c) is the change curve of the net weight with the airbag pressure, Figure 4 (d) is the change curve of the net weight with the airbag temperature. Detailed implementation manners

[0050] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0051] Embodiment 1

[0052] As Figure 1 shown, based on the deficiencies of the traditional platform scale type net weight measurement method, Embodiment 1 of the present invention proposes a method for weighing the unmanned airship during field untying considering the influence of the wind field, which includes two parts: a method for calculating the net weight of the unmanned airship during field untying considering the influence of wind field environmental factors and a real-time display method for the ground control station, and a method for real-time measuring the net weight of the unmanned airship during field untying considering the influence of wind field environmental factors and a real-time display method for the ground control station. The results can be compared based on multiple net weight measurement results and theoretical calculation results, and the theoretical calculation method can be corrected and improved at any time. The whole method can make up for the problem that the traditional airship untying and weighing method is greatly affected by environmental factors, and has certain engineering application value. The method includes the following steps:

[0053] S1. Theoretical calculation of net weight

[0054] S11. The ground control station collects the wind speed V 风速 , wind direction, etc. in real time; the ground control station collects the main airbag pressure P 主 of the airship, the front auxiliary airbag pressure P 前 , the rear auxiliary airbag pressure P 后 , the main airbag temperature T 主 , the front auxiliary airbag temperature T 前 and the rear auxiliary airbag temperature T 后 , the atmospheric pressure P 大气 , the volume V 前 of the front auxiliary airbag, the volume V 后 of the rear auxiliary airbag in real time;

[0055] S12. After the unmanned airship is untied, it is subject to gravity mg, buoyancy F 浮力 , aerodynamic force F 气动力 (including F 气动力x , F 气动力y ) and net weight F 净重 in the ground longitudinal plane. Taking the landing gear grounding point at the bottom of the airship gondola as the moment balance point after the airship is untied, the moments received by the airship include: the moment mg·X mg generated by gravity, the moment F浮力 ·X f 、 Aerodynamic force F 气动力x Generates moment F 气动力x ·X fx 、 Aerodynamic force F 气动力z Generates moment F 气动力z ·X fz 、 Moment M of the airship itself due to external wind speed y 、 Net weight F 净重 Generates moment F 净重 ·X j .

[0056] The force balance equation in the longitudinal plane is: F z cosα + F x sinα - mg + F 浮力 + F 净重 = 0 and -F z sinα + F x cosα = 0;

[0057] The moment balance equation in the longitudinal plane is:

[0058] -mg·X mg + F 浮力 ·X f + M y + F 气动力x ·X fx + F 气动力z ·X fz + F 净重 ·X j = 0

[0059] As Figure 2 shown, where F z represents the force on the airship in the vertical direction, F x represents the force on the airship in the lateral direction, α represents the angle of attack of the airship, mg represents the gravity of the airship, F 浮力 represents the buoyancy of the airship, F 净重 represents the net weight of the airship, X mg represents the X-axis coordinate value of the center of gravity of the airship, X f represents the X-axis coordinate value of the buoyancy of the airship, M y represents the moment of the airship itself due to external wind speed, F 气动力x represents the aerodynamic force in the lateral direction, X fx represents the X-axis coordinate value of the lateral aerodynamic force of the airship, F 气动力z represents the aerodynamic force in the vertical direction, X fz represents the X-axis coordinate value of the vertical aerodynamic force of the airship, X j represents the X-axis coordinate value of the net weight of the airship, ρ is the air density; V 风速is the wind speed during the ground mooring process of the airship, and the real-time wind speed collected by the ground control station can be used in the calculation process; S is the reference area of the airship, L is the characteristic length, and C L is the moment coefficient, C D is the moment coefficient, C M is the moment coefficient. C L and α, C D and α, C M The relationship between and α can be used to obtain the lift coefficient of the airship through CFD calculation simulation or wind tunnel test simulation; among them, the balance schematic diagram when the unmanned airship is untied is shown in the appendix Figure 2 as shown

[0060] S13, the buoyancy F of the airship 浮力 includes F generated by the main airbag 浮力主 , F generated by the front auxiliary airbag 浮力前 , F generated by the rear auxiliary airbag 浮力后 . Combining different parameters such as pressure and temperature collected by the ground control station, the density of different airbags can be calculated, including the density ρ of the main airbag 主 , the density ρ of the front auxiliary airbag 前 and the density ρ of the rear auxiliary airbag 后 . The unity of pressure and temperature units needs to be considered in the calculation process, where the pressure unit is Pa and the temperature unit is k, and different densities can be calculated as Since the helium gas in the main airbag will contain air, the helium density of the main airbag is obtained separately the air density of the main airbag The density of the main airbag is calculated as T 大气 represents the atmospheric temperature, T 前 represents the temperature of the front auxiliary airbag, T 后 represents the temperature of the rear auxiliary airbag, T 主 represents the temperature of the main airbag, and η represents the purity of helium

[0061] Based on the real-time volume V of the front auxiliary airbag collected by the ground control station 前 , the volume V of the rear auxiliary airbag 后 , the volume of the main airbag can be calculated as V 主 = V - V 前 - V 后 . Therefore, the buoyancy F generated by the internal lifting gas can be calculated 浮力 = V·ρ 大气 - V 主 ρ 主 - V 前 ρ 前 - V 后 ρ 后 .

[0062] S14. For the equilibrium equation relationship described in S12, using the relevant parameters in S11 and the calculation results in S13, the net weight F can be calculated. 净重 .

[0063] S15. Since the net weight of the airship will change in real time with environmental parameters such as wind speed, airbag pressure, and angle of attack after the airship is decoupled, the net weight of the airship calculated in S14 is changing in real time. To facilitate the ground control station to understand the net weight status information in real time after the airship is decoupled, it is displayed separately on the ground control software interface.

[0064] S2. Real-time measurement of net weight

[0065] S21. The parameters displayed in the display box of the ground control station mainly include: real-time collected status data and calculated parameter values. Among them, the real-time collected data includes wind speed V 风速 , wind direction, main airbag pressure P 主 , front auxiliary airbag pressure P 前 , rear auxiliary airbag pressure P 后 , main airbag temperature T 主 , front auxiliary airbag temperature T 前 , rear auxiliary airbag temperature T 后 , atmospheric pressure P 大气 , front auxiliary airbag volume V 前 , rear auxiliary airbag volume V 后 ; the calculated parameter values include: gravity mg, buoyancy F 浮力 , aerodynamic force F 气动力x , aerodynamic force F 气动力z , gravity moment mg·X mg , lifting moment F 浮力 ·X f , aerodynamic force X generating moment F 气动力x ·X fx , aerodynamic force Z generating moment F 气动力z ·X fz , airship aerodynamic moment M y , net weight F 净重 etc.; among them, the parameter display of the ground control station when the unmanned airship is decoupled is as shown in the appendix Figure 3 .

[0066] S22. Since the data display in S21 is only the real-time single-point data display, in order to more conveniently understand the changes of the net weight and other parameters with various important parameters, a display method on the ground control station graph is proposed, including the graph of the net weight changing with the wind speed, the graph of the net weight changing with the angle of attack, the graph of the net weight changing with the airbag pressure, the graph of the net weight changing with the airbag temperature, etc.; among them, the parameter display of the ground control station when the unmanned airship is decoupled is as shown in the appendix Figure 4 . Figure 4 (a) is the curve of the net weight changing with the wind speed, Figure 4 (b) is the curve of the net weight changing with the angle of attack,Figure 4 (c) is the curve of net weight varying with the airbag pressure, Figure 4 (d) is the curve of net weight varying with the airbag temperature. Thus, the real-time measurement results of the net weight of the airship during field untying are displayed in real time through the ground control station.

[0067] In this embodiment, the display method of the theoretical calculation results and the real-time measurement results of the net weight is as follows: For the real-time measurement of the net weight of the airship in the field, sensors for measuring force need to be installed at the bottom of the landing gear of the airship gondola. At the same time, relevant data information can be transmitted to the ground control station through the flight control computer of the airship gondola. After the ground control station receives the force-measuring sensor at the bottom of the airship gondola, it saves the relevant data and displays the relevant data together with the calculated net weight data on the display and control interface of the ground control station, etc. The main curves showing the variation of the measured net weight of the airship with various parameters include: the graph of the measured net weight and the calculated net weight varying with the wind speed, the graph of the measured net weight and the calculated net weight varying with the angle of attack, the graph of the measured net weight and the calculated net weight varying with the airbag pressure, the graph of the measured net weight and the calculated net weight varying with the airbag temperature, etc.; among which, the real-time measurement of the net weight of the unmanned airship during untying and the display on the ground control station are as shown in the appendix Figure 4 as follows.

[0068] Through the above technical solutions, the present invention aims at the problem that the net weight of an unmanned airship in the field cannot be accurately measured, and proposes a method for the field weighing process of an airship considering the influence of the wind field factor. Through the principle analysis in the process of measuring the net weight of the airship, real-time collection of relevant information data of the wind field, real-time pressure / temperature and other data information of the airship, and establishment of a method for the field weighing process of an airship considering the influence of the wind field factor, to solve the problem of inaccuracy in the current traditional measurement of the net weight of an airship, and provide a process method for the field net weight measurement in engineering for airship products, etc. This method can calculate the gas density of different airbags by collecting state data such as wind speed and direction, airbag pressure, airbag temperature, and volume of the auxiliary airbag through the ground control station, and then calculate the buoyancy of the airship; according to the relationship of the force and moment balance equations on the ground after the airship is untied, combined with the database of the aerodynamic forces of the airship including the lift, drag, and moment varying with the angle of attack, the net weight in the untied ground state can be calculated, and at the same time, the parameter display on the software interface of the flight control ground control station is given, and the curves of the real-time calculated net weight varying with parameters such as wind speed, angle of attack, airbag temperature, and pressure are given.

[0069] Embodiment 2

[0070] Based on Embodiment 1, Embodiment 2 of the present invention further provides a system for weighing an airship during field untying considering the influence of the wind field, including:

[0071] A theoretical calculation module for theoretically calculating the net weight of the airship during field untying considering the influence of the wind field environment factor;

[0072] A real-time measurement module for real-time measurement of the net weight of the airship during field untying, taking into account the influence of wind field environmental factors;

[0073] A theoretical correction module for correcting the theoretical calculation method based on the results of multiple real-time measurements, so as to apply the corrected theoretical calculation method to the weighing of the airship during field untying.

[0074] Specifically, the theoretical calculation module is also used for:

[0075] S11. Collect status data, where the status data includes wind speed, wind direction, atmospheric pressure, balloon pressure, balloon temperature, and balloon volume;

[0076] S12. Analyze the forces and moments acting on the airship after untying, and establish the relationship of the force and moment balance equations on the ground after the airship is untied;

[0077] S13. Calculate the gas density of different balloons; calculate the buoyancy of the airship according to the gas density of different balloons and the balloon volume;

[0078] S14. According to the relationship of the force and moment balance equations on the ground after the airship is untied, combined with the status data and the buoyancy of the airship, calculate the theoretical calculation result of the net weight of the airship during field untying;

[0079] S15. The ground control station displays the collected status data and the theoretical calculation results of the net weight of the airship during field untying, and displays the graph of the theoretical calculated net weight changing with wind speed, the graph of the theoretical calculated net weight changing with angle of attack, the graph of the theoretical calculated net weight changing with balloon pressure, and the graph of the theoretical calculated net weight changing with balloon temperature.

[0080] More specifically, the relationship of the force and moment balance equations on the ground after the airship is untied includes the force balance equation in the longitudinal plane, and the force balance equation in the longitudinal plane is:

[0081] F z cosα + F x sinα - mg + F 浮力 + F 净重 =0 and -F z sinα + F x cosα = 0

[0082] Where, F z represents the force acting on the airship in the vertical direction, F x represents the force acting on the airship in the lateral direction, α represents the angle of attack of the airship, mg represents the gravity of the airship, F 浮力 represents the buoyancy of the airship, F 净重 represents the net weight of the airship.

[0083] More specifically, the relationship between the forces and moment balance equations on the ground after the airship is untethered also includes the moment balance equation in the longitudinal plane, and the moment balance equation in the longitudinal plane is:

[0084] -mg·X mg +F 浮力 ·X f +M y +F 气动力x ·X fx +F 气动力z ·X fz +F 净重 ·X j =0

[0085] Wherein, X mg represents the X-axis coordinate value of the center of gravity of the airship, X f represents the X-axis coordinate value of the buoyancy of the airship, M y represents the moment of the airship itself due to the external wind speed, F 气动力x represents the aerodynamic force in the transverse direction, X fx represents the X-axis coordinate value of the transverse aerodynamic force of the airship, F 气动力z represents the aerodynamic force in the vertical direction, X fz represents the X-axis coordinate value of the vertical aerodynamic force of the airship, X j represents the X-axis coordinate value of the net weight of the airship.

[0086] More specifically, the calculation formula for the buoyancy of the airship is F 浮力 =V·ρ 大气 -V 主 ρ 主 -V 前 ρ 前 -V 后 ρ 后 , wherein, V represents the total volume of the airship, ρ 大气 represents the atmospheric density, V 主 represents the volume of the main airbag, ρ 主 represents the density of the main airbag, V 前 represents the volume of the front auxiliary airbag, ρ 前 represents the density of the front auxiliary airbag, V 后 represents the volume of the rear auxiliary airbag, ρ 后 represents the density of the rear auxiliary airbag.

[0087] Specifically, the net weight measured in real time in S2 is displayed in the ground control station, showing the graph of the net weight of the airship measured in real time changing with the wind speed, the graph of the net weight of the airship measured in real time changing with the angle of attack, the graph of the net weight of the airship measured in real time changing with the airbag pressure, and the graph of the net weight of the airship measured in real time changing with the airbag temperature.

[0088] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A method for weighing an airship in the field considering the influence of wind field, characterized in that: include: S1. Considering the influence of wind field environment factors, theoretical calculation of the net weight of the airship in the field is carried out; S2. Considering the influence of wind field environmental factors, the net weight of the airship in the field is measured in real time; S3. The theoretical calculation method is modified based on multiple real-time measurement results, so that the modified theoretical calculation method is applied to the field weighing of the airship.

2. The method for weighing an airship in the field considering the influence of wind field according to claim 1 is characterized in that: S1 includes: S11, collecting status data, the status data including wind speed, wind direction, atmospheric pressure, airbag pressure, airbag temperature, and airbag volume; S12. Analyze the forces and moments on the airship after the airship is released, and construct the equilibrium equation relationship between the forces and moments on the ground after the airship is released; S13, calculating the gas density of different airbags; calculating the buoyancy of the airship according to the gas density of the different airbags and the volume of the airbags; S14, according to the relationship between the force and moment balance equations on the ground after the airship is untied, combined with the state data and the buoyancy of the airship, calculate the theoretical calculation result of the net weight of the airship in the field; S15. The ground control station displays the collected status data and the theoretical calculation results of the airship's field-decoded net weight, and displays a graph showing the theoretically calculated net weight changing with wind speed, a graph showing the theoretically calculated net weight changing with angle of attack, a graph showing the theoretically calculated net weight changing with airbag pressure, and a graph showing the theoretically calculated net weight changing with airbag temperature.

3. The method for weighing an airship in the field considering the influence of wind field according to claim 2 is characterized in that: After the airship is defused, the relationship between the force and moment balance equations on the ground includes the longitudinal plane internal force balance equation, which is: F z cosα + F x sinα - mg + F 浮力 +F 净重 =0 and -F z sinα + F x cosα = 0 Among them, F z The vertical force on the airship, F x represents the lateral force on the airship, α represents the angle of attack of the airship, mg represents the gravity on the airship, and F 浮力 represents the buoyancy of the airship, F 净重 Indicates the net weight of the airship.

4. The method for weighing an airship in the field considering the influence of wind field according to claim 3 is characterized in that: The relationship between the force and moment balance equation on the ground after the airship is solved also includes the moment balance equation in the longitudinal plane. The moment balance equation in the longitudinal plane is: -mg·X mg +F 浮力 ·X f +M y +F 气动力x ·X fx +F 气动力z ·X fz +F 净重 ·X j =0 Among them, X mg Indicates the X-axis coordinate value of the airship's center of gravity, X f The X-axis coordinate value of the airship buoyancy, M y Indicates the moment of the airship itself due to external wind speed, F 气动力x represents the lateral aerodynamic force, X fx The X-axis coordinate value of the airship's lateral aerodynamic force, F 气动力z represents the vertical aerodynamic force, X fz The X-axis coordinate value of the vertical aerodynamic force of the airship, X j The X-axis coordinate value representing the net weight of the airship.

5. The method for weighing an airship in the field considering the influence of wind field according to claim 4 is characterized in that: The formula for calculating the buoyancy of an airship is F 浮力 =V·ρ 大气 -V 主 ρ 主 -V 前 ρ 前 -V 后 ρ 后 , where V represents the total volume of the airship, ρ 大气 represents the atmospheric density, V 主 represents the volume of the main airbag, ρ 主 Indicates the main airbag density, V 前 represents the volume of the front airbag, ρ 前 Indicates the density of the front airbag, V 后 represents the volume of the rear airbag, ρ 后 Indicates the density of the rear airbag.

6. The method for field weighing of an airship considering the influence of wind field according to claim 1 is characterized in that: The net weight measured in real time in S2 is displayed in the ground control station, showing the real-time measured net weight of the airship changing with wind speed, the real-time measured net weight of the airship changing with angle of attack, the real-time measured net weight of the airship changing with airbag pressure, and the real-time measured net weight of the airship changing with airbag temperature.

7. A system for weighing airships in the field considering the influence of wind fields, characterized in that: include: Theoretical calculation module, used to perform theoretical calculation of the net weight of the airship in the field by considering the influence of wind field environmental factors; Real-time measurement module, used to measure the net weight of the airship in the field in real time, taking into account the influence of wind field environmental factors; The theoretical correction module is used to correct the theoretical calculation method based on multiple real-time measurement results, so as to apply the corrected theoretical calculation method to the field weighing of airships.

8. The system for field weighing of airships considering the influence of wind field according to claim 7 is characterized in that: Theoretical calculation modules are also used for: S11, collecting status data, the status data including wind speed, wind direction, atmospheric pressure, airbag pressure, airbag temperature, and airbag volume; S12. Analyze the forces and moments on the airship after the airship is released, and construct the equilibrium equation relationship between the forces and moments on the ground after the airship is released; S13, calculating the gas density of different airbags; calculating the buoyancy of the airship according to the gas density of the different airbags and the volume of the airbags; S14, according to the relationship between the force and moment balance equations on the ground after the airship is untied, combined with the state data and the buoyancy of the airship, calculate the theoretical calculation result of the net weight of the airship in the field; S15. The ground control station displays the collected status data and the theoretical calculation results of the airship's field-decoded net weight, and displays a graph showing the theoretically calculated net weight changing with wind speed, a graph showing the theoretically calculated net weight changing with angle of attack, a graph showing the theoretically calculated net weight changing with airbag pressure, and a graph showing the theoretically calculated net weight changing with airbag temperature.

9. The system for field weighing of airships considering the influence of wind field according to claim 8 is characterized in that: After the airship is defused, the relationship between the force and moment balance equations on the ground includes the longitudinal plane internal force balance equation, which is: F z cosα + F x sinα - mg + F 浮力 +F 净重 =0 and -F z sinα + F x cosα = 0 Among them, F z The vertical force on the airship, F x represents the lateral force on the airship, α represents the angle of attack of the airship, mg represents the gravity on the airship, and F 浮力 represents the buoyancy of the airship, F 净重 Indicates the net weight of the airship.

10. The system for field weighing of airships considering the influence of wind field according to claim 9 is characterized in that: The relationship between the force and moment balance equation on the ground after the airship is solved also includes the moment balance equation in the longitudinal plane. The moment balance equation in the longitudinal plane is: -mg·X mg +F 浮力 ·X f +M y +F 气动力x ·X fx +F 气动力z ·X fz +F 净重 ·X j =0 Among them, X mg Indicates the X-axis coordinate value of the airship's center of gravity, X f The X-axis coordinate value of the airship buoyancy, M y Indicates the moment of the airship itself due to external wind speed, F 气动力x represents the lateral aerodynamic force, X fx The X-axis coordinate value of the airship's lateral aerodynamic force, F 气动力z represents the vertical aerodynamic force, X fz The X-axis coordinate value of the vertical aerodynamic force of the airship, X j The X-axis coordinate value representing the net weight of the airship.

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